1. Digitax St Manual

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Digitax St Manual

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Summary of Contents for Leroy-Somer digitax st

• Page 1 4442 en - 2009.11 / a DIGITAX ST UNIDRIVE SP AFFINITY MENTOR MP TOR MP DIGIDRIVE SK RIVE SK Send telegram 3 to Start Start r r OUT word 0 READ READ Send first telegram Send first telegram to OUT word 0...
• Page 2 Solutions Modules of the same type already present. This also applies to products returned from LEROY-SOMER. If there is any doubt please contact the supplier of the product. The software version of the Solutions Module can be identified by looking at Pr MM.02 and Pr MM.51, where MM is the relevant menu number for the Solutions Module slot being used.

• Page 3: Table Of Contents

  Re-initializing the SM-PROFIBUS DP-V1..............20 Re-initialize all Solutions Modules ................20 5.10 Saving parameters to the drive..................20 5.11 Network compatibility mode..................21 GSD Files ..................22 What are GSD Files?....................22 Data consistency ......................22 Data configuration .......................23 GSD compatibility ......................23 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 4 11.8 Jogging ........................67 11.9 PROFIdrive control word ...................68 11.10 PROFIdrive status word ....................69 11.11 PROFIdrive PNU access ...................70 11.12 Fault Buffer ........................71 11.13 Drive Identification .....................72 11.14 Identification and Maintenance Functions ..............72 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 5 Main Actual Value......................90 13.8 PROFIdrive (V2) state machine diagram..............91 Quick reference ................94 14.1 Complete parameter reference..................94 14.2 Operating status codes....................96 14.3 Mapping error codes....................96 14.4 Error codes ........................98 Glossary of terms .................99 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 6: Safety Information

  The SAFE TORQUE OFF (SECURE DISABLE) function is only available on Unidrive SP and Digitax ST. The Digidrive SK, Affinity and Mentor MP drives do not have either of these features. Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended behavior or through incorrect operation due to a fault.

• Page 7: Environmental Limits

  Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 8: Introduction

  This method of communication saves significantly on the amount of cabling required and can improve overall system reliability as the number of interconnections is greatly reduced. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 9 PROFIBUS-DP can transfer data using two distinct modes. The first of these modes is cyclic where signals are sent in predefined blocks at regular intervals. This is the equivalent of the hard-wired example in Figure 2-1. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 10: What Is Sm-profibus Dp-v1

  • Digidrive SK • Affinity • Digitax ST • Mentor MP With the exception of the Digidrive SK drive, it is possible to use more than one SM- PROFIBUS DP-V1 or a combination of SM-PROFIBUS DP-V1 and other Solution Modules to add additional functionality such as extended I/O, gateway functionality, or additional PLC features.

• Page 11: Solutions Module Identification

  Unidrive SP is switched off. For every SM-PROFIBUS DP-V1 fitted allow for an extra 70mA of supply current to be drawn from the backup supply. This feature is only available on the Unidrive SP. NOTE SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 12: Mechanical Installation

  Solutions Module slot located on the drive until it clicks into place (2). Note that some drives require a protective tab to be removed from the Solutions Module slot. For further information, refer to the appropriate drive manual. SM-PROFIBUS-DP User Guide www.leroy-somer.com Issue : a...

• Page 13: Electrical Installation

  RTS line 1, Shell Shield Cable shield connection LEROY-SOMER recommend using connectors approved by Profibus International at all times. PROFIBUS-DP connectors There are many manufacturers of PROFIBUS-DP connectors. Always ensure that any connectors used on the network are fully approved for use with PROFIBUS-DP. Some of the connector types available include built in termination that allows the network to be isolated, this can be very useful when fault finding.

• Page 14: Profibus-dp Cable

  PROFIBUS-DP networks are available on the PROFIBUS Nutzerorganization (PNO) web site at www.profibus.com. LEROY-SOMER can only guarantee correct and reliable operation of the SM- NOTE PROFIBUS DP-V1 if all other equipment on the PROFIBUS-DP network (including the network cable) has been approved by the PNO and is correctly installed.

• Page 15: Maximum Network Length / Device Loading

  The PROFIBUS-DP specification allows spurs at data rates less than 1.5Mbits/s. At data rates below 1.5Mbits/s there are specific requirements for capacitance and length of cable allowed when using spurs. LEROY-SOMER recommend that spurs are not used as extreme care is required at the design stage to avoid network problems. More information on spurs can be found on the PROFIBUS web site at www.profibus.com.

• Page 16: Getting Started

  Digidrive SK, and in menu 15, 16, or 17 for the Unidrive SP, Affinity, Mentor MP and Digitax ST depending on the slot the module is fitted in to. The menu is determined by the number before the decimal point and the parameter by the number following the decimal point.

• Page 17: Set-up Flow Chart

  SM-PROFIBUS DP-V1 directions Pr MM.03) Ensure all third party See Section 5 devices use the same data rate A dedicated Perform a network scan PROFIBUS-DP tester is using the master or recommended. tester SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 18: Node Address

  SM-PROFIBUS DP-V1 communicates. The data rate display will be updated when SM-PROFIBUS DP-V1 is re-initialized. Table 5.4 Network data rate status Pr MM.04 bit/s Auto-detecting 6.0M 3.0M 1.5M 500k 187.5k 93.75k 45.45k 19.2k 9.6k SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 19: Data Format

  Parameters Pr MM.49 and Pr MM.50 will contain additional information. If a mapping configuration error (see section 10.7 Mapping status ) or network error (see section 10.9 Module error code ) is detected, the drive may trip. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 20: Re-initializing The Sm-profibus Dp-v1

  SM-Applications module is fitted, menu 20 is stored in the SM-Applications module’s memory. See the SM-Applications documentation for more information. If the drive is running on backup supply only, Pr xx.00 must be set to 1001 to perform a save. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 21: Network Compatibility Mode

  This mode only changes the network to emulate the Digidrive SE or UMV 4301/DMV 2322/2342 on the network. Changes to the control method and data size differences must still be considered. This mode does NOT allow direct replacement. WARNING SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 22: Gsd Files

  They contain information about the device timings, supported features and available data formats for the PROFIBUS-DP device. Drive icon files are also supplied for use with the PROFIBUS-DP configuration software. GSD files are available from your supplier, LEROY-SOMER or the LEROY-SOMER website (www.leroy- somer.com). Data consistency There is a potential problem with data skew when transferring blocks of data to and from a PROFIBUS-DP master controller.

• Page 23: Data Configuration

  PLC as a ‘DPV1’ slave. If a DP-V0 GSD file is installed then the DP-V1 features of SM-PROFIBUS DP-V1 will not be available. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 24: Cyclic Data

  In addition to cyclic data, non-cyclic data (see section 8.1 What is non-cyclic data? ) exchange is also possible by the following methods: • DP-V1 parameter access mode. • Mode 1 - CT single word mode • Mode 2 - PPO 4 Word mode. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 25 10.7 Mapping status for more details. The following sections show some example data formats that can be selected, and the parameter mapping that will apply (by default) to each format. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 26 OUT word 0, 1 Pr MM.20 Pr 6.42, control word OUT word 2, 3 Pr MM.21 Pr 1.21, digital speed reference 1 OUT word 4-9 Pr MM.22 to Pr MM.24 0, not mapped SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 27: Mapping Conflicts

  SM-PROFIBUS DP-V1 operating status parameter (Pr MM.06) will indicate -3, and the configuration error detected will be indicated in mapping status parameter, Pr MM.49. See section 10.7 Mapping status for full details. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 28: Mapping Limitations

  Any unused mapping parameters (Pr MM.10 to Pr MM.19 and Pr MM.20 to Pr MM.29) should be set to 0. Having unmapped channels between valid mapped channels is not permitted and will NOTE result in a configuration error (i.e. Pr MM.06 will indicate -3). SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 29: Non-cyclic Data

  When network compatibility mode (Pr MM.41) is set to a non-zero value, DP-V1 NOTE functionality is disabled. In order to use the DP-V1 features, the appropriate DP-V1 GSD file must be installed in NOTE the master PLC. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 30: Profibus Dp-v1 Overview

  120 bytes for the parameter data; the maximum number of parameters that can be read or written in a single message is shown in Table 8.1. Table 8.1 Single message parameter limitation Mode Maximum number of parameters 16-bit 32-bit Read Write SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 31: Setting The Non-cyclic Mode (non-cyclic Over Cyclic)

  Pr MM.05 Disabled None Mode 1 CT Single Word Mode 2 PPO 4 Word Figure 8-2 shows the relationship between the value entered in Pr MM.05 and the cyclic and non-cyclic data set-up. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 32: Mode 1 - Ct Single Word Mode

  Pr MM.10 and Pr MM.20 will now appear in Pr MM.11 and Pr MM.21). Table 8.3 shows what happens to the mappings when the data format is changed from four cyclic words to four cyclic words with CT Single Word non-cyclic data. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 33 12.34 in the target parameter. Similarly, reading a value of 12.34 will return a 32-bit integer value of 1234. Table 8.4 CT Single Word Bit Positions READ Reserved 32-BIT Stamp Number Data Byte SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 34: Reading Parameters Using Ct Single Word

  Telegram 4 - request mid-high data byte • Telegram 5 - request mid-low data byte • Telegram 6 - request low data byte Table 8.6 CT Single Word Bit Positions READ Reserved 32-BIT Stamp Number Data Byte SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 35 Stamp number = 1 If a telegram produces an error at any point in the sequence the reply to the master will NOTE have the error bit ERR set to a 1. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 36 Example response b15-b12 b11-b8 b7-b4 b3-b0 Value 1001 0011 0000 0000 Data word = 0x9300 Stamp number = 3 Data high byte = 0x00 = 0 SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 37 Example response b15-b12 b11-b8 b7-b4 b3-b0 Value 1001 0101 0010 0101 Data word = 0x9525 Stamp number = 5 Data mid-low byte = 0x25 = 37 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 38 • Telegram 3 - send high data byte • Telegram 4 - send mid-high data byte • Telegram 5 - send mid-low data byte • Telegram 6 - send low data byte SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 39 IN word. This is the signal to the master controller program that the second telegram of the message has been received and understood and the third telegram can be transmitted. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 40 IN word. This is the signal to the master controller program that the fifth telegram of the message has been received and understood and the sixth telegram can be transmitted. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 41 A Mode 1 non-cyclic message can be abandoned by resetting the state machine. This is done by setting the non-cyclic word to 0. Example telegram b15-b12 b11-b8 b7-b4 b3-b0 Value 0000 0000 0000 0000 Data word = 0x0000 Stamp number = 0 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 42: Mode 2 - Ppo 4 Word Mode

  Not mapped Not mapped Pr 17.29 If all IN or OUT mapping parameters are being used when the data format change is NOTE implemented, the last mapping parameter value will be lost. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 43 0, a value over-range error will be reported. Returns the last parameter for the specified menu. Request last parameter Specify MENU. (Values in PARAMETER, DATA HIGH reference word and DATA LOW word will be discarded.) SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 44 Value out of range The specified data value is out of range for the parameter. Invalid parameter / The specified parameter does not exist. menu Parameter error No last parameter information available. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 45 (Parameter menu is available in IN word 3. Reference) Request Last TASK ID 9 could not be executed. Check the Parameter error code in IN word 3 for the reason why. Reference SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 46 Care should be taken to ensure the parameters for the read are setup before the TASK ID is changed from 0 to prevent incorrect data in the returned value. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 47 TASK ID 8 could not be executed. Check the (32-bit) error code in IN word 3 for the reason why. Write Parameter Value Parameter is read only, and cannot be (32-bit) written to. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 48 Care should be taken to ensure the parameters for the write are setup before the TASK ID is changed from 0 to prevent incorrect data being written. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 49: Control And Status Words

  By default data compression is off and therefore the control word will be cast as 32-bit NOTE with bits 16 to 31 reserved. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 50 Once the watchdog is enabled it must be serviced at least once every second or an SCL trip will occur. The watchdog is disabled when an SLC trip occurs, and so it must be re-enabled when the trip is reset. Reserved SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 51: Status Word

  Pr 10.08 rated active current, as defined in menu 4. Refer to the drive Advanced User Guide for more details. In current limit Pr 10.09 Indicates that the current limits are active. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 52 Table 9.4 Drive status word bit functions Parameter Description Regenerating Unidrive SP, Affinity, Digidrive SK and Digitax ST: Indicates that power is being transferred from the motor to the drive. Pr 10.10 Mentor MP only: Indicates that power is being transferred from the drive to the supply.

• Page 53: Diagnostics

  Pr 16.02 and Pr 15.51 or Pr 16.51. Menu 15 or 16 is Solutions Module slot dependent with menu 15 (Unidrive SPz and Digitax ST) or menu 16 (Unidrive ES and Affinity) being the position nearest the control terminal connections.

• Page 54: Profibus-dp Node Address

  Pr 15.51 or Pr 16.51 displays zz (e.g. for software version 01.01.00 on a module in the middle Solutions Module slot (Unidrive ES and Affinity) or for Unidrive SPz and Digitax ST, the Solutions Module slot nearest the incoming supply terminals), Pr 16.02 will display 1.01 and Pr 16.51 will display 0).

• Page 55: Data Format

  (Pr MM.06). When the SM-PROFIBUS DP-V1 is communicating successfully with the PROFIBUS-DP master controller, Pr MM.06 will give an indication of the number of cyclic data messages that are being processed per second. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 56: Mapping Status

  PPO OUT cyclic data channels configured. A non-cyclic data mode has been mapped more than Multiple non-cyclic mapping once in the IN data mapping configuration parameters error (Pr MM.10 to Pr MM.19). SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 57 A request to set up an inter-option communications Inter-option communications block failed. Either the server does not support block error transfer or parameters were not legal. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 58: Drive Trip Display Codes

  If the SM-PROFIBUS DP-V1 detects an error during operation, it will force a trip on the drive and update the error code parameter, Pr MM.50. Table 10.14 shows the possible SM-PROFIBUS DP-V1 error codes SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 59: Module Serial Number

  It contains the last six digits of the ten digit serial number on the label. 10.11 Troubleshooting In order to assist in configuring the network, the Diagnostic flow chart on page 60 could be used. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 60 Check set-up flowchart and double check all drive settings. Before calling for support ensure you have all drive and option module parameters and firmware versions SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 61: Profidrive Profile (v4)

  Perform a drive save by setting Pr MM.00 to 1000 and pressing reset. Pr MM.32 will automatically revert to ‘OFF’ after re-initialising. Re-initialising will cause NOTE the SM-PROFIBUS DP-V1 to temporary go off-line from the PROFIBUS-DP network. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 62: Main Setpoint

  (Pr 1.06). The converted value is then written to drive digital speed reference 1 (Pr 1.21). The formula used for this conversion is: × Main Setpoint Max Speed Clamp Pr 1.21 ------------------------------------------------------------------------------------------------ - 16384 SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 63: Main Actual Value

  Example 2 - Closed loop / servo drive The drive maximum speed clamp (Pr 1.06) = 1500 rpm The main setpoint sent from the master to the drive is 10923 Giving: × 1250 16384 ------------------------------------- - 1000rpm 3000 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 64: Profidrive (v4) State Machine

  If a network compatibility mode is selected (Pr MM.41<>0) then both DP-V1 functionality NOTE and the PROFIdrive (V4) profiles will not be available. The deceleration rates are set in Pr 2.21 and Pr 2.22 for Ramp Stop and Quick Stop NOTE respectively. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 65 Figure 11-1 PROFIdrive V4 General State Machine Diagram SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 66 Figure 11-2 PROFIdrive V4 Speed Control State Machine SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 67: Stopping The Motor Using Profidrive

  • Set jog direction reverse (bit 8=0 and bit 9=1, 0x060F) • Set jog setpoint value (Pr 1.05) The motor should now jog at the speed set by the jog setpoint value. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 68: Profidrive Control Word

  ON, and goes into ‘operation enabled’ at standstill. cyclic Network Control from the PROFIBUS-DP network, process ( ) data is control valid. Process data invalid. Last received valid process data values are No control retained. 11-15 Reserved SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 69: Profidrive Status Word

  ‘At Speed’ (Pr 10.06) = 1 or Reached/Exceeded ‘Above Set Speed’ (Pr 10.07) = 1 Speed Or Frequency ‘At Speed’ (Pr 10.06) = 0 and Not Reached ‘Above Set Speed’ (Pr 10.07) = 0 11-15 Reserved SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 70: Profidrive Pnu Access

  It is beyond the scope of this document to provide information on the Profibus DP-V1 NOTE message frame and PROFIdrive PNUs. For more information please refer to the Profibus web-site www.profibus.com or contact LEROY-SOMER. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 71: Fault Buffer

  2 – Any existing 3 – acknowledged 4 – faults move 5 – down one 6 – Fault position Message 7 – Any previous fault in position 7 is lost Fault Reaction Fault SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 72: Drive Identification

  All I&M functions are available from masters which support this feature. If a network compatibility mode is selected (Pr MM.41<>0) then both DP-V1 functionality NOTE and the PROFIdrive (V4) profiles will not be available. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 73: Advanced Features

  SYNC command and data from the drive controlled by the FREEZE command. The SYNC command is used in conjunction with the UNSYNC command and the FREEZE command is used in conjunction with the UNFREEZE command. SM-PROFIBUS-DP User Guide Issue : a www.leroy-somer.com...

• Page 74: Data Endian Format

  Mid-high byte third High byte fourth Most PROFIBUS-DP master controllers use big endian format by default, many also support little endian, however some older PLCs do not offer the facility to select big endian format. SM-PROFIBUS-DP User Guide www.leroy-somer.com Issue : a...

• Page 75: Inter-option Communication Timing

  Actual Data Size (bits) Compression on Compression off The following examples demonstrate setting up a network using five cyclic channels for both IN and OUT data with the cyclic data compression first disabled and then enabled. SM-PROFIBUS-DP User Guide Issue : a www.leroy-somer.com...

• Page 76: Block Mapping

  (within the same menu) into consecutive mapping parameters. Consider the example in Table 12.8. Block mapping is only available when using Pr 18.xx, Pr 19.xx, Pr 20.xx and on the PLC NOTE registers within SM-Applications. SM-PROFIBUS-DP User Guide www.leroy-somer.com Issue : a...
• Page 77 Block mapping can also be used when mapping data to the PLC registers in an SM- Applications. If it is required to map to individual parameters within the same menu ensure that the target registers are listed in descending order (see section 12.6.1 Avoiding block mapping ). SM-PROFIBUS-DP User Guide Issue : a www.leroy-somer.com...

• Page 78: Direct Data Mapping

  Non-cyclic data cannot be used in direct data mapping mode. The SM- 200 to 206 PROFIBUS DP-V1 operating status parameter (Pr MM.49) will indicate -3, and 300 to 309 mapping error code (Pr MM.50) will indicate 2. SM-PROFIBUS-DP User Guide www.leroy-somer.com Issue : a...

• Page 79: Custom Data Formats

  Single Word the CT Single Word non-cyclic channel. Mode 2 - PPO 4 four IN and four OUT words must be assigned for use as Pr 61.51 Word the PPO 4 Word non-cyclic channel. SM-PROFIBUS-DP User Guide Issue : a www.leroy-somer.com...

• Page 80: Restore Defaults

  SM-PROFIBUS DP-V1, but the default values will NOT be stored in the drive. To store SM-PROFIBUS DP-V1 parameters in the SM-PROFIBUS DP-V1 backup flash memory: • Set Pr MM.31 to 1. • Set Pr MM.00 to 1000. • Press the red RESET button. SM-PROFIBUS-DP User Guide www.leroy-somer.com Issue : a...

• Page 81: Restore Previous Sm-profibus Dp-v1 Configuration

  If an SM-PROFIBUS DP-V1 is moved from a slot on a drive it can be re-installed in any slot on another drive and will pass its configuration to the drive. SM-PROFIBUS-DP User Guide Issue : a www.leroy-somer.com...

• Page 82: Menu 60 - Local Solutions Access

  SM-Applications modules are fitted it is best to map directly to the required slot using the direct slot menu as shown in Table 12.21. Mapping to SM-Applications modules is not possible on drives with one option slot such NOTE as Digidrive SK. SM-PROFIBUS-DP User Guide www.leroy-somer.com Issue : a...

• Page 83: Event Task Trigger In Sm-applications

  0 to 4 Menu 17 Pr 61.43 Access The SM-Applications has four EVENT tasks available for use in DPL programs and the SM-PROFIBUS DP-V1 can be configured to trigger one of these tasks. SM-PROFIBUS-DP User Guide Issue : a www.leroy-somer.com...

• Page 84: Multi-master Operation

  Users must ensure that in networks with multiple master devices that only one master NOTE controller is configured to access the SM-PROFIBUS DP-V1. SM-Profibus DP-V1 supports the simultaneous connection of one class 1 master and NOTE one class 2 master. SM-PROFIBUS-DP User Guide www.leroy-somer.com Issue : a...

• Page 85: Legacy Features

  When using compatibility mode, ensure that the correct GSD file for the simulated drive NOTE is being used and not the actual drive (Unidrive SP / Digitax ST / Mentor MP/ Affinity / Digidrive SK). Depending on the application an SM-Applications module may be needed to account for NOTE any changes between the functionality of the two drives (i.e.

• Page 86: Ppo Types

  13.2.3 PPO 3 Table 13.5 PPO 3 mapping structure IN Data Function OUT Data Function word 0 PROFIdrive status word word 0 PROFIdrive control word word 1 Main Actual Value word 1 Main Setpoint SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 87: Configuring The Profile

  If the PROFIdrive profile has been configured after settings have already been made to the cyclic data mapping parameters, the first two or three mapping parameters (depending upon the PPO type chosen) will be over written and locked out. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 88: Profidrive Control Word

  The drive brakes as fast as possible, if INCH1 was previously ON, INCH1 OFF and with Speed=0 and Current=0 goes into the status operation enabled. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 89: Profidrive Status Word

  Local operation Control only possible on the device itself. Speed or Actual value = comparison value (setpoint), set via the Current reached parameter number. Below set Speed or Current 11-15 Reserved SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 90: Main Setpoint

  Example 1 - Open loop drive The drive maximum speed clamp (Pr 1.06) = 50Hz The drive post ramp reference (Pr 2.01) = 35 Hz Giving: × 16384 ---------------------------- - 11469 SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 91: Profidrive (v2) State Machine Diagram

  89 for full details about the PROFIdrive control and status words. This section is included for information on the superseded PROFIdrive profile V2, new NOTE installations should use the PROFIdrive profile V4 described in section 11 PROFIdrive profile (V4) on page 61. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 92 (b5=1) OFF (b8 or b9=0) Inhibit setpoint Ramp-function Inching-pause (b6=0) generator: INCH1 or monitoring accel enabled INCH2 ON Enable setpoint Speed=0 and Current=0 (b6=1) Operating Speed = set speed (b10=1) Status SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 93 Drive running, INCH2 (b9) is set to 1, None inching active reset to 0 if INCH1 (b8) is set to 1 Inching-pause JOG, FWD REV and RUN None monitoring reset to 0 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 94: Quick Reference

  OUT cyclic mapping 8. Pr MM.29 OUT cyclic mapping 9. Section 12.9 on Pr MM.30 Restore SM-PROFIBUS DP-V1 defaults. page 80 Section on Pr MM.31 Store to SM-PROFIBUS DP-V1 flash memory. page 80 SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 95 Section 8.8 on PPO 4 Word (Mode 2) non-cyclic data mapping Pr 61.51 page 42 parameter. * Not applicable to Digidrive SK. Some drive firmware versions will hide unused or reserved parameters. NOTE SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 96: Operating Status Codes

  IN cyclic data mapping parameters (Pr MM.10 to Pr MM.19) are Hole in IN data not contiguous. It is not possible to have an unused parameter in mapping configuration the middle of the cyclic data. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 97 Total size of all OUT cyclic data mappings has exceeded the total Mapping over length size of the cyclic data. Register mode More than ten cyclic OUT data channels have been selected with objects exceeded direct data mapping mode. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...

• Page 98: Error Codes

  (03.01.01 or earlier). Internal watchdog error Internal error. Cycle power to the drive to reset from this trip. If trip persists, replace the SM-PROFIBUS DP-V1. Internal software error SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...

• Page 99: Glossary Of Terms

  Device: A piece of equipment connected to a network, this may be any type of equipment including repeaters, hubs, masters or slaves. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 100 Master: The controlling device on the network, generally this will include programming features. Mode 1 non-cyclic: A method of sending non-cyclic data using a single word. Mode 2 non-cyclic: A method of sending non-cyclic data using four words. SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 101 Watchdog: A method used to determine if a communication system is healthy. A typical watchdog scheme uses a handshaking system to check both the master and slave are participating in communications. Word: A collection of 16 binary digits. SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 102 Cyclic data ....................24, 73 Data compression ..................75 Data endian format ..................74 Data format ...................19, 55 Data mapping .....................19 Data mapping errors ...................27 Data rate ....................18, 54 Data rates ....................55 Device loading ....................15 SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 103 Firmware version ..................53 Formats ......................24 FREEZE .....................73 Getting started ....................16 Glossary of terms ..................99 GSD ......................22 GSD compatibility ..................23 Hardware enable ..................49 ID code .......................53 Identification PNUs ..................72 Inter-option communication timing .............75 Jogging .......................67 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 104 PROFIdrive (V4) State Machine ..............64 PROFIdrive control word ................68 PROFIdrive control word bit functions ............68 PROFIdrive PNU access ................70 PROFIdrive profile ..................61 PROFIdrive status word ...............69, 89 PROFIdrive status word bit functions ............69 SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 105 SYNC ......................73 Task id codes .....................43 Task trigger ....................83 Telegrams ....................35 Terminal descriptions .................13 Termination ....................14 Trip display codes ..................58 UNFREEZE ....................73 Unidrive SP ....................10 Unidrive SP control word ................49 UNSYNC ....................73 SM-PROFIBUS DP-V1 User Guide Issue : a www.leroy-somer.com...
• Page 106 V4.0 General State Machine Diagram ............65 Virtual parameter reference ................95 Warnings ......................6 Watchdog ....................101 Word order ....................74 Writing parameters using CT Single Word ..........38 Writing parameters using PPO 4 Word mode ..........47 Zero speed ....................51 SM-PROFIBUS DP-V1 User Guide www.leroy-somer.com Issue : a...
• Page 108 MOTEURS LEROY-SOMER 16015 ANGOULÊME CEDEX - FRANCE 338 567 258 RCS ANGOULÊME S.A. au capital de 62 779 000 € www.leroy-somer.com...

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Summary of Contents for Digitax DBE140

• Page 1 DATASHEET CONTROL TECHNIQUES DBE 140 OTHER SYMBOLS: DBE140, DBE 140 RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław www.rgbelektronika.pl Poland biuro@rgbelektronika.pl +48 71 325 15 05 www.rgbautomatyka.pl www.rgbautomatyka.pl www.rgbelektronika.pl...
• Page 2 YOUR PARTNER IN MAINTENANCE Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS LINEAR ENCODERS SYSTEMS INDUSTRIAL COMPUTERS ENCODERS CONTROLS SERVO AMPLIFIERS MOTORS MACHINES OUR SERVICES POWER SUPPLIERS OPERATOR SERVO PANELS DRIVERS At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair works and test each later sold unit.
• Page 3 User Guide DigitAx AC Servo Drive 1.4kW to 22kW Part Number: 0415-0008 Issue Number...
• Page 4 This product is supplied with the latest version of user-interface and machine-control software. If this product is to be used in a new or existing system with other DigitAx Drives, there may be some differences between their software and the software in this product. These differences may cause this product to function differently.

• Page 5: Table Of Contents

  3.16 Weights Example calculations for 3.17 Power ratings a braking resistor 5-12 3.18 Losses and efficiency 5.10 Control Keypad connections 5-14 3.19 DC bus choke ratings 5.11 Signal connections 5-15 3.20 Dimensions DigitAx User Guide Issue code: dgxu4...
• Page 6 Control Keypad List of Parameters 11-1 Models DBE140, DBE220, DBE420, 11.1 Variable parameters 11-1 DBE600, DBE750, DBE1100S 11.2 Bit parameters 11-5 Models DBE1500, DBE2200 11.3 Summary of default values 11-11 Display and controls Trip codes and Fault Finding 12-1 Parameters 12.1...
• Page 7 DBE1500 DBE2200 intended to be used with an appropriate motor, controller, The DigitAx servo drive products listed above have electrical protection components and been designed and manufactured in accordance other equipment to form a complete with the following European harmonised, national end product or system.
• Page 8 DigitAx User Guide Issue code: dgxu4...

• Page 9: Introduction

  Introduction Case styles Eight DigitAx models cover the range of power ratings. There are two styles and three sizes of case which depend on the power rating of the model. Size 1 and size 2 cases have ingress protection to IP20;...

• Page 10: Method Of Operation

  10° ° . The AC supply is rectified and smoothed to apply a Even though all DigitAx constant voltage on a DC bus. This DC bus supplies a Drives are affected in this...

• Page 11: Safety Information

  To ensure mechanical safety, additional safety mechanical brake). devices such as electro-mechanical interlocks may be required. The Drive must not be used in a safety- critical application without additional high-integrity protection against hazards arising from a malfunction. DigitAx User Guide Safety information Issue code: dgxu4...
• Page 12 This would normally be an appropriate form of independent safety back-up system using simple electro- mechanical components. DigitAx User Guide Safety information Issue code: dgxu4...

• Page 13: Data

  PWM switching frequencies Model sizes 1 and 2 are rated at IP20. The cooling fans for the heatsink are rated at IP20. DBE140 to DBE1100S: 8kHz DBE1500, DBE2200: 4kHz, 8kHz Model size 3 are supplied as a stand-alone unit in a...

• Page 14: Serial Communications

  Part 4 (Transient Burst) Level 3 resistance Temperature range –55°C to 155°C –97°F to 240°F –5 Inertia 2.0gm x 10 3.12 Resolver resolution 14-bit when Pr99 < 3200 RPM 12 bit when Pr99 ≥ 3200 RPM DigitAx User Guide Issue code: dgxu4...

• Page 15: Frequency Accuracy

  DBE140 DBE220 DBE420 13.6 10.6 DBE600 20.8 13.1 15.2 10.5 DBE750 25.6 15.4 19.7 10.7 13.6 DBE1100S 41.6 23.7 30.5 16.4 21.1 DBE1500 51.2 29.7 39.0 20.6 27.0 DBE2200 76.8 44.9 57.5 31.1 39.8 DigitAx User Guide Issue code: dgxu4...

• Page 16: Dc Bus Choke Ratings

  DC bus chokes are fitted internally on the DBE420 to Refer to the following diagrams. DBE1100S drives. No DC bus choke is needed for models DBE140 and DBE220. Ripple frequency = 6 × supply frequency Ratings and values quoted are design minima.
• Page 17 Dimension Model size 1 Model size 2 DBE140, DBE220 DBE420, DBE600 DBE750, DBE1100S Height of case Width of case 78.5 Overall depth 323.5 328.5 Depth of heatsink Width of heatsink Height of heatsink Mounting centres 359.4 359.4 top bracket to bottom bracket...
• Page 18 Heated air exhaust Model size 3 DBE1500 DBE2200 Model size 3 Model size 4 Mounting bracket detail Mounting bracket detail Figure 3–2 Dimensions of model size 3 (See table on opposite page) DigitAx User Guide Issue code: dgxu4...
• Page 19 Total height of mounting plates Mounting centres top to bottom Mounting centres Height of aperture for through-panel mounting Width of aperture for through-panel mounting Fixing hole diameter 6mm ( in) clear Figure 3–3 Clearances required around the Drive DigitAx User Guide Issue code: dgxu4...
• Page 20 DigitAx User Guide Issue code: dgxu4...

• Page 21: Mechanical Installation

  Refer to Figure 5–4. over-current trips (OC) in the Drive. For difficult cases, consult the supplier of the Drive. DigitAx User Guide Issue code: dgxu4...

• Page 22: Planning The Installation

  If necessary, adjust the size of the enclosure, and re-plan the internal equipment accordingly. Repeat instructions 2 to 4 as many times as required to meet all the requirements. DigitAx User Guide Issue code: dgxu4...
• Page 23 Locate as required. Signal cables Plan for all signal cables to Enclosure be routed at least 300mm (12in) distant from any AC power cable. Figure 4–1 Planning the layout of the enclosure DigitAx User Guide Issue code: dgxu4...

• Page 24: Environment

  A ferrite absorber ring and capacitor network may Allow at least 3mm ( in) clearance each side of be used in place of an RFI filter for all models, except the Drive. for models DBE1500 and DBE2200. See Figure 5–4. DigitAx User Guide Issue code: dgxu4...

• Page 25: Ferrite Rings

  Mounting hole diameter Figure 4–3 Mounting screw holes and dimensions of cut-out required for remote mounting of the Control Keypad The Control Keypad on model sizes 1 and 2 cannot be located remotely from the Drive. DigitAx User Guide Issue code: dgxu4...

• Page 26: Installing An External Dc

  The enclosure is constructed of painted 2mm ( inch) sheet steel Maximum external ambient temperature: 25°C (77°F) Drive PWM switching frequency: 8kHz Value Terminal size 1.50 0.70 Figure 4–4 Dimensions of the bus choke DigitAx User Guide Issue code: dgxu4...

• Page 27: Heat Dissipation In A Ventilated Enclosure

  2 1 8 0 5 metres approx If possible, locate heat-generating equipment in the lower part of the enclosure to encourage internal convection. Otherwise, increase the height of the enclosure or install ‘stirrer’ fans. DigitAx User Guide Issue code: dgxu4...
• Page 28 DigitAx User Guide Issue code: dgxu4...

• Page 29: Electrical Installation

  Stop function of the Drive does not remove dangerous voltages from the Drive or the driven machine. AC supplies to the Drive must Top panel of DBE140, DBE220 be disconnected using an approved isolation device before any cover is removed or service work is Pin connections performed.
• Page 30 –DC DC bus negative Function Type Notes External External braking resistor Choke braking connections Choke –DC bus resistor Ground External +DC bus connection braking Phase U resistor Phase V Output to motor Phase W DigitAx User Guide Issue code: dgxu4...

• Page 31: Emc Wiring Recommendations

  Additional precautions recommendations shown in Figure 5–4 may and guidelines need to be considered. result in vibration in the motor or spurious These are shown in Figures 5–5 and 5–6. trips in the Drive. DigitAx User Guide Issue code: dgxu4...
• Page 32 Site ground Alternative safety Do not connect the (if required) ground connection cable shields to the for the motor resolver or motor. Figure 5–5 Models DBE140 to DBE1100S — Recommended AC power and ground connections DigitAx User Guide Issue code: dgxu4...
• Page 33 Armour or shields must be bonded using the connection for the motor isolator case or a flat, wide conductor. Maximum length of conductor: 100mm (4 in) Do not connect the cable shields to the resolver or motor. DigitAx User Guide Issue code: dgxu4...
• Page 34 Radiated emissions in the (if required) the cable shields EMC Data Sheet. to the resolver or Alternative safety motor. ground connections for the motors Figure 5–6 Models DBE1500 to DBE2200 — Recommended AC power and ground connections DigitAx User Guide Issue code: dgxu4...
• Page 35 Alternative motor and braking resistor connections Use these wiring techniques as appropriate for the following: Motor connected to the Drive through a terminal block. Wiring to optional braking resistor external to the enclosure and the resistor shielding. DigitAx User Guide Issue code: dgxu4...

• Page 36: Ac Supply Cables And Fuses

  (1000V ) 3-core pvc-insulated, shielded or armoured cable with copper conductors of the size When a DigitAx is connected to an supply which specified in the table: is subject to severe disturbances, as a result of the Drive to the motor following for example...

• Page 37: Connecting An Internal Or External Braking Resistor

  The maximum DC-bus voltage is 800V. Ensure the (external) braking resistor, connecting cables and insulation are suitable for this operating voltage. DigitAx User Guide Issue code: dgxu4...
• Page 38 Drive until the cause of a trip has been fully investigated. AC supply isolator Emergency Stop/Start Stop Thermal trip Figure 5–7 Connecting the thermal overload protection relay to the trip circuit of the AC supply isolator DigitAx User Guide 5-10 Issue code: dgxu4...
• Page 39 Thermal connector trip Braking Braking resistor resistor connector connector DBE1500 DBE2200 Thermal trip External braking resistor Upper power terminals Figure 5–8 Connecting internal and external braking resistors to the recommended thermal trip circuit DigitAx User Guide 5-11 Issue code: dgxu4...

• Page 40: Example Calculations For A Braking Resistor

  Then use this figure to calculate the intermittent torque limit for the motor for a 4-second duration. For this example, 3 times the nominal torque rating is assumed, as follows: × × × × 130 3 bINT DigitAx User Guide 5-12 Issue code: dgxu4...
• Page 41 Drive to control the DC-bus voltage more accurately. The reduction in value does not increase the power dissipation since the average voltage across the resistor is reduced by the braking transistor operating as a chopper. DigitAx User Guide 5-13 Issue code: dgxu4...

• Page 42: Control Keypad Connections

  Use the tripping curves to find the time that the thermal overload relay will take to trip (eg. 3.5 seconds approximately) Check that the braking resistor can tolerate the overload current for this duration. DigitAx User Guide 5-14 Issue code: dgxu4...

• Page 43: Signal Connections

  Sine high Excitation FREQ SIGN Excitation Signal at 7.812 kHz for resolver high FREQ Figure 5–12 DBE140 to DBE1100S Legend printed on the front panel showing the locations of the control signal connectors DigitAx User Guide 5-15 Issue code: dgxu4...
• Page 44 When Pr99 ≤3000 RPM output 3V = 1000 RPM When Pr99 > 3000 RPM 3V = 4000 RPM This output must be loaded by 10kΩ in order to produce a load current of 1mA DigitAx User Guide 5-16 Issue code: dgxu4...
• Page 45 Open- +24V Pr20 subtracted from buffer Inhibits reverse every 5ms (anti-clockwise) rotation +24V Open- Pr20 added to buffer every 5 Inhibits forward (clockwise) roatation +24V +24V Pr3No effect Allows rotation in either direction DigitAx User Guide 5-17 Issue code: dgxu4...
• Page 46 Used in conjunction with terminal C7 input to indicate the required direction of rotation of the motor (See parameter b15). Apply 0V for reverse rotation (anti clockwise) Apply +15V (or leave open-circuit) for forward rotation (clockwise) DigitAx User Guide 5-18 Issue code: dgxu4...
• Page 47 Transmit signal, inverted Receive signal, inverted Network termination resistor Direction output DIROUT An external 10kΩ load resistor connected to +10V is required +15V indicates forward direction (clockwise) 0V indicates reverse direction (anti clockwise) DigitAx User Guide 5-19 Issue code: dgxu4...
• Page 48 DigitAx User Guide 5-20 Issue code: dgxu4...

• Page 49: Control Keypad

  Control Keypad Two types of Control Keypad are used in DigitAx Drives. The type used depends on the model size. The Control Keypad can be removed from model size 3. DBE140, DBE220, DBE420, DBE600, DBE750, DBE1100S Figure 6–2 Control Keypad used in models Model sizes 1 and 2 only —...
• Page 50 DigitAx User Guide Issue code: dgxu4...

• Page 51: Parameters

  User's table (EEPROM) Data must be manually saved from RAM. Last-used data can be recalled. Last-saved data is automatically sent to RAM when the Drive is powered-on. Figure 7–1 How parameter values are stored and changed DigitAx User Guide Issue code: dgxu4...
• Page 52 EEPROM from EEPROM (the Drive must be Enable change disabled before of security code this parameter is adjusted) EEPROM Figure 7–2 Logic diagram showing how parameter values are changed using serial communications DigitAx User Guide Issue code: dgxu4...

• Page 53: Programming Instructions

  Follow the procedure in Displaying a parameter to display the value of parameter b99. Follow the procedure in Changing a parameter value to set the value at 1. The current parameter values are now saved in the User’s Table. DigitAx User Guide Issue code: dgxu4...
• Page 54 DigitAx User Guide Issue code: dgxu4...

• Page 55: Security

  Set Pr25 to the User Security Code number. Read/Write parameters can now be edited. Changing a security code Set Pr25 to the existing User Security Code number Follow the procedure in Setting up a security code. DigitAx User Guide Issue code: dgxu4...
• Page 56 DigitAx User Guide Issue code: dgxu4...

• Page 57: Getting Started

  Follow the instructions in this chapter to enter values for these parameters in order to get the motor and Drive running. Adjustments can be made later to optimize the system. DigitAx User Guide 10-1 Issue code: dgxu4...

• Page 58: Protection Parameters

  * 100 37.5% Since a whole number must be entered in Pr45, the value entered in this example would be 37 or 38. Figure 10–2 Models DBE140, DBE220, DBE420, DBE600, DBE750 — Relationship between maximum current (Pr42) and nominal current (Pr45)

• Page 59: Pid Parameters

  200 or . The full-scale speed calibration pot allows the full scale speed to be adjusted to produce the correct speed for a specified speed reference input signal. Figure 10–4 Example operating cycle DigitAx User Guide 10-3 Issue code: dgxu4...

• Page 60: Resolver Phasing

  If the value of b33 = 0, at least one alarm direction, when viewed from the shaft end of condition exists. Investigate as necessary. If the value of b89 = 1, the Drive has entered DigitAx User Guide 10-4 Issue code: dgxu4...

• Page 61: Calibration

  Pr1, Pr2, Pr3. Increase the inversion frequency by decreasing the value of Pr19. Set Pr19 at 2.5 (0.2Hz) Note This setting depends on the transmission ratio and the mechanical limitations of the system. DigitAx User Guide 10-5 Issue code: dgxu4...

• Page 62: Methods Of Speed Control

  Scaling is as follows: 200 to 3000 3000 When Pr99 ≤3000, >3000 6000 8192 pulses = 1 revolution, i.e. 409.6kHz gives 3000 When Pr99 >3000, 4096 pulses = 1 revolution, i.e. 409.6kHz gives 6000 DigitAx User Guide 10-6 Issue code: dgxu4...

• Page 63: 10.10 Methods Of Torque Control

  ±100% of I Set b2 at 0 to disable the Drive (See Pr42). Ensure the motor is stopped. Set b6 at 1 to select torque control. Set b8 at 0 to select analog torque reference DigitAx User Guide 10-7 Issue code: dgxu4...

• Page 64: 10.11 Methods Of Position Control

  The value that will actually be written into the controller. The acceleration and deceleration ramps buffer is given by: Position reference = (Pr76 x 1000) + Pr75 DigitAx User Guide 10-8 Issue code: dgxu4...
• Page 65 (and hence whether ramps are selected to act on the speed losing the position reference), the limit-switch reference. function should be used by setting b16 at 1. This DigitAx User Guide 10-9 Issue code: dgxu4...

• Page 66: 10.12 Quick Reference

  Reference Pulse Limit- Terminal switch Digital Fixed increment Forward Reverse 0 = logic 0 = 0V = Stop (X = don’t care) Stop, hold and orientate See Spindle orientation earlier in this chapter. DigitAx User Guide 10-10 Issue code: dgxu4...

• Page 67: 10.13 Programmable Outputs

  Motor status (running/stopped) Post-ramp speed reference. Scaling: ±5V = ±6000 RPM At-speed status Speed loop saturation status The output from terminal B17 is the analog Drive enabled status tacho signal. Braking resistor overload DigitAx User Guide 10-11 Issue code: dgxu4...
• Page 68 Pr21 Limit Switch Buffer inc./dec. Pr20 Digital Select Auto Digital select select Buffer Pr19 time Inc./Dec. Pr18 1 = Limit switch active Figure 10–6 Logic diagram showing speed reference selection and position control DigitAx User Guide 10-12 Issue code: dgxu4...
• Page 69 Bandwidth Speed Ramps Pr13 Proportional Loop Ramp to Derivative Pr09 Pr14 Stop Hard Pr10 Pr15 Integral Stop Pr11 Pr12 Pr27 Pr37 Pr53 Pr54 Shaft Positioning Speed Feedback DigitAx User Guide 10-13 Issue code: dgxu4...
• Page 70 Voltage Voltage Temperature Pre-Alarm Incorrectly (400V) (840V) Parameters b06, b49 and Pr95 can be changed only when the Drive is disabled Figure 10–7 Logic diagram showing the torque loop, trip logic and I/O DigitAx User Guide 10-14 Issue code: dgxu4...
• Page 71 Pr30 I 2 t alarm Pr31 Over temp. pre-alarm Drive OK +24V Over-current trip Motor direction Zero speed At speed Speed loop saturation B7 (Pr30) Drive enabled B8 (Pr31) Internal braking resistor overload DigitAx User Guide 10-15 Issue code: dgxu4...
• Page 72 = 0 Limitation by external analog reference Pr42 = 100 b11 = 0 b11 = 1 Set Pr42 at the Pr42 = 100 required value Figure 10–8 Select speed control or current control DigitAx User Guide 10-16 Issue code: dgxu4...
• Page 73 Pr21 = 2 b17 = 1 b23 = 1 b23 = 0 Set speeds Set ramps Pr0, Pr1, Pr2, Pr3 Pr9, Pr10, Pr11, Pr12 Figure 10–9 Select pulse offset control switching, or limit-switch function DigitAx User Guide 10-17 Issue code: dgxu4...
• Page 74 Set Pr9, Pr10, Pr11, Pr12 Used in speed control mode only. Activated when b18 is set at 1 or +24V applied to pin B6 (b18 set at 0) Figure 10–10 Select Stop-and-hold or Stop-orientate and hold DigitAx User Guide 10-18 Issue code: dgxu4...

• Page 75: List Of Parameters

  Voltage level of DC bus 0 to 1024 Res. Slope in milliseconds per 1000 RPM. val. R–W Pr10 Acceleration ramp — reverse 1 to 3000 Res. val. Slope in milliseconds per 1000 RPM. DigitAx User Guide 11-1 Issue code: dgxu4...
• Page 76 The indications are as follows: Available values are as follows: Terminal Pr18 300, 600 1200, 2400, 4800, 9600, 19200 The host computer must be set at the same Baud rate as the Drive. DigitAx User Guide 11-2 Issue code: dgxu4...
• Page 77 Analog limit (rectified) (Pr39) when b11 = 1 b41 Motor stopped Digital limit Pr42 b42 At Speed 0 is shown when the Drive is disabled. b48 Speed loop saturation b4 Drive enable status b95 Braking resistor overload DigitAx User Guide 11-3 Issue code: dgxu4...
• Page 78 0 to 3 Res. Range: val. DBE140 to DBE750: 20% to 50% When Pr68 = 0, pulses per revolution = 256 DBE1100S to DBE2200: 20% to 67% When Pr68 = 1, pulses per revolution = 512 When Pr68 = 2, pulses per revolution = 1024...

• Page 79: Bit Parameters

  Refer to terminal B14. when the Drive is reset by setting b03 at 1. When Pr98 is interrogated using Serial Communications, a number representing the trip is transmitted. The numbers are as follows: DigitAx User Guide 11-5 Issue code: dgxu4...
• Page 80 When b12 is set at 0, refer to b13. When b12 is set at 1, the output signal represents When b7 = 0, ramps are disabled. the motor current (16V pk-pk ≡ I peak When b7 = 1, ramps are enabled. DigitAx User Guide 11-6 Issue code: dgxu4...
• Page 81 When b33 is set at 0, at least one alarm is active. When b33 is set at 1, no alarm is active. The status of this parameter is produced as a logic signal on terminal B15. DigitAx User Guide 11-7 Issue code: dgxu4...
• Page 82 When b53 is set at 1, stop, orientate, and hold is selected. See Pr27. External Trip Alarm Res. val. b55 = 0 indicates no external trip. b55 = 1 indicates external trip active. DigitAx User Guide 11-8 Issue code: dgxu4...
• Page 83 = 0 indicates heat-sink temperature below permitted maximum. b85 = 1 indicates heat-sink temperature above permitted maximum. Resolver break trip Res. val. b86 = 0 indicates no fault. b86 = 1 indicates a fault present. DigitAx User Guide 11-9 Issue code: dgxu4...
• Page 84 SAVE while parameters are being saved. b99 is related to b1 and b5. When b99 is set at 0, no saving occurs. When b99 is set at 1, parameters are saved. DigitAx User Guide 11-10 Issue code: dgxu4...

• Page 85: Summary Of Default Values

  Pr71 Position loop integral gain Pr75 Pr75 Position reference (via serial comms only) Position reference (via serial comms only Pr76 Pr76 Pr95 Pr95 Number of motor poles Pr99 Pr99 3000 Speed – full-scale DigitAx User Guide 11-11 Issue code: dgxu4...
• Page 86 Serial link (interface) mode Stop and hold Digital stop mode selector Disable External trip (Et) enable +24V = STOP Invert logic of STOP signal Relative At-speed relative or absolute Save Working Table to EEPROM DigitAx User Guide 11-12 Issue code: dgxu4...

• Page 87: Trip Codes And Fault Finding

  Hardware Fault Trip or Drive Operating Incorrectly There is an internal hardware fault. Remove then re-connect AC power to the Drive. This may clear the fault, otherwise consult the supplier of the Drive. DigitAx User Guide 12-1 Issue code: dgxu4...

• Page 88: Fault Finding

  Control software Keypad. Model size 34 Model size 34 If dEf dEf re-appears when AC power is next applied, change the NOVRAM on the control board. DigitAx User Guide 12-2 Issue code: dgxu4...

• Page 89: Serial Communications

  The Baud rate is selected using parameter Pr23. The selected rate must be the same as that of the host computer. Figure 13–1 Up to 32 Drives can be connected to each communications port of the host computer DigitAx User Guide 13-1 Issue code: dgxu4...

• Page 90: Message Structure

  Serial address code To address an individual parameter, the host must send a code that relates to that parameter. There Parameter identifier are two types of parameter in the DigitAx: Data field Block checksum (BCC) Numerical parameters Pr00 to Pr99...

• Page 91: Messages From Host To Drive

  Message received, but not carried out. The data is out of range, or the message was corrupted during transmission. The EOT character and Drive address can be omitted from subsequent write instructions to that Drive. DigitAx User Guide 13-3 Issue code: dgxu4...

• Page 92: Terminal Mode

  = sign, as follows: Mode. Data field Read-Only Parameter P 6 = – 0 3 5 . 8 An attempt has been made to write to a Ctrl-M read-only (OR) parameter. DigitAx User Guide 13-4 Issue code: dgxu4...

• Page 93: Parameters Related To Serial Communications

  Serial communications mode ANSI mode ANSI When b52 b52 is set at 0, standard is selected When b52 b52 is set at 1, Terminal mode is selected DigitAx User Guide 13-5 Issue code: dgxu4...
• Page 94 DigitAx User Guide 13-6 Issue code: dgxu4...

• Page 95: Setting The Pid Gains

  Waveform showing ideal response Excessive derivative gain can have the following effects: Excessive heating of the motor due to extra current Motor shaft oscillation I2t current limiting Reduced speed of response as shown in Figure A–4 DigitAx User Guide Issue code: dgxu4...

• Page 96: Evaluating The Pid Gains

  For systems requiring a stiff response, the angle would be around 6 ° . For a softer response, the angle may be up to 60 ° DigitAx User Guide Issue code: dgxu4...