Keb Manual s4 Avanzado

APPLICATION MANUAL
KEB COMBIVERT S4 Size D / E / G / H / R
Version 3.0
00.S4.0EA-K300
Discretionary charge 40,- Euro
5/2002
Contents
1.
1.1 1.2 1.3
General ...................................................................................................... 5
Interference Suppression of Servo-Control .................................................................... 6 Interference Suppression of Electrical Units .................................................................. 6 Operating Instructions ..................................................................................................... 6
2.
2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.8.1 2.8.2 2.8.3 2.8.4 2.8.5 2.8.6 2.8.7 2.8.8 2.8.9 2.8.10 2.8.11 2.8.12 2.9
Installation and Connection .................................................................... 7

Ambient Conditions ......................................................................................................... 7 Type of Protection ............................................................................................................ 7 Installation Instructions ................................................................................................... 7 Calculations ...................................................................................................................... 8 Installation Conditions ..................................................................................................... 8 Technical Data .................................................................................................................. 9 Dimensions KEB COMBIVERT S4 ................................................................................. 12 Connection ...................................................................................................................... 13 Summary .......................................................................................................................... 13 1-phase Connection 230V Class ...................................................................................... 15 3-phase Connection 230V/400V Class ............................................................................. 16 Connection Incremental Encoder Input / Emulation (X3) .................................................. 17 SSI - Interface for absolute value encoder (Optional to X3) ............................................. 17 Connection Resolver (X4) ................................................................................................. 18 Connection SIN/COS Encoder (Optional at X4) ............................................................... 18 Connection Hiperface ....................................................................................................... 19 Terminal Strip X1 .............................................................................................................. 20 Digital In/Outputs ............................................................................................................. 21 Analog In/Outputs ............................................................................................................ 21 Output Relay .................................................................................................................... 21 Operator .......................................................................................................................... 22
3.
3.1 3.1.1 3.1.2 3.1.3 3.1.4 3.1.5 3.1.6 3.1.7 3.1.8 3.2 3.2.1 3.2.2 3.2.3 3.3 3.3.1 3.3.2 3.3.3 3.4 3.4.1 3.4.2 3.4.3 3.4.4 3.4.5 3.4.6
Operation ................................................................................................ 23
Fundamentals ................................................................................................................. 23 Parameters, Parameter Groups, Parameter Sets .............................................................. 23 Selection of a Parameter .................................................................................................. 24 Adjustment of Parameter Values ...................................................................................... 24 ENTER-Parameter ............................................................................................................ 24 Non-programmable Parameters ........................................................................................ 25 Resetting of Error Messages ............................................................................................ 25 Resetting of Peak Value ................................................................................................... 25 Acknowledgement of Status Signals ................................................................................ 25 Password Structure ........................................................................................................ 25 Password Levels .............................................................................................................. 26 Passwords ....................................................................................................................... 26 Changing of Password Level ............................................................................................ 27 CP-Parameter .................................................................................................................. 27 Operation in CP-Mode ...................................................................................................... 27 Definition of the CP-Parameter ......................................................................................... 28 Reactivate the Default Setting ......................................................................................... 28 Drive-Modus .................................................................................................................... 29 Adjustment Possibilities ................................................................................................... 29 Display and Keyboard ....................................................................................................... 29 Setpoint Display / Setpoint Input ...................................................................................... 29 Rotation Presetting ........................................................................................................... 30 Start / Stop / Run ............................................................................................................. 30 Leaving the Drive-Mode .................................................................................................... 31
Contents
4.
4.1 4.2
Parameter Structure ............................................................................... 32

Set-Programming ........................................................................................................... 33 Block Diagram of Software Functions and Closed-Loop Control Structure ................ 34
5.
5.1 5.2 5.2.1 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11 5.12 5.13 5.13.1 5.14 5.15 5.15.1 5.15.2 5.16 5.16.1 5.16.2 5.16.3 5.17 5.18 5.19 5.20 5.20.1 5.21 5.22 5.23 5.24 5.25 5.26 5.27
Functional Description .......................................................................... 35

Run (ru) - Parameter ....................................................................................................... 35 Speed definition (SP) - Parameter ................................................................................. 43 Set Value Setting for Positioning Control .......................................................................... 46 Protection (Pn) - Parameter ............................................................................................ 47 Control Speed (CS) - Parameter ..................................................................................... 51 Adjustment of the Speed Controller .............................................................................. 54 Drive specifical control (dS) - Parameter ...................................................................... 56 Drive (dr) Parameter ....................................................................................................... 58 User Definition (ud) - Parameter .................................................................................... 59 Information (In) - Parameter ........................................................................................... 63 Encoder Control (EC) - Parameter ................................................................................. 65 Free-programmable (Fr) Parameter ............................................................................... 71 Analog I/O (An) - Parameter ........................................................................................... 76 Digital Input (di) - Parameter ......................................................................................... 80 Example Edge Triggering Set Selection ............................................................................ 85 Digital Output (do) - Parameter ..................................................................................... 86 Level (LE) - Parameter .................................................................................................... 94 Controlling of a Holding Brake .......................................................................................... 96 Temperature Control ......................................................................................................... 97 Synchronous (Sn) - Parameter ...................................................................................... 98 Connection Accessories for Master- Slave Operation .................................................... 100 Parameterization Example for Master- Slave Operation ................................................. 100 Register Function ........................................................................................................... 101 Positioning Control (Pc) - Parameter ........................................................................... 103 Positioning Definition (Pd) - Parameter ....................................................................... 109 Checklist for the Positioning-Module .......................................................................... 112 Programming Example for Positioning Control with 4 Positions ............................. 113 COMBIVIS Parameter List for Programming Example ................................................... 115 Programming of an Automatic Sequence Control System ........................................ 116 Reference Point Search - Example 1 ........................................................................... 118 Reference Point Search - Example 2 ........................................................................... 119 Reference Point Search - Example 3 ........................................................................... 120 Operation with High Mass Moment of Inertia ............................................................. 121 Fault Locating in the Positioning-Module ................................................................... 123 Adjustment Assistance (AA) - Parameter .................................................................... 124
6.
6.1 6.1.1 6.1.2 6.1.3 6.1.4
Annex .................................................................................................... 125

New functions from V 3.0 ............................................................................................. 125 Change in the Posi-Module ............................................................................................. 125 Change in the OL and OH2 Function .............................................................................. 125 Software Limit Switche ................................................................................................... 125 New Functions starting Version 3.0 ................................................................................ 125
General
1.
General
This manual is valid for the KEB COMBIVERT S4.
Prior to carrying out any work the user must familiarize himself with the unit. This includes in particular the knowledge and oberservance of the safety and warning instructions. Absolutely read the "Technical Dokumentation Part 1".
The pictograms used in this manual mean:
Danger Warning Caution
Used when the life or health of the user is exposed to danger or considerable damage to property can occur.
Attention
Must be observed! Special instructions for a safe and trouble-free operation.
Information
Help, Tip
General
1.1
Interference Suppression of Servo-Control
The control and power inputs of the servo-control are protected against interferences.
Increased operational reliability and additional protection against malfunctions is achieved through following measures:
Use of mains filter when the mains voltage is affected by the connection of large consumers (reactive-power compensation equipment, HF-furnaces etc.) Protective wiring of inductive consumers (solenoid valves, relays, electromagnets) with RC elements or similar devices to absorb the energy released when the unit is switched off. Separate laying of power lines as described in the connection directions to avoid inductive and capacitive coupling of interference pulses. Paired-twisted cables protect against inductive parasitic voltages, shielding provides protection against capacitive parasitic voltages. Optimal protection is achieved with twisted and shielded cables when signal and power lines are layed separately.
1.2
Interference Suppression of Electrical Units
The servo-control KEB COMBIVERT S4 transmits waves of high frequency. The following measures can reduce the arising interference pulses that may effect electrical units in the vicinity of the servo-control: Installation of the KEB COMBIVERT S4 in a metal housing. Shielded motor cables. The shield must be connected to PE of the servo-control and to the housing of the motor (connect extensive shield). The shielding shall not be used as protective earthing. Only an uninterrupted shield beginning as close as possible at the servo-control or servo motor ensures a safe function of the shielding. Good earthing (grounding strip or 10 mm2 earth lead). Use of radio interference suppression filters.
1.3
Operating Instructions
To avoid premature ageing and/or destruction of the servocontrol KEB COMBIVERT S4, observe the following instructions! Install an isolating switch between voltage supply and servo-control, so that KEB COMBIVERT S4 can be shut off independently Frequent switching between mains and servo-control is not permitted! Switching between motor and servo-control during operation is prohibited! The KEB COMBIVERT S4 is to be operated under suitable conditions (see Ambient Conditions).
Installation and Connection
2.
2.1
Ambient Conditions
Altitude of site max. 2000m. A power reduction of 1% per 100 m must be taken into account for site altitudes of 1000 m and more above sea level, e.g. at 1500m = 95% P rated is allowed.
Max. Permissible Limit Values: Coolant inlet temperature / ambient temperature during operation Storage temperature Transport temperature Relative humidity
KEB COMBIVERT S4
-10 C+45 C -25 C+70C -25 C+70C max. 95% no condensation climatic category 3K3
2.2
Type of Protection
KEB COMBIVERT S4: IP 20 The type of protection is only warranted with the correct installation and connection of the components.
2.3
Installation Instructions
Stationary installation and earthing of the servo-control KEB COMBIVERT S4. When installing the servo-control observe minimum distance to adjacent elements (see Installation Instructions). No moisture or water may penetrate into the COMBIVERT S4. Avoid penetration of dust into the KEB COMBIVERT S4. For installation in a dustproof housing sufficient heat dissipation must be provided. Do not operate the servo system KEB COMBIVERT S4 in explosion-protected rooms. Protect KEB COMBIVERT S4 against aggressive gases and liquids.
If other consumers which produce electric or magnetic fields or which effect the power supply are located in the vicinity of the servo-control, they must be positioned as far away as possible from the servo-control and steps must be taken to suppress interferences.
2.4
Calculations
Calculation of control cabinet surface:
A=
PV T K 3,1 PV
[m2]
Rate of air flow with fan cooling: A = Control cabinet surface [m2]
V=
[m3/h]
T = Temperature difference [K] K W = Heat transfer coefficient m2 K
(Standard value = 20 K) (Standard value = 5 W m2 K )
PV = Heat dissipation [W] V = Air flow rate of fan [m3/h]
For detailed information please refer to the catalogs from the control cabinet manufacturer.
2.5
Installation Conditions
100
INPUT VOLTAGE XXXXXXXXXXX XXXXXXXXXXX CYCLE OUTPUT POWER XXXXXXXXXXXX VOLTAGE XXXXXXXXXX CURRENT XXXXXXXXXXXX AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ VER-NO. XXXXXXXXXXXXXXX ART-NO. XX.F4.XXX-XXXX SER-NO. 95000001/XXXXXXX INPUT VOLTAGE XXXXXXXXXXX XXXXXXXXXXX CYCLE OUTPUT POWER XXXXXXXXXXXX VOLTAGE XXXXXXXXXX CURRENT XXXXXXXXXXXX AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ VER-NO. XXXXXXXXXXXXXXX ART-NO. XX.F4.XXX-XXXX SER-NO. 95000001/XXXXXXX INPUT VOLTAGE XXXXXXXXXXX XXXXXXXXXXX CYCLE OUTPUT POWER XXXXXXXXXXXX VOLTAGE XXXXXXXXXX CURRENT XXXXXXXXXXXX AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ VER-NO. XXXXXXXXXXXXXXX ART-NO. XX.F4.XXX-XXXX SER-NO. 95000001/XXXXXXX
KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup Made in Germany
50
START ENTER F/R STOP FUNC. SPEED ENTER F/R
START FUNC. SPEED STOP ENTER F/R
START FUNC. SPEED STOP
50
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
100
Minimum distance
Warm air outlet
Cool air inlet
2.6
Technical Data
Operating temperature Type of Protection
-10 ... +45C; Storage: -25 ... +70C IP20
The Type of protection is warranted only with correct installation and connection of the components.
230 V Class
Size Housing Mains voltage 1) Line frequency Line phases Input current max. perm. Mains fuse 3) Rated output current Stall current Ido Peak current Imax 4) Line cross section 2) Heat dissipation PV 5)
1)
03 D [V] [Hz] [A] [A] [A] [A] [A] [mm2] [W] 1 4,8 16 180 . . . 264 + 0% 50 / 60 Hz + 2 Hz 3 1 2,6 12,8 10 16
05 D
3 7 10
2,4 6,4 9,7 for 1000 ms 1,5 65
6,4 6,4 16 for 500 ms 1,5 75
In relation to 230V nominal input voltage
400 V Class
Size Housing Mains voltage 1) Line frequency Line phases Input current max. perm. Mains fuse 3) Rated output current Stall current Ido Peak currentImax 4) Line cross section 2) Heat dissipation PV 5)
1) 2)
07 D [V] [Hz] [A] [A] [A] [A] [A] [mm2] [W] 305 . . . 500 + 0% 50 / 60 Hz + 2 Hz 3 3 10 2,7 2,7 10,6 for 200 ms 1,5 95
10 D
3 7 10 6,4 6,4 22 for 200 ms 1,5 110
3)
4)
5)
In relation to 400 V nominal input voltage. Recommended min. cross section of mains supply at rated power and cable length up to 30 m. Mains fuse and line cross section can also be dimensioned on the basis of the rated current of the servo motor. The peak current Imax is a theoretical value, that causes the response of the current limiting. The maximum torque limit should be adjusted 10...15% below Imax. Heat dissipation related to the static continuous current (heat dissipation control circuit ca. 20 W).
Size Housing Mains voltage 1) Line frequency Line phases Input current max. perm. Mains fuse 3) Rated output current Stall current Ido Peak current Imax 4) Line cross section 2) 3) Heat dissipation PV 5)
12 E [V] [Hz] [A] [A] [A] [A] [A] [mm2] [W] 305 . . . 500 + 0% 50 / 60 Hz + 2 Hz 3 18,2 20 16,5 16,5 38 for 200 ms 2,5 240
16 G
3 36 50 33 21,5 50 for 600 ms 10 310
Size Housing Mains voltage 1) Line frequency Line phases Input current max. perm. Mains fuse 3) Rated output current Stall current Ido Peak current Imax 4) Line cross section 2) 3) Heat dissipationPV 5)
1) 2)
[V] [Hz] [A] [A] [A] [A] [A] [mm2] [W]
18 H 305 . . . 500 + 0% 50 / 60 Hz + 2 Hz 3 55 80 50 45 75 for 800 ms 25 610
3)
4)
5)
In relation to 400 V nominal input voltage. Recommended min. cross section of mains supply at rated power and cable length up to 30 m. Mains fuse and line cross section can also be dimensioned on the basis of the rated current of the servo motor. The peak current Imax is a theoretical value, that causes the response of the current limiting. The maximum torque llimit should be adjusted 10...15% below Imax. Heat dissipation related to the static continuous current (heat dissipation control circuit ca. 20 W).
10
PTC- connection (200 V / 400 V -Class) max. cold resistance of PTC-detector chain [] Error tripping range [] Error reset range []
13 PTCdetectors (series connection) 400 1650 < 500
OL-Function KEB COMBIVERT S4: Size 03, 05, 07, 10, 12, 16 Protection of output stage at < 60 rpm
Release time [s]
3,0 2,5 2,0 1,5 1,0 0,5 0 0
OL - Function Servo Controller

n = 60 U/rpm
Unit
= 2s
n = 40 U/rpm n = 20 U/rpm n = 0 U/rpm
03 05 07 10 12 16 18
I max. Id0 1,5 2,5 3,9 3,4 2,4 2,3 1,7
I / Id0
OL - Function Overload Range

120 100
Release time (s)
80 60 40 20 0 0 0,5 1 1,5 2
= 60s
2,5
3,5
I / Id0
= Reset time of the overload counter, relating to 100 % of the release time
11
2.7
Dimensions KEB COMBIVERT S4

A F
Servo Controller Weight = 2/3,5 kg

C
Submounted braking resistor Weight = 0,9/1,3 kg
Submounted filter Weight = 0,9/1,5 kg
C1 C2
B1
B2
Shield plate
Size D E
A 90 130
B 250 290
B1 264 352
B2 37,5 37,5
C 160 200
C1 50 50
C2 30 30
F 5 7
H 240 275
B1/C1 with submounted filter C2 with submounted braking resistor B2 with shield plate C3 with submounted braking resistor and filter B3 with submounted filter and shield plate
Servo Controller Weight = 10/14 kg
Submounted braking resistor Weight = 1,9 kg

F
Submounted filter Weight = 3,2/5,1 kg
B2
C / C2
G A
Shield plate
Size G H Built-on filter

B2
A 170 297 181
B 340 340 415
B1 415 445 ---
B2 32 51 ---
C 255 255 56
C1 56 66 ---
C2 30 -----
F 7 7 7
G 150 250 150
H 330 330 400
with shield plate
C2 with submounted braking resistor
12
2.8
Connection
2.8.1 Summary
R TE EN /R F P O ST
T AR ST . C N FU ED E SP
Size D - E
Optional Operator with 9 pole Sub-D-socket Parameterizing Interface
X1 Terminal strip Connection control terminals X3 9 pole Sub-D-socket
X4 15 pole Sub-D-socket Conntection system feedback Resolver or SIN/COS-encoder
Size G - H
Optional Operator with 9 pole Sub-D-socket Parameterizing Interface
R TE EN /R F P O ST
T AR ST . C N FU ED E SP
X3 9 pole Sub-D-socket
X4 15 pole Sub-D-socket Connection system feedback Resolver or SIN/COS-encoder
X1 Terminal strip Connection control terminals
13
Size D 1-phase
Note input voltage, since 230V and 400V class (3 phase) is possible.
3-phase
L1
PA
PB
W
OH OH
L1
L2
L3
PA
PB
W
OH OH
L1, N L1, L2, L3 PA, PB Size E

L1 L2 L3
1 phase mains connection 3 phase mains connection Connection braking resistor
U, V, W OH, OH
Motor connection Connection for temperature sensor Connection for screening/earthing
PA PB
OH OH
L1, L2, L3 PA, PB PA, OH, OH U, V, W
3 phase mains connection Connection braking resistor Connection for braking module and feedback unit Connection for temperature sensor Motor connection Connection for screening/earthing
Size G L1, L2, L3 ++, PB ++, -3 phase mains connection Connection braking resistor Connection for braking module, feedback and supply unit DC input 420...720VDC Connection for temperature sensor Motor connection Connection for screening/earthing Unit without DC input +PA, PB Connection braking resistor +PA, Connection for braking module and feedback unit Size H L1, L2, L3 ++, PB ++, -3 phase mains connection Connection braking resistor Connection for braking module, feedback and supply unit DC input 420...720VDC Connection for temperature sensor Motor connection Connection for screening/earthing
L1
L2
L3
--
++ PB
OH OH
OH, OH U, V, W
L1
L2
L3 PE
PE ++
--
PB
OH OH
PE U
OH, OH U, V, W PE
14
Remove or plug in the power connector only at switched off unit and disconnected power supply!
Observe the correct phase sequence for the connection of the servo motor!
2.8.2 1-phase Connection 230 V Class
PE U, V, W L1, L2 PA, PB
Protective earth conductor Motor Mains connection 1-phase Connection braking resistor
Mains connection
L1 N PE
B A 4 1 2
C D 3
1 4 3 2
U V W PE
L1 L2 L3 PA PB U V W
C PTC-connection D PTC-connection A B Brake + Brake Motor housing/ threaded joint Connect extensive shield to both sides!
OH OH
Servo motor power connector
} supply unit with own

voltage supply
External
brake
Connector Designation Cable Contact No. Core No. 1 U 1 4 V 2 3 W 3 2 PE Green-Yellow A Brake + 5 B Brake 6 C PTC-Contact 7 D PTC-Contact 8 Recommended motor cable 4 x 1,5 + 2 x (2 x 0,75)
15
2.8.3 3-phase Connection 230V / 400V Class
Absolutely ensure the observance of the supply voltage of the servo controller (3 x 230 V / 3 x 400 V!
Remove or plug in the power connector only at switched off unit and disconnected power supply!
Observe the correct phase sequence for the connection of the servo motor!
PE U, V, W L1, L2, L3 PA, PB
Protective earth conductor Motor Mains connection 3-phase Connection braking resistor
Mains connection
L1 L2 L3 PE
B A 4 1 2
C D 3
1 4 3 2
U V W PE
L1 L2 L3 PA PB U V W
C PTC-connection D PTC-connection A B Brake + Brake Motor housing/ threaded joint Connect extensive shield to both sides!
OH OH
Servo motor power connector
} unit with own voltage supply
External brake supply
Connector Contact No. 1 4 3 2 A B C D
Cable Core No. U 1 V 2 W 3 PE Green-Yellow Brake + 5 Brake 6 PTC-Contact 7 PTC-Contact 8
Designation
Size of Recommended the Unit motor cable 07 / 10 4 x 1,5 + 2 x (2x0,75) 12 4 x 2,5 + 2 x (2x0,75) 16 4 x 4 + 2 x (2x0,75)
16
2.8.4 Connection Incremental Encoder Input / Emulation (X3)
With parameter EC.10 the encoder interface X3 is reversible from an incremental encoder emulation to an incremental encoder input. The increments of the emulation are fixed to 1024 for units with resolver interface. For units with SIN/COS interface, the increments of the SIN/COS - encoder are used. Remove or plug in the power connector when the unit is switched off and the power supply is disconneced!
Max. input frequency: Signals: Max. transmission link: Released encoder types:
< 300 kHz RS 422 / 2 track signal and zero signal 50 m Kbler 5800 / 5820 Heidenhain RON 425 / ROD 426 or compatible PIN No. 1 2 3 4 5 6 7 8 9 Signal Ua1 Ua2 Ua0 +5V +18V Ua1 Ua2 Ua0 GND Meaning Signal channel A Signal channel B Signal zero max. 150 mA (1) max. 100 mA (1) Signal channel A inverted Signal channel B inverted Signal zero inverted
Sub-D-Socket X3
6 1 7 2 3 8 9 4 5
2.8.5 SSI-Interface for absolute value encoder (Optional to X3)
Remove or plug in the power connector when the unit is switched off and the power supply is disconnected!
Clock frequency: Signals: Max. transmission link: Released encoder types:
326,5 kHz or 156,2 kHz RS 422 / Clock and data 50 m Heidenhain ROC 424, Stegmann AG 626 or compatible.
Sub-D-Socket X3
6 1 7 2 3 8 9 4 5
PIN No. 1 2 3 4 5 6 7 8 9
Signal Clock + Data + n.c. +5V +18 V Clock Data n.c. GND
Meaning
max. 150 mA max. 100 mA
(1) (1)
(1) Voltage supply at X3 and X4 can be loaded at the +18V with max. 100mA. Alternatively the +5V can be loaded with 300mA.
17
2.8.6 Connection Resolver (X4) Remove or plug in the power connector when the unit is switched off and the power supply is disconnected! SUB-D-Socket X4
11 6 1 7 2 12 8 3 13 9 4 14 15 10 5
Housing Motor Servo Motor Resolver connector
Housing COMBIVERT S4 Core colour
SIN_LO SIN SIN_REF_LO SIN_REF
3 8 5 10 4 9
SIN_LO SIN SIN_REF_LO SIN_REF COS_LO COS
red blue yellow green pink grey
7 8 9 1 2 12 11 10 3
6 5 4
COS_LO COS
2.8.7 Connection SIN/COS encoder (Optional to X4)
Remove or plug in the power connector when the unit is switched off and the power supply is disconnected!
SUB-D-Socket X4
11 6 1 7 2 12 8 3 13 9 4 14 15 10 5
Housing Motor
A (+) A (-)
Servo Motor Encoder connector
1 2
8 3 9 4 6 1 7 2
A (+) green A (-) yellow B (+) blue B (-) red C (+) white C (-) brown D (+) black D (-) violet
B (+) 11 B (-) 12 C(+) C(-)

6
3 2 1 12 11 10 13 9 16
4 5 15 17 14 7 8
5 6
D (+) 14 D (-) 4 R (+) 3 R (-) 13 +5V 10 GND 7
15 R (+) grey 14 R (-) pink 12 +5V grey/pink 13 GND white/green
18
2.8.8 Connection Hiperface Remove or plug in the power connector when the unit is switched off and the power supply is disconnected!
SUB-D-Socket X4
11 6 1 7 2 12 8 3 13 9 4 14 15 10 5
Housing Motor
Servo Motor Encoder connector
COS (+) 9 REF_COS 5 SIN (+) REF_SIN Data (+) Data (-) 8 4 6 7 10 11
8 3 9 4
COS (+) green REF_COS yellow SIN (+) blue REF_SIN red grey pink brown white
7 8 9 1 2 12 11 10 3
6 5 4
15 Data (+) 14 Data (-) 10 +12V 13 GND
+12V GND
19
2.8.9 Terminal Strip X1 Terminal Designation 1 2 3 I4 ST

(2)
Function Control release Reset Release of rotation direction (limit switch (1)) forward Release of rotation direction (limit switch (1)) reverse Programmable input 1 (Jog-speed reverse (2) ) Programmable input 2 (Jog-speed reverse (2) ) Programmable input 3 (External error setting (2) ) Digital output signall 1 Digital output signal 2 + 24 V Voltage output Ground for +24 V and digital in/outputs +10 V reference voltage Ground for analog in/outputs Analog setpoint value setting (An.2 - An.5) Analog torque limitation (An.8 - An.11, CS.6, CS.7) Analog output 1 (An.14 - An.16) Analog output 2 (An.18 - An.20) Output relay: (do-parameter) RLA / RLC : 1 : active RLB / RLC : 0 : dropped out external supply of the control 24V ... 30V / 1A external voltage input, Reference potential 0V : X1.11. Only for housing size D and E. 30 V DC/1 A Voltage difference input, -10V+10V/Resolution: 12 Bit, Ri = 40 k. When a difference input is connected with COM, Ri reduces to 24k. Load impedance 500 . Scan time 2 ms, with fast analog setpoint setting or torque control the scan time reduces to 128 s (An.13, SP-parameter). -10V+10V / Resolution: 10 Bit Ri = 100 Scan time 2 ms digital inputs logic 1 : +/- 1233 V / Ri = 2,7 k Logic : PNP/NPN programmable with di.1
(1)
(RST)
I5 (F) (2)
When the unit is defective there is no guarantee that the software protective functions will work. Factory setting. Other functions can also be assigned to the inputs (di-parameter)
4 5 6 7
16 (R) (2) I1 I2 I3
(2)
Scan time 2 ms, I1 ... I3 will be scanned at special functions (Pc.18, Pc19) with 128 s.
8 9 10 11
D1 D2 Uout 0V
programmable PNP-transistor outputs 16 V - 30 V max. 20 mA with ext. supply approx. Uext - 3V Scan time 2 ms (do-parameter) 16V - 30V max 60 mA with ext. supply approx. Uext
12 13 14 15 16 17 18 19 20 21 22 23
CRF COM REF 1 + REF 1 REF 2 + REF 2 A1 A2 RLA RLB RLC Ext. Voltage
+10V (+/-3%) ; max. 4 mA
Potential isolation between terminals for digital signals (X1.1, X1.11, X1.23) and terminals for analog signals (X1.12 - X1.19). Release of rotation (X1.3, X1.4) and analog torque limitation (X1.16, X1.17) do not have a function in the Drive-Mode.
20
2.8.10 Digital In/Outputs
+ 24 V internal
PNP-Logic 1 ST 2 RST 3 F 4 R 5 I1 6 I2 7 I3 8 D1 9 D2 10 Uout
Shield connection
2.8.11 Analog In/Outputs
11
0V
12
13
14 +
15
16 +
17
18
19
A2
CRF COM REF1 REF1 REF2 REF2 A1
Shield connection
without analog torque limitation

-10V+10V
Sollwertquelle z.B.: SPS
11
0V
12
13
14 +
15
16 +
17
18
19
A2
CRF COM REF1 REF1 REF2 REF2 A1
Shield connection
with analog torque limitation

-10V+10V Set value source e.g.: SPS 0V+10V torque limitation e.g.: SPS
2.8.12 Output Relay
2.8.12 External Voltage Supply of the Control 20 21 22 RLA RLB RLC Shield connection 11 23 0V ........ ext. Volt. Shield connection 0V +24 V
External voltage supply only possible at housing size D and E.
The connections of the terminal strip and encoder inputs have a safety isolation according to VDE 0100. The manufacturer of systems or machines has to ensure that by an existing or a new wired circuit with precise separation the VDE-requirements remains fulfilled.
21
2.9
Operator
An operator is a necessary accessory for local operation of the inverter KEB COMBIVERT. To prevent malfunctions, the inverter must be brought into nOP status (control release terminal X1.1). When starting the Servo controller without an operator, it is started with the last stored values or factory setting. The operator is available in several versions:
Digital-Operator Part No. 00.F4.010-2009
5-digit LED-Display Operating-/Error display Normal "LED on" Error "LED blinks"
START ENTER F/R STOP FUNC. SPEED
Double function keyboard
Interface-Operator Part No. 00.F4.010-1009
In the Interface operator there is an additionally isolated RS232/RS485-Interface integrated. The RS232/485-parameterizing interface expands the KEB COMBIVERT S4 for communication with data communications equipment. Suitable wiring permits the physically isolated data transmission.
PE-Connection
RS232/RS485
Servo controller Parametrizing interface

5 9 4 8 3 7 2 6 1
PIN No. 1 2 3 4 5 6 7 8 9
RS485 / Norm A' B' C/C' A B
Signal TxD RxD RxD-A RxD-B VP COM TxD-A TxD-B
Meaning reserved Transmit signal / RS232 Receive signal / RS232 Receive signal A / RS485 Receive signal B / RS485 Supply voltage +5 V, Imax = 10 mA Data reference potential Transmit signal A / RS485 Transmit signal B / RS485
Information about further operators at KEB!
22
Operator Control Level
3.
3.1
Operation
Fundamentals
In order to meet the various requirements for flexible parameterizing and simple operation there are 3 different operator control levels.
Operating Modes of Control Board F4-F
Customer Mode Application Mode

In the Customer - Mode the inverter is configurated so that only the minimum number of parameters needed for controlledspeed operation are visible. These are the CPparameters. The user can define the CP parameter group himself (udparameter). Thus a maximum clarity is achieved. 3.1.1 Parameters, Parameter Groups, Parameter Sets In the Application Mode extensive functions are available which offer an individual optimized solution for all users.
Drive Mode
The Drive-Mode provides an easy manual startup. ATTENTION: Function of the limit switches is deactivated!
What are parameters, parameter groups and parameter sets?

Parameters are values changeable by the operator in a program, which have an influence on the program flow. A parameter consists of Parameter designation and Parameter value
s ter i ame f i e d ! r ci h pa Eac r l y s p e a cle
The parameter value shows the actual setting. The parameter number specifies the parameters within a group. To maintain a cleary-to-survey operation inspite of the great number of parameters, we have combined function-related parameters into parameter groups (e.g. all motor-related parameters are combined in the Drive(dr)-group). 8 parameter sets (0...7) exist to adjust several values for one parameter. If the active values shall be displayed for a running unit the digit is set to A. The digit is not-applicable for non-programmable parameters.
Example:
A conveyor belt shall be used with 3 different speeds. For each "speed"... a parameter set is programmed in which acceleration, deceleration etc. can be adjusted individually.
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3.1.2 Selection of a Parameter
The blinking point indicates the changeable area. By pressing the ENTER-key the blinking point is shifted.
ENTER F/R ENTER F/R
START
START
STOP
STOP
START
STOP
Select parameter number
Select parameter group
Select parameter set
A parameter set number is not displayed for non-programmable parameters!

FUNCT SPEED
Changes between parameter value 3.1.3 Adjustment of Parameter Values Standard-Parameters Values are immediately accepted and stored nonvolatile!
and parameter designation
Changing of ENTER-Parameters When changing a point is indicated behind the last digit. The value is accepted with ENTER and stored non-volatile.
START
STOP
START
STOP
START
STOP
START
STOP
ENTER F/R
Parameter values can be changed only, when the parameter set is not adjusted to Active parameter set (A)!
3.1.4 ENTER-Parameter
For some parameters it is not sensible that the selected values become active immediately. For that reason they are called ENTER-parameters, they do not become active until the ENTER-key is pressed.
Example:
At digital setting of rotation direction the rotation reverse (r) shall be selected from standstill (LS). As shown above, the actuation must be done via rotation forward (F). However, the drive must not start yet, first the rotation direction reverse has to be selected and confirmed with ENTER.
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3.1.5 Non-programmable Parameters
Certain parameters are not programmable as their value must be the same in all sets (e.g. bus address or baud rate). For an easy identification of these parameters the parameter set number is missing in the parameter identification. For all nonprogrammable parameters the same value is valid independent of the selected parameter set!
3.1.6 Resetting of Error Messages
If a malfunction occurs during operation, the actual display is overwritten by a blinking error message. The error message can be cancelled by pressing the ENTER-key, so that the original value is again shown in the display. ATTENTION! The resetting of the error message with ENTER is no error reset, i.e. the error status in the inverter is not reset. Thus it is possible to correct adjustments before the error reset. An error reset is only possible through the reset terminal or control release (see chapter 6.3.1 Short Description Digital Inputs).
3.1.7 Resetting of Peak Values
To permit conclusions on the operational performance of the drive, parameters are provided that indicate the peak values. Peak value means that the highest measured value is stored for the ON-time of the inverter (slave pointer principle). The peak value is cancelled by or and the actual measured value is shown in the display.
3.1.8 Acknowledgement of Status Signals
To monitor the correct execution of an action some parameters send a status signal. For example, after copying a set the display shows PASS to indicate that the action was carried out without error. These status signals must be acknowledged with ENTER.
3.2
Password Structure
The KEB COMBIVERT is provided with extensive password protection. The different passwords are used to change the operating mode set a write protection activate the Service-Mode switch to the Drive-Mode
Depending on the actual operating mode the password can be entered in following parameters
when the CP-Mode is active
when the applicatioan mode is active
25
3.2.1 Password Levels
The parameter value of the above parameters shows the actual password level. Following indications are possible: Only the Customer-parameter group is visible, exept for CP.0 all parameters are in the read-only status. Only the Customer-parameter group is visible. All parameters can be changed. Like CP-on, but the parameter identification is indicated according to the original parameter. All application parameters are visible and can be changed. The CPparameters are not visible. The Drive-Mode is a special operating mode, here the unit can be put into operation via the operator.
CP - read only
CP - on
CP - Service
Application Drive-Mode
3.2.2 Passwords
By selecting one of the following passwords you can switch to the respective password level: Passwords Password level
DRIVE-Mode
To finish the Drive-Mode press ENTER + FUNCT key for approx. 3 sec.
26
3.2.3 Changing of Password Level
FUNCT SPEED
START
Example 1
Switching from CP-Mode to the application mode
START
ENTER F/R
FUNCT SPEED
Except for the service password the entered password levels are generally stored in a non-volatile manner!
FUNCT SPEED
START
Example 2
Switching from Application Mode to the CP-read-only mode
START
ENTER F/R
FUNCT SPEED
3.3
CP-Parameter
The Customer-Parameters (CP) are a special group of parameter. With the exception of CP.0 (Password input), they can be defined by the user. The following Parameters are preset at delivery. Advantages from it: - operator-friendly for the customer - critical parameters are protected against maloperation - low documentation cost for the machine builder
3.3.1 Operation in CP-Mode Compared to the Application-Mode the operation in the CP-Mode is easier because parameter set selection and parameter group selection are unnecessary.
Adjustment of parameter number
FUNCT SPEED
Adjustment of parameter value
START
STOP
START
STOP
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3.3.2 Definition of the CP-Parameter
Generally the CP-parameters are defined as follows: Display CP. 0 CP. 1 CP. 2 CP. 3 CP. 4 CP. 5 CP. 6 CP. 7 CP. 8 CP. 9 CP.10 CP.11 CP.12 CP.13 CP.14 CP.15 CP.16 CP.17 CP.18 CP.19 CP.20 CP.21 CP.22 CP.23 CP.24 Parameter Password input Actual speed display Inverter status Apparent current Peak apparent current Actual torque Speed reference display Acceleration time Deceleration time Torque limit Maximal speed reference Jogging speed P-speed I-speed Encoder 1 (Ink./U) Ext. fault stopping mode Offset REF 1 Zero clamp REF 1 Function OUT A1 GAIN OUT A1 Gain OUT A2 Output condition OUT D1 Output condition OUT D2 Torque level OUT D1 Speed level OUT D2 Parameter Description in the Application-Mode ru.1 ru.0 ru.9 ru.25 ru.2 ru.20 SP.11 SP.12 CS.6 SP.5 SP.22 CS.0 CS.1 EC.11 Pn.20 An.5 An.2 An.14 An.15 An.19 do.1 do.2 LE.20 LE.5 Factory setting customer on ------------0,05 s 0,05 s 3 MN nN 100 rpm depending on motor 1024 / 2048 0 0% 0% 2 3 MN = 10V +/- nN = +/-10V 20 18 0,5 MN 0,5 nN
3.3.3 Reactivate the default setting The factory setting can be reactivated everytime. Therefore the following values must be adjusted via the keyboard of the operator. The terminal control release X1 must be open.
CP. 0 Fr. 0 ud. 0
440 -2 200
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3.4
Drive-Mode
The Drive Mode is a special operating mode of the KEB COMBIVERT. It allows an easy manual startup. To activate the Drive Mode enter the corresponding password 500 in CP.0 .or ud.0. Following settings are possible: Stop / Start / Run Set value Direction of rotation
3.4.1 Adjustment Possibilities
All other settings like setpoint limitation, acceleration time, deceleration time etc. correspond to the preselection in the parameter sets. Hardware condition: The control release must be bridged!
Release of rotation (terminal X1.3 / X1.4), analog torque limitation (terminal X1.16 / X1.17) and brake control do not have a function in the Drive Mode. Display Operating Mode / actual speed / set speed
3.4.2 Display and Keyboard
Rotation Display
Operating/Error display: Normal "LED on" Error "LED blinks" Operator Panel
3.4.3 Setpoint Display / Setpoint Input

va
The preset setpoint is displayed until the SPEED-key is pressed

lu e
In c
et v es as re
Decr
eas es et
alue
START ENTER F/R STOP FUNC. SPEED ENTER F/R
Hold the SPEED-key pressed down and decrease the indicated setpoint value with the STOP key
Hold the SPEED-key pressed down and increase the indicated setpoint value with the START-key
29
3.4.4 Rotation Presetting
Presetting possibilities:
F = forward (clockwise) r = reverse (anti-clockwise)

CHARGE
CHARGE
Every time the ENTER key is pressed the direction of rotation changes.
UP
UP
ENTER DOWN
FUNC.
ENTER
ENTER DOWN
FUNC.
3.4.5 Start / Stop / Run Status "Stop" Modulation disabled press 1 x "START" Status "Start" Torque at speed "0"
START
START ENTER F/R STOP FUNC. SPEED ENTER
STOP
F/R
press 1 x "STOP" press 1x "START"

STOP START
press 1x "STOP"
Status "Run" The drive runs with the preset speed
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3.4.6 Leaving the Drive-Mode
To leave the Drive-Mode, the keys "FUNC" and "ENTER" must be pressed simultaneously for approx. 3 seconds while being in status "STOP"! The unit jumps back into the mode from where the Drive-Mode was started.
Stop
Leaving Drive-Mode
approy. 3 sec.
31
Parameter Structure
4.
Parameter Structure
The parameters are combined in groups according to their functions. The following parameter groups are available in S4:
ru
run-Parameter
Contains all operating displays (process data visualization) All parameters for setpoint input limits, ramps All protective functions (quick stop etc.) All motors specific parameters Parameterization of the speed and flux controller Parameterization of the current controllers Parameter for individual adjustment of the operator and the serial interface Determines, adjusts and selects parameter sets Programming of the analog I/Os Programming of the digital inputs Programming of the digital outputs Adjustment of triggering level for the digital outputs Adjustment of parameters for synchronous control Information about inverter type, serial number etc. Parameter for adjustments and information of the encoder interface Basic setting for the posi mode Position input in the posi mode the
SP Speed definition-Parameter Pn dr
Protection-Parameter drive-Parameter
CS Control Speed-Parameter dS ud Fr
drive specifical control-Parameter user definition-Parameter
Free programmable-Parameter
An Analog I/O-Parameter di do LE Sn In
digital input-Parameter digital output-Parameter Level-Parameter
Synchron-Parameter
Information-Parameter
EC Encoder Control-Parameter Pc Pd
Position Control-Parameter Position definition-Parameter
AA Adjustment Assistance-Parameter Parameter for visualization program 'Inverter-Scope' (are directly managed by the program)
32
Parameter Structure
4.1 Set Programming
Some of the parameters are programmable in 8 parameter sets, i.e. a parameter can have different values in different sets. Individual drive profiles and functions can be realized without external intelligence.
Values for non-set-programmable parameters
Values for programmable parameters Set 0
Values for programmable parameters Set x
Parameter Set 0
Parameter Set 1
Parameter Set 2
Parameter Set x
Parameter set activation
Active set (parameter set with which the inverter actually runs)
With the factory setting the KEB COMBIVERT S4 runs in set 0, initially all other sets are deactivated.
33
Parameter Structure
4.2
Block Diagram of Software Functions and Closed-Loop Control Structure
On the following pages you can see the block diagram and the closed-loop control structure of COMBIVERT S4. All parameter groups are typed in boldface. See dS parameters for a detailed description of the current controller.
Operating displays ru-Parameter User interface
Inverter characteristics In-Parameter
Parameter set handling Fr-Parameter
Parameterizing of the bus interface ud-Parameter
Bus interface and keyboard configuration ud-Paramter
User defined parameter group CP-Parameter
T E R M I N A L
Analog in and outputs An-Parameter
Posi module Pd/PC-Param. Protect- and keep on running funct. Pn-Parameter Ramp generator S-curves SP-Parameter
Speed controller torque limit CS-Parameter
Controller dS-Parameter
Modulator Power circuit
Digital inputs
S T R I P
di-Parameter Digital outputs do-Parameter Switching level of the digital outputs LE-Parameter I/O-functions
Motor data dr-Parameter

Motor R
Synchronous control Sn-Parameter Drive functions
Encoder adaptation EC-Parameter

IG
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ru-Parameter
5.
Functional Description
5.1
Run (ru)-Parameter
Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters!
Gr. No. Name ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru ru 0 1 2 4 5 9 10 11 12 14 15 16 17 18 20 22 23 25 26 27 28 29 31 32 35 36 37 38 39 40 58 59 60 64 Inverter state Actual speed display Actual torque display Set speed display Set torque display Apparent current Active current Actual DC voltage Peak DC voltage Input terminal state Output terminal state Internal input state Internal output state Actual parameter set Speed reference display Ref 1 display Ref 2 display Peak apparent current Actual speed master Angular deviation / contouring error Speed deviation Heat sink temperature Power on counter 1 Modulation on counter 2 Actual position sign Actual position high Actual position low Set position sign Set position high Set position low Latch position sign Latch position high Latch position low Motor temperature
Address P 2000 2001 2002 2004 2005 2009 200A 200B 200C 200E 200F 2010 2011 2012 2014 2016 2017 2019 201A 201B 201C 201D 201F 2020 2023 2024 2025 2026 2027 2028 203A 203A 203A 203A
E R Resolution Lower Upper Default Limit Limit Value R table ------R 0,5 ------R 0,1 ------R 0,5 ------R 0,1 ------R 0,1 ------R 0,1 ------R 1 ------1 ------R table ------R table ------R table ------R table ------R table ------R 0,5 ------R 0,1 -100 100 --R 0,1 -100 100 --0,1 ------R 0,5 --0 --R 0,1 ------R 0,5 ------R 1 ------1 0 65535 --1 0 65535 --R 1 ------R 1 ------R 1 ------R 1 ------R 1 ------R 1 ------R 1 ------R 1 ------R 1 ------R 1 0 200 ---
Unit --rpm Nm rpm Nm A A V V ----------rpm % % A rpm rpm C h h --inc inc --inc inc --inc inc C
35
Block Diagram Control structure KEB COMBIVERT S4
36
Speed controller Current regulation
Usq-controller (PI-controller) Torque set value CS.6 (forward) CS.7 (reverse)
Control Structure
Standard-Mode
Isq + PI-controller
Ramp generator
Synchronous control
Isq +
Usq
Voltage precontrol
Sn.0 or dig. input
dS. 0 dS. 1
+
Usd
Power circuit M 3 ~
R
Pc. 0 CS. 4 CS. 3 CS. 0

Speed Speed difference Integral factor
set speed (ru.4)
Proportional factor
Pc. 0 = 0 dr.17
actual speed (ru.1)
Pc. 0 = 1
Pc. 0 = 2
Pd.0 or dig. input
Sn.0 or dig. input
Isd = 0 + Speed
Usd-controller (PI-controller)
Ramp generator
Positioning control
Synchronous control
Pd.0 or dig. input
CS. 1 + CS.11 CS. 1
Positioning Mode
CS.12 CS.13
Positioning control
Ramp generator
Isd
dS. 0 dS. 1
d, q coordinates
Transformer 3 => 2phase
Analog/Digitalconversion
d,q
a,b
a,b
u,v,w
Speed calculation Speed Rotor position
ru-Parameter
General
In the ru-parameter group all parameters are combined where the actual operating condition of the inverter can be read. The parameters in this group are read-only. Exception: peak value memory ru.12 and ru.25 can be deleted with the serial interface by entering any value. You can also use the keyboard and do the reset with the UP/ DOWN keys.
Inverter State (ru.0)
Displays the operating state of the inverter. There are generally 4 different groups of operating states: - ready Inverter ready for operation, i.e. initialization is completed, no fault signal. Inverter in operation, modulation enabled.
- run
- abnormal condition Malfunction which can lead to different reactions. The Pnparameters specify whether the modulation is disabled, the malfunction ignored or the drive stopped. - fatal error Malfunction which causes an immediate disabling of the modulation. Restart only possible after reset.
37
ru-Parameter
The various operating states are listed below: The various operating states are listed below: Operating State ready: noP 0 No Operation Control release not briged, modulation switched off, output voltage=0, drive uncontrolled LS 70 Low Speed Control release bridged, no rotational direction command, modulation switched off, output voltage=0 drive uncontrolled Operating State run: Facc 64 Forward Acceleration Fcon 66 Forward Constant FdEc 65 Forward Deceleration rAcc 67 Reverse Acceleration rCon 69 Reverse Constant rdEc 68 Reverse Deceleration rFP 79 ready for positioning PA 80 positioning active SrA 82 search for reference active Operating State Abnormal Condition: A.OH2 97 abnormal stopping OH A.dOH 96 abnormal stopping drive OH A.EF 90 abnormal stopping EF A.PrF/ 94 abnormal stopping prohibited A.Prr 95 rotation forward / reverse A.bus 93 abnormal stopping bus Operating State Fatal sError: E.OC 4 error overcurrent E.OP 1 error overpotential E.UP 2 error underpotential E.OH 8 error overheat E.dOH 9 error drive overheat E.OH2 30 error motor protection E.OL 16 error overload inverter E.EF 31 error extern fault E.PrF/ 46 error prohibited rotation E.Prr 47 forward/reverse E.OS 105 error overspeed E.LSF 15 current limit resistor error E.SEt 39 error at set selection E.bus 18 error bus E.EnC 32 error encoder E.PuC 49 error power unit E.dSP 51 error DSP E.hyb 52 error hybrid
Drive accelerates forward Drive runs with constant speed forward Drive decelerates forward Drive accelerates in reverse Drive runs with constant speed in reverse Drive decelerates in reverse Drive waits for the positioning to start Drive executes a positioning command Drive in reference point search
Quick stop after OH-prewarning Quick stop after motor overheating Quick stop after external error Quick stop because at presetting direction of rotation by bipolar setpoint value terminal F or R is not triggered Quick stop after response of the communication time monitoring (Watchdog)
Overcurrent Overvoltage Undervoltage Overheat in the inverter Motor overheated Motor overloaded Overload KEB COMBIVERT S4 External Fault Quick stop because ar presetting directionof rotation by bipolar setpoint value terminal F or R is not triggered error overspeed Loading shunt error Set selection error set x Time monitoring for serial communication Error in the resolver interfacing Error in the power part detection Internal processor error Internal hardware error in the hybrid detection
You find a detailed error description with fault diagnosis in the instruction manual (chapter 5.26).
38
ru-Parameter
Actual speed display (ru.1)
In ru.1 the actual motor speed is displayed with a resolution of 0,5 rpm. A reverse rotating field at the output is indicated by the display of negative speeds
Actual torque display (ru.2)
In ru.2 the actual motor torque is displayed (calculated from the active current).
Set speed display (ru.4)
In ru. 4 the set speed is displayed at the output of the ramp generator. If the modulation is switched off or an 'abnormal' operating state is active, then the actual setpoint 0 rpm is shown. This parameter is important for the visualization of the inverter scope.
Set torque display (ru.5)
In ru. 5 the setpoint for the motor torque is displayed. Calculation and scaling like ru.2. This value corresponds to the output signal of the speed controller.
Apparent current (ru.9)
Display of the actual apparent current.
Active current (ru.10)
Display of the actual active current.
Actual DC voltage (ru.11)
Display of the actual DC-bus voltage.
Peak DC voltage (ru.12)
Display of the maximum DC-bus voltage measured. In addition the highest value which occurs in ru.11 is stored in ru.12. The peak memory can be deleted by pressing the UP/DOWN key. The memory is also deleted when the inverter is switched off.
Input Terminal State (ru.14)
In ru.14 the physical status of the input terminals X1.1...X1.7 is displayed. Internal logical interconnections, strobe or edge evaluation are not taken into consideration. The input status is displayed binary coded, meaning every input corresponds to a value of 1 (ST) to 64 (I3). If several inputs are triggered, then the sum of their values is shown.
Decimal Value 1 2 4 8 16 32 64
Input ST (control release) I4 (RST) (Reset) I5 (F) (forward rotation) I6 (R) (reverse rotation) I1 (prog. input 1) I2 (prog. input 2) I3 (prog. input 3)
Terminal X1.1 X1.2 X1.3 X1.4 X1.5 X1.6 X1.7
Example
ST, F and R are triggered: ST 1 F 4 1 + 4 + 8 = 13 R 8 The value 13 is shown in the display. ST + F + R are shown as parameter value information in COMBIVIS.
39
ru-Parameter
Output terminal state (ru.15)
ru.15 makes it possible to control the digital outputs. The controller supports a total of 7 digital outputs: transistor outputs D1 and D2, output relay RLA,RLB,RLC, 4 software internal outputs OUTA, OUTB, OUTC, OUTD, they can be used for internal connections.The software internal outputs have a direct internal connection to the software internal inputs IA, IB, IC and ID. For every active output the corresponding decimal value from 1 (open collector output D1) to 128 (software output OUT D) is displayed. If several outputs are active, then the sum of their values is shown. Decimal Value 1 2 4 8 16 32 64 128 Input D1 (transistor output) D2 (transistor output) Output relay no function OUT A (internal output A) OUT B (internal output B) OUT C (internal output C) OUT D (internal output D) Terminal X1.8 X1.9 X1.20, X1.21, X1.22 none none none none
Internal input state (ru.16)
Binary coded status of - the terminal input signals after the strobe, triggering, negation and logical interconnection unit. - the 4 software input signals. The internal inputs IA, IB, IC, ID are internally connected to the software outputs OUT A, OUT B, OUT C and OUT D. Decimal Value 1 2 4 8 16 32 64 128 256 512 1024 2048 Input ST (control release) I4 (RST) (reset) I5 (F) (forward rotation) I6 (R) (reverse rotation) I1 (prog. input 1) I2 (prog. input 2) I3 (prog. input 3) no function IA (internal input A) IB (internal input B) IC (internal input C) ID (internal input D) Terminal X1.1 X1.2 X1.3 X1.4 X1.5 X1.6 X1.7 --none none none none
40
ru-Parameter
Internal output state (ru.17)
ru.17 shows the results of the output function tables (do.1 - do.4). If an output condition is met, then the corresponding decimal value is displayed. If several output conditions are met, then the sum of the decimal values is displayed. Decimal Value 1 2 4 8 16 32 64 128 Switching Condition Switching condition 1 (do.1) is met Switching condition 2 (do.2) is met Switching condition 3 (do.3) is met Switching condition 4 (do.4) is met Switching condition 5 (do.5) is met Switching condition 6 (do.6 ) is met Switching condition 7 (do.7) is met Switching condition 8 (do.8) is met
Actual parameter set (ru.18)
Display of the parameter set currently active.
Speed reference display (ru.20)
ru.20 displays the set speed at the input of the ramp generator. As long as no function with a higher priority is activated the inverter works at this speed. Functions with higher priority are e.g.: 'abnormal stopping', 'jogging' and 'nOP'. This parameter checks the preset setpoint before startup. The speed reference display is shown with a resolution of 0,5 rpm. If no direction of rotation is selected, then the setpoint for forward rotation is shown.
Ref 1 display, Ref 2 display (ru.22, ru.23)
Display of the applied analog voltage in % (10 V = 100%) at REF 1 (setpoint input) or REF 2 (auxiliary input).
Peak apparent current (ru.25)
Maximum motor current that occurs during operating time. Display in [A]. The peak memory can be deleted by pressing the UP or DOWN key. The memory is also deleted by switching off the inverter.
Actual speed master (ru.26)
Actual speed ot the master drive; resolution 0.5 rpm.
Angular deviation / contouring error (ru.27)
Display of angular deviation between the position setpoint and the actual position of the slave (only when the synchronous module is activated Sn.0 = on). Resolution 0.1 degrees. If the Posi-module is active the contouring error is displayed.
Speed deviation (ru.28)
The speed deviation between the actual speed of the master and the slave is displayed (independent of direction of rotation); Resolution 0.5 rpm. + Master turns faster than the slave - Slave turns faster than the master
41
ru-Parameter
Heat sink temperature (ru.29)
ru.29 displays the actual heat sink temperature in C. Resolution 1 C.
Power on counter 1 (ru.31)
ru.31 displays the total time the KEB COMBIVERT S4 was supplied with power. Resolution: 1 hour
Modulation on counter 2 (ru.32)
ru.32 displays the total time the KEB COMBIVERT S4 was active. Resolution: 1 hour (modulation active, run-state).
Actual position sign (ru.35 ... ru.37)
Display of the actual position at activated Posi-module. Please take into consideration the signs at parameter Pc.1
Set position (ru.38 ... ru.40)
Display of the set position and/or drive profile at activated Posi-module. Please take into consideration the signs at parameter Pc.1.
Latch position (ru.58 ... ru.60)
With the input function di.03...12 = 23 Posi-Latch the indicated actual position ru.35...37 is displayed in the parameters ru.58...60 at actuated input.
Motor temperature (ru.64)
This parameter displays the motor temperature, if it is measured by means of a KTYsensor over a KTY-submounted card (part no. 00.F4.771-/009) (only units > G).
42
SP-Parameter
5.2
Speed definition (SP)-Parameter

Read-only parameters! Press "Enter" key to store the parameter value! Set-programmable parameters!
Gr. No. Name SP SP SP SP SP SP SP SP SP SP SP SP SP SP 0 1 2 3 5 8 10 11 12 15 16 22 26 27 Speed setting source Speed setting absolute Speed setting % Rotation setting Max. speed reference Absolute maximum speed Delta speed ACC/DEC time Acceleration time Deceleration time S-curve acceleration S-curve deceleration Jogging speed Motor-poti function Motor-poti time
Address P 3000 3001 3002 3003 3005 3008 300A 300B 300C 300F 3010 3016 301A 301B
E E
P P P P P P P P P
R Resolution Lower Limit 1 0 0,5 -14000 0,1 -100 1 0 0,5 0,0 0,5 0,0 0,5 0,0 0,01 0,00 0,01 0,00 0,01 0,00 0,01 0,00 0,5 0,0 1 0 0,01 0,00
Upper Default Limit Value 17 2 14000 1500,0 100 0 2 0 14000 dep. on unit 14000 dep. on unit 14000 dr.01 320,0 0,05 320,0 0,05 320,0 0,00 5,00 0,00 14000 100,0 15 0 300,00 128,00
Unit --rpm % --rpm rpm rpm s s s s rpm --s
SP. 0 defines how setpoint speed and direction of rotation are preset (analog, digital, terminal). Value 0 1 2 3 4 5 6 7 8 9 ... 14 15 16 17 Setpoint analog analog analog digital abs. (SP. 1) digital abs. (SP. 1) digital abs. (SP. 1) digital % (SP. 2) digital % (SP. 2) digital % (SP. 2) reserved Motorpoti Motorpoti Motorpoti Direction of Rotation digital (SP. 3) terminal strip (X1.3 / X1.4) sign of the setpoint digital (SP. 3) terminal strip (X1.3 / X1.4) sign of the setpoint digital (SP. 3) terminal strip (X1.3 / X1.4) sign of the setpoint --digital (SP.3) terminal strip sign of the setpoint
The analog setpoint speed is calculated in accordance with the following formula: nsoll = analog value / 10 V * max. Speed (SP.5) If the direction of rotation is preset by the terminal or parameter SP.3, then all negative speed setpoints lead to nset = 0. At values 2, 5 and 8 (set value and direction of rotation from bipolar setting) and activated response to limit switch, the input F for clockwise rotation and R for anticlockwise rotation must be active additionally, otherwise the drive goes into the 'abnormal stopping mode' (A.Pr.F and/or A.Prr).
43
SP-Parameter
Speed setting absolute (SP.1)
Adjustment of the set speed. (positive value = direction of rotation forward / negative value = direction of rotation reverse). Adjustment of the digital set speed in % of the maximum speed (SP.5).
Speed setting % (SP.2)
Rotation setting (SP.3)
Adjustment of digital direction of rotation.
Max. speed reference (SP.5)
The maximum set speed can be entered in SP.5. At Uref = 10 V the analog setpoint speed is generally = SP. 5. The resolution of the analog input is also preset with SP.5. In the case of superior positioning controls for example the processing of a workpiece can be done with a higher resolution than the feed rate movement. In this way better surfaces are achieved in the processing.
Abs. max. speed (SP.8)
This parameter limits the set speed. Contrary to SP.5 it has no influence on the calculation of the analog or percentage setpoint. When exceeding this speed limit, the error E.OS is displayed.
Delta speed ACC/DEC time (SP.10) Acceleration time (SP.11) Deceleration time (SP.12) S-curve time Acceleration (SP.15) Deceleration (SP.16)
These parameters define the acceleration and deceleration. Acceleration = SP.10 / SP.12 Deceleration = SP.10 / SP.11
These parameters can limit the maximum jerk during acceleration or deceleration of the drive. SP. 15 / SP. 16 is the time in which the acceleration/deceleration increases from 0 to set acceleration/deceleration.
Ramp times (SP.10 - SP.16)

S p e e d d iffe r e n c e S P .1 0 m a x . a c c e le r a tio n
S p e e d
T im e
m a x . d e c e le r a tio n
S c u r v e tim e a c c e le r a tio n . a c c e le r a tio n tim e S P .1 1
S - c u r v e tim e a c c e le r a tio n . S P .1 5
S -c u rv e d e c e le r a tio n . S P .1 6 d e c e le r a tio n tim e S P .1 2
S - c u r v e tim e d e c e le r a tio n . S P .1 6
In order to have defined ramp times, the acceleration time must be adjusted larger than the s-curve time. The times always refer to the speed difference adjusted in Sp.10. SP.11 + SP.15 defines the total acceleration time SP.12 + SP.16 defines the total deceleration time
44
SP-Parameter
Jogg speed (SP.22)
Programs the jog speed. The set value in the jogging mode is directly executed without ramp times. The activation of the jogging mode forwardor reverse is done with a digital input. In the jogging mode the standard setpoint and direction of rotation are disabled. F and R continue to serve as software limit switches during the jogging mode. If forward and reverse are simultaneously selected, forward has priority.
Motor potiometer function (SP.26)
This function simulates a mechanic motor potentiometer. By way of two programmable inputs the value of the motor potentiometer can be increased or decreased. SP.26 Motorpoti / Function 2 1 Meaning x 0 set programmble x 1 non-set programmble 0 x no motor poti reset 1 x reset after Power on x x 0...100 % in 16 s x x 0...100 % in 33 s x x 0...100 % in 66 s x x 0...100 % accord. to SP.27
8 x x x x 0 0 1 1
4 x x x x 0 1 0 1
SP.27 0,00...300,00 s Motorpoti / time
n [rpm] Increase of motorpoti value assign value "24" to prog. input di.3...12 n m (SP.5)
100%
66 33
16 16 33 66
t [s]
Decrease motorpoti value assign value "25" to prog. input di.3...12
-100%
n (SP.5)
Rotation + = forward - = reverse
Setpoint
Speed setting
Setpoint setting
45
SP-Parameter
Input definition
The first step is the definition of two inputs with which the motor potentiometer can be increased and decreased. Depending on the selected inputs two of the parameters di.3...di.12 are assigned with the value 24 and 25. Increase mototpoti value Value 24 Decrease mototpoti value Value 25 Motorpoti = 0 Value 26
The potentiometer value is decreased, if the inputs potentiometer value are triggered at the same time. With SP.26 some basic operational modes of the motor potentiometer are defined. The parameter is bit-oriented. Value 4 2 1 x x 0 x x x 0 1 0 1 0 x 0 1 x x x x 0 1 x x x x x x 0 Meaning Motor potentiometer can be programmed differently in all parameter sets. Motor potentiometer is not set-programmable. After a power-on reset the last potentiometer value is adjusted. After a power-on reset the potentiometer value is set to 0 %. Rise time of 0...100% of motor potentiometer 16 s Rise time of 0...100% of motor potentiometer 33 s Rise time of 0...100% of motor potentiometer 66 s Rise time of 0...100% depending on parameter SP.27 = 0 (Default value)
8 x x x x 0 0 1 1 0
Motor potentiometer/Rise time (SP.27)
With this parameter a time is defined which the motor potentiometer needs to drive from 0...10 %. The adjusted time takes effect when a value of > 12 is adjusted in parameter SP.26. The time is adjustable in a range of 0,00...300,00 s (Factory setting 128 s).
Correcting range (+SP.5)
The absolute setpoint limits of the motor potentiometer (-100%...0...+100%) are limited by the maximum frequencies (SP.5). To set the setpoint value by way of the motor potentiometer parameter SP.0 (setpoint source) must be adjusted accordingly. Rotation Keyboard/Bus Terminal strip Motorpoti SP.0 15 16 17 Setpoint Motorpoti Motorpoti Motorpoti
Setpoint and rotation direction (SP.0)
5.2.1 Set Value Setting Positioning Control
for
Fast analog setpoint value for s u p e r i o r positioning control
The scan time of the standard software is 2ms. During this time all functions, which relate to the inputs and/or outputs, run once. When the controller is operated together with a control, then these times are usually not sufficient. The analog set value can directly be switched over onto the processing in the control-processor, resulting in scan times of 128 s for the set value. The direct set value processing is activated by: SP. 0 = 2, SP.11 = 0.0 s, SP.12 = 0.0 s. When this mode is activated all Anparameters which relate to REF1 are without function (An.2, An.3, An.4, An.5, An.13=1).
46
Pn-Parameter
5.3
Protection (Pn)-Parameter
Gr. No. Name Pn Pn Pn Pn Pn Pn Pn Pn Pn Pn Pn Pn 16 17 20 23 24 25 27 30 31 33 60 63 Switch-off delay E.dOH Power off / starting voltage Extern fault stopping mode E. Bus stopping condition Prohibited rotation stopping condition Warning dOH stopping condition Warning OH2 stopping condition OH2 - Warning level dOH - error level Power off / mode Braking torque for emergency stop Emergency-Stop-ramp
Address P 2210 2211 2214 2217 2218 2219 221B 221E 221F 2221 223C 223F
E E E E E E E E E E
R Resolution Lower Upper Default Limit Limit Value 1 0 120 10 1 198 800 198:off 1 0 6 0 1 0 6 6 1 0 6 5 1 0 6 5 1 0 6 6 1% 0 100 100 1 0 201:off 201:off 1 1 2 2 0,1 0 dr.10 3*dr.09 0,01 0 10 0
Unit s V ----------% C --Nm s
These parameters determine the behaviour if a malfunction occurs. There are 3 different error groups: Error group 1: E.OP E.OC E.UP E.SEt error overpotential error overcurrent error underpotential error at set selection
Modulation is immediately disabled. No other characteristics can be preset here. Error group 2: EF buS PrF Prr external fault error Bus limit switch forward limit switch reverse
Modulation is not necessarily switched off. The reaction is specified with Pn.20, Pn.23 and Pn.24. Error group 3: - E.dOH error drive overheat (PTC) - E.OL error overload inverter (KEB COMBIVERT S4)
The fault signal dOH is generated by the internal temperature sensor of the motor. The fault signal OH occurs if the inverter temperature is > 70. Both signals lead to the disabling of the modulation, however a prewarning can be generated. The remaining time for the setting of the prewarning until the modulation is switched off, can be used to stop the drive.
All protective functions are controlled by the software. This means they may not work when the controlling unit is defective!
47
Pn-Parameter
Table for Parameter Pn.20 and Pn.23 to Pn.25 and Pn.27:
Value 0
Reaction Error message: E.xx modulation immediately disabled. To restart remove error and active Reset! Status message: A.xx quick stop / modulation disabled after speed 0 is reached! To restart remove error and activate Reset!
COMBIVIS Display 0: error / power on after reset
1: quick stop / modulation; Power on after reset
Status message: A.xx quick stop / holding torque at speed 0. To restart remove error and activate Reset! Status message: A.xx modulation immediately disabled! Automatic restart, when error is no longer present!
2: quick stop / holding torque; Power on after reset
3: modulation disabled/ automatic power on reset
Status message: A.xx 4: quick stop / quick stop / modulation disabled after modulation disabled / speed 0 is reached! Automatic restart, when automatic power on error is no longer present! reset
Status message: A.xx quick stop / holding torque at speed 0! Automatic restart, when error is no longer present! Status message: no effect on the drive signal is ignored!
5: quick stop / holding torque / automatic power on reset 6: protective function off (no reaction)
Value 0: The 'abnormal stopping condition' becomes an error. The drive remains in 'fatal error' status until a reset signal is recognized. Value 1 ... 2: The drive remains in the condition 'abnormal stop', until a reset signal is recognized. Value 3 ... 5: The drive automatically goes back into standard operation as soon as the malfunction is no longer present. Value 6: The malfunction is ignored by the drive.
48
Pn-Parameter
Switch off time E.dOH (Pn.16)
With this parameter the triggering of the error E.dOH (motor overheating) after apply of the PTC-signal can be delayed. Pn.17 adjusts the tripping voltage. 198 (Off): 199 ... 800 V: With this adjustment the power off function is generally disabled. If the DC-link voltage undershoots the adjusted value during a mains failure, the power off function will be started.
Power off / Starting voltage (Pn.17)
For a safe operation the tripping threshold must be 50 V higher than the UP-threshold. UP-Threshold 400 V Class 360 V DC 250 V DC UP-Threshold 200 V Class 180 V DC 205 V DC
Unit D/E: Unit > G:
OH2 - Warning level (Pn.30)
Adjusts the OH2 - warning level in the range from 0...100%. Warning level =100 % means, that the triggering threshold for the prewarning signal is identical with the error triggering threshold. This error disables the modulation, thus the setting 'stopping mode' does not have an effect. (Pn.27)
OH2 - Function
The OH2-function monitors the allowed heating of the drive. Parameterization occurs with dr.2 rated motor current IN and dr.7 standstill current Id0.
The following diagram refers to the speed dependent motor current. Id = Id0 + ( IN - Id0 ) * n / nN fr n < nN Id = IN fr n > nN dr.53
t = dr.55
OH2 time (s)
dr.54 3 3,5 4 4,5 5
I Id
t = Reset time of the overload counter, relates to 100 % of the release time
The times in the diagram for the response of the OH2 function relate to the triggering of OH2-error or 100 % OH2 level.
49
Pn-Parameter
dOH-Error level (Pn.31)
If the motor temperature is measured with a KTY130 (see ru.64), a temperature can be entered over this parameter, at which the inverter switches off the motor with E.dOH after elapsed time Pn.16.
Power off / Mode (Pn.33)
Value 1
Reaction Status message: POFF quick stop / modulation disabled after speed 0 is reached! To restart remove error and activate Reset! Status message: POFF quick stop / holding torque at speed 0. To restart remove error and activate Reset!
COMBIVIS Display 1: quick stop / modulation off; Power on after reset
2: quick stop / holding torque / Power on after reset
Braking torque for emergency stop (Pn.60)
The torque limit is preset with parameter PN.60 for all emergency stop functions (Pn.20 - Pn.27). The maximum torque for the operation or malfunction can be preset separately.
Not-Stop-Rampe (Pn.63)
For all abnormal stop conditions that shall execute quick stop, the ramp can be preset here. The motor is no longer decelerated with the torque limit adjusted in Pn.60, but carries out the quick stop with the adjusted ramp time. The ramp time refers to 1000 rpm.
50
CS-Parameter
5.4
Control Speed (CS)-Parameter
The speed controller is parameterized in the CS-parameter group.

Read-only parameters!
Press "Enter" key to store the parameter value! Set programmable parameters! Gr. No. Name CS CS CS CS CS CS CS CS CS CS CS CS CS CS 0 1 3 4 6 7 11 12 13 14 16 19 20 21 KP speed KI speed KP speed amplification KP speed limit Torque limit forward Torque limit reverse Maximal Ki increase Max. speed for max. Ki Min. speed for standard Ki Standstill pos. control max. voltage KP Flux controller KI Flux controller Flux controller limitation Address P 2D00 2D01 2D03 2D04 2D06 2D07 2D0B 2D0C 2D0D 2D0E 2D10 2D13 2D14 2D15 E R Resolution Lower Limit P 1 0 P 1 0 1 0 1 0 0,1 0,1 0,1 -0,1 : off 1 0 0,5 0 0,5 0 1 0 0,1 0,1 1 0 : off 1 1 0,1 0,0 Upper Limit 32767 65535 65535 32767 dr.10 dr.10 65535 9999,5 9999,5 65535 100,0 65535 65535 dr.2 Default Value dep. on unit dep. on unit dep. on unit dep. on unit 3 * dr.9 -0,1 : off 0 0 0 0 100,0 0 : off 1 0,0 Unit --------Nm Nm --rpm rpm --% ----A
Speed Controller
The CS-parameter group contains all parameters that are needed to adjust speed and flux control. The speed controller is a PI-controller, which contains an additional proportional gain that is dependent on the system deviation (picture A) and a speed dependent integral factor (picture B). The torque limits can be separately adjusted for both directions of rotation. These parameters adjust the proportional factor of the speed controller. In CS.3 the system-deviation dependent proportional factor can be parameterized. CS.4 limits the proportional gain. If Kp speed (CS.0) > Kp speed limit (CS.4), then the proportional gain is set at CS.0. porportional gain calculation Kp-speed factor Kp-speed limit (CS.4) Kp-speed (CS.0) Kp-speed amplification (CS.3)
KP-Speed (CS.0) KP-Speed Amplification (CS.3) KP-Speed Limit (CS.4)
Picture A
Xd(n) CS.3 determines to what extent the control deviation influences the proportional factor. CS.4 limits the proportional factor. Exception: When the standard Kp-value (CS.0) is larger than the limit value (CS.4), then the proportional factor CS.3 = 0.
51
CS-Parameter
KI Speed (CS.1) KI-Maximal (CS.11) Max. Speed for max. KI (CS.12) Min. Speed for CS.1 (CS.13)
These parameters adjust the integral factor of the speed controller. KI speed factor calculation KI speed factor max. KI increase (CS.11)
Picture B
KI speed (CS.1) actual speed max. speed for max. KI (CS.12) min. speed for CS.1 (CS.13)
For better motor performance at lower speeds and standstill the KI speed can be varied depending on the actual motor speed (CS.12, CS.13). CS.1 forms the basic value. The maximum KI-value is: CS.1 + CS.11 Both corner frequencies CS.12 and CS.13 specify in which speed range the KI-value can be changed.
Torque Limit Forward (CS.6)
These parameters determine the torque limits in both directions of rotation.
Torque Limit Reverse (CS.7)
If only one torque limit is needed (standard condirion in speed-controller operation), it is possible to set CS.7 to 'off '. The torque limit in CS.6 is then valid for both directions of rotation.
52
CS-Parameter
Standstill Position Control (CS.14)
The standstill position controller improves the standstill rigidity of the drive. The position controller becomes active when the set speed and the actual speed = 0 rpm. The reference position for the controller is that position where the condition actual speed and set speed = 0 rpm was reached first. The position controller becomes inactive as soon as the set speed is unequal to zero.
The displacement of the drive may not exceed 1/2 a revolution. If the motor is displaced by load with more than 1/2 a revolution, then the set position changes by a complete motor revolution.
The position controller has only one function in the speed-controlled mode, except at fast analog setpoint presetting (SP-parameter).
The proportional factor of the standstill controller can be programmed in CS.14. A proportional factor of 0 deactivates the standstill controller.
Maximal Voltage (CS.16)
With CS.16 voltage is specified in % of the inverter voltage, at which the motor runs in field-weakening operation.
Flux Controller (CS.19 ... CS.21)
With this parameter the flux controller is operated, that forces a current into the motor which weakens the field. CS.19 KP-value of flux controller 0: flux controller off. CS.20 KI-value of fluc controller. CS.21 maximum current that can be preset for the weakening of the field.
53
CS-Parameter
5.5
Adjustment of the Speed Controller
Speed Controller Adjustment
The speed controller must be adjusted when the KEB COMBIVERT S4 is taken into operation. By using KEB-COMBIVIS a setvalue jump can be recorded. With the examples on the following page the speed controller can be adjusted. Install COMBIVIS on the PC and startup. Select the programm INVERTER SCOPE. parameterize INVERTER SCOPE: Operating mode Offline Time reference 2ms Trigger position 5% Trigger condition 4 : I5 Channel A ru.4 Set speed Channel B ru.1 Actual speed Calibrate channels and adjust time reference (e.g. 50ms/DIV). Switch on control release X1.1, but do not activate direction of rotation X1.3 and X1.4. Preset speed setpoint value. (e.g.: 50% nominal, 5V at the analog input X1.14, X1.15) Start the recording of INVERTER SCOPE. If X1.3 is activated now, the KEB COMBIVERT S4 executes a setpoint step change. The function is recorded simultaneously by the INVERTER SCOPE. The recording stops automatically. Compare recorded step change with the examples on the following page and adjust speed controller. Repeat step change and record again until a satisfying initial response and an optimal controller adjustment is found.
Rough adjustment of the speed controller without using the INVERTER SCOPE: Increase P-part to the stability limit (system starts to oscillate) and then decrease by 30%. Repeat the same procedure with the I-part.
54
CS-Parameter
Adjustment Assistance Speed Controller
Problem:
Very long transient reaction, but stabilization during constant run Corrective Increase P-fraction (CS.0; possibly measure: reduce I-fraction (CS.1)
Problem: Speed overshoot too high Corrective Increase P-fraction (CS.0); possibly measure: reduce I-fraction (CS.1)
Problem: Sustained oscillation during constant run Corrective Decrease P-fraction (CS.o) measure:
Problem:
Transient reaction too slow / permanent controller deviation Corrective Increase I-fraction (CS.1) measure:
Problem: Overshoot too long Corrective Increase I-fraction (CS.1) measure:
Problem: Sustained oscillation with high amplitude Corrective Reduce I-fraction (CS.1) measure:
55
dS-Parameter
5.6
Drive-specific control (dS)Parameter
The dS-parameters parameterize the current controllers. The current controllers are standard PI-controllers.
Press "Enter" key to store the parameter value! Set-programmable parameters! Gr. No. Name dS 0 KP I active dS 1 KI I active dS 12 Modulation Rate dS 13 Operating Frequency Address P 2F00 2F01 2F0C 2F0D E R Resolution Lower Upper Default Limit Limit Value 1 0 65535 dep. on unit 1 10 65535 dep. on unit R 1 1 0 : 8 kHz 1:16 kHz 0 : 8 kHz Unit ----% ---
KP active (dS.0)
These parameters adjust the amplification factor for the current controller.
KI active (dS.1)
These parameters adjust the integral factor of the current controller.
These parameters are factory set to the standard KEB-motor. Adjustment changes should only be done if an oszilloscope with current probe is available.
Modulation Rate (dS.12)
The indication corresponds to the output voltage in % of the DC-link voltage.
Operating Frequency (dS.13)
Units, that can be operated with a switching frequency of 16 kHz, can be switched over to a switching frequency of 16 kHz by means of this parameter.
56
d r.1 7 2
1 4
V o lt. c o n s t. /1 0 0 %
n _ a c tu a l / n _ ra te d
+ +
C u r r e n t r e g u la tio n
+
U s q
d S . 0 : K p I
Is q _ s e t
+ * 2
-1 0
X d Is q * 2
-8
+ +
T = 6 4 u s
+
Z
M o d u la to r
-1
d S . 1 : K i I
U d S . 0 : K p I X d Is d * 2
-8
P o w e r c ir c u it
Is d _ s e t
+ +
U s d
* 2
-1 0
+ +
T = 6 4 u s
+
N o m in a l c u r r e n t - M a x . v a lu e s
Z
-1
iu
ia
a ,b
Is d
d S . 1 : K i I
0 7 1 0 1 2 1 6 - Is d ; Is q N o m in a l v o lta g e - U s d ; U s q S c a n tim e D e la y tim e - T - P - D s r a n s m is s io n V e c o n - > D S P r o g r a m flo w e la y tim e m o d u la to r
.S .S .S .S 4
1 7 3 7 5 7 7 7
,7 ,5 ,3 ,0 A 6 1 4 4 = Im a x . 1 6 3 8 4 = 1 0 0 % 6 4 s 6 4 s 6 4 s 6 4 s
A = Im a x .
dS-Parameter
iv
ib
d ,q
Is q
= a p p ro x . U z k / 1 ,4 1 4
57
dr-Parameter
5.7
Drive (dr)-Parameter
The drive parameters indicate the technical data of the motor. These parameters are already adjusted ex-works to the standard KEB-servo motor drive package.
Press "Enter" key to store the parameter value! Set-programmable parameters! Gr. No. Name dr dr dr dr dr dr dr dr dr dr dr dr dr dr 0 1 2 3 7 9 10 17 41 42 53 54 55 56 Rated motor power Rated motor speed Rated motor current Rated motor frequency Motor current for zero speed Rated torque Max. torque E.M.K. Voltage constant Winding resistance Ruv Winding inductance Luv OH2-time 300 % ID OH2-time I_max OH2-recovery time Moment of inertia Address P 2400 2401 2402 2403 2407 2409 240A 2411 2429 242A 2435 2436 2437 2438 E R Resolution Lower Upper Limit Limit 0,01 0 327,67 1 100 9000 0,1 0,1 500,0 1 20 1000 0,1 0,1 500,0 0,1 0,1 500,0 0,1 0,1 Inv.max. 1 0 500,0 0,1 0,1 100,0 0,1 0,1 100,0 1 50 10000 1 50 10000 1 50 10000 0,1 0 3000 Default Unit Value Type plate kW Type plate rpm Type plate A Type plate Hz Type plate A Type plate Nm ----Type plate V*min/1000 Type plate Ohm Type plate mH 300 ms 200 ms 5000 ms 0 kgcm^2
Max. Torque (dr.10)
The maximum torque of the motor can be specified with this parameter. But only one maximum value can be preset, which the inverter can also preset (upper limit see HSR). The parameter is used as upper limit for Pn.60, CS.6, CS.7.
OH2-protective function (dr.53...dr.55)
See parameter Pn.30.
Moment of inertia (dr.56)
The total moment of inertia can be preset here. Then the inverter controls the acceleration torque directly.
58
ud-Parameter
5.8
User Definition (ud)-Parameter

Read-only parameters! Press "Enter" keb to store the parameter value! Set-programmable parameters! No. Name Address P E R Resolution Lower Limit 0 Key password input 2600 E 1 0 1 Bus password input 2601 1 -32767 2602 Table 1 : ru 2 Start parameter group 3 Start parameter number 2603 Table 0 6 Inverter address 2606 E 1 0 7 Baud rate 2607 E Table 1200 2608 E 0,01 0 : off 8 Watchdog time 13 CP.0 Address 260D R 1 --14 CP.0 Set 260E R 1 --260F 1 -1 : off 15 Display mode positioning 16 CP.1 Set 2610 1 0 17 CP.2 Address 2611 1 -1 : off 18 CP.2 Set 2612 1 0 19 CP.3 Address 2613 1 0 20 CP.3 Set 2614 1 0 21 CP.4 Address 2615 1 0 22 CP.4 Set 2616 1 0 23 CP.5 Address 2617 1 0 24 CP.5 Set 2618 1 0 25 CP.6 Address 2619 1 0 26 CP.6 Set 261A 1 0 27 CP.7 Address 261B 1 0 28 CP.7 Set 261C 1 0 29 CP.8 Address 261D 1 0 30 CP.8 Set 261E 1 0 31 CP.9 Address 261F 1 0 32 CP.9 Set 2620 1 0 33 CP.10 Address 2621 1 0 34 CP.10 Set 2622 1 0 35 CP.11 Address 2623 1 0 36 CP.11 Set 2624 1 0 37 CP.12 Address 2625 1 0 38 CP.12 Set 2626 1 0 39 CP.13 Address 2627 1 0 40 CP.13 Set 2628 1 0 41 CP.14 Address 2629 1 0 42 CP.14 Set 262A 1 0 43 CP.15 Address 262B 1 0 44 CP.15 Set 262C 1 0 45 CP.16 Address 262D 1 0 46 CP.16 Set 262E 1 0 47 CP.17 Address 262F 1 0 48 CP.17 Set 2630 1 0 49 CP.18 Address 2631 1 0 50 CP.18 Set 2632 1 0 51 CP.19 Address 2633 1 0 52 CP.19 Set 2634 1 0 53 CP.20 Address 2635 1 0 54 CP.20 Set 2636 1 0 55 CP.21 Address 2637 1 0 56 CP.21 Set 2638 1 0 57 CP.22 Address 2639 1 0 58 CP.22 Set 263A 1 0 59 CP.23 Address 263B 1 0 60 CP.23 Set 263C 1 0 61 CP.24 Address 263D 1 0 62 CP.24 Set 263E 1 0 92 Display mode positioning 265C 1 0
Gr. ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud ud
Upper Limit 9999 32767 17 : pd 255 239 57600 10 ----7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 7FFF 8 (A) 1
Default Unit Value 200 --200 --1 : ru --1 --1 --9600 Baud 0 : off s --------2001 (ru.1) --0 --2000 (ru.0) --0 --2009 (ru.9) --0 ----2019 (ru.25) 0 --2002 (ru.2) --0 --2014 (ru.20) --0 --300B (SP.11) --0 --300C (SP.12) --0 --2D06 (CS.6) --0 ----3005 (SP.5) 0 ----3016 (SP.22) 0 --2D00 (CS.0) --0 --2D01 (CS.1) --0 --380b (EC.11) --0 --2214 (Pn.20) --0 --2805 (An.5) --0 --2802 (An.2) --0 --280E (An.14) --0 --280F (An.15) --0 ----2813 (An.19) 0 ----2A01 (do.1) 0 --2A02 (do.2) --0 --2B14 (LE.20) --0 --2B05 (LE.5) --0 --0 ---
59
ud-Parameter
Key password input (ud.0)
As explained in chapter 'Operating the S4 COMBIVERT' three different operational levels exist. These operational levels are subdivided into 5 password levels.
Bus password input (ud.1)
With parameter ud.0 the password level for operation via keyboard is selected. The password level for operation via bus is adjusted in ud.1. Only the customer-mode and application-mode are available for bus operation. By entering the respective password the customer can change to different password/ operational levels: Password 100 Password level customer read only Function Customer parameter only visible. Parameter value cannot be changed. Customer parameter visible and changeable. Customer parameter visible and changeable, but they are displayed under their full parameter identification. All parameters are visible and changeable. Device control via keyboard.
200
customer on
330
customer service
440 500
application password drive mode
Example
The user wants to switch from the customer read only Mode to another password level. The password input is done as follows:
Select parameter CP.0
FUNC. SPEED
The actual password level is shown.

STOP START
Enter the new password

ENTER F/R ENTER F/R ENTER F/R
FUNC. SPEED
FUNC. SPEED
The new password level is shown. If the password is invalid, then the previous password level remains active. Parameter identification is displayed.
DRIVE-MODE
CUSTOMER-MODE
APPLICATION-MODE
60
ud-Parameter
Start parameter group (ud.2) Start parameter number (ud.3)
With ud.2 and ud.3 you can select which parameter should be displayed after poweron. In ud.2 the parameter group is adjusted and in ud.3 the parameter number. The parameter set is always set 0. If the combination of parameter number and group leads to an invalid parameter (parameter does not exist), the ru.0 (in the application mode) or CP.0 (in the standard mode) is displayed after power on.
Inverter address (ud.6)
The inverter address for operation via serial bus (e.g. COMBIVIS) is set by ud.6. Possible inverter addresses are 0...239. If more than one inverter is connected to the bus it is absolutely necessary to assign them different addresses. Otherwise communication disturbances can result. For further information see the description of DIN 66019 protocol (Art. Nr. 0S.58.011-K710).
Baud Rate (ud.7)
Communication via bus is only possible as long as master and inverter are adjusted to the same baud rate. Value Baud Rate 0 ........... 1200 Baud 1 ........... 2400 Baud 2 ........... 4800 Baud 3 .......... 9600 Baud (Factory setting) 4 ......... 19200 Baud 5 ......... 38400 Baud 6 ......... 57600 Baud
Watchdog time (ud.8)
To control the connection between the inverter and the serial bus it is possible to activate a Watchdog function. If no bus signal is received within the adjusted Watchdog time the inverter trips to failure (programmable with Pn.23: reaction to Watchdog). ud.8 is deactivated by setting the value 0 (=off).
Definition of customer parameters (ud.13 ... ud.62 CPx Address, CPx Set)
Configuration of the CP operating surface is done by parameters ud.13...ud.62. Up to 24 parameters can be defined which form the CP-parameter group. CP.0 always contains the password input and is non-programmable. Each customer parameter is defined by 2 specifications: - the parameter address: defines parameter group and number - the set number Therefore two ud parameters are necessary to define one CP-parameter. CPX addressand CpX set.
61
ud-Parameter
CP - Parameter group CP.0 CP.1 CP.2 CP.3 password input defined by ud.15/16 defined by ud.17/18 defined by ud.19/20
Example: CP.1 = ru.1 (not prog.) CP.2 = ru.0 (not prog.) CP.3 = ru.4 (not prog.) CP.4 = SP.11 (Set 0)
CP.22 CP.23 CP.24
defined by ud.57/58 defined by ud.59/60 defined by ud.61/62
Parameter CP.1 / ru.1 CP.2 / ru.0 CP.3 / ru.4 CP.4 / SP.11
bus address 2001H 2000H 2004H 300BH
ud-parameter ud.15 = 2001H / ud.16 = 0 ud.17 = 2000H / ud.18 = 0 ud.19 = 2004H / ud.20 = 0 ud.21 = 300BH / ud.22 = 0
Aside from the set numbers 0..7 the adjustment A (=active set) is possible. In this case, the parameter value is changed in the set that is currently active. To show the user which set is currently parameterized the set number is shown on SEG 5 of the 7 segment display.
Changing the active set during parameterization in the CP-Mode may result in undesirable parameter settings. If a non-existing parameter address is chosen in CP.x address the equivalent CPparameter is ignored. Invalid bus addresses: - all parameter addresses not documented in this application manual - the CP-definition parameters themselves (ud.15...ud.62) - parameters with copy-functions (Fr.0, Fr.1, Fr.2)
Display mode positioning (ud.92)
This parameter affects all ru-parameters with position representation (ru.35 ... ru.57). If the value "1" is adjusted, the Low-part and the sign are updated with the reading of the High-part. This setting is necessary whenever 32-bit position values are to be evaluated by a bus connection.
62
In-Parameter
5.9
Information (In)-Parameter
Gr. No. Name In In In In In In In In In In In In In In In In In In In In In 4 5 6 7 8 9 10 11 12 40 41 42 43 44 45 54 55 60 61 62 63 Software version Software date Configfile number Serial No. (date) Serial No. (counter) Serial No. (AB-Nr. high) Serial No. (AB-Nr. low) Customer No. (high) Customer No. (low) Last error Error counter OC Error counter OL Error counter OP Error counter OH2 Error counter WD Software version DSP Software date DSP Last error (t-1) Last error (t-2) Last error (t-3) Last error (t-4)
Address P 2C04 2C05 2C06 2C07 2C08 2C09 2C0A 2C0B 2C0C 2C28 2C29 2C2A 2C2B 2C2C 2C2D 2C36 2C37 2C3C 2C3D 2C3E 2C3F
R Resolution Lower Limit R 1 --R 0,1 --R 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 R 0,1 --R 0,1 --R 1 --R 1 --R 1 --R 1 ---
Upper Default Limit Value --------255 38 65535 0 65535 0 65535 0 65535 0 65535 0 65535 0 63 0 255 0 255 0 255 0 255 0 255 0 -------------------------
Unit -------------------------------------------
Software Version (In.4)
The version number of the Host-Software is encoded in this parameter.
Software Date (In.5)
Display of the date of the Host-Software. The value contains the day, month and year, but only the last 2 digits of the year are shown. Example: Display= 1507.4 ==> Date = 15.07.04
Configfile Number (In.6)
Contains a software identifier used by KEB COMBIVIS to select the correct configfile. The configuration starts automatically when COMBIVIS is activated and the inverter is connected.
Serial Numbers, Customer Number (In.7 ... In.12)
Serial number and customer number identify the inverter.
63
In-Parameter
Error Counter (In.40 ... In.45)
Error counters (for E.OC, E.OL, E.OP, E.OH2 E.buS) specifiy the total number of errors that occurred of each type during operation.
Software Version DSP (In.54)
The version number of the DSP-Software is encoded in this software.
Software Date DSP (In.55)
Display of the date of the DSP-Software (see Parameter In.5)
Last Error (t-x) (In.60 ... In.63)
For a better error diagnosis the last four errors, that were triggered, are displayed.
64
EC-Parameter
5.10 Encoder Control (EC)-Parameter
All information and parameters for the encoder interface are found in the ECparameters. EC.0 to EC.9 and EC.20 to EC.23 stand for encoder interface X4, EC.10 - EC.18 for the encoder interface X3.
Press "Enter" key to store the parameter value! Set-programmable parameters! Gr. No. Name EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC EC 0 1 2 5 7 8 9 10 11 12 13 14 15 16 18 20 21 22 23 Encoder 1 interface Encoder 1 (inc/r) Track change encoder 1 Encoder 1 clock frequency System position Time for speed calculation Current input resolver Encoder 2 interface Encoder 2 (inc/r) Track change encoder 2 Encoder 2 mode Multiturn resolution encoder 2 Encoder 2 clock frequency Encoder 2 data code Time for speed calculation 2 Hiper-Type Hiper-Status Read Hiper-Data Write Hiper-Data Address P 3800 3801 3802 3805 3807 3808 3809 380A 380B 380C 380D 380E 380F 3810 3812 3814 3815 3816 3817 E R Resolution Lower Limit R 1 --1 256 1 0 : off 0,01 5,00 1 0 1 0 0,1 -1:auto R 1 --1 100 1 0 1 0 1 0 1 0 1 0 1 0 R 1 --R 1 --1 0 1 0 Upper Default Limit Value --dep. on unit 10000 2048 1 : on o : off 10,00 10,00 65535 --5 0 72,0 7,7 --dep. on unit 10000 --1 0 1 0 13 0 1 0 1 0 5 0 --------1 0 1 0 Unit --inc --kHz mA ------inc ---------------------
Encoder interface (EC.0, EC.10)
The parameters EC.0 and EC.10 give information of the encoder interfaces. EC. 0 stands for a 15 pole interface X4, EC.10 for the 9 pole interface X3.
Value 0 1 2 3 4 5 6 7 8 9
Encoder Interface SIN / COS - encoder interface Incremental encoder emulation 5V Incremental encoder input Resolver interface 12 bit Incremental encoder emulation 24V SSI - Interface for absolute value encoder Incremental encoder Input / Output reversible --Hiperface Incremental encoder Input/emulation reversible
Encoder 1 incr/rev (INC/R)
When using a SIN/COS encoder as system feedback the encoder increments can be adjusted in this parameter.
65
EC-Parameter
Track change encoder 1 (EC.2)
With EC.2 the direction of rotation of the servo system can be inverted. If EC.2 is switched on, positive speed values and/or rising positions mean anti-clockwise rotation at the motor with view onto the shaft. This parameter has no function at Hiperface-encoders.
Clock frequency encoder 1 (EC.5)
With EC.5 the exciter frequency for a resolver can be preset.
System position (EC.7)
The system position of the attached resolver system is adjusted at EC.07. With this parameter it is possible to adjust the controller to a not aligned motor. If the system position of the motor is unknown an automatic trimming can be done. The speed display at ru.1 must be positive when the motor runs manually in clockwise direction. The signals SIN and SIN_LO have to be changed for units with resolver systems if the sign is wrong. Please ensure that the signals are not short-circuited with the internal shield (see connection resolver) The signals A(+) and A(-) must be changed for units with SIN/COS encoder. Deactivation of the posi-module Pc.0 = 0 : off preset EC.07 to 89Eh (ENTER) For units with SIN/COS encoder the direction of rotation of the absolute position must be checked additionally. If the motor runs manually in clockwise direction, the value which is displayed at EC.07 must get smaller. The signals C (+) and C (-) at the encoder must be changed if this doesn't happen. Close control release. Now the motor is excited with its rated current and aligned to its zero position. The adjustment is finished when the displayed system position at EC.07 does not change for approx. 5 s. In this case open control release and switch off the unit. If the error message E.EnC is displayed during trimming the terminals U and V of the motor connection must be changed. In this case the position trimming must be repeated.
In case that motors with aligned encoder system are used, the value which has been established by the automatic trimming, can be entered under EC.07 as well. The parameter has a 16 bit resolution 0 ... FFFFh.
66
EC-Parameter
Speed scan time (bandwidth) (EC.8, EC.18)
The speed scan time respectively the bandwidth of the controller is already preset ex factory:
Bandwidth Max. speed of the Resolution Resolution speed controller speed measurement ERN1387 Resolver 0 : 0,5 ms 2 kHz 16383 rpm 1,8 rpm 29,3 rpm 1 : 1 ms 1 kHz 16383 rpm 0,9 rpm 14,6 rpm 2 : 2 ms 500 Hz 16383 rpm 0,5 rpm 7,3 rpm 3 : 4 ms 250 Hz 14648rpm 0,2 rpm 3,7 rpm 4 : 8 ms 125 Hz 7324 rpm 0,1 rpm 1,8 rpm 5 : 16 ms 63 Hz 3662 rpm 0,06 rpm 0,9 rpm EC.8
Example for a step response with short bandwidth: (EC.8 = 5) The gain of the speed controller must be adjusted very small. The vibrations in the drive are very small. The speed fluctuations are very small . The response is not sufficient.
K E C H C H C H C H C U C U B -A n A :In B :In C :In D :In I : O II: O tr ie v 1 v 1 v 1 v 1 ff ff b s ru ru O O te c h n ik ( R ) C O M B IV IS ( R ) In v e r te r s c o p e V 3 .7 0 1 a c tu a l s p e e d d is p la y 0 4 s e t s p e e d d is p la y ff ff 4 0 rp m /D IV 4 0 rp m /D IV Y p o s :-1 5 0 rp m Y p o s :-1 5 0 rp m
M E M :(2 9 8 /4 0 0 0 )
5 3 m s - 2 5 3 m s
AB
Adjust the same servo system with high bandwidth: (EC.8 = 0) The gain of the speed controller can be adjusted very high. The vibrations in the drive are very strong. The speed fluctuations are very high. The response is very good.
K E C H C H C H C H C U C U B -A n A :In B :In C :In D :In I : O II: O tr ie v 1 v 1 v 1 v 1 ff ff b s ru ru O O te c h n ik ( R ) C O M B IV IS ( R ) In v e r te r s c o p e V 3 .7 0 1 a c tu a l s p e e d d is p la y 0 4 s e t s p e e d d is p la y ff ff 4 0 rp m /D IV 4 0 rp m /D IV Y p o s :-1 5 0 rp m Y p o s :-1 5 0 rp m
M E M :(3 2 6 /4 0 0 0 )
8 4 m s - 2 8 4 m s
AB
The optimum adjustment of the bandwidth, depending on the respective application, lies between these two examples.
67
EC-Parameter
Current input resolver (EC.9)
This parameter is used only for adjusting the threshold of the current input of the resolver for E.ENC. When writing the value -1 : Auto the current input is measured and the parameter optimally adjusted.
Encoder 2 (EC.11)
This parameter has two functions for units with a standard interface (EC.10 = 6). If EC.13 is 0, the increments of the emulation can be read. The parameter cannot be changed then. When EC.13 is changed to 1 the increments of the incremental encoder can be entered in EC.11.
Change encoder 2 rotation (EC.12)
With a connected encoder to X3 the direction of rotation can be inverted here. (Incremental encoder of SSI-encoder).
Encoder 2 mode (EC.13)
For units with a standard interface (EC.10 = 6) the encoder 2 interface can be changed from incremental encoder emulation to encoder input by means of this parameter. 0 : Incremental encoder emulation 1 : Incremental encoder input
Multiturn resolution encoder 2 (EC.14)
When a SSI - multiturn- absolute value encoder is connected, the bits for the multiturn - resolution can be adjusted. (12 bit)
Encoder 2 clock frequency (EC.15)
The clock frequency of the SSI- encoder is adjusted with parameter EC.15. Two clock frequencies are available 0 : 321,5 kHz or 1 : 156,25 kHz. The smaller clock frequency should only be adjusted with long cable lenghts and/or in case of greater malfunctions.
Encoder 2 code (EC.16)
For SSI - encoder two codes are supported by the unit: 0 : Binary coded 1 : Gray code
Hiper-Type (EC.20)
The parameter shows the type identifier of the Hiperface-encoder (Stegmann) at X4encoder 1. 02h ........ SCS 60/70 07h ........ SCM 60/70 22h ........ SRS 50/60 SCS-KIT 101 27h ........ SRS 50/60 SCM-KIT 101
68
EC-Parameter
Hiper-Status (EC.21)
The current encoder status is displayed here.

SINCOS SCS/-SCM/KIT
SINCOS SRS/-SRM
Status Code
Error Type
Description OK Analog signal outside the specification Internal angular offset faulty Table about data arrangement destroyed Analog limit values not available Internal I^2C-Bus not functioning Internal check-sum error Encoder reset occurred through program monitoring Parity error Check-sum of transmitted data wrong Unknown command code Number of transmitted data wrong Transmitted command argument inadmissible Selected data field may not be written on Wrong access code Specified data field not changeable in its size Specified word address outside the data field Access do non-existing data field Analog signal outside the specification Speed too high, no positioning possible Position Single-turn inadmissible Position error Multi-turn Position error Multi-turn Position error Multi-turn Amount monitoring of analog signals (process data) Transmitting current critical Encoder temperature critical Overflow of the counter Type identifier+serial identifier undefined KEB identifier bytes undefined Hiperface busy ( after time-out timeE.EnC ) Read data Store data Unknown service Collective error, no communication Position error (deviation of absolute position from the counted increments) Check-sum error Parity error
00h 01h 02h 03h 04h 05h 06h 07h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 01h 1Fh 20h 21h 22h 23h 1Ch 1Dh 1Eh 08h 41h 42h 43h 4Ah 4Bh 60h FFh 80h FDh FEh
Others
Position
Data
Protocol
Initialization
KEB internal
E.ENC
69
EC-Parameter
Hiper-Daten read (EC.22)
By writing a "1" the data, which the KEB COMBIVERT previously stored in the encoder,can be read with this parameter.
Motor data dr 0 Motor rated power dr 1 Motor rated speed dr 2 Motor rated current dr 3 Motor rated frequency dr 7 Standstill continuous current dr 9 Motor rated torque dr 10 Maximal torque dr 17 EMK voltage constant dr 41 Winding resistance Ruv dr 42 Winding inductivity Luv
Encoder data EC 1 Increment encoder 1 EC 7 System position EC 8 Speed scan time encoder 1
Controller data CS 6 Torque limit clockwise rotation CS 7 Torque limit anti-clockwise rotation = -1 : off
Hiper-Daten write (EC.23)
The data, that can be read with EC.22 from the Hiperface-encoder, can be stored with parameter EC.23 in the encoder by writing a "1".
70
Fr-Parameter
5.11 Free programmable (Fr)-Parameter

Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters! Gr. No. Name Fr Fr Fr Fr Fr Fr Fr Fr 0 1 2 3 4 5 6 9 Copy Para Set (Key) Copy Para Set (Bus) Parameter Set Source Parameter Set Lock Parameter Set Setting Parameter Set Activation Delay Parameter Set Deactivation Delay Bus Parameter Set Address P 2700 2701 2702 2703 2704 2705 2706 2709 P E E E E E P P R Resolution Lower Upper Limit Limit 1 -2 : init 7 1 -2 : init 7 1 0 3 1 0 255 1 0 7 0,001 0 10,000 0,001 0 10,000 1 -1 7 Default Value 0 0 0 0 0 0 0 0 Unit ----------s s ---
Copy sets (Fr.1, Fr.0)
Some of the inverter parameters are set-programmable, i.e. several values can be assigned to one parameter (8 parameter sets). Values for non-set-programmable parameters
Values for programmable parameter Set 0
Values for programmable parameter Set x
Parameter Set 0
Parameter Set 1
Parameter Set 2
Parameter Set x
Change set
active parameter
However, in most applications the basic setting of the various parameter sets remains the same and only a few parameters are adjusted differently in different sets. Therefore, it is possible to copy one set into another in order to maintain the same values in all sets. At the same time all parameter values of the destination set (Fr.9 or left segment of the display) are overwritten with the respective values of the source set. (Fr.1 or Fr.0)
71
Fr-Parameter
The following copy functions are possible: Parameter value -2 : init -1 : def 0 1 ... 7 Function Copy factory setting into all sets Copy factory setting into destination set Copy set 0 into destination set Copy set 10...7 into destination set
The following limitations must be taken into account when copying sets:
Source set and destination set may not be the same. It is impossible to copy sets as long as the active set A is displayed. If the destination set is not equal to zero, then only the programmable parameters
are copied.
The default set cannot be copied into the active set, as long as the drive is not in
Copy keyboard parameter set (Fr.0)
the state noP (control release opened). The function init can only be executed with noP.
When the inverter is operated via keyboard the copy process is triggered by Fr.0. Fr.0 is not visible by bus.
D e s tin a tio n S e t
P a ra m e te r-
P a ra m e te r id e n tific a tio n P a ra m e te r g ro u p P a ra m e te r n u m b e r
Example
parameter set 4 should be copied into parameter set 3.
s e t b e in g e d ite d
F U N C .
P a ra m e te r v a lu e d is p la y P a r a m e te r v a lu e
S o u rc e S e t
The parameter value specifies the source set. The destination set is the parameter set that is currently edited (by keyboard). The copying process is triggered by confirming the parameter value with ENTER : Return information over seven-segment display: - PASS => copying process successfully completed - nco => copying process could not be completed
Copy parameter set (Fr.1)
When operating the inverter via bus the copying process is triggered by Fr.1. This parameter is not visible. Destination set => parameter value Fr. 9 (set presently being edited by bus) Source set => parameter value Fr. 1
72
Fr-Parameter
Parameter set source (Fr.2)
Fr. 2 defines how the parameter set selection is done. Value 0 1 2 3 Parameter Set Source Set selection deactivated Set selection by Fr.4 (set selection digital) Set selection terminal strip (binary coded) Set selection with terminal strip (input coded)
Value 0 : When the parameter set selection is deactivated the inverter is always operated with the values adjusted in set 0. Value 1 : When a set is selected with Fr.4 the inverter is always operated with the set that is programmed in Fr.4. Fr.4 can be adjusted by bus or keyboard.
If the active set shall be selected via terminal strip, (value 2 or 3) the respective input terminals X1.2...X1.7 or the software inputs IA...ID must be programmed onto the set selection (di.3...di.10). Value 2: Binary coded means that the inputs ( the inputs whose input function = set selection) are interpreted as a binary number in ascending sequence. (Sequence: I1, I2, I3, I4...ID). The sum of all controlled inputs determines the set.
Example
I1, I3 and IC have the function set selection => di.3, di.5, di.9 = 1 / di.4, di.7, di.8, di.10 <> 1 8 sets can be addressed.
ID di.10
IC di.9
IB di.8
IA di.7
I6
di.12
I5 di.11
I4 di.6
I3 di.5
I2 di.4
I1 di.3
Set
Signal to input terminal IC I3 0 0 0 0 0 1 0 1 1 0 1 0 1 1 1 1
active set I1 0 1 0 1 0 1 0 1 0 1 2 3 4 5 6 7
73
Fr-Parameter
Value 3: Input coded means, the activated input with the highest priority, which has the input function set selection, determines the active set.
Example
I1, I3 and IC have the function set selection=> di.3, di.5, di.9 = 1 / di.4, di.7, di.8, di.10 <> 1 4 sets can be addressed. lowest priority
ID di.10 IC di.9 IB di.8 IA di.7 I6 di.12 I5 di.11 I4 di.6 I3 di.5
highest priority
I2 di.4 I1 di.3
set
Signal on the input terminals I1 I3 IC 0 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1
active set 0 3 2 2 1 1 1 1
Parameter set lock (Fr.3)
Fr.3 can lock the selection of individual sets. Trying to select a locked set triggers the set selection error (E.SET). Valency 0 1 2 4 8 16 32 64 128 Locked set set not locked 0 1 2 3 4 5 6 7
If several sets are locked, their valencs must be added up.
Example
Set 2 and 4 should be locked Set 2 = 4 Set 4 = 16 Fr.3 = 4 + 16 = 20 Combivis display: Set 2 + Set 4
74
Fr-Parameter
Parameter set setting (Fr.4)
With Fr.4 the active parameter set can be selected via bus or keyboard. Condition: parameter set source = digital (Fr.2 = 1).
Parameter set activation delay (Fr.5) Parameter set deactivation delay (Fr.6)
These parameters can delay the changeover between two parameter sets. Fr.5 defines the time with which the activation of the new set is delayed. Fr.6 specifies the delay of the deactivation of the old set. Both times are added up at the set changeover. If the posi-module is active, the delay times start when the position is reached.
Example
ON delay Fr.5 (set 0) OFF delay Fr.6 (set 0) ON delay Fr.5 (set 1) OFF delay Fr.6 (set 1)
= = = =
1s 2.5 s 2s 0.5 s
Delay of the changeover from set 0 to set 1: 2.5s + 2s = 4.5 s. Delay of the changeover from set 1 to set 0: 0.5s + 1s = 1.5 s.
Bus parameter set (Fr.9)
Specifies the parameter set that is parameterized by bus. It does not necessarily correspond to the active set in which the inverter is currently running. The following settings are possible: Value -1 (A) 0 ... 7 Function The parameter set with which the inverter actually operates is displayed. The parameter values cannot be changed. Parameter set 0...7 is displayed. Parameter values can be changed.
75
An-Parameter
5.12 Analog I/O (An)-Parameter

Read-only parameters! Press "Enter"-key to store the parameter values! Set-programmable parameters! Gr. No. Name An An An An An An An An An An An An An An An An An An 0 1 2 3 4 5 8 9 10 11 12 13 14 15 16 18 19 20 Measured value hysteresis Noise filter analog inputs Zero clamp REF 1 REF 1 gain REF 1 Offset X REF 1 Offset Y Zero clamp REF 2 REF 2 gain REF 2 Offset X REF 2 Offset Y REF 1 <-> REF 2 REF 2-input function Analog Out 1 function Analog Out 1 gain Analog Out 1 Offset X Analog Out 2 function Analog Out 2 gain Analog Out 2 Offset X Address P 2800 2801 2802 2803 2804 2805 2808 2809 280A 280B 280C 280D 280E 280F 2810 2812 2813 2814 E R Resolution Lower Upper Default Limit Limit Value 0,01 0,00 10,00 0,00 Table 0 10 4 (2ms) 0,1 0,0 10,0 0,2 0,01 -20,00 20,00 1,00 0,1 -100,0 100,0 0,0 0,1 -100,0 100,0 0,0 0,1 0,0 10,0 0,2 0,01 -20,00 20,00 1,00 0,1 -100,0 100,0 0,0 0,1 -100,0 100,0 0,0 1 0 1 0 1 0 9 5 1 0 6 2 0,01 -25,00 25,00 25 Nm / MN 0,1 -100,0 100,0 0,0 1 0 6 0 0,01 -25,00 25,00 6000 rpm/nN 0,1 -100,0 100,0 0,0 Unit % --% --% % % --% % --------% ----%
P E E
The analog set value or limit value presetting is done with two voltage differential inputs. If the analog signal should be a current signal, then external resistors must be connected. ( par example 500 ohm at 0 ... 20 mA )
Measured value hysteresis (An.0)
Input of y hysteresis in % onto the analog end value, under which the analog value does not change.
Noise filter (An.1)
The digital filter for both analog inputs can be adjusted with An.1.
Zero clamp REF1, REF2 (An.2, An.8)
In order to prevent the drive from drifting due to ripple voltages or offset voltages it is possible to program a zero point hysteresis in this parameter. Below the zero-clamp level the analog signals are internally suppressed (set to 0). The level may be adjusted between 0...10%. This function has a switching hysteresis of 50%. The signal value is passed through, if the analog value becomes larger than the zero clamp level. The analog signal is blocked when the analog value is smaller than half of the zero clamp level.
REF Gain (An.3, An.9)
These parameters adapt the analog input of the KEB COMBIVERT S4 onto the output voltage of the superimposed control. If the control has a maximum output voltage of e.g. +/- 5 V, then the entire speed range between 0 and SP.5 (maximal speed reference) may be used by programming a gain of 2.00. Since the amplification adjustment is done by the software, the resolution of the analog value is reduced if the amplifications are larger than 1.
76
An-Parameter
REF Offset Y (An.5, An.11)
These parameters can compensate an offset on the output signal of the control.
Functional summary An.2, An.3, An.4, An.5, An.8, An.9, An.10, An.11
+ /- 1 0 V
o u tp u t
o ffs e t X
o u tp u t
g a in
o u tp u t
Analog value
+ /- 1 0 0 % r e f 1 /2 d is p la y o ffs e t Y in p u t in p u t in p u t z e r o c la m p in g
REF1 <-> REF2 (An.12)
The two analog parameters can be exchanged by means of this parameter.
REF 2-input function (An.13) AUX- or ...input function?
Specifies the function of Ref 2 - analog input. Value 0 1 2 3 4 5 6 7 8 9 Function no function input added to the set value input (set value can be analog and digital) serves as a multiplier for the parameter CS.0 (KP speed) serves as a multiplier for the parameter CS.0 (KP speed) serves as a multiplier for the parameter CS.0 and CS.1 (=> meaning for the total gain of the speed controller) serves as a multiplier for CS.6 and CS.7 (meaning for the torque limit) torque control gear factor pos. (0% . . . 100 % an REF 2 ==> 0,05 . . . 20,00) gear factor neg. (0% . . . 100 % an REF 2 ==> 0,05 . . . 20,00) max. positioning speed (0%...100 % an REF 2 ==> 0...Pd.7)
At value 6 the function of both analog inputs changes. With REF 2 the max. speed is preselected. 10 V agrees with the specified speed at SP.5. Negative values to REF 2 are interpreted as 0. The torque setpoint value is preselected with a sign via REF 1. The torque presetting is defined in such a way that 10V at the reference input correspond to the torque limit CS.6. The torque setpoint is scanned with 128 s in this operating mode. The function is only available in the speedcontrolled mode. The gear factor for the synchronous moduel is calculated from the analog value + the value adjusted in Sn.2. The internal value range is limited to -20,00...0...20,00. The activated register function has also in this mode an affect on the gear factor. Acceptance of the speed at PC.0 = 1 only at the beginning of the positioning. PC.0 = 2 the speed is also accepted during the positioning.
77
An-Parameter
Analog output function (An.14, An.18)
These parameters decide which process variables should be visualized. The resolution of the analog values is 10 Bit. The smoothing constant for the analog signals is 2 ms.
Value 0 1 2 3 4 5 6 7 8
Process Variable Value at 100% actual speed 6000 rpm apparent current 25 A actual torque 25 Nm DC-bus voltage 1000 V speed reference input 6000 rpm (i.e.: output of the ramp generator) system deviation of the speed controller 6000 rpm (speed reference-actual speed) speed controller manipulated variable = torque set value 25 Nm amount of the current speed 6000 rpm amount of the current torque 8 MN
Analog Out gain (An.15, An.19)
The analog output signal can be adapted to the input range of the connected device. Maximum output voltage is +/- 10 V.
Analog OUT Offset X (An.16, An.20)
These parameters are needed when signal fluctuations around a basic value should be visualized (e.g. actual value of the DC-voltage in comparison to the nominal value of the DC-voltage).
78
An-Parameter
Characteristic curve formation for the analog outputs
Output voltage Analog output 10 V
Gain An.15, An.19 Digital value Offset X An.16, An.20
Example 1
Calculation example for the actual speed visualization: analog output function = actual speed the speed range from 2700 rpm to 3000 rpm should be displayed this speed range should be displayed with a voltage range of +/-10V 100 % digital value = 6000 rpm Signal offset = 2850 rpm Offset X = 2850 / 6000 = 47,5 % Analog output offset X (An.16 / An.20) = 47,5 A speed difference of +/- 500 rpm = +/- 8,3 % digital value should produce a change in the analog output of +/- 10 V = +/- 100 % Gain = 100 / 8,3 = 12,05 Analog output gain (An.15 / An.19) =12,05
Offset calculation:
Gain calculation:
Calculation example for the apparent current visualization :
Example 2
analog output function = apparent current the range from 0 A to 5 A should be displayed this current range should be displayed with a voltage of +/- 10 V
Offset calculation: Gain calculation:
Analog output offset X (An.16 / An.20) = 0,0 A current difference of 5 A = +/- 20% digital value should cause a change in the analog output of +/- 10 V = +/- 100 % Gain = 100 / 20 = 5 analog output gain (An.15 / An.19) = 5,00
79
di-Parameter
5.13 Digital Input (di)-Parameter

Read-only parameters! Press "Enter"-key to store the parameter values! Set-programmable parameters! Gr. No. Name di di di di di di di di di di di di di di di di di di 0 1 2 3 4 5 6 7 8 9 10 11 12 15 16 17 18 19 Digital noise filter NPN / PNP selection Input logic Input function I1 Input function I2 Input function I3 Input function I4 Input function IA Input function IB Input function IC Input function ID Input function I5 Input function I6 Select signal source Digital input setting Input strobe dependance Select strobe source Select strobe mode Address P 2900 2901 2902 2903 2904 2905 2906 2907 2908 2909 290A 290B 290C 290F 2910 2911 2912 2913 E R Resolution Lower Upper Default Limit Limit Value 0,1 0,0 20,0 0,5 1 0 : pnp 1 : npn 0 : pnp 1 0 127 0 1 0 26 4 1 0 26 5 1 0 26 3 1 0 26 13 1 0 26 0 1 0 26 0 1 0 26 0 1 0 26 0 1 0 26 14 1 0 26 15 1 0 127 0 1 0 127 0 1 0 4095 0 1 0 4095 0 1 0 1 0 Unit ms ----------------------------------------------------
E E E E E E E E E E E E E E E E E
Input processing
The inverter provides 7 digital control terminal inputs X1.1 to X1.7. In addition 4 software inputs are available. All digital inputs are programmable. Exception: terminal X1.1(ST) Control release: The function of the 6 terminals X1.2...X1.7 (I1 ... I6) and the 4 software inputs (IA, IB, IC, ID) is programmable. The software inputs are directly driven by the software outputs (OA...OD). This allows the realization of internal linkage and control units without any external cabling. The control terminal inputs pass through a programmable filter and strobe unit. The input ST (control release, X1.1) has a special feature: The modulation is switched off by hardware and therefore ST cannot be inverted, filtered or made strobe-dependent. The diagram below shows the function blocks which the digital inputs pass through.
Control Terminal
Scanning Selection of signal source Digital filter Logic selection Strobe unit Process Input
Parameter di.16
80
di-Parameter
Noise filter (di.0)
This parameter defines the filter time constant for the digital inputs X1.2 .. X1.7 (I1, I2, I3, I4, I5, I6). The digital filter for input X1.1 (ST) is not programmable.
10
11
t 100 us pos. slope = trigger for input signals
Filter time 400s
I1 I2 I3 F R RST
Internal control signal without digital filter
Signals on control terminal strip
Internal control signal / filter time 400s
Time constant of the digital filter: max. 20 ms. Resolution of filter time: 0,1 ms.
NPN \ PNP selection (di.1)
Selection of PNP or NPN logic for the input terminals (standard : PNP).
Input logic (di.2)
In this parameter you can choose whether the software of a controlled drive should internally trigger a 1 or 0 signal. The parameter is bit-coded. Valency 1 2 4 8 16 32 64 Function no function I4 inverted (X1.2) I5 inverted (X1.3) I6 inverted (X1.4) I1 inverted (X1.5) I2 inverted (X1.6) I3 inverted (X1.7)
Example
If more than one input should be inverted, then the sum of the values must be used. I4 and I5 should be inverted. di.2 = 2 + 4 = 6 KEB COMBIVIS display: I4 + I5
81
di-Parameter
Input function I1, I2, I3, I4, I5, I6, IA, IB, IC, ID (di.3 ... di.12)
These parameters specify the functions of the 6 programmable input terminals X1.2 .. X1.7 (I1 .. I6) and the function of the internal software inputs (IA ... ID). The inputs IA to ID are internally llinked to the software outputs Out A to Out D. The input functions 9 'Synchronous off ' and 22 'Posi-abort' are scanned with 128 s, provided it is programmed on the inputs I1, I2 or I3 programmiert.
Value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Function inputs have no function set selection(Fr-Para) return to set 0 (Fr-Para) external fault Jogging forward (SP.22) Jogging reverse (SP.22) Reset angular deviation (Sn-Para) Angular shifting of the slave positive (Sn.6, Sn.7) Angular shifting of the slave negative (Sn.6, Sn.7) Synchron control off (Sn-Para) Reference mode forward / Posi (Sn-, Pc-Para) Reference mode reverse (Sn-, Pc-Para) Reference switch (Sn, Pc-Para) Fault reset F, Rotation enabled (limit switch) forward R ,Rotation enabled (limit switch) reverse F + R, limit switch for both direction of rotation Start positioning (Pc-, Pd-Para) F + Reference point switch (Sn, Pc-Para) R + Reference point switch (Sn, Pc-Para) Positioning deactivated (Pc-, Pd-Para) Posi-Teach-in Posi-abort Posi-Latch Inc. Motor-poti Dec. Motor-poti Reset Motor-poti
Restrictions
active synchronous or positioning control has priority over jogging
These functions exist only in the synchronous module (Sn.0=1/Pc.0=0)
priority over R
If both limit switches ar controlled with one input a reference point drive is not possible. becomes priority over R
17 18 19 20 21 22 23 24 25 26
The teach-in of positions is possible by PD.1=3 of a digiral input see Pc.18, Pc.19, Pc.33, Pc.34 see ru.58 ... ru.60 see SP.26
82
di-Parameter
Select signal source (di.15) Digital input setting (di.16)
For test reasons or during operation via bus it may be helpful to set the inputs with a parameter instead of using the terminal strip. Parameter di.15 selects for each input, whether the state of the terminal strip or the state of parameter di.16 is evaluated.
Select signal source (di.15)
T e r m in a l s tr ip X 1 . 1 b is X 1 . 7 S T I4 I5 I6 I1 I2 I3 d i.1 6 D ig ita l in p u t s e ttin g B it B it B it B it B it B it B it 0 1 2 3 4 5 6
S e le c t s ig n a l s o u r c e d i.1 5
B it 0 B it 1 B it 2 B it 3 B it 4 B it 5 B it 6
s o ftw a r e in te r n a l in p u ts S T I4 I5 I6 I1 I2 I3
Digital input setting (di.16)
The parameter di.15 and di.16 are binary coded: Dec. value 1 2 4 8 16 32 64 Function with di.16 ST I4 (RST) I5 (F) I6 (R) I1 I2 I3 Function with di.15 ST must be set by parameter di.16 and input terminal X1.1. RST is activated by di.16. Terminal X1.2 has no function. F is activated by di.16. Terminal X1.3 has no function. R is activated by di.16. Terminal X1.4 has no function. I1 is activated by di.16. Terminal X1.5 has no function. I2 is activated by di.16. Terminal X1.6 has no function. I3 is activated by di.16. Terminal X1.7 has no function.
If the digital presetting of the control release is selected, then the control release signal can be preset over the termina stripl and parameter di.16.
83
di-Parameter
Input strobe dep. (di.17) Select strobe signal (di.18)
di.17 specifies which inputs are dependent on the strobe signal. di.18 specifies which inputs make up the strobe signal. All signals selected by this parameter are OR-connected. The use as a strobe signal has no influence on the programmable input function. (di.3...8).
Bit No. 0 1 2 3 4 5 6 8 9 10 11
Decimal value 1 2 4 8 16 32 64 256 512 1024 2048
Input strobe-dependent (di.17) no function ST is never strobe dep. X1.2 strobe dependent X1.3 strobe dependent X1.4 strobe dependent X1.5 strobe dependent X1.6 strobe dependent X1.7 strobe dependent IA strobe dependent IB strobe dependent IC strobe dependent ID strobe dependent
Select strobe signal (di.18) X1.1 is the strobe signal X1.2 is the strobe signal X1.3 is the strobe signal X1.4 is the strobe signal X1.5 is the strobe signal X1.6 is the strobe signal X1.7 is the strobe signal IA is the strobe signal IB is the strobe signal IC is the strobe signal ID is the strobe signal
Select strobe mode (di.19)
di.19 determines the strobe mode. Par. value 0 1 Strobe Mode The actual input state is stored with the positive slope of the strobe signal. As long as the strobe signal is inactive, all input signals are inactive. When the strobe signal is active, then the input signals are valid.
Example for the strobe function
I1 is strobe-dependent di.17 = 16 : I1, I2 is the strobe signal di.18 = 32 : I2 (see ru.14, ru.16)
I1 t
I2 t
In te rn a l in p u t s ta tu s I1 d i.1 9 = 0 t In te rn a l in p u t s ta tu s I1 d i.1 9 = 1
84
di-Parameter
5.13.1 Example Edge Triggering Set Selection
Two initiator signals should change between two parameter sets via the digital inputs. The set transfer should be done with the respective positive edge of the initiator signals. Digital input I2 shall select parameter set 0, I1 parameter set 1.
P a ra m e te r s e t 1 0 t
I1 t
I2 t
For this example the following parameterization is necessary. Parameter Fr.2 Parameter set source di.3 Input functionI1 di.4 Input functionI2 di.17 Input strobe dep. di.18 Select strobe source di.19 Select strobe mode Value 3: Set selection via terminal strip input coded 1: I1 for set selection 2: I2 for reset to set 0 48: I1 + I2 are strobe-dependent 48: I1 + I2 are strobe signal 0: positive edge
85
do-Parameter
5.14 Digital Output (do)-Parameter

Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters! Gr. No. Name do do do do do do do do do do do do do do do do do do do do do do do do do do do do do do 0 1 2 3 4 5 6 7 8 9 10 11 13 14 15 16 17 18 19 21 22 23 24 25 26 27 28 29 30 31 Output logic Output condition 1 Output condition 2 Output condition 3 Output condition 4 Output condition 5 Output condition 6 Output condition 7 Output condition 8 Select Out 1 condition Select Out 2 condition Select Out 3 condition Select Out A condition Select Out B condition Select Out C condition Select Out D condition Out 1 condition logic Out 2 condition logic Out 3 condition logic Out A condition logic Out B condition logic Out C condition logic Out D condition logic Output condition connection Output filter 1 mode Output filter 2 mode Output filter 1 time Output filter 2 time Output filter 1 connection Output filter 2 connection Address P 2A00 2A01 2A02 2A03 2A04 2A05 2A06 2A07 2A08 2A09 2A0A 2A0B 2A0D 2A0E 2A0F 2A10 2A11 2A12 2A13 2A15 2A16 2A17 2A18 2A19 2A1A 2A1B 2A1C 2A1D 2A1E 2A1F P P P P P P P P P P P P P P P P P P P P P P P P P P P P P P E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E E R Resolution Lower Upper Default Limit Limit Value 1 0 255 0 1 0 31 20 1 0 31 18 1 0 31 5 1 0 31 0 1 0 31 --1 0 31 --1 0 31 --1 0 31 --1 0 255 1 1 0 255 2 1 0 255 4 1 0 255 0 1 0 255 0 1 0 255 0 1 0 255 0 1 0 255 0 1 0 255 0 1 0 255 4 1 0 255 0 1 0 255 0 1 0 255 0 1 0 255 0 1 0 2047 0 1 0 1 0 1 0 1 0 2,048 0 999 0 2,048 0 999 0 1 0 8 0 1 0 8 0 Unit ----------------------------------------------------ms ms -----
86
do-Parameter
Summary of functions of digital output parameter
Parameter summary Parameters output condition 1 ... output condition 8 (do.1 ... do.8) specify the output conditions for the hardware and software outputs. 2 output conditions can be filtered with the output filters 1 / 2 (do.26 ... do.31) Parameters Select OUT 1 condition... OUT D condition specify which condition is valid for an output. with do.17...do.24 OUT 1 condition logic ... OUT D condition logic you can select whether a condition must be 'true' or 'false' in order to activate the output. the parameter 'output condition connection' (do.25) specifies whether all conditions which belong to one output should be interconnected 'AND' or 'OR'.
Output condition
output condition 1 do. 1

Status RUN Status READY Regulator limit Level trigger Prewarning, etc.
output condition 2 do.2


...
Status RUN Status READY Regulator limit Level trigger Vorwarnung, etc.
Each output filter can be assigned to an output condition. The filtered output condition can be connected and negated as normal.
Output filter
Connection output filter 1 do. 30
Connection output filter 2 do. 31
Filter 1
do. 26 output filter 1 Mode do. 28 : output filter 1 Time
Filter 2
do. 27 : output filter 2 Mode do. 29 : output filter 2 Time
...
Select Out 1 condition do.9
...
Select Out 2 condition do.10
Bit 0
Bit 1
Bit 2
Bit 7
Bit 0
Bit 1
Bit 2
...
Out 1 condition logic do.17
Bit 7 Bit 7
Out 2 condition logic do.18
Bit 1
Bit 2
Bit 0
Bit 7
Bit 1
or-inter connection
and-inter connection
or-inter connection Output condition connection do. 25
Bit 0
and-inter connection
Bit 0
Output 1 (= D 1)
Bit 0
Output 2 (= D 2)
Bit 1
Output logic do.0
Bit 1
Bit 2
87
88
O u tp u t fu n c tio n ta b le s ( d o . 1 - 8 )
In p u t. fu n c t. IC ( d i. 9 ) In p u t. fu n c t. ID ( d i.1 0 )
O u tp u t. c o n d . 1 (d o . 1 ) O u tp u t c o n d . 2 (d o . 2 ) O u tp u t c o n d . 3 (d o . 3 ) O u tp u t c o n d . 4 (d o . 4 ) O u tp u t c o n d . 5 (d o . 5 ) O u tp u t c o n d . 6 (d o . 6 ) O u tp u t c o n d . 7 (d o .7 ) O u tp u t c o n d . 8 (d o . 8 )
do-Parameter
In p u t fu n c tio n ( d i. 3 .. d i.1 2 )
In p u t fu n c t. I1 ( d i. 3 ) In p u t fu n c t. I3 ( d i. 5 ) In p u t fu n c t. I2 ( d i. 4 ) In p u t. fu n c t. IA ( d i. 7 ) In p u t. fu n c t. IB ( d i. 8 )
In p u t fu n c t. I4 ( d i. 6 )
In p u t. fu n c t. I5 ( d i. 1 1 )
In p u t fu n c t. I6 ( d i.1 2 )
O u tp u t filte r m o d e ( d o . 2 6 .. d o . 3 1 )
In te r n a l in p u t s ta te (ru .1 6 ) I1 I2 I3 IA IB IC ID
S T
I4
I5
I6
d o .0 1 d o .0 2 d o .0 3 d o .0 4 d o .0 5 d o .0 6 d o .0 7 d o .0 8
In te rn a l o u tp u t s ta te (ru .1 7 )
In p u t s ig n a l p r o c e s s in g ( d i. 2 , d i.1 4 - 1 9 )
4
O u tp u t s ig n a l p r o c e s s in g (d o . 0 , d o . 9 - 2 5 )
In p u t te r m in a l s ta te (ru .1 4 ) I1 I2 I3
S T
I4
I5
I6
D 1
D 2
A /B /C
R L
O A
O B
O C
O D
O u tp u t te r m in a l s ta te (ru .1 5 )
In p u t te r m in a ls ( T e r m in a l s tr ip )
X 2 .5 X 2 .6 X 2 .7
X 2 .1
X 2 .2
X 2 .3
X 2 .4
X 2 .8
X 2 .9
X 2 .2 0 X 2 .2 1 X 2 .2 2
O u tp u t te r m in a l ( te r m in a l s tr ip )
do-Parameter
Output logic (do.0)
With do.0 the status of the digital outputs can be inverted. The parameter is binary coded.
Dezimal Value 1 2 4
Output D1 (Transistor Output) D2 (Transistor Output) RLA, RLB, RLC (Relay output)
Terminal X1.8 X1.9 X1.20 X1.21 X1.22 none none none none
8 16 32 64 128
no function (reserved) OUT A (internal software output) OUT B (internal software output) OUT C (internal software output) OUT D (internal software output)
If several outputs are inverted, the sum of the decimal values has to be used.
89
do-Parameter
Switching condition 1 ... 8 (do.1 ... do.8)
These parameters specify the table of output conditions for the three hardware and four software outputs. Value 0 1 2 Output Conditions always inactive always active Ready (ready for operation : initialization completed, no malfunction detected) Run (ready for operation and modulation enabled) Abnormal operating condition (remains at speed 0 after quick stop) Disturbance (modulation disabled after error or quick stop) OH2 - motor protective relay level exceeded (Pn.30) dOH - Motor-PTC- contact is active dOH - or OH2 output level exceeded Current regulator limit (max. output voltage reached) Speed regulator limit (torque limit reached CS.6, CS.7) Regulator limit Drive accelerates Drive decelerates Drive runs with constant speed Drive runs with constant speed > zero Restrictions
3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
not available in the posi mode and in the synchronous operation
26 27 28 29 30 31
Forward (not at noP,LS, oper. abn.stop, error) Reverse (not at noP, LS, abn.stop, error) Actual speed > speed level (LE.4 ... LE.7) Apparent current >apparent current level (LE.12 ... LE.15) Torque > torque level (LE.20 ... LE.23) Angle deviation > angle level (LE.28 ... LE.31) Reference mode completed Target position reached (Pd.12) only available in the posi Actual position>position level (LE.48...LE.61) mode Brake control (LE.37, LE.66...LE.68) function only in the posi mode or rotation presetting via terminal strip (SP.0=1,4,7) Inverter temperature control see LE.70 ... LE.73 Cooling medium inverter see LE.74 Motor temperature control . see LE.75-78 Cooling medium motor see LE.79 dOH-warning see LE.80 Target not reached see Pd.15
90
do-Parameter
The corresponding level for current, speed etc., can be adjusted in the LEparameters. The value from level 1 always is a part of output condition 1 and 5, level 2 of output condition 2 and 6, etc. If for parameter output condition 4 the function 'apparent current > apparent current level' is selected (do.4 = 19), then the actual apparent current is compared to apparent current level 4 (LE.15).
Select out condition Out1, Out2, Out3 (do.9 ... do.11) Select out condition OutA, OutB, OutC, OutD (do.13 ... do.16)
These parameters determine which output conditions have an effect on the output. Generally in parameter 'output condition 1' (do.1) the switching criterion for output 1 is specified, in 'output condition 2' (do.2) the switching criterion for output 2 etc.(that means: do.9 = 1 / do.10 = 2 / do.11 = 4). If more than one output condition should be effective for one output, the sum of the decimal values must be used. Bit No. 0 1 2 3 4 5 6 7 Decimal value 1 2 4 8 16 32 64 128 Output x switches and is dependent on: Output condition 1 (do.1) Output condition 2 (do.2) Output condition 3 (do.3) Output condition 4 (do.4) Output condition 5 (do.5) Output condition 6 (do.6) Output condition 7 (do.7) Output condition 8 (do.8)
Condition logic OUT 1, 2, 3, A, B, C, D (do.17 ... do.19, do.21 ... do.24)
These parameters specify whether the selected output condition(s) are true or inverted, to activate the output. Decimal value The following output conditions are inverted for output x 1 Output condition 1 (do.1) 2 Output condition 2 (do.2) 4 Output condition 3 (do.3) 8 Output condition 4 (do.4) 16 Output condition 5 (do.5) 32 Output condition 6 (do.6) 64 Output condition 7 (do.7) 128 Output condition 8 (do.8)
Output condition connection (do.25)
do.25 specifies whether the various output conditions should be interconnected by an 'AND-function' or by an 'OR-function'. Decimal value Output conditions of the following output are 'AND'-connected: 1 OUT 1 (D1) terminal X1.8 2 OUT 2 (D2) terminal X1.9 4 OUT 3 (relay) terminal X1.20/21/22 8 no function 16 OUT A 32 OUT B 64 OUT C 128 OUT D If the output conditions of several outputs should be AND - connected, the decimal values must be added!
91
do-Parameter
Output filter (do.26 ... do.31)
There are 2 digital filters which work independently from each other for the output conditions 1... 8. An output condition (do.30/do.31), a filter time (do.28/do.29) and a filter mode (do.26/do.27) can be assigned to each filter.
Output filter 1 mode (do.26) Output filter 2 mode (do.27)
Value 0 1 2
Filter mode the filter output only changes when during the filter time a constant signal was present on the filter input averaging of the input signal the filter output is set, when during the filter time the corresponding output condition was met. The filter output is immediately reset, when the output condition is not met.
Example filter mode = 0:
F ilte r tim e O u tp u t s ig n a l In p u t s ig n a l 2 4 6 8 1 0 1 2 1 4 1 6 1 8 2 0 2 2 2 4 2 6 2 8 3 0 3 2 3 4 T im e [m s ]
O u tp u t s ig n a l
In te rn a l c o u n te r In p u t s ig n a l 2 4 6 8 1 0 1 2 1 4 1 6 1 8 2 0 2 2 2 4 2 6 2 8 3 0 3 2 3 4 T im e [m s ]

F ilte r tim e O u tp u t s ig n a l In p u t s ig n a l 2 4 6 8 1 0 1 2 1 4 1 6 1 8 2 0 2 2 2 4 2 6 2 8 3 0 3 2 3 4 T im e [m s ]
92
do-Parameter
Output filter 1 time (do.28) Output filter 2 time (do.29)
Value Filter time 0 ... 488 = Value * 2,048 ms = 0 .. 999 ms If entered via COMBIVIS the value is displayed in ms. Due to the program cycle time of 2,048 ms not all filter times can be realized. COMBIVIS automatically rounds up the value to the next possible filter time. Value 0 1 2 . . . 7 8 Output filter 1/2 is valid for the following output conditions: none Output condition 1 (do.1) Output condition 2 (do.2) . . . Output condition 7 (do.7) Output condition 8 (do.8)
Connection Output filter 1 (do.30) Output filter 2 (do.31)
Example
- Output D1 (Terminal X1.8) shall be active at actual speed between 100 and 1500 rpm. - Output D2 (Terminal X1.9) shall be active when the torque is > 8 Nm. - The relay RLA, RLB, RLC (Terminals X1.20...X1.22) shall work as a fault detector. Output condition 1: actual speed > speed level (1) Speed level 1: lower limit shall be 100 rpm Output condition 4: actual speed > speed level (4) Speed level 4: upper limit shall be 1500 rpm rpm OUT 1 condition logic:output condition 4 must be inverted Select OUT 1 condition: output D1 dependent on switching condition 1 and 4 do.1=18 LE.4=100 do.4=18 LE.7=1500 do.17=8 do.9=9
A) Programming of D1 (= OUT 1)
B) Programming of D2 (= OUT 2)
Output condition 2: Torque level 2: OUT2 condition logic: Select OUT2 condition:
torque > torque level (2) limit is 8 Nm not inverted D2 dependent on switching condition 2
do.2=20 LE.21=8,0Nm do.18=0 do.10=2
C) Programming of the relay (= OUT 3)
Output condition 2: OUT3 condition logic: Select OUT3 condition:
fault do.3=5 not inverted do.19=0 relay dependent on switch. condition 3 do.11=4
D) Parameter which refer to all outputs
Output logic: Interconnection of the Output condition:
no output inverted output conditions for output 1 are AND- connected
do.0=0 do.25=1
E) Summary of all necessary parameter:
do.0 do.1 do.2 do.3 do.4
= 0 = 18 = 20 = 5 = 18
do.9 do.10 do.11 do.17 do.18
= = = = =
9 2 4 8 0
do.19 = 0 do.25 = 1 LE.4 = 100 rpm LE.7 = 1500 rpm LE.21 = 8,0 Nm
93
LE-Parameter
5.15 Level (LE)-Parameter

Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters! Gr. No. Name LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE LE 4 5 6 7 12 13 14 15 20 21 22 23 28 29 30 31 37 48 50 51 52 53 54 55 56 57 58 59 60 61 66 67 68 70 71 72 73 74 75 76 77 78 79 80 Speed level 1 Speed level 2 Speed level 3 Speed level 4 Apparent current level 1 Apparent current level 2 Apparent current level 3 Apparent current level 4 Torque level 1 Torque level 2 Torque level 3 Torque level 4 Angular level 1 Angular level 2 Angular level 3 Angular level 4 Speed hysteresis Position hysteresis Position level 1 sign Position level 1 high Position level 1 low Position level 2 sign Position level 2 high Position level 2 low Position level 3 sign Position level 3 high Position level 3 low Position level 4 sign Position level 4 high Position level 4 low Brake delay time Brake release time Brake engaging time Temp.-switching time Setpoint temperature max. temperature min. temperature Coolant warning Mot. temp.-switching time Mot. setpoint temperature max. motor temperature min. motor temperature Coolant warning motor dOH-warning level Address P 2B04 2B05 2B06 2B07 2B0C 2B0D 2B0E 2B0F 2B14 2B15 2B16 2B17 2B1C 2B1D 2B1E 2B1F 2B25 2B30 2B32 2B33 2B34 2B35 2B36 2B37 2B38 2B39 2B3A 2B3B 2B3C 2B3D 2B42 2B43 2B44 2B46 2B47 2B48 2B49 2B4A 2B4B 2B4C 2B4D 2B4e 2B4F 2B50 P P P P P P P P P P P P P P P P P P P P P P P P P P P P P E R Resolution Lower Limit 0,5 0,0 0,5 0,0 0,5 0,0 0,5 0,0 0,1 0,0 0,1 0,0 0,1 0,0 0,1 0,0 0,1 0,0 0,1 0,0 0,1 0,0 0,1 0,0 0,1 0 0,1 0 0,1 0 0,1 0 0,5 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0,1 1,0 1 20 1 20 1 20 1 1 0,1 1,0 1 20 1 20 1 20 1 1 1 20 Upper Default Limit value 14000 0,1* dr.1 14000 0,5 * dr.1 14000 dr.1 14000 SP.8 50,0 dr.2 50,0 0.5 * dr.2 50,0 2 * dr.2 50,0 3 * dr.2 50,0 0,5 * dr.9 50,0 dr.9 50,0 2 * dr.9 50,0 3 * dr.9 2800 0 2800 0 2800 0 2800 0 14000 10 28000 0 2 0 65535 0 65535 0 2 0 65535 0 65535 0 2 0 65535 0 65535 0 2 0 65535 0 65535 0 5000 1000 5000 100 5000 100 100,0 10,0 OH-Inv 40 OH-Inv 50 OH-Inv 30 50 5 100,0 10,0 200 80 200 120 200 40 50 5 200 130 Unit rpm rpm rpm rpm A A A A Nm Nm Nm Nm C C C C rpm inc inc inc inc inc inc inc inc inc inc inc inc inc ms ms ms s C C C --s C C C --C
94
LE-Parameter
(LE.4 ... LE.31)
The LE-parameters contain the switching levels for the output conditions (do.1...do.8). LE.4 / LE.8 / LE.12 / etc. (...-level 1) are interconnected to switching condition 1 and 5, LE.5 / LE.9 etc. (...level 2) with output conditions 2 and 6 etc.
actual value
level
level - hysteresis
output condition active
The switching levels have in each case a fixed hysteresis. speed hysteresis: current hysteresis: angular hysteresis: torque hysteresis: 5% 10 % 10 % 10 %
The hysteresis for the position level are adjustable with LE.48.
95
LE-Parameter
5.15.1 Controlling of a Holding Brake
Brake control
A complete brake controlling is included in the software. For that one digital output must be programmed with the function 25 brake controlling. (do-Parameter)
Brake release time (LE.67)
After a speed set value is given and torque is available at the drive, the brake is triggered immediately. If no malfunction occurs during the release time the value will be active.
Speed hysteresis (LE.37) Brake delay time (LE.66)
After speed actual value < speed hysteresis LE.37, the delay time of the brake starts after that the brake is engaged. If a new setpoint value is set during the delay time, the drive is enabled again. The delay time starts to run again. In the posi mode Parameter LE.37 does not have a function. The delay time starts here, if the condition 'position reached' is met. The brake control does not have a function: - in the Drive mode - at + setpoint input - in the synchronous mode
Brake engaging time (LE.68)
After the brake is engaged and the brake engaging time has elapsed the modulation is stopped.
Brake engaging time (LE.68)
LE.67 Brake release time
LE.66 Brake Delay time
LE.68 Brake engaging time
Actual speed
Start positioning Brake control Position reached Modulation on
In the Posi-Mode the brake handling has changed insofar that the positioning is already active during the brake release time.
96
LE-Parameter
5.15.2 Temperature control
This function serves for the temperature control of water-cooled inverters. The cooling can be connected by means of a magnetic valve. The switching electronics must be made available by the customer in accordance with the used valve. The control takes place over the transistor output of the KEB COMBIVERT S4.
Do not use relay output !
Temperature switching time (LE.70)
The temperature switching time defines the cycle time, in which the output is switched. It is adjustable within the range of 1.0 ... 100.0 s (Standard 10 s).
Setpoint temperature (LE.71)
With the setpoint temperature the heat sink temperature is preset onto which it is to be regulated. It is adjustable within the range of 20 C ... OH-temperature (see power circuit data) (Standard 40 C).
Maximum temperature (LE.72)
If the heat sink temperature exceeds the maximum temperature adjusted in LE.72, the output is generally set. LE.72 is adjustable within the range of 20 C ... OHtemperature (see power circuit data) (Standard 50 C).
Minimum temperature (LE.73)
If the heat sink temperature drops below the minimum temperature adjusted in LE.73 the output is generally switched off. LE.73 is adjustable within the range of 20 C ... OH-temperature (see power circuit data) (Standard 30 C).
If the heat sink temperature lies within the adjusted temperature range of LE.72 ...LE.73 the pickup duration Tan of the output is calculated according to following formula: Tan = (Max.temp.-Set temp.) + (heat sink temp.-Set temp.) Temp. switching time Max. temperature-Min. temperature
Coolant warning (LE.74)
In case of coolant warning a digital output can be set (do.1...do.8="27"), if the heat sink temperature exceeds the maximum temperature (LE.72) by the adjusted prewarning time. The prewarning time is calculated as follows: Prewarning time = temp. switching time (LE.70) cooling medium warning (LE.74) Coolant warning (LE.74) is adjustable in the range of 1 . . . 50 (Standard 5).
Motor temperature control (LE.75...LE.79)
Same function as LE.70 ... LE.74 only referring to the motor temperature. The function can only be used at measured motor temperature (see ru.64).
dOH-prewarning (LE.80)
Output of a prewarning signal before the inverter switches off the motor with E.dOH (see Pn.31). The function can only be used at measured motor temperature (see ru.64).
97
Sn-Parameter
5.16 Synchron (Sn)-Parameter

Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters! Gr. No. Name Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn Sn 0 1 2 3 5 6 7 8 22 23 24 52 53 54 20 21 25 26 27 28 29 30 31 32 33 34 35 36 40 41 42 43 44 45 46 47 48 49 50 51 55 56 57 Synchron control KP Synchron control Gear ratio Master / Slave Gear ratio Master / Slave denominator Angular shifting Slave activation Angular shifting value LO Angular shifting value HI Register function period Perioden level fr angular correction sign Perioden level fr angular correction high Perioden level fr angular correction low Register function max. angular correction sign Register function max. angular correction high Register function max. angular correction low Slave ratio Register function filter mode Register function correction mode max. angle for correction sign max. angle for correction high max. angle for correction low Minimum speed for angular offset 1 Angular offset 1 sign Angular offset 1 high Angular offset 1 low Maximum speed for angular offset 2 Angular offset 2 sign Angular offset 2 high Angular offset 2 low Slave register display sign Slave register display high Slave register display low Master register display sign Master register display high Master register display low Period deviation sign Period deviation high Period deviation high Angular shifting sign Angular shifting high Angular shifting low Start Offset sign Start Offset low Start Offset high Address P E R 3400 3401 3402 3403 3405 3406 3407 3408 3417 3417 3417 3434 3435 3436 3414 3415 3419 341A 341B 341C 341D 341E 341F 3420 3421 3422 3423 3424 3428 3429 342A 342B 342C 342D 342E 342F 3430 3431 3432 3433 3431 3433 3432 P P P P E Reso- Lower Upper Default Unit lution Limit Limit value 1 0 : off 5 0 : off --1 0 65535 2 --0,001 -20 20 1 --0,001 0,001 20 1 --1 0 2 0 --0,1 0 360 0 1 0 65535 0 rotations 0,001 0 0,100 0,001 --1 0 2 2 --1 0 65535 0 inc 1 0 65535 8192 inc 1 0 2 2 --1 0 65535 0 inc 1 0 65535 16834 inc 1 1 15 1 --1 0 : off 2 0 --1 0 2 0 --1 0 2 2 --1 0 65535 0 inc 1 0 65535 0 inc 0,5 0 15000 0 rpm 1 0 2 2 --1 0 65535 0 inc 1 0 65535 0 inc 0,5 0 15000 0 rpm 1 0 2 2 --1 0 65535 0 inc 1 0 65535 0 inc 1 0 2 2 inc 1 0 65535 0 --1 0 65535 0 --1 0 2 2 inc 1 0 65535 0 --1 0 65535 0 --1 0 2 2 inc 1 0 65535 0 --1 0 65535 0 --1 0 2 2 inc 1 0 65535 0 --1 0 65535 0 --1 0 2 2 inc 1 0 65535 0 --1 0 65535 0 ---
R R R R R R R R R R R R
98
Sn-Parameter
The synchronous parameters are only functioning if X3 is parameterized as incremental encoder input (EC.10 ... EC.13).
Synchronous control (Sn.0)
When this parameter is written, the positional deviation is set to 0. You can deactivate the synchronous function and reset the positional deviation with a programmable input. (di.3 ... di.10) Sn.0 activates the synchronous functions: 0 OFF 1 Synchronous ON 2 Synchronous and register function ON (angular correction with ramps) 3 Synchronous and register function with teach-function (no ramps for angualr correction, only usable for teach-function) 4 Synchronous with ramps synchronization 5 Synchronous with ramps synchronization with reference to reference position
KP Synchronous control(Sn.1)
Sn.1 determines whether the drive operates with speed synchronous. (Sn.1 = 0) or angular synchronous (Sn.1 > 0). During angular operation the P-fraction of the synchronous control is also preset.
Gear ratio (Sn.2, Sn.3)
The gear ratio between master and slave speed is adjusted in Sn.2/Sn.3. If the sign of Sn.2 is negative it results in opposite direction of rotation for master and slave. Sn.2/Sn.3 = Slave speed / master speed. Sn.2 Sn.3 = slave speed master speed
Angular shifting slave activation (Sn.5) value low (Sn.6) value high (Sn.7)
Sn.5, Sn.6, Sn.7 adjust the angular deviation between master and slave. The angle correction is entered in Sn.6 and in Sn.7 complete revolutions. The actual correction can be started with a programmed input in the desired direction. You can also start the correction with Sn.5. Sn.5 = 1 - correction in positive direction Sn.5 = 2 - correction in negative direction
99
Sn-Parameter
5.16.1 Connection Accessories for Master-Slave Operation
For a master-slave operation with several slaves the MS-Repeater 00.F4.072-2009 and cables ready for connection are available as accessories . For more information please order the application manual of the MS-Repeater (00.F4.Z10-K101).
MASTER
MASTER
INPUT VOLTAGE XXXXXXXXXXX XXXXXXXXXXX CYCLE OUTPUT POWER XXXXXXXXXXXX VOLTAGE XXXXXXXXXX CURRENT XXXXXXXXXXXX AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ VER-NO. XXXXXXXXXXXXXXX ART-NO. XX.F4.XXX-XXXX SER-NO. 95000001/XXXXXXX KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup Made in Germany
SLAVE
SLAVE
SLAVE
SLAVE
M 3~
STAR ENTER F/R STOP FUNC. SPEED ENTER F/R
STAR FUNC. SPEED STOP ENTER F/R
STAR FUNC. SPEED STOP
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
1 2 3 4 5
1 2 3 4 5
1 2 3 4 5
6 7 8 9
6 7 8 9
5 4 3 2 1
5 4 3 2 1
5 4 3 2 1
9 8 7 6
9 8 7 6
5.16.2 Parameterization Example for Master- Slave Operation
After switching on the KEB COMBIVERT S4 a reference point search shall be done with the slave. After conclusion the axis shall follow the master signal. At that a contouring error of max 45 is allowed. Parameter example: Sn.0 Sn.1 Sn.2 Pc.10 EC.13 EC.11 di.3 di.4 do.1 do.2 LE.29 Synchronous control 1 Kp synchronous control 20 Gear ratio 1,000 Reference speed 100 Operating mode encoder 2 1 Encoder (inc/r) 2 2500 Input function I1 10 Input function I2 12 Output condition 1 22 Output condition 2 21 Angular difference level 2 45 Synchronous control ON P - part for position control Gear ratio = 1,0 Reference speed 100 rpm X3 = Incremental encoder input --Reference point search forward Reference point switch Reference point search closed Angular shifting > Angular level Angular level= 45
After the reference point search is activated the axis runs in the direction of the reference end switch. If the corresponding limit switch is triggered during this time, the direction of the reference point search changes. After the reference end switch is triggered, the drive stops and turns around onto its internal reference position. After the reference position is reached output 1 is set. If I1 is deactivated now, the drive runs synchronously to the master signal. Output 2 is set, when the contouring error exceeds 45.
You can find a detailed description of the reference point search (with examples) in the posi-module. (Pc.10 ... Pc.14)
100
9 8 7 6
6 7 8 9
Sn-Parameter
5.16.3 Register function
During synchronous operation it is possible to synchronize the Master and Slave additionally onto 2 reference signals. These reference signals could be proximity sensors on the Master and Slave axis. The register function activates the gear factor and the angular correction until both reference signals are synchronized. At that the ramps adusted in the SP-parameters (only SP.11/12) are active. Changes of the ramp values while the register function is active are not accepted. Ramp values are only accepted at the Start-Register function. The register function is activated by: Sn.0 = 2 Register function ON di.03 = off Input 1 always has the function of the Master signal di.04 = off Input 2 always has the function of the Slave signal di.05 = 9 Synchronous off After the activation of the register function both initiator signals must be recorded twice before the register function triggers an action. If in one parameter set it is switched with Sn.3 = 0, the first calculated angular offset between master and slave is stored in Sn.30 ... Sn.32 (Teach).
Register function period (Sn.8)
This is the max.the gear factor that can change during the period. An integration period means that a positive edge is recognized at both reference signals. The changed gear factor remains permanently stored in Sn.2. When the gear factor cannot be changed during a process, then the value 0 should be preset in Sn.8. In this case only the angle is corrected.
Display parameters Register function (Sn.40 ... Sn.51) Slave Register Display (Sn.40 ... Sn.42)
The function of the register function can be monitored with these parameters.
These parameters display the distance covered by the slave between two signals of input 2. One revolution corresponds to a value of 65535. The register is updated with every signal on I2.
Master Register Display (Sn.43 ... Sn.45)
These parameters display the distance covered by the master between two signals of input 1. One revolution of the master encoder with the increments adjusted in EC.11 corresponds to a value of 65535. This value is multiplied with the gear factor Sn.2 and displayd in the master register. The register is updated with every signal at I1.
Period duration Display (Sn.46 ... Sn.48)
After master and slave register were written, the difference of these two values is displayed in the period duration. The calculation is activated when master and slave signals were recognized. After the initialization each master and slave signal must be recognized twice. If the gear factor is adjusted to the proper value by the register function, the period duration display is approximately zero.
Angular deviation Display (Sn.49 ... Sn.51)
This register is calculated simultaneously with the period duration display. The path of the slave between master and slave signal is represented.
101
Sn-Parameter
Period level for angular correction (Sn.22 ... Sn.24)
The angular correction can be suppressed with this parameter for as long as the deviation of the period is too large. As long as the value displayed in Sn.46 ... Sn.48 is larger than Sn.22 ... Sn.24, no angular correction is executed. With active register function the ratio between master signal to slave signal can be adjusted here. This mode is used for the suppression of interference signals on the two initiator signals. 0 : off 1 : Master strobe After a master signal the next slope of the slave signal is used. Further slave signals are ignored. 2 : Slaves trobe After a slave signal only the next slope of the master signal is used. Further master signals are ignored.
Slave ratio (Sn.20)
Register function filter mode (Sn.21)
Register function correction mode (Sn.25)
The direction of the angular offset is selected with this parameter. In order to achieve a stable operation with only one correction direction, the gear factor should be adjusted slightly, so that the angular correction is only possible with one direction.
Maximum value for angular correction (Sn.26 ... Sn.28)
The angular correction is not carried out, if the value displayed in Sn.49 ... Sn.51 is larger than this parameter.
Angular offset (Sn.29 ... Sn.36)
The setpoint value of the angular offset between master and slave signal is pre-set in these parameters. The angular offset can be adjusted constant (Sn.33 =N =) or linearly interpolated within a speed range. If the angular offset is determined with the Teach-function, the value is always written to Sn.29 ... Sn.31.
Register function (Sn.52 ... Sn.54)
Maximum angle, that is corrected in a measuring period.
Synchronization with ramps
Sn.00 = 4 : Synchronous with ramp synchronization. To synchronize the slave jerkfree onto a running master, the slave is advanced over the ramps adjusted in the SPparameters (only SP.11/12) to the master and compensates the position lost during acceleration. Changes of the ramp values, while synchronous is active, are not accepted. Acceptance of the ramp values only at Start-synchronous
Start-Offset-Synchronous (Sn.55 ... Sn.57)
With the parameter Sn.55 ... Sn.57 an offset can be pre-set that corresponds to the leading start position of the slave to the master.
Snychronization with reference to reference position
Sn.00 = 5 : Synchronous with ramp synchronization and reference to reference position. Here the offset value (Sn.55 ... Sn.57) does not refer to the start position, instead it can be synchronized with the master over ramps onto a running slave, at that the offset value indicates the positional difference to the reference point. To use this function a reference point approach is necessary, otherwise it is operated synchronously without offset.
102
Pc-Parameter
5.17 Positioning Control (Pc)Parameter

Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters! Gr. No. Name Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc Pc 0 1 4 5 6 7 8 9 10 11 12 13 14 16 17 18 19 33 34 35 36 Control mode Position input mode Limit switch left sign Limit switch left high Limit switch left low Limit switch right sign Limit switch right high Limit switch right low Mode of position reference Reference point sign Reference point high Reference point low Reference speed Encoder mode for positioning Gear factor for positioning Distance after stop high Distance after stop low Distance before abort high Distance before abort low Posi init mode Posi stop mode Address P E R Resolution Lower Limit 3600 E 1 0 3601 E 1 0 3604 1 0 3605 1 0 3606 1 0 3607 1 0 3608 1 0 3609 1 0 360A E 1 0 360B 1 0 360C 1 0 360D 1 0 360E 0,5 -3000 3610 1 0 3611 0,01 1,00 3612 P 1 0 3613 P 1 0 3621 P 1 0 3622 P 1 0 3623 1 0 3624 1 0 Upper Limit 2 3 2 65535 65535 2 65535 65535 5 2 65535 65535 3000 1 150,00 32767 65535 32767 65535 2 3 Default Value 0 3 2 8000h 0 2 7fffh ffffh 0 0 0 0 100 1 1,00 0 0 0 0 0 0 Unit ------inc inc --inc inc --------rpm ----inc inc inc inc -----
With the KEB COMBIVERT S4 storage and position controlled activation of up to 8 positions is possible. The position input is based on the parameter set programming. In each parameter set one position can be stored. The position input and -display can be made decimal or hexadecimal. Reading of the actual position as position setpoint value (Teach-Function) is possible, too. Generally one revolution will be splitted into 65536 (216) increments. The total value range for positions is about 4.294.967.295 (232) increments. Using this high resolution is only possible with systems having SIN/COS - encoder. Only 12 Bit per revolution are analyzed for motors with resolver feedback. That means the best precision is at 24 = 16 increments. The positioning can be made relative to the actual position or to a fixed absolute position. The drive profile (max. speed, accel curves, position controller) is individually adjustable for each positioning set.
103
Pc-Parameter
Posi Module (Pc.0)
Changing the parameter is only possible without control release. This parameter specifies the control mode. Pc.0 = 0 synchronous-/speed-controlled Pc.0 = 1 position-/speed-controlled Pc.0 = 2 synchronous-/position-/speed-controlled. The listing sequence behind the parameter values also represents the priority, if all functions are selected. Only in Pc.0 = 2 it can be switched over directly between posi and synchronous. The torque-controlled operation is also possible, but it is not possible to jump directly from this mode into the posi module or the synchronous module. That can be done only from the speed-controlled mode. Several other functions are also integrated in Pc.0 = 2.
Particularities for PC.0 = 2: Ramps

The ramps of the posi module are now used from the SP-parametes (SP.10, SP.11, SP.12, SP.15, SP.16) and no longer from the Pd-parameters (Pd.5, Pd.6). Thus a different acceleration and deceleration ramp is to be adjusted.
Maximum positioning speed
A change of the maximum positioning speed can be effected during the positioning.
Positioning with starting speed
It is possible to start a positioning with a constant starting speed. If posi is activated, the controller always drives to the speed adjusted in the SP-parameters, in status ready for positioning. As long as the command Start-Posi module is not given, the drive continues with the SP-speed. The controller does this from every status in Posi on (also from nop). If the Start-command is given, the controller executes the positioning (positioning active) and on reaching the destination goes to "ready for positioning". The StartPositioning command can already be given, if Posi is on and the controller approaches the setpoint speed. If the controller has carried out the first positioning after Posi on, each further positioning is executed as in the standard posi-moduel Pc.0 = 1.
Position setting during the positioning
With Pc.0 = 2 new absolute positions can be pre-set, while the controller carries out a positioning. It approaches the new position immediately without having to give an additional Start-Posi command. A new relative positioning must be restarted after the completion of the positioning. If the new position is within reach, it is accepted and approached immediately. If the new position is not within reach, it is pre-set with Pd.15, how the controller shall proceed with the new position.
104
Pc-Parameter
Position input (Pc.1)
The representation of the position values is selected with this parameter. A position value consists internally of 32 bits. The standardization is selected so that 65536 increments always correspond to a complete motor revolution. With the decimal display the sign is displayed in one parameter, in the 'high'-part of the parameter the increments *10.000 are found and in the 'low'-part the increments *1. In the hexadecimal representation the sign is implemented in the 32 bit number. The sign parameter does not have a function in this mode. Position set values that were set once do not change when the display mode is reset.
Position input decimal example 1
The following calculation must be done if for example in the decimal input mode 11.7 motor revolutions in negative direction are requested.
11,7 * 65536 = 766771 Increments
Starting on the right side and cut the last 4 positions. 76 I 6771 Sign= 1 for negative input High-part = 76 Low-part = 6771
Position input hexadecimal example 2 (see parameter Pd.8 ... Pd.10)
With the hexadecimal input the sign in the upper Bit of the High-part will be coded. Example for the input of 128.5 revolutions in negative direction 128,5 * 65536 = 8421376 Increments For a negative input this number must be inverted: -8421376 Increments The best way to change this number in a hexadecimal number is by using a calculator. Such a calculator is, e.g., available on each PC with WINDOWS 3.1 or WINDOWS 95. (C:\WINDOWS\CALC.EXE) -8421376 dez = FF7F8000 hex Starting on the right side this value will be splitted in two values with four digits. I FF7F I 8000 I High-part = FF7Fh Low-part = 8000h
105
Pc-Parameter
Position input hexadecimal example 3
If using hexadecimal numbers appears to be complicated, the hexadecimal input mode can be interpreted in another way as well. Example for an input of 2,5 revolutions in positive direction: 0,5 revolutions = 32768 Increments High-part= 2 Low-part = 32768 Example for an input of 1,25 revolutions in negative direction 0,75 revolutions = 49152 Increments High-part = -2 Low-part = 49152 (-2 + 0,75 revolutions, because no negative increments can be entered in the Lowpart.)
Limit switch left, Limit switch right (Pc.4...Pc.9)
With these parameters you can define a range which cannot be left by the Posi-mode. If the target position lies outside this range when the positioning is started, then the command is not accepted. The left limit switch contains the smaller (negative) values, the right limit switch the larger (positive) values. The entries are dependent on Pc.1. The software limit switches are not active in the factory setting. If they shall be switched off supplementary the following values must be adjusted.
Pc.1 = 3
Pc.5 = 8000h
Pc.6 = 0
Pc.8 = 7FFFh Pc.9 = FFFFh
After deactivation Pc.1 can be set to the required value.
Mode of position ref Reference point Reference speed (Pc.10 ... Pc.14)
The reference point search can be started with a digital input or also with parameter Pd.1. When the value 1 is set in Pc.10 the reference point search is activated after Power-on with the first 'start-posi' signal. After the reference point search is activated the servo starts with the reference speed adjusted in Pc.14. If the reference point search is started with input function 11 (reference point search left) the preferred direction determined in Pc.14 is inverted. If the drive runs in this state onto the limit switch, the inverter reverses. If the reference point switch is activated in the preferred direction, the speed changes now to 25% and the switch is driven free. If Pc.10 is set at 0 or 1, the drive turns further on to the 0 position. The current position is overwritten with the reference point position Pc.11...Pc.13. The reference drive is completed. The function of the reference point drive is identical in the synchronous mode.
106
Pc-Parameter
Mode of position reference (Pc.10)
Value in Pc.10 0 1 2 3 4 5 Input 1 2 F R F+REF R F R+REF
Function no autostart start automatically no autostart + stop at reference switch start automatically + stop at reference switch no autostart, E.EnC if zero-track is missing start automaticall, E.EnC if zero-track is missing Note
3 REF -----
Reference point is between the two limit switches Reference point is on the right limit switch Reference point is on the left limit switch
Encoder mode for positioning (Pc.16)
The position feedback for the posi module can be done via the system position encoder to X4 or via an external encoder to X3: 0 : position feedback via system position encoder 1 : position feedback with X3 If an external encoder is used as encoder mode all position inputs relate to this encoder. In this case 65536 increments = one revolution of this external encoder. The parameters of the precontrol profile Pd.5 to Pd.7 always relate to the system encoder mode via X4.
Gear factor for positioning (Pc.17)
If the external position encoder is connected with the motor via a gear the gear ratio must be adjusted here. Range of values: 1,00 ... 150,00 Resolution: 0,01 With this parameter the profile of the speed precontrol is calculated. The limited resolution of this parameter has no consequences on the positioning precision of the drive. The positioning precision of an external encoder is only dependent on that resolution.
107
Pc-Parameter
Distance after stop high/low (Pc.18, Pc.19)
All parameters for the positioning abort are set-programmable. The function residual distance after abort is activated as soon as in one parameter set in Pc.18 or Pc.19 a value uneven 0 is adjusted and the input condition di.3 ... di.5 = 22 Posi-abort is selected.
The residual distance which must still be covered is adjusted in Pc.18 and Pc.19. The residual distance must be higher or alike the distance specified for the accelerating phase. Independent from the adjustment in Pc.1 the residual distance will be preset in hexadecimal mode. The resolution corresponds to the postion inputs. 65536 is equivalent to one motor revolution.
Distance before abort (Pc.33, Pc.34)
At the positioning with abort (Pc.18 or Pc.19 uneven 0) a distance can be preset, in which the initiator signal for the abort shall not be evaluated.
Posi init mode (Pc.35)
This parameter has an effect only at the switch-on of the unit. 0 : zero: When switching on the unit the actual position is reset. Usually a referencing is necessary.
1 : absolute: The actual position is stored in the unit. Provided that the axis does not rotate in de-energized condition, no referencing is necessary. 2 : absolute / relative positioning with correction: Like 1, additionally after switching on with the first Start Posi an aborted relative positioning is first of all completed.
Posi stop mode (Pc.36)
0: condition-active / residual distance after stop 1: slope-active / residual distance after stop 2: condition-active / stop before target position 3: slope-active / stop before target position With this parameter the function of di.3 ... di.5 = 22 (abort with residual distance) is affected. If slope-active was selected, it can additionally be chosen between positive and negative slope with the input logic di.2. With bit 1 the residual distance is selected. Stor before target position means, that the drive runs to the adjusted target position. With the setting residual distance after abort, the residual distance in Pc.18, Pc.19 is still covered after the stop signal.
108
Pd-Parameter
5.18 Positioning Definition (Pd)Parameter

Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters! Gr. No. Name Pd Pd Pd Pd Pd Pd Pd Pd Pd Pd Pd Pd Pd 0 1 2 3 5 6 7 8 9 10 11 12 15 Posi mode Manual start KP position Limit for kp position S curve time Acceleration time Max. speed Set position sign Set position high Set position low Mode of positioning Position deviation Target mode Address P E R Resolution Lower Limit 3700 P 1 0 3701 E 1 0 3702 P 1 0 3703 P 0,5 0 3705 P 0,01 0.01 3706 P 0,01 0,01 3707 P 1 1 3708 P 1 0 3709 P 1 0 370a P 1 0 370b P 1 0 370c P 1 0 370F 1 0 Upper Limit 2 4 65535 500 8,00 8,00 10000 2 65535 65535 1 65535 3 Default Value 0 0 20 250 0,1 1 1000 0 0 0 0 1000 0 Unit ------rpm s s rpm --inc inc --inc ---
Positioning (Pd.0)
The positioning mode can be activated with the input function or with parameter Pd.0 (see restrictions at Pc.0). All Pd-parameters are set-programmable with the exception of Pd.1. 0 Positioning mode OFF 1 Positioning mode ON 2 Positioning mode ON, automatic start of the positioning at set change
Manual start (Pd.1)
By writing on this parameter the posi-mode and the reference point search can be started manually at any time. 1 2 3 4 Start posi-mode Start reference point search Teach function Setting of reference point
With the Teach function the current position in the active parameter set is stored in parameters Pd.8 ... Pd.10.
Setting of actual position without reference point approach
The reference point adjusted in Pc.11 ... Pc.13 is taken over onto the actual position by writing the value 4 to Pd.1.
109
Pd-Parameter
KP position (Pd.2)
The position controller of the positioning mode can be optimally adjusted to every position in Pd.2. It is a P-controller and its gain is adjusted in Pd.2. If the gain factor is too high there are constant oscillations; if the gain factor is too small the positioning precision gets worse. Position controller (Pd.2) and speed controller (CS-Parameter) influence each other. For an optimal positioning precision it is recommended to reduce the I-part of the speed controller with a high gain factor Pd.2 at the position controller.
Limit for KP position (Pd.3)
The maximum speed, which the position controller can add to the profile of the speed precontrol, is preset in Pd.3.
S curve time acceleration time max. speed for posi (Pd.5 ... Pd.7)
The profile of the speed precontrol is preset with parameters Pd.5...Pd.7. At Pc.0 = 2 see SP-Parameter.
speed
max. speed for posi Pd.7
Limit for kp position Pd.3
maximum acceleration
time
maximum deceleration S curve time Pd.5 acceleration time Pd.6 S curve time Pd.5 S curve time Pd.5 acceleration time Pd.6 S curve time Pd.5
The drive can only keep the precontrol profile, if the maximum speed is not limited by other parameters (Sp.5, Sp.8) and the drive is not overloaded. The torque adjusted in CS.6 must not be reached at any time during the positioning process (see example operation with high mass moment of inertia).
110
Pd-Parameter
Set position (Pd.8 ... Pd.10)
The set position is preset in Pd.8 ... Pd.10. The input is possible by writing on these parameters or by activating the Teach-function (Pd.1 = 3). During the execution of a positioning step it is not possible to preset a new target position in the active parameter set.
Mode of positioning (Pd.11)
In this parameter you can select whether the positioning set value is preset absolutely, or whether it should position relatively to the actual position. In case of relative mode of positioning the new position will be calculated starting from the present position setpoint value, i.e. positioning errors will not be added. 0 1 absolute mode of positioning relative mode of positioning
Position deviation (Pd.12)
After a positioning command is completed, a 'position reached' signal can be set via digital output (do-Parameter). This message is read out when the precontrol profile is completed and the drive is in the target window. The position deviation can be adjusted in Pd.12. The parameter is exactly standarized as the 'low-part' of the set position. 360 of the motor revolution = 65536 increments. The position deviation extends to both sides of the target position with the increments adjusted in Pd.12.
Target mode (Pd.15)
The parameter specifies what the controller is supposed to do with a position not reached (Pc.0 = 2; new position during the positioning or position abort with residual distance). 0 : stop 1 : immediately 2 : ignore 3 : old target + restart
Pd.15 0 Pc.0 = 2; new - positioning while Posi is active The controller stops and outputs a message (do.0X = 31), that it could not reach the new position. The controller stops and then drives automatically to the new position. The controller ignores the new position and drives to the old position. The controller drives to the old position and then starts automatically a positioning onto the new position. Position abort with residual distance The controller stops and outputs a message (do.0X = 31), that it could not reach the residual distance position. The controller stops and outputs a message (do.0X = 31), that it could not reach the residual distance position. The controller ignores the position abort and drives to the position. The controller stops and outputs a message (do.0X = 31), that it could not reach the residual distance position.
111
Example Positioning Module
5.19 Checklist for the Positioning Module
1 2
Posi Module on Select kind of position input (decimal / hexadecimal) Parameter set selection on Inputs for selection of positions (parameter sets) defined Reference point search defined or switched off
Pc.0 = 1 Pc.1
3 4
Fr.2 = 1...3 di.3...di.12 = 1
Pc.10..Pc.14, di.3...di.12 Pd.0
Positioning in each individual set switched on-/ off Set positions and mode of positioning are defined in the sets define the drive profile for the positions
Pd.8...Pd.11
Pd.5...Pd.7
define position deviation
Pd.12
10
Software-limit switches on/off
Pc.4...Pc.9
11
Hardware-limit switch on
di.3...di.6, di.11...di.12, Pn.24 di.3...di.6, di.11...di.12 CS.0, CS.1, Pd.2, Pd.3 do-parameter
12 13 14
define start command for positioning adjust speed controller and position controller If necessary programming of digital outputs (e.g.: target window reached)
112
5.20 Programming Example for Positioning Control with 4 Positions
4 different positions should be reached by the control the addressing of the positions is done via terminal the positioning starts with a start positioning - signal output D1 should be set, when the target is reached after Power-on you should start with 'start positioning the reference point search the positions are preset absolutely, in relation to the reference point (Input in increments , set = 80500, 1286000, 24000, 163800) the absolute positions 0 and +1500000 are the limits for the position set point the positions are shown and entered in decimal when a digital input is set, the drive must be able to be moved manually with the analog set value (emergency operation).
Sequence:
the control selects a positioning set afterwards the start positioning - signal is given by the control (positioning set must be preset on the terminal) the controller takes on the position, speed, control adjustment etc. from the positioning set selected after the target position is reached the signal position reached is set now the new set addresses are accepted with a new start positioning command the signal position reached is reset with the new start positioning command when I4 is activated the controller runs with the analog set value
positioning - control (Pc) - Parameter Pc.0 Control mode 1 Pc.1 Position input mode 0 Pc.4 Limit software left sign 0 Pc.5 Limit software left high 0 Pc.6 Limit software left low 0 Pc.7 Limit software right sign 0 Pc.8 Limit software right high 150 Pc.9 Limit software right low 0 Pc.10 Mode of position reference 1 Pc.11 Reference point sign 0 Pc.12 Reference point high 0 Pc.13 Reference point low 0 Pc.14 Reference speed -100
on position display / - input decimal positive pos. value for end pos. left position = 0 positive pos. value for end pos. right Pos. = (Pos.high * 10000 + Pos.low) * sign = + (150 * 10.000 + 0 ) auto ref on reference point position = zero point the reference point is searched with a speed of 100 rpm in reverse rotation / automatic reversal when the limit switch is reached.
113
positioning definition (Pd ) - Parameter Set 0 Pd.0 Posi mode 1 Pd.1 Manual start 0 Pd.2 Kp (position) 20 Pd.3 Limit for kp position 500 Pd.5 S-curve time 0,5 Pd.6 Acceleration time 0,6 Pd.7 Max. speed for posi 3000 Pd.8 Set position sign 0 Pd.9 Set position high 8 Pd.10 Set position low 500 Pd.11 Mode of positioning 0 Pd.12 Position deviation 16383
Set 1 1 0 20 500 0,5 0,6 3000 0 128 6000 0 16383
Set 2 1 0 20 500 0,5 0,6 3000 0 2 4000 0 16383
Set 3 1 0 20 500 0,5 0,6 3000 0 16 3800 0 16383
on no manual start dependent on load
input see reference point absolute position deviation 90
digital input (di) - Parameter di.3 Input function I1 di.4 Input function I2 di.5 Input function I3 di.6 Input function I4 di.11 Input function I5 di.12 Input function I6
1 : set selection 1 : set selection 17 : start positioning 20 : positioning mode OFF 14 : limit switch right 19 : limit switch left + reference switch
digital output (do) - Parameter do.1 Output condition 1 do.28 Output filter 1 time do.30 Output filter 1 connection
23 : position reached 20 ms 1 : do.1
free prog. para. sets (Fr) - Parameter Fr. 2 Parameter set source 2 : terminal binary coded
114
5.20.1 COMBIVIS Parameter List for Programming Example
* ud1 Fr1 di3 di4 di5 di6 di11 di12 Fr2 Pc0 Pc1 Pc4 Pc5 Pc6 Pc7 Pc8 Pc9 Pc10 Pc14 Pd0 Pd2 Pd3 Pd5 Pd6 Pd7 Pd8 Pd9 Pd10 Pd11 Pd12 do1 do28 do30 * Fr9 Fr1 Pd8 Pd9 Pd10 * Fr9 Fr1 Pd8 Pd9 Pd10 * Fr9 Fr1 Pd8 Pd9 Pd10 * Fr9
Bus password Copy parameter set Input function I1 Input function I2 Input function I3 Input function I4 Input function I5 Input function I6 Parameter set source Posi mode Input mode Limit software left sign Limit software left high Limit software left low Limit software right sign Limit software right high Limit software right low Mode of position ref Reference speed Positioning Kp position Limit f. position controller S curve time Acceleration time Max. speed Set position sign Set position high Set position low Mode of positioning Position deviation Output condition 1 Output filter 1 time Output filter 1 connection Bus parameter set Copy parameter set Set position sign Set position high Set position low Bus parameter set Copy parameter set Set position sign Set position high Set position low Bus parameter set Copy parameter set Set position sign Set position high Set position low Bus parameter set
= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
440 -2: copy default sets in all sets 1: Set selection 1: Set selection 17: Start Posi 20: Posi mode off 14: F 19: R + reference switch 2: Terminal (binary coded) 1:on 0: pos.disp. DEZ / pos.input DEZ 0:+ 0 0 0:+ 150 0 1: auto ref on -100.0 UpM 1:on 20 250 UpM 0.50 s 0.60 s 3000 UpM 0:+ 8 500 0: absolute 16383 23: position reached 20 ms do01 1: set 1 copy 0: set 0 (stand.) to Fr.09 0:+ 128 6000 2: set 2 copy 0: set 0 (stand.) to Fr.09 0:+ 2 4000 3: set 3 copy 0: set 0 (stand.) to Fr.09 0:+ 16 3800 0: set 0
115
5.21 Programming of an Automatic Sequence Control System
7 different positions should be automatically approached one after the other to start a new positioning you must enter 'start posi' the reference point has the absolute value + 100.000 , the limit switches are in position 0 and + 200.000 the reference point search is started with a digital input from the reference point a should: + 75000 / - 50.000 / - 50.000 / - 50.000 / -15.000 / + 100.000 / - 10.000 be driven the relay should work as a position reached - signal
Sequence:
After power on you can start the reference point search with I2. When the reference switch I3 is active, the actual position is overwritten with the reference position and the mode is ended. With I1 the positioning in set 1 is started With every further positive slope of I1 the next position is selected In set 0 the drive goes back to its reference position
positioning - control (Pc) - Parameter Pc.0 Control mode 1 on Pc.1 Position input mode 0 Pos. display decimal/pos. input decimal 0 Pc.4 Limit software left sign Pc.5 Limit software left high 0 0:+ Pc.6 Limit software left low 0 0 Pc.7 Limit software right sign 20 0 : + Pc.8 Limit software right high Pc.9 Limit software right low 0 Pc.10 Mode of position reference 0 auto ref on 0 Pc.11 Reference point sign 10 0 : + Pc.12 Reference point high Pc.13 Reference point low 0 Pc.14 Reference speed -100 The reference point is searched with a speed of 100 rpm in reverse direction / automatic reversal when the limit switch is reached
116
positioning definition (Pd)-Parameter Set 0 Pd.0 Posi mode 1 Pd.1 Manual start 0 Pd.2 Kp (position) 20 Pd.3 Limit for kp position 500 Pd.5 S curve time 0,1 Pd.6 Acceleration time 0,2 Pd.7 Max. speed for Posi 1000 Pd.8 Set position sign 0:+ Pd.9 Set position high 10 Pd.10 Set position low 0 Pd.11 Mode of positioning 0 Pd.12 Position deviation 16383 digital input (di) - Parameter di.3 Input function I1 di.4 Input function I2 di.5 Input function I3 di.6 Input function I4 di.7 Input function IA di.8 Input function IB di.9 Input function IC di.11 Input function I5 di.12 Input function I6 di.17 Input strobe dependent di.18 Select strobe source digital output (do) - Parameter do.3 Output condition 3 do.4 Output condition 4 do.28 Output filter 1 time do.30 Output filter 1 connection do.13 Select OUT A condition do.14 Select OUT B condition do.15 Select OUT C condition
Set 1 Set 2 Set 3 Set 4 1 1 1 1 0 0 0 0 20 20 20 20 500 500 500 500 0,5 0,5 0,5 2 0,8 0,8 0,8 2 2000 3000 3000 3000 0:+ 1:1:1:7 5 5 5 5000 0 0 0 1 1 1 1 16383 16383 16383 16383
Set 5 Set 6 1 1 1 : on 0 --- no manual start 20 20 500 500 0,5 0,5 0,8 0,8 3000 3000 1:0:+ 1 10 Input see Pc.1 5000 0 1 1 0:absolute/1:relative 16383 16383 target window 90
17 : start positioning 10 : start reference point search 12 : reference limit switch 13 : RST 1 : SET 2 : SET 3 : SET 14 : limit switch right 15 : limit switch left 1792 : IA + IB + IC 16 : I1
23 : position reached 1 : enabled 4 ms 4 : do.4 Set 0 Set 1 Set 2 do.4 0 do.4 0 do.4 do.4 0 0 0
Set 3 0 0 do.4
Set 4 do.4 0 do.4
Set 5 0 do.4 do.4
Set 6 0 0 0
Set 1 Limit switch right Set 1 Actual position Set 2 Set 6 Reference point Set 3 Set 0 t Set position
Set 4 Limit switch left
Set 5 'Position reached'-signal t
117
5.22 Reference Point Search Example 1
Simultaneously the limit switch also serves as reference limit switch. Terminal X1.3 = limit switch right Terminal X1.4 = limit switch left + reference limit switch Adjustments: di.11 = 14; di.12 = 19; Pc.14 = -100 rpm Start of the reference point search by setting of a digital input (e.g. X1.7 => parameter di.5 = 10) or by Bus / PC with parameter Pd.1 = 2 or automatically after switching on the voltage supply with the first 'start positioning' signal (parameter Pc.10 = 1). The 'start positioning' signal can also be set with a digital input (e.g. X1.2 => par. di.6 = 17) or via Bus / PC with parameter Pd.1 = 1.
Limit switch left + Reference switch
VRef= -100 rpm
Limit switch right
Starting position
X1.4
Position after reference point search (-> Pc.11...13) Start ref.-search
X1.3
clear the reference limit switch with 0.25* VRef turn back of zero encoder
VRef (Pc.14)
Signal at X1.4
0 t
118
The reference switch is independent to the limit switches. Terminal X1.3 = limit switch right Terminal X1.4 = limit switch left Terminal X1.5 = reference switch Adjustments: di.11 = 14; di.12 = 15; di.3 = 12; Pc.14 = -100 rpm Start of the reference point search by setting of a digital input (e.g. X1.7 => parameter di.5 = 10) or by Bus / PC with parameter Pd.1 = 2 or automatically after switching on the voltage supply with the first 'start positioning' signal (parameter Pc.10 = 1). The 'start positioning' signal can also be set with a digital input (e.g. X1.2 => par. di.6 = 17) or via Bus / PC with parameter Pd.1 = 1.
Limit switch left
Reference limit switch
VRef = - rpm preferred direction
Limit switch right
Start positioning
X1.4 X1.5
Position after reference point search (-> Pc.11...13)
X1.3
Start ref.-search
V
clear the reference limit switch with 0.25 * VRef turn back of zero encoder
VRef (Pc.14)
t
1 0
Signal at X1.4
t
119
Starting of the drive to the reference limit switch against the preferred direction (special case to example 2). Limit switch left
t1 X1.4
VRef = - rpm preferred direction
Position after reference point search (-> Pc.11...13) Limit switch

t2 X1.5 X1.3
Output position (t0)
Reference limit switch
Start ref.-search (t0)

v
Clear the reference limit switch
turn back of zero encoder
VRef
(Pc.14)
1 0
Signal at X1.4
t
Signal at X1.5 (reference limit switch) reach the limit switch left (t1) reference position reach the (-> Pc.11...13) reference limit switch (t2) Reference limit switch is cleared
t
120
5.25 Operation with High Mass Moment of Inertia
In this case undesirable effects can occur during the positioning; see the following short description of the parameterization
realize speed controller adjustment as usual (CS-Par.) activate posi module and record positioning function with inverter-scope
The following example was recorded with a motor 12.SM.000-4400 and a rotating mass with 88 10-4 kgm2.
KEB-Antriebstechnik (R) COMBIVIS (R) Inverter Scope CH A: Inv 1 ru.1 Actual speed 1000 rpm/DIV CH B: Inv 1 ru.4 Set speed 1000 rpm/DIV CH C: Inv 1 ru.2 Actual torque 4.1 Nm / DIV CH D: Inv 1 ru.27 Angular deviation 10 x / DIV CU I : Off CU II: Off MEM: (1604/4000) 0 ms - 4000 ms
Ypos: Orpm Ypos: Orpm Ypos: 0 Nm Ypos: 0x
Set speed Actual speed
Actual torque Angular deviation
In this recording the drive cannot follow the set value. During acceleration at the torque limit the angular deviation increases. By repetition up to zero the drive compensates the angular deviation. It is important that the max. speed (SP.5, SP.8) > Pd.3 + Pd.7. During deceleration the drive also cannot follow the the precontrol profile. An overshoot occurs. With the adjusted speed in Pd.3 the drive reverses to his set position. In this example the overshoot (angular deviation) is 3,5 motor revolutions. In this example the drive needs 300 ms to accelerate max speed. For the second test the value is adjusted for the acceleration time in Pd.6.
121
With this adjustment Pd.6= 0,3 s the drive can follow the precontrol profile. Only in the corner of the precontrol profile there are torque shocks which can have a negative effect to the mechanic of the machine.
It is recommended to use S-curves in case of high mass moment of inertia. See the following test: Pd.5 = 0,3s and Pd.6 = 0.01s.
The drive follows the precontrol profile optimally. Setpoint speed and actual speed are identical. The torque has a 'triangular' form. The drive has no overswing in the target position. The angular deviation is max. approx 10.
122
5.26 Fault Locating in the Positioning-Module
Mistakes
Positioning step or reference point search is not executed
Reason
Control release inactive Limit switch signal interrupted or not connected Torque limit active Limit software active Position reached last positioning step is not completed Reference search active
Control / Help
Terminal X1.1, Par. ru.14 Terminal strip, Par. ru.14, ru.16 set An.13 = 0; increase CS.6 / CS.7 change or switch off software-limit switch (see Par. Pc.4...9) compare position input Pd.8...10 and actual position ru.35... 37 status display ru.0 (P A = positioning active) status display ru.0 (SrA = ref.point search active) increase value of Pd.12 increase value of Pd.12 set An.13 = 0; increase CS.6 / CS.7 extend ramp times Pd.5 / Pd.6 set An.13 = 0; increase CS.6 / CS.7 adjust Sp.5 / Sp.8 > Pd.7 or reduce Pd.7 to correspond value increase value of Pd.2 check actual par.set (ru.18) check Pd.8...11 status display ru.0 (SrA = ref.point search active) see CS-Par. adjust Pd.2 extend ramp times Pd.5 / Pd.6 increase Pd.5
Positioning is to inexact (Position deviation not reached)
Position controller to soft or switched off (Pd.2) Target window to small Torque limit active Ramps for posi-drive profile are adjusted to short Torque limit active Speed limit active, i.e.. Sp.5 or Sp.8 < Pd.7 Position controller to soft or switched off (Pd.2) Wrong parameter set activated Position input or mode of positioning is adjusted wrong Reference search active Speed controller adj.badly Position controller adj. badly Ramps for posi drive profile are adjusted to short activate s-curves
Drive overshoots the position and then returns
Drive goes to the wrong position
Drive oscillates Strong mech. load at positioning (Torque shocks) Drive goes over proximity switch Reference point search has not finished Drive runs from one limit switch to the other
Exchange limit switch right / left check terminal strip, Par. ru.14 Deact. of reaction to limit switch check Par. Pn.24 Sign of the reference speed If the limit switch left is also a reference switch, Pc.14 is wrong Pc.14 must be negative; If the limit switch right is also a reference switch, Pc.14 must be positive No digital input defined as set ref. signal to a digital input and program this as a ref. point switch or ref. limit ref. switch (-> di.-Par.) is not connected
123
AA-Parameter
5.27 Adjustment Assistance (AA)Parameter

Read-only parameters! Press "Enter"-key to store the parameter value! Set-programmable parameters! Gr. No. Name AA AA AA AA AA AA AA AA AA AA AA AA AA AA 0 1 2 3 4 5 6 7 8 9 10 11 12 13 Channel 1 parameter selection Channel 2 parameter selection Channel 3 parameter selection Channel 4 parameter selection Time base Trigger source Trigger position Start/stop recording Scope function Select graph address Read channel1 Read channel 2 Read channel 3 Read channel 4 Address P E R Resolution Lower Limit 3200 1 0 3201 1 0 3202 1 0 3203 1 0 3204 0,001 0,001 3205 1 0 3206 1 0 3207 1 0 3208 R 1 0 3209 1 0 320A R 1 0 320B R 1 0 320C R 1 0 320D R 1 0 Upper Limit 65535 65535 65535 65535 32,000 255 variabel 255 2 variabel --------Default Value 0 0 0 0 0,001 255 10 0 0 0 --------Unit -----------------------------
Inverter Scope (AA.0 ... AA.13)
These parameters are managed by the communication program 'Inverter Scope'. AA.0 - AA.3 contain the addresses of the parameters which should be recorded by the 'Inverter Scope'. AA.4 contains a time base for the recording of the parameter values. AA.5 / AA.6 contain the trigger condition and position. AA.7 / AA.8 serve to synchronize the PC-program with the inverter. AA.9 ... AA.13 serve to read out the recorded values in the unit. The program Inverter Scope is menu-assisted and manages these parameters independently. Therefore direct access onto the AA-parameters is not necessary. Operating of the inverter scope program is described in the COMBIVIS instruction manual.
124
Annex
6.
6.1
Annex
Changed Functions starting at Version 3.0 An aborted positioning is first of all completed with the nest Start Positioning.
6.1.1 Changes in the Posi-Module
6.1.2 Changes in the OL and OH2 Function
The OH2-function only takes over the protection of the motor winding. That means, that the function only responds above the triple motor rated current. For motor protection against overtemperature a PTC-contact must be connected now. Additonally tripping times can be adjusted in the dr-parameters. The OL-function has changed for the units in G and H housing. For the overload range the rated current was specified as follows: 16.S4.G... 33 A and f18.S4.H... 50 A. The standstill continuous current, which is significant for the power module protection below 3 Hz, was not changed.
6.1.3 Software Limit Switch
If a position outside the software limit switch is selected and started, E.SLF or E.SLr is triggered. This error is also triggered at Pc.2 = 2 new position settings during positioning. Display E.SLF E.SLr Value 110 111 Meaning Error software final position forward (selected position above Pc.7 ... Pc.9) Error software final posiiton reverse (selected position below Pc.4 ... Pc.6)
6.1.4 New Functions 3.0
Motor temperature measurement (KTY-submounted card) Extension of the speed range 14000 rpm Motor-poti function Brake torque and ramp for emergency-stop Field weakening range Exchange of the analog inputs Regulation of the controller-motor temperature Operation of a motor with hiperface encoder Direct change-over possibility between synchronous-, posi- and speed-controlled operation Presetting of other acceleration ramp like deceleration ramp in posi-operation Change of the maximum positioning speed during positioning Presetting of new positions during positioning Positioning with starting speed Register function Synchronization with ramps
125
126
Karl E. Brinkmann GmbH Frsterweg 36 - 38 D - 32683 Barntrup Telefon 00 49 / 52 63 / 4 01 - 0 Fax 00 49 / 52 63 / 4 01 - 1 16 Internet: www.keb.de E-mail: [email protected]
KEB Antriebstechnik GmbH & Co. KG Wildbacher Str. 5 D - 08289 Schneeberg Telefon 0049 / 37 72 / 67 - 0 Telefax 0049 / 37 72 /67 - 2 81 E-mail: [email protected] KEB Antriebstechnik Austria GmbH Ritzstrae 8 A - 4614 Marchtrenk Tel.: 0043 / 7243 / 53586 - 0 FAX: 0043 / 7243 / 53586 - 21 Kostelni 32/1226 CZ - 370 04 Cesk Budejovice Tel.: 00420 / 38 / 731 92 23 FAX: 00420 / 38 / 733 06 97 E-mail: [email protected] KEB Antriebstechnik Herenveld 2 B - 9500 Geraadsbergen Tel.: 0032 / 5443 / 7860 FAX: 0032 / 5443 / 7898 E-mail: [email protected] KEB China Xianxia Road 299 CHN - 200051 Shanghai Tel.: 0086 / 21 / 62350922 FAX: 0086 / 21 / 62350015 Internet: www.keb-cn.com E-mail: [email protected] Socit Franaise KEB Z.I. de la Croix St. Nicolas 14, rue Gustave Eiffel F - 94510 LA QUEUE EN BRIE Tl.: 0033 / 1 / 49620101 FAX: 0033 / 1 / 45767495 E-mail: [email protected] KEB (UK) Ltd. 6 Chieftain Buisiness Park, Morris Close Park Farm, Wellingborough, GB - Northants, NN8 6 XF Tel.: 0044 / 1933 / 402220 FAX: 0044 / 1933 / 400724 Internet: www.keb-uk.co.uk E-mail: [email protected] KEB Italia S.r.l. Via Newton, 2 I - 20019 Settimo Milanese (Milano) Tel.: 0039 / 02 / 33500782 FAX: 0039 / 02 / 33500790 Internet: www.keb.it E-mail: [email protected] KEB - YAMAKYU Ltd. 15 16, 2 Chome, Takanawa Minato-ku J Tokyo 108 -0074 Tel.: 0081 / 33 / 445-8515 FAX: 0081 / 33 / 445-8215 E-mail: [email protected] KEB Portugal Lugar de Salgueiros Pavilhao A, Mouquim P - 4760 V. N. de Famalicao Tel.: 00351 / 252 / 371 318 FAX: 00351 / 252 / 371 320 E-mail: [email protected] KEB Taiwan Ltd. 1F, No.19-5, Shi Chou Rd., Tounan Town R.O.C. - Yin-Lin Hsian / Taiwan Tel.: 00886 / 5 / 5964242 FAX: 00886 / 5 / 5964240 E-mail: [email protected] KEBCO Inc. 1335 Mendota Heights Road USA - Mendota Heights, MN 55120 Tel.: 001 / 651 / 4546162 FAX: 001 / 651 / 4546198 Internet: www.kebco.com E-mail: [email protected]
KEB 00.S4.0EA-K300 5/2002

Keb Manual s4 Avanzado

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APPLICATION MANUAL

KEB COMBIVERT S4 Size D / E / G / H / R

Discretionary charge 40,- Euro

Installation and Connection .................................................................... 7

Parameter Structure ............................................................................... 32

Functional Description .......................................................................... 35

Annex .................................................................................................... 125

This manual is valid for the KEB COMBIVERT S4.

The pictograms used in this manual mean:

Danger Warning Caution

Must be observed! Special instructions for a safe and trouble-free operation.

Interference Suppression of Servo-Control

Interference Suppression of Electrical Units

Installation and Connection

Installation and Connection

Installation and Connection

Calculation of control cabinet surface:

T = Temperature difference [K] K W = Heat transfer coefficient m2 K

(Standard value = 20 K) (Standard value = 5 W m2 K )

PV = Heat dissipation [W] V = Air flow rate of fan [m3/h]

KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup Made in Germany

KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup Made in Germany

KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup Made in Germany

START ENTER F/R STOP FUNC. SPEED ENTER F/R

START FUNC. SPEED STOP ENTER F/R

START FUNC. SPEED STOP

Warm air outlet

Cool air inlet

Installation and Connection

Operating temperature Type of Protection

-10 ... +45C; Storage: -25 ... +70C IP20

2,4 6,4 9,7 for 1000 ms 1,5 65

6,4 6,4 16 for 500 ms 1,5 75

In relation to 230V nominal input voltage

3 7 10 6,4 6,4 22 for 200 ms 1,5 110

Installation and Connection

3 36 50 33 21,5 50 for 600 ms 10 310

[V] [Hz] [A] [A] [A] [A] [A] [mm2] [W]

18 H 305 . . . 500 + 0% 50 / 60 Hz + 2 Hz 3 55 80 50 45 75 for 800 ms 25 610

Installation and Connection

13 PTCdetectors (series connection) 400 1650 < 500

3,0 2,5 2,0 1,5 1,0 0,5 0 0

OL - Function Servo Controller

I max. Id0 1,5 2,5 3,9 3,4 2,4 2,3 1,7

OL - Function Overload Range

Release time (s)

Installation and Connection

Dimensions KEB COMBIVERT S4

Servo Controller Weight = 2/3,5 kg

Submounted braking resistor Weight = 0,9/1,3 kg

Submounted filter Weight = 0,9/1,5 kg

Servo Controller Weight = 10/14 kg

Submounted braking resistor Weight = 1,9 kg

Submounted filter Weight = 3,2/5,1 kg

Size G H Built-on filter

A 170 297 181

B 340 340 415

B1 415 445 ---

G 150 250 150

H 330 330 400