Parameter manual
Language English
Translation
Document No. 5.16029.03
Part No. 00470716
Status 30.07.2019
E
5.16029.03
b maXX BM5800
Multi-axis controller
Parameter manual
Version 01.15
Read the Operating Manual before starting any work!
Copyright The owner may produce an unrestricted numbe r of copies of this Parameter manual solely
for internal use. This Parameter manual may not be copied or reproduced, even in extract
form, for any other purpose.
Use and disclosure of the contents of this Parameter manual are not permitted.
Names or company symbols in this Parameter manual can be trademarks, the use of which
by third parties for their own purposes may infrin ge th e ri ghts of the owners.
Preliminary informationCaution: The following applie s if this document is identified as preliminary information:
This version contains preliminary technical information which the users of the devices an d
functions described are intended to receive in advance, in order to be able to make arrangements for any changes or functional enhancements that may be required.
This information should be considered to be provisional , as it has not yet been subjected to
the final Baumüller internal review process. In particular this information i s still subject to
change, so that no legal obligation can be deduced on the basis of this preliminary information. Baumüller accepts no liability for damages that may arise from this possibly erroneous
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cessible to the operator at all times and be in a legible condition . Whe n the d evice/machine
is sold/relocated, this Parameter manual must be passed on together with the device/ma
chine by the owner.
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manual, unless otherwise described in the General Conditions for Sales and Supply.
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Baumüller Nürnberg GmbH
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Table of Contents
1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Information about the Parameter Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 Explanation of Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Limitation of Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.5 Other Applicable Documents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.6 Guarantee Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.7 Customer service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.8 Terms used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Voltage test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Requirements for the electrical supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4.1 Communication via EtherCAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.5 Switch-on sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.6 Performing the commissioning (using Axis 1 as an example). . . . . . . . . . . . . . . . . . . 27
3 Description of the Software Modules and Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.1 Cycle times of the software modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.1.1 Cycle times at axis units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.2 Structure of the parameter overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.3 System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.3.1 System control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.3.1.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.3.1.2 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4.1 Power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4.1.1 ProDrive Power Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.4.1.2 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.4.1.3 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.4.2 Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.4.2.1 Motor Identification Plate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.4.2.2 Torque limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.4.2.3 Torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.4.2.4 Torque threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.4.2.5 Maximum permissible speed (electrical conditioned) . . . . . . . . . . . . . . . . . . . . . . . 84
3.4.2.6 ProDrive Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.4.2.7 Parameter overview motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.4.2.8 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.4.3 Synchronous Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
3.4.3.1 ProDrive Synchronous Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
3.4.3.2 Torque ripple compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
3.4.4 Asynchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.4.4.1 ProDrive Asynchronous Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.4.4.2 Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.4.4.3 ProDrive Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
3.4.4.4 Parameter overview Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
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3.4.4.5 Description of the Lh-characteristic parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . 126
3.4.5 Synchronous motor with interior permanent magnet. . . . . . . . . . . . . . . . . . . . . . . . 128
3.4.5.1 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
3.4.5.2 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
3.4.5.3 Identification of the nonlinear parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
3.4.5.4 Field weakening at IPMSM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
3.4.5.5 Torque ripple compensation at IPMSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
3.4.5.6 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
3.4.5.7 Description of the parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
3.4.6 Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
3.4.6.1 Length measuring devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
3.4.6.2 Encoder monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
3.4.6.3 ProDrive Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
3.4.6.4 Encoder optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
3.4.6.5 Encoder correction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
3.4.6.6 Encoder accuracy and excentricity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
3.4.6.7 SSI digital configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
3.4.6.8 Resolver synchronization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
3.4.6.9 Encoder angle via fieldbus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
3.4.6.10 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
3.4.6.11 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
3.4.7 Autotuning of Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
3.4.7.1 ProDrive Autotuning of the Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
3.4.7.2 Parameter overview Autotuning of the Current Controller . . . . . . . . . . . . . . . . . . . 182
3.4.7.3 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
3.4.8 Autotuning of position / speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
3.4.8.1 Ks Determination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
3.4.8.2 ProDrive Ks Determination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
3.4.8.3 Parameter overview Ks measurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
3.4.8.4 Description of the Ks measurement parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 194
3.4.8.5 Control loop analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
3.4.9 Autotuning Asynchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
3.4.9.1 Identification Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
3.4.10 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
3.4.10.1 Digital inputs at axis units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
3.4.10.2 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
3.4.10.3 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
3.4.11 Fieldbus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
3.4.11.1 Parameter Ids for the Real Time Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
3.4.11.2 Access Counter for each Real Time List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
3.4.11.3 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
3.4.11.4 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
3.4.12 Measuring encoder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
3.4.12.1 ProDrive Measuring Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
3.4.12.2 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
3.4.12.3 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
3.4.13 Customizable PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
3.4.13.1 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
3.4.13.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
3.4.14 PT
3.4.14.1 Temporal features of the filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
3.4.14.2 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
3.4.14.3 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
3.4.15 Master-Slave Torque Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
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3.4.15.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
3.4.15.2 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
3.4.16 Gantry functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
3.4.16.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
3.4.16.2 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
3.4.17 Synchronization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
3.4.17.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
3.4.17.2 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
3.4.18 Configurable status word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
3.4.18.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
3.4.18.2 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
3.4.19 DS402 Factor Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
3.4.19.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
3.4.19.2 ProDrive DS402. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
3.4.19.3 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
3.4.19.4 Description of the Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
3.5 Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
3.5.1 Drive management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
3.5.1.1 States of the Device Control System of the axis unit. . . . . . . . . . . . . . . . . . . . . . . 289
3.5.1.2 Introduction to the Description of the Device Control System . . . . . . . . . . . . . . . . 291
3.5.1.3 State Machine for the Device Controller of the axis units . . . . . . . . . . . . . . . . . . . 292
3.5.1.4 State Transitions in the Device Controller of the axis units . . . . . . . . . . . . . . . . . . 293
3.5.1.5 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
3.5.1.6 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
3.5.2 Data Set Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
3.5.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
3.5.2.2 Command Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
3.5.2.3 Organization of the Parameters in the Data Set s . . . . . . . . . . . . . . . . . . . . . . . . . 318
3.5.2.4 Delivered State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
3.5.2.5 Switch-On Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
3.5.2.6 Changing, Loading, Copying and Storing Parameters . . . . . . . . . . . . . . . . . . . . . 319
3.5.2.7 Identification of Parameter Set and Data Sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
3.5.2.8 Functions of the Data Set Management System . . . . . . . . . . . . . . . . . . . . . . . . . . 320
3.5.2.9 Data Set Commands and Possible Error Messages . . . . . . . . . . . . . . . . . . . . . . . 321
3.5.2.10 Changeover to Data Set 1 to 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
3.5.2.11 Overview of the Data Set Management Commands . . . . . . . . . . . . . . . . . . . . . . . 323
3.5.2.12 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
3.5.2.13 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
3.5.3 Brake management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
3.5.3.1 Description of the Brake Management System . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
3.5.3.2 Brake watchdog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
3.5.3.3 ProDrive Brake Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
3.5.3.4 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
3.5.3.5 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
3.5.4 Error Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
3.5.4.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
3.5.4.2 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
3.5.5 Set Value Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
3.5.5.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
3.5.5.2 Description of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
3.6 Set Value Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
3.6.1 Ramp function generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
3.6.1.1 Optional interpolation of the ramp function generator input set value. . . . . . . . . . 358
3.6.1.2 ProDrive Ramp Function Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
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3.6.1.3 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
3.6.1.4 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
3.6.2 Set Value Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
3.6.2.1 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
3.6.2.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
3.6.3 Error reaction controlled stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
3.6.4 Error Reaction Return Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
3.6.4.1 Parameter Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
3.6.4.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
3.6.5 Cam generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
3.6.5.1 Time control via the table index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
3.6.5.2 Time control with virtual master axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
3.6.5.3 Parameter-controlled processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
3.6.5.4 Setting options of cam generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
3.6.5.5 State machine of the cam generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
3.6.5.6 Limiting of output value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
3.6.5.7 Handling the cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
3.6.5.8 Parameter Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
3.6.5.9 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
3.6.6 Motor potentiometer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
3.6.6.1 Parameter Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
3.6.6.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
3.7 Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
3.7.1 Position / Speed Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
3.7.1.1 The factor Ks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
3.7.1.2 Position / speed controller adaption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
3.7.1.3 Cyclical Ks adaption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
3.7.1.4 Acceleration feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
3.7.1.5 Friction compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
3.7.1.6 Compensation of the torque ripple. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
3.7.1.7 ProDrive Position / Speed Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
3.7.1.8 Parameter Overview of Position / Speed Controller. . . . . . . . . . . . . . . . . . . . . . . . 418
3.7.1.9 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
3.7.2 Filter of the torque current set value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
3.7.2.1 PT
3.7.2.2 Polynomial filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
3.7.2.3 Setting options of the polynomial filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
3.7.2.4 Other filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
3.7.2.5 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
3.7.2.6 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
3.7.3 Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
3.7.3.1 Current Prediction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
3.7.3.2 Dead Time Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
3.7.3.3 Torque Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
3.7.3.4 Feedforward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
3.7.3.5 Current controller adaption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
3.7.3.6 Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
3.7.3.7 ProDrive Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
3.7.3.8 Overview of current controller parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
3.7.3.9 Description of current controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
3.7.4 DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
3.7.4.1 Description of the DC link controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
3.7.4.2 ProDrive DC link controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
3.7.4.3 Reactive current brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
filter and notch filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
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3.7.4.4 Short circuit brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
3.7.4.5 Parameter Overview of the DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
3.7.4.6 Description of the DC link controller Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . 481
3.7.5 Field weakening controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
3.7.5.1 Breakdown torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
3.7.5.2 Parameter overview field weakening. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
3.7.5.3 Description of the Field Weakening parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 493
3.7.6 Flux controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
3.7.6.1 ProDrive Flux controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
3.7.6.2 Parameter Overview of the Flux Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
3.7.6.3 Description of the Flux Controller parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
3.7.7 Controller adaptations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
3.7.7.1 Parameter Overview of the Controller Adaptations. . . . . . . . . . . . . . . . . . . . . . . . 501
3.7.7.2 Description of the Controller Adaptations parameters. . . . . . . . . . . . . . . . . . . . . . 502
3.7.7.3 Adaption EMF feed forward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
3.7.7.4 Adaption torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
3.7.7.5 Ks adaption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
3.7.7.6 Adaption to the Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
3.7.7.7 Compensation dead time voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
3.7.7.8 Temperature adaption motor resistances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
3.7.7.9 Temperature adaption slip frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
3.8 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
3.8.1 Operating Modes general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
3.8.1.1 Moving to positive stop command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
3.8.1.2 ProDrive Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
3.8.1.3 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
3.8.1.4 Description of the Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
3.8.2 Operating Mode Target Position Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
3.8.2.1 Controlling the Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
3.8.2.2 Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
3.8.2.3 Bits in the Control Word / Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
3.8.2.4 Actions on the Rising Edge of "New Set Value" . . . . . . . . . . . . . . . . . . . . . . . . . . 533
3.8.2.5 Sequence of Events for Positioning Handshake with "Single Set Value" . . . . . . . 533
3.8.2.6 Sequence of Events for Handshake with “Set of Setpoints” . . . . . . . . . . . . . . . . . 535
3.8.2.7 Hardware limit switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
3.8.2.8 Software Limit Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
3.8.2.9 Target Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
3.8.2.10 Change of Operating Mode to Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
3.8.2.11 Halting a Running Positioning Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
3.8.2.12 Aborting a Running Positioning Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
3.8.2.13 Set Value Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
3.8.2.14 Comparison of Motion Profiles for Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
3.8.2.15 Control by Means of the "Start Positioning" Method . . . . . . . . . . . . . . . . . . . . . . . 543
3.8.2.16 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
3.8.2.17 Description of the Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
3.8.3 Operating mode Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564
3.8.3.1 Procedure of a homing under consideration of Zero pulse or Zero angle . . . . . . . 564
3.8.3.2 Shifting the zero angle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
3.8.3.3 Maximum distance for zero pulse detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
3.8.3.4 Procedure of a Homing to switch only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
3.8.3.5 Homing without setting the home position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
3.8.3.6 Automatic setting of the absolute value offset at homing . . . . . . . . . . . . . . . . . . . 567
3.8.3.7 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567
3.8.3.8 Homing Method 1 (neg. limit switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568
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3.8.3.9 Homing Method 2 (pos. limit switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568
3.8.3.10 Homing Methods 3 and 4 (pos. zero point changeover switch) . . . . . . . . . . . . . . . 569
3.8.3.11 Homing Methods 5 and 6 (neg. zero point changeover switch). . . . . . . . . . . . . . . 570
3.8.3.12 Homing Methods 7 to 14 (Reference Switch). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
3.8.3.13 Homing Methods 15 and 16 (reserved) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
3.8.3.14 Homing Methods 17 to 30 (without zero pulse or zero angle) . . . . . . . . . . . . . . . . 572
3.8.3.15 Homing Methods 31 and 32 (reserved) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
3.8.3.16 Homing Methods 33 and 34 (zero pulse only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
3.8.3.17 Homing Method 35 (set home position only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
3.8.3.18 Manufacturer specific homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
3.8.3.19 Command set home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
3.8.3.20 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
3.8.3.21 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
3.8.4 Manual drive operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
3.8.4.1 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
3.8.4.2 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
3.8.5 Operation mode spindle positioning (M19 command). . . . . . . . . . . . . . . . . . . . . . . 588
3.8.5.1 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
3.8.5.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
3.8.6 Operating mode Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597
3.8.6.1 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
3.8.6.2 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
3.8.7 Operating mode synchronous operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
3.8.7.1 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
3.8.7.2 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
3.8.8 Operating mode Notch position search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
3.8.8.1 ProDrive Notch Position Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624
3.8.8.2 Parameter overview Notch Position Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
3.8.8.3 Description of the Notch Position Search parameters . . . . . . . . . . . . . . . . . . . . . . 625
3.8.9 Operating Mode U-f Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
3.8.9.1 Compensating controller for acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 630
3.8.9.2 Current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631
3.8.9.3 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632
3.8.9.4 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633
3.8.10 Operation mode coupled operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
3.8.10.1 Transmission of master axis position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
3.8.10.2 Transmission of the curve data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
3.8.10.3 Changing the chaining sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642
3.8.10.4 Definition of the starting segment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
3.8.10.5 Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
3.8.10.6 Use of the output-sided gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
3.8.10.7 Overlaying using an additional movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646
3.8.10.8 Intermediate buffering of curve segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646
3.8.10.9 Real master axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648
3.8.10.10 Flexible segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
3.8.10.11 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
3.8.10.12 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
3.8.11 Operating mode current control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660
3.8.11.1 ProDrive OM current control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
3.9 Motor Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662
3.9.1 Sensorless control for synchronous machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662
3.9.1.1 General constraints of sensorless control with the injection procedure. . . . . . . . . 663
3.9.1.2 Commissioning at the sensorless operation of the synchronou s machine. . . . . . . 663
3.9.1.3 Vibration damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664
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3.9.1.4 Motor diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664
3.9.1.5 Parameter overview sensorless synchro no u s mo tor. . . . . . . . . . . . . . . . . . . . . . . 665
3.9.1.6 Description of the sensorless synchronous motor parameters . . . . . . . . . . . . . . . 666
3.9.2 Sensorless control for asynchronous motors (open loop). . . . . . . . . . . . . . . . . . . . 671
3.9.2.1 Sensorless control, at stator flux oriented . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671
3.9.2.2 Catch on Fly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673
3.9.2.3 Parameter overview sensorless async hr ono us motor. . . . . . . . . . . . . . . . . . . . . . 674
3.9.2.4 Description of the sensorless asynchronous motor parameters . . . . . . . . . . . . . . 674
3.10 Diagnosis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676
3.10.1 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676
3.10.1.1 Parameter overview diagnosis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676
3.10.1.2 Description of the diagnosis parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677
3.10.2 Oscilloscope function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
3.10.2.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
3.10.2.2 Description of the Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688
3.10.3 Function FFT analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695
3.10.3.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696
3.10.3.2 Description of the Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697
3.11 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
3.11.1 Field angle monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
3.11.1.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
3.11.1.2 Description of the Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704
3.11.2 Position Error monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
3.11.2.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
3.11.2.2 Description of the Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 706
3.11.3 Overload monitoring of the power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709
3.11.3.1 Ixt model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709
3.11.3.2 Temperature mod el . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 712
3.11.4 Temperature monitoring of the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
3.11.5 Overload monitoring of the motor (I
3.11.5.1 General information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 717
3.11.5.2 Speed variable l
3.11.5.3 Monitoring of the single phases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724
2
t overload monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 720
2
t). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 717
4 Error messages and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725
4.1 Behavior in case of errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725
4.2 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726
4.2.1 Monitoring function - explanations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728
4.3 Error detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730
4.3.1 LED assignment wit 8 LEDs (2 columns) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730
4.3.2 LED assignment wit 2 LEDs (1 column) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731
4.4 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731
4.4.1 Error reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731
4.5 Error descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732
5 Summary of all Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 757
Appendix A - Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 801
Table of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 803
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 809
Overview of Revisions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813
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1.1 Information about the Parameter Manual
The Operating Manual for the b maXX 5800 (5.16027) provides important information regarding handling the device. A prerequisite for safe working is compliance with all specified safety information and handling instructions.
Furthermore, the local accident prevention regulations and general safety requirements
applicable to the area of application of the device must be observed.
Before starting any work on the device, completely read through the Operating Manual,
in particular the chapter on safety information. The Operating Manual is an integral part
of the product and must be kept in the immediate vicinity of the device in order to be ac
cessible to personnel at all times.
The Parameter Manual provides information about the parameters for the b maXX 5800
devices, for
The parameters are used to influence not only the behavior of the drive controller but also
the behavior of the active mains rectifier unit (BM51xx). Furthermore the controller con
trols not only the connected motor (axis) but also the DC link voltage and so the power
input from mains (active mains rectifier unit).
controller firmware from Version 01.15
1GENERAL
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1.2
Explanation of Symbols
1.2 Explanation of Symbols
Warnings
Warnings are identified by symbols in this Parameter Manual. The notices are introduced
by signal words which express the magnitude of the danger.
Observe the notices without exception and exercise caution to prevent accidents, perso nal injury and damage to property.
DANGER!
....warns of an imminently dangerous situation which will result in death or serious in-
jury if not avoided.
WARNING!
....warns of a potentially dangerous situation which may result in death or serious in-
jury if not avoided.
Recommendations
CAUTION!
....warns of a potentially dangerous situation which may result in minor or slight injury
if not avoided.
NOTICE!
....warns of a potentially dangerous situation which may result in material damage if
not avoided.
NOTE!
....points out useful tips and recommend ations, as well as information for efficient,
trouble-free operation.
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1.3 Limitation of Liability
All specifications and information have been compiled taking account of the applicable
standards and regulations, the state of the art and also our many years of expertise and
experience.
The manufacturer accepts no liability for damage resulting from:
m Non-compliance with the Operating Manual
m Non-compliance with the Parameter Manual
m Non-intended use
m Use of untrained personnel
The product actually supplied may deviate from the versions and illustrations described
here in the case of special versions, the use of additional ordering options or as a result
of the latest technical changes.
The user is responsible for carrying out serv icing and maintenance in accordance with the
safety regulations in the applicable standards and all other relevant national or local reg
ulations concerning conductor dimensioning and protection, grounding, isolation switches, overcurrent protection, etc.
The person who carried out the assembly or installation is liable for d amage arising during
assembly or upon connection.
General
1
-
1.4 Copyright
Treat the Parameter Manual confidentially. It is intended exclusively for persons involved
with the device. It must not be made available to third parties without the written permis
sion of the manufacturer.
NOTE!
The details, text, drawings, pictures and other illustrations contained within are copyright protected and are subject to industrial property rights. Any imprope r exploitation
is liable to prosecution.
CiA and CANopen
EnDat
EtherCAT
HIPERFACE and
HIPERFACE DSL
PROFINET
Sercos
SinCos
Windows
b maXX
is a registered trademark of CAN in Automation e.V.
90429 Nürnberg, Germany
is a registered trademark of Dr. Johannes Heidenhain GmbH,
83301 Traunreut, Germany
is a registered trademark of Beckhoff Automation GmbH,
33415 Verl, Germany
is a registered trademark of SICK STEGMANN GmbH,
78166 Donaueschingen, Germany
is a registered trademark of PROFIBUS International
is a registered trademark of Sercos international e.V.
is a registered trademark of SICK STEGMANN GmbH,
78166 Donaueschingen, Germany
is a registered trademark of Microsoft Corporation, USA
is a registered trademark of Baumüller Nürnberg GmbH,
90482 Nürnberg, Germany
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1.5
Other Applicable Documents
NOTE!
Please note, that BAUMÜLLER is not responsible to examine whether any (industrial
property) rights of third parties are infringed by the application-specific use of the
BAUMÜLLER products/components or the execution.
1.5 Other Applicable Documents
Name Contents
Operating Manual for b maXX
BM5800 (5.16027)
Components from other manufacturers are installed in the device. Hazard assessments
for these purchased parts have been performed by the respective manufacturers. The
compliance of the designs with the applicable Eu ropean and national regulations has
been declared by the respective manufacturers of the components.
1.6 Guarantee Conditions
The guarantee conditions are located as a separate document in the sales documents.
Operation of the devices describe d here in accordan ce with the stated me thods/ proce -
dures / requirements is permissible. Anything else, e.g. even the operation of devices in
installed positions that are not shown here, is not permissible and must be checked with
the factory in each individual case. If the devices are operated differently than described
here, any guarantee will be invalidated.
1.7 Customer service
Our customer service department is available for technical information.
Description, installation and safety information
1.8 Terms used
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Information concerning the responsible contact person can be obtained at any time by
telephone, fax, e-mail or over the internet.
In this documentation, the term "device" is also used for the "b maXX" Baumüller product.
For abbreviations used, see
ZAppendix A - Abbreviations– from page 801.
2COMMISSIONING
This chapter describes a specimen commissioning of a b maXX multi-axis controller
BM5323 in conjunction with a BM5032 mains rectifier unit with a Baumüller DS56-S mo
tor.
Perform the commissioning to satisfy yourself that the supplied device is functioning properly.
This commissioning does not constitute a complete set-up of the device for your application.
Before the commissioning, make sure that the technical requirements are met:
1 All points, including the installation, in the b maXX 5800 Operating Manual
(5.16027) have been followed.
2 Check of the requirements for the electrical supply.
3 Check of the requirements for the electrical cables and provision of appropriate ca-
bles.
4 Check of the characteristics of the connections and manufacture of the appropriate
cables.
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2.1
Safety information
2.1 Safety information
NOTE!
The installation and initial commissioning are carried out exclusively by the manufacturer's employees or by qualified personn el.
Qualified personnel are persons who, due to their training, experience, instruction
and knowledge of the relevant standards and specifications, accident prevention reg
ulations and operating condition s of the person responsible for the safety of the installation have been authorized to carr y out the activities required in each case and
in so doing are able to recognize and avoid potential dangers. The qualifications re
quired for working on the unit are, for example:
m Training or instruction or authorization to commission, ground and characterize
power circuits and devices in accordance with safety engineering standards.
m Training or instruction in accordance with safety engineering standar ds in the care
and use of appropriate safety equipment.
-
-
WARNING!
Danger due to incorrect installation and initial commissioning!
Installation and initial commissioning require qualified personnel with adequate experience. Errors during installation can lead to life-threatening situations or result in significant material damage.
Therefore:
m Have the installation and initial commissioning carried out exclusively by the man-
ufacturer's employees or by qualified personnel.
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Commissioning
DANGER!
Danger to life from electric current!
When this electrical unit is operated, certain parts of the unit are of necessity at a ha zardous voltage.
Therefore:
m Pay attention to the areas on the device that could be dangerous during the elec-
trical installation.
m Pay heed to areas on the device that could still be electrically energized after op-
eration.
2
2.2 Voltage test
Figure 1: Danger areas during electrical installation
DANGER!
Risk of fatal injury from electrical current!
During the routine test of these devices, a voltage test is performed by Baumüller
Nürnberg GmbH in accordance with EN
essary for the customer to do this.
Therefore:
m Subsequent tests of the devices using high voltages may only be performed by
Baumüller Nürnberg GmbH.
m Disconnect the converter from the system during high-voltage testin g!
61800-5-1, Section 5.2.3.2. It is thus unnec-
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2.3
Requirements for the electrical supply
2.3 Requirements for the electrical supply
For all important data, see the Operating Manual for the b maXX 5800.
Small deviations in the electrical supply from the requirements can result in malfunctions
of the device. If the supply deviates greatly from the requirements, the device could be
destroyed.
The device may only be operated in environments of the second type (i ndustr ial enviro nment).
The destruction of the device can cause personal injury.
DANGER!
Danger to life from electric current!
If the requirements for the electrical supply are not complied with, the d evice may be
damaged/destroyed and consequently present a significant danger to persons.
Therefore:
m Before installation, make sure that the requirements for the electrical supply are
met.
2.4 Preparations
Specimen installation of a BM5032 mains rectifier unit and Axis 1 of a dual-axis BM5323
with a Baumüller Motor DS 56-S motor (SRS50 encoder, sine-cosine with HIPER
FACE).
The prerequisite for the commissioning is that assembly and installation have been carried out correctly.
1 Make sure that the assembly is carried out correctly and, in particular, that all safety
regulations have been observed (see Assembly in the Operating Manual for the
b
maXX 5800 basic unit).
NOTE
Pictures for the next work steps can be found in the Operating Manual for the
b
maXX 5800 basic unit.
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2
2 Make sure that the installation is carried ou t correctl y and, in particular, that all safety
regulations have been observed (see Installation in the Operating Manual for the
b
maXX 5000 basic unit).
3 ProDrive must be installed on the PC/Laptop.
During commissioning you can, among other things, enter motor and encoder data i n the
operating software or correct incorrect values. So that you can perform the commission
ing efficiently, it is advantageous to have all the data at hand for the commissioning . Data
for Baumüller motors are available in the form of a "Motor Databa se" within the operatin g
software.
4 Make sure that all the necessary data are at hand.
-
Motor data
(Identification
plate)
Motor data
(Data sheet)
These data can be found, e.g., on the identification plate for the motor th at you ar e using
for the commissioning.
Name Value, e.g. Used for entering in the parameter list /parame-
ter
Motor type, designation DS 56-M Parameter list/Motor configuration
Z107.2–Motor type
Nominal voltage U
Nominal current I
Nominal speed n
N
N
N
330 V Parameter list/Motor configuration
Z107.8–Nominal voltage
4.0 A Parameter list/Motor configuration
Z107.9–Nominal current
3000 rpm Parameter list/Motor configuration
Z107.7–Nominal speed
The motor database is used in this example; the va lues in th e tabl e are p ro vided on ly for
checking purposes.
These data can be found on the data sheet for the motor that you are using for the commissioning.
Name Value, e.g. Used for entering in the parameter list /parame-
Max. current I
Number of pole pairs 3 Parameter list/Motor configuration
Max. speed n
Notch angle, if specified
1)
You can also have ProDrive determine the notch angle (see ZSearching for the notch position– on page 40).
mot,max
max.
1)
14.3 A Parameter list/Motor configuration
6000 Parameter list/Motor configuration
240° Parameter list/Motor configuration
ter
Z107.21– Maximum drive current
Z107.19– Pole pairs
Z107.26–Maximum speed mechanical
Z127.8– Encoder Offset el.
Encoder data
(Data sheet)
These data can be found on the data sheet for the encoder that you are using for the commissioning.
Name Value, e.g. Used for entering in the parameter list /parame-
Encoder type Stegmann SRS
50/60 SinCos
encoder
Number of pulses 1024 Parameter list/Encoder configuration/
Parameter manual b maXX BM5800
ter
With sine-cosine encoders with HIPERFACE interface, the encoder type is read in automatically via
the HIPERFACE
Z137.1– Number of pulses
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19
2.4
2.4.1 Communication via EtherCAT
Preparations
5 Make sure that the motor meets the following conditions:
m provided with a suitable encoder, in this example: SRS50 SinCos encoder
m connected to b maXX 5800
m ready for operation
m properly secured
m can rotate freely during commissioning
6 Make sure that all safety devices are connected on the supply and motor sides and
are ready for operation.
7 Make sure that the encoder for motor control (sine-cosine encoder) is connected to
the encoder evaluation module with the appropriate encoder cable.
8 Make sure that the PC/Laptop is conne cted to the controller via the fie ldbus interface
or the service interface (in preparation).
For communication via EtherCAT you will need:
m EtherCAT Master BMC-M-ECT-02
m Controller BMC-M-PLC-02
m Power supply unit BMC-M-PSB-01
m Engineering Framework ProMaster
n Leave the base address on the EtherCAT Master un changed (192.168.1.1).
n Set the desired IP address on the BM5800 controller (here 192.168.1.2).
You will find further information about this in the b maXX BM5800, 5.16027 Operating
Manual, Art. No. 464136.
n Set a fixed IP address on the PC or use a second network card:
System Control Network Connections LAN Connection Properties
Internet Protocol (TCP/IP) Properties Assign fixed IP address
from the same address space (here, e.g. 192.168.1.254).
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Commissioning
2
Figure 2: Setting fixed IP addresses
n Start ProMaster.
n Select b maXX controller PLC with EtherCAT Master from the catalog.
n Select b maXX 5800 Drive Multi Axis Controller EtherCAT Slave from the catalog.
n Open/activate the Workspace window.
n Click the Controller PLC in ProMaster.
n Click EtherCAT Master Configure Master Bus (ProEtherCAT) in the Worksp ace win-
dow.
n The window will open:
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2.4
Preparations
Figure 3: ProEtherCAT
n Click on Connect.
n Select the tab Download Update list Download
Figure 4: ProEtherCAT Download
n Click on Close.
n Select the tab Bus control click on Operational.
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n Start ProDrive and select "Find device".
Commissioning
2
Figure 5: ProDrive: Find device
n The PLC will appear here with 192.168.1.1 and the controller with 192.168.1.2.
n Click on OK
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2.4
Preparations
n Select the device: Button SELECT DEVICE
n Select the device type for which parameters are to be set: Button TYPE
(here: b maXX5800 Drive Multi Axis Controller)
n Select the communication: Button TYPE (here: TCP/IP)
Figure 6: ProDrive: Device selection with EtherCAT communication
9 Start the graphical user interface by clicking on "OK".
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10 Wait until the ProDrive start window appears.
In this example, parameters will be set for Axis 1
Commissioning
2
Figure 7: ProDrive: Start window
11 Then press
"Connect".
12 This concludes the preparations. The remainder of the co mmissioning is described in
ZPerforming the commissioning (using Axis 1 as an example)– on page 27.
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2.5
5800_0023_rev01.cdr
1
2
3
4
5
6
7
8
Switch on 24V
Turn on mains
Find notch position
Set speed
Enable motor rotation
Motor n=0
Turn off mains
Turn off 24V
Step
Switch-on sequence
2.5 Switch-on sequence
The following overview shows the commissioning schematically. You will find the individual steps of the commissioning described in detail in ZPerforming the commissioning (us-
ing Axis 1 as an example)– from page 27.
Figure 8: Switch-on sequence
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Commissioning
2.6 Performing the commissioning (using Axis 1 as an example)
Begin the commissioning after you have completed the preparations.
1 Connect the power supplies to the b maXX
(main power supply + control voltage).
2 Establish communication as described in ZPreparations– on page 18.
3 Start the ProDrive program (if it is not already running).
4 Then click on "Drive Manager" in ProDrive
2
Acknowledging
warnings/errors
Figure 9: ProDrive: Project tree for Drive Manager
5 "Acknowledge" any warnings/errors th at may b e presen t in the "Drive Mana geme nt"
window (press the "Reset errors" button several times if necessary)
NOTE
Any queued error messages may result from the as yet incomplete parameter setting.
These errors cannot be acknowledged.
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2.6
.
Performing the commissioning (using Axis 1 as an example)
Figure 10: ProDrive: Drive Manager
NOTE
Due to the numerous possible combinations of motors and encoders, it is only possible to give an example here. Enter your own motor and encoder data!
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6 Click on "Power unit".
Commissioning
2
Figure 11: ProDrive: Project Tree for Power unit
7 In the "Maximum drive current" box, enter the cu rrent req uired for your application, at
most the limiting current of the motor (according t o the data sheet): 2.5 A, at which
you wish to operate the motor and the power unit.
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Performing the commissioning (using Axis 1 as an example)
Setting encoder
parameters
Figure 12: ProDrive: Power unit
The parameters for the encoder still have to be entered.
8 Go back to the project tree.
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9 Click on "Encoder".
Commissioning
2
Figure 13: ProDrive: Project Tree for the Encoder
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2.6
Performing the commissioning (using Axis 1 as an example)
The "Encoder 1 Configuration" window opens.
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Figure 14: ProDrive: Encoder 1 Configuration
10 Enter data when using a sine-cosine encoder without a HIPERFACE interface. With
a sine-cosine encoder with a HIPERFACE
matically over the HIPERFACE interface - do not alter the data.
m Sine-cosine without HIPERFACE e.g. Number of Pulses = 1024
m Sine-cosine without HIPERFACE e.g. Revolutions = 1
11 Enter the overspeed limit manually in the parameter list in the diagnostic block
[FB:006]:
Parameter number 006.005 and 006.007: enter the value 300000,
Parameter number 006.006 and 006.008: enter the value -300000
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interface, the data are transferred auto-
Commissioning
12 Change back to the project tree and click on "Motor general".
2
Using the motor
database
Figure 15: ProDrive: Project Tree for Motor - General
13 Click on the "Motor database" button in the icon bar in the Motor window.
Figure 16: ProDrive: Motor database
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2.6
Performing the commissioning (using Axis 1 as an example)
14 The following window appears.
Figure 17: ProDrive: Selecting the motor
15 In this window, enter:
m the motor type „synchronous“
m the nominal voltage for the motor DC link: "540 V"
m the nominal speed: "6000 rpm"
m select the motor type: "DS 56-S"
m the maximum speed is automatically taken from the value for the nominal speed
NOTE
The values for nominal speed an d maximum speed are the same fo r synchronous
motors and are thus adopted for the maximum speed when selecting the nominal
speed.
With asynchronous motors, the two values must be selected separately. Software for
asynchronous motors: in preparatio n.
16 Click on the OK button.
At this point all the data will be transferred from the motor database to the corresponding
parameters and display fields.
17 Check all the values for the motor using the motor data sheets (This is only for check-
ing purposes if you are using the Baumüller motor database. If you are emp loying motors from third-party manufacturers, you must do this in any case).
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Commissioning
NOTE
If you are using motors from third-party manufacturers, you can also include their
data in the motor database.
2
Altering motor
data
Checking motor
data
When using the Baumüller motor database, you will not find any discrepancies between
the motor data sheet and the data taken automatically from the database.
18 Click on "Motor" in the project tree.
19 You will find all the important motor data or parameters displayed in the Motor window
and the Synchronous Motor sub-window.
Check all data.
Figure 18: ProDrive: Motor-General
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2.6
Performing the commissioning (using Axis 1 as an example)
Using the parameter list
Figure 19: ProDrive: Motor-Synchronous
If you are not using the Baumüller motor database, you can also enter all the motor parameters using the "Parameter list".
20 Click on the "Parameter list" in the project tree.
21 In the parameter list, click on "Motor Id".
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Figure 20: ProDrive: Parameter List - Motor Type
The following motor parameters must be specified:
m Maximum speed, mech. (Z107.26– Maximum speed, mechanical)
Parameter manual b maXX BM5800
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Commissioning
m Number of pole pairs (Z107.19– Pole pairs)
m Phase sequence (Z107.38– Motor flags, Bit 0 = 0: counter-clockwise, Bit 0 = 1: clock-
wise)
Now save the entered data.
22 Click on "Dataset management" in the project tree
2
Figure 21: ProDrive: Project Tree for Dataset management
23 Click on the "Save All" button in the Dataset management.
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2.6
Performing the commissioning (using Axis 1 as an example)
Figure 22: ProDrive: Data Set Manager
24 Wait until "Successful" is displayed under "Data Set Status"
25 At this point the data set is saved in Flash memory.
26 Disconnect the device from the main power and control voltage supplies.
27 Reconnect the power supplies to the b maXX
(main power supply + control voltage).
By switching off and on again, you can check whether the settings you have made will
result in warnings or errors.
No errors may be present.
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Commissioning
2
Autotuning of the
current controller
Now perform the autotuning of the current co ntr o ller .
28 Go to the project tree and click on "Configuration", then click on "Autotuning-Current
controller".
Figure 23: ProDrive: Project Tree - Autotuning-Current controller
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2.6
Performing the commissioning (using Axis 1 as an example)
Searching for the
notch position
Figure 24: ProDrive: Autotuning of the Current Controller
It is now necessary to search for the notch position.
29 Go to the project tree and click on "Operating Modes", then click on "Find Notch Po-
sition".
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Commissioning
2
Figure 25: ProDrive: Project Tree - Find notch position
30 Click on the "Drive Manager" icon.
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2.6
Performing the commissioning (using Axis 1 as an example)
The "Drive Manager" window will also appear
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Figure 26: ProDrive: Find Notch Position, Drive Manager
31 For the method, select "fix currentangle and rotating shaft".
32 Select "Find notch position" in the Drive Manager-Axis 1 window.
Parameter manual b maXX BM5800
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Commissioning
WARNING!
Risk of injury due to moving components!
Rotating and/or linearly moving components can cause serious injuries.
If the motor is not rotating freely, the motor and parts connected to it may be damaged/destroyed.
Therefore:
m Make sure that the motor can rotate freely during commissioning.
m Do not interfere with moving components during operation.
m Do not open covers during operation.
m The residual mechanical energy depends on the application. Driven components
will continue to rotate/move for a certain time, even after the energy supply has
been switched off. Provide appropriate safety devices.
33
34 Click on "Start".
35 Wait until "Successful" appears in the Status field.
36 Next click on "Stop/Off".
37 Check that the measured value corresponds to the value expected
(With Baumüller motors: resolver: 330° + 5°, sine-cosine: 240° ± 5°).
38
2
This completes all the parameter setting work for the specimen commissioning. You can
now satisfy yourself that the device is functioning correctly by having the motor rotate
briefly.
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2.6
Performing the commissioning (using Axis 1 as an example)
Initial rotation of
the motor
39 Go back to the project tree.
40 Click on: "Set value generators".
41 Click on: "Ramp function generator".
Figure 27: ProDrive: Project Tree - Ramp function generator
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Commissioning
2
Figure 28: ProDrive: Ramp function generator
42 Enter values in the following input fields:
m (Ramp function generator) Input
h Enter the value "10". Confirm with Enter.
43 Open the Drive Manager dialog for Axis 1
Figure 29: ProDrive: Drive Manager for Axis 1
44 Select the "Speed control mode“ from the scroll list in the Drive Manager dialog.
45
46 Click on the "Start" button in the Drive Manager dialog.
47 The motor should now rotate at 10 % of the maximum speed.
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2.6
Performing the commissioning (using Axis 1 as an example)
48 Click on the "Stop/Off" button in the Drive Manager dialog.
49 The motor will then stop.
50 Switch the pulse enabling off.
Saving the data
set
This data set should now be saved.
51 Click on the "Dataset management" icon in the icon bar.
52 Click on the "Save All" button in the Dataset management.
Figure 30: ProDrive: Dataset management
53 Wait until "OK" is displayed under "Data Set State"
At this point the data set is saved in Flash memory.
Switching off the
drive
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To conclude the commissioning, the drive is switched off.
54 Disconnect the device from the main power supply and the control voltage using the
appropriate switching elements.
This successfully completes the commissioning for Axis 1.
In the same way, you can set the parameters for Axis 2 and start it up from ZPrepara-
tions– on page 18.
Parameter manual b maXX BM5800
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3DESCRIPTION OF THE SOFTWARE
MODULES AND PARAMETERS
In this chapter, the parameters are described according to their use in the softwa re mod ules. The structure of this chapter corresponds to the structure of ProDri ve. Individual parameters which are used on various screens of ProDrive are described in their fun ctional
blocks and are linked.
3.1 Cycle times of the software modules
3.1.1 Cycle times at axis units
Software module Cycle time
Current controller 62.5 µs to 250 µs; depending on the preset PWM Frequency
Z130.15–; effective cycle time readable in Z47.65–
Speed controller, position controller
Two-level controller 1 ms
Operation modes of the
task RT1 *
Operation modes of the
fieldbus task *
Cam generator Adjustable in fieldbus cycle time Z131.18– and division ratio
Drive manager 1 ms
Ramp function generator Settable: RT1-cycle time (1 ms; default setting) or fieldbus
Setpoint generator 1 ms
Analogous inputs 125 µs, 250 µs, 500 µs or RT1-cycle time
62.5 µs to 1000 µs; adjustable in RT0-cycle time Z1.8–
1 ms
Adjustable in fieldbus cycle time Z131.18– and division ratio
fieldbus task Z131.20–
fieldbus task Z131.20–
task cycle.
Effective cycle time can be read in Z110.22–
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3.1
Cycle times of the software modules
Software module Cycle time
Analogous outputs Adjustable values: 62.5 µs, RT0-cycle time or RT1-cycle
time
Digital inputs 1 ms
Digital outputs Remaining time
Configurable status word 1 ms
Oscilloscope function Adjustable from 62.5 µs to 100 s.
*) this means the cycle of the setpoint generation, the cycle of the monitorings,
the cycle of the management and the cycle of the other functions of the preset
operation mode
Z109.1– Operation mode Task
-12 Coupled operation Fieldbus
-7 Autotuning Remaining time (manage-
Z109.1–.
ment)
-6 Spindle positioning RT1
-5 Synchronous operation with virtual master axis RT1
Synchronous operation with real master axis RT0 (Setpoint), RT1 (Man-
agement)
-4 Position control Fieldbus
-3 Speed control RT1 (default setting) or
fieldbus
-2 Current control RT0
-1 Notch position search RT1
1 Target position setting RT1
2 Speed setting RT1 (default setting) or
fieldbus
5 Manual drive operation RT1
6 Reference run operation RT1
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Description of the Software Modules and Parameters
3.2 Structure of the parameter overviews
All parameter overviews are structured according to the following pattern:
3
Number Name Type Min Max Default Value Unit Factor
1.1 System Clock FLOAT 0 1000000000 0 sec 1:1 X X
1.2 System Ticks RT1 UDINT 0 0xFFFFFFFF 0 1:1 X X
Number = Number of the parameter consisting of ID of the functional block (FB) and the
numbering within the FB
Name = Common parameter name for ProDrive and Parameter Manual
Type = Data type
INT Integer 16 bit
DINT Integer 32 bit
UINT Unsigned Integer 16 bit
UDINT Unsigned Integer 32 bit
WORD Word 16 bit
DWORD Double Word 32 bit
FLOAT Float 32 bit
STRING String (characters)
RECORD Composite data type (Struct, Array, etc.)
Min = Range of values of the parameter, minimum value at internal standardization
Max = Range of values of the parameter, maxi mum value at internal standa rdization
Default Value = Default value at internal standardization
Unit = Unit of the parameter for display in ProDrive
Factor = Conversion factor F2/F1 between display ProDrive (Gui) and internal
standardization (Para): Gui = Para * F1 / F2
X in column „Read only“ = Parameter is read-only
Read only
Storage
DS Support
Cyclic Write
Axis-independent
X in column „Storage“ = Parameter will be stored in Flash
X in column „DS support“ = Parameter will be stored in data sets of the
Flash
O in column „Cyclic Write“ = Parameter may be written cyclic, e.g. using
process data of the fieldbus;
fieldbus cycle time 1 ms
X in column „Cyclic Write“ = Parameter may be written cyclic with
fieldbus cycle time < 1 ms also
X in column „Axis independent“ = Parameter is valid for all axes of the device
in common
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3.2
Structure of the parameter overviews
Example:
Number Name Type Min Max Default Value Unit Factor
110.5 Input 16 bit INT -16384 16384 0 % 4000
100%
hex
:
Read only
Storage
X X X
Number Z110.5– Functional block ramp function generator, parameter 5
Name Input 16 bit Name of parameter, display ProDrive English
Type INT Integer 16 bit
Min ... Max -16384 to 16384 Range of values
Default Value 0 Default value 0 at internal standardization
Unit % Unit % for ProDrive
Factor 4000
: 100% 100% in ProDrive correspond to 16384 internal
hex
The parameter is writable, cyclic writable (fieldbus cycle time < 1 ms), it will be stored
namely in all data sets; it is NOT axis independent, i.e. it can be set separately for each
axis.
DS Support
Cyclic Write
Axis-independent
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Description of the Software Modules and Parameters
3.3 System
3.3.1 System control
3.3.1.1 Parameter overview
Functional blocks: System control 1 [1]
3
FbVersion [102]
FbSystem [139]
FbSysPerformance[158]
Number Name Type Min Max Default Value Unit Factor
1.1 System Clock UDINT 0 0xFFFFFFFF 0 s 1:1 X X
1.2 System Ticks RT1 UDINT 0 0xFFFFFFFF 0 1:1 X X
1.3 System Ticks RT2 UDINT 0 0xFFFFFFFF 0 1:1 X X
1.8 RT0-Cycle time FLOAT 62.50 1000.00 250.00 µs 1:1 X X
1.10 Task fieldbus cycle time UDINT 125 8000 1000 µs 1:1 X X
102.1 Firmware number UDINT 0 0xFFFFFFFF 0 1:1 X X
102.2 Firmware version UDINT 0 0xFFFFFFFF 0 1:1 X X
102.3 Firmware type UDINT 0 4 0 1:1 X X
102.4 Firmware build number UDINT 0 0xFFFFFFFF 0 1:1 X X
102.5 Firmware name STRING 1:1 X X
102.6 Firmware version info STRING 1:1 X X
102.7 Firmware time stamp STRING 1:1 X X
102.8 Bootloader0 version STRING 1:1 X X
102.9 Bootloader1 version STRING 1:1 X X
102.10 System Fpga Id UDINT 0 0xFFFFFFFF 0 1:1 X X
102.11 Bootloader flags UDINT 0 0xFFFFFFFF 0 1:1 X X
102.13 Expected System Fpga IdUDINT 0 0xFFFFFFFF 0 1:1 X X
102.14 FPGA version UDINT 0 0xFFFFFFFF 0 1:1 X X
102.15 FPGA firmware number UDINT 0 0xFFFFFFFF 0 1:1 X X
102.18 Fieldbus controller firmware number
102.19 Fieldbus controller firmware version
102.20 Fieldbus controller firmware version time stamp
102.21 Fieldbus controller firmware type
UDINT 0 0xFFFFFFFF 0 1:1 X X
UDINT 0 0xFFFFFFFF 0 1:1 X X
STRING 1:1 X X
UDINT 0 0xFFFFFFFF 0 1:1 X X
Read only
Storage
DS Support
Cyclic Write
Axis-independent
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3.3
System
102.22 Fieldbus controller firmware build number
102.23 Board data command UINT 0 0x1000 0 1:1 X
102.24 Board data status UDINT 0 0xFFFF 0 1:1 X X
102.25 Hardware board identification
102.26 Circuit board assembly STRING 1:1 X
102.28 Hard ware date STRING 1:1 X
102.29 Hardware name STRING 1:1 X
102.30 Controller ser ial number UDINT 0 0xFFFFFFFF 0 1:1 X
102.31 Controller article num ber
102.32 Device serial number UDINT 0 0xFFFFFFFF 0 1:1 X
102.33 Device article number UDINT 0 0xFFFFFFFF 0 1:1 X
102.35 Device type code STRING 1:1 X
102.39 Fpga Id CU UDINT 0 0xFFFFFFFF 0 1:1 X X
139.1 Password UINT 0 0xFFFF 0 1:1
139.2 Baudrate UDINT 9600 115200 38400 1:1 X
139.4 Number of axes UDINT 1 2 2 1:1 X X
139.23 System command UDINT 0 0xFFFFFFFF 0 1:1
139.25 Switch-on time UDINT 0 0xFFFFFFFF 0 s 1:1 X X
158.1 Real time load FLOAT 0 1 0 % 1:1 X X
158.2 Real time load average FLOAT 0 1 0 % 1:1 X X
158.3 Max real time load FLOAT 0 1 0 % 1:1 X X
158.4 Interrupt load FLOAT 0 1 0 % 1:1 X X
158.5 Interrupt load average FLOAT 0 1 0 % 1:1 X X
158.6 Interrupt load max FLOAT 0 1 0 % 1:1 X X
UDINT 0 0xFFFFFFFF 0 1:1 X X
STRING 1:1 X
UDINT 0 0xFFFFFFFF 0 1:1 X
3.3.1.2 Description of the Parameters
1.1 System Clock
Operating time of the controller in seconds.
1.2 System Ticks RT1
Display of the value of a counter which is incremented in TASK_RT1.
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Description of the Software Modules and Parameters
1.3 System Ticks RT2
Display of the value of a counter which is incremented in TASK_RT2 by the ratio
TASK_RT2/TASK_RT1, so that System Ticks RT2 and System Ticks RT1 have approx
imately the same value.
1.8 RT0-Cycle Time
Axis units:
The parameter for the cycle time for the RT0 time slice (for position and speed contro llers and motor control) can be set here.
The value must be between 62.5 µs and 1 ms; the standard value is 250 µs.
The RT0-Cycle time can be changed only when the drive is inhibited.
The RT0-Cycle time must not fall below the preset current controller cycle time
Z47.65–. This is monitored and as the case may be the error 501 will be triggered
which inhibits the enable of the drive.
3
-
1.10 Task fieldbus cycle time
The parameter displays the cycle time for the task fieldbus.
The task fieldbus cycle time must not fall below the RT0-Cycle time. In this case the task
fieldbus cycle time is limited to the RT0-Cycle time, the error 505 will be triggered and thus
the enable of the drive will be inhibited.
102.1 Firmware number
Internal Baumüller firmware number
102.2 Firmware version
Display of the firmware version with 2 digits for main version (incomp atible version), subversion (compatible version) and bugfix version.
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3.3
System
102.3 Firmware type
Classification of the Firmware
Value Meaning
0 Production
1 Beta version
2 Prototype
3 Nightly Build
4 Developer Build
5 Customers version
102.4 Firmware build number
Internal build number.
102.5 Firmware name
Firmware term
102.6 Firmware version information
Summarized text information of the firmware version.
102.7 Firmware time stamp
Time stamp for the firmware generation.
102.8 Bootloader0 version
Version of Bootloader 0.
102.9 Bootloader1 version
Version of Bootloader 1.
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102.10 System Fpga Id
Identifier of the system FPGA. See also Z102.13–.
102.11 Bootloader flags
Flags from the Bootloader / Bootfile Management:
Bit # Meaning
0 Current BL1 was faulty, fallback used
1 Current firmware was faulty, fallback used
2 Current FPGA was faulty, fallback used
3 Current communication firmware was faulty, fallback used
4 New BL1 file has been saved in Flash
3
5 New firmware file has been saved in Flash
6 New FPGA file has been saved in Flash
7 New communication firmware file has been saved in Flash
8 Fallback of the communication firmware was faulty, communication firm-
ware has not been downloaded
9 Error at download communication firmware (timeout), communication
firmware has not been downloaded
102.13 Expected System Fpga Id
Expected identifier of the system FPGA. See also Z102.10–.
102.14 FPGA version
Display of the FPGA version in the format Major[2] . Minor[2] . Fix[2]
102.15 FPGA firmware number
Baumüller internal FPGA Firmware numb er
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System
102.18 Fieldbus controller firmware number
Baumüller internal fieldbus firmware number
102.19 Fieldbus controller firmware version
Display of the Fieldbus controller firmware version in the format:
Major[2] . Minor[2] . Fix[2]
102.20 Fieldbus controller firmware version time stamp
102.21 Fieldbus controller firmware type
Firmware type: 0: Production
1: Beta
2: Prototype
102.22 Fieldbus controller firmware build number
Number for counting beta states, prototypes or even nightly builds.
102.23 Board data command
Reserved
102.24 Board data status
Status code:
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Value Meaning
0 No error
1 Busy – command being executed
3 Done – command has completed without errors
All other values are error codes
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Description of the Software Modules and Parameters
102.25 Hardware board identification
The HW board identifier has the following format: 33.YY.NN.BB.AA.D1 where:
YY: Year of development
NN: Seque n t ia l nu m be r
BB: Assembly variant
AA: Revision number
D1: Technical status
Format of HW board identifier: 16-byte string
e.g. "33.0707B", i.e. format: 33.JJ.NN.AA
102.26 Circuit board assembly
3
Format: 16-byte string e.g. "01: Safe"
102.28 Hardware date
Format: 16-byte string e.g.: "01.04.2009"
102.29 Hardware name
Format: 16-byte string e.g.: "BSC Safe"
102.30 Controller serial number
Serial number of the controller board as a 32 bit numerical value.
102.31 Controller article number
Article number of the controller as a 32 bit numerical value.
102.32 Device serial number
Serial number of the device as a 32 bit numerical value.
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102.33 Device article number
Article number of the device as a 32 bit numerical value .
102.35 Device type code
Complete BM device type code of the form:
BM58XX – XX – XXXXXX – XXXXXX – XXXXXX – XXX – XXXX – XXXX - EXX
Example of a type code:
BM5807 - SG - 322112 - 252112 - 222111 - 001 - 0000 - 0110 - E80
Identifier
in the type
code
0 No functionality
1 STO
102.39 Fpga Id CU
FPGA identification of the fieldbus connection.
Power
unit 1
Safety functionalities
Power
unit 2
Power
unit 3
139.1 Password
Password for protecting access to system parameters. Th e value displayed corre sponds
to the password level.
NOTE!
The controller has several possible interfaces for accessing parameters (serial interface as well as up to three EOE channels).
The handling of the password-protected levels is not interface-oriented. If an interface channel switches to a password level, the corresponding access permission
also applies to all the other channels.
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139.2 Baudrate
Baud rate for serial communication
Valid baud rates: 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600
Each time the controller is switched on, the baud rate is set to 38400.
139.4 Number of axes
With setting number of axis = 1, a double axis can operate as a single axis. Then the
axis
2 is switched off. The numbering of the following axes is not affected thereof.
NOTE!
m The parameter Number of axes is writable from password-level 1 on.
m After the number of axes were adjusted, the parameters must be saved and the
drive must be switched off and on again.
m The settings of a parameterized axis 2 are lost, if axis 2 is switched off with number
of axes = 1.
m Encoder 2 cannot be used, if axis 2 is switched off.
After switching on:
m Axis 2, which is switched off, stays in drive status "Not Ready-to -Start" (Z108.6–
= 0)
m References on axis 2 (for example the writing o f a di gital input to a target p arame -
ter from axis 2) results in error messages within the data set management. In this
case check
the parameters. Switch off and on again.
m The parameter Z19.1– Motor number is set to the value of the number of axes at
double axes.
3
Z105.3–. Correct the parameter settings, which are concerned. Save
139.23 System command
System commands in the controller are triggered by writing to this parameter.
139.25 Switch-on time
If the system is started this parameter saves the value of system clock (Z1.1–).
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158.1 Real time load
Real computing time load by the real time tasks.
158.2 Real time load average
Average value of the computing time load by the real time tasks. The parameter is refreshed every second and shows the mean computing time load since the last update.
158.3 Max real time load
Maximum value of the computing time load by the real time tasks. The parameter can be
reset by writing a value.
158.4 Interrupt load
Computing time load by the interrupt routine.
158.5 Interrupt load average
Average value of the computing time load by the interrupt routine. The parameter is refreshed every second and shows the mean computing time load since the last update.
158.6 Interrupt load max
Maximum value of the computing time load by the interrupt routine. The parameter can
be reset by writing a value.
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10 Hz
50
100
0
5000_0326_rev01_int
%
Hz
Max. drive current available P19.5
Output frequency
Output peak
current P6.25
3.4 Configuration
3.4.1 Power unit
All the power unit related data are divided into two groups. The first group includes the
so-named power unit characteristics which are shown in p arameter group 129 and cannot
be written to.
The power unit has a non-volatile memory which holds the power unit characteristics.
When the controller is initialized, these data are read out and transferred to the corre
sponding parameters in group 129.
The second group, parameter group 130, contains all the other power unit working data.
These parameters represent either constantly changing physical quantities or certain set
tings which generally can be altered.
Detection of a mains failure
A mains failure is detected with the monitoring of the DC link voltage. The vo ltage thresh old for the detection of a mains failure is settable (Z130.38–).
3
-
-
Behavior at mains failure
The drive can be configured that operation is possible at a mains failure for a set time
(
Z130.25–). Different kinds of behavior can be set (see Z130.10–):
– Disable only motor operation ( generator ope ration is enabled, field cur rent is further
supplied)
– Normal operation (motor an d generator o peration): Normally this optio n makes only
sense at a DC link combination if another axis feeds back power to the DC link.
– Disabling and automatic restart: The pulses are inhibited in case of detected mains
failure. The drive changes to "Switch-on inhibit (1)" state and coasts down. If the time
of the mains failure is shorter than the set Mains failure delay (
restarts automatically. The drive changes automatically in the "Operation enabled"
state again.
Z130.25–), the drive
Figure 31: Output frequency dependent limit of the maximum drive current
From controller firmware 01.13 the peak current derating in parameter Z138.32– is pre-
sented and signalized in the parameter Z138.8– bit 6.
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3.4
3.4.1.1 ProDrive Power Unit
Axis unit:
Configuration
NOTE!
If the temperature model regarding the overload monitoring of the power unit is active
(see
mum drive current is dropped.
Z175.2– Bit 0), the output frequency-dependent limit (ZFig. 31–) of the maxi-
Figure 32: ProDrive Power Unit - axis units
3.4.1.2 Parameter overview
Functional blocks: FbPsChars [129]
For Parameter 6.27 see ZDiagnosis– from page 676
For Parameters 19.6 and 107.9 see ZMotor– from page 81
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FbPower_Section [130]
FbPuTempModell [175]
Description of the Software Modules and Parameters
3
Number Name Type Min Max Default Value Unit Factor
129.3 Hardware id STRING 1:1 X
129.4 Hardware name STRING 1:1 X
129.5 Current scaling gain FLOAT 0 10000 1,1862 1:1 X
129.6 DC scaling gain FLOAT 0 10000 1,03885 1:1 X
129.7 Main voltage scaling
gain
129.8 Current converter configuration
129.9 IGBT dead time FLOAT 2.0 10.0 4.0 µs 1:1 X
129.10 Min pulse suppression FLOAT 0 10 2 µs 1:1 X
129.11 Current sampling time
offset
129.12 Nominal current 2 kHz FLOAT 0 1000.0 4.0 A 1:1 X
129.13 Nominal current 4 kHz FLOAT 0 1000.0 3 A 1:1 X
129.14 Nominal current 8 kHz FLOAT 0 1000.0 2.1 A 1:1 X
129.15 Nominal current 16 kHz FLOAT 0 1000.0 1.5 A 1:1 X
129.16 Peak current 2 kHz FLOAT 0 1000.0 10.0 A 1:1 X
129.17 Peak current 4 kHz FLOAT 9 1000.0 9.0 A 1:1 X
129.18 Peak current 8 kHz FLOAT 0 1000.0 6.3 A 1:1 X
129.19 Peak current 16 kHz FLOAT 0 1000.0 4.0 A 1:1 X
129.20 Overcurrent threshold FLOAT 0 2000.0 16.6 A 1:1 X
129.21 Max. DC-link voltage FLOAT 10 1000.0 835.0 V 1:1 X
129.22 Max peak current time UINT 0 0xFFFF 10.00 s 100:1 X
129.24 Time phase error UINT 0 0xFFFF 0 ms 1:1 X
129.25 Current phase error FLOAT 0 1000.0 0 A 1:1 X
129.26 Max heat sink temperature
129.27 Max ambience temperature
129.41 Max. ground current FLOAT 0.16 450.0 3.0 A 1:1 X
129.42 Min. DC-link voltage FLOAT 10 1000.0 10.0 V 1:1 X
129.44 Firmware version UINT 0x0000 0xFFFF 0 1:1 X X
129.45 Power factor UINT 0x0000 0xFFFF 0x0013 1:1 X X
129.46 PU Serial number UDINT 0 0xFFFFFFFF 0 1:1 X
129.47 Amp type code STRING 1:1 X
129.48 Data configuration UINT 0 0xFF 0 1:1 X
129.49 Amp article number UDINT 0 0xFFFFFFFF 0 1:1 X
129.85 Peak current 2 kHz TM FLOAT 0 1000.00 10.00 A 1:1 X
129.86 Peak current 4 kHz TM FLOAT 0 1000.00 10.00 A 1:1 X
129.87 Peak current 8 kHz TM FLOAT 0 1000.00 10.00 A 1:1 X
129.88 Peak current 16 kHz TM FLOAT 0 1000.00 10.00 A 1:1 X
129.92 Fan configuration UINT 0 0xFFFF 0 1:1 X
FLOAT 0 10000 0 1:1 X
UDINT 0 0xFFFFFFFF 0 1:1 X
UINT 0 0xFFFF 250 1:1 X
UINT 0 0xFFFF 85 Grad C1:1 X
UINT 0 0xFFFF 65 Grad C1:1 X
Read only
Storage
DS Support
Cyclic Write
Axis-independent
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3.4
130.1 Heat sink temperature FLOAT 0 1000 0 °C 1:1 X
130.2 Interior temperature FLOAT 0 1000 0 °C 1:1 X
130.3 DC link actual voltage FLOAT 10 1000 10 V 1:1 X
130.8 Mains voltage FLOAT 0.0e+0 1000 0.0e+0 V 1:1 X
130.9 Fan mode UINT 0x0000 0x3 0x0001 1:1 X
130.10 Mode UINT 0x0000 0xFFFF 0x0000 1:1 X
130.12 Heatsink temperature
130.13 Interior temperature
130.15 PWM frequency UINT 2 16 8 kHz 1:1 X X
130.18 I offset phase U FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.19 I offset phase V FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.20 I offset phase W FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.24 Phase error delay time UINT 0 65535 0 ms 1:1 X
130.25 Mains failure delay UINT 0 6000 0 ms 1:1 X
130.28 Actual ground fault cur-
130.29 Chopper threshold FLOAT 300 780 780 V 1:1 X X
130.34 Status STO module UINT 0 0xFFFF 0 1:1 X
130.37 Udc thre shold for mains
130.38 Udc hysteresis for
130.40 Operation time UDINT 0 0xFFFFFFFF 0 s 1:1 X
130.41 Actual PWM frequency UINT 2 16 8 kHz 1:1 X
175.3 Max. device control
175.4 Max. device altitude UINT 0 5000 1000 m 1:1 X X
175.5 Max. device mains volt-
175.6 Max. device DC link
175.7 PU max.continuous cur-
175.8 PU I2t max. continuous
Configuration
UINT 0 0xFFFF 75 °C 1:1 X
warning threshold
UINT 0 0xFFFF 55 °C 1:1 X
warning threshold
FLOAT 0 100 0 A 1:1 X
rent
FLOAT 10 1000 450 V 1:1 X X
failure
FLOAT 10 500 50 V 1:1 X X
mains failure
UINT 0 55 40 Grad C1:1 X X
cabin temperature
UINT 0 530 400 V 1:1 X X
age
UINT 0 760 540 V 1:1 X X
voltage
FLOAT 0 1000 4 A 1:1 X
rent actual value
FLOAT 0 1000 4 A 1:1 X
current actual value
3.4.1.3 Description of the Parameters
129.3 Hardware Id
The hardware identifier has the format:
33.YYNN.BBA01 Example: 33.0815.02D04
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Abbreviation Meaning
YY Year Example: 2008
NN Sequential number Example: 15
BB Assembly variant Example: 02
A Revision number Example: D
01 Technical status Example: 04
129.4 Hardware name
This parameter begins with the abbreviation of the axis module type separated by colon
and followed by the type code of the device.
Abbreviation Meaning
3
EA: Single axis unit
DA: Double axis unit
129.5 Current scaling gain
Standardization factor for current measurement, depends on the power unit.
129.6 DC scaling gain
Standardization factor for the DC link voltage, depends on the power unit.
129.7 Main voltage scaling gain
Standardization factor for the supply voltages, depends on the power unit
(relevant to mains rectifier units)
129.8 Current converter configuration
Factory settings for the configuration
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Configuration
129.9 IGBT dead time
Dead time for the power unit transistors.
129.10 Min. pulse suppression
Minimum pulse suppression is used to prevent extremely short duty cycles for pulse width
modulation, such as may occur when outputting larg e voltages. Instead of generatin g ex
tremely short On/Off switching pulses, the switching state of the IGBTs is extended to the
next PWM period. This will further increase the maximum possible voltage setting. PWM
voltage pulses that are shorter than the parameter value will be suppressed.
129.11 Current sampling time offset
This parameter determines the starting time of th e current measurement. For curr ent control, the fundamental of the motor currents should be measured if possib le. Th e harmo nics, which result from, among other things, the switching edges of the PWM, can distort
the measurement. The parameter can be used to take account of time-r elated influences
such as, e.g., the time constant of the analog current filter.
-
129.12 Nominal current 2 kHz
129.13 Nominal current 4 kHz
129.14 Nominal current 8 kHz
129.15 Nominal current 16 kHz
Nominal current of converter at the corresponding PWM switching frequency Z130.15–.
The value in this parameter applies to the required op erating conditions. See chapter
"Technical data" of the device's operating manual.
The instantaneous nominal current of the power unit dependent of the PWM frequency
entry
Z130.15– is displayed in parameter Z6.25–
If operating conditions are changed and after current derating, the continuous current is
displayed in parameter
via temperature model. See "Status PU temperature model" Z175.2–.
Z175.7– provided that the PU-overload monitoring is executed
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129.16 Peak current 2 kHz
129.17 Peak current 4 kHz
129.18 Peak current 8 kHz
129.19 Peak current 16 kHz
The maximum accepted current of the power unit at the corresponding PWM switching
frequency
The parameter is applicable only if the lxt mod el for the PU overloa d monitoring is us ed
(see status PU temperature model
Z130.15–.
3
Z175.2– Bit 0).
The value in this parameter applies to the required operating conditions: See chapter
"Technical data" of the device's operating manual.
The valid PU peak current dependent of the entered PWM frequency Z130.15–, is displayed in the parameter Z6.25–.
The value of the peak current (Z129.16– to Z129.19–, or parameter Z6.25–) corresponds to the maximum current by which the device may be operated at peak cu rrent processing time Z129.22– corresponding to the specifications in chapter "Technical data " of
the device's operating manual.
129.20 Overcurrent threshold
Monitoring the maximum converter current
129.21 Max DC link voltage
Maximum DC link voltage
129.22 Max peak current time
The maximum time period, within the converter may be operated at peak current
Z129.16– to Z129.19–, or Z6.25– complying with the specifications in the chapter
"Technical data" of the device's operating manual.
If the PU overload monitoring model is operated by the temperatu re model (see status PU
temperature model
Z175.2–), this parameter is not important.
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129.24 Time phase error
Maximum time for which the drive can be operated at nominal cu rrent with a phase failure.
See also
Z130.24–.
129.25 Current phase error
If Bit 2 of the Supply Mode parameter (Z130.10–) is not set:
Maximum current at which the drive can be operated with a phase failure.
129.26 Max. heat sink temperature
Switch-off threshold for heat sink temperature
129.27 Max ambiance temperature
Switch-off threshold for the internal temperature of the power unit
129.41 Max. ground current
Monitoring the maximum ground current
129.42 Min. DC link voltage
Monitoring the minimum DC Link voltage
129.44 Firmware version
Reserved
129.45 Power factor
Reserved
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129.46 PU serial number
Displays the serial number of the power unit.
129.47 Amp type code
Displays the type designation code of the power unit.
129.48 Data configuration
Reserved
129.49 Amp article numbe r
3
Article number of the power unit, not of the complete unit. This parameter is true for all
devices of the b
maXX 5000 family.
129.85 Peak current 2 kHz TM
See Z129.88–
129.86 Peak current 4 kHz TM
See Z129.88–
129.87 Peak current 8 kHz TM
See Z129.88–
129.88 Peak current 16 kHz TM
Maximum admitted current of the power unit at the accordant PWM freque ncy Z130.15–
The parameter is valid only if the temperature model for the PU overload monitoring is
used (see PU temperature model state
Z175.2– Bit 0)
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3.4
Configuration
The value in this parameter is valid for the required operating requirements. See chapter
"Technical data" in the Instruction Handbook.
The currently valid power unit peak current dependent of the entered PWM frequency
Z130.15–, is shown in parameter Z6.25–.
There is no connection between the peak current (>129.85< to >129.88<) and the peak
current time
chapter "Technical data" of the Instruction Handbook of the device.
Z129.22–. The maximum permitted time for the peak current is specified in
129.92 Fan configuration
Factory setting of the existing fans in the device. During operation is checked if all the configured fans are operating. In case a fan fails the error message 223 "Fan failure" appears.
In the additional identification "Info 1" can be seen which fans failed.
NOTE!
At the failure of one fan the device should be immediately repaired as a further operation can cause overheating and the permanent destruction of the device.
130.1 Heat sink temperature
Power Unit Heat Sink Temperature
130.2 Interior temperature
Internal temperature of the device.
130.3 DC link actual voltage
This parameter has the same meaning at the axis units as well as at the active mains rectifier unit.
Actual value of the DC link voltage
130.8 Main supply voltage
Reserved
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130.9 Fan mode
Reserved
130.10 Mode
Settings for the mains rectifier unit.
The parameter is changeable only in locked status.
Bit # Meaning
0 Reserved
1 Behavior at mains failure:
2 0: Limitation of the motor current to Z129.25– Current phase error; no
3
0: The motorized operation is inhibited at mains failure
1: Motorized operation is possible if there is a mains failure
shutdown
1: Limitation of the motor current to Z107.9– Nominal current, shutdown
of the drive after the duration in Z130.24– Phase error delay time
4 ... 3 Reserved
5 Automatic restart after mains failure:
0: At mains failure the drive remains enabled for the time set in Z130.25–
Mains failure delay. According to the setting of bit 1 the motor operation
is disabled internally.
1: At mains failure the pulses are inhibited at once and the drive changes
in the "Switch-on inhibit" state. If mains is available again within the set
time in
It is essential generally: If the mains failure is longer than the set time in
Z130.25– an error message is generated.
6 Switches off the ground current monitoring:
Ground current measured: Z130.28–
Maximum ground current: Z129.41–
If the measured ground current is greater than Z129.41– pulse inhibit
results when ground current monitoring is activated.
0: Ground current monitoring active
1: No ground current monitoring
15 ... 7 Reserved
Bit 1:
At mains failure a motorized operation is advisable, if there is enough energy in the DC
link or if several axes are coupled via the DC link and simultaneously at the other axis
energy is supplied to the DC link.
Z130.25–, the drive is enabled automatically (automatic rest art).
The setting for the behavior at mains failure effects only in the set time in Z130.25–. If the
time is set to 0, the drive is inhibited at once at mains failure and an accordant er ror message is generated (error 1016 Mains failure or error 1032 Error DC-link supply).
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3.4
Configuration
Bit 2:
If Bit 2 of parameter Z130.10– Mode is set, the controller activates a time monitor
when a phase failure is detected. The drive reports warning/error 1 047 „Phase failure“.
The motor current is restricted to nominal current.
The further behavior is determined by the response which is set in warning/error 1047.
m Response is „No response“
m Active braking („Return motion“, „Stop (Ramp-down time)“, „Stop (Quick stop time)“,
m Pulse block
If Bit 2 of parameter Z130.10– Mode is not set, the phase error delay time doesn’t act.
The drive is enabled.
After the phase error delay time has elapsed, if the phase failure condition still exists
the drive generates Error 1015 „Phase error timeout" and inhibits the pulses to the
power unit.
If the phase error is cleared during phase error d elay time, the controller d eletes the
warning and switches back to the non-reduced current operation.
„Stop at current limit“, „Controlled stop", „SS1 stop")
The drive effects an active error response, changes to „failure“ state upon completion and inhibits the pulses to the power unit.
If the error response will be not finished up to the phase error delay time has
elapsed, the drive generates Error 1015 „Phase err or timeout" and inhibits the pu ls
es to the power unit.
Also if the phase error is cleared during phase error delay time, the pulses to the
power unit will be inhibited finally.
This response is not permitted. In order that the pulses are inhibite d fast as possible,
the parameter
-
Z130.24– is set to 0.
130.12 Heat sink temperature warning threshold
Warning threshold for heat sink temperature. If the temperature exceeds this threshold,
the corresponding warning is generated.
130.13 Interior temperature warning threshold
Warning threshold for the internal temperature of the device. If the temperature exceeds
this threshold, the corresponding warning is generated.
130.15 PWM frequency
The PWM frequency of the drive controller and the cycle time of the current con troller are
set in this parameter.
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Valid values:
PWM Frequency Current controller cycle time
2 kHz 250 µs
4 kHz 125 µs
8 kHz 62,5 µs
16 kHz 62,5 µs
NOTE!
If it is intended to operate a PWM frequency of 2 kHz at an axis unit, it first must be
checked if the operation of the drive is permitted (e.g. if the rate d values of the motor,
or of the motor filter if one is at use still are valid for this PWM frequency). At a switch
ing frequency of 2 kHz the current controller cycle time is 250 µs - so the adjusting
range of the output frequency is 0 to 225
handbook of the device).
Hz (see the electrical data in the instruction
3
-
Generally:
m The band width of the current controller is inversely proportional to the current contro l-
ler cycle time.
m The noise of the motor caused by the voltage signals in pulse form, drops with an in-
creasing PWM frequency.
m The thermal loading in the IGBT model decreases along with falling PWM frequency.
Therefore the attainable peak current length increases with falling PWM frequency at
constant peak current while the nominal current of the device increases during contin
uous operation.
m The adjusting range of the output frequency increases if the current controller cycle
time sinks. This adjusting range refers to the stationary operation and to the linear
range of the PWM - that means without an overmodulation and provides frequencies
that generate excellent output voltages.
n The quality of the generated output voltages is given by how close they are to the
effects of ideal sine voltages and depends on the ratio current controller frequency
f
(f
I-R
f
max
is reached. A multiple of 6 is pre ferred for K
three-phase system or of the voltage in the voltage space vector. Typically the
K
n The adjusting range is determined as follows (see chap ter "Electrical data" in the in-
struction handbook of the device.
= 1/current controller cycle time) to the maximum output frequency f
I-R
= f
/ Kpf. The greater the proportional factor Kpf the better the quality is which
I-R
= 18 is selected to provide a good quality.
pf
because of the 60° symm etry of the
pf
max
-
:
Current controller cycle time Output frequency adjusting range
250 µs 0 - 225 Hz
125 µs 0 - 450 Hz
62,5 µs 0 - 599 Hz (900 Hz) *)
*) 900 Hz are technically (from the control point of view) possible
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3.4
Configuration
n The controller specifies an upper limit for the outpu t frequency of 599 Hz so that the
n The converter can generate output voltages with frequencies between f
Change of the PWM frequency during operation
The parameter >130.15< can be changed during continuous operation by the user.
The purpose of the functionality "PWM switching" while using the Ixt model in the over-
load monitoring of the power unit, is to offer the option by switching to a lower PWM frequency, that noise and the Ixt actual value of the po wer unit is red uced but not to use the
increased power unit peak current of a lower PWM fre quency. The maximum total current
of the drive
value of several current parameters. A change during the running operatio n is not practical and not intended (the parameter is not cyclically writable).
900
Hz, which are technically possible, may not be reached (for details over this limit
refer to the relevant Baumüller sales department. Key word: Export limitation).
599
Hz and the controller permits them. The quality o f these vo ltages ca n't be guar -
anteed.
Z19.6– (being dependent of the power unit peak current) is the standardized
max
and
However, there are a few limitations:
m For applications with high demands on the performance (e.g. synchronous operation)
the complexity of the controller setting with variable current controller band width would
be too high. For this reason the PWM switching in enabled operation is r estricted to the
speed control and current control operating modes (see
m The current controller cycle time may not exceed the RT0 cycle time Z1.8–. The value
will not be accepted if this condition is violated by writing a PWM frequency during the
continuous operation.
m The power unit peak current Z6.25–, depending on the PWM frequency, limits the
maximum drive current Z19.6–. If a higher PWM frequency is entered at continuous
operation, it could happen that Z19.6– should be reduced. In this case the change of
the PWM frequency is rejected. However, the change is allowed in the inhibited state
and
Z19.6– is limited automatically.
m If the PWM frequency is changed in continuous operation with activated dead time
compensation (Dead time compensation factor
dead time compensation must be activated after the PWM frequency Z123.1– bit 3 = 1
and therefore the values of the dead time correction table Z123.15– should be measured in this mode.
m The switching of the PWM frequency in continuous operation isn't permitted for the
sensorless synchronous motor.
m The PWM frequency should not be changed during the flying restar t of th e sensorless
asynchronous motor.
Z47.50– > 0%) the adaption of the
Z109.2–).
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The failures at the implementation of the PWM switching during the continuous oper ation
in the controller were minimized - however, with reference to control engineering, they
can't be excluded completely. Therefore this option is adequate for simple (not critical)
applications, only.
The instantaneous PWM frequency is displayed in the parameter "Instantaneous PWM
frequency" (
ty function of the PU temperatur e mode "PWM reduction" is operated (se e ZOverload
monitoring of the power unit– from page 709).
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
Z130.41–). It can deviate from the set PWM frequency >130.15<, if the safe-
Description of the Software Modules and Parameters
When switching into a lower PWM frequency it must be regarded that the adjusting range
of the output frequency possibly may be reduced.
A change of the set PWM frequency >130.15< during the continuous operation is not accepted as long as the PWM reduction, warning 216 is triggered.
The display parameter Z47.65– specifies the directly acting current controller cycle time.
130.18 I offset U
Measured current offset of phase U in [A].
130.19 I offset V
Measured current offset of phase V in [A].
3
130.20 I offset W
Measured current offset of phase W in [A].
130.21 PWM enable
Display of the pulse enable for the power unit.
130.24 Phase error delay time
Reserved
130.25 Mains failure delay
A mains failure is ignored within this time.
Warning 1046 Mains failure is generated in general if a mains failure is detected. If the
mains failure is longer than the Mains failure delay and if the drive was enabled at the be
ginning, an error message is generated (err or 1016 Ma ins failur e or erro r 1032 Error DClink supply).
Different options are possible for the behavior during the Mains failure delay. This options
are defined in parameter
-
Z130.10– Mode.
If the mains is available again within the set Mains failure delay, no error message is generated. The warning is deleted and normal operation is continued.
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3.4
Configuration
130.28 Actual ground fault current
If the sum of the three measured currents of the motor phases is not equal zer o, then it is
assumed that it is a fault current against earth. This is displayed in parameter >130.28<.
The maximum ground current is specified in parameter Z129.41– and the ground current
monitoring can be disabled via parameter Z130.10– bit 6.
130.29 Chopper threshold
Reserved
130.34 Status STO module
This parameter indicates the status of the STO mo dule. If STO is tr iggered, the error bits
indicate the cause for the triggering.
The parameter should only be requested at disabled drive, because timeout errors (see
bit
0) could occur at enabled drive.
Bit no. Meaning
0 0: No error
1: Timeout.
No update of the status word within the last two seconds.
Bits 5 ... 7 and bits 13 ... 15 are not valid
1 1: CRC error at latest transfer of the status word
3 ... 2 Reserved
4 For a SAF module with restart inhibit only:
0: Restart inhibit not activated
1: Restart inhibit activated and waiting for status: both inputs switched off
5 0: No error
1: Error at internal communication in STO module
6 0: No error
1: Internal diagnosis channel 2 has triggered STO
7 0: No error
1: Internal diagnosis channel 1 has triggered STO
10 ... 8 SAF-001-001 identification:
0: SAF-001-001-000
1: SAF-001-001-001 (SS1 time fixed: 200 ms)
2 ... 7:reserved
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13 ... 11 Reserved
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
Description of the Software Modules and Parameters
Bit no. Meaning
14 0: Input terminal channel 2 is powered with 24 V
1: No 24 V power supply at input terminal of channel 2
15 0: Input terminal channel 1 is powered with 24 V
1: No 24 V power supply at input terminal of channel 1
130.37 Udc threshold for mains failure
Absolute threshold for the mains failure detection.
As soon as the DC link voltage falls below this threshold, this is regarded as mains failure.
130.38 Udc hysteresis for mains failure
3
Hysteresis for the mains failure detection by means of the DC link voltage.
130.40 Operation time
Operating time of the power unit of an axis. Synchronizes the IGBTs; then this value is
incremented.
130.41 Instantaneous PWM frequency
Display parameter of the instantaneous (operating) PWM frequency.
The instantaneous PWM frequency deviates from the set PWM frequency Z130.15–, if
the safety function of the PU temperature model "PWM reduction" has responded (warning 216 is triggered). In this case the PWM frequency referring to the set PWM frequency
(
Z130.15–) is halved.
The corresponding instantaneous (operating) cycle time of the current controller is displayed in parameter Z47.65–.
Of importance for devices, which support the PU temperatu re model, only (see status PU
temperature model
Z175.2–).
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3.4
Configuration
175.3 Max. device control cabin temperature
The parameter is used in the PU temperature model, only.
Maximally provided or expected temperature change within the control cabinet (for air-
cooled devices) or change of surface temperature of the device (for devices with cold
plate cooling) in °C.
Important for devices, which support the PU temperature model (see status of PU temperature model Z175.2–), only.
The parameter effects the value of the I2t max. continuous current Z175.8– and the value
of the maximum continuous current of the device Z175.7–.
There is no reduction of the output current at the default value of the parameter. This
means that the default value remains if there is no chang e of the r equire d operating con
ditions to be expected.
The parameter can be changed during the inhibited drive status, only.
-
175.4 Max. device altitude
The parameter is used in the PU temperature model, only.
Maximally provided or expected installation altitu de in m ab ov e se a leve l.
Important for devices, which support the PU temperature model (see status PU tempera-
ture model Z175.2–), only.
The parameter effects the value of the I2t max. continuous current Z175.8– and the value
of the maximum continuous current of the device Z175.7–.
There is no reduction of the output current at the default value of the parameter. This
means that the default value remains if there is no chang e of the r equire d operating con
ditions to be expected.
The parameter can be changed during the inhibited drive status, only
175.5 Max. device mains voltage
The parameter is used in the PU temperature model, only.
Maximally provided or expected effective value of power supply in V.
Important for devices, which support the PU temperature model (see status PU tempera-
ture model Z175.2–), only.
The parameter effects the value of the maximum continuous current of the device
Z175.7–, only.
There is no reduction of the output current at the default value of the parameter. This
means that the default value remains if there is no chang e of the r equire d operating con
ditions to be expected.
-
-
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The maximum mains voltage >175.5< is important for the mains rectifier unit, the active
mains rectifier unit and internally supplied mono devices, only. For other devices (includ
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
-
Description of the Software Modules and Parameters
ing externally supplied mono devices) the maximum DC link voltage Z175.6– is important, only.
The parameter can be changed in the inhibited drive status, only.
175.6 Max. device DC link voltage
The parameter is used in the PU temperature model, only.
Maximally provided or expected DC link voltage in V.
Important for devices, which support the PU temperature model (see status PU te mpera-
ture model Z175.2–), only.
The parameter effects the value of the maximum continuous current of the device
Z175.7–, only.
There is no reduction of the output current at the default value of the parameter. This
means that the default value remains if there is no change of the requir ed ope rating con
ditions to be expected.
The maximum mains voltage Z175.5– is important for the mains rectifier unit, the active
mains rectifier unit and internally supplied mono devices, only. For other devices (including externally supplied mono devices) the maximum DC link voltage >175.6< is important, only.
3
-
The parameter can be changed in the inhibited drive status, only.
175.7 PU max. continuous current actual value
The parameter displays the instantaneous value of the maximum accepted continuous
current of the power unit.
Important for devices, which support the PU temperature model, only (see status PU temperature model Z175.2–).
The parameter >175.7< is generated from the PU's nominal current Z6.26–, whereat the
correction factors are considered, which are described in chapter "Operating conditions"
of the operating manual of the device.
m Correction factor of the device's control cabinet temperature (ambient temperature
or surface temperature). The required temperature can be entered in parameter
Z175.3–.
m Correction factor of installation altitude. The required installation altitude can be en-
tered in parameter Z175.4–.
m Correction factor of voltage supply, PU mains voltage or PU DC link voltage. The re-
quired voltage can be entered in parameter Z175.5– or Z175.6–.
Furthermore the maximum accepted continuous current in dependen ce of the o utput frequency Z47.49– can be reduced, as described in chapter "Output frequency dependent
current derating" in the operating manual of the device.
If the current limit safety function of the overload monitoring PU temperature model has
responded, the maximum current of the drive
neous value of continuous current >175.7<. See ZOverload monitoring of the power
unit– from page 709.
Z19.6– is limited to the max. PU instanta-
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3.4
Configuration
175.8 PU I2t max. continuous current actual value
The parameter displays the instantaneous value of the maximum accepted continuous
current of the conductors and capacitors.
Important for devices, which support the PU temperature model (see status PU temperature model Z175.2–).
The parameter is generated from the nominal curren t 2 kHz (Z129.12–), whereat the fol lowing correction factors are considered, which are described in "Operating conditions"
of the operating manual of the device.
m Correction factor of the device's control cabinet temperature (ambient temperature
or surface temperature). The required temperature can be entered in parameter
Z175.3–.
m Correction factor of installation altitude. The required installation al titude can be e n-
tered in parameter Z175.4–.
The parameter displays the scaling factor of the I2t-sub-model (part of the PU temperature model).See ZOverload monitoring of the power unit– from page 709.
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Parameter manual b maXX BM5800
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Description of the Software Modules and Parameters
M
max act
I
sq max
Kt
upd
Flux
set
[%]=
3.4.2 Motor
3.4.2.1 Motor Identification Plate
Stegmann and Heidenhain encoders provide the option of storing OEM data in their
EEPROM. This memory is used to store the following information in the encoders:
m Notch angle offset
m Machine characteristics
m Encoder characteristics
m Motor ordering code
The data structure of the OEM memory follows the Baumü ller standard, as already imple mented on the b maXX 4400. Thus identification plates ca n also b e read f rom en coders
which were previously used in b
3
maXX 4400 drives and conversely.
3.4.2.2 Torque limits
Display maximum torque
The parameter Z138.20– "Max. torque actual value" represents the maximum internal
torque of the motor M
with
I
Flux
Kt
NOTE!
If the Kt factor Z107.44– is set to zero, then the torque limit is suspended. This state
is achieved by setting the Nominal power Z107.6– to 0 kW. If the Kt correction factor
Z138.23– is set to zero, then the torque limit limits the torque current to 0 A.
and is proportional to the maximum torque current I
max act
Maximum torque current in A: "Max. torque current actual value" Z138.30–
sq max
Magnetic flux set value in % Z146.13–
set
Kt updated Z155.24–, in Nm/A
upd
sq max
.
The maximum torque current I
ue" Z19.5– I
value" Z19.5– in general is the same as the maximum drive current Z19.6–. However,
this current and the actual maximum torque can be reduced by the power unit overload
monitoring (refer to "Bit mask of external drive current limit"
and with subtraction of the field current. The "Max. drive current actu al
max act
is calculated from the "Max. drive current actual val-
sq max
Z138.8–).
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3.4
I
sq limit M
M
limit
Kt
upd
Flux
set
[%]
------------------------------------------- -=
n [min ]
N
107.7
N
-1
N
max mech
107.26
max
M
m
[Nm]
(138.20)
M
n [min ]
N
107.7
N
-1
N
max mech
107.26
max
M
m
[Nm]
(138.20)
M
a) b)
5000_0235_rev02_int
Lim
= (Iq ) =f
Lim
(138.22)
Lim
min(138.2,138.3,138.14,138.15)
Lim
(138.22)
M
|| ||
f(138.18)
base speed
range
field weakening
base speed
range
field weakening
effective
limits
=
M
Lim bd
Configuration
Additionally, in the field weakening range the torque is limited by the maximum power.
Therefore, the maximum available torque
In the field weakening range it decreas es inversely proportional to the speed (see ZFig.
33– on page 82).
Symmetric torque limit
Z138.20– is constant in the base speed range.
The symmetric torque limit M
(Z138.22–) influences the set value of the torque current
limit
controller, which controls the torque-generating current. The correspondent limit for the
torque-generating current I
sq limit M
will be fit as follows.
with
Flux
Kt
Magnetic flux set value in % Z146.13–
setl
Kt updated Z155.24–, in Nm/A
upd
Torque limits / torque current limits
Figure 33: a) Asynchronous motor: Torque limit above Z138.22–
b) Asynchronous motor: Overlap of several limits
If there are several torque limits Z138.22–, that result from the torque current limits
Z138.2–, Z138.3–, Z138.14–, Z138.15– or from the breakdown torque-current limit op-
erating simultaneously then the smallest limit is decisive (compare ZFig. 33– (b)). Note:
In ZFig. 33– (b) the "Current mode" is assumed (Z138.1– bit 3 = 1) with regard to the
parameters Z138.2–, Z138.3–, Z138.14–, Z138.15–.
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Particular case synchronous motor with interior permanent magnet (IPM SM)
The torque is calculated from the characteristic map of the IPMSM a nd from the cu rrents
according to the following formula:
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
Description of the Software Modules and Parameters
T
3
2
-- -
p PMI
q
LdLq–IdI
q
+=
If a torque limit is entered, the maximum Iq current is recalculated from this equitation,
where the torque limit (
3.4.2.3 Torque monitoring
Torque indicator Z138.21– displays the internal machine torque. The actual possible machine torque is displayed by the maximum av ailable torq ue Z138.20–. In order to reach
this maximum available torque, the torque-generating current must not be limited via the
parameters
Refer to torque monitoring (ZTorque monitoring– on page 505) for the exact correlation
between the torque current and the torque.
Particular Case: Synchronous Machine
3
Z138.22–) corresponds to the torque T.
Z138.6–, Z138.7–, Z138.14–, Z138.15– or Z138.22–.
If the nominal machine working point (rated torque at rated speed) is only reached, if magnetizing current is applied to the machine, the following must be considered:
If the magnetizing current in the nominal working point is lower than 10% of the rated motor current, then the effects on the torque indicator is about 0.5% of the displayed value.
With magnetizing currents of about 20% of the rated current or above, these effects are
significant (deviation is about 2%).
If the required accuracy of torque indicator Z138.21– is critical due to this influence, it is
recommended, to define the rated data of the synchrono us mo to r at th e thr eshol d spee d
of field weakening (ID nominal = 0) for unmodified nominal motor current and to enter in
P
nom
3.4.2.4 Torque threshold
It is possible to define a simple torque threshold. If the absolute value of the effective
torque exceeds this threshold, a status bit is set in parameter
limitation. The relationship between the effective torque of th e machine, the set torque
threshold and the status bit is shown in
Z107.6– and n
Z107.7–.
nom
Z138.25– Status current
ZFig. 34–.
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3.4
t [sec ]
|M|
[Nm]
0
1
Status bit
(P138.25 bit 0)
Threshold
M
(P138.24)
act
|M
(P138.21)
|
n
emax
1000
K
e(cold)
---------------- -
U
zk,max
2
-----------------
=
Configuration
Figure 34: Torque threshold
3.4.2.5 Maximum permissible speed (electrical conditioned)
The overvoltage limit at the converter (U
) sets the following limit to the maximum
zk,max
permissible speed of the synchronous machine.
with:
U
K
= 780 V for BM5200, BM5300, BM5400 and BM5500
zk,max
:Ke factor for the cold machine in idle speed in V / 1000 min-1 (independent
e(cold)
of the value noted in parameter Z107.20–)
Without additional safety precautions the operating of the motor with speed greater than
n
is not permitted.
emax
DANGER!
Risk of fatal injury from electrical current!
The overvoltage limit at converter is passed over.
Therefore:
m Never operate the motor without additional safety precautions over the electrical
conditioned maximum permissible speed.
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Description of the Software Modules and Parameters
3.4.2.6 ProDrive Motor
3
Figure 35: ProDrive Motor - General
3.4.2.7 Parameter overview motor
Number Name Type Min Max Default Value Unit Factor
19.1 Number of motors UDINT 1 2 2 1:1 X X
19.3 Motormanager status UINT 0 60 0 1:1 X
19.5 Max. drive current
actual value
19.6 Max. drive current FLOAT 0.0 10000 1.5 A 1:1 X
19.7 Max. field current amplitude
19.8 Max. torque current FLOAT 0 10000 0 A 1:1 X
19.9 Field current preset
value
FLOAT 0 10000 0 A 1:1 X
FLOAT 0 10000 0 A 1:1 X
FLOAT -10000 10000 0 A 1:1 X
Read only
Storage
DS Support
Cyclic Write
Axis-independent
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3.4
Configuration
19.10 Motor nominal torque
current
19.11 Ke factor in V/Nnom FLOAT 0 1000 0 V/N
19.12 Cutt-off frequency PT1filter Isq set value
19.17 Isq additive set value FLOAT -10000 10000 0.0 A 1:1 X
19.21 Isq Additive set value 2 FLOAT -10000 10000 0.0 A 1:1 X
19.30 Slip frequency actual
temperature
19.32 Rotor time constant FLOAT 0.0 20 20 s 1:1 X
19.50 Notch position O.K. UINT 0x0 0xF 0x1 1:1 X
19.51 Current ref. for notch
position detection
19.52 Modus motor operating
mode
19.61 Delay reference current FLOAT 0 5 0 ms 1:1 X
107.1 Version UINT 0 0xFFFF 0 1:1 X
107.2 Motor type STRING 1:1 X
107.3 Article number UDINT 0 0xFFFFFFFF 0 1:1 X
107.4 Serial number UDINT 0 0xFFFFFFFF 0 1:1 X
107.5 Nominal operation mode UINT 0 0xFFFF 0 1:1 X
107.6 Nominal power FLOAT 0 655.35 5 kW 1:1 X
107.7 Nominal speed UINT 1 65535 3000 U/min 1:1 X
107.8 Nominal voltage FLOAT 0 6553.5 0 V 1:1 X
107.9 Nominal current FLOAT 0 6553.5 3.5 A 1:1 X
107.10 Standstill current FLOAT 0 6553.5 0 A 1:1 X
107.11 Standstill torque FLOAT 0 42949672.95 0 Nm 1:1 X
107.12 Power factor FLOAT 0 1.000 0,9 1:1 X
107.13 Nominal frequency FLOAT 0 6553.5 0 Hz 1:1 X
107.14 Magnetic current FLOAT 0 6553.5 0.01 A 1:1 X
107.15 Slip frequency cold FLOAT 0 655.35 2 Hz 1:1 X
107.16 Slip frequency warm FLOAT 0 655.35 3 Hz 1:1 X
107.17 Slip temperature cold UINT 0 655 0 Grad C1:1 X
FLOAT 0.1 10000 3.5 A 1:1 X
1:1 X
nen
n
FLOAT 0.0 3000 0.0 Hz 1:1 X
FLOAT 0.0 100 2,384615 Hz 1:1 X
FLOAT 0.0 100 50 % 1:1 X
UINT 0 2 0 1:1 X
107.18 Slip temperature warm UINT 0 655 100 Grad C1:1 X
107.19 Pole pairs UINT 1 65535 3 1:1 X
107.20 Ke factor FLOAT 0 6553.5 20 V/1000
107.21 Max current FLOAT 0 6553.5 0 A 1:1 X
107.22 Peak torque FLOAT 0 42949672.95 0 Nm 1:1 X
107.23 Friction moment FLOAT 0 655.35 0 Nm 1:1 X
107.24 Attenuation factor FLOAT 0 655.35 0 Nm/10
107.25 Max speed electr. UINT 0 65535 0 U/min 1:1 X
107.26 Max speed mech. UINT 0 65535 0 U/min 1:1 X
107.27 Max temperature UINT 0 250 150 Grad C1:1 X
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1:1 X
U/min
1:1 X
00U/mi
n
Description of the Software Modules and Parameters
107.28 Time constant i2t UINT 0 65535 100 s 1:1 X
107.29 Stator resistance FLOAT 0 1000.000 0.5 Ohm 1:1 X
107.30 Stator leakage inductance
107.31 Rotor resistance FLOAT 0 4294967.295 0 Ohm 1:1 X
107.32 Rotor leakage inductance
107.33 Magnetizing inductance FLOAT 0 655.35 40 mH 1:1 X
107.34 Lq inductance FLOAT 0 655.35 2.5 mH 1:1 X
107.35 Ld inductance FLOAT 0 655.35 1.7 mH 1:1 X
107.36 Inertia of motor FLOAT 0 42949672.95 0 kg*
107.37 Temperture sensor type UINT 0 0xFFFF 0 1:1 X
107.38 Motor flags UINT 0 0xFFFF 1 1:1 X
107.39 Gear factor,
motor:encoder
107.40 Brake nominal voltage FLOAT 0 6553.5 0 V 1:1 X
107.41 Brake torque FLOA T 0 6553.5 0 Nm 1:1 X
107.42 Inertia of brake FLOAT 0 42949672.95 0 kg*
107.43 Nominal torque FLOAT 0 90000.00 0 Nm 1:1 X
107.44 Kt factor FLOAT 0 1000.00 0 Nm/A 1:1 X
107.67 Pole pitch UDINT 1 0xFFFFFFFF 16 mm 1:1 X
107.68 Load inertia FLOAT 0 42949672.95 0 kg*
107.72 Continuous current limit
curve
128.1 Motor temperature status
128.2 Temperature acquisition
system
128.3 Motor temperature DINT -50 300 0 °C 1:1 X
128.4 Warning threshold 1 UINT 0 185 130 °C 1:1 X
128.5 Warning threshold 2 UINT 10 185 140 °C 1:1 X
128.7 Motor temperature hysteresis
133.14 Status motor operating
mode
138.1 Mode of Iq limit UINT 0 0xffff 0 1:1 X
138.2 Iq limit motor/TD1 FLOAT 0 100 100 % 1:1 X X
138.3 Iq limit generator/TD2 FLOAT 0 100 100 % 1:1 X X
138.4 Quadrant hysteresis Iq
limit
138.5 Motor qadrant UINT 0 4 0 1:1 X
138.6 Iq upper limit FLOAT 0 10000 1.5 A 1:1 X
138.7 Iq lower limit FLOAT -10000 0 -1.5 A 1:1 X
138.8 Bitmask of external
drive current limit
138.9 External limiting max
drive current
FLOAT 0 655.35 0 mH 1:1 X
FLOAT 0 655.35 0 mH 1:1 X
1:1 X
2
cm
UINT 0 0xFFFF 0x0101 1:1 X
1:1 X
2
cm
1:1 X
2
cm
FLOAT 0 0xFFFFFFFF 0 A 1:1 X
UINT 0 0xFFFF 0 1:1 X
UINT 0 0xFFFF 0 1:1 X
INT 0 5 5 °C 1:1 X
DINT 0 10 0 1:1 X
FLOAT 0 100 5 % 1:1 X
UINT 0 0xFF 0 Bits 1:1 X
FLOAT 0 10000 10000 A 1:1 X
3
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3.4
Configuration
138.10 External limiting max
field current amplitude
138.11 Iq set value before notch
filter
138.12 Center frequency Iq set
value notch filter
138.13 Bandwidth Iq set value
notch filter
138.14 Iq limit bipolar cyclic UINT 0 16384 16384 % 4000
138.15 Iq limit bipolar FLOAT 0 100 100 % 1:1 X
138.16 Speed threshold for
breakdown torque limit
138.17 Factor for breakdown
torque
138.18 Iq limit breakdown
torque
138.20 Max. torque actual value UDINT 0 0xFFFFFFFF 0 Nm 1000:1 X
138.21 Torque display DINT 0x80000000 0x7FFFFFFF 0 Nm 1000:1 X
138.22 Torque limit symmetric UDINT 0 2147483647 2147483647 Nm 1000:1 X X
138.24 Indication threshold
torque
138.25 Status current limitation UDINT 0 0xFFFFFFFF 0 1:1 X
138.26 Limitation max current of
IPMSM
138.28 Hysteresis for Iq limit
flag
138.29 Time constant torque
display
138.30 Max. torque current
actual value
138.32 Peak current derating FLOAT 0 10000 0 A 1:1 X
138.34 Torque base value FLOAT 0.001 1.0e6 0.001 Nm 1:1 X
146.1 Asynchronous Motor
Mode
146.13 Flux set value FLOAT -1e9 1e9 1 % 1:100 X
146.14 Actual flux FLOAT -1e9 1e9 0 % 1:100 X
146.16 Slip preset value DINT 0x80000000 0x7FFFFFFF 0 Inc/
FLOAT 0 10000 10000 A 1:1 X
FLOAT -10000 10000 0 A 1:1 X
FLOAT 0 8000 0 Hz 1:1 X
FLOAT 0 4000 50 Hz 1:1 X
hex
:100%
FLOAT 0 1e9 0 U/min 1:1 X
FLOAT 0 1.41 0.9 1:1 X
FLOAT 0 1e9 0 A 1:1 X
UDINT 0 2147483647 2147483647 Nm 1000:1 X X
FLOAT 0 1e9 0 A 1:1 X
FLOAT 0 50 5 % 1:1 X
FLOAT 0 1000 3 ms 1:1 X
FLOAT 0 10000 0 A 1:1 X
UINT 0 0xFFFF 0 1:1 X
1:1 X
Tab
X
3.4.2.8 Description of the Parameters
19.1 Number of motors
Number of axes. The value of the parameter is automatically set by the controller during
the boot process, using the device identifier (
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Z129.4– Hardware name).
Description of the Software Modules and Parameters
If this parameter shall be operated as single axis, it must be set to 1 at a double axis. See
parameter
Z139.4–.
19.3 Motor manager status
The status of the motor manager is displayed in this parameter. It shows the status of the
internal state machine.
Value Meaning
0 Motor manager switched off
1 Motor manager switched on
2 Pole position search completed successfully
3 Error during pole position search
9 ... 4 Reserved
10 Init. pole position search method 0
3
11 Pole position search method 0 active
19 ... 12 Reserved
20 Init. pole position search method 1
21 Pole position search method 1 active
39 ... 22 Reserved
40 Pole position offset will be entered in Parameter Z127.8–
41 Pole position offset will be stored in the encoder
42 Slow reduction of current after completion of the pole position search
43 Pole position search completed successfully
Remark:
Values 2 to 43 are only displayed when a pole position search is active (Actual Operating
Mode
Z109.2– = -1).
For the other drive operating modes, the status is either 0 or 1.
19.5 Max. drive current actual value
Shows the currently effective limit of the total current. It influences the limit of the current
torque as well as of the field current. The parameter accords to the minimum value be
tween the "maximum total current of the drive" Z19.6– and the "External limitation of the
maximum total current" Z138.9–.
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3.4
Configuration
19.6 Max. drive current
Settable limitation of the total current of the drive influences the limitation from the current
torque as well as from the field current.
The maximum total current of the drive is limited by the "Power unit peak current" Z6.25–:
"Max. drive current" [>19.6<] "Power unit peak current" [Z6.25–].
NOTE!
m The total current limit of the drive can automatically be reduced furthermore, for ex -
ample by the PU overload monitoring or the phase fail (see "bit bar of external cu rrent limit" Z138.8– and "External limiting max. drive current" Z138.9–.9 and the
value of the parameter >19.6< is not changed. The current acting lim it of th e to tal
current is displayed in the " Maximum available total current"
m The "Max. drive current" >19.6< is the scaling size of the standardized current pa-
rameter Z166.3– / Z166.4– (current threshold motori c/generator; operation mode
U-f characteristic).
Z19.5–.
19.7 Max. field current amplitude
Display of the maximum amplitude of the field current. The maximum field current for synchronous motors is set via the absolute value of the field current preset value (Z19.9–).
The maximum field current for asynchronous motors is set via the limitation of flux controller (Z146.12–).
The maximum field current amplitude is limited by the maximum total current of the dr ive
(
Z19.6–):
Max. field current amplitude [>19.7<] 0,95 * Max. drive current [Z19.6–]
NOTE!
The amplitude of the field current can be reduced automatically e. g. by the PU overload monitoring or phase fail (see "Bit bar o f external cur rent limit" Z138.8– and "External limiting max. field current amplitude" Z138.10–), without the parameter value
>19.7< being changed. The currently effective present limit of the field current is the
minimum value between "Max. field current amplitude" >19.7< and "External limiting
max. field current amplitude"
19.8 Max. torque current
Z138.10–.
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Display of the standardized factor of the maximum torque current in A.
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
Description of the Software Modules and Parameters
I
sq max
I
max aux
2
I
sd aux
2
–=
NOTE!
The "Max. torque current" >19.8< is the standardized factor of the standardized
torque current limits of the parameters
Z138.15–, of the standardized torque current set values Z18.50– and Z19.51– as
well as of the standardized total current limit Z120.12–.
Z138.2–, Z138.3–, Z138.14– and
3
The maximum torque current I
with subtraction of the field current I
The max. drive current I
type and of the torque current standardized modes (parameter "Mode of Iq limit"
Bit 1 and Bit 3). The following modes are available:
m Standard load factor mode
SM or ASM with Z138.1– bit 1 = 0 (bit 3 = 0 from FW 01.13 of the controller):
I
max aux
I
= "Isd set value" Z47.2–.
sd aux
m Load factor mode ASM-IsdMax
ASM only: Z138.1– bit 1 = 1 (bit 3 = 0 from FW 01.13 of the controller):
I
max aux
I
= "Limit magnetizing current" Z146.13–.
sd aux
m Current mode (from controller FW 01.13 onwards)
Z138.1– bit 3 = 1 (independent of bit 1 and the motor type)
I
max aux
I
= 0,
sd aux
or I
sq max ref
max aux
= "Max. drive current actual value" Z19.5–
= "Max. drive current actual value" Z19.5–
= "Max. drive current" Z19.6–
* >19.8< = "Max. drive current" Z19.6–
(>19.8<) results from the max. drive current I
sq max
and the field current I
sd aux
.
are dependent of the motor
sd aux
max aux
Z138.1–
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3.4
5000_0349_rev01_int
n [min ]
N
107.7
N
-1
n [min ]
N
N
-1
t
t
LT-Imax 19.6
= LT-Imax = LT-Imax
0
0
0
0
0
0
0
0
a) b)
loading mode standard current mode
isqMax
19.8
isqMax
19.8
isd-set
47.2
external
drive current limit
LT-Imax-act
2
isd-set
2
=
LT-Imax-act
19.5
LT-Imax-act
2
isd-set
2
=
Configuration
Figure 36: Modes of the "Max. torque current 19.8 at the synchronous motor
a) Field current dependence (external total current limit is not assumed).
b) External total current limit dependence (field weakening is not assumed).
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Description of the Software Modules and Parameters
5000_0350_rev01_int
n [min ]
N
107.7
N
-1
n [min ]
N
N
-1
t
Isd-Lim 146.12
t
LT-Imax 19.6
= LT-Imax
= LT-Imax
0
0
0
0
0
0
0
0
a) b)
loading mode standard loading mode ASM-isdMax current mode
LT-Imax-act
2
isd-set
2
=
isqMax
19.8
isqMax
19.8
isd-act
47.2
Isd-nom
LT-Imax-act
19.5
LT-Imax-act
2
isd-set
2
=
LT-Imax-act
2
2
Isd-Lim
=
external
drive current limit
3
Figure 37: "Max. torque current" modes 19.8 at the asynchronous motor
a) Field current dependence (no external total current limit is assumed).
b) External total current limit dependence (field weakening is not assumed).
19.9 Field current preset value
At an asynchronous machine and if the "Permanent field current" field weakening type
is set (
Z47.2– = Field current preset value >19.9<). This way the field weakening controllers
and flux controllers are deactivated. For example here the magnetizing current of the
ASM at the nominal point can be entered.
However, the required field current can differ or be lower at field weakening as well as
greater when magnetizing. If the field weakening type was set "at the voltage limit"
(
If a synchronous machine is operated in field weakening here a ne gative cu rrent va lue
must be entered. At a synchronous machine and if the field weakening type "permanent
field current " is set ((
be preset (Isd-set value Z47.2– = Field curr ent pr eset value >19.9<). This way the field
weakening controller is deactivated. For example here the required field current at maximum speed and torque can be entered. The r equired field current amplitude however can
differ from that value if the speed and torques are lower than the maximum values. If the
field weakening type "at the voltage limit" is set (
>19.9< imposes a field current limit to the field weakening controller and the controlled
field weakening characteristic.
Z142.1– bit 0 = 1) then any field current is permanently preset (lsd set value
Z142.1– bit 0 = 0) the parameter >19.9< has no meaning for the ASM.
Z142.1– bit 0 = 1) here any negative field current can permanently
Z142.1– bit 0 = 0) then the parameter
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3.4
I
sq-nom
I
2
nom
I
2
sd-nom
–=
I
sq-nom
I
nom
=
Configuration
19.10 Motor nominal torque current
Display of the nominal torque current I
(Z107.9–) less the field current.
ASM (I
SM (I
sd-nom
= Magnetizing current Z107.14–):
sd-nom
= 0, or << I
19.11 Ke factor in V/Nnom
Ke factor in V/N
nominal speed. It results from the parameters
factor (in V/1000 rpm) at a magnetic flux = 100%.
When the Ke factor Z107.20– in the enabled state is changed then the internally used
value in the controller is smoothed in order to reduce interferences in the controller. The
temporal change of the smoothing Ke factor can be monitored in the parameter 19.11.
or the effective value of the phase-to-phase induced voltage at the
nom
, is assumed):
nom
, comprised of the motor nominal current I
sq-nom
Z107.7– Nominal speed and Z107.20– Ke
nom
19.12 Cutt-off freq ue n c y PT1 -f i l te r Isq set value
Cut-off frequency of the iq set value filter. The filter is switched off by setting this parameter to 0.
19.17 Isq additive set value
Additional set value for current.
19.21 Isq additive set value 2
Second additional set value for current.
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Description of the Software Modules and Parameters
19.30 Slip frequency actual temperature
(This is relevant at asynchronous motors with an encoder if the temperature monitoring
is active,
Slip frequency of the motor at nominal torque current and nominal flux (magnetic flux =
100%) according to the motor temperature actual value
culated by the temperature adaption characteristic and is used to determine the "Slip preset value" (Z146.16–). See ZTemperature adaption slip frequency– on page 508.
Z128.2– bits 0 to 7).
19.32 Rotor time constant
Display of the rotor time constant for the asynchronous motor; required for flux control.
The value is calculated from the magnetic current Z107.14–, the nominal current
Z107.9– and the slip frequency cold Z107.15–.
Has no significance for synchronous motors.
3
Z128.3–. The parameter is cal-
19.50 Notch position O.K.
Bit Meaning
0 Plausibility O.K. (Absolute encoder present)
1 Notch position search active
2 Notch position search ended
3 Notch position search failed or plausibility error
15 ... 4 Reserved
19.51 Current ref. for notch position detection
Current for the notch position detection.
Standardization:
100% = Motor Nominal current Z107.9–
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Configuration
19.52 Modus motor operating mode
The current status is displayed in Z133.14–.
Value Meaning
0 With encoder, observer off
1 With encoder, observer on
2 Motor model for the motor control (sensorless)
19.61 Delay reference current
Additional delay of the current set value in ms.
Is required with motor having several windings for the master, refer to Z 3.4.6.9–.
107.1 Version
Version of the data structure.
107.2 Motor type
Motor type as a character string, e.g.: "DS 71-K".
107.3 Article number
Article number of the motor on motors with an electronic identification plate. The value
displayed is read from motors with an electronic identification plate and is for information
only.
107.4 Serial number
Serial number of the motor. The value displayed is read from motors with an electronic
identification plate and is for information only.
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Description of the Software Modules and Parameters
107.5 Nominal operatio n mo de
At Baumüller, the operating mode of the motor is specified in the form Sx-yy%.
The high byte of the mode is designated by the number in front of the dash, the low byte
encodes the percentage value.
Using the example of S3-40%:
High byte = 3 decimal,
Low byte = 40 decimal.
107.6 Nominal power
Nominal output of the motor (at nominal temperature, motor warm). The value displayed
is read from motors with an electronic identification plate and is used to calculate the nom
inal torque (Z107.43–).
3
-
107.7 Nominal speed
Nominal speed of the motor.
If the motor has no electronic identification plate, the nominal speed must be entered.
107.8 Nominal voltage
Nominal voltage of the motor. The value displayed is read from motors with an electronic
identification plate and is used for motor control at the sensorless asynchronous motor.
107.9 Nominal current
Nominal current of the motor; required for I2t monitoring and for controlling asynchronous
motors. If the motor has no electronic identification plate, the nominal cur rent must be en
tered.
107.10 Standstill current
-
Display of the motor standstill current.
The value displayed is read from motors with an electronic identification plate.
The parameter can be changed in th e inhibited state, only.
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3.4
I
d
I 1 k
n
cos
2
–=
Configuration
107.11 Standstill torque
Display of the motor standstill torque. The value displayed is read from motors with an
electronic identification plate and is for information only.
107.12 Power factor
Power factor (cos ) of the motor. The value displayed is read from motors with an electronic identification plate and is for information only.
107.13 Nominal frequency
Display of the motor nominal frequency in Hz. This value is required for the control system. If the motor has no electronic identification plate, the nomina l frequency must be entered.
107.14 Magnetic current
Magnetizing current Id for asynchronous motors. If the motor has no electronic identification plate, the magnetizing current must be entered. If the motor type is not known, Id can
be found from the identification plate / motor data sheet.
If Id is not known, it can be calculated approximately:
Where:
|I| = Motor nominal current (Z107.9–)
cos n = Power factor (Z107.12–)
k = 1.0 to 1.3
It corresponds to the nominal current Id at IPMSM (see ZSynchrono us motor with interior
permanent magnet– on page 128). The motor consta nt K (Z171.12–) used for adjust-
ment of the MTPA characteristic can be calculated from the nominal current I (Z107.9–)
and the nominal current Id.
107.15 Slip frequency (cold)
(This is relevant at asynchronous moto rs with an encoder if the tem perature monitoring
is activated,
Z128.2– bits 0 to 7)
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Slip frequency of the motor at nominal torque curr ent and nominal flux (magn etic flux =
100%) accordant to slip temperature (cold)
Z107.17– support the temperature adaption characteristic of the slip frequency. Refe r to
"Slip frequency temperature actual value" Z19.30–.
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
Z107.17–. The parameters 107.15 and
Description of the Software Modules and Parameters
The cold slip frequency must be lower than the warm slip frequency (Z107.16–).
At asynchronous motors without an electronic type plate the parameter must be set man-
ually.
107.16 Slip frequency (warm)
(this is relevant at asynchronous motors with encoder, only)
Slip frequency of the motor at nominal torque current and nominal flux (magnetic flux =
100%) according to the slip temperat ure ( warm )
Z107.18– support the temperature adaption characteristic of th e slip frequency. Refer to
"Slip frequency temperature actual value" Z19.30–.
The slip frequency when warm must be higher than the slip frequency when cold
(
Z107.15–).
At asynchronous motors without an electronic type plate the parameter must be set manually.
3
Z107.18–. The parameters 107.16 and
107.17 Slip temperature (cold)
(this is relevant at asynchronous motors with an encoder if the temper ature monito ring is
activated,
Temperature specification for which the motor slip frequency when cold (Z107.15–) applies, see also Z19.30–.
The cold slip temperature must be lower than the warm slip temperature (Z107.18–).
At asynchronous motors without an electronic type plate the parameter must be set man-
ually.
Z128.2– bit 0 to 7).
107.18 Slip temperature (warm)
(this is relevant at asynchronous motors with an encoder if the temper ature monito ring is
activated,
Temperature specification for which the motor slip frequency when warm (Z107.16–) applies, see also Z19.30–.
The slip temperature when warm must be higher than the slip temperature when cold
(
Z107.17–).
At asynchronous motors without an electronic type plate the parameter must be set manually.
Z128.2– bit 0 to 7).
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3.4
Configuration
107.19 Pole pairs
Number of pole pairs in the motor. If the motor has no electronic identification plate, the
number of pole pairs must be entered.
107.20 Ke factor
Display motor-voltage constant at the "cold" motor in V/1000 rpm. Motor EMF referring to
1000
rpm.
At the ASM the Ke factor refers to the "warm" motor (operating temperature). However,
the difference between the "cold" and the "warm" motor usually is ne gligible. At the SM
the Ke factor refers to the "cold" motor whereas the difference between "cold" and the
"warm" motor is about 5% in average.
If the motor has no electronic identification plat e, the Ke factor must be enter ed. If no value for the Ke factor is available, the following procedure is possible:
m Define the speed set value according to the nominal speed of the motor Z107.7–
m Enable the drive and operate it no-load
m By altering the Ke factor, bring the Iq controller output to approx. 0%
(When changing the Ke factor 107.20 in the enabled state the used value in the controller is smoothed to reduce the interferences in the controller. The temporal change
of the smoothing Ke factor can be monitored in the parameter
V/N
nom
Refer to EMF pre-control (ZFig. 132– on page 504) of the exact correlation between the
speed actual value and the EMF pre-control.
Z19.11– (Ke-factor in
.)
NOTE!
At the encoderless operation of the asynchro nous motors the parameter 107.20 is not
important and has an informative meaning, only.
107.21 Max. current
Peak current of the motor. The value displayed is read from motors with an electronic
identification plate and is used for the injection procedure.
107.22 Peak torque
Peak torque of the motor. The value displayed is read from motors with an electronic identification plate and is for information only.
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