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ASCII Object Reference Feedback to this documentation Start page

Online Help for Setup Software DriveGUI.EXE

valid for DriveGUI.EXE Version 2.00 Build 0063, Edition January 2008

Contents

General Use Screen pages

How to use the Online-Help Start Setup Wizard

Introduction Online/Offline — Basic Setup

Safety instructions — Offline — Units / Mechanical

ASCII Object Reference — Online — CAN- / Fieldbus Settings

Overview Servo Systems Screen layout — Motor / Feedback

— Title Bar — Feedback

— Menu Bar — Motor

Installation — Tool Bar — Current Loop

Hardware Installation — Status Bar — Velocity Loop

Software Installation — Navigation frame — Position Loop

Switch-On the Amplifier — Main frame — Position Data

Help functions — Position Registers

Application Notes — Electronic Gearing

Drive calculation — Encoder Emulation

Macro Programming — Analog I/O

Execute Command Sequence — Digital I/O

Soft-SPS & Motion Control Motion Service

Autotuning Status (Errors/Warnings)

Setup of an unknown motor Monitor

Cogging Suppression Homing

Camming — homing type 0

Acceleration Profile Tables — homing type 1

Software Upgrade — homing type 2

— homing type 3

— homing type 4

— homing type 5

— homing type 6

— homing type 7

— homing type 8

— homing type 9

Motion Tasks

Oscilloscope

Appendix Bode Plot

Glossary Terminal

Other documents I/O Expanion card

Errors SERCOS

Warnings PROFIBUS

Trouble Shooting EtherCat

mailto:[email protected]

reinhold.hess

Textfeld

No active links to ASCII Objects. ASCII Object Reference not integrated in the PDF!


General

Introduction

This documentation explains the use of the DriveGUI.EXE setup software for setting parameters and confi-

guring servo amplifiers. Detailed descriptions of functions and parameters are located in the Object Refer-

ence Guide (part of the software's Online Help system).

The setup software must be installed on a personal computer (PC). The PC is connected to the servo ampli-

fier by a communication cable. The setup software initiates the communication between PC and servo

amplifier.

With very little effort you can alter parameters and instantly observe the effect on the drive, since there is a

continuous (online) connection to the amplifier. At the same time, important actual values are read out from

the amplifier and displayed on the monitor of the PC (oscilloscope functions).

Any interface modules (expansion cards), which may be built into the amplifier, are automatically recognized

and the additional parameters required for position control or motion-block definition are made available.

You can save sets of data on data media (archiving), and load them again. You can also print out the data

sets.

How to use the Online-Help

The Online-Help can be used like an Internet website with links, navigation frame and back/forward buttons.

Full text search Table of Contents Information

Symbol Bar

Link to the ASCII Object Referencein a new frame with seperate navigation

Link to the start pageof the Online-Help

ON/OFF switch forfull text search

Change columnwidth


Navigation

All frames are visible only, if you started the online help from the menu bar of the setup software. If you use

Context Help or function key F1, the fulltext search frame and the text frame are visible only. In this case

you can restart the help system by clicking the symbol "Home"

Full text search

The button Show/Hide activates/deactivates the full text search frame. Use asterisk or question mark (? or *)

as usual with Windows search.

If, despite the SHOW button being pressed, the window in which you enter a search term does not open the

first time the help system is called, the search-window column width is preset to “0” by the operating system.

In this case, modify the column width by dragging the gray column separator at the left edge of the window, a

process with which you should be familiar from WINDOWS.

Used Symbols

Danger to personnel from electricity

and its effects effects

Danger to maschinery, general

warning

Safety instructions

Before installation and setup, read the Product Manual for the servo amplifier. Incorrect

handling of the servo amplifier can lead to personal injury or damaged devices.

The machine manufacturer must perform a hazard analysis for the machine and must

ensure that unforeseen movement of the machine is never a hazard to personnel or

devices. Only if these measures are taken can the customization of online parameters

by qualified staff be permitted.

Only properly qualified personnel are permitted to perform activities such as transport,

installation, setup and maintenance. Properly qualified persons are those who are fami-

liar with the transport, assembly, installation, setup and operation of the product, and

who have the appropriate qualifications for their job. The qualified personnel must

know and observe:

IEC 60364 or DIN VDE 0100

IEC 60664 or DIN VDE 0110

National Accident Prevention Regulations or BGV A3

Data sets stored on data media are not safe from undesirable alteration by third parties.

After you have loaded a set of data, you must check all the parameters before enabling

the servo amplifier.

ASCII Object Reference Guide

Integrated in this Online Help is an Object Reference Guide of the servo amplifier's firmware. All functions

and parameters are described there with full details.

The reference starts in a single frame: ASCII Object Reference

Servo System Overview

This topic provides a quick lesson in servo system - an overview of what it is and how it works.

What is a Servo System?

A servo system essentially comprises an intelligent servo drive and a servo motor that operates with a PLC

or CNC to perform complex, specialized moves in one or more directions, or axes. These complex and

specialized moves, which are needed in the automation of industrial tasks, are collectively known as motion

control.

Servo systems are applied in many different field for automation - in the motor industry, the petrol industry,

the textile industry, in packaging systems, warehousing systems and so on.

Closed Loop Servo Systems

In a servo system, feedback information - motor position and motor velocity is sent from the feedback unit of

the motor back to the servo amplifier. The servo amplifier analyses the feedback, makes adjustments as

needed, and generates new currents to bring the motor to the commanded velocity. This cycle constantly

repeats itself in a closed loop. A closed loop that controls the position of the shaft or load is called a position

loop. A closed loop that keeps the velocity of the motor on the commanded value is called a velocity loop.

Servo System Components

A servo system consists of:

Servo motor A servo motor moves machinery in a single axis of motion.

Electrical motors are driven by magnetic fields. Motors have a stationary field generated

by the magnets of the motor and a rotating or movable field called stator winding or

armature. They operate on the principles of synchronous motors. All rotary motors have

some type of bearing that supports the rotor at each end.

Every motor has at least two magnetic motor poles, normally four or six. The servo

amplifier generates the current in the stator so that a controllable torque is available at

the shaft.

The servo motors turn (travel) in two directions - positive and negative. Two forms of

angular measurement are commonly used in motion control - degree measurement and

radian measurement, where 360 degrees constitute one revolution or 2� radians.

The servo amplifier operates with standard synchronous servo motors as well as with

direct drive motors (rotary or linear). For more information about these motors see the

motor manuals.

Motor Stabilizing

Stabilizing (tuning) the motor is a fundamental task in achieving best system perfor-

mance. To stabilize a motor, you must set up initial values for and adjust several motion

parameters using DriveGUI.EXE. These parameter settings compensate for the differ-

ence between the actual motion and the commanded motion - getting the actual as

close to the commanded as possible, with minimal oscillation and noise. This difference

is called following error. Observe the application notes for Setup unknown motors.

Load The load is the machinery and equipment that each motor drives. It is everything

connected to the output shaft of a motor, including the shaft itself. A motor must be

appropriately sized to its load to ensure the motor is powerful enough to carry out your

automation tasks. A servo system delivers and converts motion to a load via one or

more of the following mechanical techniques:

Direct drive

motor connected to a rotating table

Screw drive

motor connected to a lead screw carrying a slide (moving table)

Rack and pinion

motor connected to a cogwheel that moves a rack

Belt and pulleys

motor connected to rollers that move conveyor belts or chains and sprockets

Feedback device Every closed-loop servo system needs at least one device to return feedback informa-

tion from each motor (or load) to servo amplifiers . Depending on the feedback device,

feedback is transmitted back to the servo drive in the form of digital signals or analog

signals. Two types of feedback devices are supported:

Encoder - returns analog or digital signals (optical)

Resolver - returns analog signals (magnetical)

Servo amplifier The servo amplifiers comprise a three-phase, power supply, and high-performance

control unit all housed in a single enclosure. The several control loops are realize totally

digital in the micro controller.

Feedback Device

Servo motors are available with these feedback units:

� RESOLVER

� Encoder (different types)

� Incremental encoder with HALL

In a closed-loop feedback system, the innermost loop is the commutation loop, which monitors the motor's

rotor and ensures that it keeps spinning. Outer loops are: Position loop, Velocity loop and Current loop

Velocity information and the velocity loop are derived from (are computed based on) position information.

The current loop is also known as a torque loop, since amplitude of the electrical current is directly propor-

tional to torque. Torque is force applied in an axis of rotation.

Resolvers

The servo amplifier can use single (two poles) or multi-speed (multiple poles) resolver feedback to calculate

primary position, velocity, and commutation information. A resolver can be thought of as a transformer whose

output is unique for any given shaft position (an absolute position feedback). The transformer is driven with a

sinewave reference signal. Two AC signals are returned from the resolver into the Sine and Cosine inputs.

All three of these sinewave signals are low-level and susceptible to noise.

Encoders

Encoders direct pulses of light, from a light source at the motor or load, to photo detectors through an

encoded disk. These light pulses are then converted into digital feedback information. There are two general

types of encoders - rotary and linear. Rotary (rotating disk) encoders are typically mounted to the motor

shaft. Linear encoders are typically mounted to the load.

The Motion Profile

Overview

Motion operations are universally embodied in a graph called the motion profile. Understanding and using

motion profiles to define your motion application is an important part of achieving best system performance.

The motion profile plots one or more motion operations and measures it against time.

Commanded motion: the motion that is supposed to happen ideally and precisely, without error, when the

motor executes a velocity or position command

Actual motion: the motion that really happens in the motor, when a velocity or position command is

executed

Closing the Gap between Setpoint and Actual

Best system performance is achieved when you can stabilize or "dampen" the difference or "close the gap"

between the commanded motion and the actual motion. This difference is called following error. Stabilizing

the servo system means setting the relevant parameters in the servo amplifier, to get as close to the

commanded position as possible.

Basic Motion Profile Characteristics

Commanded and actual motion profile shapes have the following characteristics that are also universal to all

motion operations:

Profile Characteristic Meaning

Moving Moving refers to the execution of a motion instruction that makes the motor move.

A motion profile's moving portion represents most of the profile - the motion itself.

The motor is considered moving for as long as the motion controller is

commanding new positions. The point at which motion stops is known as the target

position.

In Position When a motion command stops executing, and the motor slows to within a few

counts of its target position, the motor is considered to be stopped, or "In Position."

A range of positions, typically plotted in a motion profile, represents in position.

That is, In Position is signaled when the motor gets close enough to the target

position -- within its In-Position range that you have specified, via its parameter.

An In-Position signal is often used to make sure the motor stops before the

machinery continues its operation.

Limits and Ranges of Operation

Overview

Another important task in achieving best system performance is setting certain motion limits and ranges of

operation to protect equipment from damage and to optimize operational efficiency.

Two Types of Settings

There are two types of settings for motion limits and ranges of operation:

Type of Setting Meaning

Fault limit Fault limits are settings that signal errors when certain limits on motor movement, such

as speed and position, as well as electrical current, are exceeded. Fault limits are

designed to protect equipment from damage and can cause the drive and motor to shut

down.

For example, every motion control system has hardware limit switches, which are used

in the position loop to set a limit on how far the actual motor position can deviate from

the commanded position before a fault is signaled. You may also program software

limits. The difference, or gap, between commanded position and actual position is

known as following error. Such a limit protects against motor runaway and stalling.

Tolerance band Tolerance bands are set and specify the safe, efficient physical ranges for the

equipment. Some of these tolerance bands do the following:

— In the current loop, set a limit on the amount of electrical current to the drive and

motor. This protects the motor from damage that would be caused by excessive

current.

— In the position loop, place a limit on how far the motor can travel in a positive or

negative direction.

— Set a range of positions that are considered to be In Position. That is, this range

specifies how far the motor can deviate from its commanded position and still be

considered in the correct position.

Acceleration and Deceleration

Overview

If the servo amplifier is operated with motion tasks under position control, different acceleration/deceleration

profiles can be chosen. It depends on the mechanical structure of the machine and the required dynamical

quality, which profile should be chosen. If the machine tends to sway (e.g. robot arm), sine² would be the

best choice. Here the torque is altered linear and the velocity characteristic becomes square. This reduces

the excitation to sway. Disadvantage of this profile is the double up of the acceleration/deceleration time.

If the machine is mechanically stiff and there are high requirements in dynamics, the linear profile should be

chosen. This leads to a torque step at the beginning and the end of each acceleration/deceleration ramp.

Two Types of Acceleration and Deceleration

The following table describes the two fundamental acceleration and deceleration types, linear and square.

A motion profile may accommodate a combination of these two types.

Type Description

Linear Linear is a rate of acceleration and deceleration that theoretically represents a steady

speed-up and slow-down.

sine² To limit any jolting, the drive is accelerated/decelerated within the acceleration time

along an acceleration ramp without any discontinuities. The resulting speed charac-

teristic corresponds to a sine² curve.

Further acceleration curves are stored in profile tables. You can create your own profile tables, please

contact our customer support for help.


Installation

Hardware Installation

1. Unpack servo amplifier and accessories

2. Keep the product manual ready (print if necessary)

3. Observe safety instructions in the manuals.

4. Mount the servo amplifier as described in the product manual

5. Wire the servo amplifier as described in the product manual or apply the minimum wiring for drive test

(see graphics below).

Minimum Wiring S300

The minimum drive test wiring does not fulfill any requirements to safety or functionality

of your application, it just shows the required wiring for drive testing without load.

Power ON

24V DC+

-

Enable

Power

Motor-Feedback

Motor-PowerMotor

12

12

1

235

4

5

X8

X4

X3

24V ON

RES ENC

PC

CAN


Minimum Wiring S700

The minimum drive test wiring does not fulfill any requirements to safety or functionality

of your application, it just shows the required wiring for drive testing without load.

Software Installation with WINDOWS 2000 / XP

Minimum requirements for the PC

Processor at least Pentium® II or comparable

Operating system WINDOWS 2000 / XP

Graphics adapter Windows compatible, color

Drives hard disk with at least 10 MB free space, CD-ROM drive

Interface one free serial interface (COM1 bis COM10)

With other operating systems an emergency operation is feasible through an ASCII terminal emulation

Power ON

24V DC

+

-

Enable

Power

Feedback

PowerMotor

1

X8/4

X8/3

X4A/1

X3B/14

24V ON

X3B/15

X4B/4

X4A/3 X4B/6

(without graphical user interface). Interface settings : 38400 bps, databit 8, no parity, stopbit 1, no flow

control.

On the CD-ROM you can find an installation program, which makes it easy to install the setup software on

your PC.

Install

Autostart function activated:

Insert the CD-ROM into a free drive. A window with the start screen opens. There you find a link to the

setup software DriveGUI.EXE. Click it and follow the instructions.

Autostart function deactivated:

Insert the CD-ROM into a free drive. Click on START (task bar), then on Run. Enter the program call:

x:\autorun.exe or x:\index.htm (x = correct CD drive letter).

Click OK and proceed as described above.

Connection to the serial interface of the PC

Connect the interface cable to a serial interface on your PC (COM: to COM10) and to the serial interface of

the servo amplifier (see Product Manual). USB to serial converter can be used optionally.

Firmware Upgrade

Hints for upgrading the servo amplifier's firmware see chapter "Firmware Upgrade".

Switch-On the Amplifier

1. Check the wiring of the amplifier

2. Switch on the 24 V power supply for the servo amplifier.

3. Wait about 30 seconds, until the front display of the servo amplifier displays the current class

(e.g. 03 for 3 amps). If the power supply voltage is switched on, too, a leading P is displayed

(e.g. P03 for Power, 3 amps).

If an error code (F_ _) or a warning (n_ _) or a hint (. /_ / E/S/A )appears in the display, you

will find the description in the appendix. If there is fault, fix the problem, see chapter

Trouble-Shooting.


Use

Start the Software

Click the icon on your Windows desktop to start the software.

Online/Offline

You can work offline or online with DriveGUI.EXE.

online: connected to a working servo amplifier (24 V auxiliary voltage)

offline: without connecting to a working servo amplifier

Online

The machine manufacturer must perform a hazard analysis for the machine and must

ensure that unforeseen movement of the machine is never a hazard to personnel or

devices. Only if these measures are taken can the customization of online parameters by

qualified staff be permitted.

The software checks the existing interfaces. If it detects a connected servo amplifier, the software starts with

the start screen.

If you have never started a communication before, you

have to configure the communication parameters first.

Choose the communication system and the interface

(COM1 ... COM10), where the servo amplifier is

connected to. Click OK.

The software tries to communicate with these parameters. If it's successful, you see the start screen. If not,

you receive this error message:

Frequent causes:

- wrong interface chosen

- wrong connector chosen at the servo amplifier

- interface is used by another software

- 24 V auxiliary voltage for the servo amplifier not working

- interface cable broken or wrong wiring


Quit the error message. The software starts in the offline mode now, that requires the manual selection of the

amplifier's type. Quit this selection by closing the window.

Fix the communication problem. Restart the software in Online mode.

Offline

If you work offline, all functions that need a communication line between the servo amplifier and PC, are not

active.

The software can't detect a servo amplifier type in the offline mode. You need to

select an amplifier type first.

Select the data line from the displayed list that corresponds to your device and the

mains specification.

All valid combinations (continuous current and mains voltage) are given. Click OK.

A default data set is loaded now.

These data can be changed and stored to an external file.

Screen layout

Title bar

The program name and the name of the currently valid data set (amplifier) are displayed in the title bar.

Tool Bar

NavigationFrame

Title BarMenu Bar

Status Bar

Main Frame

Menu bar

File New A new data set is created for editing. The current data set will be closed

and not saved.

Open A data set is read from the data medium (hard disk, diskette) and

becomes the currently valid set. The servo amplifier must first be

disabled.

Save Saves the current data set in a file on your PC

Print Prints the current data set to you Windows standard printer.

all other functions Standard Windows

Edit all functions Standard Windows

Communi-

cation

Connect Connect to servo amplifier

Disconnect Disconnect servo amplifier, software switches to offline mode

Reload Reloads all parameters and motion tasks data

Refresh page

settings

Refreshs the old, unchanged data of the actual sreen page.

Apply page

settings

Saves the parameters of the actual page to the RAM of the servo ampli-

fier.

Select device Select the communication network

Device parameters Adjust the communication parameters

Drive Stop Stop movement in OPMODE 0, 2, 8

Enable Software Enable for power output stage

Disable Software Disable for power output stage

Save to EEPROM The actual parameter set is permanently saved to the EEPROM of the

servo amplifier.

Clear EEPROM The manufacturer default parameter set will be saved to the EEPROM of

the servo amplifier.

RESET Hardware reset (cold start)

Clear errors Actual error messages are quit. The reaction depends on the actual

error: immediately ready to operate or reboot.

Select OPMODE Select the operation mode of the servo amplifier OPMODE

Tools Options Color setup for Bode plot and oszilloscope

Select language select the language version of the software

View Tool bar Visability of the tool bar

Status bar Visability of the status bar

Help Online HTML-Help Online help for the setup software

Support Contact information for questions

About DriveGUI Version of the setup software

Tool bar

Standard Windows

Connect Enable

Disconnect Disable

Reload Save to EEPROM

Refresh page settings Clear EEPROM

Apply page settings Clear errors

Stop movement Reset

Context help Software version

Operation mode of the servo amplifier OPMODE

Status bar

The communication status between servo amplifier and setup software is indicated on the left side of this

bar.

On the right side of the status bar, the operation status (online/offline) and several other staus messages are

monitored.

Navigation frame

In a structure similar to Windows Eplorer, links to all screen pages are

listed that you need for setup, optimizing and monitoring of the servo ampli-

fier. The selected screen is shown in the main frame.

The top level of the tree shows the name of the connected servo amplifier

(DRIVE0 in the example).

Main frame

The main frame (basic setup as an example) allows changing parameters, monitoring

actual values of the servo amplifier and selecting functions.

Help functions

Key F1 Starts Online Help for the actual screen page.

Menu bar Help Starts Online Help with the first page.

Context Help. Click the help symbol first. Then click the function for which you need

help.

The Online Help delivers detailed information to all the parameters that can be used by the servo amplifier.


Screen pages

Setup Wizard

The Setup Wizard leads you through the necessary steps for configuring your servo ampli-

fier. Depending on the selected application, only the active screen pages are necessary.

Select the setup type for your application:

— Quick Motor/Drive Setup

— Analog Application Setup

— Gearing Application Setup

— Motion Task Application Setup

— Complete Setup

Enter the wizard. The first relevant screen page for your application pops up. Click "Next"

and "Previous" to move between screens, or move directly to any screen by clicking in the

navigation tree on the left.

Click the "Refresh" toolbar button to bring back the original data for the current screen.

If you need more or all setup pages, change the Setup Wizard setting. The last setting is

saved when you exit the software and will be reloaded at restart.



Basic Setup

Brake resistor* (regen resistor*), mains voltage and the behavior in case of input power loss must be custo-

mized here.

Master data of the servo amplifier are monitored (e.g., serial number, run time). You can give the servo

amplifier a name (up to 8 chars).

Screen text ASCII parameter

Regen Resistor internal/external* PBALRES

Regen Resistor value* PBALRES

max. Regen Power* PBALMAX

Mains Voltage VBUSBAL

Response to Loss of Input Phase PMODE

Name ALIAS

Set Software-Enable on Bootup AENA

* = Doesn't appear in the "Quick Motor/Drive Setup Mode" of the Setup Wizard



Units / Mechanical

The user units for all input fields in the setup software can be preselected here.


Position PUNIT

Velocity VUNIT

Acceleration ACCUNIT

Position Loop Resolution (nominator) PGEARI

Position Loop Resolution (denominator) PGEARO

The adjustment of resolution depends on the application. Click on "Calculate PGEARI/PGEARO for...."

button for a helpful tool for calculation.

Calculation of resolution

Click on "Calculate PGEARI/PGEARO for...." button.

If your application does not correspond to any of the listed examples, enter the required parameters directly

in the fields on the “Units” screen.

First, select the application that corresponds to your own. Next, set the position unit. Select the position unit

that provides you with the required accuracy for your application.

Example

max. accuracy 50nm

Position unit 10nm

Important! If you change the application type, the selected position unit may become

impermissible. In such cases, the position-unit input window remains empty and you

have to select a new unit.


Leadscrew

The load is driven via a lead screw. Enter the screw lead.

If a gearhead is flange-mounted on the motor, you must

also enter the gearhead data (either the number of teeth

or the ratio of the revolutions).

Then click the “Calculate conversion factors and return”

button.

Conveyor

Enter the driven shaft diameter.





button.

Belt

Enter the driven- and output-shaft diameters.





button.

Gear Belt

Enter the number of teeth per revolution of the driven

gear wheel and the number of teeth per unit of length.





button.

Gear Belt 2

Enter the number of teeth on the driven and output gear

wheels.





button.

Nip Rolls

Enter the driven shaft diameter.





button.

Direct Drive Rotary

On selecting a length position unit, enter the appropriate

radius for the route to be traversed. If the position unit is °

(degrees), you do not have to enter anything else.


button.

Direct Drive Linear

The pole-pair width and encoder signal period depend on

the device and are set on the Motor or Feedback

screens.


button.

Rack and Pinion

Enter the number of teeth per revolution of the driven

gear wheel and the number of teeth per unit of length.





button.

Disk

Enter the radius of the mounted disk.





button.


CAN- / Fieldbus Settings

Station address and baud rate in the fieldbus network is customized here.


Address ADDR

External Watchdog (Fieldbus) EXTWD

CAN Bus Settings

Baud Rate CBAUD

Heartbeat Guard: Consumer

CANopen Object 1016h sub1

CANSDO

Heartbeat Guard: Producer

CANopen Object 1017h sub0

CANSDO

Node Guarding: Lifetime factor

CANopen Object 100Dh sub0

CANSDO

Node Guarding: Guard Time

CANopen Object 100Ch sub0

CANSDO

Save current Guarding/Mappings to Drive (CCSAVE)

The set communication parameters are saved to the servo amplifier.

Write Guarding/Mapping Defaults to Drive (CCSAVE)

The CANopen communication parameters are reset to the default values. These values are active after

rebooting the servo amplifier (COLDSTART).

Heartbeat

The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heartbeat

Producer transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication.

The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer Time. If the

Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be generated. The

consumer heartbeat time defines the expected heartbeat cycle time and has to be higher than the correspon-


ding producer heartbeat time configured on the device producing this heartbeat. If the consumer heartbeat

time is 0 the corresponding entry is not used. The time is defined in milliseconds.

Nodeguard

The Node Guarding protocol is a functional monitoring for the drive. It requires that the drive is accessed at

regular intervals by the CANopen master. The product of Guard Time and Life Time Factor gives the life time

for the nodeguarding protocol. If one of these values set to zero, then the response monitoring is inactive. If

the drive is not accessed within the response monitoring time, then Warning n04 appears on the drive

Mapped PDOs...

Click the button "Mapped PDOs..."

There are distinguished two types of PDOs: Receive PDOs (RxPDOs) and transmit PDOs (TxPDOs).

The content of the PDOs is pre-defined. If the data content is not appropriate for a special application the

data objects in the PDOs can be remapped freely. Select the required PDO with the corresponding register

tab.

Further information on PDO Mapping can be found in the CANopen Manual.

Adding or editing opens an additional edit window:

A table with all available mapping parameters can be found in the CANopen Manual.

You can adjust important communication parameters for the data transmission:


COB-ID CANSDO

Transmission Type CANSDO

Inhibit Time (with TxPDOs only) CANSDO

Event Time (with TxPDOs only) CANSDO

Apply Changes: The changed mappings are transmitted to the servo amplifier. Now the data will be

checked.

Reload Settings: Communication parameters are reloaded from the servo amplifier.


Motor / Feedback

Available with "Quick Motor/Drive Setup" only. Simplified setting of the motor related parameters. The quick

setup of the parameters makes the tuning of the motor/amplifier combination in the application much easier.

Special motors must be defined with the during the "Complete Setup" with Custom Motor Parameters on the

screen "Motor".

Depending on the selection of rotary or linear motor the screen looks different.

Rotatory Motors

Resolver is fixed to 2 pole in the Quick Motor/Drive Setup.

Change "pole n°" on feedback screen in Complete Setup later, if required.


Feedback Type FBTYPE

Encoder Lines ENCLINES (with encoder feedback only)

Motor: Select from Database... Click the button "Select from Database...".

Open the database file (mdb_ _ _.csv) and select the used motor out of the

list.

Brake MBRAKE

Calculated Quick Tuning If you know the Load-to-motor inertia ratio, enter the number and select the

desired servo performance. If you don't know the inertia ratio, select "Do not

tune".

Load-to-Motor Inertia Ratio This value is the basis for calculating the velocity loop gain parameter.

Desired Servo Performance This category is used for calculating some parameters of the current loop.


Linear Motors

If you select a linear motor, the screen changes.



Encoder Lines ENCLINES (with encoder feedback only). Click Calculate for calculating the

encoder lines.

Motor: Select from Database... Click the button "Select from Database...".

Open the database file (mdb_ _ _.csv) and select the used motor out of the

list.

Brake MBRAKE

Calculated Quick Tuning If you know the Load-to-motor inertia ratio, enter the number and select the

desired servo performance. If you don't know the inertia ratio, select "Do not

tune".

Load-to-Motor Inertia Ratio This value is the basis for calculating the velocity loop gain parameter.

Desired Servo Performance This category is used for calculating some parameters of the current loop.

Fill in the Encoder signal period and click "Calculate ENCLINES....". The calculated value is used for ASCII

parameter ENCLINES.


Feedback

Select the feedback unit that is part of your motor.

The Offset compensates the mechanical error of the feedback unit in the motor. Change these parameters

only while the servo amplifier is disabled.

Warning !

An incorrect setting can cause the motor to run away, even with a speed setpoint n=0 !



Wake & Shake Peak Current* REFIP2

Offset MPHASE

Count direction DIR

Angle of Rotation PRD

No. of poles MRESPOLES

Bandwidth MRESBW

Observer Feedforward VLO

*field appears only with "Wake & Shake" feedback selection.



Motor

Setting the motor-related parameters .

Motor data saved in the servo amplifier:

Select the motor type being used from the Motor Family selection list. In doing this, you also limit the indi-

vidual motors displayed to those of a single motor family. Now select your motor in the Number-Name field.

Motor data saved in an external file:

Select a motor from an external database file (“Select Motor from Database” button). If your motor is not

included in the database, enter the parameters for a user-defined motor yourself.

The displayed parameters cannot be edited. If you want to change individual data, do so via the “Custom

Motor Parameters” button.


Motor Type MTYPE

Io MICONT

Io max MIPEAK

El. Thermal Time Constant motor-dependant constante

Max. Speed MSPEED

Motor-Family selection of a motor family stored in the servo amplifier

Number - Name MDBLIST

No. of Poles MPOLES

L ML

Stator Winding Resistance MRS

Brake MBRAKE

Pole-Pair Pitch MPITCH (with PM Linear Motor only)


Select Motor from Database

Open the database (usually with CSV format).

All available records are listed. You can select two filter criteria for reducing the number of listed records.

Select the requested record. You can view the record parameters and check them.

If everything is ok, click "Select and Return". The record data are transmitted to the corresponding parame-

ters in the setup software.

Custom Motor Parameters

Setting parameters for a customer-specific motor.


Motor Type MTYPE

Linear Motor Type (with PM Linear Motor only)

Motor Name MNAME

Cont. current MICONT

Peak current MIPEAK

Maximum Speed MSPEED

Motor Poles MPOLES

Pole-Pair Pitch MPITCH (with PM Linear Motor only)

Motor torque constant

(Force conctant with linear motors)

MKT

L, line-to-line ML

Stator Winding Resistance MRS

Motor inertia MJ

Brake MBRAKE

Disable delay (brake) TBRAKE

Enable delay (brake) TBRAKE0

Thermistor Switch-off Treshold MAXTEMPM


Max. allowed line voltage VBUSBAL

Hints for evaluating motor parameters: see chapter Tuning of an unknown motor.


Current Loop

Parameters for tuning the current loop. Usually changes are not necessary, if the motor dataset is correct.


Ipeak (pos.) IPEAKP

Ipeak (neg.) IPEAKN

Homing Ipeak REFIP

I²t Warning I2TLIM

Proportional Gain (Kp_i) MLGQ

Integral Time (Tn_i) KTN



Velocity Loop

Parameters for tuning the velocity loop. Usually changes are not necessary, if the motor dataset is correct.


Speed Limit (pos.) VLIMP

Speed Limit (neg.) VLIMN

Overspeed VOSPD

Acc. Ramp ACC

Dec. Ramp DEC

PI-Plus GVFR

Gain (Kp_v) GV

Integral Time (Tn_v) GVTN

LP-Freq. ARLPF

2nd LP-Freq. ARLP2

HP-Freq. ARHPF

Deceleration/Disable Behavior


Deceleration/Disable Behavior (Error) ACTFAULT

Dec. Ramp DECSTOP

Deceleration/Disable Behavior (Disable Command) STOPMODE

Dec. Ramp DECDIS



Position Loop

Position loop setting. You can select for example, whether the position control works with an external feed-

back system or with the motor-feedback system. The example above shows the screen for a selected

secondary position feedback.


FF Factor v GPFFV

Proportional Gain (Kp_p) GP

Secondary Position Feedback EXTPOS

Count Direction DIR

Lines per Rev.

(only with sec. position feedback >0)

ENCLINES

Gear Ratio (nominator)


EGEARO

Gear Ratio (denominator)


EGEARI



Position Data

Adjust the position control for the requirements of your application.


Axis Type POSCNFG

Modulo Direction of Motion DREF

max. Following Error PEMAX

In Position Window PEINPOS

Modulo Start Pos. SRND

t acc/dec min PTMIN

v max (pos.) PVMAXP

v max (neg.) PVMAXN

Modulo End Pos. ERND

Software Limit Switch No.1 (neg.) SWCNFG

at Position No.1 SWE1

Software Limit Switch No.2 (pos.) SWCNFG

at Position No.2 SWE2

The method of positioning the software limit-switch can be seen in the diagram below:

Legend

MA1 : Machine stop, left

HE1 : Hardware limit-switch, left

NI : Zero pulse initiator (reference)

SE1 : Software limit-switch 1

SE2 : Software limit-switch 2

HE2 : Hardware limit-switch right

MA2 : Machine stop right

+ : Positive count direction

- : Negative count direction



Position Registers

Exceeding or falling of up to 16 position values in the motion way can be monitored. The actual position is

visible as well. You can report the status of the position registers with a digital output (see Screen page

Digital I/O)

Hints for setting up cams see chapter Camming.


Positions Registers WPOS

Check WPOSX

Enable WPOSE

Signal, if WPOSP

Pos. P1...P16



Electronic Gearing

If the servo amplifier will follow a setpoint as a slave with a gear ratio, you can select the gearing source

here and define the gear ratio.


Ext. Gearing Source GEARMODE

Count Direction DIR

Gear Ratio (nominator) GEARO

Gear Ratio (denominator) GEARI

Input Filter GEARFILT



Encoder Emulation

With S700 this function is available only if the expansion card "PosI/O-Monitor" is installed.

Incremental Encoder (ROD, A QUAD B)

Select the encoder emulation (position output, A quad B in the sample).


Encoder Emulation ENCMODE

Resolution ENCOUT

Zero Pulse Offset ENCZERO

Absolute Position Encoder (SSI)

Select the encoder emulation (position output, SSI in the sample).


Encoder Emulation ENCMODE

Transmit Timeout SSI SSITOUT

No. of Bits (Multi / Single Turn) SSIREVOL

SSI Code SSIGRAY



Analog I/O

Assign predefined functions to the analog inputs of the servo amplifier.


Analog Inputs ANCNFG

Offset Input 1 ANOFF1

Current Scale Input 1 ISCALE1

Velocity Scale Input 1 VSCALE1

Offset Input 2 ANOFF2

Current Scale Input 2 ISCALE2

Velocity Scale Input 2 VSCALE2

Filter Input 1 AVZ1

Velocity command deadband ANDB



Digital I/O

Assign predefined functions to the digital inputs and outputs of the servo amplifier.

Depending on the function, you can input a value or there is an additional button for an extended input

screen.

Inputs 21/22 are available with S700 only. This servo amplifier offers two bi-directional interfaces, which can

be used as input or output dependant on the selected function.The setting of these inputs are bolted with

the correspondent outputs.


Input IN1MODE (Sample for Input 1)

Value IN1TRIG (Sample for Input 1)

Output O1MODE (Sample for Input 1)

Value O1TRIG (Sample for Input 1)

OPMODE Configuration (INxMODE 24)


The operation mode of the servo amplifier is switched over by a digital input. The signal status (high or low)

is evaluated. Select the OPMODE setting.

Configure Velocity Time (INxMODE 39)


Jog IN1TRIG (Sample for Input 1), bit 0...15

for time IN1TRIG (Sample for Input 1), bit 16...31

Configure Command Buffer (INxMODE 30)

Input of the ASCII command list for execution. Depending on the edge of the input signal, the command lists

can be different.

Application examples for using INxMODE30 are listed here.


Command list, positive transition IN1HCMD (Sample for Input 1)

Command list, negative transition IN1LCMD (Sample for Input 1)

Configure Mask for TRJSTAT (OxMODE 38/39/50/51)

The TRJSTAT command returns the internal status information in the form of a bit-variable.

The status information 3...15 and 27...31 are primarily used for internal functions. Bits 0...2 and 16...26 can

be used for external functions (control system). Select the information in the bit mask that you want to

observe. The bit mask is compared with the bit variable contents according to the selected logic (AND, OR,

NAND, NOR). The digital output is set if the result is a logical 1.

Configure Mask for DRVSTAT (OxMODE 36/37/48/49)

The DRVSTAT command returns the internal status information in the form of a bit-variable. Select the

information in the bit mask that you want to observe. The bit mask is compared with the bit variable contents

according to the selected logic (AND, OR, NAND, NOR). The digital output is set if the result is a logical 1.

Configure Mask for POSRSTAT (OxMODE 40/41)

The POSRSTAT command returns the actual status of the fast position registers. Select the information in

the bit mask that you want to observe. The bit mask is compared with the bit variable contents according to

the selected logic (AND, OR). The digital output is set if the result is a logical 1. An example for using posi-

tion registers can be found here.

The functionality of the position registers can be setup on the screen page POSITION REGISTERS.


Motion Service

Be aware that the actual position of the load permits the subsequent positioning opera-

tions. The software limit-switches that were set as parameters are inactive, depending on

the operation mode. The axis could move to the hardware limit-switch or the mechanical

stop. There is a risk of damage.

Observe the "safe reduced speed" requirements for your application!

You can move the drive with constant speed (jog mode). The drive moves with the preset speed when the +

or – button is pressed. It stops when the button is released.

Jog (digital velocity mode checks parameters in velocity controller)

Jog mode in OPMODE 0.

positive speed

negative speed

Fill in the speed (dimension: speed in velocity loop)

Jog (position motion tasks mode checks parameters in position controller)

Jog mode in OPMODE 8.

positive speed

negative speed

Fill in the speed (dimension: speed in position loop)



Status (Errors/Warnings)

The actual error status and the run time monitor of the servo amplifier are displayed here. Compare to the

runtime status you can simply calculate when an error occurrs.

Top left is the error history with the time (run time) when the error occured. Top right is information about

the frequency for every error. Below these frames, the actual errors and warnings are listed.

You can find a list of all warnings and error messages in the appendix.



Monitor

All important parameters are displayed.

Additionally, you can see the value of 3 parameters. Fill in the ASCII names of the parameters you want to

see.

Drive-I²t-Load The actual effective load is shown as % of the preset amplifier's effective

current Irms.

Motor-I²t-Load The actual effective load is shown as % of the preset motor's standstill current

Io.

Effective Current This shows the value (in A) of the actual current indication (r.m.s. value, always

positive).

D Component Shows the value (in A) of the current D-component (Id, reactive current) of the

current indication.

Q Component Shows the value (in A) of the current Q-component (Iq, active current) of the

current indication. The sign that is displayed is negative in regenerative opera-

tion (motor under braking).

Bus Voltage The DC-link (DC-bus) voltage produced by the amplifier is shown in V.

Regen Power The mean value (calculated during 30s) of the regenerative power is shown in

W.

Heat Sink Temperature The temperature of the heat sink in the servo amplifier is shown in °C.

Internal Temperature The temperature inside the servo amplifier is shown in °C.

Motor Thermistor

Resistance

The actual resistance in ohms is shown, if a PTC resistor is used in the motor

winding. The value can be used to calculate the actual motor winding tempera-

ture. If a thermo switch is used, absolute temperature cannot be evaluated.

Angle of Rotation Displays the actual angle of rotation of the rotor in "°mech" or in "counts"

referred to the mechanical zero point of the measuring system.

Indicated is the absolute position within one turn of the motor axis.

The dimension "counts" is a hexadecimal number with 20 bits accuracy (that

means 1 turn ~ 220-1 counts).

Actual Velocity Displays the actual rotational speed of the motor in rpm.

Velocity Command Displays the currently set speed in rpm.

Position Shows the momentary position in user units.

Following Error Shows the momentary following error in user units.


User-defined Variables

to monitor

You can see the value of 3 parameters. Fill in the ASCII names of the parame-

ters you want to see.

Analog Inputs Displays the actual voltages (in mV) at the setpoint inputs.

Digital Inputs/Outputs Displays the current status of the digital inputs and outputs.


Homing

Homing (reference traverse) is an absolute task that is used to zero the drive for subsequent positioning

operations. You can choose between various types of homing.

After homing, the drive reports "InPosition" and then enables the position controller in the servo amplifier.

The limit switch functions: 2, PSTOP and 3, NSTOP must be activated for digital inputs 3 or 4 to achieve full

homing functionality.

Be sure that the zero point of the machine (reference point) is in a position that allows

the subsequent positioning operations. The software limit-switches that were set as

parameters may be ineffective. The axis could move to the hardware limit-switch or

even the mechanical stop. There is a risk of damage.

If the reference point (zero point of the machine) is approached with excessive velocity,

(for instance, because of high moments of inertia), it may be overshot and, in the worst

case, move to the hardware limit-switch or even the mechanical stop. There is a risk of

damage.

The position controller cannot be operated without first making a homing. A homing

must be made after the 24 V auxiliary voltage has been switched on. The start signal

must not be removed during homing. The start signal must remain present until the

"InPosition" message appears.

The SW-enable is set automatically when homing starts. Homing is only started in

OPMODE 8. However, the SW-enable is set in all OPMODES. The drive can be acceler-

ated by an analog setpoint that is applied, if the START command is executed in

OPMODE 1 or 3.


Homing Type (NREF)

You can choose which type of homing should be performed.

No Function Reference point is

0 Set Home Reference immediately the setpoint position

1 Home Switch and Zero Pulse the first feedback zero-mark outside the home switch

2 Limit Switch and Zero Pulse the first feedback zero-mark outside the limit switch

3 Home Switch without Zero Pulse the edge of the home switch

4 Limit Switch without Zero Pulse the edge of the limit switch

5 within one Revolution and Zero

Puls

the next feedback zero-mark

6 Set Ref.Point immediately on

Position Command

the actual position

7 Move to Mechanical Stop (Ref.

Ipeak) and Zero Pulse

the first feedback zero-mark outside the mechanical stop.

Peak current is limited to Homing Ipeak during the movement.

(see screen page "Current Loop").

8 Move to an absolute SSI-Position the read position from the SSI input at the beginning of the

homing

9 Move to Mechanical Stop (Ref.

Ipeak) without Zero Pulse

the actual position, when the drive is at the mechanical stop and

the following error reachs 50% of the max. allowable following

error.

Peak current is limited to Homing Ipeak during the movement.

(see screen page "Current Loop").

Homing Speed (VREF)

Speed for the homing operation. The sign is automatically fixed by the selected direction of motion.

Acc. Ramp (ACCR)

Acceleration ramp for homing operation. This ramp is also valid for jog mode.

Dec. Ramp (DECR)

Deceleration ramp for the homing operation. This ramp is also valid for jog mode. This deceleration ramp is

only used if the operating mode allows it. For homing to a hardware limit-switch, the emergency ramp is

used.

Direction of Motion (DREF)

Determines the direction of motion for homing. The setting "distance-dependent" is only relevant for Homing

5 (within one turn). In this case, the direction is chosen to give the shortest distance to the zero-mark. This

parameter also defines the direction of motion for a Modulo type of axis.

Offset (ROFFS)

With the reference offset you can assign an absolute position value other than 0 to the reference point. With

an offset for the reference position, you are not actually making a physical change, but the offset is used as

a reference value within the position control of the servo amplifier. Homing to the reference switch does not

finish at zero, but at the preset reference offset value.

The reference offset must be set before homing is started.

Homing type 0

Sets the reference point to the setpoint position (the following error is lost). The load does not move.

Homing type 1

Before starting homing, check the safety of the system since the load may move even if

the limit-switches are disconnected or defective.

Homing without limit switches, with homing switch, with feedback zero

Negative traverse, positive count direction Negative traverse, negative count direction

Homing with limit switches, with homing switch, with feedback zero

Negative traverse, positive count direction

Positive traverse, positive count direction

Homing type 2

Homing with limit switches, without homing switch, with feedback zero



Homing type 3

Before starting homing, check the safety of the system, since the load may move, even if

the limit-switches are disconnected or defective.

Homing with limit switches, with homing switch, without feedback zero



Homing type 4

Homing with limit switches, without homing switch, without feedback zero



Homing type 5

Behavior for successively repeated starts of Homing 5:

The position controller can only hold the motor in the zero position by passing the zero

mark by ± 1 count. On a repeated start of Homing 5, depending on the position (1 count in

advance of or 1 count behind the zero-mark) and the count direction, the movement may

be a full motor turn!

Homing with limit switches, without homing switch, with feedback zero

Negative traverse, positive count direction Positive traverse, positive count direction

Homing type 6

Sets the reference point to the actual position (the following error is not lost). The load does not move.

Homing type 7

Using this type of homing can damage the mechanical stop on the machine. The peak

current, Ipeak, and the continuous current, Irms, are limited for the duration of the homing

run.

A more severe limiting of the current is possible. (see parameter Homing Ipeak on screen

page "Current Loop").

Mechanical stop, without limit switches, without homing switch, with feedback zero


Homing type 8

Prerequisite: an absolute encoder (SSI) is connected to to the encoder input X1 of the servo amplifier. When

the homing starts, the absolute position is read at connector X1. The reference point is set to this position.

The load does not move.

Homing type 9

Using this type of homing can damage the mechanical stop on the machine. The peak

current, Ipeak, and the continuous current, Irms, are limited for the duration of the

homing run.

A more severe limiting of the current is possible. (see parameter Homing Ipeak on

screen page "Current Loop").

Mechanical stop, without limit switches, without homing switch, without feedback zero


The meanings of the abbreviations in the drawings are:

N Limit switch NSTOP P Limit switch PSTOP SP Start position

R Homing switch vref preset velocity NM feedback zero mark


Motion Task

Overview

For each positioning task, you must define motion tasks. These motion tasks are selected by a motion task

number and stored in the servo amplifier.

Motion task No. Memory Preassumption Note

1...200 EEPROM Output stage disabled permanently stored

201...300 RAM none volatile storage

When the servo amplifier is switched on, the RAM motion blocks 201...300 are automatically pre-loaded

with the parameters of the EEPROM motion blocks 1...100.

All motion tasks are represented in tabular form. All motion task parameters can be entered in the table

directly. The standard Windows operations are available (Cut, Copy, Paste, Delete).

The clipboard operations cut, copy and paste are only possible for complete rows so, for these operations,

the appropriate row must be selected. Deletion is possible both, row- and cellwise. A line can be selected

either by clicking on the row number, or through the keyboard shortcuts <Shitft>+<Space> (similar to Micro-

soft Excel).

Double-clicking a line number in the table opens the screen page for the associated motion task.

The SW-enable is automatically set when the motion task starts. The motion task is only

started in OPMODE 8. However, the SW-enable is set in all OPMODES. The drive can be

accelerated by an analog setpoint that is applied, if the START command is executed in

OPMODE 1 or 3.

The motion task is not started if the target position is beyond the defined SW-limit swit-

ches (warning messages n06/n07 and n08)


Edit

Number

Displays the active motion task number.

Trajectory/Profile (O_C)

Determines which type of acceleration/braking ramp is used to carry out a motion task.

trapezoidal The drive is given a constant linear acceleration/deceleration to the target speed.

table The acceleration/braking ramps can be adjusted with a customer profile stored previously

in the servo amplifier.

acc. (sine²) To limit any jolting, the drive is accelerated/decelerated within the acceleration time along

an acceleration ramp without any disruptions. The resulting speed characteristic corre-

sponds to a sine² curve. The profile is stored in a table in the servo amplifier.

Table / Acc. No. (O_TAB)

Selection of a velocity profile from the table selected by trajectory. You can get more information on this topic

in chapter Application notes.

v_cmd (O_V)

This parameter determines the velocity of movement for digital setpoint provision. If v_max is set to a value

less than v_cmd at a later time, the position controller uses the smaller value.

Analog In 1

Analog setpoint provision at input An In 1 (terminals X3/4-5, is used. The value is read at the start of the

motion task.

Acceleration (O_ACC)

This parameter determines the acceleration ramp steepness, depending on the selected units.

Decelaration (O_DEC)

This parameter determines the deceleration ramp steepness, depending on the selected units

Motion Type (O_C)

This selection determines whether the motion task is interpreted as a relative or an absolute task.

ABS movement to an absolute target position, relative to the reference point.

REL cmd relative to last target (setpoint) position (in connection with motion block

changeover: e.g., summing operation)

REL act relative to actual position at start (in connection with motion block chan-

geover: e.g., register control)

REL InPos when the load is in the InPosition window: relative to last target position

when the load is not in the InPosition window: relative to actual position at

start

REL Latch pos. contact our applications department.

REL Latch neg. contact our applications department.

Target position / Distance (O_P)

This parameter defines the distance or the target position, depending on the motion type.

Units

Unit for path and speed entries. See screen page "Units/Mechanical"

Next Motion Task

Select whether a new motion task should be started automatically, after the present task is complete. The

InPosition signal is only enabled when the last motion task (no further task) is processed.

You can use the output function "16, Next-InPos" to generate a signal at a digital output when each target

position within a sequence of motion tasks has been reached.

Next Number

The number of the next task, which starts automatically after the current task is complete.Start Condition (O_C)

immediately The next task is started as soon as the target position is reached.

I/O The next task is started by a signal at a digital input. This is only

meaningful with "Motion blending type a".

Condition: the digital input must have the function "15, Start next Motion

Task" assigned, and the target position must have been reached.

You can preselect the logic using the "Start with" parameter.

Time The next task is started with a defined delay after the target position has

been reached. You can enter the delay time using the "Delay time" para-

meter. This is only meaningful with "Motion blending type a".

I/O or Time The next task is started by a signal at a digital input or after a defined

delay. This is only meaningful with "Motion blending type a".

The trigger is the event that occurs first (the start signal or the end of the

delay time) Condition: the digital input must have the function "15, Start

next Motion Task" assigned, and the target position must have been

reached. You can preselect the logic using the "Start with" parameter,

and enter the delay time using the "Delay time" parameter.

Start by I/O edge (O_C)

The logic for the digital input that has the function "15, Start next Motion Task" assigned to it.

LOW-level: 0 ... 7 V

HIGH-level: 12 ...3 0 V / 7 mA

Delay Time (O_FT)

The entry (in ms) for the delay time between reaching the target position and starting the next task.

Motion blending

Select the action to be taken when the target position for the present motion task is reached.

a The drive brakes to a stop in the target position. The next motion task is started.

b The drive moves at v_cmd of the present motion task to the target position, and

accelerates through to v_cmd of the next task.

c The changeover to the next task is brought so far forward that the v_cmd of the

next task is already reached by the time the target of the present motion task is

reached.

Clear Motion Task

Deletes the motion task from the table.


Oscilloscope

Channels

Cycle time for the measurement acquisition � 250 µs�

Resolution

The number of measured points per time unit (storage depth). Setting: fine, normal, coarse

Time/Div

Scaling of the time axis. Select the time/division. Setting: 1 ... 5000 ms/div

Total length of the time axis: 8 * x ms/Div

Channel 1 to 4

Assignment of the displayed variables to the channels.

I_act Actual torque (current)

I_cmd Torque setpoint

v_act Actual velocity

v_cmd Velocity setpoint

P_act Actual position

P_cmd Position setpoint

PERROR Position error

VBUS DC-link (bus) voltage

Off Channel is not used

user-defined Macro Variable


If you select "user-defined" you can display the value of a MACRO parameter. For channel 4 for example this

screen appears:

Fill in the macro variable name (see selection of macro variables below).

Macro Variable

(selection)

Short Description

ERRCODE Error state variable (see ERRCODE)

STATCODE Drive state variable (see STATCODE)

TRJSTAT Trajectory state variable (see TRJSTAT)

ADVAL0…15 Analog input values

ADVAL0 Cosine resolver

ADVAL1 Sine resolver

tADVAL2 Motor current Ia

ADVAL3 Motor current Ib

ADVAL4 Sine encoder

ADVAL5 Cosine encoder

ADVAL6 Analog setpoint 1

ADVAL7 Analog setpoint 2

ADVAL8 Motor temperature

ADVAL9 Heatsink temperature

ADVAL10 Environments temperature

ADVAL11 Sense voltage encoder

ADVAL12 n.c.

ADVAL13 DC bus link voltage

ADVAL14 n.c.

ADVAL15 n.c.

SIENC Normalised sine encoder +/- 1350 <> 1Vss

COENC Normalised cosine encoder +/- 1350 <> 1Vss

SR_RXDE Zero pulse port for NREF = 5

SR_HALL Hall segments port

PFBL Position Feedback 64 Bit size. The lower 32 bits includes the position within a

revolution, the upper 32 bits counts the number of revolutions.

S_SETL Position setpoint 64 Bit size. The lower 32 bits includes the position within a

revolution, the upper 32 bits counts the number of revolutions.

PFB Position Feedback (PRBASE size)

S_SET Position setpoint (PRBASE size)

S_SETH Sercos position setpoint (1 Revolution = 2^20)

PTARGET Target position for the last/current motion task (PRBASE size)

PSPEED Actual velocity setpoint in counts/250µsec

PSPEEDMS Actual velocity setpoint in counts/250µsec for master/slave trajectory

PSPEED3 Actual velocity setpoint for internal motion task trajectory

PENDSPEED End velocity setpoint for the actual motion task

MOVEP_NR Number of the last/actual motion task

NIZFLAG State of the external zero pulse

PSTOP State of the PSTOP limit switch

NSTOP State of the NSTOP limit switch

INPUT1…20 State of the hardware/software input 1…20

OUTPUT1...18 State of the hardware/software output 1..18

HARDENA State of the hardware enable

EN_P_I State of the power stage (1=enabled, 0=disabled)

NET_BTBI State of the net BTB

ENABLE_I State of the internal enable signal

SOFTENABLE State of the software enable

EN_BRAKE_I Brake state (1=open, 0=closed)

PRD Feedback position inside one revolution

IVORCMD Current feed forward (3280 = DIPEAK)

PBAL Regenerative power actual value

SR5VINCR Pulse counter for X5 Master / Slave (5V)

SR24VINCR Pulse counter for X3 Master / Slave (24V)

Auto-scale

For each channel the range of measurement can be selected: automatically (Auto checkbox is active) or

manually (Auto checkbox is inactive, and min./max. values have been entered).

Auto-Scaling Mode

You can select standard or min/max scaling.

Trigger

Trigger signal

The current and speed variables can be used as trigger signals. In addition, "Direct" can be used for imme-

diate (independent) triggering. The setting "user-defined" enables manual entry of an ASCII variable.

Trigger position

X-value for triggering (time axis)

Trigger level

Y-value for triggering

Trigger edge

Triggering on the rising or falling edge

Recording / Scope File

Save

Saves the recorded measurements to a data medium in CSV format (to be evaluated with MS-Excel).

Load

Loads a CSV data file and displays the curves on the oscilloscope diagram.

Mem

If this is active when a new curve is recorded, the previous measurement is saved so a comparison can be

made between the two measurements. The previous measurement curve is displayed in a darker color than

the latest curve. The measurement range settings must be identical for both measurements. If not, the

"Mem" checkbox is de-activated and locked.

Show interpolated values

If the chackbox is activated, intermediate values between the mearured values are interpolated.

Current plot file

Displays the filename and location of a loaded CSV file.

Motion Service

Be sure that the actual position of the load permits the subsequent positioning opera-

tions. The software limit-switches that were set as parameters are inactive, depending on

the operation mode. The axis could move to the hardware limit-switch or even the mecha-

nical stop. There is a risk of damage.

Function

Select one of the service functions described below. Click on the "Parameter" button and set the corre-

sponding parameter. Start the function using the START button. The function continues until you click the

STOP button.

Direct current Apply a direct current to the motor with adjustable size and electrical field-vector angle.

The changeover from speed control to current control is made automatically. Commuta-

tion is made independently of the feedback (resolver or similar). The motor locks into a

preferred position.

Speed Operates the drive at constant speed. An internal digital setpoint is provided (speed is

adjustable).

Torque Operates the drive with constant current (constant acceleration). An internal digital

setpoint is provided (current is adjustable). The changeover from speed control to current

control is made automatically. Commutation is made independently of the feedback

(resolver or similar).

Reversing Operates the drive in reversing mode, with separate adjustable speed and reversing time

for each direction of rotation.

Motion Task Starts the motion task, which is selected on the screen page "Service Parameters"

Zero Function for the automatic setting of the feedback unit phase, according to the phase

position of the motor. Operation mode switches to OPMODE2 .

With service functions "Direct Current" and “Zero,” the motor shaft moves into

preferential position. It can move rapidly to get arrive there.

Start / Stop Start / Stop the selected service function.

Parameters

Adjust the service function parameters.

Tuning

Some variables important for the control behavior are combined here. You can tune the servo amplifier

without closing the oscilloscope screen page.

Kp_v GV

Tn_v GVTN

LP Freq. ARLPF

2nd LP Freq. ARLP2

HP Freq. ARHPF

Kp_p GP

Velocity FF GPFFV

Current FF GPFFT

Resolver BW MRESBW

Observer FF VLO

Recording

Start/Stop

Start/stop of data recording

Refresh

Reloads and displays the last recorded scope data from the servo amplifier, if these are not

deleted yet.

Restore Oscilloscope Defaults

Resets all functions of the screen page to the default values.

Cursor functionality

When a data set is displayed (from a file, or by starting a recording), the measured values for the signals

are displayed in the co-ordinate system for the selected time period by a mouse click. A click outside the

coordinate system, or a click while pressing the shift-key, resets the values in the display to zero.


Bode Plot

This function is reserved for engineers and technicians who are experienced in control

technology. As soon as the confirmation query is confirmed, movement immediately

starts automatically using the internal setpoint provision !

Appropriate training is available on request.

With the help of the Bode plot, you can analyze and optimize the speed controller, taking into account the

mechanical characteristics of the machine.

The Bode plot draws the frequency response of the speed controller. The system is stimulated by a sinu-

soidal input variable. The output variable has the same frequency, but a different amplitude and some

degree of phase shift.

The relationship between the amplitude as a function of frequency (amplitude response) and the phase shift

as a function of frequency (phase response) provides a complete description of the dynamic characteristics

of the control loop.

Amplitude response

The amplitude response is the frequency-dependent amplitude characteristic (gain), shown on a logarithmic

scale.

Phase response

The phase response is the frequency-dependent phase-shift characteristic.

The following characteristic data are used for a qualitative description of the open loop frequency response:

Phase reserve (open loop)

The spacing between the phase characteristic curve and the -180° phase-shift line at the cut-off frequency,

i.e. the frequency at which the amplitude characteristic (gain) has fallen to 0 dB.

Amplitude reserve (open loop)

The spacing between the amplitude characteristic (gain) and the 0 dB level at a phase shift of -180°.


The characteristics of the closed control loop are evaluated with the aid of the Bode plot, using the expres-

sions "bandwidth" and "peaking":

Bandwidth (closed loop)

Bandwidth is the range of frequencies limited by the frequencies where the logarithmic amplitude character-

istic (gain) falls off by -3 dB.

Peaking (closed loop)

The expression "peaking" describes an overshoot of the closed control loop, corresponding to the maximum

in the amplitude response.

Bode Plot

Starts recording the data.

Parameter…

Call up the screen page "Bode Plot Parameter". This page is used to define the frequency range and the

number of steps.

Switch Open Loop / Closed Loop or Filter Function

“Open Loop / Closed Loop”

Amplitude and phase response of the open and closed loop are displayed.

“Open Loop / Filter Function”

Displayed are amplitude and phase response

- of the open loop

- of the filter

- of the open loop incl. filter (resulting curve)

This function can be used for filter simulation.

Configure (with Filter Function only)

Select the desired filter function. The filter parameters must be configured with the terminal screen.

PID-T2 Filter

PID-T2 filters can be used effectively to reduce the torque ripple and resonances from the motor, gearbox

and a coupled load.

ASCII parameters for this filter:

BQMODE = 2

ARLPF - LowPass-Frequency

ARHPF - HighPass-Frequency

1. Order Low Pass

Low-pass filters are used to suppress signals of higher frequencies (e.g. resonances and noise).

ASCII parameters for this filter:

ARLP2

Bi-Quad

Bi-quad filters can be used effectively to compensate resonances in a two-mass servo system. ASCII

parameters for this filter:

BQMODE = 3

ARLPF - LowPass-Frequency

ARLPD - LowPass-Damping

ARHPF - HighPass-Frequency

ARHPD - HighPass-Damping

Save

Saves the measurements that were recorded to a data medium in CSV format (can be evaluated by

MS-Excel).

Load

Loads a CSV file and displays the curves in a diagram.

Update

Loads and display the latest set of recorded data.

Cursor Function

When a set of data is displayed (from a file, or by starting a recording), a mouse click in the coordinate

system displays the measured values for the signals at the selected time. A click outside the coordinate

system sets the display values back to 0.

Example

open loop response

closed loop response

The Bode plot shows the reactionof the amplifier/motor/load systemwhen excited with differentfrequencies.

Frequencies in the motor controlmust be damped or boosteddepending on the curves.

if the closed loop response showsovershot

if the closed loop response followsthe open loop.

if the closed loop response doesn'treach the open loop.

Damp:

Unchanged:

Boost:

Gain margin28dB

Bandwidth 184HzPhase margin 110°

Crossover frequency

Phase margin ~ Damping of the systemHigh Phase Margin = High Damping / High Stability

Gain margin ~ Damping of the systemHigh Gain Margin = High Damping / High Stability

Bandwidth ~ System responseHigh Bandwidth allows high dynamics

Bode Plot Explanation

Gain plot

Phase plot


Terminal

Communication with the servo amplifier is made through ASCII commands. A complete object reference is

part of the online help or can be downloaded from our website.

Commands sent to the servo amplifier are marked by "-->". The answers from the servo amplifier appear

without any preceding characters.

The last 500 lines are displayed.

Command

Enter the ASCII command here, with the parameters. End the entry with RETURN or use the APPLY button

to start the transmission.

The terminal software should be used only by experts. In many instances, there will be no confirmation

query.

Pressing the F3 function key recalls the last commands (max last 100 commands).



I/O Expansion Card

This screen is avalable only if an I/O expansion card is inserted into the servo amplifier.

The status of the 14 additional inputs and 8 outputs is displayed here.

Inputs: Function INxMODE withx={5...18}

Outputs: Function OxMODE with x={3...10}

Clicking the "..." buttons opens a configuration screen for assigning functions to the programmable I/Os.



SERCOS Expansion Card

This screen is avalable only if a SERCOS expansion card is inserted into the servo amplifier.

Configuration of the SERCOS interface for proper communication with the master.

Set the cable length (max. 45m, important for optical power) and the baud rate (see installation manual of

the servo amplifier).

If the optical power is not adjusted properly, there will be errors in the telegram transmission, and the red

error LED on the drive lights. In normal communication, the green transmit and receive LEDs flash very fast,

the LEDs seem constantly lit.

For further information for installing a SERCOS system, see the SERCOS documentation and our applica-

tion notes available on our website.

Fiber Optic Cable Length

If the optical power is not adjusted properly, there will be errors in the telegram transmission. You can define

the cable length (in meter) for a standard 1 mm² fiber optic cable.

0 m Very short connection

1 m…< 15 m Length of the connection with a 1 mm² plastic cable

15 m…<30 m Length of the connection with a 1 mm² plastic cable

� 30 m Length of the connection with a 1 mm² plastic cable

Baud Rate

If the baud rate is not adjusted correctly, communication will not work. Adjust the baud rate in MBaude here.

Address

The actual amplifier address is indicated (Setup see CAN/Fieldbus).

Phase

The actual phase of the SERCOS transmission is indicated.

Cycle time

Actual cycle time is indicated.


Monitor IDN

No.

Enter an IDN here, which is then cyclically updated (example: to watch IDNP 3036 the number has to be

3036!). This is used as the internal “service channel”.

Value

The value of the monitored IDN. For IDNs that contain lists, only the list length is displayed.

Product SERCOS settings

Error if HW Limit Switch is signaled (IDNP 3015)

This function is used to set the behavior on reaching the hardware limit switch.

Faults which require a Coldstart will not clear (IDNP 3016)

This function can be used to prevent faults from being cleared when a reset command is given. This applies

to faults that normally require a coldstart to clear.

Allow SW Enable before HW Enable (IDNP 3028)

Allows enable via SERCOS to be set before the hardware enable. Otherwise error F29 is generated.

Enable Acceleration Feedforward (IDNP 3052)

The feed forward gain calculated by the amplifier can be modified via the ASCII parameter GPFFT or IDN

348.

Standard SERCOS settings

Invert Position Command Value (IDN 55)

The position polarity parameter is used to switch the polarities of position data. The motor shaft turns cloc-

kwise when there is a positive position setpoint difference and no inversion.

Invert Position Feedback Value 1 (IDN 51)

This function can be used to invert the polarity of the internal actual-position value.

Invert Position Feedback Value 2 (IDN 53)

This function can be used to invert the polarity of the external actual-position value.

Enable Position Limit Values (IDN 55)

Activates the software limit switches. Always active for linear position scaling.

Invert Velocity Command Value (IDN 44)

This function can be used to invert the polarity of the speed setpoint. The motor axis turns clockwise if a

positive speed setpoint is present without invert enabled.

Invert Velocity Feedback Value (IDN 43)

This function can be used to invert the polarity of the actual-speed value.

Enable Spline Interpolation (IDNP 3040)

Only when a cycle time of 500 µs is selected can spline interpolation be selected instead of linear interpola-

tion. Modulo must not be active.

Scaling Method

Rotary or linear.

Standard Scaling Type

Default or parameter scaling.

Scaling Units

Units for selected scaling.

Data Reference

The data reference can be to the motor shaft (internal feedback) or to the load (external feedback).

Processing Format

Modulo format

Bus Parameters

Telegram Type Parameter

Selected telegram type

Primary Operation Mode

Position, speed or current control

Position Control Parameters

Motor Feedback

Feedback to be used

External Feedback

Feedback to be used

Following Error Monitoring

Select operational mode with (default) or no internal velocity feed forward

Input revolutions of load gear

Gear ratio IDN 121.

Output revolutions of load gear

Gear ratio IDN 122.

Feed constant

Feed with linear scaling

Rotational Position Resolution

Increments per revolution.

Resolution of Rotational Feedback 1

Resolution of external feedback.


PROFIBUS Expansion Card

This screen is avalable only if a PROFIBUS expansion card is inserted into the servo amplifier.

The PROFIBUS-specific parameters, the bus status, and the data words in the transmit and receive direc-

tions (as seen by the bus-master) are displayed on this screen page. This page is helpful when searching

for errors and commissioning the bus communication.

The data for input/output are only transferred, if the threshold monitoring for the servo amplifier has been

activated in the master’s hardware configuration.

Baudrate The baud rate that is given by the PROFIBUS master is shown here

PNO Identnr. The PNO identification is the number for the amplifier in the list of ID-numbers of the

PROFIBUS user organization.

Address Station address of the amplifier (Setup see CAN/Fieldbus).

PPO type The amplifier only supports PPO-type 2 of the PROFIDRIVE profile.

Interface states Shows the present status of the bus communication. Data can only be transferred

across the PROFIBUS when the “Communication OK” message appears.

Input The last bus object that was received by the master.

Output The last bus object that was sent by the master.

The data for input/output are only transferred, if the threshold monitoring for the servo

amplifier has been activated in the master’s hardware configuration.

Important amplifier configuration parameters

The following parameters configure the amplifier for the Profibus interface.

EXTWD (PNU 1658)

With this parameter, the observation time (watch dog) for the fieldbus-slot communication can be set (setup

see CAN/Fieldbus). The observation is only active, if a value higher than 0 is assigned to EXTWD

(EXTWD=0, observation switched off) and the output stage is enabled. If the set time runs out, without the

watchdog-timer being newly triggered by the arrival of a telegram, then the warning n04 (response monito-

ring) is generated and the drive is stopped. The amplifier remains ready for operation and the output stage


enabled. Before a new driving command (setpoint) is accepted, this warning must be deleted (function

CLRFAULT or INxMODE=14).

ADDR (PNU 918)

With this command, the node address of the amplifier is set (setup see CAN/Fieldbus). When the address

has been changed, all parameters should be saved to the EEPROM and the amplifier switched off and on

again.

AENA (PNU 1606)

With this parameter, the state of the software-enable after switch-on can be defined (setup see BASIC

SETUP). The software-enable allows an external control to enable/disable the output stage. For amplifiers

with analog setpoints (OPMODE=1,3) the software-enable is set automatically after switch-on and the

devices are ready for operation immediately (if hardware-enable is present). For all others, software-enable

will be set to the value of AENA. The variable AENA also has functionality when resetting the amplifier after

an error (by digital input 1 or the CLRFAULT command). If an error can be reset by the software, the soft-

ware-enable is set to the value of AENA after the error is cleared. In this way the behavior of the amplifier

after a software-reset is similar to after the drive is switched on.

INPT0 (PNU 1904)

With INPT0 a delay for the in-position message can be set (setup see TERMINAL). With the start of a motion

task the in-position message is deleted and the monitoring of the position is activated after expiration of the

adjusted time. This function is particularly important for positioning procedures within the in-position window.

In this case the in-position message is delayed for a defined time.

Instrument Control

On this screen page the individual bits of the control word (STW) and the status word (ZSW) are shown.

The device status resulting from the status word is visualized in the status machine. The current status is

shown as black, all others are grey. Additionally the previous status is shown by emphasizing the number of

the appropriate arrow.


EtherCat Expansion Card

This screen is avalable only if a EtherCat expansion card is inserted into the servo amplifier.

This screen monitors:

- the current communication phase in the communication state

- the selected cyclic actual and command mapping

- the status of the CAN-over-EherCAT state machine

You can set several EtherCAT specific settings (see SERCSET). The current communication cycle time can

be set/read in steps of 250µs. The cycle time is usually set by the EtherCat control during the phase start

(see PTBASE).



Application Notes

Drive calculation

The drive calculation tools AnyDim can be found on the product CDROM.

For full functionality you must open the file with MS-Excel (not via a Web Browser). In the table you'll get

additional information in the cell comments (click on red triangle in the cell).



Macro Programming

We offer specific macro programs for specific applications. These functions must be paid for. Ask our

Customer Support for further information.

P/I-Control

For simple path controls with a dancer or pressing with a dynamometer.

Flying Saw

For basic functions of a flying saw with flexible cutting distance.

Torque-Coupling via field bus

Simple master Slave coupling with integrated Enable function.

Position-Coupling via field bus

Simple master Slave coupling with integrated Enable function.



Execute Command Sequences with INxMODE30

Command sequences can be stored in the command buffers. All commands listed in the ASCII reference

guide can be used. With the input function 30 (e.g. for Digital-In1: IN1MODE) the command sequence can

be started via one of the digital inputs.

Program one of the digital inputs with the input function 30 first, see screen page I/O-DIGITAL. Click the

button "Edit Command List" and fill in the command sequence to the command lines on the page "Configure

Command Buffer" for positive and/or negative transition of the input signal. An important parameter is TIME

[ms].

For deleting the command sequence fill in ECHO to the command line (default).

Example 1: Speed change-over

Positive transition

Enable EN

Move with 100 rpm J 100

Wait 100 ms Time 100







Disable K

Negative transition

Disable K


Example 2: Opmode change-over, avoids a stalling with hanging load

With positive or negive Transition

Switch to OPMODE 8

(Position Control)

OPMODE 8

Enable EN

Wait 1000 ms TIME 1000

Switch to OPMODE 0 OPMODE 0

Example 3: Screwdriver functionality

With every digital input two different speed/torque values can be changed over.

With positive transition

Enable EN

Peak Current Limit 1 A IPEAKP 1


With negative transition

Enable EN

Peak Current Limit 2 A IPEAKP 2



DMS-Inside : Soft-SPS & Motion Control

In process.



Autotuning

Several optimizing functions can be started in the terminal screen.

CTUNE Autotune function for the current control circuit. OPMODE must be set to 2.

OTUNE The command "OTUNE [data]" starts an optimizing function for the parameter VLO. VLO is a

parameter of the Luenberger Velocity Observer. Reducing VLO can result in an instable velocity

loop. "data" is the optimization frequency.

An extensive Autotuning function for all control loops is in process.



Setup of an unknown motor

Even without known motor and feedback data the drive can be configured. Set the parameters and functions

in the terminal screen (commands are presented in italic font).

Steps 1...8: Without load (Motor shaft must be accessible)

Step Analyse / Set Description

1 Brake / no brake Is it possible to turn the motor shaft manually (without gearbox or load)?

=> No: check if brake cable is connected to the servo amplifier

MBRAKE 1

=> Yes: MBRAKE 0

2 Direction of Feedback Open the Feedback Screen

Turn the motor shaft clockwise with hand. (look to the front of the axis)

Pointer rotate clockwise => OK

Pointer rotate unclockwise => Change two signal wires of the feedback

(SIN+ and SIN-).

3 Resolver pole pairs /

Encoder Enclines

Open the Feedback Screen

Turn the motor clockwise with hand. (look to the front of the axis)

Check: One rotation of the motor shaft = one rotation of the pointer

Yes => OK

No => change MRESPOLES for Resolver / ENCLINES for Encoder and

check again

4 Motor pole pairs OPMODE 2

MPOLES 0

Switch on main power, set AS-Enable, set HW-Enable

EN

T 0.3

The motor shaft takes a preferential position. Turn the motor shaft manu-

ally. Count the steps (x=steps/turn) within one turn, every step is one pole

pair.

MPOLES x

5 Commutation angle Danger! Don't touch the motor shaft!

With the Zero command the offset angle is measured.

OPMODE 2

EN

ZERO

ZERO

ZERO

SAVE

HSAVE ( for ENDAT and HIPERFACE feedbacks only)

6 Direction of commutation OPMODE 2

EN

T 0.1

T 0.2

T 0.3 ...

T 0.n ... until motor shaft rotates slowly

Clockwise => OK

Counterclockwise => change two motor wires (U2<->V2).


7 Smith Predictor Measure the phase-to-phase resistor (x in Ohm) and inductance (y in mH)

values for the motor or take the values from the motor label.

MRS x

ML y

K

FILTMODE 2

SAVE

COLDSTART

8 Proportional Gain

Current loop

OPMODE 2

EN

CTUNE

Steps 9...14: With load

The motor shaft will rotate, the load will be moved! Remove everything from the motion

traverse. Don't touch the load when you proceed.

Step Analyse / Set Description

9 Feedback Fine Tuning

(Only for high precision

systems)

OPMODE 0

EN

CALCRK

CALCHP

10 Observer tuning OPMODE 0

EN

OTUNE

11 Proportional gain

Velocity loop

OPMODE 0

GVTN 0

EN

STEP 500 50 500 –50

Open the oszilloscope screen and optimize the response of the actual

speed to the setpoint change. Change GV in 20% steps until the response

is best:

GV 1

GV 1.2

GV 1.4 ...

12 Integral gain

Velocity loop

OPMODE 0

GVTN 30

EN

STEP 500 50 500 –50

Open the oszilloscope screen and optimize the response of the actual

speed to the setpoint change by changing GVTN in 20% steps

GVTN 30

GVTN 25

GVTN 20 ...

13 Bode Plot Check the application for resonance (see screen page Bode Plot).

14 Proportional gain

Position loop

Define two motion task in position loop with identical distance but contrary

direction. (one task starts the other)

OPMODE 8

EN

MOVE X

Open the oszilloscope screen and minimize the following error by

changing GP in 20% steps

GP 0.1

GP 0.15

GP 0.2 …

SAVE


Cogging Suppression

Introduction

Cogging introduces an undesired torque / force ripple which results in a degradation of positioning accuracy.

If the drive is operated in velocity / position control mode, the torque / force ripple leads to a current ripple

which occurs in the torque- / force-generating component.

The principle of the cogging compensation is to add a feed-forward signal to the current q-component

command value which prevents the ripple from being propagated to the outer control loops (velocity, posi-

tion). This leads to an even torque / force deployment along the whole traversing range.

Current Feed-Forward

The current feed-forward values are read from a table and added to the output signal of the velocity

controller. Since all feed-forward signals are only applied in velocity- and position-control mode, the cogging

compensation is not available in OPMODE’s 2 and 3. Since the current feed-forward values are referenced

against the position-feedback position PFB, the cogging compensation is only active if the reference point is

set. For proper operation of the current feed-forward control, it has to be assured that the reference point is

always located at the same position as during generation of the current feed-forward table. The current

feed-forward control is activated by means of the ASCII command COGMODE (COGMODE=1 means acti-

vated, COGMODE=0 means deactivated, 0 is the default setting). Before the cogging compensation is used

for the first time, a table with current feed-forward values has to be recorded by means of the ASCII

command CALCCOG.

Compensated Traversing Range

For rotary motors, the table of current feed-forward values always covers one revolution, the current

feed-forward signal is repeated periodically with each revolution. Thus, the compensation is active along the

entire traversing range.

For linear motors, the table of current feed-forward values covers exactly the traversing range over which the

current q-component command value was recorded. This range can comprise of 1/4, 1/2, 1, 2, 4, ..., 2n

pole-pair pitches, where n is a positive integer number. Outside of the compensated range, the current

feed-forward values are set to 0.

Recording of the Current Feed-Forward Values

The current feed-forward values are recorded by means of the ASCII command CALCCOG.

This command launches a motion task which causes the motor to traverse from a specific start position over

the range to be compensated at a constant velocity specified previously. During execution of this motion

task, the current q-component command values are recorded. The recorded values are filtered, the constant

component is removed, and the modified values are written to the current feed-forward table. The constant

component of the current q-component must be removed from the current feed-forward values because only

the current ripple has to be compensated.

The CALCCOG command can only be executed if the following pre-requisites are met:

� Since a motion task is used to record the current feed-forward values, OPMODE must be set to 8.

� The reference point must be set.

� The drive must be enabled.

The set of parameters valid for the CALCCOG command depends on the motor type (MTYPE):

Rotary Motors (MTYPE <> 2)

Syntax: CALCCOG [velocity]

For rotary motors, the traversing range is always a single revolution, beginning from the current position. If

the optional parameter velocity is omitted, the traversing velocity is 5 rpm.


Linear Motors (MTYPE = 2)

Syntax: CALCCOG [velocity] [distance] [start position]

For linear motors, the traversing range is a single pole-pair pitch if the optional parameter distance is omitted.

If the optional parameter start position is given and differs from the current position, a motion task is gener-

ated, do the motor moves to the designated start position with the velocity VREF. If start position is omitted,

the current position is selected as the start position. The optional parameter distance defines the traversing

range along which the cogging compensation shall be active. The settings valid for this parameter are given

in section Compensated Traversing Range, invalid settings result in an error message. The optional para-

meter velocity defines the traversing velocity during recording of the current feed-forward values. If this para-

meter is omitted, the traversing velocity is 5 pole pairs per minute.

Note: Parameters can only be omitted in right-to-left order, i.e. valid command lines are:

� CALCCOG [velocity] [distance] [start position]

� CALCCOG [velocity] [distance]

� CALCCOG [velocity]

� CALCCOG

If CALCCOG is finished, the table is automatically saved to the drive’s flash EEPROM and can be activated

by setting COGMODE to 1.

Filtering

As mentioned in section Recording of the Current Feed-Forward Values, the constant component has to

be removed from the recorded values. Further, disturbances and noise should be removed from the signal. A

conventional low-pass filter could serve for this purpose, though with the disadvantage of introducing a

phase lag to the feed-forward signal. As an alternative, the signal can be transformed to the frequency

domain using the Fast Fourier Transform (FFT), and, after removal of all undesired frequency components

from the spectrum, transformed back to the original domain using the Inverse Fast Fourier Transform (IFFT).

The advantage of this method is that no phase lag is introduced to the feed-forward signal. Another advan-

tage is that the constant component of the signal is provided in sample 0 of the spectrum weighed with the

number of samples. Thus, the only thing to do to remove the constant component from the signal is to zero

sample 0 of the spectrum.

Parameterization of the Filter

The filter can be parameterized by means of the ASCII command COGFILT. This parameter represents a

bandwidth factor which can assume values in the range from 0 to 1. If COGFILT is set to 0, all frequency

components are removed from the spectrum. If COGFILT is set to 1, no filtering is applied at all. For any

other setting of COGFILT, all samples from COGFILT*N/2 to (N-1)*COGFILT*N/2 are removed from the

spectrum. If, for example, N=1024 and COGFILT=0.1, the samples 51 to 972 are removed from the spec-

trum. The values in this example have been chosen by intention because the present implementation of the

cogging compensation uses a table of 1024 values and the default setting of COGFILT is 0.1, since this

value has proven to be suitable for most of the motors tested.


Camming

By setting position registers a camming application can be realized. In the example below 2 cams are set

for a distance from 10000 to 15000. With Digital-Out 2 the position register status is monitored. (parameter

POSRSTAT).

Setup of the output function (screen page Digital I/O) and definition of the status mask (screen page

POSRSTAT):

Setup Position Registers (screen page Position Registers):



Acceleration Profile Tables

The acceleration/braking ramps can be adjusted with a customer profile stored previously in the servo ampli-

fier (see screen page Motion Task Parameters). You can create your own profile tables, please contact our

customer support for help.

An excessive peak current may be necessary depending on the selected acceleration profile. The following

description defines the required higher value referred to the trapezoidal prodfile.

Legend:

IPx= Ipeak factor x: profile requires x% more peak current of the servo amplifier

I2tx= I2t factor y: profile requires y% more peak charge of the servo amplifier

These tables are already stored in the servo amplifier:

Standard profiles

Trapezoidal

IPx 100%

I2tx 100%

The drive is given a constant linear acceleration/deceleration to the target speed.

sin²

IPx 157%

I2tx 123%

To limit any jolting, the drive is accelerated/decelerated within the acceleration time along

an acceleration ramp without any disruptions. The resulting speed characteristic corre-

sponds to a sine² curve. The profile is stored in a table in the servo amplifier.

Profile Tables

red: P_cmd (position setpoint)

green: v_cmd (speed setpoint)

blue: I_cmd (torque setpoint)

0 IPx 157%

I2tx 123%


1 IPx 200%

I2tx 150%

2 IPx 132%

I2tx 115%

3 IPx 113%

I2tx 106%

4...15 unused Customer specific tables with totally 4000 points possible


Firmware Upgrade

The field upgrade of the servo amplifiers requires the application program "DriveDownloadUti-

lity_CAN_LPT_....exe", which can be obtained from the product CDROM and from our Website . Source files

for upgrading Firmware are accessible from our CDROM and the Website as well. While installing the setup

software this tool usually is installed as well (see Windows start-menu).

You can use the download utility to upgrade:

� firmware

� motor database

� profile table

� PLC program

Possible interfaces:

� serial PC interface (COM1...4) with standard serial (nullmodem) cable

� parallel PC interface (LPT1 or 2) with CAN-dongle

� USB interface with the CAN-dongle is possible with special software

Usually the serial connection is used.

Preparation for serial transmission

� mains power must be switched off

� DC link voltage must be <100V

� 24 VDC power supply must be on to the servo amplifier

� an RS-232 serial port connection (null modem) between the computer and the servo amplifier (connec-

tor X6) must exist

� The selected RS-232 serial port must not be used by another software

� DriveDownloadUtility _CAN_LPT_....exe, along with the source file for the upgrade, must be accessible

by your computer

� Parameters and motion tasks must be saved in the EEPROM or in external files, Flash Eprom will be

cleared

Configure transmission

Run the DriveDownloadUtility_CAN_LPT_....exe software.


http://www.danahermotion.net/sw/downstxt.htm

http://www.danahermotion.net/sw/downstxt.htm

Select the amplifier platform from the picture.

Select the file to download in the File to Download selection box. Use the Browse button to locate the appro-

priate directory in which the file is stored and select the file.

Attention! Take care that you use the correct file.

Example: Don't use a motor database file for a firmware upgrade.

Select the task (defines the firmware segment) in the Upgrade Task selection box.

Select RS232-only. Set the communication Port and Baud Rate in the Serial Port Settings selection box.

Port: select the computer port were the drive is connected to (usually COM1)

Baud Rate: 38400

Set the download mode: place a check mark in the binary box.

Press Download.

Downloading is started now.

The warning screens below appear.

Make sure that

� the high voltage power supply is switched off

� the DC link voltage is below 100V

� you have saved your setup parameters and motion tasks

If you are not sure about the parameters, start the amplifier's setup software and save parameters/motion

tasks to EEPROM. Close the setup software.

Proceed upgrading with OK / YES

If the amplifier is (software) enabled, the download utility can disable it:

Proceed upgrading with YES.

The software initiates communication and set-up for the amplifier. The amplifier displays ‘-‘ in the left most

character or "del" on the 3 digit display while it is setting up.

If problems occur click Help and go to the troubleshooting section.

When set-up is complete, the ‘-‘ moves to the center character or "Prg" appears on the 3 digit display and the

data transfer begins. The upgrade utility monitors the progress with a status bar.

When the process is complete, a success screen pops up.

Cycle the 24 VDC supply to the servo amplifier (turn off then back on) and the firmware download is

complete! Close the download utility and your servo amplifier is ready to set-up for your application.


Appendix

Glossary

B Bode Plot Resonance analysis function

C Clock clock signal

Counts internal count pulses, 1 pulse = 1/220 turn-1

Current controller regulates the difference between the current setpoint and the actual current

to 0. Output: power-output voltage

D DC-link (bus) voltage rectified and smoothed power voltage

Disable removal of the ENABLE signal (see Enable)

E EEPROM electrically erasable memory in the servo amplifier, data that are stored in

the EEPROM are not lost if the auxiliary voltage is switched off

Enable Enable signal for the servo amplifier, Hardware-Enable with 24V signal to

X3, Software-Enable command by setup Software, fieldbus or permanently

set. Both are required for enabling the amplifier.

F speed limit maximal value for the speed normalization at ±10 V

G GRAY-code a special way of representing binary numbers

H Holding brake a brake in the motor, that can only be applied when the motor is at standstill

I I²t threshold monitoring of the r.m.s. current that is actually drawn

Ipeak, peak current the r.m.s. value of the pulse current

Irms, r.m.s. current the r.m.s. value of the continuous current

K KP, P-gain proportional gain of a control loop

L Limit-switch to limit the range of movement of the machine; implemented as an n.c.

(break) contact

M Machine the total assembly of parts or devices connected together, of which at least

one is movable.

Monitor output output of an analog measurement

Motion block a packet of data containing all the position parameters required for a motion

task

P P controller a control loop that has purely proportional response

Phase shift compensation for the lag between the electromagnetic and the magnetic

field in the motor

PID controller control loop with proportional, integral and differential response

Position controller regulates the difference between the position setpoint and the actual

position to 0. Output: speed setpoint

R RAM volatile memory in the servo amplifier. Data that are stored in the RAM are

lost when the auxiliary voltage is switched off.

Regen circuit converts regenerative energy that is fed back by the motor, during braking,

into heat in the regen resistor.

Reset new start of the microprocessor

Reversing mode operating with a periodic change of direction

ROD interface incremental position output (A quad B)

S Speed controller regulates the difference between the speed setpoint SW and the actual

speed to 0. Output: current setpoint

SSI interface cyclically absolute, serial position output

Setpoint ramps limiting of the rate of change of the speed setpoint value

T Tn, integration time integral component of the control loop

Z Zero pulse/mark is produced by incremental encoders, once per turn, used to zero the

machine


Related Documents

All the documents listed below can be found on the Product CDROM or in the download area of our website:

Manuals

� Product manual (assembly, installation, setup)

� CANopen manual

� PROFIBUS manual

� SERCOS manual

� DeviceNet manual

� EtherCat manual

� Manuals for several motor series

� Accessories manual

Errors

Any errors that occur are shown in coded form by an error number in the LED display on the front panel. All

error messages result in the BTB/RTO contact being opened, and the output stage of the amplifier being

switched off (motor loses all torque), and the motor-holding brake is activated. Detailled description see

parameter ERRCODE.

Number Explanation

E Status Message DC-Link voltage ok. Amplifier is enabled.

P Status Message DC-Link voltage ok. Amplifier is disabled.

. . . Status Message Amplifier is updating the startup configuration

- Status Message Status message, no error, programming mode

- S - AS-Enable AS-Enable input is 0V (with disabled drive only)

F01* Heat Sink Temperature Heat sink temperature too high (default: 80°C)

F02* Overvoltage Overvoltage in DC bus link. Limit depends on the electrical supply vol-

tage

F03* Following Error Message from the position controller

F04 Feedback Cable break, short-circuit, short to ground

F05* Undervoltage Undervoltage in DC bus link (default: 100V)

F06* Motor Temperature Motor temperature too high or temp. sensor defect

F07 Internal Voltages Internal supply voltages not ok

F08* Overspeed Motor runs away, speed is too high

F09 EEPROM Checksum error

F10 Signal Failure X5 Signal failure X5 (cable break or similar)

F11 Brake Cable break, short-circuit, short to ground

F12 Motor Phase Motor phase missing (cable break or similar)

F13* Ambient Temperature Ambient temperature too high

F14 Output Stage Fault in the power output stage

F15 I²t max. I²t maximum value exceeded

F16* Mains BTB/RTO 2 or 3 phases missing in the mains supply feed

F17 A/D Converter Error in the analog-digital conversion, normally caused by extreme

electromagnetic interference

F18 Regen Regen circuit faulty or incorrect setting

F19* DC Bus Link DC bus link breakdown

F20 Slot Error Slot error, depends on the type of expansion card (see ASCII com-

mand reference)

F21 Handling Error Handling error on the expansion card

F22 Reserved Reserved

F23 CAN-Bus Off Severe CAN bus communication error

F24 Warning Warning is displayed as fault

F25 Commutation Error Commutation error

F26 Limit Switch Hardware limit switch error on homing move

F27 AS Operational error with -AS- , input for AS-Enable and ENABLE have

been set at the same time

F28 Fieldbus Error Fieldbus error (see ASCII command reference)

F29 Fieldbus Error Fieldbus communication is disturbed (see ASCII command reference)

F30 Emergency Timeout Timeout emergency stop

F31 Reserve Reserve

F32 System Error System software not responding correctly

* = these error messages can be cleared without a reset, by using the terminal screen and sending the ASCII

command CLRFAULT (or button ). If only one of these errors is present and the RESET button or

the I/O RESET function is used, only the CLRFAULT command will be executed.

Warnings

Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO contact

remains closed), are indicated in the LED display on the front panel by a coded warning number. Detailled

description see parameter STATCODE.

Number Designation Explanation

E Status Message DC-Link voltage ok. Amplifier is enabled.

P Status Message DC-Link voltage ok. Amplifier is disabled.

. . . status Message amplifier is updating the startup configuration

- S - AS-Enable AS/STO-Enable input is 0V (with disabled drive only)

- status Message status message, no error, programming mode

n01 I²t I²t threshold exceeded

n02 regen power reached preset regen power limit

n03* S_fault exceeded preset following error limit

n04* response monitoring response monitoring (fieldbus) has been activated

n05 supply phase mains supply phase missing

n06* SW limit switch 1 passed software limit switch 1

n07* SW limit switch 2 passed software limit switch 2

n08 motion task error a faulty motion task was started

n09 no reference point no reference point (Home) set at start of motion task

n10* PSTOP PSTOP limit-switch activated

n11* NSTOP NSTOP limit-switch activated

n12 motor default values

loaded

only for ENDAT or HIPERFACE® :

discrepancy between motor number saved in the encoder and the am-

plifier, motor default values loaded

n13* expansion card 24V DC supply for I/O expansion card not ok

n14 SinCos feedback SinCos commutation (wake & shake) not completed, will be canceled

when amplifier is enabled and wake & shake carried out

n15 Reserve Reserve

n16 summarized warning summarized warning for n17 to n31

n17 fieldbus-sync CAN sync is not logged in

n18 multiturn overflow max. number of motor turns exceeded

n19 motion task ramps are

limited

range overflow on motion task data

n20 invalid motion task invalid motion task

n21 PLC program error for details see PLC code

n22 max. motortemperatur

reached

the user can shut down the process before the temperature eror will

interrupt the process immediately

n23 Sin Cos feedback warning level reached

n24 Digital I/O configuration is not logical

n25-n31 Reserve Reserve

n32 firmware beta version firmware is an unreleased beta version

* = these warning messages result in a controlled shut-down of the drive (braking by emergency stop ramp)

Trouble Shooting

There may be a wide variety of reasons for the fault, depending on the conditions in your installation.

In multi-axis systems there may be further hidden causes of a fault.

Our customer service can give you further assistance with problems.

Help with Faults

Display Meaning Possible causes Measures/ explanation

HMI message:

Communication fault

Wrong cable used Use null-modem cable

Cable plugged into wrong position on

servo amplifier or PC

Plug cable into the correct sockets

on the servo amplifier and PC

Wrong PC interface selected Select correct interface

F01* Heat Sink

Temperature

Heat sink temperature too high Max. value MAXTEMPH adjusted by

manufacturer to 80°C. Decrease

ambient temperature.

Amplifier contaminated Check / blow out ventilation slots.

Use air filters.

Fan defective / non-contacted Check the air flow / fan noise; if

defective, send the amplifier to the

manufacturer for repair.

Value MAXTEMPH too small Range 20 .. 85°C, default 80°C

No air flow due to restricted installa-

tion

Conversion of the switchgear

cabinet. Install an air-conditioning

unit.

Hardware faulty Return the servo amplifier to manu-

facturer for repair

F02* Overvoltage in DC

Bus Link

Max. value depends

on the set mains

voltage

Regen energy too high "n02" displayed beforehand. Possibly

use an external braking resistor or, in

the case of multiple amplifiers,

connect DC links.

Mains voltage set too low Set the mains voltage correctly on

the Basic Setup screen page

Regen resistor configured incorrect Set the details for the internal or

external braking resistor correctly on

the Basic Setup screen page

Regen resistor wired incorrect Check the wiring (see product

manual). Internal braking resistor:

Bridge must be present on the

connector! External braking resistor:

Bridge must be removed from the

connector!

Fuse in regen resistor defect Replace fuse

Braking ramps too short Extend the braking ramps on the

Velocity Loop screen page

DC Bus not linked to other amplifiers In the case of multiple amplifiers

from the same family, connect the

DC links (see product manual)

F03* Following error

message of the posi-

tion controller (in

OPMODE 5 or 6 only)

Axis is mechanically tight or blocked Check the mechanical system

Inadequate torque for the ramps set Travel along flatter ramps (ACC,

DEC)

Ramps in the speed controller are

longer than ramps in the position

controller

Lower the acceleration ramp (ACC)

and braking ramp (DEC) in the speed

controller

Amplifications set too low. Axis is too

undynamic

Adjust the amplification. Velocity

Loop and possibly Position Loop

screen pages

Amplifications set too high. Axis

oscillates.

Adjust the amplification. Velocity

Loop and possibly Position Loop,

screen pages, insert a filter

IPEAK (maximum current) too low Enlarge the following error window

(Position Data screen page) or use

a larger amplifier / motor, increase

IPEAK .

F04 Feedback Short circuit, short to ground Check the feedback cable

Encoder defective Exchange encoder / motor

Contacts in connector not OK Check contacts

Incorrect feedback set See FBTYPE

Incorrect / defective feedback cable Check cable (particularly critical in

the cable trailing device)

Incompatible feedback See FBTYPE

Poorly shielded cables Use suitable cables (see product

manual)

Feedback cable is too low Adhere to the max. permissible cable

length (see product manual)

Coupling fault signals Check shielding, ensure compliance

with the minimum spacing between

the power cables and the signal

connections (see product manual)

F05* Undervoltage Mains contactor not connected Wiring / Emergency stop / Control

logic / ...

Switch-on sequence not complied

with

First of all switch on the power

contactor which is connected via the

BTB contact. Then switch the enable

signal on approx. 0.5s later

Emergency stop has cut off the

mains voltage

Operator information

VBUSMIN parameter set too low. Adjustment of the parameter, e.g. in

48VDC applications.

The monitor has to be switched off in

some applications with UVLTMODE

Example: Positioning the axis in the

event of mains failure.

F06* Motor Temperature Motor overheating Incorrect motor parameters / Poor

cooling

Defective temperature sensor Measure the sensor resistance.

Switch:

low temperature: switch closed

high temperature: switch open.

PTC thermistor:

low temperature: low resistance

high temperature: high resistance

Connector on the feedback unit

loose or feedback cable interrupted

Connector / cable control

Motor without a temperature sensor Installation of a bridge in the

connector

Cutoff threshold for the temperature

sensor is set too low

Set the MAXTEMPM parameter (to

the cutoff threshold, see parameter

description)

Amplifier defective Bridge the temperature contact for

testing at the resolver or SinCos

interface

Unused thermostatic switch /

element

Contact Customer Support

F07 Internal Voltages

faulty

External short circuit or overload on

a power supply voltage

Disconnect all the connectors apart

from 24V and check whether the

error occurs again when you switch

on

24V undershot for amplifier logic Adhere to the tolerance criteria for

the 24V voltage supply (see product

manual)

Motor brake with excess current

consumption.

Adhere to the maximum motor brake

current (see product manual); supply

brake with external voltage.


facturer for repair

Feedback system with excess

current consumption.


F08* Overspeed Speed in excess of permissible limit Check the VOSPD (limit speed) and

raise it, if necessary.

Speed in excess of permissible limit Reduce overswing by assigning

amplification parameters

Feedback cable is defective (Possibly check by shaking the

cable) Replace the cable

VLIM too low When a new motor is loaded, quicker

motors with a max. of only 3,000 rpm

are also entered. The end speed and

overspeed have to be adapted for

higher speeds.

Motor vibrates. Parameter adaptation

Tables of motion tasks with a time

base which is too low.

Increase target times or use a motor

with a higher nominal speed

Feedback on the incorrect motor

inserted.

Check and correct assignment

Motor phases inverted Check the pin assignment

Feedback incorrectly set Set angle offset correctly (MPHASE)

F09 EEPROM Checksum

Error

Amplifier switched off during the

storage process

Re-enter parameters and save them

Manually changed parameter record

loaded with lower-case lettering.

Change the lower-case lettering to

upper case


facturer for repair

F10 Cable brake at X5 Connector / cable problem Check connectors / cables.

Monitor in the slave responds too

soon after a restart

Set the parameter SDLY to 8,000.

(FW 1.31 or higher)

No differential-mode voltage signals

used

Signal sources must switch between

–5V and 5 V, not between 0V and

5V.

F11 Cable brake motor

brake

Short circuit, short to ground Replace the cable

Motor cable without brake wires Connect the right motor cable

Motor without a brake Set MBRAKE to 0

Motor brake current consumption too

low.

Raise current consumption to a

minimum of 150mA (e.g. through

parallel resistors).


facturer for repair

F12 Motor Phase Shield on the motor cable is badly

attached or missing

Check the shield connections

Strong external EMC interference Additional design of motor shields on

the mounting plate of the switchgear

cabinet.

Motor cable capacity is too high Use a motor choke / Shorten the

cable / Use cables

Installed motor contactor does not

switch on time.

Check contactor

Installed motor contactor has burnt

contacts.

Check contactor


facturer for repair

Motor connector not plugged in the

servo amplifier or motor.

Check connector

F13* Ambient Temperature

too high

Ambient Temperature too high Use a cooling device

Detection faulty (usually combined

with F17)

Return the servo amplifier to manu-

facturer for repair

Cutoff threshold is too low Increase TEMPE

Switchgear cabinet is too warm. Use a cooling device

F14 Output Stage Short circuit in the motor cable Replace motor cable

Output stage faulty Return the servo amplifier to manu-

facturer for repair

Insulation fault in the motor Conduct measurements with an

ohmmeter between the motor

phases: must be symmetrical.

Measure the motor phases to the

PE; it must be unending. If there is a

high-voltage tester available, use it to

measure the motor phases to PE.

Motor contactor does not switch on

time.

Check the switching sequence

Motor contactor has burnt contacts. Replace motor contactor.

Short circuit in the electric circuit for

the external braking resistor

Check, rectify short circuit

F15 I²t maximum value

exceeded

Drive is mechanically tight Check mechanical system, use a

larger amplifier/motor

Sine² ramps Extend the acceleration/braking

ramps (ACC, DEC)

Incorrect design Contact Customer Support

Incorrect phase angle between feed-

back and magnet elements in the

motor.

Correct the MPHASE , possibly reset

with ZERO.

Ramps are too steep Extend the acceleration/braking

ramps (ACC, DEC)

Intervals are too short Extend the recovery intervals

between motion tasks (Motion

Tasks screen page)

Vibration in the current controller Adjust the amplification of the MLGQ

and the KTN reset time

Motor has an inter-turn fault (only in

the case of a partial short circuit)

Replace motor

F16* Mains BTB - 1, 2 or 3

phases of the in-feed

missing

Three-phase operation is set in the

case of a single-phase in-feed.

check setting on screen page Basic

Setup

Phases missing from in-feed. Check wiring/fuses/main contactor

Special settings are required for a

DC in-feed.


Amplifier enabled even though they

was no mains voltage

Amplifier only enabled when the

mains voltage is switched on (comply

with switch-on sequence)

F17 A/D converter error Strong electromagnetic interference Reduce EMC interference; check

shielding and earthing. Mount

devices which generate electrical

fields further away from the amplifier.


facturer for repair

F18 Regen Circuit Regen resistor extern selected, but

the internal one is used.

Check setting on screen page Basic

Setup

Destroyed regen transistor Return the servo amplifier to manu-

facturer for repair

F19* DC Bus Link

(can be switched off

for operation with two

phases mains)

There is no voltage at the power

terminals.

Check and switch on power supply

Voltage level is incorrectly config-

ured.

Adapt VBUSMIN

Excessive load on the DC link during

acceleration in combination with a

soft voltage source (isolation trans-

former)

Adapt parameters or hardware

F20 Slot Error Hardware error and the expansion

card

In the case of expansion card

I/O-14/08, check the card's external

power supply unit

Incorrect PROFIBUS card Contact Customer Support

Firmware does not support the card

which is inserted.


Card is not inserted correctly Remove the card and insert a new

one and tighten it, following the

instructions in the product manual.

Power consumption of the plug-in

card is too high.


F21 Handling Error Software error on the expansion card Contact Customer Support

Plug-in card not permitted Contact Customer Support

F22 Reserved Reserved

F23 CAN Bus Severe CAN bus communication

error.

Check CAN cable and controller

F24 Warning Warning is displayed as fault With the WMASK parameter you can

read out which warning(s) are evalu-

ated as errors. On the basis of this

information, refer to the list of

warning messages. The

LASTWMASK parameter indicates

which warning last led to F24.

F25 Commutation error

(motor may have

oversped) Power

vector and motion are

in reverse.

Wiring error in motor phases Test motor cable fully – Adapt DIR

Wiring error on feedback cable Check direction of rotation in the

monitor window, test feedback cable

fully – Adapt DIR

Internal clearance / oscillation of the

mechanical system

Examine mechanical system and

align it, if necessary

Monitor is too sensitive Raise VCOMM (VCOMM =

MSPEED means minimum sensi-

tivity)

Motor cable / feedback cable from

another motor plugged in.

Check and correct amplifier-motor

assignment.

Offset too high Check resolver pole number

(RESPOLES), motor pole number

(MPOLES) and offset (MPHASE)

Wake&Shake failed Perform Wake&Shake

F26 Limit switch

Homing error

Hardware Limit

Switch reached

(defined by REFLS)

Cable brake (limit switches) Check cable

Limit switches connected do not

belong to the axis.

Check and correct limit switch-axis

assignment.

No limit switches connected. Disable input functions (Digital I/O

screen page)

Limit switches inverted. Assign PSTOP and NSTOP correctly

to the inputs (Digital I/O screen

page)

F27 AS error The AS-enable was switched at the

same time as or later than the ampli-

fier-enable.

Consider Switch-On sequence (see

product manual)

Cable fault (AS wiring) Check wiring, measure

cable-resistance.

F28 Fieldbus, ext. trajec-

tory

"External trajectory" error is gener-

ated if the setpoint jump exceeds the

maximum permissible value when

the external position trajectory is

specified.

Adaptation of the specified values

(VLIM / PVMAX)

EtherCAT: The "synchronization"

error is generated if the drive cannot

be synchronized during phase

ramp-up or if the drive loses its

synchronization in EtherCAT "Opera-

tional" state.

Check EtherCat system.

LASTWMASK.HTML

F29 Fieldbus not synchro-

nized

Timing error Communication problem by the

controller

Power supply External power supply for an expan-

sion card missed.

Expansion card not compatible Contact Customer Support

F30 Emergency Stop

Timeout

Default 5.000ms

Motor doesn't stop in

the set time.

Brake ramp too long Decrease DECSTOP

Peak current set too small Increase IPEAK

Brake time too short Increase EMRGTO

Amplifier too small Select servo amplifier with higher

rated/peak current

F31 Error in Macro

Program

Endless loop in macro program Check macro program

Overly intricate calculations in the

quick tasks.

Check program. Tip: Always use

"Debug on" for tests.

F32 System error, System

software doesn't work

correctly

Processor overloaded Too many stations in the

network/Baud rate too high/Func-

tions too complex (PLC)


facturer for repair

Help with Warnings

Display Meaning Possible causes Measures/ explanation

n01 I²t treshold exceeds

the set limit value

I2TLIM.

Mechanical system is tight Check the mechanical system

Amplifier dimensions too low Use an amplifier with a higher

current

Motor dimensions too low Use a motor with a higher current

Driving profile is too aggressive Define recovery times

n02 Brake power exceeds

the set limit value

PBALMAX.

Incorrect brake power set Check setting

Internal brake resistance too low Use external brake resistance,

extend braking ramps (DEC /

DECSTOP )

n03 Following error

exceeds the set limit

value PEMAX.

Mechanical system is tight Check the mechanical system

Amplifier dimensions too low Use an amplifier with a higher

current

Driving profile is too aggressive Define recovery times, extend ramps

Following error set too low Check setting

n04 Fieldbus communica-

tion monitor has

responded (EXTWD).

During commissioning: no fieldbus

connected

Disable watchdog temporarily

(EXTWD = 0)

In operation: communication problem Check bus installation

n05 One of the three

mains phases is

missing

Check the mains connection, fuses

and mains contactor

n06 Position setting for

software limit switch 1

(SWE1 ) has been

undershot

Axis has been moved beyond the

position which has been configured

as the end position

Check the position of the axis and

setting of the software limit switch

n07 Position setting for

software limit switch 2

(SWE2) has been

exceeded

Axis has been moved beyond the

position which has been configured

as the end position

Check the position of the axis and

setting of the software limit switch

n08 Defective motion task Commenced motion task does not

exist (checksum is defective)

Create a new motion task

Target position lies outside the

permissible range

Check software limit switches and

target positions

Defective acceleration values Check units and numerical values

OPMODE does not support the func-

tion

Set correct OPMODE

n09 No reference point No reference point set when a

motion task is started.

Perform homing or set reference

point

n10 Hardware Limit

Switch PSTOP

Positive limit switch has responded Move the axis in a negative direction

from the limit switch

Limit switch not connected Change the parameterization of

digital I/Os or connect the limit switch

Limit switch sensor has incorrect

logic.

Insert break contacts as limit

switches (instead of make contacts).

n11 Hardware Limit

Switch NSTOP

Negative limit switch has responded Move the axis in a positive direction

from the limit switch

Limit switch not connected Change the parameterization of

digital I/Os or connect the limit switch

Limit switch sensor has incorrect

logic.

Insert break contacts as limit

switches (instead of make contacts).

n12 Motor default values

loaded

Motor numbers stored in the encoder

and amplifier do not match the

parameters that have been set

SAVE motor number to the

EEPROM and with HSAVE to the

encoder.

n13 Expansion card 24V supply for the I/O expansion

card missed

Check wiring and 24V power supply

n14 SinCos-Feedback SinCos commutation (wake&shake)

not completed

ENABLE the amplifier

n16 Summarized Warning Summarized warning for n17 to n31 See warning #

n17 Feldbus Sync CAN sync is activated, but is not sent

synchronously from the controller, if

at all.

Check fieldbus settings

n18 Multiturn overflow More than +/-2048 revolutions

counted with the multiturn encoder

connected

Ignore or disable monitoring with

DRVCNFG Bit7=1

Move motor to encode position 0

prior to installation

n19 Motion task ramps

have been limited

Permissible value range exceeded

by the process block data

Check the process block data

n20 Invalid motion task Check the data from the last process

block started. Also determine the

process block number with MOVE.

n21 Warning by PLC

Program

Only in the macro program in the

servo amplifier

Application-specific

n22 Max. motor

temperature reached

Alarm threshold setting exceeded,

motor overloaded

Check the motor temperature.

Mechanical system is tight/blocked Check the mechanical system

n23 Sine-Cosine Encoder Signal amplitude is too low Check the signal amplitude, possibly

re-measure with an oscilloscope

n24 Digital Inputs Illogical configuration Undo the last configuration change

n32 Firmware Beta

Version

For testing reasons only No warranty by the manufacturer for

error free functionality

Help with other problems

The situations listed below are not necessarily monitored by a message.

Problem Possible causes Measures

Motor does not

rotate

Servo amplifier not enabled Apply ENABLE signal

Software enable not set Set software enable

Break in setpoint cable Check setpoint cable

Motor phases swapped Correct motor phase sequence

Brake not released Check brake control

Drive is mechanically blocked Check mechanism

Motor pole no. set incorrectly Set motor pole no.

Feedback set up incorrectly Set up feedback correctly

Motor oscillates Gain is too high (speed controller) Reduce Kp~GV (speed controller)

Feedback cable shielding broken Replace feedback cable

AGND not wired up Join AGND to CNC-GND

Drive too soft Kp~GV (speed controller) too low Increase Kp~GV (speed controller)

Tn~GVTN (speed controller) too high Use motor default value for Tn~GVTN

(speed controller)

ARLPF / ARHPF too high Reduce ARLPF / ARHPF

ARLP2 too high Reduce ARLP2

Drive runs

roughly

Kp~GV (speed controller) too high Reduce Kp~GV (speed controller)

Tn~GVTN (speed controller) too low Use motor default value for Tn~GVTN

(speed controller)

ARLPF / ARHPF too low Increase ARLPF / ARHPF

ARLP2 too low Increase ARLP2

Axis drifts at

setpoint = 0V

Offset not correctly adjusted for analog

setpoint provision

Adjust offset (analog I/O)

AGND not joined to the controller-GND of the

controls

Join AGND and controller-GND

Sales and Service

We are committed to quality customer service. In order to serve in the most effective way,

please contact your local sales representative for assistance.

If you are unaware of your local sales representative, please contact us.

Europe

Danaher Motion Customer Support Europe

E-Mail [email protected]

Internet www.DanaherMotion.net

Tel.: +49(0)203 - 99 79 - 0

Fax: +49(0)203 - 99 79 - 216

North America

Danaher Motion Customer Support North America

Internet www.DanaherMotion.com

E-Mail [email protected]

Phone: +1 - 540 - 633 - 3400

Fax: +1 - 540 - 639 - 4162


http://www.DanaherMotion.net

http://www.DanaherMotion.com
