Actuell Presentation GB AX5000
Transcript of Actuell Presentation GB AX5000
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AX5000 – Motion control for high dynamicpositioning
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AX5000 | Digital Compact Servo Drive
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AX5000 | Technical highlights
high-speed capt re inp ts !!"s or #0"s
$ide voltage range !00 % &'0 ( AC
integrated mains filter
integration of safety f nctions )optional*restart loc+T$inSA, . intelligent safety f nctions for Motion Control in prep. .
compact design for simple control ca/inet installation
)for 00 mm depth*
AX-1ridge – the 2 ic+ connection system for po$er s pply3 DC lin+and control voltage
varia/le cooling concept
)fanless3 forced cooling3 cold plate*
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AX5000 | therCAT optimi4ed
therCAT – high performance system comm nication in drive control
Short cycle time and synchrony therCAT $or+ing drivesigh precision synchrony /y Distri/ ted-Cloc+sighspeed-6atch $ith Time-Stamp3 e7g7 8print mar+ control o ter $e/9
:ltra- igh speed- Comm nication pdate time.!00 drives in !00 "s!000 shared ;rotocol3 hard$are and the Topologies ma+e it possi/le to detect theindivid al 2 ality of each lin+
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AX5!?? | !-channel Servo Drive
!-a?is Servo Drive for motorsp to !# A rated c rrent
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AX5!?? | Technical data
)!* Irms for max. 7 s)#* internal /ra+e resistor
Technical data AX5!0! AX5!0 AX5!0@ AX5!!# AX5!!' AX5!#5
ated o tp t c rrent ! ? ! A ! ? A ! ? @ A ! ? !# A ! ? !' A ! ? #5 Aated s pply voltage ! ? !00 % ? &'0 (AC Bea+ o tp t c rrent )!* &35 A 35 A ! A #@ A @ A 0 A
ated connected load for
S!-operation!3# +(A #35 +(A 5 +(A !0 +(A !5 +(A #03' +(A
Contin o s /ra+ingpo$er )#* 50 F 50 F !50 F e?tern e?tern e?tern
ma?7 /ra+ing po$er )#* #3' +F
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AX5#?? | #-channel Servo Drive
#-a?is Servo Drive for t$o motors $ith a total c rrent p to !# A7
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AX5#?? | Technical data
Technical data AX5#0! AX5#0 AX5#0@
ated o tp t c rrent # ? !75 A # ? A # ? @ Aated s pply voltage ! ? !00 % ? &'0 (AC Bea+ o tp t c rrent )!* 35 A !# A #@ A
ated connected load forS!-operation #35 +(A 5 +(A !0 +(A
Contin o s /ra+ingpo$er )#* 50 F !50 F 50 F
ma?7 /ra+ing po$er )#* #3' +F
)!* ;rms for ma?7 s)#* ;nternal /ra+e resistor
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AX5000 | Cycle times and cloc+ fre2 encies
Different cycle times for vario s application re2 irements !7#5 "s c rrent control loop for high dynamic linear motors in prep. . & + 4 fre2 ency for minim m po$er dissipation
therCAT)minim m*
>osition loop Speed loop C rrent loop ;G1T s$itching Motor ca/le
!7#5 "s !#5 "s !#5 "s !7#5 "s !@ + 4 # + 4
@#75 "s !#5 "s !#5 "s @#75 "s ' + 4 !@ + 4
@#75 "s !#5 "s !#5 "s !#5 "s & + 4 ' + 4
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AX5??? | ,eat res
Motor feed/ac+.esolver
>o$er s pply!00 ( AC 7777 &'0 ( AC
Stat s display3 e7 g7a?is identifier orerror message
Motor feed/ac+.
Sin
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X0@. Digitale ;-Stop
# ;np t H-Stop
;np t &
& ;np t 5
5 ;np t @ Capt re Capt reA?is !
@ ;np t Capt re Capt reA?is #
;np t ' or = tp t rror
0( Gro nd
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AX5000 | Digital inp ts
H m/er. inp ts<
! ;
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AX5??? | Comm nication
ighspeed- therCAT- as system / sS C=S->rofile ; C@!&E! for Servo drives implemented
=ther field / s /y e?ternal Gate$ays
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AX5??? | =ptions
=ptional slots for interface /oards.safety for Motion Control )Slot !*additional feed/ac+ interface3 e7g7 SS; )Slot #*;
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AX5000 | M lti feed/ac+ interface
all common feed/ac+ systems on-/oard –no additional interface necessary
esolver in prep. .TT6 encoder in prep. .Sin s $ave ! (pp in prep. .
nDAT3 single and m lti t rniperface3 single nd m lti t rn
1iSS3 single nd m lti t rns pport of electronic motor name plates
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M lti-,eed/ac+-;nterface
>in Signal. high resol tion ,eed/ac+
nDATJ5( GHD :>JE( GHD :>J5(
S;H AB S;H AB S;H AB
& :>J5( n7c7 :>J5(
5 DXB )Data* DXB )Data* n7c7@ n7c7 :>JE( n7c7
, H- :>JE( , H-
' C6KB )Cloc+* n7c7 n7c7
E ,C=S 1- ,C=S 1- ,C=S 1-
!0 GHDJSense n7c7 GHDJSense!! ,S;H A- ,S;H A- ,S;H A-
!# :>J5(JSense n7c7 :>J5(JSense
! DX- )Data* DX- )Data* n7c7
!& HB HB HB
!5 C6K- )Cloc+* n7c7 n7c7
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X0 . #& (DC S pply
Control voltage s pply /y connector X 7 The #&( s pply has t$o lines3 inthis $ay /ra+e and control s pply can /e handled separately7 ;n case of
n sed :p please connect :p-:s7 1y connecting motor holding /ra+eplease pay attention on voltage tolerance7
Klemmstelle Signal
:p #& (DC -0 < B!5 . >eripherie)4717 sep7 1remseinspeis ng*
:s #& (DC B
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Main po$er
X0!. >o$er inp t-from single phase !00 (AC p to -phase &'0 (AC7 ;n case of single phases pply connect phase to 6! and H to 6 7
Terminal Connection
-phase !-phase
6! >hase 6! >hase 6!
6# >hase 6# n7c7
6 < H >hase 6 He tral $ire
> >rotective earth >rotective earth
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X! )A*3 X# )1*. Motor terminal
Terminal Signal
: Motor :
( Motor (
F Motor F
> Sch t4leiter
Shield Shield
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AX5000 | Motor terminal
= tp t )Ch!* . mechanical /ra+e;np t )Ch!* . motor temperat re
= tp t )Ch#* . mechanical /ra+e;np t )Ch#* . motor temperat re
Motor o tp t )Ch!*
Motor o tp t )Ch#*
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X0#. DC 6in+ 1 s< L$ischen+reis
1y terminal X#3 DC / s co pling or direct DC po$er s pply is possi/le7
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AX5000 | Active DC lin+
DC lin+ a tomatically connected only for regenerative energy flo$short circ it proof DC lin+ connectiondistri/ ted /ra+ing /y sing all connected /ra+ing resistorse?ternal chopper mod le for high regenerative energy in prep.
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AX5000 | (aria/le cooling concept
ma?7 operation temperat re. 50 Cfanless operation p to # ? A or ! ? @ Atemperat re controlled forced cooling3 starting at# ? @ A or ! ? !# Ainternal air flo$ channel separated from electronic parts3/y th s no contaminationCold >late in prep.
plane /ac+ plane for cold plate assem/lythere/y realisation of protection class ;> @5
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AX5??? | System mod les
AX500! | DC lin+ e?pansion in prep./ra+e energy can /e stored and re sed forne?t acceleration processshort-circ it proof can /e com/ined $ith m lti-a?is systems thro ghAX-1ridge
therCAT interface for parameterisation anddiagnosis
AX50#0 | 1ra+e mod le in prep.$ith internal #50 F /ra+ing resistor and activecoolingintegrated /ra+e chopper for e?ternal /ra+ingresistor p to @ +F
therCAT interface for parameterisation and
diagnosisAX50&0 | nergy recovery mod le in prep.
mains inverter for feeding /ra+e energy /ac+ intothe s pply net$or+
therCAT interface for parameterisation anddiagnosis
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AX5E?? | AX-1ridge 2 ic+ connection system
Connection mod le
AX5E0!
AX5E0!
Connection.s pply or DC-lin+ voltage and#& ( DC forcontrol
AX5E!!
connection mod le$ith po$er rail systemfor m lti-a?is systemsc rrent carryingcapacity p to '5 Aaccording to :6
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AX5000 | Stat s display
Advantages.comforta/le device diagnosis and maintenancea?is identifier for t$o channel devices
display of a?is stat s and errors3 also $itho t therCAT comm nicationerror messages as plain te?t
# ro$s ? !@ characters$ith /ac+light
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S C=S->rofile for servo drives
To /ring the motion control to an e?isting standard the S C=S – >rofile; C @!&E! $as implemented7This offer the ser an easy and optimal set p7
Sercos S- and >- >arameter.
This S C=S profile differs t$o main gro ps of parameter7
The standard parameter e7g7 .S-0-000! HC Cycle time )THcyc*
>rod ct specific parameter e7g7 .>-0-000! S$itching fre2 ency of the ;G1T mod le
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The storage concept
Compared to the AX#000 the modified drive parameter are not storedinside the Drive3 there is only the defa lt set p as part of the Drivefirm$are7e7g7 /y changing the parameter NMotor8 the ne$ set p has to /e add tothe NStart p 6ist87After Nsaving8 the NStart p 6ist8 and 8Activate config ration9 it /ecomesa part of the System Manager file 7tsm and $ill /e handled from thesystem manager7
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Drives lin+ing – ,irst motion
e2 irements.• Control voltage. #& (DC• therCAT- master connection• T$inCAT Config Mode
The first step is to scan the / s for therCAT devices.
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Drives lin+ing – ,irst motion
Select the EtherCAT-Interface
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Drives lin+ing – ,irst motion
- Scan for /o?es
Ja = Yes
Nein = No
- Add the Drives to the HC
- Ho 8,ree n9
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Drives lin+ing – ,irst motion
Tap OSettingsO
All detected A?is are displayed nder HC- Config ration7The AX5000 is sho$n as 8S C=S Drive97The comm nication profile is So )Sercos over therCAT*7
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Drives lin+ing – ,irst motion
The TC Drive Manager7
The TC Drive Manager gives all the reso rces to handle the drive set p and theparameter7 1y the men tree yo have access to device and drive dataPs7 ;n caseof t$in a?is li+e AX5#?? a?is dataPs selecta/le as canal A and channel 17
Set p in theN>o$er Management8:main:Brng:-rngDisa/le N >hase rror Detection8>ress NDo$nload8
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Drives lin+ing – ,irst motion
Scan motor andfeedback.
After this steps motorand Feedback type isshown
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Drives lin+ing – ,irst motion
:nter NMotor and ,eed/ac+8 $ird der angeschlossene Motor a s derMotordaten/an+ ge$Qhlt7
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Drives lin+ing – ,irst motion
The pper part of the Start p6ist sho$s defa lt andchanged parameters < ;DHs7
The lo$er part sho$s all the
;DHs modified /y theTCDriveManager7
Add this /y N Accept All“ and8OK” to the Start p 6ist7
And 8Activate config ration9
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Drives lin+ing – ,irst motion
The final is to NCalc late8 and NDo$nload8 the scaling7
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Drives lin+ing – ,irst motion
Now the first move is possible !
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Set p saving in three steps. !7 in NStart p 6ist8
1. “Accept All”
. “!"”
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Set p saving in three steps. #7NActivate config ration8
Acti#ate confi$%ration
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Set p saving in three steps. 7 in TSM file
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Drive t ning preparations
Set%p preparations for speed controller t%nin$&
'ery short ramps () *ms+ are possible by this option of “Setpoint ,enerator -ype”.
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Drive t ning preparations
Set “Filter -ime Act%al 'elocity ( /-1+” to *.
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Drive t ning preparations
Selection of short A00 and 20 ramps and nearly no Jerk limitation.
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Drive t ning preparations
Selection of short 3amp4 and 3amp/ . Switch off tacho filter and inte$ral part.
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Drive t ning preparations
For 5Step response“ estimation we ha#e to mapp the act%al c%rrent (-or6%e feedback #al%e+ into therocess data7s.
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Drive t ning preparations
-he act%al c%rrent is a part of the rocess ata.
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Drive t ning preparations
Switch off the position controller "#=*
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Drive t ning preparations
Scope #iew preparations
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Drive t ning preparations
8asic 5Scope 'iew“ selection by 5Achse1.scp“.
Add c%rrent to Scope.
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Drive t ning
9p from 8%ild 1:1; there#ersin$ se6%ence ispossible as p%re speed
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Drive t ning – Speed-controller 8step response9
-n = * "p = *<
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Drive t ning – Speed-controller 8step response9
-n = * "p = *<
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Drive t ning – Speed-controller 8step response9
-n = * "p = 1
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Drive t ning – Speed-controller 8step response9
-n = * "p = 1
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Drive t ning – Speed-controller 8step response9
-n = "p = 1
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Drive t ning – Speed-controller 8step response9
%rin$ the step response keep the c%rrent awayfrom sat%ration.
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Drive t ning – Speed-controller 8step response9
/Summary of speed controller tuning:
- Switch off all filter and Tn.- Raise up Kp to the final point without overshoot
- Raise Tn up to !-"! # overshoot.- Activate filter accordin$ re%uirements.
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Drive t ning – >osition-controller
The position controller gain should be scaled toreach less following error and specified saddlingtime.This procedure can be watched by„TwinCat ScopView”.The System Manager generates the positionsetpoint.
The position controller
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Drive t ning – >osition-controller
ight scaling of K(
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Drive t ning – >osition-controller
K( to high
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Drive t ning – >osition-controller
K( to lo$
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Device- , n+tionen
arameter handlin$ of the A> ??& 3eset
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Device- ;nfo
ri#e “Firmware” / * = released @ = test #ersion
ardware 'ersion c= control / boardB p = power/B d = dri#er/B f = frond/B o = optionB s = saf
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Device- ;nfo
2?port f%nction for de#ice info
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Device- ;nfo
C NBNameBAct'al%eBSet'al%eB9nitFirmware CnfoBBBBS/*/**:*B ersteller/'ersionBFirmware& #1.*1 (8%ild *** + D 8ootloader& #1.*1 (8%ild *** +BBS/*/*1E:BSercos interface #ersionB'* .*:BB
/*/*: EB rod%ct0odeD3e#isionNoBA> *:/****/***;BB/*/*: B0ompile time and dateBSep ** < 1 &:;&EGBB/*/*: ;B3elease notesBBBardware CnfoBBBB
S/*/**:1B ardware/'ersionBc&***1 p&***1 d&***1 f&*1** o&//// s&////BBS/*/*11*BAmplifier peak c%rrentB1 .***BBAS/*/*11 BAmplifier rated c%rrentB;.***BBAS/*/* **BAmplifier warnin$ temperat%reB *.*BBH0S/*/* *:BAmplifier sh%t down temperat%reBG*.*BBH0S/*/*E: B!peratin$ time dri#e controlBG E*E;BBsS/*/*E:;B!peratin$ time power sta$eBE GGGBBs
/*/**@*B0hannel peak c%rrentB1 .***BBA/*/**@1B0hannel rated c%rrentB;.***BBA
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>o$er- Management
ifferent information7s of act%al #al%es
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>o$er- Management
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>o$er- Management in NTa/le (ie$8
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Display
ifferent display modesare possible
efa%lt settin$&
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>arameter
- Controller =vervie$
The set p of each controller goes from the 8inside9 )C rrant Controller*to the 8o tside9 )>osition Controller*7
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C rrent Controller :nit
Kp and Tn of the c rrent controller are set /y the Motor defa lt parameters7
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(elocity Controller :nit
The scaling 8rad9 is fi?7The perigon is # R radian or @0 degree That is.
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>osition Controller :nit
“ roportional $ain” and “'elocity Feed Forward” in the position controller
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Scope
Cmportant note to do / scope f%nction/
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Scope
,or the scope f nction please select. 8 na/le ADS Server8 and8Create sym/ols87
d d
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Motor and ,eed/ac+
1: Feedback options
Di i l 6i
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Digital ;
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Digital ;rocess data8 e7g7 the ;
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Digital ; t 6i t
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>arameter 6ist
1y the N>arameter 6ist8 there is access to the a?is parameter7
T$o forms are possi/le7Sho$ in gro ps.
> t 6i t
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>arameter 6ist
=r ;DH listed7
> / it ti
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>ro/e :nit - =peration
-he robe 9nit $i#es the possibility to select different latch and “ omin$” alternati#es.
>ro/e :nit =peration3 >osition 6atch
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>ro/e :nit - =peration3 >osition 6atch
Cn case of 5position latch“ the robe 9nit can confi$%redin that way&
>ro/e :nit =peration3 >osition 6atch
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29.Oct.2007 Rudolf W. Meier 8 5
>ro/e :nit - =peration3 >osition 6atch
I%ltiple?er selection
>ro/e :nit =peration3 >osition 6atch
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29.Oct.2007 Rudolf W. Meier 8 6
>ro/e :nit - =peration3 >osition 6atch
Select 5 robe control“ and 5 robe 1 enable“< now the latch startDstart is possible.
-he latched #al%e is displayed here.
>ro/e :nit =peration3 >osition 6atch
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29.Oct.2007 Rudolf W. Meier 8 7
>ro/e :nit - =peration3 >osition 6atch
Add latched #al%e to 5 rocess data7s“
>ro/e :nit =peration3 8 oming9
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29.Oct.2007 Rudolf W. Meier 8 8
>ro/e :nit - =peration3 8 oming9
Reference &ovement
Ct is possible to do omin$ by -win0at %sin$ the robe/9nit of A> ***. -he probe %nit confi$%rationsho%ld be done in the “Start%p ist”< it is also possible d%rin$ a?is operation.
So that -win0at is able to control the probe/%nit by C N S/*/*E* and S/*/*E*; it has to mapp into thereal/time/control and stat%s bit . -his is done by the C N S/*/*:*: and S/*/*:* entry.
0onfi$%ration of real/time/control/ and stat%s/bit& K
>ro/e :nit =peration3 8 oming9
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29.Oct.2007 Rudolf W. Meier 8 9
>ro/e :nit - =peration3 8 oming9
Add C N S/*/*:*: %nd C N S/*/*:* to “Start%p ist”
>ro/e :nit - =peration3 8 oming9
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29.Oct.2007 Rudolf W. Meier 9 0
>ro/e :nit - =peration3 8 oming9
-he latched dri#e position is stored in C N S/*/*1:* “ robe #al%e 1 positi#e ed$e“ orin C N S/*/*1:1 5 robe #al%e 1 ne$ati#e ed$e. !ne of this selected #al%e is cyclic( by the A-/-ele$ram + assi$ned to the N0.
0onfi$%ration of S/*/*:*: and S/*/*:* with&
>ro/e :nit - =peration3 8 oming9
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29.Oct.2007 Rudolf W. Meier 9 1
>ro/e :nit - =peration3 8 oming9
Selection of 3eference Iode
>ro/e :nit - =peration3 8 oming9
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29.Oct.2007 Rudolf W. Meier 9 2
>ro/e :nit - =peration3 8 oming9
>ro/e :nit - =peration3 8 oming9
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29.Oct.2007 Rudolf W. Meier 9 3
>ro/e :nit peration3 8 oming9
1& Feedback 5Lero inde?“ detection.
ro/e :nit - =peration3 8 oming9
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29.Oct.2007 Rudolf W. Meier 9 4
>ro/e :nit peration3 8 oming9
0han$e direction by 8it B Cnp%t e? .
andled by 5b0alibration0am“ in I0 !I2.
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Channel c rrent config ration
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29.Oct.2007 Rudolf W. Meier 9 6
Channel c rrent config ration
S-0-00 -55 Secondary operation mode
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29.Oct.2007 Rudolf W. Meier 9 7
S 0 00 55 Secondary operation mode
Secondary operation modes are selectable by the 0ontrolwordO
Disa/le device channel
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29.Oct.2007 Rudolf W. Meier 9 8
Disa/le device channel
e.$. to %se only channel feedback
rror reaction
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29.Oct.2007 Rudolf W. Meier 9 9
o eact o
Phat sho%ld happen after error detection.
ard$are na/le
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29.Oct.2007 Rudolf W. Meier 10 0
$
6imit s$itch config ration
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29.Oct.2007 Rudolf W. Meier 10 1
$ g
T= )1T1* , nction
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29.Oct.2007 Rudolf W. Meier 10 2
) ,
Display Motor $or+ing load /y >-0-00@
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29.Oct.2007 Rudolf W. Meier 10 3
p y g y @
-his f%nction has to be enabled by C N /*/**; (3eaction =1+
Man al =peration
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29.Oct.2007 Rudolf W. Meier 10 4
p
1ra+e operations
Drive Commands
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29.Oct.2007 Rudolf W. Meier 10 5
e7g7 Motor feed/ac+ connection chec+
Diagnostics and error history
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g y
;DH-De/ gger
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29.Oct.2007 Rudolf W. Meier 10 7
Direct ;DH access
XM6 handling
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29.Oct.2007 Rudolf W. Meier 10 8
6ocation of motor defa lt parameter file )motor7?ml*7
Soft$are pdate
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29.Oct.2007 Rudolf W. Meier 10 9
To load a new firmware !!!.efw file"# please bring dri$e into „%ootstrap& mode.
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 10
3ead Feedback type strin$ by “0opy” from 1 * in 5 arameter ist“ e.$. en$QA :;/**1@AF.*>8C*
Steps to do a feedback formatting:
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 11
%n 1; in 5 ri#e 0ommend“ and select “Name plate type” 8eckhoff SI
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 12
,i#e “Feedback type” by aste< than /Iotor #endor/< /Serial N%mber/ and /Iotor type/and sa#e by the se6%ence& / ownload R assword (A> ***+ R ownload / Start / Attention' (ait for status messa$e )Executin$* und )Succeeded*
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 13
,i#e any an$le in 1;1
And sa#e by the se6%ence& / ownload R assword R ownload / Start /
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 14
Cncrement this co%nter by 1And sa#e by the se6%ence& / ownload R assword R ownload / Start /
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 15
3%n 1;* by pressin$ “ owenload” and “Start”
to brin$ the rotor in the ad %stment position.
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 16
3ead the 5Act 'al%e“ of “Iechanical comm%tation offset” from G
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 17
,i#e this an$le ( E*< + in 1;1 and sa#e by the se6%ence&
/ ownload R assword R ownload / Start /
,eed/ac+ set p
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29.Oct.2007 Rudolf W. Meier 1 18
3estart by the se6%ence& 58ootstrap“ than 5!p“
>rogramming e?ample
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29.Oct.2007 Rudolf W. Meier 1 19
Io#e A?is 1 and by $i#in$ analo$ setpoint.
The ,inal
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Than+ ,ou for ,our attention.