Inversor Baummer PDF
Inversor Baummer PDF
Inversor Baummer PDF
(BUS 6 VC)
SW 4.XX + 14.XX
Manual
E 5.95036.17
Title Manual
Product V-Controller (BUS 6 VC)
Version 5.95036.17
TABLE OF CONTENTS
4 Assembly ........................................................................................................... 17
4.1 Dimensions ........................................................................................................................... 17
4.2 Assembly Note ..................................................................................................................... 18
5 Installation ......................................................................................................... 19
5.1 Danger Information ............................................................................................................... 19
5.2 Checks Prior to Installation ................................................................................................... 20
5.3 Display .................................................................................................................................. 21
5.3.1 Seven-segment Display ............................................................................................................... 21
5.3.2 LED Display Element ................................................................................................................... 22
5.4 Terminal Diagram ................................................................................................................. 23
5.5 Connection of the Function Inputs ........................................................................................ 24
5.6 Connector Pin Assignment ................................................................................................... 25
5.7 Connection Cables ............................................................................................................... 31
5.7.1 Connection Cable Encoder Types A, B, C and E ........................................................................ 31
5.7.2 Serial Connection Cable for PC ................................................................................................... 32
5.7.3 Connection Cable RS485 ............................................................................................................ 34
5.7.4 Connection of Leading Axis and Following Axis ......................................................................... 35
5.8 Accessories .......................................................................................................................... 35
6 Commissioning ................................................................................................. 37
6.1 Danger Information ............................................................................................................... 37
6.2 Initial Commissioning of V-Controller ................................................................................... 40
6.2.1 Hardware requirements ............................................................................................................... 40
6.2.2 Installation WinBAS ..................................................................................................................... 41
6.2.3 Guided commisioning .................................................................................................................. 44
6.2.4 Speed control by means of analog input 1 .................................................................................. 51
6.3 Locating Position Reference Point Setting ........................................................................... 57
6.4 Commands to Start the Drive ............................................................................................... 58
6.5 Commands to Stop the Drive ............................................................................................... 60
7 Parameters ........................................................................................................ 63
7.1 Function Diagrams ............................................................................................................... 63
7.2 Power Supply ....................................................................................................................... 67
7.3 Power Unit ............................................................................................................................ 69
7.4 Overload Monitoring of Power Unit ....................................................................................... 75
7.5 Pulse Width Modulation ........................................................................................................ 78
7.6 Motor Model .......................................................................................................................... 80
7.7 Motor Overload Monitoring ................................................................................................... 86
7.8 Motor Temperature Monitoring ............................................................................................. 89
7.9 Field Angle Calculation ......................................................................................................... 92
7.10 Encoder Manager ................................................................................................................. 96
7.11 Touch probe cycle .............................................................................................................. 102
7.12 Incremental Encoder Emulation ......................................................................................... 107
7.13 Evaluation Encoder 1 and Encoder 2 ................................................................................. 108
7.14 Field angle monitoring and Sin2Cos2-monitoring ............................................................... 118
7.15 Current Controller ............................................................................................................... 120
7.16 Speed Controller ................................................................................................................. 126
7.17 Torque Monitoring .............................................................................................................. 129
7.18 Position Controller .............................................................................................................. 133
7.19 Drive Manager .................................................................................................................... 140
7.20 Data Set Management ........................................................................................................ 158
7.21 Operation System ............................................................................................................... 164
7.22 Ramp Function Generator .................................................................................................. 167
7.23 Set Value Generator ........................................................................................................... 171
7.24 Motor Potentiometer ........................................................................................................... 173
7.25 Analog Inputs ...................................................................................................................... 177
7.26 Analog Outputs ................................................................................................................... 182
7.27 LED Display ........................................................................................................................ 184
7.28 Digital Inputs ...................................................................................................................... 187
7.29 Digital Outputs ................................................................................................................... 191
7.30 External Digital Input .......................................................................................................... 194
7.31 External Digital Outputs ...................................................................................................... 197
7.32 Function module "freely configurable statusword GP State" .............................................. 200
7.33 Service Interface ................................................................................................................. 203
7.34 Link to USS® Protocol ....................................................................................................... 208
7.35 BAPS Communication ........................................................................................................ 222
7.36 Additional Parameter .......................................................................................................... 224
7.37 Objekt list ............................................................................................................................ 225
ABBREVIATIONS
1 SAFETY INFORMATION
General Information
These operating instructions contain all the information necessary for correct operation of the products
described. The document is intended for specially trained, technically qualified personnel who are well-
versed in all warnings and commissioning activities. The equipment is manufactured using state-of-the-
art technology and is safe in operation. It can safely be installed and commissioned and functions with-
out problems if the safety information in these operating instructions is followed.
WARNING
When operating electrical equipment, some parts of the equipment always carry dangerous voltages.
Ignoring these safety instructions and warnings may result in serious personal injury and/or damage
to property.
Only qualified personnel who are familiar with the safety information, assembly, operation and mainte-
nance instructions may carry out work on this equipment.
Danger Information
On the one hand, the information below is for your own personal safety and on the other to prevent
damage to the described products or to other connected equipment.
In the context of the operating instructions and the information on the products themselves, the terms
used have the following meanings:
DANGER
This means that death, severe personal injury, or damage to property will occur unless appropriate
safety measures are taken.
WARNING
This means that death, severe personal injury, or damage to property may occur unless appropriate
safety measures are taken.
NOTE
This draws your attention to important information about the product, handling of the product or to a
particular section of the documentation.
Qualified Personnel
In the context of the safety-specific information in this document or on the products themselves, quali-
fied personnel are considered to be persons who are familiar with setting up, assembling, commission-
ing and operating the product and who have qualifications appropriate to their activities:
Trained or instructed or authorized to commission, ground and mark circuits and equipment in accor-
dance with recognized safety standards.
Trained or instructed in accordance with recognized safety standards in the care and use of appropri-
ate safety equipment.
Appropriate Use
WARNING
You may only use the equipment/system for the purposes specified in the operating instructions and
in conjunction with the third-party equipment and components recommended or authorized by BAU-
MÜLLER NÜRNBERG GmbH.
For safety reasons, you must not change or add components on/to the equipment/system.
The machine minder must report immediately any changes that occur which adversely affect the safety
of the equipment/system.
2 TECHNICAL DATA
2.1 General
The motor controller designated as the V-controller is a favorably priced, fully digital solution for
Baumüller equipment for closed-loop control of synchronous and asynchronous motors.
The V-controller covers the range of functions of the existing E-controller and T-controller.
In addition, the two VeCon circuits increase the controller’s computing power and storage capacity. This
results in a significant improvement in the device’s closed-loop control properties, quicker communica-
tions and increased open-loop control functionality in the closed-loop controller. Various option boards
allow you to adapt the BUS 6 V-controller to a vast range of different requirements and applications.
Closed-Loop Control
Inputs / Outputs
Operation Software
WinBASS
Up-/Download with PCBASS
PCBASS
Optional Boards
Omega Drive-Line
InterBus-S interface
CAN interface
I/O module MFM-01
Sercos interface
1 x analog input (0 ... ±10 V), 16 bit resolution
Profibus DP-Interface
RS 485-Interface with a transmission rate of 300 to 19200 baud, optical separated
Power Consumption
+5 V 1,2 A
(without encoder supply; plus 0,5 A with 2 encoders)
+8 V 10 mA
(without encoder supply; plus 0,5 A with 2 encoders)
+15 V 50 mA
-15 V 50 mA
BUS 6-xx-xx-xxxx-xxxx-xxxx-xxxx
BAUMÜLLER No. of licence points
Option board 2 function
Converter Option board 1 function
System
Controller function
Digital Controller function:
incompatible
Controller type software version
Controller function:
Encoder type on Customer specific
Connection 1 (X24) software version
Example:
Encoder type on connection 2: C Absolute value encoder with asynchronous serial interface and 8 V supply
Version: 1008 V-controller; Omega with MEM-03; InterBus-S with expansion board;
multifunction module; built-in version
Open-Loop control function D103 Run-time software for Omega + CAN (multi-axis application) + MEM-03
Option board 2 function: 0 Software specified via PCB version of option board
NOTE
Compared to the old type code, the positions for the encoder on connection 1 and connection 2 are
interchanged.
3 TRANSPORTATION, UNPACKING
The units are packed at the factory in accordance with the order.
You should avoid jolting or dropping the package in transit, e.g. when putting the unit down.
You can start assembly after unpacking the equipment and checking that it is complete and undamaged .
The equipment is packed in cardboard, corrugated sheeting and/or wooden packaging that you should
dispose of in accordance with local regulations.
DANGER
If the unit was damaged in transit, a qualified person must check, repair and test it before it may be
connected.
Ignoring this information can result in death, serious personal injury or considerable damage to pro-
perty.
4 ASSEMBLY
4.1 Dimensions
The total depth can only be determined in conjunction with the basic unit. In addition, it is necessary to
take into account the dimensions of the connector to be used (approx. 40 mm).
WARNING
You are responsible for mounting the described equipment, the motor, the transformer and any other
equipment in accordance with appropriate safety regulations (e.g. EN, DIN, VDE); equally you must
ensure that all other relevant national or local regulations are met with regard to cable ratings and pro-
tection, grounding, disconnectors, overcurrent protection, etc.
During operation, the unit is protected from direct contact such that it is suitable for use in enclosed
electrical premises (DIN VDE 0558 Part 1/07.87, Section 5.4.3.2, provisional standard EN 50178/VDE
0160/ 11.94, Sections 5.2.6, 5.2.7).
Plug the controller cassette into the appropriate recess in the basic unit and secure it with the two screws
attached to it.
NOTE
5 INSTALLATION
WARNING
You are responsible for mounting the controller in accordance with appropriate safety regulations (e.g.
DIN, VDE); equally, you must ensure that all other relevant national and local regulations are met with
regard to cable ratings and protection, grounding, disconnectors, overcurrent protection, etc.
During operation, the principles on which the power converter and the motor work lead to leakage cur-
rents to earth that are dissipated via the specified protective earths and may result in a current-opera-
ted e.l.c.b. on the input side blowing prematurely.
Speed monitoring systems in the equipment must not just be complemented by a stand-alone moni-
toring system on the motor in the case of speed-critical drives. You can implement this control of the
RPM speed, which is independent of the controller, by means of inductive, optical or torque-dependent
encoders. Refer to the appropriate motor's operating and maintenance instructions.
Be particularly careful before touching the drive shaft directly or indirectly with your hands. This is only
allowed when the system is deenergized and the drive is stationary.
According to applicable regulations (EN 60204 Part 1 and VDE 0113 Part 1), stopping the drive using
the enable inputs of the control electronics does not, on its own, represent a safe stop condition. A
disturbance in the power converter's control electronics can lead to accidental starting of the motor.
5.3 Display
A 7-segment display is attached to the front of the V-Controller, which shows the state in the drive man-
ager's state machine (P120 - P133)..
Display Meaning
0 NOT READY TO START
1 INHIBIT START
2 READY TO START
3 SWITCHED ON
4 OPERATION ENABLED
7 RAPID_HALT_ACTIVE
E FAULT_REACTION_ACTIVE
F FAULT
Initially status identifier "F" is shown for three seconds to indicate the fault status. The "F" is followed by
the four digits of the error code. The system outputs them with a decimal point, which clearly differenti-
ates this status from the others in the device control. After the last digit, the system deactivates the dis-
play – apart from the decimal point – for one second. After this, the entire procedure is repeated.
If several errors are pending, the system, displays the entire list in this way.
If you acknowledge an error that is just being shown in display mode, the system still continues to display
it until the end of this sequence. The next time the error list is processed, this error is no longer visible.
An LED display, which gives additional information, is located below the 7-segment display.
NOTE
All the enables are edge-triggered except for the emergency stop input.
The emergency stop input must be active before the other hardware enables.
RS232 Interface
1 not assigned
2 TxD RS232
3 RxD RS232
4 DTR, DSR
5 ground RS232
6 +5V RS232
7 RTS, CTS
8 RTS, CTS
9 not assigned
1 -TxD RS485
2 +5V RS485
3 ground RS485
4 ground RS485
5 -RxD RS485
6 +RxD RS485
7 ground RS485
8 ground RS485
9 +TxD RS485
6 not assigned
7 incremental encoder emulation -A
Sine Encoder (e. g. z. B. Heidenhain EQN 1325, synchronous serial Interface 5V)
1 ground
5 COS +
6 not assigned
7 SIN -
8 SIN +
9 COS -
10 clock +
11 clock -
12 sense +
13 sense -
14 RS485 +
15 RS485 -
* do not assign
NOTE
When using this encoder, the standard connection cable (see page 31) cannot be used.
1 ground
3 reserved*
Socket 4 reserved*
5 COS +
6 not assigned
7 SIN -
8 SIN +
9 COS -
10 not assigned
11 not assigned
12 RS485 +
13 reserved*
14 reserved*
15 RS485 -
* do not assign
Resolver
1 resolver ref-
2 resolver ref+
3 not assigned
Socket 4 not assigned
5 resolver cos+
6 not assigned
7 resolver sin+
8 resolver sin-
9 resolver cos-
10 reserved*
11 reserved*
12 not assigned
13 not assigned
* do not assign
1 ground
6 not assigned
10 not assigned
11 not assigned
12 reserved*
13 reserved*
14 temperature motor TM1 (see note next page)
* do not assign
NOTE
A secure separation must be ensured externally for the motor temperature measurement of incremen-
tal encoder and resolver pin no. 14, 15.
Motor Temperature
Sockets X24, X25 and X26 provide three inputs for acquiring the motor temperature. Only one of these
inputs may be connected. The other two inputs must always be open and cannot be used for additional
external evaluation, because this can lead to corrupted measuring results or the destruction of the inter-
nal measuring circuit.
For this, you must remove the cable that is used to collect the motor temperature from the closed-loop
control unit. While the motor is cold (coil temperature of less than 80° C), the resistance between the two
connections in the cable must not exceed 1 kΩ.
NOTE
Analog/Digital Interface
7 analog output 1
**
NOTE
The following cable set is available for the connection of the encoder types A, B, C and E.
BL encoder cable 12/15 pin, article no.: 1901 8001 (lengths on request).
Unit end, View of mating side Motor end, View of mating side
2 red Ø 0.5mm 12
3 yellow 3
4 green 4
5 violet 8
6
7 grey 6
8 pink 5
9 black 1
10
11
12 brown 2
13 white 11
14 red/blue 9
15 grey/pink 7
Cable: LiYCY 5x(2x0.14)+2x0.5mm² cores twisted in pairs, total shielding via copper.
The cable shield is connected to the round plug housing and the SUB-D plug connector shielding.
NOTE
The connecting cable must be manufactured in accordance with the above table!
The cable will not function with a deviating pin assignment!
The cable cannot be used for encoder type D!
NOTE
The units must be connected as follows, if more than one unit (up to 16) are connected in a ring circuit. :
* The +5 V are reserved for the power supply of RS485/RS232 adapters and must not be connect-
ed.
5.8 Accessories
Part no.
Bus cable 1901 8026
X27 A/B RS485
Interface cable PC (3 m) 1901 8006
X23 RS232
BL encoder cable 12/15 pin. (cable length on request) 1901 8001
X24/X25 Encoder
6 COMMISSIONING
WARNING
This equipment carries a dangerously high voltage and, depending on the version, may have dange-
rous rotating parts (fans). Ignoring the safety and warning information may result in death, severe per-
sonal injury or damage to property.
You are responsible for mounting the power converter, the motor, the commutating reactor and any
other equipment in accordance with appropriate safety regulations (e.g. DIN, VDE); equally, you must
ensure that all other relevant national and local regulations are met with regard to cable ratings and
protection, grounding, disconnecters, overcurrent protection, etc.
The most important factors for protecting people are the DIN/VDE protective measures and safety re-
gulations. If there are no protective earth connections on the equipment, commutating reactor or the
motor, personal injuries are inevitable, since the surfaces may carry dangerously high voltages.
The mains unit and the field connector of the power converter carry a dangerous voltage even when
the main contactor has dropped.
During operation, the principles on which the power converter and the motor work lead to leakage cur-
rents to earth that are dissipated via the specified protective earths and may result in a current-opera-
ted e.l.c.b on the input side blowing prematurely.
In the case of a short-circuit to frame or to ground, a direct proportion may arise in the leakage current
that makes triggering a higher level current-operated e.l.c.b either more difficult or totally impossible.
Make the PE connection in accordance with DIN EN 60204/VDE 0113 Part 1/06.93; Section 8.2.2 ta-
king into account provisional standard EN 50178/ VDE 0160/11.94, Sections 5.3.2.1 and 8.3.4.4.
Before carrying out commissioning, check whether the plastic covers over the power stage connec-
tions are in place.
WARNING
If an error occurs, the drive is deenergized and then coasts unbraked to a standstill. You should consi-
der this situation particularly with motion and lifting drives.
Before switching on the drive, you must carefully check the functions of all the higher level safety
equipment to prevent injury to people.
Take particular care when directly or indirectly touching the drive shaft with your hand. This is only al-
lowed when the shaft is stationary and the power converter is deenergized. Any exposed parts of the
machine, such as the shafts, fans, etc., must be covered during operation.
Switching cabinets must have an emergency off facility to switch off any voltages that could be dan-
gerous. This does not include equipment which, if switched off, would cause an even more dangerous
situation. The emergency off releasing element must be arranged in such a way that it can be reached
quickly in case of danger. In the case of work that is considerably more dangerous than usual, another
person must be present.
The machine minder must ensure that unauthorized people do not work at the machine.
WARNING
The machine minder must report immediately any changes that occur at the machine which adversely
affect safety.
When dismounting safety equipment during commissioning, repair and maintenance work, you must
ensure that the machine is taken out of commission in accordance with applicable regulations. You
must remount and check safety equipment immediately after completing commissioning, repair and
maintenance work.
This list of measures required for safe power unit operation is not complete. If you should need further
information or if special problems arise please contact BAUMÜLLER NÜRNBERG or a sales agency.
Please observe the warnings in Chapter 1 of these operating instructions.
NOTE
Before touching the modules, the operator must release any electrostatic charge to protect electronic
components from high voltages generated through electrostatic charge, by simply touching a
conductive, grounded object immediately before, for example.
A certain minimum setup of the drive components is required to commision a drive. The following dia-
gram shows how the components of a drive could be connected. Observe safety notes which are given
in the manuals of every component. Make a note of the controller type code e.g. BUS 6-VC-..., the con-
verter type code e.g. BUM... and the motor article number (refer to the rating plates).
Baumüller-Software
Installation
To install the program under Windows 95 proceed as follows (the installation under Windows NT4.0 is
to be done accordingly):
Start your computer and make sure that Windows 95 is loaded as active operating system.
Make sure that all applications are closed before you start the installation.
Insert the WinBASS CD into the CD ROM drive of your computer.
If the function ”Auto play” of your computer is activated the WinBASS welcome screen appears after a
short time.
If this function is not active, start the installation program manually. Click on the ”Start” button in the
taskbar of the operating system; select the ”Execute” menu item. Enter CD drive:\setup.exe” in the text
box ”Open” and click on ”OK”. Select your language first.
The set-up then looks for already installed WinBASS versions and displays these, if any. Click on ”Setup”
to start a new installation or ”Update” to update an existing version.
After clicking on ”setup”, the welcome dialog is displayed. If you click on the ”Next” button, the General
Terms and Conditions of License follow.
With a click on the ”Yes” button you accept the General Terms and Conditions of License of Baumüller
Nürnberg GmbH.
Then enter the user name and the serial number which is printed on the CD cover.
Two boxes for the entry of the directory are displayed. Enter the desired installation drive and the
installation directory for the source and target files. Please observe the DOS name restrictions (max. 8
characters) of the path. To continue the installation click on ”Next”. The program files are now copied to
the specified target directory on your hard disk.
After you have copied the program files successfully, you are requested to enter the group name for the
Windows 95 start menu. You can accept the suggested name ”Baumüller” or enter another one. Click
on ”Next” to continue the installation.
The data which you have entered are shown on the next screen. You start the copying of the file by
clicking on the ”Install” button.
Then, the successful installation is displayed. Click on ”Close” to complete the installation program.
The WinBASS graphic user interface for controllers is installed now on your computer and you can start
the commissioning of your drive record.
Carefully observe the safety notes in the controller descriptions of the individual components for guided
commissioning. Another prerequisite is that the components as described in Hardware requirements
on page 40 have a minimum wiring.
After you have wired and checked the components, apply the supply voltage, eliminate possible errors
as described in the device descriptions and start the controller operating program as follows:
Select the ”Programs” menu item in the Windows 95 start menu. Go to the ”Baumüller” program group
and then click on the ”WinBASS” link.
When you start WinBASS for the first time, you are prompted to select your communication port. Click
on the serial port you are using (the COM port of your computer). The selection is confirmed by clicking
on the ”OK” button.
NOTE
Because the configuration window is opened again in the guided commissioning, you can close it now
with "OK" or "Cancel".
The initial WinBASS screen appears. To start the guided commissioning, please click on the ”Commis-
sioning guide” button.
Now you are asked for the commissioning mode. For this, click on the ”Online” button so that commis-
sioning is carried out together with the controller.
When you start the guided commissioning, you are prompted to select your communication port. Click
on the serial port you are using (the COM port of your computer). Click on the ”OK” button and commu-
nication with the controller is started.
After communication to the controller has been established, its configuration is determined (as far as
possible). The result of this scan is displayed on the configuration screen.
Please compare the data with those which you have written down in Hardware requirements on page
40 (for explanation of the type key see the controller description).
If you have connected a rectangular incremental encoder at encoder input 2 for instance, check the set
number of increments. Click on the ”Select” button at the right side next to the box of set encoders.
The encoder selection menu is displayed. Please check whether the set data is correct. If necessary,
change the settings and confirm them by clicking on the ”Ok” button. After this you return to the configu-
ration window.
As no data is displayed in the ”Motor” field, click on the ”Select” button at the right side next to the ”Motor”
field. The motor selection menu is displayed. Select the motor type from the list field.
After you have selected the motor type, the list field for the rated speed of your drive opens. Select the
rated speed specified on the motor.
Immediately after the selection of the rated speed, the motor currents from the motor database are dis-
played in the corresponding window. Please check this data whether it is identical with the motor data
on the motor nameplate. Click on the ”OK” button to accept the set data and return to the configuration
window.
If your motor should not be listed, click on the menu item ”User-defined motor values” and a window
opens in which you can enter individual motor data (from the nameplate or the motor datasheet).
Once the data is entered, click on the ”OK” button to return to the motor selection window.
Now you are in the configuration window and you can check the set configuration data again. When the
data are identical with those of your drive record, click on the ”Continue” button to continue the initial
commissioning.
After the configuration data have been set, the selection window for the operating mode is displayed.
Speed control is preset as the operating mode for initial commissioning. The menu item ”Init with default
values” is used to determine whether the controller is written with default values from the operating pro-
gram. The menu item ”Set config data” determines whether the data defined in the previous windows
are saved in the controller memory. To continue the commissioning, click on the ”Continue” button. If you
have selected at least one of the two options, data is written now to the controller.
The data transmission to the controller is completed when the next window is displayed. If data which
will become effective only after a restart, is modified in the controller, you can save the new data record
in the controller now and then restart it. To save the data record, click on the ”Yes” button. Otherwise,
the data record remains in the RAM (volatile memory) of the controller and the next window is skipped.
After the successful saving a confirmation window is displayed. Please close this window by clicking on
the ”OK” button.
Once you have saved your data record, you can restart the controller (this procedure is called booting),
since some changes will become effective only after a restart of the controller. For this, disconnect the
controller from the 24V-supply for approx. five seconds. After you have booted the controller, continue
commissioning by clicking on the ”OK” button.
The home position must be determined now so that the controller can calculate the electrical angle. The
homing mode of the home position can be selected using a list field. For a detailed description of the
individual modes please refer to Field Angle Calculation on page 92. For the ”Guided commissioning”
mode, the zero method is used, i.e. the drive must be decoupled and able to rotate freely.
To start the procedure, set the hardware enables (inputs) at the controller (first quick stop (rapid halt),
then pulse enable) and then click on the ”Start” button.
The motor now rotates to the home position. If this procedure is completed, the display ”Locating point
found” is illuminated and the determined homing angle is displayed (resolver approx. 150 degrees,
Sincos encoder approx. 240 degrees). Click on the ”Stop” button now and switch off the hardware
enables (inputs). To continue the installation click on ”Next”.
After the home position of the drive has been referenced, the drive can now be operated in speed control.
For this, the following window opens.
Enter a value in the ”n-set value” field, connect the hardware enables (inputs) and start the drive by
clicking on the ”Start” button. The motor should rotate now with the speed which results from the
specified value. To stop the drive, click on the ”Stop” button.
To complete commissioning, click on the ”Close” button and you can save again the RAM data record
in the EEPROM. For this, click on the ”Yes” button. After the successful saving a confirmation window is
displayed. Please close this window by clicking on the ”OK” button.
After completing the guided commissioning, you can carry out any controller function using WinBASS.
If you want to exit the program, press ALT + F4 or click in the ”File” pull-down menu on ”Exit”.
In the following parameterisation extensions are described which are required to operate the V-controller
as a standalone device without WinBASS as speed controller. The setpoint is entered via the analog
input 1.
NOTE
Commissioning has been carried out and motor and encoder setting has been completed.
To determine the setpoint source for speed control, a ”link” must be established between the analog
input 1 and one of the setpoint inputs of the ramp function generator (see Ramp Function Generator
on page 167).
Click on ”set value generators” in the ”Drive mode” pull-down menu.
In the submenu select the menu item ”Ramp function generator” and the programming window of the
ramp function generator opens.
Displace the switching element at the ramp function generator output to select the desired input of the
ramp function generator (the example below shows input 1).
Open the toolbox ”Connections” to link analog input 1 with input 1 of the ramp function generator. For
this, select ”Connections” in the ”Tools” pull-down menu.
Another window is opened using which you can establish links by drag & drop.
Click on the ”Analog Input 1”button (the cursor changes) and then on input 1 of the ramp function gene-
rator. The link has been established now (you can recognise it by the highlighted ramp function generator
1 and the grey background of the button in the toolbox) and the ”Analog input 1 (AI1)” screen is displayed
automatically.
Check the settings of this screen (for a detailed description of analog input 1 see Analog Inputs on page
177) and close the screen by clicking on the button ”Close actual” in the menu bar.
The extension of the parameterisation of the V-controller is completed now and the function can be
tested.
For this, select the menu item ”Drive manager” in the ”Drive mode” pull-down menu.
Connect the hardware enables (inputs) and start the drive by clicking on the ”Start” button. The motor
rotates with the speed which results from the value set at the analog input. To stop the drive, click on the
”Stop” button.
NOTE
To operate the V-controller as a standalone device, the control access (communication source) via
RS232/BASS must be disabled. Otherwise, the V-controller expects control commands from
WinBASS.
For this, select the menu item ”Drive manager” in the ”Drive mode” pull-down menu.
The control access via RS232/BASS is currently enabled. Click on the tick to disable this function.
Your close this screen and return to the previous screen by clicking on the ”Close actual” button in the
menu bar.
To prevent data from getting lost, save the data record (see “Saving data” auf Seite 56) before switching
off the controller.
Once you have carried out all changes described above, the drive also operates without WinBASS as
described, after you have set the hardware signals.
Saving data
To prevent data from getting lost, save it in the non-volatile controller memory before you switch off the
controller.
For this, select the menu item ”Data set manager (DSM)” in the ”Drive mode” pull-down menu. The ”Data
set manager” screen is displayed.
To save the data, click on the ”Save” button and the parameters are saved in data record 0 (boot data
record = data record which is loaded when the controller is switched on). After the successful saving a
confirmation window is displayed. Please close this window by clicking on the ”OK” button.
If you do not know the encoder’s installation position, you must carry out reference point setting
7 PARAMETERS
Encoder Evaluation
Overview V-Controller
Function
The function module indicates the status of the power supply unit and the intermediate circuit. Moreover
the function voltage failure compensation and intermediate circuit monitoring is implemented.
Parameter overview
Parameter description
P110 PS state
This parameter indicates the present power supply state.
U ZK = U Mains ⋅ 2
Value Meaning
=0 automatic start not possible
>0 automatic start possible
The voltage failure is acknowledged by the power supply unit and its disabled status is re-
layed to the controller by means of the ready for use signal.
The function module power supply recognises this and displays it via bit no. 5 = 1 (warning
voltage failure) to the drive manager, and starts a timer, set with the aforementioned time.
The drive manager changes form the status OPERATION ENABLED to the status
SWITCHED ON, whereby the method by which this is achieved (see function module drive
manager) is set via the parameter M INHIBIT code (P132).
either
the set voltage failure time has expired. After which the function module power sup-
ply registers a fault and the drive manager changes to the status FAULT.
or:
the main voltage returns before the end of the voltage failure time . If this occurs the
power supply unit resets the signal ready for use (see documentation on power sup-
ply unit). The function module power supply acknowledges the new status and reacts
by setting bit no. 5 to 0 (warning disabled). The drive manager returns again to the
status OPERATION ENABLED and the drive ramps-up automatically.
It is assumed that the controller electronics are supplied with voltage during the voltage failure
time!
Parameter overview
Parameter description
P115 PU state
This parameter displays the state of the power unit
P090 PU mode
The parameters P114, P113 and P119 can only be changed, if PU Mode 0001hex is set and
the password is correct.
Bit-Nr. Bedeutung
0 0 : Read the power unit´s characterisation, data is set according to the characterisation
1 : Characterization is not read, PU data is read from EPROM
1 Short circuit monitoring temperature sensor
0 : If the temperature falls below the threshold value of -40°C the error bit in the
PU status is set and the controller is disabled.
1 : If the temperature falls below the threshold value of -40°C only the warning bit No. 9 in
the PU status is set. The controller is not disabled.
2 0 : The reaction on "Fault safety relay" is equal in all controller states.
1 : Reaction on "fault safety relay" depends on controller state:
No error 0206hex is displayed when "fault safety relay" appeares in states 0 (NOT
READY TO START), 1 (INHIBIT START), 2 (READY TO START) and F (FAULT).
The error 0210hex is not generated in this states too.
In the states 3 (SWITCHED ON), 4 (OPERATION ENABLED), 5 (INHIBIT OPERATION
ACTIVE), 6 (SHUTDOWN ACTIVE), 7 (RAPID HALT ACTIVE) and
E (FAULT REACTION ACTIVE) only the error 0206hex is displayed when the saftey relay
reacts. The errors 0204hex and 0207hex to 020Dhex which follow are not displayed.
3 reserved
4 ... 5 from SW 14.09
Multiple scanning of the ready-for-use signal before changing to the error state when the
ready-for-use signal is missing:
00: 10 times controller displays after 320 ms the missing ready-for-use signal with an error
message (standard, setting for error-free operation)
01: 7 times controller displays after 224 ms the missing ready-for-use signal with an error
message
10: 4 times controller displays after 128 ms the missing ready-for-use signal with an error
message
11: 2 times controller displays after 64 ms the missing ready-for-use signal with an error
message
6 from SW 14.09
PU Ixt monitoring: current reduction when reaching 100 % of Ixt value (P139)
0: reduction to P114 PU I nominal standard
1: reduction to P261 MM motor nominal current *)
7 ... 15 reserved
P117 PU type
The parameter displays the type of the power unit. The value 0 characterizes an unknown
power unit.
How to change the power unit data in case of an unknown power unit, see below:
NOTE
After each change of parameter P103 (PWM) the data must be saved, the controller
switched off and booted new to set the new power unit parameters.
P114 PU I nominal
This parameter displays the power unit´s nominal current. This current can be supplied for an
unlimited time.
P113 PU I max
This Parameter shows the power unit´s peak current. The peak current is greater or equal
power unit nominal current.
P116 PU I limit
This parameter sets the standardization of the current controlling.
Standardization
100 % ↔ I limit
NOTE
The standardization of the current controlling must not be changed if pulses are enabled.
P118 PU temperature
This parameter displays the power unit´s temperature.
A temperature over 80°C enables the bit no. 6 in PU state (P115). Exceeds the power unit´s
temperature 85°C the error 0205hex appears.
This monitoring protects the power unit from thermic overload. The temperature of the power unit is im-
itated and monitored by a Ixt model.
Parameter overview
Parameter description
I max
- ⋅ 100
u max = --------- [%]
I nom
I act
- ⋅ 100
u = --------- [%]
I nom
to
τ PU = – --------------------------------------
- [s]
u max – 100
ln ----------------------------
u max
Example:
ϑact = 35 °C
15
u max = ------ ⋅ 100 = 150 [%]
10
12
u = ------ ⋅ 100 = 120 [%]
10
1
τ PU = – ------------------------------------- = – ( 0, 91 ) [s]
150 – 100
ln --------------------------
150
120 – 100
t off = – ( 0, 91 ) ⋅ ln -------------------------- = 1, 63 [s]
120 – 0
This characteristic curve refers to a „cold“ power unit (Ixt Offset = 0 %; ϑιst < 45 °C).
Function
The parameters of the pulse width modulation module only serve to display the values supplied by the
current controller.
Parameter overview
Parameter description
The resultant voltage (middle values) at the power supply terminals can be calculated as fol-
lows:
Whereby UZK is the intermediate circuit voltage which is indicated via P111. Due to the un-
derlying cycle frequency this voltage cannot be measured on universal devices.
DANGER
Even with an output voltage close to zero, the pulsed intermediate circuit voltage is detect-
able at the terminals. In addition a potential of > 300 V to earth may be detected at the ter-
minals.
NOTE
Function
This function module sets the parameters for synchronous and asynchronous machine.
SM:
A field weakening is implemented for the SM. If the output voltage reaches the value of
U ZK ⁄ ( 2 ) the the field weakening starts. The Id set value is limited between 0 and 50 % of
the power units nominal current (P114). This can increase the speed between 10 and 20 %.
PU I nom (P114)
MM magnetizing current Id range 0 .... --------------------------------------------- P260
2
2
MM Tn field controller T n = ----------- P265
-
6 ⋅ f1
f1: first harmonic at the start of the field weakening
AM:
Ilimit ( P116 )
Overload factor = --------------------------------------------------------------------------------
-
Motor nominal current (P261)
P268 MM Ke factor
Here, you set the motor EMF, relative to 1000 rpm (voltage constant), of the synchronous or
asynchronous machine.
- Set a speed specified value that corresponds to the motor’s rated speed (P262)
- Enable the drive and run it at no-load
- By changing Ke (P268), bring the Iq controller output (P068) down to approximately 0%
P269 MM mode
NOTE
Check the locating angle (P035) when switching from asynchronous to synchronous ma-
chine.
The function Uzk controlling is only available for synchronous machines. The Uzk con-
trolling must be deactivated, if a chopper is available.
Uzk controlling:
The generatoric torque limit is changed depending on intermediate circuit voltage. If the inter-
mediate circuit voltage exceeds the set value, the generatoric torque is reduced. Therefore
the controlling of the intermediate circuit voltage is necessary.
Because the switch on threshold of a chopper is approx. 760 V, the Uzk controlling must be
deactivated if a chopper exists.
MM mode bit no. 4 is the only parameter for Uzk controlling. The controller parameters are
dimensioned and set internal. The controlling is in normal use always stable.
Exceptionally an overshoot of the intermediate circuit voltage can occur, e.g. if the interme-
diate circuit´s capacity is very low and the brake current in the intermediate circuit is very high.
In this case the N M limiter type (P038) should set to 0 and the N M limiter Gen/MR2 (P055)
should be reduced.
If the motor parameter stator resistance and leakage inductance are known, the current con-
troller can be set according the instructions at the module current controller.
(See P080 I P gain P081 I integral action time on page 121.)
Frequency = f (temp)
P297
[Hz]
Nominal frequency
P263
Frequency temp 1
P294
Motor temperature
P153
[°C]
Temperature 1 Temperature 2
P295 P296
cold warm
As a good approximation, you can expect for the slip while the machine – P295 MM tempe-
rature 1 – is cold, approximately 75% of the rated slip under thermic loading.
This results in the frequency that has to be set for temperature 1:
P262
P263 + --------------------- ⋅ P033 ⋅ 0, 3
s
60 ⋅ ----------
min
P294 MM frequency temp1 = ---------------------------------------------------------------------------
1, 3
Example:
P263 MM nominal frequency= 53,60 Hz
P295 MM temperature 1 = 20 °C
P296 MM temperature 2 = 80 °C
P262 MM nominal speed = 1500 rpm
P033 Mot no. of pole pairs = 2
1500rpm
53, 6 Hz + ------------------------ ⋅ 2 ⋅ 0, 3
s
60 ⋅ ----------
min
P294 MM frequency temp1 = --------------------------------------------------------------------------- = 52, 77 Hz
1, 3
M
Gen
[%]
M Gen1
P291
M Gen2
P292
n actual
[rpm]
As a good approximation, you can expect around 95 % for P291 MGen1 Nnom and approxima-
tely 60 % for P292 MGen2 12000 rpm.
This parameters depend on the mechanic time constant Tm. If Tm is lower, Kp field weakening
must be set higher.
Function
The overload monitor protects the power unit/motor from thermal overloading. The temperature of the
power unit/motor is imitated and monitored by an I²t model.
Motor model:
The motor temperature is measured when P089 = 0 and in state NOT READY TO START (if motor tem-
perature sensor is available).
The PT1 element is initialized on this motor temperature. Following calibration is valid 40°C ↔ 0 % and
155°C ↔ 100 % of P091. Therefore the error „overload monitoring“ can appear in spite of low current or
in the start phase.
Parameter overview
Example
NOTE
The motor nominal current is set in parameter MM motor nominal current (P261).
P089: 600 s
Parameter description
Standardization
100 % ↔ 155 °C
Standardization
100 % ↔ 155 °C
Function
Parameter overview
Parameter description
P151 MT state
The module state is displayed here.
P152 MT mode
This parameter sets the motor temperature recording type.
P153 MT temperature
This parameter indicates the measured motor temperature if a temperature sensor is used.
P154 MT threshold 1
P155 MT threshold 2
P156 MT shutdown threshold
The temperature ascertained by the temperature sensor is compared to these parameters
and the relevant bits are set in the status word.
P157 MT hysteresis
On exceeding a threshold the relevant set and it is reset only after falling below the threshold
minus hysteresis.
Example:
Function
In this function module, the electrical field angle is calculated from the number of pole pairs of the motor
and the mechanical rotor angle. Apart from this, the module contains the algorithms for determining the
locating position and the rotor position, which play a significant part in the operation of synchronous ma-
chines.
Parameter overview
Parameter description
Note
Value Meaning
0 Set reference to encoder’s installation position (location point) (method 0)
1 Set reference to encoder’s installation position (location point) (method 1)
2 Set reference to rotor position of synchronous machine (method 2)
3 Start up a clockwise-rotating synchronous machine (method 3)
4 Start up a counterclockwise-rotating synchronous machine (method 4)
To 3 and 4: These modes are intended for operation of a synchronous machine with an in-
cremental encoder. The system keeps moving the synchronous machine with a
clockwise- or counterclockwise-rotating electrical angle until the incremental
encoder’s zero pulse has been measured. After this, the system sets bit no. 5,
Rotor found, in Mot state.
Note
These both methods are only necessary to find the zero pulse of the incre-
mental encoder. After that the incremental encoder acts as an absolute value
encoder. In order to run a synchronous machine safely the locating angle
must be at least one time searched and stored.
Value Meaning
0 motor with anti-clockwise rotating field (phase V and W changed)
1 motor with clockwise rotating field
Note
After making changes to Mot rotating field, you must save data set 0 (the boot data set)
and reboot the controller!
Function:
The module manages the classification of encoder 1 (X24) and 2 (X25) to motor control, speed controller
and synchronisation control as well as incremental encoder emulation.
Parameter overview
Parameter description
P225 EM state
Display of the internal module state
NOTE
The initialization of the incremental encoder emulation can only be done after the encoder,
to which it is connected, is initialized.
If an absolute value encoder is used, the ICE emulation takes place immediately
If this encoder is an incremental encoder the initialization will be delayed (bit 7 Parameter
P 226), until the zero pulse of the encoder is found. During this time P225 EM state is INIT.
P226 EM mode
NOTE
After setting the mode parameter the data set 0 (boot data set) should be saved and the
controller should be booted new.
The incremental encoder emulation can be used in combination with following encoders (see
type code, too):
The internal delay time between getting the encoder signals (encoder 1 (X24) and encoder 2
(X25) and the output through the incremental encoder emulation X27 is maximal 90 µs.
The minimum output impulse length can be calculated the following way:
6562500 ⋅ 4
t min ≥ ------------------------------------------------------ [ µs ]
n max ⋅ pulsenumber
Clockwise rotation
360° electrical
TAB out min
A out
B out
0out
Anti-clockwise rotation
360° electrical
TAB out min
A out
B out
0out
1 1
f ABout max = ------------------------- ---
T ABout min s
NOTE
If the incremental encoder emulation is evaluated using an external unit, e.g. an NC-con-
trol, it must be ensured that the counter input of the unit is able to process a frequency of
n max ⋅ no.of graduation marks 6
f ABout max = ------------------------------------------------------------------------------ ⋅ 10 .
8 ⋅ 6562500
P224 EM Kp
This parameter sets the P gain of the feedback loop for the incremental encoder emulation.
The P gain kP must be checked. If the P gain is set to high the incremental encoder emulation
oscillates.
6 16 fS = 4 or 8 kHz
131, 25 ⋅ 10 2
k P ≤ 0, 8 ⋅ INT ---------------------------------------------- • --------------------
n max ⋅ Strichzahl 20MHz INT: only the integer is used for
--------------------
2 ⋅ fS further calculation.
NOTE
This hard- and software is required for the touch probe cycle:
Software
softwareversion 3.08 or higher
Encoder type
not resolver
Function
The function Touch Probe Cycle is an extension of the module Encoder Manager. By using the Touch
Probe Cycle it is possible to save the current value of position into the V-controller at a definite point of
time. The input for the Touch Probe Cycle is by the digital input 1 (Pin 15 at X26). Additional program-
ming of the digital input 1 into a target parameter is allowed.
The storage of the measured value via zero pulse extends the function touch probe cycle. Here the ac-
tual position value is stored via the zero pulse of the encoder in spite of the signal of the touch probe
input.
The storage of the measured value via zero pulse is activated with P221 GM measured value command
bit no. 0 = 1. In addition only for this measured value storage a qualification signal can be programmed.
The storage is triggered by the touch probe input MP_1 (pin no. 15 at X26) and the level is set in the
measured command bit no. 11. Via the connection with the touch probe input the activation time can be
reduced to the hardware time delay. The stored value is then independent of internal controller program
run times.
The selected encoder (bit no. 4 GM measure value command) definites the stored position and with its
zero pulse the measured value storage itself.
Run of a measured value storage via zero pulse with MP1 as qualification signal..
Zero pulse
Enable storage
P221 bit no.0
MP_1
State
zero point storage
P222 bit no. 4...5
Parameter overview
Parameter description
P221 EM measuring-command
Command word for the Touch Probe Cycle.
Bit 0 is used for turning the Touch Probe Cycle on and off.
If "storage once" is enabled (see Bit 5 – 8) and values are already stored, then Bit 0 must be reset and
set again to reactivate the Touch Probe Cycle.
In mode "storage twice" the same as mentioned above applies. One thing is essential for both modes:
first and second slope must have an offset of at least 1ms !
In mode "continuous" values are stored each time a positive or negative slope appears, but only when
the value has changed. This also applies for switching from mode "once" or "twice" to mode "continu-
ous".
Changes in Command-Bits 5 – 8 are only taken over by the controller when bit 0 indicates a positive
slope (0 → 1).
P222 EM measuring-state
This parameter indicates the state of the storage of measured values.
Bit-Nr. Bedeutung
0 0: storage of measured values disabled
1: storage of measured values enabled
1 ... 3 Reserve
4 ... 5 State of storage of measured values 1
00: disabled
01: storage not yet done
10: storage done
11: mode „continuous“ storage
6 ... 7 State of storage of measured values 2
00: disabled
01: storage not yet done
10: storage done
11: mode „continuous“ storage
8 State of input Touch Probe *
0: not actuated
1: actuated
9 ... 15 reserved
* display of state of input Touch Probe is activated after first enabling of storage of measured value. Before first
enabling and after initilization of encoder this bit is set (this does not depend on the input level of touch probe inputs).
At the moment only the parameters High-Word is calculated. The Low-Word remains at 0000.
At the moment only the parameters High-Word is calculated. The Low-Word remains at 0000.
Example:
The current value of position of Encoder 2 is to be stored, first at positive then at negative slope at input
of touch probe.
that is Bit 0 = 1 (storage of measured value enabled)
Bit 4 = 1 (input of encoder 2)
Bit 5 – 8 = 1000bin (storage "twice" first at positive then at negative slope)
programming: P221 EM measuring command = 0111hex
Way of operation
The incremental encoder emulation is a part of the V-controller. Data from the V-controller connector
X24/25 are processed in the V-controller and the pulse sequences A and B are generated. The zero
pulse is then derived from A and B.
The cables from the V-controller to the master control must be twisted pair cables.
Two TTL square-wave pulse sequences A and B, which are by 90° out of phase, and their inverted pulse
sequences A and B as well as a zero pulse 0 with the inverted signal 0 are available as output signals.
Technical Data
1) You will find more information in the descriptions of the parameters P226, P227 and P019.
Parameter description
P025 E1 state
P240 E2 state
This parameter indicates the encoder evaluation status
* with active synchronization of the OS to an external signal (P167 ≠ 0), the display of the
toggle bit at the G2 is invalid.
1) The bit is updated independent on the activation of sin2cos2 monitoring.
The bit is set for at least 8 ms.
2) The bit is updated independent on the activation of field angle monitoring.
NOTE
The bit no. 4 and 5 are specially destined for the adjustment of encoders. Incremental en-
coders with high no. of graduation marks can be fast adjusted, if this bits are connected
with the free programmable LEDs.
P040 E1 mode
P241 E2 mode
This parameter sets the encoder evaluation.
NOTE
After setting the mode parameter the data set 0 (boot data set) should be saved and the
controller should be new booted.
Permitted setting for encoder mode, no. of graduation marks and revolutions:
the controller will read these values automatically via serial connec-
tion from the encoder, when SW-Version 3.05 or higher is used.
NOTE
The multiplier for the no. of graduation marks is set by bit no. 5 in E1/E2 mode. The no. of
graduation marks and the maximum really speed must not be greater than 1,6 MHz.
P026 E1 revolutions
P232 E2 revolutions
Number of whole revolutions that can be displayed by the encoder.
the controller will read these values automatically, when SW-Version 3.05 or higher is used
The permitted inputs are displayed in the table at E1/E2 mode.
The system zeroes the entire position actual value after you switch on the power to the elec-
tronics. If an absolute value encoder is connected, the system reads it out and enters the in-
formation in accordance with the format shown above. The position actual value can be
overwritten at any time.
NOTE
Every error that occurs in the encoder module (error code 08xx/0Axx) results in the abso-
lute position of the encoder evaluation being lost. This means that if you use this encoder
to acquire the rotor position of a synchronous machine, this position information is also lost
and it is no longer possible to safely control the motor. Every time an encoder error occurs,
you must therefore reinitialize the controller electronics (by turning the power off and on
again).
Positive and negative carries to whole revolutions (Rev actual value) are taken into account.
P046 E1 overspeed
P239 E2 overspeed
Threshold value for overspeed monitoring.
The input value is related to P019 maximum speed.
If the set value is exceeded the bit no. 6 is enabled in E1 or E2 state. The bit is disabled if
the speed drops below the threshold (no hysteresis).
By using the field angle monitoring, if you have synchronous motors equipped with resolvers or SinCos
encoders, you can detect pulse dropouts or "surplus" pulses at the encoder inputs. If these distortions
occur repeatedly, the field angle of the field orientation may deviate increasingly. This will have the same
effect as a "false" notch position. If you perform a deviation of ±45° with a field angle monitoring being
active, an error is generated and the controller will be blocked.
The Sin2Cos2-monitoring acts for resolver and SinCos-encoder as an additional monitoring of wire break
within the encoder line. If you have resolver or SinCos-encoders, the Sin2Cos2-monitoring calculates the
a amplitudes out of the sinus- and cosinus tracks by drawing the square root out of ((Sin x)2 + (Cos x)2).
Under normal circumstances, the a value will reach 80 %. If these calculations show the result, that a
exceeds the Sin2-upper limit or a is less than 20 %, an error will be generated if the monitoring has been
activated (see also P240).
NOTE
The field angle monitoring and the Sin2Cos2-monitoring require SW14.07 or higher.
Parameter overview
Parameter description
The Sin2Cos2-monitoring calculates the a amplitudes out of the sinus- and cosinus tracks by
drawing the square root out of ((Sin x)2 + (Cos x)2). Under normal circumstances, the a value
will reach 80 %. If these calculations show the result, that a exceeds the Sin2-upper limit or a
is less than 20 %, an error will be generated if the monitoring has been activated.
Recommended values:
Recommended values:
Default value = 20 %
To calculate the model angle more precisely, the setting of parameter P299 leakage induc-
tance is advantageous.
Parameter overview
Parameter description
P079 I state
This parameter indicates the status of the internal function module.
P080 I P gain
P081 I integral action time
This parameters set the P gain (kp) and the integral action time (TN) of the direct-axis current
controller and the wattless current controller.
If the motor parameter stator resistance and leakage inductance are known, the current con-
troller can be set the following way:
l lS I max (P113)
T n = T s = ----s- and - ⋅ -------------------------------------
k P = --------------- -
rS 3 ⋅ T ab U ZKnom (P087)
-------------------------------------
6
1
T ab = 0, 5 ⋅ -----------------------
f S (P103)
The current controller is set according the absolute value optimum.
Set MM stator resistance rs P298
Set MM leakage inductance ls P299
Double kP
σl s σl S I max (P113)
T n = T s = ------- and k P = ---------------- ⋅ --------------------------------------
rS 3 ⋅ T ab U ZKnom (P087)
-------------------------------------
6
1
T ab = 0, 5 ⋅ -----------------------
f S (P103)
The current controller is set according the absolute value optimum.
The leakage inductance σls for AM is very important for a stable operation within the field
weakening range. It can be calculated from motor data:
Xσ 1 + Xσ 2
σl s = -------------------------------------------
- ⋅ 1000 mH
2 ⋅ π ⋅ f nom (P263)
The effective torque set value is the sum of M set value and M additional set value.
NOTE
The time needed to enable the rated torque value depends on the setting of the P269 MM
mode bit no. 2.
NOTE
The notch filter is switched off, when center frequency = 0 (standard value)
It must always be valid:
Center frequency
: ------------------------------------------------ ≥ band width
2
The following figure displays the amplitude characteristic of the notch filter with a center fre-
quency of 1 kHz and a bandwidth of 0,5 kHz. The amplification of the notch filter is 0 at the
center frequency.
Bandwidth
Parameter overview
Parameter description
P059 N state
This parameter shows the speed controller´s state.
P057 N P gain
P gain (Kp) of speed controller.
P049 N J compensation
Moment of inertia compensation.
NOTE
Value Meaning
0 torque limiter Mot/Gen
1 torque limiter TD1/TD2
P060 N deviation
This parameter displays the actual speed controller deviation.
Standardization: 100 % ↔ EM maximum speed (P019)
Function
This function module compares the current actual value with different limits.
This corrects the display values P066 TM M loading and P092 TM Mact/Mnom e.g. for extrusion machi-
nes. There the torque actual value is a control variable and is required with a higher accuracy.
Correction formula: M_corr = k1 * M - k2 *n + k3
M_corr = corrected display value of P066 TM M loading and P092 TM Mact/Mnom
M = original torque actual value
n = speed (speed actual value)
k1 = correction factor 1 (P562)
k2 = speed-dependent correction factor 2 (P563)
k3 = offset correction factor 3 (P564)
NOTE
If the correction factors are set ot its default values, the parameter values P066 TM M loading
and P092 TM Mact/Mnom are equal to the software versions before 14.07.
Parameter overview
Parameter description
P098 TM state
This parameter shows the function module´s state.
P065 TM mode
This parameter sets the display of the parameters P066 M loading and P092 Mact/Mn.
P096 TM M > M1
P097 TM time 1
P094 TM M > M2
P095 TM time 2
This parameters define the function of the torque monitoring. The thresholds are related to
the absolute value of the torque capacity.
The hysteresis is each time 3 % of set threshold.
P066 TM M loading
P092 TM Mact / Mn
Function
The position controller module is a P-Controller for position control of the unit. The module contains mul-
ti-turn evaluation of the motor position encoder, the set value interpolator, speed precontrol as well as
control variable limiting and the dynamic and static deviation.
NOTE
The efficiency of the position control is directly dependent upon the efficiency of the speed con-
trol.
Parameter overview
Parameter description
P200 P state
This parameter shows the actual position controller´s mode.
P201 P mode
This parameter sets the position controller´s operational mode.
See P deviation limiter dynamic (P203) and P deviation limiter static (P212).
The change of position actual value monitoring (bit no. 2) is only possible if controller is disab-
led. For further notes see function module encoder 1 and encoder 2 as well as encoder ma-
nager.
P202 P Kv factor
The position controller is implemented as P controller. The kV factor is the gain of the position
controller. If kV = 0 the position controller is inactive, because each controller deviation is mul-
tiplied by the kV factor.
P207 P N precontrol
P213 P N precontrol smoothing
The speed precontrol is implemented as DT1 element. Each change of position set value are
differentiated with respect to time, multiplied by parameter N precontrol and than smoothed
with the time constant in P213. If N precontrol = 0 % the speed precontrol has no effect in the
speed set value (P050).
If N precontrol = 100 % and position set value change is constant per time unit, the speed
precontrol supplies the exact needed speed set value. The position controller supplies in this
case only the correcting set value to follow the angle.
P210 P deviation
The difference between position set value (P208) and actual value (P209) is termed deviati-
on. Reasons for large deviations could be: blocked motor, not achievable set speed or wrong
inputs of controller parameters (e.g. speed controller).
The calibration corresponds to the position set/actual value standardization.
Deviation monitoring
If the actual deviation is greater than the entered dynamic deviation limiter, bit no. 5 is set in
P state (P200).
After the monitoring time (P time, P214) the bit no. 7 is additionally set and the error code
0602hex (see P124 M error code) is generated. The drive changes to the state inhibit start if
in parameter P mode (P201) the error dynamic deviation is enabled (Bit no. 1 = 1).
P214 P time
This parameter sets the time window of the deviation monitoring. The delay time is only acti-
ve, if bit no. 6 and 7 in P state is set.
Motor w1
Encoder 1
w2
Encoder 2
Mechanical assembly
NOTE
31 0 31 0
G1 actual value P043 G1 rev actual value P022 G1phi actual value
31 0
15 0
31 0 31 0
G2 actual value P249 G2 rev actual value P244 G2 phi actual value
31 0
15 0
31 0 31 0
P 64 bit actual P218 P Rev-actual value P219 P phi actual value
15 0 15 0
32 bit actual value (copy) P209 P act value
31 0 31 0
P 64 bit set value P205 P rev set value P206 P phi set value
15 0 15 0
32 bit set value P208 P set value P209
15 0 15 0
P210 P dev iation
15 0 15 0
Pos 32 bit actual value P437 Pos position act. value
15 0 15 0
32 bit set value P436 Pos position set value
Function
The drive manager administrates the essential system resources of the drive. These include among
others complete unit control in various modes, switching between the different modes, the management
of all communication interfaces, error treatment etc.
Parameter overview
The binary bits 7 ... 0 of the static drive state (P121) are figured XXXX XXXX. The state transition bit
pattern of the control word (P120) is figured xxxx xxxx (bit no. 7 ... 0).
The bits designated with X or x have no effect on the unit state.
1 INHIBIT START
2 READY TO START
3 SWITCHED ON
4 ENABLE OPERATION
6 SHUTDOWN ACTIVE
F FAULT
The status only changes if all the actions have been carried out. The sequence of actions corresponds
to the sequence of processing during status change. After carrying out all the actions the next status is
reached, and new commands are accepted.
Each state of the drive manager corresponds with a defined state of the „ready for use“ relay.
INHIBIT START ON
READY TO START ON
SWITCHED ON ON
OPERATION ENABLED ON
FAULT OFF
6 switch off
8
9
10
12, 13
Each state of the drive manager corresponds with a defined state of the intermediate circuit monito-
ring.
OPERATION ENABLED ON
FAULT OFF
The drive managers control word is write protected if the write protection bit (bit no. 15) is set
in the control word. After the processing of the write protected control word the drive manager
resets the write protection bit to 0.
NOTE
The controller can reach the state „operation enabled“ immediately after the switch on of
the electronic power supply, if the control word (see function module drive manager) is ma-
nipulated by digital inputs (see function module digital inputs) and the hardware enable is
active. During the programming of digital inputs this option must be considered and protec-
tive measures have to be ensured on machine-side.
The write protection must be used if the control word is manipulated by digital inputs and a
communication source writes simultaneously on the control word.
The unit control commands are defined in the control word via the following bit combinations:
Command Bit no. 15 Bit no. 7 Bit no. 3 Bit no. 2 * Bit no. 1 * Bit no. 0 Transiti-
write pro- reset operation rapid halt inhibit switch on ons
tection fault enabled voltage
Shutdown ✕ ✕ ✕ 1 1 0 2,6,8
Switch on ✕ ✕ ✕ 1 1 1 3
Inhibit voltage ✕ ✕ ✕ ✕ 0 ✕ 7,9,10,12
Rapid halt 1 ✕ ✕ 0 1 ✕ 7,10,11
Inhibit operation ✕ ✕ 0 1 1 1 5
Enable operation ✕ ✕ 1 1 1 1 4
Reset fault ✕ 0 →1 ✕ ✕ ✕ ✕ 15
Enable operation 1 ✕ 1 1 1 1 2
straight
The bits designated with ✕ have no effect on the unit control state.
* low active
Bit Loca- Cur- Speed Speed Posi- Manual Syn- Refe- Target Spindle
no. ting rent control specifi- tion mode chroni- rence position posi-
position control cation control sation run specifi- tioning
1 control mode cation
-1 -2 -31) 21) -4 5 -5 6 1 -6
5 ✕ ✕ RFG RFG * ✕ ✕ ✕ ✕ ✕ ✕
stop stop
6 ✕ ✕ RFG- RFG * ✕ ✕ ✕ ✕ ✕ ✕
zero zero
8 ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕
9 ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕
10 ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕
11 ✕ ✕ ✕ ✕ ✕ inching ✕ ✕ start of ✕
forward posi-
tioning
12 ✕ ✕ ✕ ✕ ✕ inching ✕ ✕ ✕ ✕
back-
wards
13 ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕
14 ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕
15 write protection
The bits designated with ✕ have no effect on the unit control state.
* low active
1) The bits 4, 5, and 6 have the following priorities in operating modes -3 and 2:
Bit no. 4 before bit no. 5 before bit no. 6
The unit state is represented by the following bit combinations in the state word:
State of the Bit no. 6 Bit no.5 * Bit no. 3 Bit no. 2 Bit no. 1 Bit no. 0
unit control INHIBIT RAPID FAULT OPERA- SWIT- READY TO
START HALT TION ENA- CHED ON START
BLED
NOT READY 0 ✕ 0 0 0 0
0 TO START
INHIBIT START 1 ✕ 0 0 0 0
1
READY TO 0 1 0 0 0 1
2 START
SWITCHED ON 0 1 0 0 1 1
3
OPERATION 0 1 0 1 1 1
4/5/6 ENABLED
FAULT 0 ✕ 1 0 0 0
F
FAULT REAC- 0 ✕ 1 1 1 1
E TION ACTIVE
RAPID HALT 0 0 0 1 1 1
7 ACTIVE
The bits designated with ✕ have no effect on the unit control state.
* low active
Bit Loca- Cur- Speed Speed Posi- Manual Syn- Refe- Target Spindle
no. ting rent control specifi- tion mode chroni- rence position posi-
position control cation 1 control sation run specifi- tioning
control mode cation
-1 -2 -3 2 -4 5 -5 6 1 -6
0 READY TO START (state machine)
11 ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕ ✕
12 ✕ ✕ ✕ ✕ ✕ ✕ ✕ refe- set value ✕
rence acknow-
run finis- ledge-
hed ment
13 ✕ ✕ ✕ ✕ ✕ ✕ ✕ refe- ✕ ✕
rence
run error
* low active
Bit no. 10: „set value reached“ is actualised only in state OPERATION ENABLED.
The operation modes can be changed with controller disabled (off-line), but partly with enab-
led controller (on-line). See table M actual mode (P123), too.
Synchro- Posi- Speed Cur- Loca- Speed Refe- Man. Target Spindle
nisation tion control rent ting specifi- rence mode position posi-
to control control control position cation 1 run mode spec. tioning
Synchronisation ✕ 2 2 2 1 2 2 2 2 2
control
Position control 2 ✕ 2 2 1 2 2 2 2 2
Speed control 2 2 ✕ 2 1 2 2 2 2 2
Current control 2 2 2 ✕ 1 2 2 2 2 2
Locating position 1 1 1 2 ✕ 1 1 1 1 1
Speed specif. 1 2 2 2 2 1 ✕ 2 2 2 2
Reference run 2 2 2 2 1 2 ✕ 2 2 2
Manual mode 2 2 2 2 1 2 2 ✕ 2 2
Target position 2 2 2 2 1 2 2 2 ✕ 2
specification
Spindle posi- 2 2 2 2 1 2 2 2 2 ✕
tioning
When 1
mode switching is only possible off-line in the INHIBIT START, READY TO START and
SWITCHED ON state types.
When 2
mode switching is possible off-line in the INHIBIT START, READY TO START and SWIT-
CHED ON state type as well as on-line in the OPERATION ENABLED state.
P136 M mode
This parameter chooses the different options to acknowledge an error message (see connec-
tion of function inputs in chapter installation).
P137 M state 1
Depending on the parameter „communication source“ the drive manager activates and deac-
tivates the various communication modules. Each communication module has a state para-
meter where the current state (RUN/STOP) is displayed.
A communication module is only allowed to write-access drive parameters when in the RUN
status. In the STOP status no write-access is allowed. Reading the drive parameters is pos-
sible in any state.
The parameters M communication source (P126) and DSM command (P190) can be chan-
ged always with service interface and dual port RAM interface (BASS protocol, operation pro-
gram).
According to the unit configuration, the following sources of communication are possible:
If the parameter „communication source“ is set to 0, the drive can only be controlled via pulse
enabling (PE), rapid halt (RH) and CONTROLLER ENABLING. As no master control is availa-
ble, the drive manager itself can set the corresponding control commands.
Depending on control bit no. 4 „inhibit RFG“ the HALT function selected by the HALT code is
carried out.
Code Function
0 inhibit drive function
1 shutdown procedure at ramp-down ramp of ramp function generator
2 shutdown procedure at RAPID HALT ramp (set at P009)
3 shutdown procedure at current limit
Code Function
0 inhibit drive function
1 shutdown procedure at ramp-down ramp of ramp function generator
2 shutdown procedure at RAPID HALT ramp (set at P009)
3 shutdown procedure at current limit
Code Function
0 inhibit drive function
1 shutdown procedure at ramp-down ramp of ramp function generator
2 shutdown procedure at RAPID HALT ramp (set at P009)
3 shutdown procedure at current limit
Code Function
0 inhibit drive function
1 shutdown procedure at ramp-down ramp of ramp function generator
2 shutdown procedure at RAPID HALT ramp (set at P009)
3 shutdown procedure at current limit
Examples:
1.The N=0 signal from encoder 1 (P025, bit no. 10) should be connected with state bit no. 14:
P134 must be set to A019hex.
2.Exceeding the dynamic deviation (P200, bit no. 4) should be connected with state bit no. 15.
P135 must be set to 40C8hex .
Code Function
0 inhibit drive function
1 shutdown procedure at ramp-down ramp of ramp function generator
2 shutdown procedure at RAPID HALT ramp (set at P009)
3 shutdown procedure at current limit
Function
Data sets can be loaded from EPROM, changed and saved. 4 data sets can be managed at every time.
NOTE
Prior to any new action the DSM (data set management) must first be reset by the command 0:
Reset (P190)
This measure sets all DSM parameters to value 0. This also refers to data set name (P193) and data
set version (P194), which in this state represent the boot data set.
It must now be set via the command 5: write data set into EEPROM (P190) how the boot data set is
to be created for the first time in EEPROM or how an existing boot data set is to be updated. 1)
Only in the case of message 0000: no error (P192) and DSM state 0003: STAND_BY is the data set
been written correctly.
1)
The counter „DS program cycle“ (P197) is increased by 1.
Parameter overview
Parameter description
NOTE
Command Meaning
0 reset of data set management
The parameter P191 till P195 are set automatically to 0.
5 save data set from user memory to EEPROM
6 load data set from EEPROM to user memory
7 delete EEPROM data set
8 input password
Firstly, ensure that the status of the data set management (P191) is either set to 0
(STOP) or to 0003 (STAND_BY).
Next enter the number of the required data set in the parameter, P196 (DSM load data
set).
All further steps follow independently:
– The number of the required data set is displayed in parameter P193.
– The command 6 „load data set from EEPROM into user memory“ is visible in the pa-
rameter P191 (DSM command).
– The data set is loaded.
The procedure is completed once the DSM status displays again state 0003
(STAND_BY).
(Incidentally entered numbers should be ignored.)
The time in which this procedure is carried out will differ according to the loading of the mi-
croprocessor.
NOTE
This parameter can be used to change data sets via digital inputs. A change over must not
be executed if controller is enabled!
Parameter overview
Parameter description
P138 Language
Here you can set the language for parameter text.
Value Language
1 German
2 English
3 reserved
4 reserved
P166 OS state
This parameter displays the state of the function module operation systems.
P162 OS message
This parameter shows the number of operation system errors.
Value Meaning
0 operation system synchronisation is not active
500 µs controller synchronisation in 0.5 ms clock time*
1000 µs controller synchronisation in 1 ms clock time*
2000 µs controller synchronisation in 2 ms clock time*
4000 µs controller synchronisation in 4 ms clock time*
8000 µs controller synchronisation in 8 ms clock time*
Sync. offset
Sync. signal Start of
set
time slot
neg. sync. tolerance Time of
synchronization
P174 OS user SW
Value Meaning
0 production run software
>0 user fitted software
P160 OS selection
P169 OS value
With this parameter different measured values can be read from operation system.
Function:
The ramp function generator (RFG) manages the 4 set value inputs, which can alternatively be switched
to the output. The ramp-up and ramp-down times can be set separately for each input.
(If set to STOP by means of P013, only the ramp-down time can be adjusted)
All inputs and the output of the ramp function generator are relative parameters (± 100 %) and standard-
ized to maximum speed (P019).
The ramp steepness for the acceleration and braking procedures are determined by the ramp-up and
ramp-down times. The times thus refer to 100 % set value alteration.
With exception of the fourth set speed value, which is programmed to zero, every input can take speed
values between -100 % and +100 %. 100 % corresponds with maximum speed (P019).
The ramp function generator is only active in mode speed control (P122 = -3) and speed precontrol 1
(P122 = 1), as well at the different braking procedures initiated by the drive manager (transitions 5, 8 and
11).
Parameter overview:
Parameter description
001: input 1
010: input 2
011: input 3
100: sum of input 1 and input 2
3 1: negative set values are disabled
4 1: positive set values are disabled
5 1: change polarity of actual set value
6 1: halt is activated, the motor brakes to speed 0 with set ramp. The controller is
active after n = 0. **)
7 from SW 09.10
0: P009 HLG time halt is related to 100 % set value changing
1: P009 HLG time halt is related to the actual set value ⇒ N=0 ***)
8 ... 15 reserved
*)
P016 RFG rounding active while halt ramp. P047 N additional set value active furthermore.
**)
P016 RFG rounding active while halt ramp. P047 N additional set value is set to 0 %.
***)
from SW 14.10
Restriction when bit 7 = 1:
With very small set speed and long halt time a value < 1 is calculated for the internal speed change.
For the deceleration the internal minimum value of 1 is used then.
halt time [s]
Limit: ------------------------------------------- ≤ 5368
actual set value
NOTE
Function
The module creates a plateau set value for each of the 4 time zones. Both the plateau amplitude and the
output time interval per zone can be allocated parameters. The amplitudes are relative and are standar-
dised by means of the min./max. receiver values. On termination of the last time zone the first time zone
starts again. Each time the controller is enabled the set value generator is newly started in zone 1. When
leaving the state „operation enabled“ (P121), the set value generator is stopped.
Thus e.g. the following speed set value graph can be created:
Parameter overview
Parameter description
Function
The motor potentiometer allows the alteration of all signed parameter values with data length 2 bytes.
Therefore it is necessary to program two digital inputs on the parameter EA motor potentiometer +
(P271) and EA motor potentiometer - (P272). The cycle time of the function module is 32 ms.
Parameter overview
Parameter description
P270 EA mode
Value Meaning
0 no function
1 motor potentiometer function active
motor potentiometer value is synchronized on value of motor potentiometer Pxxx
2 motor potentiometer function active
motor potentiometer value and motor potentiometer Pxxx are set to 0 when switched on
Value Meaning
0 inching + off
1 inching + on („motor potentiometer output value“ is increased)
Value Meaning
0 inching - off
1 inching - on („motor potentiometer output value“ is decreased)
NOTE
The motor potentiometer output value is not changed, if EA motor potentiometer + and
EA motor potentiometer - equal 1.
No target parameter number check is carried out.
Value Meaning
0 Step-by-step increment, on every LO/HI transition the output value is changed by the
value „increment“ with the correct polarity
1 Linear increment, during the HI signal the output value is changed by the value „increment“
at every cycle
2 Square-law increment, during the HI signal the output value is changed with the right
polarity at every cycle with square-law „increment“
increment ( P275 ) [ % ]
increment int = ----------------------------------------------------------- ⋅ MAX value
100%
66 ⋅ 100%
that means effective increment = ---------------------------- ≈ 0, 403%
16383
P567 EA state
Displays the internal state of the function module.
Bit-Nr. Bedeutung
0 ... 2 000: STOP (motor potentiometer switched off)
001: RUN (motor potentiometer switched on)
3 reserved
4 1: ramp-up final value reached with inching +
5 1: ramp-down final value reached with inching -
6 1: key inching + pressed
7 1: key inching - pressed
8 1: inching + active (ramp-up)*
9 1: inching - active (ramp-down)*
10 1: limit of the target parameter reached
11 ... 15 reserved
NOTE
From SW 14.07.
The value must be higher than the lower limit set in P569 EA ramp-down final value. If this
condition is not fulfilled the input value is rejected.
NOTE
From SW 14.07.
If this final value is changed and the current output value (P267) is then outside the limiters,
the drive moves towards the limited direction and the output value is set to the new final
value when the inching key is pressed the first time.
The value must be lower than the upper limit set in P568 EA ramp-up final value. If this con-
dition is not fulfilled the input value is rejected.
NOTE
From SW 14.07.
If this final value is changed and the current output value (P267) is then outside the limiters,
the drive moves towards the limited direction and the output value is set to the new final
value when the inching key is pressed the first time.
Function
The function module in combination with the 2 analog inputs enable the programming of 2 byte length
parameters. Cycle time of analog inputs: 1 ms
NOTE
The sequence of the parameter setting is irrelevant. Switching is carried out as soon as the target
parameter number has been set.
The target parameter number must be reset to zero in order to deactivate an input. However, the
target parameter still contains the last output value. If AI target Pxxx is deactivated or newly set,
the parameter „AI x offset“ is additionally set to zero.
Parameter overview
Parameter description
P302 AI state
This parameter indicates the status of the analog inputs module.
NOTE
AI x input channel = 2 must be set only, if an option board with identifier 04 is present.
P278 AI 1 smoothing
P285 AI 2 smoothing
In order to smooth interference on the analog input signal a smoothing time constant can be
entered in ms. Smoothing is switched off if the respective parameter is set to its minimum
value.
P279 AI 1 scaling
P286 AI 2 scaling
These parameters enable scaling of the analog input variable.
The output values (see parameters P283, P290, P297, P304) of unsigned parameters are 0
till +100% and of signed parameters are -100 till +100%. Which analog input voltage this ma-
ximum values achieved depends on the scaling factor.
NOTE
P281 AI 1 offset
P288 AI 2 offset
These parameters can compensate for a possibly existing input voltage offset.
P283 AI 1 value
P290 AI 2 value
The AI value displays the respective current output value taking scaling and offset compen-
sation into consideration.
Basics of equation:
Equation:
Unsigned parameters:
U in [ V ] + 10V
AI_value [ % ] = ---------------------------------
- *Scaling*100 %+Offset
2 ⋅ U inmax [ V ]
Signed parameters:
U in [ V ]
AI_value [ % ] = -------------------------
- *Scaling*100 %+Offset
U inmax [ V ]
AI_value[%]
Value t arg et = -------------------------------- ⋅ MAXvalue
100%
Examples:
AI_value [%]
AI_value [%]
100
+100
50
-10 Threshold Uin [V]
Threshold +10
Threshold
Uin [V]
-100
-10 0 +10
Function
The module „analog outputs“ transmits freely selectable (and scalable) parameter values to an analog
output via a 12-bit digital-to-analog converter. It is possible transmitting 32-bit parameter either the low
word to one channel or to channel 1 the low word and to channel 2 the high word of the 32 bit parameter.
At a voltage range of ± 10 V the output current should not exceed 1 mA.
NOTE
Parameter overview
Parameter description
P338 AO state
Display of internal function module state.
P331 AO 1 offset
P335 AO 2 offset
The offset of the analog outputs is set here.
P332 AO 1 scaling
P336 AO 2 scaling
A scaling factor can also be selected for optimum parameter output. The respective channel
is switched off, if this parameter is equal 0.
Function
The module enables programming of the four available freely programmable LEDs of the LED display
H22.
NOTE
Note:
The sequence of the parameter setting is irrelevant. Switching takes place only after all three parameters
have been set.
In order to deactivate an LED output, either the LED source Pxxx or the LED bit selection must be set to
zero. The last switch state, however, remains stored in the output. The output can be programmed again
by setting the relevant parameter again.
Example:
Parameter overview
Parameter description
The module and the four available digital inputs enable 16 bit parameter programming.
The 4 inputs are sampled every 4 ms at an interval of approx. 20 µs. In the event of simultaneous status
change of two signals the signal with the higher priority is taken over (digital input 1 has the lowest pri-
ority, digital input 4 the highest).
NOTE
The activation of a digital input results in setting all parameters of the selected input.
Following order must be observed:
1. DO x target Pxxx
2. DO x bit selection
3. DO x LOW pattern
4. DO x HIGH pattern
In order to deactivate an input the DI target Pxxx must be set to 0.
Examples:
1. Input 1 should set parameter P013 to 0 (switch is LOW) and to 1 (switch is HIGH).
Set
DI 1 target Pxxx (P370) to 13,
DI 1 bit selection (P371) to FFFF
DI 1 LOW pattern (P372) to 0000,
DI 1 HIGH pattern (P373) to 0001,
2. Through programming of a further input the values 2 and 3 should adjusted in parameter P013. Fol-
lowing sequence is necessary:
Set
DI 1 target Pxxx (P370) to 13,
DI 1 bit selection (P371) to FFFD
DI 1 LOW pattern (P372) to 0000,
DI 1 HIGH pattern (P373) to 0001,
DI 2 target Pxxx (P374) to 13,
DI 2 bit selection (P375) to FFFE,
DI 2 LOW pattern (P376) to 0000,
DI 2 HIGH pattern (P377) to 0002.
→ The digital input 1 effects bit no. 0 and. 2 till 15; the digital input 2 effects bit no. 1 till 15.
Bit no. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Example for start 1 1 1 1 0 0 0 0 1 1 1 1 0 1 0 1
value P013
input 1 → HIGH 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
input 2 → HIGH 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
input 1 → LOW 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
input 2 → LOW 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3. The digital input 3 should effect bit no. 4 and 11 of parameter P120.
Set
DI 3 target Pxxx (P378) to 120,
DI 3 bit selection (P379) to 0810,
DI 3 LOW pattern (P380) to 0800,
DI 3 HIGH pattern (P381) to 0010,
Bit no. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Start value P120 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1
input 2 → HIGH 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1
input 2 → LOW 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1
Parameter overview
Parameter description
P382 DI state
This parameter indicates the state of input programming.
Function
The module enables programming of the three available digital outputs. Three parameters are assigned
to each output:
NOTE
Note:
The sequence of the parameter setting is irrelevant. Switching takes place only after all three parameters
have been set.
In order to deactivate an output either DI source Pxxx or DI bit selection must be set to 0. The last switch
state, however, remains stored in the output. The output can be programmed again by setting the rele-
vant parameter again.
Example:
Parameter overview
Parameter description
P392 DO state
This parameter shows the state of the function module..
This function module in combination with the additional board MFM-01 enables the manipulation of 16
bit parameters (programming see Digital Inputs).
Parameter overview
NOTE
The controller can reach the state „operation enabled“ immediately after the switch on of the electronic
power supply, if the control word (see function module drive manager) is manipulated by digital input
(see function module digital input) and the hardware enable is active.
During the programming of digital input this option must be considered and protective measures have
to be ensured on machine-side.
Parameter description
This function module in combination with the additional board MFM-01 enables the output of 16 bit pa-
rameters (programming see Digital Outputs).
Parameter overview
Parameter description
Function
The function module copies individual bit information from up to 16 parameters into a common status
word.
Parameter Overview
: :
P450 GP Status
P451 GP Info 1
to
P466 GP Info 16
Example
Bit no. 1 from the status word of the drive manager (P121) and bit no. 8 from the status of the digital
inputs (P382) shall be copied to the GP Status (P450) bit no. 0 and 1.
The bit of the digital input status shall be set in GP Status, if input 1 is LOW.
P467 GP Latch
ORing of P450 GP Status.
Function
The service interface allows communication with the PC operating program. The BASS protocol is op-
erated via the RS 232 interface X23.
The address of each drive is set in binary code at the controller front via DIP switch. Bit no. 0 thus cor-
responds to switch 1, bit no. 1 to switch 2 etc.
The RS 232 interface is constructed potential-free, the operating mode is full-duplex.
Data format: 8 data bits, 1 stop bit, no parity
Transmission speed: 9600 baud
Transmission format: ASCII
Communication PC ⇒ drive
BOF # (23hex)
Control
Checksum Sum of the hexadecimal values of all ASCII characters without BOF and EOF. Any over-
flow is also added (234hex→36hex)
Communication drive ⇒ PC
Before the drive answered the echo telegram is sended from drive to PC!
BOF # (23hex)
State
Checksum Sum of the hexadecimal values of all ASCII characters without BOF and EOF. Any over-
flow is also added (234hex→36hex)
Error table
Parameter overview
Parameter description
P170 SI state
Write-access to the drive parameters is managed via parameter M communication source
(P126) in the drive manager. The drive parameter can only be altered via the service interface
when bit no. 0 of this parameter is set to 1. If the bit is set to 0 write-access is inhibited and
only read-access to the parameter values granted.
See also M communication source (P126)
P172 SI mode
NOTE
Function
The link to USS® protocol allows the user to carry out communication between master and slave with a
fixed message length.
Message structure
Transmission procedure
The start character STX (02hex) is not itself enough to mark the start of a message, as this bit combina-
tion can also appear in the middle of the message e.g. in the net data block. Thus a transmission pause
of 33 bits is stipulated for the master and slave messages. A valid start to a message is only marked
when a received STX is preceded by a transmission pause. As a result of the semi-duplex operation (i.e.
only transmission or reception at any one time), this start pause is guaranteed when in error-free oper-
ation.
The definition of the start pause requires that the pause time never comes between two characters within
a message. For this reason, all messages are to be transmitted without gaps.
The drives only respond when they have received a complete and error-free message, sent to their ad-
dress.
If a slave does not send a reply to a master message, this can result from the following:
– Slave is not yet switched on
– Slave has received a faulty message
– Communication cable is open-circuit or faulty
– Parameter M communication source (P126) bit no. 2 is not set to 1 (USS® protocol)
Normally, the slave sends a reply message for each master message after processing it briefly. Where
there are more slaves in use, the procedure is shown in the following diagram:
2-wire and 4-wire modes (half duplex)
Both ranges comprise the net data block. This structure applies to the job message (Master → Slave)
as well as the reply message (Slave → Master))
PI: The parameter identifier (PI) serves to identify and issue jobs and replies for parameter processing, and
always has word length ( = 16 bits)
PV element: Parameter value, if necessary with additional or other user data. If only PD data is to be transmitted in the
net data block, the number of PV elements can be 0.
Bus addresses
The bus addresses are set, binary-coded, at the front of the controller with the help of DIP switch. DIP
no. 1 thus corresponds to bit no. 0 of the bus address, DIP no. 2 to bit no. 1 etc.
Mirror message
The bus master can request a mirror message from the slave. The master transmits a message to the
appropriate slave which only differs from a normal message in that bit no. 7 is set in the address byte
ADR.
The slave transmits this message immediately after reception as a reply message to the master. The
mirror message allows the transmission function between master and slave to be tested. This is useful
e.g. for step-by-step commissioning or fault-finding in the bus system.
Broadcast message
A broadcast message is a master message transmitted simultaneously to all slaves, which only differs
from a normal message in that bit no. 32 is set in the address byte ADR (bit no. 5 = 1).
Broadcast messages are not answered by the slaves. However, in this case the master does not expect
a reply message.
Net data processing takes place as follows:
– Specified values in the PD range are not accepted
– Jobs in the PIV range are not processed
– The control word in PD1 is linked to its screen in PV1, so that only those bits in the drive control
word are updated which are set to „1“ in the screen. The bits set to „0“ are not updated, their old
status is retained.
Broadcast mode is only possible when the PIV number is set to > 3 and the PD number to > 1. In addition,
the job identifier must be set to 0 „no job“.
If PIV number set equal 0 the control word are accepted without screen.
The structure of the PIV range is always the same in the sequence of its elements and only differs in its
standard form by the number of its parameter values (PV).
The PIV range can be set to a specific length (3 or 4 words long) via parameter USS® PIV number
(P183).
If no PIV range is to be available in the net data block, the PIV number must be set to 0, then parameters
can be assigned via this interface.
PIV range with set message length
Standard form with parameter values as word size
(PIV number = 3)
PDE elements
Value Meaning
1 parameter attribute
2 parameter info
5 parameter minimum value
6 parameter maximum value
Parameter attribute
Bit Meaning
0-1 length
2-3 type
4-5 number
6-7 element type
8 - 11 format
12 - 15 decimal places
Bit Meaning
0 ... 2 write-protection
3 save mode
4 - 15 not assigned
Write-protection:
000 UNPROTECTEDnot protected
001 PROTECTEDwrite-protection level 1
Save mode:
0 NONSTORE
1 STORE
Identification Description
0 Invalid PN
1 Parameter cannot be altered
2 MIN/MAX limitation
3 Faulty IND
4 No array
5 Wrong data type
6 No setting allowed
7 Description element cannot be altered
: :
100 Reserved
101 Undefined error
102 Service not implemented
103 Parameter format too big for PIV range
104 PDE element not available
Job/reply processing
Job/reply processing describes the temporal and functional sequence of data transmission for the
PIV interface between the master and the slaves.
– The transmitter may only give one job to one slave and must then wait for the corresponding re-
ply identification. As long as it is waiting for the reply identification it must repeat the job.
– The job/reply must be transmitted completely in one message.
– Every alteration of the job means a new job, to which the corresponding reply must be made. Job
identification „no job“ receives the reply identification „no job“.
– If no information from the PIV interface is required in cyclic mode, the job „no reply“ must be set.
– If there are large time differences between the cyclic message sequence and reply preparation
in the unit, the reply to „old job“ is sent during the transition phase between „old job“ and „new
job“ until the new job is received and its corresponding reply given.
– In the case of replies which contain parameter values, the slave always replies, on repetition of
the message, with the current value.
– On initial establishment of communication between master and slave, during the transition phase
the slave can only reply with the identification „no reply“.
– If the transmitter does not receive a reply identification which belongs to its job from the receiver,
a corresponding reaction must be triggered in the transmitter.
– The receiver does not expect confirmation from the transmitter that its reply has been received.
– Recognition of an existing job by the master:
The transmitter recognises the correct reply message by evaluating the reply identification, the
parameter number, if necessary via the value in IND and the parameter value.
– Recognition of a new job by the slave:
Every job given by the transmitter after reception of a valid reply to an old job is recognised as a
new job.
– If the master transmits a broadcast message, the slaves do not send a reply message to the
master.
Index (IND)
The structure of the PD range is always the same in the sequence of its elements ( = words) and only
differs from its standard form by the length of the transmitted specified/actual values.
It covers a maximum of 3 words and a minimum of 0 words, i.e. no PD range in the net data block
Standard construction with specified/actual values as
word size (PD number = 2):
Transmission of specified and actual values in hex figures, where standardisation takes place according
to the parameter.
The following applies to commissioning communication with the USS® protocol with set message length:
– For communication between master and slave:
Job and reply messages have the same length, i.e. regarding their PIV range and their PD range.
– This length must be set to a fixed value before initial commissioning of the bus system and may
not be altered during use.
– Fixed message length means fixed size of the net data block.
– The size setting of the net data block is via the 2 parameters USS® PIV number (ID no. 183) and
USS® PD number (ID no. 184).
– If the master sets a job whose reply would exceed the set size of the PIV range, this job is an-
swered with the reply identification „job cannot be processed“, e.g. the job „PV request double
word“ cannot be processed with PV number = 3.
– Before setting the net data block size, specify which jobs are to be set by the master. The size
of the PIV range is to be based on this. That is, if processing of double words is planned, the PIV
range should always be set to 4 words, even if the processing of single words is likely to be more
common.
Example messages:
Parameter overview
Parameter description
The Broadcast code is set in PD2 (high-word) and PD3 (low-word) and signifies, in this ex-
ample, that the control word in PD1, masked with the value in PV1, must be accepted and
executed by the bus participants with the address 0, 9 and 23. All other bus participants must
disregard this information.
In activating the answer-delay (P181, bit no. 2 = 1) the information contained within pro-
cessed, after the reception of the master message (and straight after the answer message
has been transmitted back to the master (see arrow). A message-cycle is thus saved, how-
ever, uncertainty occurs as to exactly when the answer message is transmitted. If the answer-
delay is activated then the message timing will no longer correspond to the specification.
Value Meaning
0 0 words (no parameter assignment possible)
3 constantly 3 words (word parameter)
4 constantly 4 words (double word parameters)
Value Meaning
0 no process data
1 control word / status word is transmitted in PD1
2 control word / status word and 16 bit set/actual values
3 control word / status word and 32 bit set/actual values
Function
The module controls the communication of the controller with the various option cards via dual port RAM.
Data exchange between the controller and the DP-RAM takes place according to the BAPS (Baumüller
drives parallel interface) specification.
Parameter overview:
Parameter description
Value Meaning
0 no communication
1 communication in operation
Value Meaning
00 no meaning
01 cyclic data exchange
02 write configuration
initialise communication
03 up to software 3.09:
reserved
software 3.09 or higher:
write configuration
re-initialise communication
04
... reserved
FE
FF no meaning
Value Meaning
00 no meaning
01 set values read, actual value written
02 configuration / initialisation carried out correctly
03 up to software 3.09:
reserved
software 3.09 or higher:
re-initialisation startet
04
... reserved
7F
80 illegal instruction received
81 no configuration / initialisation carried out
82 actual value cannot be read (configuration)
83 set value cannot be written (configuration)
84
...
85
86 up to software 3.09:
reserved
software 3.09 or higher:
actual value re-initialisation faulty
87 up to software 3.09:
reserved
software 3.09 or higher:
set value re-initialisation faulty
88
... reserved
FE
FF no meaning
Function
These parameters are only used by the optional boards to store the data in the V-controller EEProm.
Parameter overview
. .
. .
. .
The object list supports the communication between intelligent add-on boards and different
controller types (e.g. E-controller, V-controller, BKF 7000, ....)
P017 OL Index
Input value for accessing the object list
P018 OL Value
Output value of the object list
Object list
NOTE
8 MAINTENANCE
WARNING
The equipment carries a dangerously high voltage and has dangerous rotating parts (fans). Ignoring
the safety and warning information may result in death, severe personal injury or damage to property.
You may only carry out maintenance when the unit is deenergized.
Do not begin work on the power stage and the intermediate circuit until you have made sure that the
unit is not carrying potential or a voltage (remanent charge).
When dismounting safety devices during commissioning, repair and maintenance work, you must en-
sure that the machine is taken out of commission exactly as specified. You must remount and check
safety equipment immediately after completing commissioning, repair and maintenance work.
After carrying out any work involving intervention in the machine – regardless of whether this involves
the motor, the actual value acquisition or the power converter – the owner must carry out acceptance
testing and document it chronologically in the machine log. Failure to do this may result in the owner
being faced with consequences relating to liability legislation.
Do not start work on the power unit, intermediate circuit until you have made sure that the unit is not
carrying potential or a voltage (remanent charge).
For safety reasons, unauthorized additions or modifications to the drive are not allowed.
In the event of an error, parameter M error code (P124) indicates the appropriate error code. This error
is acknowledged when bit Reset disturbance in M control word (P120) is set from 0 to 1. If there is more
than one error, the system shows the next one immediately after acknowledgement.
0001hex BASS protocol timeout The communications source set in Error reaction can be Check communica-
P124 has not responded for longer set in P189 tions (cables,
than the timeout set in P128. daughterboard,
0002hex USS protocol timeout etc.)
0003hex Dual-Port RAM time-
out (cyclical data)
0004hex Dual-Port RAM time-
out (working data)
0005hex System boot procedure An error was determined while read- Inhibit pulses immedi- You should care-
ing the boot data set from the EE- ately fully check the data
PROM. You can get more information set in the control-
about the type of error by referring to ler’s RAM and then
parameter DSM Message (P192). program it in the
This disturbance usually occurs if you EEPROM as the
replaced the controller firmware with boot data set.
firmware that is incompatible.
0006hex Time-out error In case of an error (nonfatal error), Immediate pulse inhibit Clarify the cause of
response the drive could not be braked down to the too long braking
n=0 within the time specified in P188. time. If necessary,
increase P188 M
fault response time.
0010hex Error switch (program Only meaningful for software devel- Inhibit pulses immedi-
error) opers ately
0110hex Disturbance in power No ready for use signal from supply Inhibit pulses immedi- Check the power
supply unit unit. ately supply.
Reset the error
memory in the
power supply unit
(refer to the power
supply unit’s oper-
ating instructions)
0201hex Overvoltage Uzk The bus voltage, UZK, has exceeded Inhibit pulses immedi- Check the ballast
a value of 800 V ± 1% ately resistor. If no bal-
last resistor is avail-
able see P269.
0202hex Overcurrent At least one of the power unit’s three Inhibit pulses immedi- Check the current
phase currents has overwritten the ately controller’s setting
value of 1,3 x Imax (= 1,3 x P113)
0203hex Error current An error current was determined in Inhibit pulses immedi- Check the motor
the power unit that exceeded a spe- ately cables for a ground
cific amount. (For more detailed infor- fault
mation, refer to the power unit
description.)
0204hex Disturbance in auxil- There is no power supply for transis- Inhibit pulses immedi- Check control of
iary voltage supply tor control in the power unit. ately the safety relay
0205hex Overtemperature of The temperature of the power unit Error reaction can be The disturbance
power unit has risen above 85° C. set in P189 cannot be acknowl-
edged until the
power unit temper-
ature shown in
P118 has fallen be-
low 85° C.
0206hex Disturbance in safety The safety relay in the power unit is Inhibit pulses immedi- Check control of
relay OFF even though it should be ON. ately the safety relay.
This means that the auxiliary voltage Check in addition
supply for transistor control is deacti- the setting of bit 2
vated. in P090 PU mode.
0207hex Transistor error (group UCE monitoring of one or more power Inhibit pulses immedi- Check the motor
message) transistors has tripped due, for exam- ately cables for a short
0208hex Phase U top ple, to a short circuit or ground fault or circuit or ground
0209hex Phase U bottom because of defects in the transistor. fault.
020A hex Phase V top Allow the power
020Bhex Phase V bottom unit to cool down.
020Chex Phase W top If the disturbance
020Dhex Phase W bottom keeps occurring, re-
place the power
unit.
020Ehex Power unit ID unknown The control unit does not know the Inhibit pulses immedi- Read off the power
read identifier ately unit version from
the rating plate and
compare it with the
list in P117. The er-
ror cannot be ac-
knowledged.
020Fhex Wrong power unit type The stored power unit type does not Inhibit pulses immedi- Check the parame-
match the one the system read, e.g. ately terization and, if
because no data set has been stored necessary, change
yet or you plugged the control unit it. Save the data set
into another power unit. and acknowledge
the error.
0210hex Disturbance in power The ready for use signal from the Inhibit pulses immedi- Refer to the power
unit power unit is missing even though ately units operating in-
there are no other power unit distur- structions.
bance messages.
0D01hex Short circuit tempera- The power unit temperature is below Error response can be Temperature detec-
ture sensor the temperature threshold of -40°C. set in P189. tion defective, the
Normally, this disturbance occurs if Error activation via disturbance cannot
there is a short circuit in the tempera- P090 be eliminated.
ture detection during operation.
0301hex Overspeed of Evaluation has determined a speed Inhibit pulses immedi- Check the encoder
encoder 1 actual value (P023) that is greater ately cable.
than the overspeed value (P046) Check the speed
controller settings.
0302hex Overspeed of Encoder has determined a speed ac- Inhibit pulses immedi- Check the encoder
encoder 2 tual value (P243) that is greater than ately cable.
the overspeed value (P239) Check the speed
controller settings.
0303hex Absolute position en- The error occurs in conjunction with Inhibit pulses immedi-
coder 1 unknown (rotor operation of synchronous control on ately
position) these encoders in the following
cases:
1. At initialization of the encoder, it
was not possible to read the abso-
lute position from the encoder (e.g.
due to the encoder adaptor module,
lack of communication).
0401hex I²t monitoring of motor Calculated I Error reaction can be Leave the drive in
(P091) is greater than 100% set in P189 the inhibited status
until the I²t actual
value (P091) drops
below 100%.
0501hex Overtemperature of P152 = 1 (sensor) Error response can be Allow the motor to
motor The motor temperature has exceeded set in P090. cool down until the
the shutdown threshold (P156. motor temperature
This disturbance may also occur, if has dropped below
the motor temperature detection is the limit value.
interrupted during operation. Check the encoder
cable and the tem-
perature sensor
(see motor temper-
ature connector
X28)
0502hex Short circuit tempera- P152 = 1 (sensor) Error response can be Check the encoder
ture sensor The motor temperature is below the set in P189. cable and the tem-
temperature threshold of -40°C. Nor- perature sensor
mally, this disturbance occurs if there (see motor temper-
is a short circuit in the temperature ature connector
detection during operation. X28)
0601hex Deviation, dynamic In motion, e.g. positioning, synchro- Error reaction can be Check the settings
nous operation, the deviation (P210) set in P189 of the dynamic de-
has become greater than the dynamic viation limit and, if
deviation error limit (P203). necessary, correct
them. Reset the er-
ror enable for the
dynamic deviation
in mode parameter
P201, bit number 0.
0602hex Deviation, static At standstill (e.g. target position Error reaction can be Check the settings
reached, n=0), the deviation (P210) set in P189 of the static devia-
has become greater than the static tion limit and, if nec-
deviation error limit (P212). essary, correct
them. Reset the er-
ror enable for the
dynamic deviation
in mode parameter
P201, bit number 1.
0702hex Blocking monitoring During the blocking time set in P056, Error reaction can be Check the drive
the drive was stationary with maxi- set in P189 machine for block-
mum torque of N = 0. ing
0801hex *) Invalid module code The adapter module’s code is not Inhibit pulses immedi- The adapter mod-
known ately ule is either not fit-
ted or not
supported in this
version of the firm-
ware
0802hex *) Wrong adapter module The encoder adapter in the unit is not Inhibit pulses immedi- Change the set-
suitable for the desired encoder type ately tings in the encoder
and communications protocol set- mode or use an-
tings. other adapter
0803hex *) No communication with Reading the absolute position from Inhibit pulses immedi- Check the encoder
the encoder the encoder did not function. ately cable, on the motor
and unit sides.
0804hex Wire break encoder 1 The encoder signals are useless for Inhibit pulses immedi- Check the encoder
**) evaluation. ately cable, on the motor
and unit sides.
0805hex Wrong address in the Immediate pulse inhibit If this error occurs
reply message more than 3 times
in a row despite all
0806hex Encoder reports error The encoder has detected an internal Immediate pulse inhibit
the EMC interfer-
error during the self-test. ence suppression
0807hex Wrong command in the Immediate pulse inhibit measures taken,
reply message the encoder must
be replaced.
0808hex Wrong checksum in the Immediate pulse inhibit
reply message
080Bhex Communication time- Encoder does not send a reply mes- Immediate pulse inhibit
out error sage within 50 ms.
080Chex Error in SinCos tracks Failure in the signal level of the enco- Immediate pulse inhibit Check the encoder
of the encoder der´s sinus and cosinus tracks. cable on the motor
side and the device
side.
080Dhex Field angle error Calculated model field angle and Immediate pulse inhibit Check the encoder
measured field angle differ more than cable on the motor
the tolerance of +/- 45° side and the device
side.
0901hex EEPROM copy error A data difference was determined at Error reaction can be This error cannot
copying of the EEPROM during initial- set in P189 be acknowledged
ization of data set management and you can only
eliminate it by
switching the elec-
tronics supply off
and on again. If the
error occurs repeat-
edly, this indicates
that there is a de-
fect in the control-
ler hardware.
0902hex Missing boot data set There is no boot data set (DS no. 0) Error reaction can be You must create
in the EEPROM set in P189 the boot data set in
RAM and then save
it to the EEPROM.
0903hex Checksum error in boot At checking of the boot data set, the Error reaction can be You must create
data set system calculated a different check- set in P189 the boot data set in
sum than the one that was expected, RAM and then save
i.e. a boot data set is present but it is it to the EEPROM.
invalid due to data corruption.
0A01hex Invalid module code The adapter module’s code is not Inhibit pulses immedi- The adapter mod-
*) known ately ule is either not fit-
ted or not
supported in this
version of the firm-
ware
0A02hex Wrong adapter module The encoder adapter in the unit is not Inhibit pulses immedi- Change the set-
*) suitable for the desired encoder type ately tings in the encoder
and communications protocol set- mode or use an-
tings. other adapter
0A03hex No communication with Reading the absolute position from Inhibit pulses immedi- Check the encoder
*) the encoder the encoder did not function. ately cable, on the motor
and unit sides.
0A04hex Wire break encoder 2 The encoder signals are useless for Inhibit pulses immedi- Check the encoder
**) evaluation. ately cable, on the motor
and unit sides.
0A05hex Wrong address in the Immediate pulse inhibit If this error occurs
reply message more than 3 times
in a row despite all
0A06hex Encoder reports error The encoder has detected an internal Immediate pulse inhibit the EMC interfer-
error during the self-test.
ence suppression
0A07hex Wrong command in the Immediate pulse inhibit measures taken,
reply message the encoder must
be replaced.
0A08hex Wrong checksum in the Immediate pulse inhibit
reply message
0A0Bhex Communication time- Encoder does not send a reply mes- Immediate pulse inhibit
out error sage within 50 ms.
0A0Chex Error in SinCos tracks Failure in the signal level of the enco- Immediate pulse inhibit Check the encoder
of the encoder der´s sinus and cosinus tracks. cable on the motor
side and the device
side.
0A0Dhex Field angle error Calculated model field angle and Immediate pulse inhibit Check the encoder
measured field angle differ more than cable on the motor
the tolerance of +/- 45° side and the device
side.
0B05hex Error in linking the pro- Immediate pulse Test the RAM
gram modules inhibit
0C01hex illegal external bus Further information see Inhibit pulses immedi- re-boot controller
access memory ately
0xFA00 up to
0C02hex illegal instruction
0xFA0F.
access
8.3 Disposal
For the most part, the equipment consists of the following components and materials:
Component Material
PCBs on which all the open- and closed-loop electronics are Base material: Epoxy-resin fiberglass woven
mounted material, copper-coated on both sides and
plated-through, various electronic components
such as condensors, resistors, relays, semi-
conductors, etc.
For technical reasons, electronic components might need to contain dangerous materials, so you should
not open them.
If the components are used correctly, there is no danger to human beings or to the environment.
In case of fire, dangerous compounds may result or hazardous materials may be released.
You must dispose of or recycle equipment or components according to national regulations as well as
any applicable local or regional ordinances.
9 APPENDIX
HERSTELLERERKLÄRUNG
IN SINNE DER
EG-MASCHINENRICHTLINIE 89/392/EWG, ANHANG IIB
Hiermit erklären wir, dass es sich bei dieser Lieferung um die nachfolgend bezeichnete Maschinenkom-
ponente handelt und dass ihre Inbetriebnahme solange untersagt ist, bis festgestellt wurde, dass die
Maschine, in die diese Komponente eingebaut ist, den Bestimmungen der EG-Maschinenrichtlinie 89/
392/EWG, Anhang II B entspricht.
We herewith declare that this delivery includes the following specified machine component and that its
putting into operation is prohibited until the declaration is made that the machine, in which this compo-
nent is built in, complies with the regulations of the EC-machine guideline 89/392/EWG, appendix II B.
Nürnberg, 15.12.2004
Hersteller-Unterschrift:
Signature of the Manufacturer:
1. Obligation and Conclusion of Contract instructions of and at a cost to the purchaser. Upon
a) Deliveries of goods and provision of services shall be demand, the packaging material has to be returned with-
effected exclusively based on these trading conditions. out delay, free of freight charges and expenses.
They are an essential component of the contracts for 6. Dispatch and Passing of Risk
delivery and shall be considered as having been accepted Deliveries shall be made ex works. The dispatch shall be
by the placing of an order. In the case of constant busi- effected at a cost to and at the risk of the recipient of the
ness relations, they also apply for the future contracts. service/the purchaser. The risk passes to the recipient of
b) Agreements diverging from the contract and verbal collat- the delivery/purchaser as soon as the delivery items leave
eral agreements shall only be binding if they have been the works. This shall apply at the latest, from the transfer-
confirmed in writing by Baumüller Nürnberg GmbH(herein- ral of the delivery items to the person carrying out the
after referred to as Baumüller). Diverging trading condi- transport, forwarding agent or carrier.
tions on the behalf of the purchaser shall be without
obligation, even where these have not been expressly 7. Warranty
a) The period of warranty amounts to 12 months from the
objected to. These General Conditions of Sale and Deliv-
day of dispatch.
ery shall be considered as having been accepted by the
purchaser at the latest when the delivery is accepted. In the event that a delivery item is defective, Baumüller
shall deliver an additional replacement or make a subse-
c) In as far as deliveries of goods are subject to separate
quent improvement at its own choice. Multiple subsequent
external obligations in accordance with the Law Concern-
ing Foreign Trade and Payments with respect to the Fed- improvements are permissible. Other warranty claims on
the behalf of the purchaser, in particular also due to direct
eral Office for Economics, the purchaser has to observe
or indirect consequential damage are excluded. The pre-
the relevant conditions at his/her own responsibility.
condition for any warranty is the normal contractual use of
2. Price and Offers the delivery items. In the event of the utilisation of war-
Offers are subject to confirmation, not binding and apply ranty services, the motor, the replacement part or the
subject to material supply possibilities. Supplements and device has to be sent in free of freight charges, packaging
amendments require written confirmation. Prices are ex costs or customs duties after prior co-ordination with
works and are subject to confirmation. Invoicing takes Baumüller. Baumüller is exempted from any warranty if
place in accordance with the prices valid on the date of the party ordering returns the goods complained about
delivery. without prior co-ordination or contrary to agreement. War-
3. Extent of Delivery and Delivery Time ranty claims expire one month after rejection of a defect
a) Specified delivery periods/dates are without obligation, in on which notice is given, in as far as the purchaser
as far as nothing else to the contrary has been expressly remains silent in this respect.
agreed upon in writing. Delivery periods do not commence 8. Notification of Defects
until the purchaser has fulfilled all duties of co-operation, a) The purchaser shall examine the subject matter of the
in particular regarding details of performance. In the event contract and delivery items immediately and give notice of
that the agreed deposits for orders are delayed, then the any defects without delay, however, no later than 7 days
delivery time shall be extended accordingly. after receipt of the delivery. In case of non-obvious
b) The purchaser is entitled, in particular in the event of a defects notice has to be given in writing without delay after
delay in delivery of longer than 3 months, to set an appro- their discovery, however, no later than 6 months from the
priate period of grace and after its expiry, to withdraw from point of delivery. In the event that the purchaser does not
the order. Claims to compensation due to non-fulfilment or give notice of any defects in writing within this period of
delay shall be excluded, in as far as Baumüller is not time, then the subject matter of the contract shall be con-
responsible for intent or gross negligence. sidered as having been approved.
c) Baumüller is entitled at any time to effect partial deliveries b) The purchaser shall allow Baumüller a suitable inspection
and partial services, as well as to invoice these accord- of defects of which notice is given and shall place all nec-
ingly. essary/requested technical information, in particular,
4. Delivery Problems inspection records and test reports at Baumüller's dis-
a) Delays/preventions in the delivery of goods or the provi- posal. In the event that the purchaser fails to do so, then
sion of services due to force majeure entitle Baumüller to the delivery items shall be considered as not having been
delay the production and delivery by the duration of the complained about and as being approved. In the event
obstruction plus an appropriate period of time or to with- that the purchaser alters the delivery items, then he/she
draw in part or in whole from the order. shall lose his/her warranty claims.
b) Industrial disputes or other circumstances which substan- c) In the event of an established material defect or perfor-
tially impede or render impossible the delivery, such as, in mance defect, Baumüller can eliminate the defect or sup-
particular, disturbances in the operating processes, prob- ply a replacement. The purchaser can demand rescission
lems in procuring materials, official directives also apply or a reduction after the expiry of an appropriately set
as force majeure, irrespective of whether they arise with period of grace. Further claims on the behalf of the pur-
regard to Baumüller or suppliers. chaser, in particular to the reimbursement of dismantling
c) In these cases, Items 4 a), b), the purchaser shall have no costs or installation costs are excluded. The same applies
claim to compensation due to non-fulfilment or delay of to damages which do not affect the delivery item itself.
the delivery. d) Natural wear and tear and damage which arises after the
5. Packaging transferral of risk, in particular also due to incorrect or neg-
Items for sale and delivery items are packaged and trans- ligent handling, excessive demands or other unsuitable
port insurance policies are taken out according to the use not in conformity with the contract are excluded from
the warranty. The same applies in particular for defects d) The authorisation on the behalf of the purchaser to dis-
which are attributable to atmospheric discharges, over- pose of the reserved goods and to collect assigned claims
voltages and chemical influences. expires in the event that the terms of payment are not
e) If no case of warranty is in existence or in the event that complied with, in particular, also in the case of bill and
this subsequently turns out to be the case, the purchaser cheque protests. In this case, Baumüller is entitled to take
shall remunerate the utilisation or the use of an item or of possession of the reserved goods. The purchaser bears
a right, as well as services provided and expenses to an the costs incurred by this. The taking back of goods shall
appropriate amount. Baumüller is entitled to a right of con- only represent a withdrawal from the contract when this is
trol as referred to in §§ 315 ff. BGB [German Civil Code]. expressly stated.
9. Liability e) In the event that the value of the securities granted
Contractual or legal claims on the behalf of the purchaser exceeds the secured claims in terms of amount by more
against Baumüller are limited to intent and gross negli- than 20 %, then Baumüller shall renounce the securities
gence. This does not apply in as far as claims from the exceeding this value.
ProdHaftG [Product Liability Act] have been enforced. 12. Drawings and Documentation
Baumüller shall only be held liable to the amount of the Baumüller is entitled to the exclusive property right and
damage foreseeable in accordance with the purpose of copyright to cost estimates, drawings and all other docu-
the contract. Material damage which exceeds the value of mentation. These documents may not be made accessi-
a delivery/service is not foreseeable in this sense. The lia- ble to third parties without prior written consent. In the
bility is limited in terms of amount to the remuneration con- event that a contract is not concluded, not implemented or
tractually owed. otherwise ended, then all documents have to be returned
10. Payments immediately and unsolicited. There shall be no right to
a) Invoices are payable at the time agreed in the contract, at retention to these documents.
the latest within 30 days after the invoice date, in cash and 13. Copyright (in particular Software / Licence)
without deductions. The purchaser can only offset with a) Baumüller is exclusively entitled to all rights to the soft-
claims which are final and absolute or undisputed. The ware/edited versions, in particular property rights and
same applies to the exercising of rights of retention. copyrights to the relinquished software, in particular for
b) In the event of a delay in payment on the behalf of the pur- the controlling of machines, systems and installations.
chaser, interest to the rate of 4 % above the respective b) Baumüller grants the purchaser/buyer the non-exclusive,
minimum lending rate of the German Federal Bank, how- non-transferable right to use the relinquished software in
ever at least 10 % has to be paid, without separate proof the framework of the contractual purpose at the contractu-
being required. ally intended location/on the places in existence at the
c) Failure to comply with the terms of payment or circum- time of purchase (single licence). The software shall only
stances which endanger the credit worthiness of the pur- be used on the associated purchased contractual item.
chaser result in all claims immediately becoming due. In Any use extending beyond this is prohibited. In the event
these cases, deliveries shall only be made against pay- of a use extending beyond this, Baumüller shall have the
ment in advance. rights referred to in Items 13 c), 13 d).
d) Cash payments, bank transfers or cheque and bill pay- c) It is prohibited to make copies of the relinquished soft-
ments shall not be considered as payment/fulfilment of the ware, whether in whole or in part, in as far as the making
obligation before the amount due for payment has been of copies of the machine-readable material in the frame-
irrevocably received by Baumüller or credited to work of the required data backup or as copies for internal
Baumüller's account. company use has not separately been agreed upon with
e) Payments have to be made directly to Baumüller. The field prior written consent from Baumüller. Processing of the
staff are not entitled to accept payments or to issue exten- relinquished software, in particular by means of alteration,
sions or waivers without separate written authority. translation or by bundling with other programs shall only
11. Reservation of Ownership be permitted after prior written consent from Baumüller.
a) The ownership of delivery items remains reserved up to Protection notices from Baumüller on/in the software may
the fulfilment of all existing claims against the purchaser not be removed and also have to be adopted onto copies
from the business relation. Any bundling with other items and edited versions. Copies produced contrary to this con-
shall be effected by the purchaser for Baumüller. Then, dition shall come under the possession and copyright of
the entire product shall be considered as reserved goods. Baumüller. Baumüller can prohibit the use of such copies
b) The purchaser is entitled to sell the reserved goods in and elect to demand the immediate surrender or complete
orderly business transactions. All claims to which the pur- destruction with proof of this destruction.
chaser is entitled from this sale or other legal grounds d) The buyer is not permitted to extend the licence in terms of
shall be assigned by him/her in advance to Baumüller. location/work places/machines/machine types or to grant
Baumüller shall accept the assignment. In the event that rights of utilisation or grant sub-licences. The extension of
the reserved goods are bundled or sold with other items the licence shall be permitted by Baumüller exclusively
standing in the possession of third parties, then the against a separate remuneration which has to be agreed
assignment shall only apply to the amount of the invoice upon in writing.
value of the reserved goods. The purchaser is authorised 14. Applicable Law
to collect these assigned claims. Upon request, he/she The law of the Federal Republic of Germany is authorita-
has to make notice of the assignment to the debtor. tive for all rights and obligations from and in connection
c) The purchaser shall inform Baumüller without delay of with this contract. The regulations of the UN Sales Con-
impending and enforced access on the behalf of third par- vention (CISG) are excluded.
ties to the reserved goods or to the assigned claims. The 15. Place of Performance and Place of Jurisdiction
purchaser shall bear the costs incurred by this. The place of performance for delivery and payment is the
seat of Baumüller. The place of jurisdiction for all dispu-
putes from and in connection with this contract, in particu- quired to carry out the acceptance. This also applies in the
lar also for cheque and bill liabilities is the seat of event that the purchaser refuses the functional test/the
Baumüller. acceptance without sufficient cause.
16. Miscellaneous e) Experts to be designated by both parties shall take part in
In the event that individual or several conditions of these the acceptance inspection. The result of the functional test
Conditions of Sale and Delivery should be or become inef- shall be entered in a record to be signed by the purchaser
fective in part or in whole, then the validity of the remain- in consideration of the technical specifications.
ing conditions shall remain unaffected by this. The parties 18. Erection and Installation
shall complement/replace the ineffective or incomplete Erection and installation shall only be effected in the case
condition with an appropriate regulation which most exten- of express agreement at the following further conditions:
sively corresponds to the economic purpose of the con- a) The purchaser makes required workers and material avail-
tractually desired regulation. The same applies for the able at his/her own expense.
case of the presence of a gap in the regulations. b) Before the commencement of installation works the pur-
For the case that acceptance and installation are also chaser shall make available unsolicited all required speci-
agreed upon, then the following conditions, Items 17 and fications, in particular concerning the location of power
18 shall also apply: lines which have been laid such that they are hidden and
17. Acceptance similar installations, as well as the required static specifi-
a) The inspection of the delivery items ready for acceptance cations.
shall take place in the Baumüller works. The purchaser c) Before the commencement of the erection/installation, the
shall bear the costs of this inspection. In the event that the delivery items required for the commencement of works
purchaser fails to perform the inspection, then the delivery have to be on site and all preliminary works progressed to
items shall be considered as having been delivered in the extent that the erection/installation can immediately
conformity with the contract when they leave the works. begin and be completely carried out without interruption.
b) The purchaser is obliged to take delivery of goods and d) In the event that the erection, installation or putting into
services from Baumüller without delay. Immaterial defects operation is delayed due to circumstances for which
do not entitle the purchaser to refuse the acceptance. Baumüller is not responsible, then the purchaser shall
c) In the event that the purchaser does not declare within 7 bear the costs for idle time and journeys required on the
days after notification of the readiness for acceptance on behalf of the installation personnel.
the behalf of Baumüller or after receipt of the contractual e) The installation personnel working time has to be certified
service in writing and with exact, examinable specification weekly by the purchaser. The purchaser shall present to
of reasons that he/she refuses the acceptance, then the the installation personnel a written certification regarding
acceptance shall be considered as having been declared the ending of the erection/installation without delay.
and the orderly performance of the contract as having f) Baumüller shall not be held liable for the installation per-
been ascertained. sonnel works, in as far as the works are not connected to
d) The agreed service shall be considered as having been the delivery and the erection or installation.
accepted when the item delivered has been put into oper- g) Trial runs on systems not supplied by Baumüller shall not
ation by the purchaser himself/herself or upon his/her be carried out by the installation personnel.
instructions by third parties beyond the functional test re-
NOTE
The description of the parameters for synchronous operation and positioning can be found
in the technology module positioning and synchronous operation documentation, 5.96187
9.4 Index L
LED Display 184
LED Display Element 22
A Locating Position Reference Point Setting 57
Accessories 35
Accuracy 11 M
Additional Parameter 224
Analog Inputs 177 Maintenance 227
Analog Outputs 182 Maintenance information 227
Analog/Digital Interface 30 Manufacturer Declaration 237
Appendix 237 Motor Model 80
Assembly 17 Motor Overload Monitoring 86
Assembly Note 18 Motor Potentiometer 173
Asynchronous Serial Interface 27 Motor Temperature 29
Motor Temperature Monitoring 89
B
BAPS Communication 222
N
Boot data record 56 Number of Pole Pairs 92
C O
Closed-Loop Control 12 Operation Software 10
Commands to Start the Drive 58 Operation system 164
Commands to Stop the Drive 60 Optional Boards 10
Commissioning 37 Outputs 10
Connection Cable 31 Overload Monitoring of Power Unit 75
Connection Cable RS485 34 Overview V-Controller 64
Connection voltage 107
Connector Pin Assignment 25
Control Word 148
P
Current Controller 120 P302 178
Current Measurement and Monitoring 66 PC Connection 32
Current measurement and monitoring 66 Position Controller 133
Power consumption 11
Power Supply 67
D Power Unit 69
Danger Information 19 Pulse Width Modulation 78
Data Set Management 158
Deviation monitoring 136
Digital Inputs 187
R
Digital Outputs 191 Ramp Function Generator 167
Dimensions 17 Rectangle Incremental Encoder 28
Display 21 Resolver 27
Disposal 236 RS232 Interface 25
Drive Manager 140 RS485 Interface 25
E S
Electrical Data 11 Sampling Rate 11
Encoder Evaluation 63 Serial Connection Cable 32
Encoder Manager 96 Service Interface 203
Encoder type 97 Set Value Generator 171
Evaluation Encoder 108 Seven-segment Display 21
External Digital input 194 Sine Encoder 29
External Digital Outputs 197 Sine Incremental Encoder 5V 28
Speed Controller 126
State Word 150
F
Field Angle Calculation 92
Function diagrams 63
T
Technical Data 9
Terminal Diagram 23
G Terminal Ring Circuit 33
General Conditions of Sale and Delivery 238 Torque Monitoring 129
Transportation 15
Transportation damage 15
I Type Code 12
Incremental Encoder Emulation 26
Initial Commissioning 40 U
Inputs 10
Installation 19 Unit Control State Machine 142
Interfaces 11 Unit Control State Transition 145
Unpacking 15
V
Version 12
Voltage range 11
All information given in this manual is customer information, subject to change without notice. We reserve the right to futher develop and actualize
our products continuously using our permanent revision service. Please notice, that specifications/data/information are current values according to the printing date.
These statements are not legally binding according to the measurement, computation and calculations. Before you make any information given in this manual to the basis
of your own calculations and/or applications, please make sure that you have the latest edition of the information in hand.
No liability can be accepted concerning the correctness of the information.