Home

CD1-pm User manual PROFIBUS POSITIONER

1. kan kana dan daka z k We nan a K ba W p 24 4 PROFIBUS 55 2222 bad Waa K ba haaa a da hk b 24 4 1 PROFIBUS SOFTWARE ADDRESSING wa s i aasiya au ksaaa a 000000 24 4 2 PROFIBUS HARDWARE ADDRESSING kaka kaka kaka ka ka ka 24 CHAPTER 4 PROGRAMMA TION 4 axusususaaananananananan anan aa aa aa aa aa aa aa aa aa aa au aa a ua aa aa aa ua ua ua aa ua aa ua aa aa aa ua ua u 25 T GENERAL DESCRIPTION i l eoe b aseo pea a a la aa a da8 meds 25 2 POSITIONER CONFIGURATION lt binan Ea kaka 25 21 POSITION SGAL LING i deci pre teo pae E oy ese Kaba dab let na rr h EL 25 2 2 POSITION LIMIT AND SARET V uere eta eR E kinn Ct on sk b ya nay i Rn D 26 Z2 MANUAL MOVEMENTS 2225 KE BARRIER ka wat uan da ER a Wa kuran k wann ya uc casio 27 Chapter 1 General description 5 CD1 pm User manual gt INFRANOR SERVO DRIVES amp MOTION CONTROL 2 4 BRAKE CONTROL AND AMPLIFIER DISABLING cccsscssucssssessecssesncnessnesscetsarsanceszeconseacun 2r 2 5 POSITIONING PROFILE 2 POSITION MODUE A Ea MN MM M EN M MM 2
2. Check the motor connection Check the logic wiring of the signals FC FC and ENABLE Check that the positioner 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 or encoder wiring on the amplifier connector as well as the mechanical fastening of the position feedback sensor on the motor Check for the correct motor selection in the MOTOR LIST module Check the value of the motor parameters number of pole pairs resolver wiring motor phase and renew the AUTO PHASING command with unloaded motor if required 3 4 DISCONTINUOUS MOTOR ROTATION WITH ZERO TORQUE POSITIONS Check the connection of the three phase cables between motor and positioner 3 5 LOUD CRACKLING NOISE IN THE MOTOR AT STANDSTILL Check that the Motor Positioner Controller ground connections comply with the recommendations Check the rigidity of the mechanical transmission chain between motor and load backlashes and elasticity in the gears and couplings Start a new Autotuning procedure by selecting a lower bandwidth than the initial one 44 Chapter 6 Troubleshooting CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 6 LOUD NOISE IN THE MOTOR AT STANDSTILL AND WHEN RUNNING Check the rigidity of the mechanical transmission chain between motor and l
3. COMMISSIONING OVERVIEW The various stages of a first positioner commissioning are described below Current regulator adjustment MOTOR ADJUSTMENT Definition of the current limitations and of the Ft protection chapter 2 section 7 Adjustment of the motor control parameters Speed limitation definition Rotation direction SERVO CONTROL ADJUSTMENT Adjustment of the servo control parameters according to the chapter 2 section 8 load CONFIGURATION Definition of the resolution chapter 4 section 2 Limit switches Following error PROFIBUS COMMUNICATION PROFIBUS operation made PROFIBUS communication profile Communication start between PLC and positioner manual Both operation stages are PROGRAMMATION chapter 4 section 3 Sequences programmation PROFIBUS OPERATION PROFIBUS communication profile PROFIBUS operation mode manual Operational phase sequences execution by Profibus The positioner parameters are accessible via the serial link and the PC parametrization software or by the PKW of the PROFIBUS DP CAUTION Do not make the drive parametrization by means of both PC software and Profibus at the same time Chapter 2 Commissioning 9 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 INSTALLATION OF THE PC SOFTWARE The Visual Drive Setup software is PC compliant under Windows and allows an easy parametrization of the CD1 pm am
4. Note In the TTL incremental encoder configuration without HES the motor Phasing procedure must be executed again after a Counting fault release For the Sin Cos encoder configuration 42 Check for the correct encoder supply voltage value Check for the correct encoder amplifier motor ground and shield connections with regard to the recommendations of chapter 4 in the CD1 pm Installation Guide Check for the correct encoder A channel B channel and R reference signal waveforms Chapter 6 Troubleshooting CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL TN a SF YZ TN iS stc dd CM A c R 2 R M A Forward direction Reverse direction Check that the Motor encoder resolution and the Zero mark pitch parameter values are correct Check that the number of encoder pulses between two successive reference signals is equal to the Motor encoder resolution value multiplied by the Zero mark pitch parameter value If this condition is not fulfilled the encoder counting protection must be disabled in order to cancel the Counting fault The encoder counting protection can be disabled by means of the parameter Zero mark pitch set at 0 For a linear motor with only reference signal over the entire motor travelling range the Zero mark pitch parameter must be set at 15 In this case the encoder counting protection is checking that the encoder measur
5. If the fault occurs when starting the amplifier Check the AC voltage on the L1 L2 L3 inputs of the X9 connector CD1 pm 230 l amplifier 196 VAC lt VAC lt 253 01 400 1 amplifier 340 VAC lt VAC lt 528 VAC If the fault occurs during the operation Check the braking system during the motor deceleration phases Check the sizing of the braking resistor with regard to the motor deceleration phases Check that the current cycle corresponds to the current table see manual CD1 pm Installation Chapter 2 section 1 Check for no short circuit in the motor wiring and at the motor terminals Check for no short circuit between a motor phase and the ground 2 3 5 RESOLVER FAULT e Check the resolver connection on the amplifier X1 connector according to the connector description e Check for the correct resolver type with regard to the amplifier specifications Check the connections between the resolver and the amplifier 2 3 6 R D C FAULT If the failure occurs when starting the amplifier e Check for the correct resolver type with regard to the amplifier specifications If the failure occurs during the operation e Check that the connections between the resolver and the amplifier are complying with the shield wiring recommendations 2 3 7 ENCODER FAULT Check the encoder supply connection on the amplifier connector X3 Check the encoder A channel and B channel connections on the amp
6. Note Unit See modify position of a sequence Speed absolute move Instruction DS Defines the speed for an absolute movement MP Parameters Speed Conditions Note This parameter is saved in the positioner memory When the maximum speed parameter value is changed this parameter value is scaled accordingly Unit rpm Acceleration absolute move Instruction DA defines the acceleration for an absolute movement MP Parameters acceleration time Conditions Note The parameters acceleration time and deceleration time define the time with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced This parameter is saved in the positioner memory Unit Millisecond Deceleration absolute move Instruction DD defines the deceleration for absolute movement MP Parameters Deceleration time Conditions Note The parameters acceleration time and deceleration time define the time with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced This parameter is saved in the positioner memory Unit Millisecond Stop Instruction SOFF Parameters Conditions Remark Stops all movements except for jog Note Software Enable Instruction MA Parameter No parameter Condition ENABLE input
7. the homing cannot be executed Homing procedure diagram with switch only Switch detection Switch search programmed speed home position T Loads the position counter with the Position reset value Return to home TT Start position speed 4 When sequence 0 contains a homing procedure at power on no other sequence can be executed before sequence 0 Chapter 4 Programmation 31 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 2 POSITIONING SEQUENCE A positioning sequence is defined by the position to be reached absolute or relative the motion speed the acceleration time the deceleration time The upper limit value for the position set point absolute or relative is 2 position resolution parameter value 1 The lower limit value for the position set point absolute or relative is 21 x position resolution parameter value The parameter acceleration and deceleration times define the time with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced in order to maintain the same acceleration and deceleration values Maximum speed Motion speed Acceleration time Deceleration time a delay time at the end of the motion Linkage example of 2 positioning sequences without stopping the deceleration ramp of the first sequence is
8. 0 Sequence 1 with Tdec 0and 2 Sequence 2 Delay time lt gt Note For a small displacement when the programmed motion speed value cannot be reached the motion speed profile is modified according to the Profile limit parameter selection When Constant time is selected the trajectory acceleration and deceleration are reduced and the profile is calculated according to the programmed acceleration and deceleration time values This selection allows to get a smooth positioning for small displacements however the displacement time is increased Maximum speed Motion speed Acceleration time Deceleration time Deceleration time When Constant slope is selected the motor acceleration and deceleration are similar to the profile acceleration and deceleration programmed values This selection allows to get a faster positioning for small displacements however a position loop overshoot may occur Maximum speed Motion speed lt gt lt gt Acceleration time Deceleration time 32 Chapter 4 Programmation CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 3 SPEED SEQUENCE A speed sequence is defined by the speed set point the running time the acceleration time the deceleration time When the running time exceeds 16000 ms the stop condition can be used for stopping the sequence Note The Acceleration time and Deceleration time parameters are the real
9. INDEX CLR Index input for the axis homing This input can be used for resetting the position counter when this function is configured FC Limit switch input positive direction FC Limit switch input negative direction 1 1 2 LOGIC INPUTS FOR THE SEQUENCE CONTROL START This input allows to start the sequence which number is defined by the programmable inputs The level of this input will be taken into account after the end of the former sequence This signal can be disabled before the end of the sequence 6 ms minimum Combination of 1 5 ms minimum START 4 gt 4 ms minimum STOP This input stops the motor with the deceleration given by the JOG motion parameters IN1 to IN6 These inputs allow to define in natural binary code the number of the sequence to be executed Sequence control configuration The activation of the START input will execute the sequence defined by the programmable inputs These inputs also allow to define a sequence starting condition Start condition configuration The sequence will be executed if the inputs condition is answered 1 2 LOGIC OUTPUTS 1 2 1 GLOBAL LOGIC OUTPUTS Amp OK This signal indicates that the amplifier is ready without error BRAKE This output controls the motor brake activation desactivation 1 2 2 SEQUENCE CONTROLLED LOGIC OUTPUTS SEQ This signal indicates that a sequence is presently executed POS This signal is activated when the motor reaches
10. INPUTS Start condition The possible effect on the 8 logic inputs can be selected as follows ignore the input status trigger on positive level input activated trigger on negative level input desactivated The inputs can be used either as a sequence start condition or as a sequence stop condition When Stop is desactivated the logic inputs are used as a sequence start condition for any sequence type The Stop selection allows to use the logic inputs as a sequence stop condition A sequence stop condition is only valid for a SPEED or TORQUE sequence when the delay time value is higher than 1600 ms NOTE The programmable inputs configured for the sequence selection cannot be used for a start condition 4 PROGRAMME EXECUTION The execution of a sequence can be made either via the START logic input this input triggers the execution of the sequence which number is defined by inputs IN1 to IN7 in natural binary code or via the serial link The PC software allows the execution of any sequence number orvia PROFIBUS when bit 6 of the control word is toggled see manual CD1 pm PROFIBUS Communication Profile NOTE A sequence execution requires the OK output to be active 5 SPEED LIMITATION The sequence speed value except for the GEARING sequence can be reduced according to the analog input voltage value on the X2 connector or the PNU 714 value in PROFIBUS operation mode This speed reduction is also applie
11. The amplifier is configured as standard for a resolver sensor For motors equipped with an encoder please proceed as follows Select the appropriate encoder type in the Resolver amp Encoder input configuration menu Select Encoder feedback and confirm this selection Then enter the Motor encoder Resolution value in the Servo Motor module If the motor is equipped with Hall effect sensors check that the ENABLE input is not activated and the amplifier is on before moving manually the motor over one revolution or one pole pitch on linear motors If the HES error is displayed switch off the amplifier and check the following points before switching it on again The Hall effect sensors HES must be correctly connected on the amplifier X3 connector if 60 Hall sensor types are used check the various wiring combination of the HES signals for finding the right wiring order Check for the correct supply voltage of the Hall sensors Check for the correct value of the Motor encoder Resolution parameter If the motor Hall sensors do not work correctly select the appropriate incremental encoder type Incremental Encoder without HES in the Feedback configuration menu and start the amplifier commissioning with this configuration If the motor used is equipped with an absolute Sin Cos encoder over one revolution Heidenhain ERN 1085 or compliant check that the ENABLE input is not activated and the amplifier on Then move manually the mot
12. acceleration and deceleration time values and not acceleration and deceleration ramps with regard to the Maximum speed value as they are in a positioning sequence or a homing sequence The sequences linkage allows to create speed profiles Sequence 1 Speed 1500 Tacc 2000 Sequence 3 Time 0 Sequence 2 Speed 2000 Tdec 0 Speed 3000 Tacc 3000 Next 2 Tacc 3000 Time 0 Time 0 i Tdec 1500 Tdec 0 Next 1 Next 3 Note Next 1 corresponds to an empty field in the PC software 3 4 TORQUE SEQUENCE A torque sequence is defined by the speed set point the acceleration time the torque set point the torque holding time delay Torque sequence execution Speed Current limitation Pl shaft locked a Torque holding programmed current Current Motor running programmed speed UK 22222 SS 5 11 Acceleration programmed time Torque holding programmed delay the torque control sequence the motor is running at the speed set point value until the current rises up to the limit value defined in percentage of the Maximum current parameter value The motor running direction depends on the sign of the speed set point When the current limitation is reached the amplifier is holding this current during the time interval defined by the Delay time parameter If the Delay time exceeds 16000 ms the torque holding time is infinite In this case the seque
13. activated and positioner in local mode Profibus operation mode selected and Profibus control desactivated Note This command is not operating in the Stand alone operation mode Software Disable Instruction AR Parameter No parameter Condition Positioner in local mode Profibus operation mode selected and Profibus control desactivated Note This command is not operating in the Stand alone operation mode 50 Appendix CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 USE OF THE VT 100 TERMINAL 100 terminal be connected to the serial link of the amplifier 5 connector The operator can use this terminal for displaying the axis position for modifying or executing pre programmed motion sequences for moving the axis towards an absolute position or for controlling a JOG movement 3 1 CONFIGURATION 3 1 1 CONFIGURATION OF THE TERMINAL Display over 4 lines of 20 characters each Serial link RS 232 19200 baud 1 Stop bit no parity VT 100 protocol 3 1 2 CONFIGURATION OF THE POSITIONER The communication via the VT 100 terminal requires the amplifier to be configured at the hexadecimal address 7E by means of the DIP micro switches 3 2 USE OF THE TERMINAL 3 2 1 MAIN MENU Display position Modify sequence Run sequence Move In the main menu keys 1 2 3 or 4 allow 1 To display the motor position The operator can then move the motor Jog or Jog by means of
14. as in the Fusing mode 8 SERVO LOOP ADJUSTMENT 8 1 REGULATOR PARAMETERS The Autotuning procedure identifies the motor and load specifications and calculates the speed position loop parameters In P and PI speed mode only the speed loop gains are calculated In PI speed mode the proportional gain of the position loop is also calculated But the Feedforward gains of the position regulator are all initialized at O In Position mode all gains of both speed and position regulators are calculated Note The position loop stability can be tested in PI speed mode because the Feedback gains are identical to the Position mode The operator can select a bandwidth Low Medium or High as well as the filter type standard antiresonance or max stiffness The Autotuning procedure can be executed with the motor disabled or enabled In the case of an axis with a vertical load see section 8 2 of this chapter Before executing the Autotuning procedure check that the motor shaft is free and that its rotation over one revolution is not dangerous for operator and machine Check that the brake is released the Autotuning command does not control the brake For a complete adjustment the Autotuning procedure must always be executed in Position mode at power on the amplifier is automatically in Position mode But the amplifier position loop stability can also be tested in Speed mode In this case after the execution of the Autotuning proced
15. correct Sin Cos encoder supply voltage value Check for the correct Sin Cos encoder C channel and D channel signal amplitude value Check that the Motor encoder resolution parameter value is correct Check that the encoder amplifier motor ground connections and shield answer the requirements of chapter 4 of the CD1 pm Installation Guide Chapter 6 Troubleshooting 43 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 3 10 POSITION FOLLOWING FAULT If the error occurs during the axis motion e Check the position loop adjustment e Check the coherence of the Static threshold parameter with regard to the motion cycle 2 3 11 CURRENT OFFSET FAULT If the Current offset error occurs at power on this means that the offset compensation procedure has failed and the amplifier is not ready for operation This error cannot be cancelled 2 3 12 INIT 400V FAULT If the INIT 400V error occurs on a CD1 pm 400 amplifier at power on e Check that the amplifier powering has been correctly made This error cannot be cancelled 2 3 13 I2t FAULT e Check the rated current value required from the amplifier with regard to the current table e Check the amplifier rated current value defined in the Rated current parameter with regard to the current required for the operation cycle 3 OPERATING PROBLEMS 3 1 MOTOR DOES NOT MOVE Check that the positioner is on Check that the power supply is on
16. e Switch on the 24V auxiliary supply The red front panel LED ERROR must be unlit and the red front panel LED AP must be lit Undervolt error 2 contact pins 1 and 2 of X4 is closed It is then possible to control the power ON relay Switch on the power supply The red front panel LED AP must be unlit the amplifier is ready for enabling CAUTION The 24 V auxiliary supply must always be switched on before the power supply It is mandatory to wait for at least 30 seconds between switching off and on again the amplifier Windows is a registered trade mark of MICROSOFT CORPORATION 10 Chapter 2 Commissioning CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 6 STARTING THE VDSETUP SOFTWARE Connect the serial link RS232 between and amplifier Switch on the amplifier and start the Visual Drive Setup software on the PC under WINDOWS If the message No serial communication found is displayed on the screen click on OK and check the following points o The amplifier must be on o The correct RS232 connection between amplifier and PC o The correct software configuration Com port For the parametrization of the amplifier via the Visual Drive Setup software set all DIP micro switches at position OFF address 00 7 MOTOR ADJUSTMENT 7 1 CONFIGURATION OF THE SENSOR TYPE The configuration of the sensor type is software selectable and saved in the amplifier EEPROM
17. effect during the motor acceleration and deceleration phases The gain value is equal to the damping gain value the viscous friction compensation a term After the auto tuning procedure the feedforward speed 2 gain is set equal to the damping gain value if a following error as small as possible is required The viscous friction compensation term can be calculated by measuring the current speed ratio at various motor speed values Feedforward acceleration gain KA defines the feedforward acceleration amplitude corresponding to the acceleration input command This term allows to reduce the following error during the motor acceleration and deceleration phases Its value is calculated by the amplifier during the auto tuning procedure if a following error as small as possible is required It can then be modified by the user if required 46 Appendix CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL The auto tuning procedure identifies the characteristics of motor and load and calculates the controller gains During the procedure various choices are available to the user The choice of the time interval for speed measurement speed measurement filter allows to select the speed measurement resolution value according to the position sensor resolution value speed resolution rpm 60000 position sensor resolution ppr time interval ms The higher the time interval value the better the resolution but also the lower the servo
18. electrical parts even after power down may involve physical damage A hundreds of volts may remain during a few minutes ESD INFORMATION ElectroStatic Discharge INFRANOR amplifiers are conceived to be best protected against electrostatic discharges However some components are particularly sensitive and may be damaged if the amplifiers are not properly stored and handled STORAGE The amplifiers must be stored in their original package When taken out of their package they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support Avoid any contact between the amplifier connectors and material with electrostatic potential plastic film polyester carpet HANDLING If no protection equipment is available dissipating shoes or bracelets the amplifiers must be handled via their metal housing Never get in contact with the connectors ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of EEE the 2002 96 EC Directive This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste INFRANOR does not assume any responsibility for any physical or material damage due to improper
19. has been reached If this parameter value exceeds 16000 ms then a sequence stop condition can be used to leave the torque control sequence For a HOME sequence this parameter defines the time out in seconds The time out is the time after which the positioner releases a Busy error if it does not find the home position When this value is 0 the time out protection is not activated Defines the number of the sequence to be executed after the current one Defines how many times the sequence must be executed This counter is decremented each time a sequence is over Defines the number of the sequence to be executed when the counter is not at 0 Defines the possible effect on the outputs Defines the outputs triggering moment Defines the outputs triggering position Defines the possible effect on the logic inputs The Stop selection allows to use the logic inputs as a sequence stop condition A sequence stop condition is only valid for a SPEED or TORQUE sequence when the running time or the holding time value is higher than 1600 ms For a GEARING sequence the sequence stop condition is only valid if the distance value is set at 0 When Stop is desactivated the logic inputs are used as a sequence start condition whichever the sequence type For a HOME sequence this parameter defines the amplifier configuration for the homing sequence execution Chapter 4 Programmation CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONT
20. 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 positioner 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 Chapter 6 Troubleshooting 39 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 3 1 BUSY FAULT If the BUSY fault is continuously displayed after powering the positioner the AUTOTEST procedure has failed and the positioner is not ready for operation Check that the power voltage is not on before the 24 V auxiliary supply If the BUSY fault is continuously displayed after the motor PHASING procedure at power up Incremental encoder without HES configuration the procedure has failed because of an external cause and the calculated phase value is wrong Check that the Motor encoder resolution parameter value is correct Check that the Motor parameters Pole pairs and Phase order values are correct Check that the ENABLE input is activated Check that the limit switches inputs are not activated Check that the motor is not locked and the shaft movement is free during the procedure If the BUSY fault is continuously displayed after the execution of the AUTOPHASING function the proced
21. k ERE SERRE RR XR l WERA A Ek 9 T COMMISSIONINO OVER e cute os oer EIE lana a a u aces ha kada ka kiyak 9 2 INSTALLATION OF THE PC SOFTWARE nek ced wuss Wa 10 3 CHECKING THE POSITIONER HARDWARE 10 SELECTION OF THE OPERATION MODE kaniy bakla keke 10 NNN 10 6 STARTING THE VDSETUP SOFTWARE Le A ka kad 11 MOTOR ADJUSTMEN T anl a Aa ar es ig 11 Z1 GONFIGURATION OF THE SENSOR TYPE EE IT 7 2 SELECTION OF THE MOTOR TYPE iocis taa bo cote o Wla pd ore 12 7 3 ENCODER COUNTING PROTECTION kd kan n a a kaya Vasa kay Wan AA 12 7 4 PARAMETER ADJUSTMENT FOR LINEAR MOTOR 13 7 5 MAXIMUM APPLICATION SPEED T3 7 6 CONFIGURATION OF THE THERMAL SENSOR T3 TICSFRPROTEUTONRL tr ER re Eo ERA E EE e W EE de ER E YA A LA E 14 8 SERVO LOOP ADJUST MENT pax E Eae XY Pad XY
22. loop gains because of the increased speed measurement delay The choice of the anti resonance filter is necessary in case of loud noise in the motor due to the motor load coupling elasticity The choice of the maximum stiffness filter allows to get the maximum stiffness on the motor shaft with regard to the torque disturbances However this choice is only possible without any resonance due to the motor load coupling elasticity The choice of the speed loop bandwidth defines the cut off frequency value of the closed loop frequency response Low 50 Hz Medium 75 Hz High 100 Hz The choice minimum following error allows to get an accurate following of the position reference value during the entire motor displacement In this case all feedforward gain values are calculated The choice minimum position overshoot allows to get a motor positioning without any overshoot of the target position In this case all the feedforward gain values are set at 0 and the motor position is lagging with regard to the position reference value during the whole motor displacement 2 USE OF THE SERIAL LINK 2 1 OVERVIEW Specifications of the serial link 8 data bits 1 stop bit no parity 19200 baud The parameters can be sent to the amplifier by an ASCII terminal using the instructions list given in this section Each instruction is coded as 2 ASCII characters with or without parameter Each instruction which can be followed by
23. one or two parameters sent to the amplifier must end with a carriage return character ASCII code 13 The parameters must be separated by a ASCII code 44 All these characters except for the carriage return will be sent back by the amplifier echo The amplifier answer starts with a separation character ASCII code 58 possibly followed by a value The amplifier will then send a carriage return a line feed ASCII code 10 and gt ASCII code 62 These instructions allow to modify or to read the value of a variable If there is a parameter the variable corresponding to the instruction will take this value Otherwise the amplifier will send back the actual variable value Notes If the amplifier does not know the instruction it will send back instead of Some instructions are only valid when the amplifier is disabled If the entered parameter is out of the appropriate variable range or if the restrictive condition amplifier disabled is not answered the parameter will not be taken into account the amplifier will keep the former variable value The amplifier must work in hexadecimal mode for communicating with the ASCII terminal VT 100 stand alone mode must not be selected Appendix 47 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Dialog examples The user sends the NP instruction number of motor pole pairs NP4 and a carriage return character for ending
24. or encoder signal periods per motor revolution for a rotary motor or per motor pole pairs for a linear motor The value of the Zero mark pitch parameter defines the number of motor revolutions for a rotary motor or of motor pole pairs for a linear motor between two successive Z marker pulses or R reference signals With a rotary motor the Zero mark pitch parameter is generally equal to 1 because the encoder has got one Z marker pulse or one R reference signal per motor revolution On a linear motor with only one marker pulse over the whole motor travel the Zero mark pitch parameter must be defined at 15 In this case the encoder counting protection checks that the measured encoder position has still got the same value when the marker pulse is activated no drift in the position measurement Note In the Incremental encoder without HES configuration the motor phasing procedure Phasing must be renewed after the release of a Counting error because the current rotor position reference for the motor commutation is not correct 12 Chapter 2 Commissioning CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 7 4 PARAMETER ADJUSTMENT FOR A LINEAR MOTOR The Motor encoder resolution parameter is calculated as follows oe Pole pitch Motor pole pitch mm Motor encoder resolution 1000 x Encoder signal pitch um VAN 1 encoder signal pitch
25. position sensor is a SinCos encoder type select Pulse interpolation Enable the amplifier and check that the motor and load positions are stable If the motor is moving and then the following error is released the sign of the load position feedback is not correct In this case select the Reverse position command in the Second sensor window 14 2 ELECTRONIC GEARING APPLICATION Position loop Current loop Motor feedback Electronic gearing applications require the use of the second amplifier position sensor for measuring the displacements of the master axis If the motor is equipped with a resolver select the encoder type for the input of the second sensor in the Resolver amp encoder Input configuration window accessible in the Setup menu Open the Position scaling parameters window accessible in the Positioner Application Setup menu Check that Enable second sensor feedback is not selected Set the Position resolution parameter according to the desired position scaling of the load in order to display the position in the load units as described below Position resolution number of desired load position increments for one motor shaft revolution Enter the desired Decimal number and the Unit for the position display Ex one motor revolution 3 302 mm on the load if the load position must be displayed in mm with a resolution of choose Position resolution 3302 Decima
26. revolution Max motor speed rpm lt 60 x Encoder pulse frequency limit Hz Number of encoder pulses per revolution Check that the Motor encoder resolution and the Zero mark pitch parameter values are correct Check that the number of encoder pulses between two successive Z marker pulses is equal to the Motor encoder resolution value multiplied by the Zero mark pitch parameter value If this condition is not fulfilled the encoder counting protection must be disabled in order to cancel the Counting fault The encoder counting protection can be disabled by means of the parameter Zero mark pitch set at 0 For a linear motor with only one marker pulse over the whole motor travelling range the parameter Zero mark pitch must be set at 15 In this case the encoder counting protection is checking that the measured encoder position has always got the same value when the marker pulse is activated no position measurement drift When the encoder counting protection has been disabled the amplifier is only checking that the encoder pulses frequency is lower than 1 5 times the maximum encoder frequency The maximum encoder frequency is calculated into the amplifier according to the Motor encoder resolution parameter value and the Maximum speed parameter value In this case encoder pulse noise at a frequency lower than 1 5 times the maximum encoder frequency may involve uncontrolled motor movements that may be dangerous for operator and machine
27. 4 counting increments The value of the motor Maximum speed parameter in rpm is calculated as follows 1000 Max speed rpm 60 max motor speed m s Motor pole pitch mm The linear speed value in m s is calculated as follows Motor speed rpm Motor pole pitch mm 60 1000 7 5 MAXIMUM APPLICATION SPEED Linear speed m s The parameter Max speed defines the maximum speed at which the amplifier can control the motor This parameter can be e lower than or equal to the maximum motor speed e Slightly higher than the maximum motor speed in the application 2096 This margin allows a speed overshoot that avoids the position loop saturation position following This margin can be as small as possible when using a high bandwidth or at low acceleration The speed set point value for the sequences and for the manual movements positioning and jog are saved in 96 with regard to the Max speed parameter value So when the Max speed parameter value is changed all speed set point values are scaled accordingly 7 6 CONFIGURATION OF THE THERMAL SENSOR According to the selected position feedback sensor of the motor the thermal sensor is entering either the X1 connector resolver or the X3 connector encoder 7 6 1 SELECTION OF THE SENSOR TYPE The motor can be equipped either with CTN sensor ohmic resistance decreasing temperature function or with a CTP sensor ohmic re
28. 7 POSITIONER I Os NN i Variis iN 2 8 SECOND SENSOR n ET Tr T 29 2 9 PROFIBUS COMMUNICATION NNN NNN Na E E ET 29 3 EDITION OF A SEQUENCE E T wani d da w b E E 3 1 HOMING SEQUENCE rrr rl sad 3 2 POSITIONING SEQUENCE 32 EA EE TCENEIINIPDe 33 3 deya ee ee O OO 3 6 SEQUENCES CHAINING we Bnet B V pry ah erk M 3 7 PROGRAMMABLE OUTPUTS S8 PROGRAMMABLE INPUT S Lu rn tert Mer paki kera xan IERI w b k Va awae k N d e SADE NT 4 PROGRAMME EXECUTION a y k j ka w d Had d be SS SPEER LIM TA or m a a is dd 37 CHAPTER 5 PROFIBUS 2 4 1 1 2 1 38 CHAPTER 6 TROUBLESHOOTING Tm daos T T Fee MT TR Term 39 E 1 Spine FAULT LEDs O01 Te AULT RESE k Ae deq 39 2 1 SYSTEM FAULT rwe 2 2 NORS FAULTS o eerie pores eri Devas 39 2 m STORED DEM ind PESAS PE lee EE Oe J MOTOR
29. CD1 pm User manual gt N F RA N O R SERVO DRIVES amp MOTION CONTROL CD1 pm User manual gb PROFIBUS POSITIONER INFRANOR CD1 pm User manual CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 CD1 pm User manual CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL WARNING This is a general manual describing a series of servo amplifiers having output capability suitable for driving brushless sinusoidal servo motors Instructions for storage use after storage commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational Please see CD1 pm Installation Guide for the hardware installation of the amplifier dimensions wiring For the PROFIBUS communication see manual CD1 pm PROFIBUS Communication Profile Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed EN 60204 1 standard and using proper test equipment The conformity with the standards and the CE approval is only valid if the items are installed according to the recommendations of the amplifier manuals Connections are the user s responsibility if recommendations and drawings requirements are not met Wait for at least 5 minutes after power down before handling the amplifiers a residual voltage of several Any contact with
30. DOES NOT MOVE be i i N e ev 2 2 MOTOR SUPPLIED BUT NO TORQUE dayan 44 3 3 SHAFT LOCKED ERATIC OSCILLATIONS OR ROTATION AT MAXIMUM SPEED 44 3 4 DISCONTINUOUS MOTOR ROTATION WITH ZERO TORQUE POSITIONS 44 3 5 LOUD CRACKLING NOISE IN THE MOTOR AT 44 3 6 LOUD NOISE THE MOTOR STANDSTILL AND WHEN RUNNING 45 3 7 SEQUENCE NOT EXECUTED T T TP UT 45 4a SERVICE AMD MAINTENANGE h de kak Mar ORA Raa d r En i ue APPENDIX ER SUN TUE TRU hound MI 1 SERYO CONTROLLER STRUCTURE iiit tite parten ttd k la Haki aa ehh zada eb zi 2 USE OF THE SERIAL LINK raq R 2 1 OVERVIEW sissies EPE T E E E TE 47 2 2 INSTRUCTIONS 177 VINA Y AM a 48 3 USE OF THE VT 100 TERMINAL EN M od mrs v1 3 3 FAULT DISPLAY HI A YE R er hena o 6 Chapter 1 General description CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 1 General description 1 INTRODUCTION Series CD1 pm Profibus positioners are PWM servo amplifiers for the control of AC sinusoidal motors brushless
31. ER I Os Profibus Hardware inputs defines the configuration of the START STOP IN1 to IN6 inputs In the stand alone operation mode without PROFIBUS Hardware must be selected for all inputs Inputs polarity defines the polarity of the optocoupled START STOP IN1 to IN8 inputs a signal that is not ticked off corresponds to an active 24 V input 28 Chapter 4 Programmation CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Sequence control The IN1 to IN7 inputs can be used for selecting sequences ticked off in the PC software There are maximum 128 sequences that can be selected this way by inputs IN1 to IN7 in binary code The other inputs can be used for the start condition Output polarity defines the polarity of the optocoupled SEQ POS SPEED OK OUT1 to OUTS8 outputs a signal that is not ticked off in the PC software corresponds to an active 24 V output Output pulse outputs OUT1 to OUTS can be defined as pulse outputs ticked off in the PC software which duration is defined by the output pulse duration parameter 1 to 16000 ms Minimum SEQ pulse when activated this function defines the minimum duration of the SEQ output This function is useful for the detection of a sequence with a short duration InPos window when activated this function defines the position window in which the POS output is activated window arrival position programmed value This parameter is only valid for a position
32. ROL 3 1 HOMING SEQUENCE A homing sequence is defined by the motion speed the acceleration time the deceleration time The parameter acceleration and deceleration times define the time with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced in order to maintain the same acceleration and deceleration values ie Motion speed Acceleration time Deceleration time 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 Home 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 home position Homing procedure diagram Switch detection Switch search programmed speed 4 Positioning on the origin marker pulse E First marker pulse Start out of the switch Withdrawal from the switch speed 4 If Switch 1 and Zero 1 or Home 1 the speed can be reversed by the switch detection or by a limit switch In the configuration Switch 0 and Zero 1 if the limit switch in the searching direction is activated at the homing sequence starting
33. aring selection allows to reverse the slave motor displacement direction with regard to the master motor displacement For a TORQUE sequence this parameter defines the torque set point in of the Maximum current parameter value Defines the acceleration time in ms with regard to the Maximum speed parameter value When the motion speed is lower than the maximum speed the acceleration time is proportionally reduced For a SPEED or TORQUE sequence this parameter defines the acceleration time in ms from the initial speed at the sequence start up to the speed set point Defines the deceleration time in ms with regard to the Maximum speed parameter value When the motion speed is lower than the maximum speed the deceleration time is proportionally reduced This parameter can be equal to 0 if a sequence linkage can be made without stopping the motor For a SPEED sequence this parameter defines the deceleration time in ms from the sequence speed set point up to 0 This parameter can be equal to 0 if a sequences linkage can be made without stopping the motor Defines the delay time in ms at the end of the positioning For a SPEED sequence this parameter defines the motor running time in ms at the speed set point value If this parameter value exceeds 16000 ms then a sequence stop condition can be used to leave the speed control sequence For a TORQUE sequence this parameter defines the torque holding time in ms when the torque set point value
34. ation is selected start a motor phasing Phasing procedure The motor phasing can be launched either in the control window of the VISUAL DRIVE SETUP software via the PROFIBUS fieldbus or via the Enable input in stand alone mode THE MOTOR USED IN THE APPLICATION IS NOT CONTAINED IN THE MOTOR LIST OF THE PARAMETRIZATION SOFTWARE Select the New Motor function and follow the instructions 7 3 ENCODER COUNTING PROTECTION When servo motors are equipped with an encoder any error in the encoder pulse counting generates an error in the position measurement of the rotor and may involve uncontrolled motor movements that can be dangerous for both operator and machine The encoder counting protection of the CD1 pm amplifier range allows the detection of pulse counting errors and immediately disables the amplifier for reasons of security The encoder counting protection checks that the number of encoder pulses between to successive Z marker pulses or R reference signals is equal to the value of the Motor encoder resolution parameter multiplied by the one of the Zero mark pitch parameter The encoder counting protection also checks that the encoder pulse frequency is lower than 1 5 times the maximum encoder frequency The maximum encoder frequency is calculated in the amplifier according to the value of the Motor encoder resolution and Maximum speed parameters The value of the Motor encoder resolution parameter defines the number of encoder pulses
35. ction and JOG for a movement in the negative direction The motion profile parameters are motion speed acceleration time deceleration time The parameters acceleration time and deceleration time define the time with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced Maximum speed Motion speed Acceleration time Deceleration time Remark The JOG deceleration time parameter value is also used when the STOP input is activated 2 4 BRAKE CONTROL AND AMPLIFIER DISABLING Brake ON delay defines the time between the brake activation and the amplifier disabling according to the following timing brake ON contact open delay time amplifier disabled The brake ON delay value must be higher than the brake response time Brake OFF delay defines the time between the amplifier enabling and the brake desactivation according to the following timing amplifier enabling delay time brake OFF contact closed The brake off delay value must be higher than the amplifier servo loop response time Note The brake ON and OFF delays are not valid for the stand alone operation mode ENABLE input desactivation and fault reaction defines the amplifier behaviour when the ENABLE input is desactivated or when an amplifier fault is triggered When Switch off is selected
36. d deceleration times than the programmed profile This selection allows to get a smooth positioning for small displacements however the displacement time is increased When the Constant slope profile limit mode is selected for a small programmed displacement if the profile speed cannot be reached the motor acceleration and deceleration are similar to the programmed acceleration and deceleration values of the profile This selection allows to get a faster positioning for small displacements however a position loop overshoot may occur Enable speed limitation when this command is selected the sequence speed values can be reduced according to the PNU 714 value in the Profibus operation mode or the analog input voltage value on the X2 connector as shown below The speed reduction is also applied for manual movements Positioning and Jog Positioning sequence gseq Programmed speed Speed Limited speed Time Enable speed modulation when this command is selected the programmed speed can be modified on the fly during the sequence execution for a positioning sequence ABSOLUTE or RELATIVE For the other sequences the programmed speed is limited during the whole sequence execution according to the limitation value at the sequence start Enable analog input when this command is selected the sequence speed value is reduced according to the analog input voltage value on the X2 connector The PNU 714 value is not considered Ana
37. d on manual movements Positioning and Jog This functionality can be enabled or disabled by the selection of the Enable speed limitation command For the positioning sequences ABSOLUTE or RELATIVE the programmed speed can be continuously modified during the sequence execution according to the limitation value if Enable speed modulation is selected For the HOME SPEED and TORQUE sequences the programmed speed is limited over the whole sequence execution according to the limitation value at the sequence start When Enable analog input is selected the limitation is provided by the analog input voltage value If Enable analog input command is not selected the limitation is provided by the PNU 714 value in PROFIBUS operation mode The speed reduction can be proportional or inversely proportional to the analog input voltage value according to the Analog input reversal command Note The analog input must be selected by jumpers located on the amplifier connector board see CD1 pm Installation Guide chapter 3 X2 connector Chapter 4 Programmation 37 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 5 PROFIBUS communication For the commissioning of the PROFIBUS communication please see manual CD1pm PROFIBUS Communication Profile 38 Chapter 5 Profibus Communication CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 6 Troubleshooting 1 DIAGNOSTICS A fault dia
38. dress is saved into a non volatile memory EEPROM This EEPROM can be modified via Profibus message Set_Slave_Add by a Profibus master of class 2 The new address will be automatically saved 1 2 PROFIBUS MODE WITH HARDWARE ADDRESSING This mode is activated by the 01 to 7D micro switches selections Profibus address valid for one slave 3 to 125 In this mode the drive address is defined by the micro switches status and not by the serial link or by Profibus The address modification via Profibus is still possible but the address taken into account at the next power up is always the one defined by the selection micro switches 1 3 STAND ALONE MODE This mode is activated for the 7E and 7F combinations of the selection micro switches 7E combination corresponds to the stand alone mode with VT 100 The 7F combination corresponds to the stand alone mode without VT100 In this mode the Profibus is not used The positioner operation is managed by the inputs START STOP IN1 to IN6 as well as by the outputs SEQ POS SPEED OUT1 to OUT4 The ENABLE input enables disables the positioner The positioner cannot be enabled disabled via the serial link RS 232 or by the Profibus Consequently the positioner adjustment phase autophasing autotuning cogging torque acquisition must not be made in stand alone mode In stand alone mode the brake delay time with regard to the enabling disabling is not possible either Chapter 1 Gene
39. e parameter value When the output position is reached the motor is stopped according to the deceleration parameter value If the deceleration parameter value is set at 0 the next sequence is immediately executed Master speed Motor speed Master speed x Gearing ratio x Gearing ratio factor 96 100 gt YAN Acceleration Master slave synchronisation Deceleration The acceleration and deceleration times parameters define the time with regard to the Maximum Speed parameter value as in a positioning sequence or a homing sequence When the distance value is set at 0 the stop condition can be used for stopping the sequence 3 6 SEQUENCES CHAINING 3 6 1 COUNTER LOOP The sequences linkage is controlled by the Next sequence Counter and Jump parameters Application example Sequence 1 Next sequence 2 Counter 0 Jump 1 Sequence 2 Next sequence 3 Counter 2 Jump 1 Sequence 3 Next sequence 1 Counter 0 Jump 1 Note Next 1 or Jump 1 corresponds to an empty field in the PC software 34 Chapter 4 Programmation CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL If the execution is starting at sequence 1 the programme will be the following Sequence 1 Start of sequence 1 then connection to sequence 2 parameter Next sequence Sequence 2 First execution of sequence 2 then connection to sequence 1 parameter Jump Sequence 1 Ex
40. e with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced Execution of a sequence Instruction GO Parameters 1st parameter sequence number Conditions This instruction can be sent only if no sequence is executed Enable signal is activated Stop inputs are not activated The sequence must exist Note This instruction executes a sequence with parameter as sequence number regardless of the logic inputs status Position feedback Instruction PF Parameters none Conditions Read only Note This instruction reads the motor position Unit See modify position of a sequence Inputs Outputs status Instruction lO Parameters None Conditions Read only Notes This instruction reads the logic inputs and outputs status bit meaning 0 START 1 STOP 8 SEQ 9 POS 10 SPEED 16 IN1 17 IN2 18 IN3 19 IN4 20 INS 21 IN6 22 IN7 23 IN8 24 OUT1 25 OUT2 26 OUT3 27 OUT4 28 OUT5 29 OUT6 30 OUT7 31 OUTS8 Bit SEQ indicates that the positioner is running a sequence A sequence can be executed when bit STOP is not activated equal to 0 and also if the security of the first sequence HOME is disabled Appendix 49 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Absolute move Instruction MP Parameters absolute position Conditions Enable and Run signals are activated
41. ecution of sequence 1 then connection to sequence 2 parameter Next sequence Sequence 2 Second execution of sequence 2 then connection to sequence 3 parameter Next sequence Sequence 3 Execution of sequence 3 then end of the programme 3 6 2 CONDITIONAL JUMP The conditional jump is controlled by using the Start condition and the Next sequence Counter and Jump parameters Application example Sequence 1 Next sequence 2 Counter 0 Jump 1 Sequence 2 Next sequence 3 Counter 0 Jump 4 Start condition Logic input 8 activated Sequence 3 Next sequence 1 Counter 0 Jump 1 Sequence 4 Next sequence 1 Counter 0 Jump 1 Note Next 1 or Jump 1 correspond to an empty field in the PC software If the execution is starting at sequence 1 and logic input 8 is activated the programme will be the following Sequence 1 Start of sequence 1 then connection to sequence 2 UN parameter Next sequence Sequence 2 Execution of sequence 2 then connection to sequence 3 start condition valid parameter Next sequence Sequence 3 Execution of sequence then end of the programme If the execution is starting at sequence 1 logic input 8 is desactivated the programme will be the following Start of sequence 1 then connection to sequence 2 parameter Next sequence No execution
42. ed on the digital oscilloscope by selecting the Pt signal in the Channel menu The threshold values of the 12 signal for the protection mode described above are calculated as follows Triggering threshold of the Idyn signal Rated current 70 Current limitation threshold Rated current 50 Rated current 100 x Rated current amplifier current rating A The corresponding RMS current value of the amplifier can be calculated as follows Amplifier RMS current A t signal value 96 x 5012 amplifier current rating 100 14 Chapter 2 Commissioning CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 7 7 2 CURRENT LIMITATION IN Limiting MODE When the amplifier output RMS current 12 reaches 85 of the rated current the red amplifier front panel LED ERROR is blinking When the RMS current 12 drops below 85 of the rated current the blinking is inhibited When the amplifier output RMS current 12 reaches the rated current value the Ft protection limits the amplifier output current at this value Diagram of the amplifier output current limitation in an extreme case motor overload or shaft locked Amplifier output current t1 Blinking t2 Current limitation Max current Rated current The maximum current duration before release of the blinking display t1 t0 and before limitation at the rated current t2 10 is calculated the same way
43. ed position has always got the same value when the R reference signal is activated no position measurement drift When the encoder counting protection has been disabled the amplifier is only checking that the encoder pulses frequency is lower than 1 5 times the maximum encoder frequency The maximum encoder frequency is calculated into the amplifier according to the Motor encoder resolution parameter value and the Maximum speed parameter value In this case encoder pulse noise at a frequency lower than 1 5 times the maximum encoder frequency may involve uncontrolled motor movements that may be dangerous for operator and machine Note In the Sin Cos encoder without HES configuration the motor Phasing procedure must be executed again after a Counting fault release 2 3 9 HES FAULT For the Incremental encoder amp HES configuration Check that the HES are correctly wired the amplifier connector with 60 type HES you must check the various wiring combinations to find the right wiring order Check for the correct HES supply voltage value Check for the correct Motor encoder resolution parameter value Check that the HES amplifier motor ground connections and shield answer the requirements of chapter 4 of the CD1 pm Installation Guide For the Absolute single turn Sin Cos encoder configuration Check that the Sin Cos encoder commutation channels are correctly wired on the amplifier connector Check for the
44. eed mode and move the axis by means of the speed input command until a stall position where one motor revolution is not dangerous for operator and machine far enough from the mechanical stops Execute then the Autotuning procedure with the motor at standstill If the axis is moving the Autotunig procedure is not accepted by the amplifier Select the Position mode and set the Feedforward speed 1 gain value at 1 in order to avoid a high following error value 9 ROTATION COUNTING DIRECTION The counting direction can be reversed by selecting the Reverse movement in the Visual Drive Setup parametrization software 10 PARAMETER SAVING When all adjustments have been made the parameters may have to be stored in a non volatile EEPROM the amplifier must be disabled 11 MOTOR PHASING AT POWER ON In the Incremental encoder configuration without HES the motor Phasing procedure is executed according to the following diagram at each amplifier power up standalone mode AOK Power On ENABLE ao Oa Start up Power on Phasing Ready for running End start up Start phasing End phasing In the Profibus mode the phasing procedure must be started by the master controller PNU 896 In the Software control mode via the serial link the phasing procedure must be started by the Motor phasing command in the VDSetup window In the case of an axis with unbalanced load constant torque due to the gravity effect on a ver
45. eeu eux pr d bb or v a ne 15 8 1 REGULATOR PARAMETERS etr pao oo enr naso npe Peg EE ER pea RA ERR kaka a aa Pes MES aA aA Aaaa aa aa aa 15 8 2 LOOP ADJUSTMENT WITH A VERTICAL 16 9 ROTATION 7 COUNTING DIBREQT QN ipsu ai rh da e ER E E evi Ya eus d k 16 10 PARAMETER SAVING kaka aa 16 11 MOTOR PHASING AT POWER ON kaka kaka kaka kk 16 12 INCREMENTAL ENCODER OUTPUTS 4a kk aranana nananana nananana A KAKA AKA gai 17 13 POSITION LOOP SETUP 02020212000000000000 17 14 APPLICATIONS WITH THE SECOND SENSOR INPUT 18 14 1 SECOND POSITION SENSOR FEEDBACK 18 14 2 ELECTRONIC GEARING 19 15 COGGING TORQUE COMPENSATION 8 20 CHAPTER 3 FUNGTIONALITIES Cra FEX REE naa ka kaka awa lk a Wl bl h ah dk ra aw Bka aa 22 1 BESCRIPTION OF THE LOGIC EOS Ankara dana kirana kk ne dibe Rana kiw 22 A OE TIP EE 22 Bo EE 22 2 LIMIT SWITCHES ADJUSTMENT xxx aa 2 ac ass aca spur ania p Eva ak a a kk ere cu Da WW WARA crie A Ris 23 2 BRAKE CONTRO
46. efines 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 rotate with the required operation cycles and measure the maximum following error threshold either by means of the oscilloscope of the parametrization software 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 164 The threshold is set at 246 margin 50 Note In the PC parametrization software if the number of decimals is set at 3 the value that must be entered is 0 246 Following error detection mode defines the mode of operation of the axis following error protection When Absolute is selected the following error protection is operating as described below Following error threshold Position following Measured error position error Comparator Absolute value The measured position error value is continuously compared with the the following error threshold parameter value When the measured position error is exceeding the following error threshold the position following error is released This configuration is used for applications requiring the smallest possible following
47. equipped with a position sensor The CD1 pm servo drive is available as a stand alone single axis block that includes all supplies and mains filter It is available in both mains operated versions 230 VAC and 400 480 VAC The CD1 pm positioner generates itself the positioning trajectory and is suited for axis positioning applications Up to 128 control sequences including axis homing absolute or relative displacement speed profile running electronic gearing and torque regulation can be programmed and combined in order to solve various applications The sequence chaining capability allows to define macro sequences for complex applications several control sequences can be linked together in order to be automatically executed one after the other The control sequences are pre programmed So the application programmation simply consists in initializing the sequences parameters with the desired values A control sequence can then be selected by using the programmable logic inputs and its execution is started by using the START logic input The CD1 pm positioner can operate in stand alone mode or in connection with a host controller PROFIBUS mode The selection of the various operation modes is made by means of micro switches accessible by the operator 1 1 PROFIBUS MODE WITH SOFTWARE ADDRESSING This mode is activated by the 00 micro switches selection This operation mode is fully compliant with the CD1 p positioner The positioner Profibus ad
48. error When Relative to dynamic model is selected the following error protection is operating as described below Following Theoretical error Position Position loop model position error threshold Position following reference gt Iro Comparator Absolute Measured value position error The measured position error value is continuously compared with the theoretical position error given by the position loop model When the difference is exceeding the following error threshold the position following error is released this configuration when the position servo loop is adjusted to get the motor position continuously lagging the reference position applications for positioning without overshoot and with a large following error value any small anomaly in the actuator behaviour can be detected Software position limits and this function is only active if the HOME sequence has been previously executed When the motor passes the software limit position value it is stopped with a controlled braking The deceleration ramp value is given by the jog deceleration time 26 Chapter 4 Programmation CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 3 MANUAL MOVEMENTS There are 2 types of manual motion manual positioning moving of the motor until a given position via the serial link manual jog continuous movement when the JOG command is activated JOG for a movement in the positive dire
49. fault Appendix 53
50. gnostic can be made visually front panel LED display by serial link clear fault display by the PC parametrization software by Profibus link error code reading At an error triggering the positioner is disabled 1 1 CD1 pm FAULT LEDs Six display LEDs are available on the CD1 pm front panel green ON sys yellow red ERROR AP red green BUS O BUSY yellow 1 2 FAULT RESET The reset of a stored fault can be made via the fault RESET input of X4 pin 8 via the serial link by the control issued from Profibus by switching off the positioner power supply 2 FAULT FINDING 2 1 SYSTEM FAULT If the SYS LED is lit at power on the logic board is defective e Check that the BUS BUSY AP and ERROR leds are synchronously blinking In this case load the amplifier firmware via the serial link by means of the CD1updater software e 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 positioner commissioning Check that the power supply is on 2 3 STORED FAULTS If a fault occurs on the positioner it can generate the detection of several other faults which are only a consequence of the
51. handling or wrong descriptions of the ordered items Any intervention on the items which is not specified in the manual will immediately cancel the warranty Infranor reserves the right to change any information contained in this manual without notice INFRANOR July 2007 All rights reserved Edition 3 2 CD1 pm User manual 3 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Windows is a registered trade mark of MICROSOFT CORPORATION STEP7 is a registered trade mark of SIEMENS 4 CD1 pm User manual CD1 pm User manual CINFRANOR Contents PAGE CONTENTS otiose ud Ric si E Umi OR ee ee 5 CHAPTER 1 GENERAL DESCRIPTION W u Xu u d u scc eee rer aka akakakakakakan nun kaka ER eR RR ER ER ER RR RR RR ER RR RERO NEN 7 T INTRODUCTION bee awaya 7 1 1 PROFIBUS MODE WITH SOFTWARE ADDRESSING 7 1 2 PROFIBUS MODE WITH HARDWARE ADDRESSING 7 1 3 STANDALONE MOLIS eter s yana kawa salk ban E E aka a Ee x S HER RR ER aa dh ER E 7 2 ARCHITECTURE OF POSITIONER a alika a 8 3 OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING 8 CHAPTER 2 COMMISSIONING ak ERA
52. he 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 Positioner with position loop and trajectory generator that allows positioning Generates a speed 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 positioner and the servo loops are operating When disabled its rotation is free and there is no current in the motor 3 OTHER DOCUMENTS REQUIRED FOR THE COMMISSIONING CD1 pm Profibus positioner Installation Manual CD1 pm Profibus Communication Profile Chapter 1 General description CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 2 Commissioning WARNING During the machine adjustments some drive connection or parametrization errors may involve dangerous axis movements It is the user s responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the operator s presence in the concerned area 1
53. ilable in the CD1 amplifier range allows to cancel the motor cogging effects for specific applications where torque accuracy or force accuracy higher than 1 is required CD1 amplifiers must be factory set for getting the cogging compensation option reference CD1pm U I CT Check for the presence of the cogging compensation option CT CD1 in the VDSetup Hardware option menu In this case the Cogging torque compensation menu can be selected in the Servo loop module VAN For a brushless motor equipped with an incremental encoder the Cogging torque compensation is only available if the encoder is providing one marker pulse per motor revolution The cogging torque acquisition procedure is started by means of the Start button The motor must be uncoupled from its load and the shaft must not be disturbed during the procedure Before starting the acquisition switch the drive on manual mode and then disable it Drive control Off Then start the Auto tuning procedure with following selections Regulator Filter Max stiffness and Bandwidth High At the end of the cogging torque acquisition procedure the amplifier parameter file PAR can be uploaded again in order to recover the initial adjustments 20 Chapter 2 Commissioning CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL The Enable cogging torque compensation function allows the commissioning of the motor cogging torque compensation This function is saved in
54. ilter type Proportional speed gain KP2 defines the proportional gain of the controller which acts on the speed error Its value is calculated by the amplifier during the auto tuning procedure It can then be modified by the user if required Integral speed gain KI defines the integral gain of the controller which acts on the speed error Its value is calculated by the amplifier during the auto tuning procedure It can then be modified by the user if required Damping gain KC defines the proportional gain of the controller which acts only on the speed feedback Its value is calculated by the amplifier during the auto tuning procedure It can then be modified by the user if required Proportional position gain KP1 defines the proportional gain of the controller which acts on the position error Its value is calculated by the amplifier during the auto tuning procedure It can then be modified by the user if required Feedforward speed 1 gain KF1 defines the feedforward speed amplitude corresponding to the speed input command This term allows to reduce the following error during the motor acceleration and deceleration phases Its value is set at 1 after the auto tuning procedure if a following error as small as possible is required It can then be modified by the user if required Feedforward speed 2 gain KF2 defines the feedforward speed amplitude corresponding to the viscous frictions This term allows to reduce the viscous friction
55. ing sequence If this function is not enabled the POS output is activated at the end of the position trajectory regardless of the real position value Digital CAM when activated this function activates the logic output OUT1 when the motor passes an area defined by positions P1 and P2 OUT1 output Motor position Position P1 Position P2 2 8 SECOND SENSOR Position scaling factor numerator denominator this parameter allows to modify the position resolution value on the second sensor input for electronic gearing or second sensor feedback applications Reverse position when selected this command allows to reverse the counting direction on the second sensor input Pulse interpolation this command is selected when the second sensor is a SinCos encoder type 2 9 PROFIBUS COMMUNICATION Address defines the software address 1 to 125 for the Profibus software adressing operation mode This address is valid at the positioner power up only if all DIP micro switches are on position OFF 3 EDITION OF A SEQUENCE Parameters of a sequence Type Defines the motion type ABSOLUTE absolute positioning RELATIVE relative positioning GEARING electronic gearing HOME axis homing SPEED speed profile TORQUE torque control Position Position to be reached for an ABSOLUTE or RELATIVE positioning sequence For a HOME sequence this parameter indicates the value to be loaded in the position counter when the home position i
56. l number and Unit mm Chapter 2 Commissioning 19 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Set at 0 the value of the Position deadband parameter This parameter is only useful in applications with high transmission backlashes or applications with high axis frictions In those cases when the position error value at standstill is lower than the value of the Position deadband parameter the proportional gain of the position loop is set at 0 Open the Second Sensor window accessible in the Positioner Application Setup menu Adjust the Position scaling factor numerator denominator according to the desired gearing ratio as described below For an electronic gearing application with an encoder sensor type on the master axis Gearing ratio Gearing numerator Gearing denominator Motor shaft speed Master encoder shaft speed Position scaling factor Numerator Position resolution parameter value x Gearing numerator Position scaling factor Denominator 4 x master encoder resolution x Gearing denominator For an electronic gearing application with a resolver sensor type on the master axis Gearing ratio Gearing numerator Gearing denominator Motor shaft speed Master resolver shaft speed Position scaling factor Numerator Position resolution parameter value x Gearing numerator Position scaling factor Denominator 65536 x Gearing denominator REMARK VAN If the ca
57. lculated Numerator and Denominator values exceed the parameters max value 65535 they must be scaled in order to get the same ratio Numerator Denominator or to be as close as possible to the theoretical value scaled Numerator scaled Denominator calculated Numerator calculated Denominator When the second position sensor is a SinCos encoder type select Pulse interpolation Enable the amplifier and select Enable gearing in the Software control window Check that the slave axis actually follows the displacement of the master axis with the correct reduction ratio If the motion direction is not correct select the Reverse position command in the Second sensor window If there is a loud noise in the motor during the axis motion set at 0 the Feedforward acceleration gain If using a SinCos master encoder check also that the Pulse interpolation command is enabled in the Second sensor window 15 COGGING TORQUE COMPENSATION The cogging torque in brushless permanent magnet rotary motors or the cogging force in brushless permanent magnet linear motors results from the interaction between the rotor magnets and the stator slots This disturbance is due to the difference of reluctance between the copper of the windings and the iron of the stator teeth For a given motor the cogging can be easily evaluated by simply moving the motor manually when the amplifier is disabled The Cogging compensation option ava
58. lifier connector X3 Note In the Incremental encoder without HES configuration the motor Phasing procedure must be carried out again after an Encoder fault release 2 3 8 COUNTING FAULT Check the marker pulse connection on the amplifier connector X3 If the motor encoder does not provide a marker pulse channel output the amplifier marker pulse channel must be disabled in order to cancel the Counting fault The amplifier marker pulse channel can be disabled by means of the parameter Zero mark pitch set at 0 more active In this case encoder pulse noise may involve uncontrolled motor movements that may be When the amplifier marker pulse channel has been disabled the encoder counting protection is no dangerous for operator and machine Chapter 6 Troubleshooting 41 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL For the TTL incremental encoder configuration Check for the correct encoder supply voltage value Check for the correct encoder amplifier motor ground and shield connections with regard to the recommendations in chapter 4 of the CD1 pm Installation Guide Check for the correct encoder A channel B channel and Z marker signal waveforms Forward direction Reverse direction Check that the following conditions are answered for taking into account the maximum value of the encoder pulse frequency at the maximum motor speed value Max motor speed rpm lt 60 x 10 Number of encoder pulses per
59. log input reversal when this command is selected there is no limitation for 0 Volt on the analog input and full limitation for 10 Volts When this command is not selected full limitation is for 0 Volt Note 1 The cut off frequency value for the low pass filter on the analog input is defined by the parameter Analog Input low pass filter in the Controller parameters window Note 2 The analog input must be selected by jumpers located on the amplifier connector board see CD1 pm Installation Guide chapter 3 X2 connector 2 6 POSITION MODULO CLR input enable when activated ticked off it allows to use the INDEX input for re initializing the position counter at the inactive active transition of this signal the Clear position parameter value will be loaded in the position counter Reset counter Modulo this function allows to reset the position counter when it reaches a pre defined value If the value is set at 0 this function is not activated Forward when the Reset counter Modulo function is activated if Forward is selected ticked off the motor only runs in the positive direction for an absolute displacement lower than the value of the Reset counter parameter When the Reset counter Modulo function is activated if Forward is not selected not ticked off for an absolute displacement lower than the value of the Reset counter parameter the motor follows the shortest way whichever the motor rotation direction 2 7 POSITION
60. lution ppr 512 to 16384 512 to 8192 512 to 4096 512 to 2048 512 to 1024 The resolution value defined in the Output encoder resolution parameter can be divided by 2 4 or 8 by selecting the Resolution division ratio parameter The Output encoder deadband parameter introduces a deadband at standstill around the current resolver position in order to avoid oscillations of 1 encoder edge on channels A and B The value of 4095 corresponds to 1 16 revolution of the motor shaft The Zero pulse origin shift parameter allows the shifting of the marker pulse position on channel Z with regard to the resolver zero position The value 32767 corresponds to one revolution of the motor shaft The marker pulse width is equal to of the A and B channels period 13 POSITION LOOP SETUP The servo motor position loop can be closed by the motor feedback sensor or with the second position sensor mounted on the load In the case of the second position sensor feedback please see section 14 1 of this chapter Open the Position scaling parameters window accessible in the Positioner Application Setup menu Check that Enable second sensor feedback is not selected in order to use the motor position sensor resolver or encoder for feedback Set the Position resolution parameter according to the desired position scaling of the load in order to display the position in the load units as described below Position resolution number of desired l
61. mber 2nd parameter speed If there is no 2nd parameter the amplifier will return the actual speed of the sequence 1st parameter Conditions This instruction can be sent only if no sequence is executed The sequence must exist The minimum speed is 2 rpm Unit rpm Modify acceleration of a sequence Instruction UA Parameters 1st parameter sequence number 2nd parameter acceleration time If there is no 2nd parameter the amplifier will return the actual acceleration time of the sequence 1st parameter Conditions This instruction can be sent only if no sequence is executed The sequence must exist Unit Millisecond Range 16 ms 16000 ms Note The parameters acceleration time and deceleration time define the time with regard to the maximum speed parameter value When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally reduced 48 Appendix CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Modify deceleration of a sequence Instruction UD Parameters 1st parameter sequence number 2nd parameter deceleration time If there is no 2nd parameter the amplifier will return the actual deceleration time of the sequence 1st parameter Conditions This instruction can be sent only if no sequence is executed The sequence must exist Unit Millisecond Range 16 ms 16000 ms Note The parameters acceleration time and deceleration time define the tim
62. mplifier front panel LED ERROR is blinking If the RMS current Ft has not dropped below 85 of the rated current within 1 second the Pt error is released and the amplifier disabled otherwise the blinking is inhibited When the amplifier output RMS current 12 reaches the rated current value the Pt limits the amplifier output current at this value Diagram of the amplifier output current limitation in an extreme case motor overload or shaft locked Amplifier output current t1 Blinking Max current t2 Current limitation t3 Pt error Rated current l i 1 second The maximum current duration before release of the blinking display is depending on the value of the parameters Rated current and Max current This value is calculated as follows T ayn second t to 3 3 x rated current max current maximum current duration before limitation at the rated current is also depending the value of the Rated current and Maximum current parameters This value is calculated as follows T max Second 6 0 4 x rated current A max current A NOTE 1 When the Max current Rated current ratio is close to 1 the Tdyn and Tmax values given by the formula above are quite below the real values But this formula remains very precise as long as the Max current Rated current ratio is higher than 3 2 NOTE 2 The amplifier 121 signal can be display
63. n the bus is not running In this case the address will be automatically saved in the positioner EEPROM and will be operational at the bus starting The identity number of the CD1 pm positioners under Profibus is 0x00C7 4 2 PROFIBUS HARDWARE ADDRESSING In this operation mode the CD1 pm address 1 to 125 is selected by means of the DIP micro switches 1 to 7 DIP micro switches 1 is the LSB and DIP micro switches 7 is the MSB The selected hardware address is operational at the CD1 pm amplifier power on regardless of the software address saved in the EEPROM The CD1 pm address can be modified by a 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 positioner EEPROM However at the next CD1 pm power on the selected hardware address is still operational The identity number of the CD1 pm positioners under Profibus is 0x00C7 24 Chapter 3 Functionalities CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 4 Programmation 1 GENERAL DESCRIPTION The CD1 pm amplifiers can get up to 128 pre programmed sequences Each sequence can be either a homing sequence HOME or an absolute positioning sequence ABSOLUTE or an incremental positioning sequence RELATIVE or an electronic gearing sequence GEARING or a speed profile sequence SPEED or a torque control sequence TORQUE The cont
64. nce be left by a stop condition The Acceleration time parameter is the real acceleration time value and not an acceleration ramp with regard to the Maximum speed value as it is in a positioning sequence or a homing sequence The Hold triggering condition allows the outputs activation when the current limit is reached Chapter 4 Programmation 33 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 5 GEARING SEQUENCE A gearing sequence is defined by the gearing distance the gearing ratio factor the gearing direction the acceleration time the deceleration time At the start of the sequence the motor speed is ramping according to the acceleration parameter value When the motor speed value reaches the second sensor velocity the motor position is locked in phase and frequency with the second sensor position according to the gearing ratio value The Gearing ratio is defined by the Position resolution and the Position scaling factor parameter values see chapter 2 Commissioning section 14 2 During the sequence execution this value is multiplied by the sequence gearing ratio factor The Reverse gearing selection allows to reverse the motor displacement direction with regard to the second sensor displacement The servo motor slave is following the second sensor position master up to the output position value The output position value is equal to the gearing sequence start position the distanc
65. oad 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 If after power on the operator wants to start a positioning sequence whereas sequence 0 is a homing sequence that is not yet executed A start condition has been defined for this sequence and is not fulfilled One or two limit switches are activated 4 SERVICE AND MAINTENANCE When exchanging a positioner on a machine proceed as follows e Check that the new positioner has got the same voltage and current ratings as well as the same hardware configuration as the one to be replaced e Reload and save the parameters and the sequences of the old amplifier via the serial link or the PROFIBUS interface The new positioner is now ready for operation Chapter 6 Troubleshooting 45 CD1 pm User manual INFRANOR SERVO DRIVES amp MOTION CONTROL Appendix 1 SERVO CONTROLLER STRUCTURE KF1 s Position reference T Idc Q FOH Deo s 5 Speed Position Speed error low pass filter Fev defines the cut off frequency at 3dB of the first order filter which acts on the current command Idc This value is calculated by the amplifier during the auto tuning procedure and depends on the selected bandwidth and the selected f
66. oad position increments for one motor revolution Chapter 2 Commissioning 17 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Ex one motor revolution 3 302 mm on the load if the load position must be displayed in mm with a resolution of 1pm Choose Position resolution 3302 Decimal number and Unit mm The servo loop stability is not affected by the Position Resolution parameter value Set at 0 the value of the Position deadband parameter This parameter is only useful in applications with high transmission backlashes or applications with high axis frictions In those cases when the position error value at standstill is lower than the value of the Position deadband parameter the proportional gain of the position loop is set at 0 14 APPLICATIONS WITH THE SECOND SENSOR INPUT The CD1 pm amplifier has got 2 position sensor inputs one for a resolver and another for an encoder The position sensor input which is not used for the motor position feedback encoder or resolver is called Second Position Sensor input The Second Position Sensor input can be used for closing the drive position loop if a position sensor is mounted on the motor load The Second Position Sensor input can also be used for an electronic gearing application 14 1 SECOND POSITION SENSOR FEEDBACK Trajectory generator Position Current loop loop feedback Resolver sensor feedback for the motor and TTL incremental encode
67. of sequence 2 connection to sequence 4 start condition not valid and parameter Jump Sequence 4 Execution of sequence 4 then end of the programme Chapter 4 Programmation 35 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 7 PROGRAMMABLE 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 0 reverse the output toggle Triggering The outputs triggering moment can be defined during a motion according to one of the 5 different ways described below BEGIN logic SPEED logic POS logic HOLD logic END logic output output at output when output when the output when at sequence end sequence speed is motor passes reaching the beginning reached the triggering target position position end of the trajectory Mm gt In a homing sequence the outputs only trigger at the end of the sequence In a speed sequence the HOLD and POS triggerings are not possible In a torque sequence the POS triggering is not possible The outputs can be configured as pulse outputs with a preset duration This function only concerns the outputs set at 1 or toggle Triggering position Defines the position where the logic output must be triggered when it is programmed in POS triggering 36 Chapter 4 Programmation CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 8 PROGRAMMABLE
68. opping ifthe 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 Reminder The limit switches are wired as normally closed Chapter 3 Functionalities 23 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 BRAKE CONTROL e The CD1 pm positioner is equipped with a brake control made by transistor e The brake control is activated relay open or disabled relay closed according to the positioner status disabled or enabled as shown below Enable comma 1 7 zc EE Motor enabled eke Brake OFF delay gt Brake control 220222222 Brake ON delay output 4 PROFIBUS ADDRESS 4 1 PROFIBUS SOFTWARE ADDRESSING This operation mode is selected with all the DIP micro switches on position OFF Each positioner of the network is identified by one single address 1 to 125 The positioner is delivered with the default software address 126 which is not an operational address This address must be modified before putting the bus into operation The CD1 pm software address can be modified by the serial RS 232 link PC parametrization software The new address must be saved in the EEPROM and the positioner must be switched on again in order to get the new address operational or by a Profibus class 2 master device The address modification is only possible whe
69. or over one revolution If the HES error is displayed switch off the amplifier and check the following points before switching it on again The commutation channels of the Sin Cos encoder must be correctly wired on the amplifier connector Check for the correct supply voltage of the Sin Cos encoder Check for the correct value of the Motor encoder resolution parameter Perform the Save parameters to EEPROM procedure before switching off the amplifier in order to save the sensor configuration Chapter 2 Commissioning 11 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 7 2 SELECTION OF THE MOTOR TYPE THE MOTOR USED IN THE APPLICATION IS CONTAINED IN THE MOTOR LIST OF THE PARAMETRIZATION SOFTWARE Select in the motor list the motor used in the application The motor selection will start the automatic calculation of the current loop parameters Check that the values of the parameters Max current and Rated current are compliant with motor and amplifier If necessary modify them according to the motor and amplifier specifications The parameter Max current defines the maximum output current value of the amplifier It may vary between 20 and 100 of the amplifier current rating The parameter Rated current defines the limitation threshold of the amplifier output RMS current Pt It can vary between 20 and 50 of the amplifier current rating If the Incremental encoder without HES sensor configur
70. plifiers Please see our website www infranor fr for downloading the Visual Drive Setup software 3 CHECKING THE POSITIONER HARDWARE CONFIGURATION The standard amplifier configuration is adjusted to MAVILOR motors resolver sensor with transformation ratio 0 5 For the adjustment to other motor types please see CD1 pm Installation Guide 4 SELECTION OF THE OPERATION MODE A DIP micro switch accessible by the operator allows the selection of the various operation modes 7654321 Switch 7 MSB Operation mode Note Switch 1 LSB This mode is compliant with the CD1 p drive X0000000 00 Profibus software addressing Drive address is stored into the EEPROM Profibus mode with hardware addressing via X0000001 01 to X1111101 7D Profibus hardware addressing DIP switch Drive used in Positioner mode via inputs X1111111 7F Stand alone Mode without VT100 START STOP IN1 to IN6 Drive used in Positioner mode via inputs X1111110 7E Stand alone Mode with VT100 START STOP IN1 to ING Possible use of a VT100 terminal X Cursor unused Remark The positioner automatic procedure for the commissioning phase autophasing autotuning cogging torque acquisition cannot be started in the stand alone operation mode 5 COMMISSIONING Please see manual CD1 pm Installation Guide before switching on the amplifier for the first time For switching on the amplifier please proceed as follows
71. que of a given sequence in the same way MODIFY SPEED MODIFY TORQUE Sequence 1 Sequence 1 Speed 1000 Torque 10 Speed _ Torque _ The previous sequence modifications can be saved in the positioner memory as follows SAVE SEQUENCE 1 YES 2 52 Appendix CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 2 4 EXECUTION OF A SEQUENCE When the positioner is not executing any sequence and when the ENABLE signal is activated the operator can enter the number of a sequence to be executed RUN SEQUENCE Sequence _ 3 2 5 MOTION When the positioner is not executing any sequence and when the ENABLE signal is activated the operator can enter a position to be reached MOVEMENT POS _ 3 3 FAULT DISPLAY Error code Fault description 1 EEPROM parameters checksum 2 EEPROM sequences checksum 3 EEPROM sequences writing 4 Homing time out 5 EEPROM cogging checksum 6 EEPROM parameters writing 10 Pt 11 Position counting 12 Position following error 13 Bus error 14 Busy procedure error 20 Power overvoltage 21 24 Vdc out of range 22 Phase earth short circuit 23 Braking resistor 24 Fan 25 Holding brake 28 Hall effect sensors Com channel 30 IGBT 32 Position sensor 33 Motor overtemperature 35 Power voltage initialisation only for 400V range 38 Current sensor offset 39 Overcurrent 40 Undervoltage 50 Non coded
72. r for the second sensor is the default configuration Select the required position sensor configuration in the Resolver amp encoder Input configuration window accessible in the Setup menu Open the Position scaling parameters window accessible in the Positioner Application Setup menu Select Enable second sensor feedback to use the second position sensor encoder or resolver for closing the drive position loop When this command is not selected the drive position loop is using the motor position sensor resolver or encoder for feedback Set the Position resolution parameter according to the desired position scaling of the load in order to display the position in the load units as described below Position resolution number of desired load position increments for one motor shaft revolution Enter the desired Decimal number and the Unit for the position display Ex one motor revolution 3 302 mm on the load if the load position must be displayed in mm with a resolution of 1pm choose Position resolution 3302 Decimal number and Unit mm Remark In the second sensor feedback configuration the servo loop stability is affected by a wrong Position resolution parameter value Set at 0 the value of the Position deadband parameter This parameter is only useful in applications with high transmission backlashes or applications with high axis frictions In those cases when the position error value at standstill i
73. ral description 7 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 ARCHITECTURE OF A POSITIONER Sequence Logic 1 05 selection Profibus DP interface Electric motor Motor Brushless or synchronous motor Resolver Encoder Amplifier Servo drive Current loop Current regulator Speed loop Speed regulator Position loop Position regulator Positioner Trajectory generator Fieldbus Profibus Enabled disabled Servo On Off Trajectory generator Position loop Current Current feedback Position feedback Speed feedback Position sensor Electric device that transforms electrical energy into a mechanical movement This transformation is often made by means of a 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 together with brushless motors because of its robustness Incremental or absolute position sensor The encoder is used together with brushless motors for its accuracy Electric device for the control of electric motors It also includes a current regulator a speed servo control and a position servo control Used for t
74. rol sequences can be automatically linked up as soon as a sequence is over another one can be executed This allows to easily solve complex axis control applications by chaining several basic control sequences The CD1 pm amplifiers have got 8 programmable logic outputs triggering at the sequences execution and 8 programmable logic inputs allowing to control a sequence start or stop The logic inputs 1 to 6 are accessible on the X2 connector while the logic inputs 7 and 8 are virtual and can only be activated via PROFIBUS The logic outputs 1 to 4 are connected on the X2 connector while the logic outputs 5 to 8 are virtual and can only be read via PROFIBUS The programmation consists in initializing the sequence parameters with the desired values A control sequence can then be selected by using the programmable logic inputs activation and its execution is started by using the START logic input Any sequence execution can be stopped by using the STOP logic input In the Profibus operation mode the positioner logic inputs START STOP IN1 to IN6 can be activated either via the PROFIBUS or by using the hardware inputs on the X2 connector The inputs source configuration is saved in the amplifier EEPROM In the Profibus operation mode all logic outputs SEQ POS SPEED OUT1 to OUT8 can be read via PROFIBUS 2 POSITIONER CONFIGURATION 2 1 POSITION SCALING Position resolution defines the number of position increments for one motor re
75. s found When the Position resolution parameter is modified all position values in the sequences are no more valid Distance Axis travel distance for a GEARING sequence This parameter is giving the output position of the gearing sequence The gearing sequence output position gearing sequence start position distance parameter value When the gearing sequence output position is reached the motor is stopped according to the deceleration parameter value If this parameter value is set at 0 then a sequence stop condition can be used for leaving the gearing sequence When the Position resolution parameter is modified all distance values in the sequences are not valid anymore Chapter 4 Programmation 29 CD1 pm User manual Speed Ratio Torque Acceleration Deceleration Delay Time TimeOut Next sequence Counter Counter link Jump Logic outputs Triggering Triggering position Start condition Home control 30 CINFRANOR SERVO DRIVES amp MOTION CONTROL Defines the motion speed in rpm When the parameter Max speed is modified all speed values in the sequences are scaled accordingly Slave motor gearing ratio factor for GEARING sequence This parameter defines the master slave gearing ratio factor in The slave motor gearing ratio value defined by the Position resolution and the Position scaling factor parameter values is multiplied by this factor during the GEARING sequence execution The Reverse ge
76. s lower than the value of the Position deadband parameter the proportional gain of the position loop is set at 0 18 Chapter 2 Commissioning CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Open the Second Sensor window accessible in the Positioner Application Setup menu Adjust the Position scaling factor numerator denominator according to the desired load position scaling and the current load sensor resolution as described below For an encoder sensor type on the load Position scaling factor Numerator Position resolution parameter value see Position scaling parameters window Position scaling factor Denominator 4 x number of encoder pulses channel for one motor shaft revolution For a resolver sensor type on the load Position scaling factor Numerator Position resolution parameter value see Position scaling parameters window Position scaling factor Denominator 65536 x number of resolver shaft revolution for one motor shaft revolution REMARK If the calculated Numerator and Denominator values exceed the parameters max value 65535 they must be scaled in order to get the same ratio Numerator Denominator or to be as close as possible to the theoretical value scaled Numerator scaled Denominator calculated Numerator calculated Denominator Select Reverse position to reverse the counting direction of the second position sensor if required When the second
77. sistance increasing temperature function Check that the selected thermal sensor type actually corresponds to the sensor type mounted on the application motor 7 6 2 TRIGGERING THRESHOLD ADJUSTMENT Enter the sensor ohmic value KOhm corresponding to the required temperature value for the release of the Motor overtemperature protection according to the manufacturer s specifications 7 6 3 WARNING THRESHOLD ADJUSTMENT Enter the sensor ohmic value kOhm corresponding to a warning temperature value When the warning temperature is reached the red front panel LED ERROR is blinking Chapter 2 Commissioning 13 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Note When using a CTN sensor the warning ohmic value will be higher than or equal to the triggering ohmic value When using a CTP sensor the warning ohmic value will be lower than or equal to the triggering ohmic value 7 7 Pt PROTECTION 2 selection modes are available Fusing or Limiting It is advisable to use the Fusing mode during commissioning phases In Fusing mode the amplifier is disabled when the current limitation threshold is reached In Limiting mode the motor current is only limited at the value defined by the Rated current parameter when the limitation threshold is reached 7 7 1 OPERATION OF THE CURRENT LIMITATION IN Fusing mode When the amplifier output RMS current 12 85 of the rated current the red a
78. the positioner software This fault may occur if the motor is enabled during a parameter saving or during a sequences transfer between PC and positioner To cancel this fault if it is due to the parameters renew the positioner parametrization and the parameter saving due to the sequences send the sequences to the positioner again 2 3 3 C MOTOR FAULT If the error occurs when commissioning the amplifier e Check the CTN CTP parametrization the Triggering threshold and the Warning threshold e Check the wiring of the thermal sensor on the amplifier resolver or encoder connector If the error occurs during the operation e Check that the triggering threshold is complying with the manufacturer s specifications of the sensor e Check the motor temperature and look for the reason of this overheating mechanical shaft overload duty cycle too high 40 Chapter 6 Troubleshooting CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 3 4 POWER STAGE FAULT The POWER STAGE fault groups all faults issued from the power board Power supply overvoltage Phase ground short circuit Phase phase short circuit Fan Power stage short circuit Power stage overtemperature on CD1 pm 400 I only PWM control error Power stage supply Braking system error transistor short circuit or cycle too high 0000000 00 The VISUAL DRIVE SETUP software allows to identify the Power stage fault
79. the amplifier EEPROM The Save cogging torque data into a file function allows to store in a PC the cogging torque value corresponding to a motor after the acquisition procedure COG file The Write cogging torque data into the drive function allows to upload in the amplifier the cogging torque value corresponding to a motor if this value has previously been stored in the PC COG file compensation is only available if the encoder is providing one marker pulse per motor revolution A For a brushless motor equipped with an incremental encoder the Cogging torque Note 1 The motor cogging torque value is checked at the amplifier power up If it contains some errors storage problems in the amplifier memory the EEPROM error is displayed and the Enable cogging torque compensation function is disabled Note 2 When exchanging an amplifier on an axis the file of the adjustment parameters PAR as well as the cogging torque file COG corresponding to the motor must be uploaded once again in the amplifier Note 3 When exchanging the motor or when disassembling the resolver sensor the acquisition procedure must be renewed Chapter 2 Commissioning 21 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 3 FUNCTIONALITIES 1 DESCRIPTION OF THE LOGIC I Os 1 1 LOGIC INPUTS 1 1 1 GLOBAL LOGIC INPUTS ENABLE Enabling authorized This signal is a necessary condition for the motor enabling
80. the amplifier is immediately disabled and the motor is freewelling on ENABLE input desactivation or on a fault reaction When Stop with current limit is selected the motor is first slowed down and then the amplifier disabled on ENABLE input desactivation or a fault reaction Stop current limit defines the current limitation value when the motor is slowed down on ENABLE input desactivation or a fault reaction This current limit value is also used for the motor slow down when the hardware limit switches are activated Remark The motor slow down with current limit is only possible when the following faults are triggered Position following error 121 Motor overtemperature Fieldbus error When the other amplifier faults are triggered the motor cannot be slowed down with current limit and the amplifier is immediately disabled Note When the stopping with current limit operation is executed on ENABLE input desactivation or on a fault reaction the motor brake is activated at the end of the deceleration phase when the motor is stopped Chapter 4 Programmation 27 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 5 POSITIONING PROFILE Speed profile trapezoidal or S curve shape selection Profile limit when the Constant time profile limit mode is selected for a small displacement if the profile speed cannot be reached the motor acceleration and deceleration are modified in order to get the same acceleration an
81. the arrow keys 2 To modify a given sequence Position modification of a given sequence the operator enters the sequence number and the new position Speed modification of a given sequence the operator enters the sequence number and the newly programmed speed 3 To start a sequence the operator enters the number of the sequence to be executed 4 To move until a position the operator enters the position and moves the motor until this position 3 2 2 POSITION DISPLAY CD1 pm 103 000 mm The arrow keys allow to move the motor Jog or Jog when the ENABLE signal is activated The key allows the operator to go back to the main menu In this window the operator can stop the motor if it is rotary one by pressing the kev 54 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL STOP The operator must press the key for confirming the motor stopping or any other key for cancelling 3 2 3 MODIFICATION OF A SEQUENCE This menu allows the operator to modify position or speed of a given sequence MODIFY SEQUENCE 1 POSITION 2 SPEED 3 TORQUE The operator enters at first the sequence number this sequence must exist MODIFY POS Sequence _ Pos Pos The former position is displayed and the operator can enter a new position or cancel by pressing the ENTER key MODIFY POS Sequence 1 Pos 45 0090 Pos _ The operator can modify the speed or the tor
82. the instruction The amplifier will answer with NP4 gt NP4 is the echo of the characters sent indicates that the instruction has been decoded The value 4 is stored in the variable corresponding to the number of motor pole pairs After the carriage return character the amplifier will also send the gt character in order to indicate that it is ready for a new instruction If the user sends the instruction NP the amplifier will answer with 4 gt As there is no parameter in the instruction the amplifier sends back the actual number of pole pairs 2 2 INSTRUCTIONS LIST Modify position of a sequence Instruction UP Parameters 1st parameter sequence number 2nd position value If there is no 2nd parameter the amplifier will return the actual position value of the sequence 1st parameter Conditions This instruction can be sent only if there is no sequence executed The sequence must exist Unit The unit of the position value is defined by position resolution and decimal number parameter values for the display in the PC software However via the ascii instruction the position value must be sent without the decimal point Example position resolution 5000 decimal number 3 unit mm If the user wants to set a value 100 mm to sequence 3 the instruction will be UP3 100000 in decimal mode Modify speed of a sequence Instruction US Parameters 1st parameter sequence nu
83. the position and remains enabled until the next motor movement SPEED This signal indicates that the speed set point is reached during a movement of the motor 22 Chapter 3 Functionalities CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Delay time gt Sequence 1 with Tdec 0 and Next 2 Sequence 2 POS SEQ SPEED l OUT1 to OUT4 Programmable logic outputs These outputs are only operating during a programmed sequence POS HOLD BEGIN SPEED Pre defined Arrival at END Sequence Speed position reference Sequence begin reached reached position over Programmable status High status Low status Toggle status Various triggering types BEGIN SPEED POS HOLD END These outputs can be triggered only once per programmed sequence 2 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 travel 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 For checking the limit switches move the motor in one direction in speed mode activate the limit switch which is located in the motion direction artificially if necessary check that the motor is st
84. tical axis the motor phasing procedure is not valid The motor must be equipped with an incremental encoder HES or an absolute Sin Cos encoder 16 Chapter 2 Commissioning CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Remark In the Incremental encoder configuration without HES the motor Phasing procedure must be carried out again after a Feedback fault release or a Counting fault release The motor Phasing procedure must also be carried out again after the modification of the motor or the encoder parameter value The analog output on the X2 connector can be configured in the Setup menu of the VISUAL DRIVE SETUP software in order to get the Phasing OK output signal output voltage from 0 V to 10 V when the motor phasing is OK In the Profibus mode the Phasing OK can be checked by the master controller PNU 897 In the Software control mode via the serial link the state of the Phasing OK output is displayed in the main VDSetup window 12 INCREMENTAL ENCODER OUTPUTS The incremental encoder outputs are two pulse channels A and B in quadrature and one Z marker pulse per revolution CW rotation CCW rotation motor shaft front view motor shaft front view The Output encoder resolution is selected according to the table below Maximum motor speed rpm up to 1600 up to 3200 up to 6400 up to 12800 up to 25000 Encoder output reso
85. ure has failed because of an external cause and the calculated parameters 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 If the 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 activated and the limit switches are not activated Then check that the motor is unloaded and the shaft movement free during the procedure If the BUSY fault is continuously displayed after the execution of the COGGING TORQUE ACQUISITION procedure the procedure has failed because of an external cause and the cogging torque acquisition is not valid Check that the ENABLE input is activated Check that the limit switch inputs are not activated Check that the encoder is providing one marker pulse per motor revolution Check that the motor is unloaded and the shaft movement is free during the procedure Check that the motor current value corresponding to the cogging torque effect is lower than 5 of the amplifier current rating 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 If the fault remains the EEPROM is not correctly initialized CHECKSUM or is not complying with
86. ure in PI mode e check that the motor is correctly running in both directions e check the response at a small displacement without Idc saturation oscilloscope function In case of loud noise in the motor at standstill or when running check the rigidity of the mechanical transmission between motor and load backlashes and elasticities in motor and couplings If required start a new Autotuning procedure by selecting a lower bandwidth If the instability remains start a new Autotuning procedure by activating the Antiresonance filter If necessary adjust more accurately the loop response stability by adjusting the stability gain Chapter 2 Commissioning 15 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL If the Autotuning procedure was executed in PI mode when the Position mode was selected the Feedforward gains of the position regulator must be adjusted manually Set the Feedforward speed 1 gain value at 1 in order to avoid a high following error value 8 2 LOOP ADJUSTMENT WITH A VERTICAL LOAD In the case of an axis with vertical load proceed as follows Select the Limiting current limitation mode Initialize the speed loop gains corresponding to the unloaded motor execute therefore the Autotuning procedure with the motor uncoupled from its mechanical load Couple the motor with its load If possible make a control in speed mode otherwise close the position loop with a stable gain Select the PI sp
87. volution or one motor pole pitch for a linear motor The value range is between 128 and 65536 pts Decimal number of decimals for the position display resolution 1 2 or 3 Unit defines the unit used for the position display maximum 4 characters Example For a resolution of 4 mm motor revolution if the number of decimals 3 the parameters are Resolution 4000 Decimal 3 Unit mm Note When one of these parameters is changed all position values in the positioner are displayed according to the new setting The sequence set point values are also concerned Deadband defines the deadband for the position controller This parameter introduces a deadband at standstill around the position loop setpoint When the position loop error is lower than this parameter value the position loop proportional gain is set at 0 This parameter is reserved for specific applications with load backlashes and a high level of dry frictions The deadband is desactivated when the parameter is set at 0 Enable second sensor feedback the selection of this command allows to use the second position sensor encoder or resolver for closing the drive position loop When this command is not selected the drive position loop is using the motor position sensor resolver or encoder for feedback Chapter 4 Programmation 25 CD1 pm User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 POSITION LIMIT AND SAFETY Following error threshold d

CD1-pm User manual PROFIBUS POSITIONER

Contents

Download Pdf Manuals

Related Search

Related Contents