Control Techniques M'Ax Advanced User's Manual

Download

Advanced User Guide

M’Ax

Compact, high-performance, single-axis servo

amplifier for brushless AC servo motors

Part Number: 0453-0017-04

Issue Number: 4

www.controltechniques.com

General information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the drive with the motor.

The contents of this guide are believed to be correct at the time of p rinting. In the interes ts of a commitment to a policyofcontinuous development and improvement, the manufacturer reserves the right to change the spec ification of the product or its performance, or the contents of the Advanced User Guide, without notice.

All rights reserved. No p arts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopy ing, recording or by any information-storage or retrieval system, without permission in writing from the publisher.

Important...

Servo-amplifier software version

This product is supplied with t he latest version of user-interface and machine-control software. If this product is to be used with other Control Techniques servo amplifiersin an existing system, there m ay be some differences between their software and the software in this product. These differences may cause a difference in f unctions. This may also apply to servo amplifiers returned from a Control Techniques Service Centre.

If there is any doubt, contact a Control Techniques Drive Centre.

Contents

1 Advanced parameters: General information .............................................1

2 Menu 0 Parameters ......................................................................................2

3 Menu 1 Parameters - Speed reference selection ......................................5

4 Menu 2 Parameters - Ramp Selection ......................................................12

5 Menu 3 Parameters - Speed Loop PID gains ...........................................19

6 Menu 4 Parameters - Torque Control .......................................................28

7 Menu 5 Parameters - Motor Control .........................................................34

8 Menu 6 Parameters - Sequencer Functions, AC Supply Loss Modes ...38 9 Menu 7 Parameters - Analog Input Output Settings, Temperature

Monitoring ...................................................................................................42

10 Menu 8 Parameters - Digital Input / Output Settings and Indications ...49 11 Menu 10 Parameters - Status and Diagnostic Information, Trip log,

Braking control ...........................................................................................56

12 Menu 11 Parameters - Scale f actor, Initial displayed parameter, Serial

communications, Drive information .........................................................63

13 Menu 13 Parameters - Pulse Reference Selection & Scaling .................69

M’Ax Advanced User Guide Issue Number: 4

1 Advanced parameters: General info rmati on

NOTE

In some cases, the function or range of a parameter are affectedby the settingof anotherparameter; the information in these lists relate to the defaultcondition of such parameters.

Key

Read-write parameter

{...} Related Menu 0 parameter

[...] Value of a parameter

range of values

default values

~ indicates range of values

Unipolar variable parameter

Uni

Positivevalues only

Bipolarvariable parameter

Positive and negative values

Text variable parameter

Txt

Alphanumericcode is displayed

Bit parameter

Bit

Two digital states only

Parameters must be copied to the EEPROM (saved) or

copied to the flash memory (stored) for a new value to take effect

A new value is normally copied to the EEPROM (saved) or copied to the flash memory (stored) at power-down (see

parameter 0.50 Parameter transfer function selector in Chapter8 Menu 0 Parameters)

Protected

The parameter cannot be controlled by an external signal (cannot be a destination parameter)

Maximumspeedof the motor

MAX

(defined by the motor via the SLM)

[SLM] Value definedby the motor via the SLM

Read-write (RW) parameter whose default value is defined by the motor via the SLM

Read-only parameter

Read-only parameter whose value is defined by themotorviatheSLM

Parameter Information example:

Parameter number

1.17 Keypad reference

Parameter description / title

±Pr1.06

Range Default value Units Read only /

0rpmROBiSP0.34

Read write

Unipolar / Bipolar / Bit / Txt

R / S / P Equivalent Menu

0 parameter (where appropriate)

1 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

2 Menu 0 Parameters

Parameter

0.00 Parameter XX.00 0 ~ 3001

0.01 Hardware enableindicator 0~1

0.02 Reference selectedindicator 1~5

0.03 Valueof selectedreference +

0.04 Final speed reference +

0.05 Speed feedback +

0.06 Reference offset +

0.07 Motor current magnitude 0 ~ Max. overload current of drive

0.08 Maximum reference clamp 0 ~ 7500

0.09 Stiffness angle

0.10 Load inertia

0.11 Inertia units selected

0.12 Speed-loop PID gains selector 0~3 1 RW Uni

0.13 Speed-loop proportional gain Kp1 0.000 ~ 0.3000 [SLM] RW Uni

0.14 Speed-loop integral gain Ki1 0.000 ~ 20.000 [SLM] RW Uni

0.15 Speed-loop derivativegain Kd1 0.0000~ 0.1000 [SLM] RW Uni

0.16 Current-demand filter 1 cut-offfrequency 0 ~ 1200 500Hz RW Uni

0.17 SLM on-line enable 0~1 0 RW Bit

0.18 Symmetrical current limit 0 ~ 300

0.19 Motor-rated current 0 ~ Full load current [SLM] RO Uni

0.20 Drive rated current (FLC) 00.00~ 99.99

0.22 Torque mode selector 0~ 2 0 RW Bit P

0.23 Torque reference +

0.24 Ramp enable 0~1 0 RW Bit

0.25 Acceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni

0.26 Deceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni

0.27 Fast ramp select 0~1 0 RW Bit

0.28 Feedback-encoder revolution counter 0 ~ 65535

0.29 Feedback-encoder position 0 ~ 65535

0.30 Reference selector 0~5 1 RW Uni

0.31 Jog selected indicator 0~1

0.32 Jog reference 0 ~ 500 50rpm RW Uni

0.33 Preset reference +

0.34 Keypad reference +

0.35 User security code 0 ~ 255 149 RW Uni S P

0.36 Serial comms. baud rate

0.37 Serial comms. address 0.0 ~ 24.7 1.1 RW Uni P

0.38 Initial parameter displayedselector 00.00 ~ 21.51 0.05 RW Uni P

0.39

0.40

0.41 Drive overload accumulator 0.0 ~ 100.0

0.42

0.43 DC-bus voltage 0 ~ 1000 RO Uni P

0.44 Last trip

0.45 SLM communicationsintegrity 0.0 ~ 100.0

0.46 Programmableparameter 00.00 ~ 21.51

0.47 SLM software version 00.00~ 99.99

0.48 Drive software version 00.00 ~ 99.99

0.49 Security statusindicator 000 ~ 111

0.50 Parameter transferselector 0~4 _AN =0,_SL =4 RW Txt

Motor [I Motor [I

Internal braking-resistor overload accumulator

t] overload trip indicator

t] accumulator

0~1(0=kgm

300,600, 1200, 2400,4800, 9600,

Range(

)Default(

value of [1.06] RO Bi P value of [1.06] RO Bi P value of [1.06] RO Bi P value of [1.06]0RWUni

0.0 ~ 30.0

0.01~600.00kgcm

0.00001~0.06kgm

value of [1.06]1rpmRWBi value of [1.06] RO Bi

0.0 ~ 100.0

,1=kgcm2)

200% continuous

motor current

200.00 0~Drive current limit RW Bi

19200

0~1

)

RW Uni R S P

RW Uni

6.0 RW Uni J

[SLM] RO Bit

9600BAUD RW Txt S P

RW Uni

Type

RO Bit P RO Uni P

RO Uni P

RO Uni RO Uni

RO Bit P

RO Bit P RO Uni

RO Uni P RO Uni P

RO Txt S P RO Uni

RO Uni P RO Uni P RO Uni

[ ] = value of a parameter [SLM]= value definedby the motor via SLM

M’AxAdvancedUser Guide 2 Issue Number: 4 www.controltechniques.com

0.50 Parameter tra nsfer selector

Default settings

Version Setting

Use parameter 0.50 to initiate the transfer of parameter values between the RAM, EEPROM (when an option module is fitted), and the flash memoryin the drive (see Appendix H Storage and Transfer of Parameter Values in the M’Ax User Guide). After changing the setting of parameter 0.50, perform either of the following,as appropriate:

• While the display is in Edit mode, press at the same time:

•Set10.38at 100 via serial communications.

Terminology

Save Copy main-parametervalues in the RAM to the EEPROM (whenan optionmoduleis fitted) Retrieve Copy all parametervalues from the EEPROM to the RAM (whenan optionmodule is fitted) Store Copyparameter values fromthe RAM to the flash memoryin the drive Restore Copy parameter values from the flash memory to the RAM Main parameters All parameters other than those that are normally saved or stored at power-down S-parameters Parameters that are normally saved at power-down(version _AN only)

Notes

At the time of selecting no, boot1 or boot2, all parameter values (including the S-parameters) are copied to the flash memory (store). All parameters can be stored at any time by setting11.67 Flash update enable at 1. The drive must not be powered-down within 15 seconds. When S-parameters are not copied, the related values at the destination remain unchanged. Main parameters can be saved irrespective of the setting of parameter 0.50 (i.e. by setting parameter XX.00 at 1000 and executing the operation).

See below

AN no

SL boot2

and

RW Txt

Setting Function Usage

At power-down: S-parameter values

no 0

Prog 2

boot1 3

boot2 4

are copied from the RAM to the EEPROM (save). At power up: All parametervalues are copied from the EEPROM to the RAM (retrieve).

The main-parameter values in the flash memoryare immediately copiedto the RAM (restore).

The main-parameter values in theRAM are immediately copied to the flash memory (store).

At power-up: The main-parameter values in the flashmemory are copied to the RAM (restore).The valuesof the S-parameters are ignored.

At power-up: All parameter values (including the S-parameters) in the flashmemoryare copiedto the RAM (restore).

Used only when an option module is fitted (normally, in version _AN)

Normally used in version _SL, but can also be used in version _AN

3 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

0.50

Parameter

Prog

set at (2)

Parameter preset at (save)

XX.00

1000

Flashmemory RAM EEPROM

0.50

Parameter

rEAd

set at (1)

Parameter preset at (0)

0.50

Parameter set at

no , boot1 or boot2

0.50

Parameter

boot1

preset at (3)

Parameter

0.50

preset at (4)

boot2

0.50

(0) (3) (4)

Parameter

preset at (0)

0.50

boot2

Control and monitoring

ontrol circuits

Parameter preset at (0)

0.50

Parameter values are immediately copied in the indicated direction

Parameter values are copied in the indicated direction at the next power-up

Parameter values are copied in the indicated direction at power-down

All parameter values are copied, including the S-parameter values

Main parameter values are copied,

(excluding the S-parameter values)

Only S-parameter values are copied

M’AxAdvancedUser Guide 4 Issue Number: 4 www.controltechniques.com

3 Menu 1 P arameters - Speed reference selecti on

Parameter

1.01 {0.03} Value of selected reference +

1.03 Pre-ramp reference +

1.04 {0.06} Reference offset +

1.05 {0.32} Jog reference 0 ~ 500 rpm 50 RW Uni

1.06 {0.08} Maximum referenceclamp

1.11 Reference enabledindicator 0~1

1.12 Reverse selected indicator 0~1

1.13 {0.31} Jog selected indicator 0~1

1.14 {0.30} Referenceselector 0 ~ 5 1 RW Uni P

1.15 Presetreference selector 0 ~ 4 0 RW Uni P

1.17 {0.34} Keypad reference +

1.21 {0.33} Preset reference 1 +

1.22 Presetreference 2 +

1.23 Presetreference 3 +

1.24 Presetreference 4 +

1.36 Analogreference +

1.42 Presetreferences selected indicator 0~1

1.43 Keypadr eference selected indicator 0~1

1.44 Pulse reference selected indicator 0~1

1.45 Preset reference select bit-0 indicator 0~1

1.46 Preset reference select bit-1 indicator 0~1

1.49 {0.02} Referenceselected indicator 1~5

1.50 Preset reference selected indicator 1~4

Range(

)Default(

[1.06] rpm RO Bi P [1.06] rpm RO Bi P [1.06] rpm 0 RW Bi

0~n

rpm

MAX

[1.06] rpm RO Bi S P [1.06] rpm 1 RW Bi [1.06] rpm 10 RW Bi [1.06]rpm 100 RW Bi [1.06] rpm 1000 RW Bi [1.06] rpm RO Bi

)

[SLM] RW Uni

Type

RO Bit P RO Bit P RO Bit P

RO Bit RO Bit RO Bit RO Bit RO Bit RO Uni P RO Uni P

5 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

M’AxAdvancedUser Guide 6 Issue Number: 4 www.controltechniques.com

Figure3-1 Menu 1 software diagram

Preset-reference

selectbit-0 indicator

Preset-reference

selectbit-1 indicator

Preset reference 1

Menu 7

1.45

1.46

1.21

Analog reference

1.36

Preset

reference

1234

0101 0011

1.42

.441.431.42

0 0 0 0 1 1 1 1

reset-references

selected indicator

Keypad-reference selected indicator

1.43

0 0 1 1 0 0 1 1

ulse-reference

selected indicator

.44

0 1 0 1 0 1 0 1

eference

selector

.14

1.49

1 3 4 4 5 5 5 5

1.49

Reference selected

Analog Preset Keypad Keypad Pulse Pulse Pulse Pulse

Menu 7

Reference selected

indicator

Preset reference 2

Preset reference 3

Preset reference 4

1.22

1.23

1.24

Preset-reference

selected indicator

Preset reference

selector

1.50

1.15

.17

Keypad reference

13.01

Pulse reference

.04

Reference offset

1.01

Value of selected

reference

7 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

DIGITAL I/O

Menu 8

Sequencer

(Menu 6)

1.05

Jog reference

1.13

Jog selected

indicator

x(-1)

Reverse

elected

indicator

.06

Maximum referenceclamp

eedback

encoder

osition

.12

.29

3.13

.11

eference

enabled

ndicator

imited

13.12

rientation position reference

1.03

13.11

13.14

Orientation

13.15

Pre-ramp reference

Menu 2

Orientation enable

Orientation acceptance window

Orientation complete

M’AxAdvancedUser Guide 8 Issue Number: 4 www.controltechniques.com

1.01 Value of selected reference

Indication of the reference being used by the drive is given for systems set-up and fault finding. The value indicated by this parameter is the sum of input reference and reference offset [1.04].

NOTE

When the drive is operating from a pulse reference input and the speed is below100rpm, use the speed feedback parameter [3.02] for control purposes as parameter 1.01 will display some instability due to the sampling rate at lower speeds.

1.03 Pre-ramp reference

Indication of the final reference being used by the drive is given for systems set-up and fault finding. The value indicated by this parameter is afterpassing through sequencer control.(Refer to Menu 6) The range of this parameter is restricted by the value set in parameter 1.06 Maximum referenceclamp.

1.04 Reference offset

This reference is added to the selected reference. It can be used as a trim to finely adjust the main reference being selected.

Adjustment resolution = 1rpm

1.05 Jog reference

Speed reference used for jogging. The speed is restricted by the value set in parameter 1.06 Maximum referenceclamp.

Adjustment resolution = 1rpm

±Pr1.06

0~500

0rpmRWBi 0.06

50 rpm RW Uni 0.32

rpm RO Bi P 0.03

rpm RO Bi P

1.06 Maximumreference clamp

Defines drive absolute maximum speed reference. The range of this parameter is restricted by the mechanical speed limit of the motor (Set by motor manufacturer).

1.11 Reference enabled indicator

1.12 Reference selected indicator

These indicators are controlled by the drive sequencerdefined in Menu6. They indicatetheappropriatereference as commandedby the drive logic.

0 = Reference disabled 1 = Reference enabled

1.13 Jog selectedindicator

This indicator is controlled by the drive sequencer defined in Menu 6. Thisindicates the appropriate reference as commanded by thedrive logic.

0 = Jog not selected 1=Jogselected

1.14 Reference selector

0~n

0~1

max

SLM rpm RW Uni 0.08

RO Bit P

RO Bit P 0.31

Parameter [1.14] selects the speed reference as follows:-

0 = Reference selection by terminal input 1 = Analogreference. 2 = Analogreference. 3 = Preset reference selected. 4 = Keypad reference selected. 5=Pulsereferenceselected

0~5

1 RW Uni P 0.30

9 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

0: Reference selection by terminal input

The referenceselected dependson the state of bit parameter[1.42]to[1.44]. These bits are for control by digital inputs such that reference can be selected by external control. If any of the bits are set, the appropriate reference is selected (indicated by parameter [1.49]).Ifmore than one bit is set the highest numbered will have priority.

1.42 Presetreference

selected indicator

000Analog1 100Preset3 x 1 0 Keypad 4 xx1Pulse5

X = 0 or 1 (don't care condition)

1.43 Keypadreference

selected indicator

1.44 Pulsereference

selected indicator

Reference

selected

1.49 Indication

parameter

1 or 2: Analog Reference

The speed reference is selected from the standard (SL)orhighprecision(AN) analog voltageinput.

3: Preset reference selected

The reference is one of the four preset speeds, refer to parameters [1.15]and[1.21]to[1.24] for further details.

4: Keypad reference selected

The drive is controlled via keypad (Parameter [1.17]or[0.34])

5: Pulse reference selected

F&D/quadrature reference selected.

1.15 Presetreference selector

Parameter [1.15]selects a presetspeedreference as follows:

0 = Presetselectby terminal input 1 = Preset 1 selected [1.21] 2 = Preset 2 selected [1.22] 3 = Preset 3 selected [1.23] 4 = Preset 4 selected [1.24]

0~4

0 RW Uni P

0: Preset selection by terminal input

The preset selected depends on the state of bit parameter [1.45]to[1.46]. These bits are for control by digital inputs such that presets can be selectedby external control.The preset selected depends on the binary code generated by these bits as follows:

Parameter [1.45] Parameter [1.46] Preset selected [1.50]

00 1 10 2 01 3 11 4

1.17 Keypad reference

Version _AN -[0.34]or[1.17] indicates the valueof the speed referencesetby use of the keypad. Version _SL -[0.34]or[1.17] is not used.

If this parameter is selected as the frequency reference (i.e. [1.49]=4),itisadjustedbythe'Up'and'Down'keysonlywhenthedisplayisin the StatusMode. When the drive is notenabled view the keypadreferenceby looking at parameter [0.34]or[1.17] to ensure the correctvalue is set before enabling the drive.

The value is saved on powerdown such that the keypad frequencyreference does not have to be set up againon power up.

1.21 Presetreference 1

1.22 Presetreference 2

1.23 Presetreference 3

±Pr1.06

1rpmRWBi 0.33

10 rpm RW Bi

rpm RO Bi S P 0.34

±Pr1.06

100 rpm RW Bi

M’Ax AdvancedUser Guide 10 Issue Number: 4 www.controltechniques.com

1.24 Presetreference 4

Parameter 1.21 defines the speed reference for preset speed 1. Parameter 1.22 defines the speed reference for preset speed 2. Parameter 1.23 defines the speed reference for preset speed 3. Parameter 1.24 defines the speed reference for preset speed 4.

1.36 Analog refere nc e

Although most parameters can be controlled from analog inputs this parameter is a special case, as, if selected as a speed reference, the scan rate will be 250µsec. The range of this parameter is restricted by parameter [1.06].

1.42 Preset references selected indicator

1.43 Keypad reference selected indicator

1.44 Pulse reference selected indicator

These bitsare provided for control by logic inputs (e.g. digital inputs) for external referenceselection.(See parameter 1.14.)

0 = Referencenot selected 1 = Reference selected

1.45 Presetreference selectbit 0 indicator

1.46 Presetreference selectbit 1 indicator

±Pr1.06

0~1

1000 rpm RW Bi

rpm RO Bi

RO Bit

These bits are provided for control by logic input (e.g. digital inputs) for external preset reference selection. (See parameter 1.15.)

Preset 1.45 1.46

100 210 301 411

1.49 Reference selected indicator

Indicates the reference currently being selected by parameter 1.14. See parameter 1.14 Reference selectordescription for further details

1 = Analogreference. 2 = Analogreference. 3 = Preset reference selected. 4 = Keypad reference selected. 5=Pulsereferenceselected.

1.50 Presetreference selected indicator

Indicates the preset speed reference currently being selected by parameter 1.15. See parameter 1.15 Preset reference selector description for further details.

0~1

1~5

0~5

RO Bit

RO Bit P 0.02

RO Uni P

11 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

4 Menu 2 P arameters - Ramp Selection

Parameter

2.01 Post-ramp reference ±[1.06]

2.02 {0.24} Ramp enable 0~1 0 RW Bit

2.03 Ramp hold enable 0 ~ 1 0 RW Bit

2.04 {0.27} Fast ramp select 0~1 0 RW Bit

2.05 Limit switch ramp enable 0 ~ 1 0 RW Bit

2.06 S-ramp enable 0 ~ 1 0 RW Bit

2.07 S-ramp acceleration limit

2.10 Acceleration rate selector 0~5 0 RW Uni

2.11 {0.25} Acceleration rate 1 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.12 Acceleration rate 2 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.13 Acceleration rate 3 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.14 Acceleration rate 4 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.19 Jog accelerationrate 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.20 Deceleration rate selector 0~5 0 RW Uni

2.21 {0.26} Deceleration rate 1 0~ 32.000 s/1000rpm 0.200 RW Uni

2.22 Deceleration rate 2 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.23 Deceleration rate 3 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.24 Deceleration rate 4 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.25 Forward limit switch deceleration rate 0~ 32.000 s/1000rpm 0.200 RW Uni

2.26 Reverse limit switch deceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.29 Jog decelerationrate 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.32 Acceleration-rate select bit-0 indicator 0~1 0 RO Bit

2.33 Acceleration-rate select bit-1 indicator 0~1 0 RO Bit

2.35 Deceleration-rate select bit-0 indicator 0~1 0 RO Bit

2.36 Deceleration-rate select bit-1 indicator 0~1 0 RO Bit

2.46 Stop-control proportional-gain 1 ~ 200 1 RW Uni

2.47 Stop-control integral-gain 1 ~ 200 10 RW Uni

2.48 Braking-control proportional gain 1 ~ 200 50 RW Uni

2.49 Braking-control integral gain 1 ~ 200 10 RW Uni

Range(

0 ~ 300.000 s

) Default(ð)

/1000rpm

0.031 RW Uni

Type

RO Bi P

M’Ax AdvancedUser Guide 12 Issue Number: 4 www.controltechniques.com

Figure4-1 Menu 2 software diagram

Acceleration-rate

select bit-0 indicator

Acceleration-rate

select bit-1 indicator

Acceleration rate1

Acceleration rate2

Acceleration rate3

Acceleration rate4

Deceleration-rate

select bit-0 indicator

Deceleration-rate

select bit-1 indicator

Deceleration rate 1

Deceleration rate 2

2.32

2.33

2.11

2.12

2.13

2.14

2.35

2.36

2.21

2.22

Acceleration

rate

1234

0101 0011

Deceleration

rate

1234

0101 0011

Acceleration rate selector

2.10

og selected

ndicator

2.19

Jog acceleration rate

eceleration

rate selector

2.20

og selected

ndicator

Preset-reference selected indicator

1.50

1.13

reset-reference

selected indicator

.50

.13

igital input 3

Menu 8

equencer

(Menu 6)

DIGITAL I/O

Deceleration rate 3

Deceleration rate 4

Forward limit switch deceleration rate

Reverse limitswitch deceleration rate

2.23

2.24

2.25

2.26

.35

.36

Forward limitswitch

Reverse limitswitch

.29

Jog

eceleration

rate

2.05

Limit switch ramp enable

13 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

6.35

6.36

Forward limit switch

Reverse limit switch

Sequencer (Menu 6)

2.03

Ramp hold

enable

6.48

6.49

5.05

10.12

10.39

DC-bus level

Controlledstop enable

indicator

DC-bus voltage

Internal braking-resistor overload alarm

Internal braking-resistor overload accumulator

amp control

.07

-ramp

cceleration

limit

Ramp controller

ast ramp

2.04

elect

Limitswitch

2.05

ramp enable

top-control

2.46

proportional-gain

Stop-control

2.47

integral-gain

raking-control

.48

proportional gain

raking-control

.49

integral gain

-ramp .06

S-ramp

enable

Menu 1

Pre-rampspeed

1.03

reference

amp

nable

Sequencer (Menu 6)

.02

amp enable

over-ride

2.01

Menu 3

Post-ramp reference

M’Ax AdvancedUser Guide 14 Issue Number: 4 www.controltechniques.com

2.01 Post-ramp reference

This is the speed reference after the ramps. The range of this parameter is restricted by the value set in parameter 1.06 Maximum referenceclamp.

2.02 Ramp enable

Set to enable ramps.

0 = Ramp disable 1 = Ramp enable

2.03 Ramp ho ld enable

If thisbitis set the rampwillbe held.IfS-rampis enabled the acceleration willramptowards zero causingthe ramp output to curve towards a constant speed.

0 = Ramp hold disabled 1 = Ramp hold enabled

2.04 Fast ramp select

This parameter does not affect the acceleration ramp, and the ramp output always rises at the programmed accelerationrate subjectto the current limits.

±Pr1.06

0~1

0 RW Bit 0.24

0 RW Bit

0 RW Bit 0.27

rpm RO Bi P

0 = Fast ramp

When fast ramps are selected the output of the ramp will fall at the programmed deceleration rate (subject to the current limits programmed in the drive).

1 = Prevention of Braking resistor overload trip

During deceleration, the braking resistoroverload alarm being set will cause a controller to operate,the output of which changesthe ramp rate.As the controller regulatesthe DC link voltage,themotor decelerationincreases and when the motordeceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. Controller gainscan be adjustedusingparameters 2.48 & 2.49.

Controller operational

DC Link Voltage

Motor Speed

Programmed deceleration rate

2.05 Limit switch ramp enable

Setting this parameter enablesthe limit switchramps.

2.06 S-ramp enable

Setting this parameter enables the S-ramp function.S-ramp is disabled during decelerationusingstandard ramp. When the motor is acceleratedagainafter deceleratingin standard ramp the acceleration ramp used by the S-ramp function is resetto zero.

0 = S-ramp disable 1 = S-ramp enabled

0~1

0 RW Bit

15 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

Programmed ramp rate

S-ramp acceleration ramp

2.07 S-ramp acceleration limit

Demand Speed Acceleration Actual Speed

This parameter defines the maximum rate of change of acceleration/deceleration. The default values have been chosen such that for the default ramps and maximum speed, the curved parts of the S will be 25% of the original ramp if S-ramp is enabled.

Sincetheramprateisdefinedinsecond of the S can be determined from:

Enabling S-ramp increases the total ramp time by the period T sincean additional T/2 isaddedtoeachendoftherampinproducingtheS.

The acceleration rate is selected as follows.

When parameter 2.10 is set to 0 the acceleration ramp rate selected depends on the state of bit parameters 2.32 to 2.33. These bits are for controlby digital inputs such that ramp rates can be selected by external control.The ramp rate selecteddepends on the binarycode generated by these bits as follows:

Whenparameter 2.10 is set to 5 the appropriate acceleration rate is automatically selecteddependingon thevalueof parameter1.50,andso an acceleration rate can be programmed to operate with each preset reference. Since the new ramp rate is selected with the new reference, the acceleration applies towards the selected preset if the motor needs to accelerate to reach the preset.

0.000 ~ 32.000

T = S-ramp rate of change / Ramp rate

2.10 Acceleration rate selector

0~5

0 Ramp rate selection by terminal input 1 ~ 4 Ramp rate definedby paramet er number,i.e.1 = 2.11,2=2.12 5 Ramp rate selection by parameter 1.50

2.33 2.32

002.11

012.12

102.13

112.14

defined by

Ramp

0.031

/1000rpm and the S-ramp parameter is defined in second2/1000rpm, the time T for the 'curved' part

0 RW Uni

/1000rpm

RW Uni

2.11 Acce leration rate 1

Refer to parameter 2.10.

0.000 ~ 32.000

2.12 Acceleration rate 2

2.13 Acceleration rate 3

2.14 Acceleration rate 4

0.000 ~ 32.000

0.200 s/1000rpm RW Uni 0.25

0.200 s/1000rpm RW Uni

M’Ax AdvancedUser Guide 16 Issue Number: 4 www.controltechniques.com

2.19 Jog acceleration rate

0.000 ~ 32.000

The jog acceleration rate is only usedwhen the drive starts from the inhibit or ready states, or has reached the jog reference from another stateand the speed is changing because the jog reference is changed.Thisprevents the fast rampsnormally used with jog from beingused when changing betweenrunning and jogging.

2.20 Deceleration rate selector

0.200 s/1000rpm RW Uni

The deceleration rate is selected as follows.

0 Ramp rate selection by terminal input 1~ 4 Ramp rate definedby parameter number, i.e. 1 = 2.21,2=2.22. 5 Ramp rate selection by parameter1.50

When parameter 2.10 is set to 0 the deceler ation ramp rate selected depends on the state of bit parameters 2.35 to 2.37. These bits are for control by digital inputssuch that ramp rates can be selected by external control. The ramp rate selected depends on the binary code

generated by these bits as follows:

2.36 2.35 Ramp defined by

00 2.21 01 2.22 10 2.23 11 2.24

When parameter 2.20 is set to 5 the appropriate decelerationrate is automaticallyselected dependingonthevalueof parameter1.50,andso a deceleration rate can be programmed to operate with each preset reference. Since the new ramp rate is selected with the new referen ce, the deceleration applies towards the selected preset if the motor needs to decelerate to reach the preset.

2.21 Deceleration rate 1

2.22 Deceleration rate 2

2.23 Deceleration rate 3

2.24 Deceleration rate 4

0~5

0.000 ~ 32.000

0 RW Uni

0.200 s/1000rpm RW Uni 0.26

0.000 ~ 32.000

Refer to parameter 2.20.

2.25 Forward limit switch deceleration rate

2.26 Reverse limit switch deceleration rate

0.000 ~ 32.000

Refer to parameters 6.35 and 6.36 respectively.

2.29 Jog deceleration rate

0.000 ~ 32.000

The jog deceleration rate is only used when the drive is changing speed becausethe jog reference has changed or to stop from the jog reference. It is not used to go from the jog to the run state.This prevents the fast ramps normallyusedwith jog from being used when changing between runningand jogging.

0.200 s/1000rpm RW Uni

17 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

2.32 Acceleration-rate select bit-0 indicator

2.33 Acceleration-rate select bit-1 indicator

2.35 Deceleration-rate select bit-0 indicator

2.36 Deceleration-rate select bit-1 indicator

These bits are provided for control by logic input terminals for external ramp selection (see parameter 2.10 and 2.20).

2.46 Stop control proportional gain

2.47 Stop control integral gain

Used as a ramp rate controller for controlled stop. Duringmains loss,if the DC bus voltagecollapses beyond the level set in parameter6.48 a DC link controller operates, the output of which changes the ramp rate.Thecontroller can be disabledby setting the detectionlevelin parameter6.48 to 0. As the controller regulates the link

voltage, the motor deceleration increases to keep the DC bus at a maximum level to achieve the fastest possiblecontrolled stop.When the motorisstopped thecontroller ceases to operate.Controllergains can be adjustedusing parameters 2.46and 2.47.Ifthemainsisre-applied duringthestop the controller still operates to zerospeed,the mainslossbit6.48 remains set and can only be reset by giving a drive reset.

2.48 Braking-control proportional gain

2.49 Braking-control integralgain

Used as a ramp rate controller for preventing braking resistor overload trip. See parameter 2.04 for more information.

0~1

0~200

0 RO Bit

1 RW Uni

10 RW Uni

50 RW Uni

10 RW Uni

M’Ax AdvancedUser Guide 18 Issue Number: 4 www.controltechniques. com

5 Menu 3 P arameters - Speed Loop PID gains

Parameter

3.01 {0.04} Finalspeedreference ±[1.06] rpm

3.02 {0.05} Speed feedback ±[1.06] rpm

3.05 Zero-speed threshold 0 ~ 200 rpm 5 RW Uni

3.06 At-speed lower limit 0 ~ [1.06] rpm 5 RW Uni

3.07 At-speed upper limit 0 ~ [1.06] rpm 5 RW Uni

3.08 Over-speed threshold

3.09 Absolute at-speed detect mode select 0 ~ 1 0 RW Bit

3.10 {0.13} Speed-loopproportional gain Kp1 0.0000 ~ 0.3000 [SLM] RW Uni

3.11 {0.14} Speed-loop integral gain Ki1 0.000 ~ 30.000 [SLM] RW Uni

3.12 {0.15} Speed-loop derivative gain Kd1 0.0000 ~ 0.1000 [SLM] RW Uni

3.13 Speed-loop proportional gain Kp2 0.0000 ~ 0.3000 [SLM] RW Uni

3.14 Speed-loop integral gain Ki2 0.000 ~ 30.000 [SLM] RW Uni

3.15 Speed-loopdifferential-feedback gainKd2 0.0000 ~ 0.1000 [SLM] RW Uni

3.16 {0.12} Speed-loop PID gains selector 0 ~ 3 1 RW Uni

3.18 Total inertia

3.19 {0.09} Stiffness angle 0.0 ~ 30.0 ° 6.0 RW Uni

3.20 {0.10} Load inertia

3.22 Hard speed reference ±500.0 rpm 0.0 RW Bi

3.23 Hard speed reference selector 0~1 0 RW Bit

3.25 Feedback-encoder phase offset 0 ~ 65535 REV/65536 [SLM] RO Uni

3.28 {0.28} Feedback-encoder revolution counter 0 ~ 65535 REV

3.29 {0.29} Feedback-encoder position 0~ 65535 REV/65536

3.32 Z marker pulse received indicator 0~1

3.51 High resolution Marker select 0 ~ 1

3.52 Z marker pulse offset 0 ~ 65535 REV/65536

3.53 Shaft-key offset 0 ~ 65535REV/65536 [SLM] RO Uni

3.54 Zero offset ±180 ° 0RWUni

*3.55 Number of encoder lines 0, 100 ~ 8192 and 16384 4096 RW Uni R

3.56 F/D mode select 0~1 0 RW Bit

3.57 Speed-loop PID buffer 1 select 0~1 0 RW Bit

3.58 Speed-loop PID buffer 2 select 0~1 0 RW Bit

3.59 Speed-loop PID buffer 3 select 0~1 0 RW Bit

3.60 Speed-loop proportional gain Kp3 0.0000 ~ 0.3000 [SLM] RW Uni

3.61 Speed-loop integral gain Ki3 0.000 ~ 30.000 [SLM] RW Uni

3.62 Speed-loop derivative gain Kd3 0.0000 ~ 0.1000 [SLM] RW Uni

3.63 Speed-loop PID buffer in use indicator 0~3

3.64 Speed feedback (unfiltered) ±2048

0~n

0.1 ~ 6000.0 kgcm

0.00001 ~ 0.6 kgm

0.1 ~ 6000.0 kgcm

0.00001 ~ 0.6 kgm

Range(

MAX

)Default(

rpm

)

0RWUni

Type

RO Bi P RO Bi P

RO Uni

RW Uni

RO Uni RO Uni RO Bit RW B it RO Uni

RO Uni RO Bi

Notes

The measurement units for parameters 3.18 and 3.20 depend on the setting of 5.34 and 5.54.(5.34 = Inertia units and 5.54 = Inertia range.) Parameter 3.64: sample time = 250µs Parameter 3.23 canbeusedforsettingafineanalogoffsetortrim;resolution=0.1rpm See Appendix D Optimisingthe Dynamic Performance in the M’Ax User Guide.

Motor inertia

(defined by the motor via the SLM,Pr5.33)

Load inertia

Total inertia = JM+J

*Parameter 3.55: When this parameteris set to 0, the number of encoder lines= 16384. A power down and up again is required for a new value to take effect.

19 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

Figure 5-1 Menu 3 software diagram

1267131

Hard speed reference

3.22

Hard speed

referenceselector

3.23

Sequencer (Menu 6)

Menu 2

SLM

Demand

LM PID

buffer 1

LM PID

buffer 2

LM PID

buffer 3

Menu 13

Post-ramp reference

Pulse reference

2.01

13.01

Encoder simulation

3.55

Number of encoder lines

3.56

F/D mode

select

onitoring

Speed

3.02

eedback

Feedbackencoder

3.28

evolution

counter

Feedback-

3.29

encoder position

Alignment

Shaft-key offset

3.53

3.01

Final speed reference

A A\

B B\

Z Z\

Feedback

peed detection and limits

Zero-speed

.05

threshold

t-speed

.06

lowerlimit

t-speed upper

.07

limit

ver-speed

.08

threshold

bsolute

.09

t-speed detect

mode select

Speed detection

indicators

At zero speed

10.03

indicator

Below set

10.05

speed

indicator

At speed

10.06

indicator

Above set

10.07

speed

indicator

technology

)

SIM ENC

Z marker pulse

3.32

eceived indicator

Marker pulse

ero offset

3.54

M’Ax AdvancedUser Guide 20 Issue Number: 4 www.controltechniques. com

3.01 Final speed reference

Finalspeed demandatt he input to thespeedregulatorformed by the sumofthe rampoutput and the hard speed reference (ifthehardspeed reference is enabled). If the drive is disabled this parameter will show 0.0.

3.02 Speed feedback

This is the speed feedback taken from the SLM encoder. This parameter shows the speed feedback used by the speed controller. This includes quantisation ripplegivenby the counts per revolution (65535)and the samplinginterval of 250µs.

The value seen on the drive display is filtered so that it can be read by the user, however, the actual parameter held within the drive is not filtered. If this parameter is routed to an analog output the ripple will be present. It should be noted that the quantisation of the speed feedback does not affect the resolution or accuracy of the speed controller. Use parameter 3.64 for analogoutput purposesfor fast responses.

3.05 Zero-speed threshold

If the speed feedback (parameter 3.02) is at or below the leveldefined by t his parameterin eitherdirectionthe Zero speed flag (parameter

10.03)is1,otherwisetheflagis0.

3.06 At-speed lower limit

Defines the lower threshold for at speed detection. Refer to parameter3.09.

3.07 At-speed upper limit

±Pr1.06

0~200

±Pr1.06

5rpmRWUni

rpm RO Bi P 0.04

rpm RO Bi P 0.05

Defines the upper thresholdfor at speed detection. Refer to parameter3.09.

3.08 Over-speed threshold

Defines the speedabove which the drive will trip due to overspeed. When this parameter is set to a zero the limit is set by parameter 1.06 x1.2.

3.09 Absolute at-speed detect mode select

3.09 = 0 reference window mode. The at speed band is from (reference - lower limit) to (reference+ upper limit).The reference is the pre-

3.09 = 1 absolute window mode. The at speedbandis from the lower limit to the upper limit. The at speedindicator is activewhenthe

3.10 Speed-loop proportional gain. Kp1

3.11 Speed-loop integral gain. Ki1

3.12 Speed-loop derivative gain. Kd1

±Pr1.06

0~n

max

0~1

ramp reference (parameter 1.03). The at speed indicator is active when the following is true:- ([1.03]-3.06)<[3.02]<([1.03]+03.07)

following is true:-3.06 <[3.02]<3.07.

0.0000 ~ 0.3000

0.0000 ~ 30.000

5rpmRWUni

rpm RW Uni

0 RW Bit

SLM RW Uni 0.13

SLM RW Uni 0.14

0.0000 ~ 0.1000

The following diagram shows a generalised representation of the speed controller. The controller includes proportional (Kp) and integral (Ki) feed-forward terms, and a differential (Kd) feedback term. The drive holds three sets of these gains and either set may be selected for use by the speed controller with parameter 3.16.

3.16 = 1, gains Kp1,Ki1 and Kd2 are used

3.16 = 2, gains Kp2,Ki2 and Kd2 are used

3.16 = 3, gains Kp3,Ki3 and Kd3 are used

SLM RW Uni 0.15

21 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

Parameter 3.16 may be changed whenthe drive is enabledor disabled.Itisnecessaryto updatethe SLM with the required PID set by setting PID buffer update bit i.e. Pr 11.67 to 1. Any of the available 3 buffers can be selected "on the fly".

Speed reference

(wr*)

Torque

Speed feedback

(wr)

eference

(Te*)

Proportional gain (Kp)

If Kp has a valueand Ki is set to zerothecontroller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motorload increases there willbe a difference between the referenceand actualspeeds. This effect,called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high then the closed-loop stability limit is reached.

Integral gain (Ki)

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and usedto produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improvedby increasi ng the proportional gain.A compromisemustbe reachedwherethesystemresponse, stiffness and damping are all adequate for the application. The integral term is implemented in the form of Σ(Ki x error), and so the integral gain can be changed when the controller is active without causing large torque demand transients.

Differential gain ( Kd)

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated withthistype of function. Increasingthedifferential term reducesthe overshoot producedby under-damping, however, for most applications the proportional and integralgains alone are sufficient. To analysethe performance of the speed controllerit may be represented as an s-domain model as shown below.

w*(s) (rs

-1

)

Ki 1/s

Kc Kt L(s)

w(s)

(rs

-1

)

Where: Kc is the conversionbetweentorque reference and torque producingcurrent. A value of unity at the inputto this block gives a torque

producing currentequivalent to the full scale current of the drive. The drive automatically compensates the torque producingcurrent for flux variations in field weakening, and so Kc can be assumed to have a constantvalue. Drive rated currentis equivalent to 0.5 x full scale (see Menu 4 for details of current scaling), and so

Kc = Drive rated current / 0.5

Kt is the torqueconstant of the motor (i.e. torquein Nm peramp of torque producingcurrent). L(s) is the transfer function of the load.

The s-domainsystemabovemay be used to determine the performance of systems with a relatively low bandwidth. However, the real drive systemalsoincludes non-idealdelaysdue t o the torque controller response, and speed measurementand controldelays. These delays, which can be approximated with a simple unity gain transport delay (T

) as shown below, should be taken into accountfor moreaccurate

delay

results.

M’Ax AdvancedUser Guide 22 Issue Number: 4 www.controltechniques. com

w*(s+)

Kp+Ki/s

1+Kds

Speed measurement

delay

Kc.Kt

Torque reference

calculation delay

L(s)

delay

T orque controller delay

62.5µs47.5µs600µs 710µs

Calculating Kp, Ki, Kd for M'Ax

(Set-up method based on Compliance angle) Compliance angle basedset-up required following parameters.

Description M’Ax Parameter Symbol

Motor rated current 5.07

Symmetrical current limit (%) 4.07

Motor torqueconstant 5.32

Motor Inertia 5.33

Load Inertia 3.20

Stiffness Angle 3.19 α

T otal inertia 3.18 J

M(rated)

limit

w(s)

delay

Calculate the following:

NOTE

has to be stated in percent of motor rated current (as in parameter 4.07)

limit

------------

100

-- -

×=

M rated()

×=

oKcKt

Then,theseequations shouldyieldcorrectvalues for thegains.

22.5

------- ----

for no over shoot. If drive is used with position loop then use Kd= 0 for minimumfollowing error.

Use K

---

----- ----------- ----=

bKo

------- ----------- ----------- --- -=

× K

bKo

----- ----------- -----------

π K

×α×

To give an example:

Description Symbol Value Units

Motor rated current

Symmetrical current limit (%)

Motor torqueconstant

Motor Inertia

Load Inertia

M(rated)

limit

9.5 A

200 %

1.6

0.00076

0.00224

Nm/A

Stiffness Angle α 6 °

Total inertia J

m+JL

Kgm Kgm

Kgm

RMS

2 2

23 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

200

------- -- -

9.5× 19==

100

-- -

const==

19 1.6× 30.4==

J 0.00076 0.00224+ 0.003==

α 6=

Therefore:

22.5

------- ----

3.75==

0.003 3.75×

------ ----------- ----------- ---- - 0.034==

-- -

30.4×

0.003

-- -

------ ----------- ----------- ---------- - 0.0023==

---

30.4 3.75××

3.13 Speed-loop proportional gain. Kp2

0.0000 ~ 0.3000

SLM RW Uni

3.14 Speed-loop integral gain. Ki2

0.0000 ~ 30.000

SLM RW Uni

3.15 Speed-loop derivative gain.Kd2

0.0000 ~ 0.1000

SLM RW Uni

Refer to above text.

3.16 Speed-loop PID gain selector

0~3

1 RW Uni 0.12

The drive holds threegainbuffers, any buffercan be selected for use by the speed controller with parameter 3.16.

0 = Terminal input control 1 = PID buffer 1 is selected 2 = PID buffer 2 is selected 3 = PID buffer 3 is selected

Summary of effected parameters when switching P.I.D buffers

Pr 3.16

KIKDK

Current demand filter cut off

1 3.10 3.11 3.12 4.07 4.12 2 3.13 3.14 3.15 4.24 4.23 3 3.60 3.61 3.62 4.28 4.27

3.18 Total inertia

0.1 ~ 6000.0

0.00001 ~ 0.6

Kgcm

Kgm

RO Uni 0.11

T otal inertia driven by the motor is the sum of: Load Inertia + Motor Inertia. This is requiredto calculate the PID gains.

3.19 Stiffness angle

0.0 ~ 30.0

6.0

RW Uni 0.09

The stiffness angle is the required angulardisplacementwhent he drivedelivers a torque producing current equivalentto the drive rated

M’Ax AdvancedUser Guide 24 Issue Number: 4 www.controltechniques. com

current (parameter 11.32) with no field weakening.

Zero Load

100% Motor rated current

Stiffness angle

3.20 Load inertia

The load inertia should be calculated and entered into 3.20 so t hat the totalinertia can be calculated. Before enteringthe load inertia value into parameter 3.20, check the range statusin parameters5.34 and 5.54.

Example:

The hard speed reference is a referencevalue which does not pass through the ramp system (Menu 2). It is added to the normal post ramp speed reference. The maximum of this input is limited to 500 rpm.

This parameter display’s the flux alignmentvalueof the motor.

0.1 ~ 6000.0

0.00001 ~ 0.6

5.34 =0=kgm =1=kgcm

5.54 = 0 = Ranges are shown for 3.18 and 3.20 = 1 = Ranges are divided by 10

Load inertia = 42kgcm When 5.34 =1and5.54 =0,3.20 =42.0 When 5.34 =1and5.54 =1,3.20 =4.20

3.22 Hard speed referen ce

3.23 Hard speed referen ce selector

3.25 Feedback encoder phase offset

±500

0~1

0 ~ 65535

0.0 rpm RW Bi

1 RW Bit

SLM REV RW Uni

Kgcm

Kgm

RW Uni 0.10

3.28 Feedback encoder revolution counter

When the encoderrotates by more than one revolution,the revolutionsin parameter 3.28 incrementor decrement in the form of a sixteen bit roll-over counter. Resets to zeroon power down.

3.29 Feedback encoder position

This parameter gives the encoderposition counted from the point when the drive was powered up. On powerup, SLM uses single cycle SinCos output to find absolute shaft position.

3.32 Z marker pulse received indicator

The encoder has a marker channel and this is used to correct the absolute position with in a revolution after power-Up. After passing through the marker this bit is set and zero offset parameter [3.54]is updatedwith the differencebetween 0 of encoderposition[3.29] and marker. This is due to error on initial angle calculation usingsinglecyclesin-cos.

3.51 High resoluti on marker select

CT-coder has a marker channel and this is used to correct the absolute position within a revolution after power-up. After passing through the marker, if this bit is set to 1 then zero offset parameter 3.54 isupdatedusing12 Bit accuracywithoutinterpolation, otherwiseupdatedusing16 Bit accuracywith interpolation.

0 ~ 65535

0~1

0or1

REV RO Uni 0.28

REV RO Uni 0.29

RO Bit

RW Bit

25 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

3.52 Z marker pulse offset

Difference in between the encodermarkerand 0 positionat parameter 3.29. On power up, SLM uses single cycleSin-Cos output to find absolute shaft position. This measurementhas a maximum of ±3° error.After passingthroughMarker pulse this offset is calculated.

3.53 Shaft key offset

This is offset in between SLM marker pulse and shaft key, set by motor manufacturer.

3.54 Zero offset

User specified marker offset for encoder simulation.

3.55 Number of simulated encoder lines

Range selectable from 100 lines per revolution to 8192 lines per revolution Set this parameter to 0 enables16384pulses per revolution When modified, in order for the new value to take effect,a power-down and up again is required.

3.56 F/D mode select

0 = Quadrature A & B diff erential outputs (IncludingMarker pulses) 1 = Frequency & Directional differential outputs (Including Marker pulses)

0 ~ 65535

0~180

0, 100 ~ 8192

selectable

& 16384

0~1

SLM REV RO Uni

4096 RW Uni R

0 RW Bit

REV RO Uni

RW Uni

3.57 Speed-loop PID Buffer 1 select

3.58 Speed-loop PID Buffer 2 select

3.59 Speed-loop PID Buffer 3 select

Allows the user to select which gain buffer is required. Buffer selection:

Pr3.57 Pr3.58 Pr3.59 Gain Buffer selected, Pr3.16

1xx 1 01x 2 001 3

x = don't care conditions

3.60 Speedloopproportionalgain.Kp3

3.61 Speed loop integral gain. Ki3

3.62 Speedloopderivativegain.Kd3

Refer to parameters 3.10, 3.11, 3.12

0~1

0.0000 ~ 0.3000

0.0000 ~ 30.000

0.0000 ~ 0.1000

0 RW Bit

SLM RW Uni

3.63 SpeedloopPIDbufferinuseindicator

Used to indicate which PID buffer currently in use.

0~3

RO Uni

M’Ax AdvancedUser Guide 26 Issue Number: 4 www.controltechniques. com

3.64 Speed feedback unfiltered

The speed feedback in counts / 250µs taken from the SLM encoder.T his is usedas sourceforanalogoutput. This can be used by a PLC for instantaneous speed measurements.

±2048

RO Bi

27 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

6 Menu 4 Parameters - To rq ue Control

Parameter

Range(

4.01 {0.07} Motor current magnitude

4.03 Torque demand

±200.0%I

4.04 Current demand 0 ~ 620

4.07 {0.18} Symmetrical current limit Kc1

4.08 Torque reference

4.09 Torque-referenceoffset

0 ~ 300.0%I

±200.0%I ±200.0%I

0~I

) Default(ð)

M LIM LIM

200.0 RW Uni

0.0 RW Bi

Type

RO Uni P RO Bi P RO Uni P

4.10 Torque-referenceoffset enable 0~1 0 RW Bit

4.11 Torque mode selector 0~2 0 RW Uni

4.12 {0.16} Current-demand filter1 cut-offfrequency 0 ~ 1200Hz 500 RW Uni

4.15 Motor- thermal time-constant

[SLM] RO Uni

4.23 Current-demand filter 2 cut-off frequency 0 ~ 1200Hz 500 RW Uni

4.24 Symmetrical current limit Kc2

0 ~ 300.0%I

4.26 Torque-compensation gain 0 ~ 5000 rads/s

200.0 RW Uni RW Uni

4.27 Current-demand filter 3 cut-off frequency 0 ~ 1200Hz 500 RW Uni

4.28 Symmetrical current limit Kc3

0 ~ 300.0%I

200.0 RW Uni

4.51 Reserved for internal system purposes

4.52 Motorthermal-overloadtrip level

4.53

Symmetrical current limit after motor thermaloverload trip

0 ~ 125%I 0 ~ 300%I

110 RW Uni

105 RW Uni

4.54 Thermal-overload time to trip 0 ~ 200s 10 RW Uni

4.55 SLM overheat thresholdparameter 0 ~ 100°C85RWUni

4.56 Motoroverload alarm level 0 ~ 100 70 RW Uni

4.57 Motoroverload alarm 0 ~ 1

RO Uni

4.58 ‘U’ phase current loop offset correction 0 ~ 65535 0 RW Uni

4.59 ‘V’ phase current loop offset correction 0 ~ 65535 0 RW Uni

Notes

Parameters 4.52, 4.53, 4.54: see section F.2 Adjustingthe threshold for the motor thermal-overload alarmin the M’Ax User Guide. Parameter 4.04: the range 0 ~ 620 represents 0 ~ 200% FLC

Full-load current (continuous-current rating of the

FLC

drive)

Maximum overload current from the drive [2 x FLC]

Rated continuous motor-current (defined by the motor

via the SLM) Maximum torque-producing current (derived from

[FLC x kT]) Value of the current limit that is obtained from the

LIM

setting of 4.07 Symmetrical current limit

LT Triplevelof the drive thermal-overload accumulator

Maximum speed of the motor (defined by the motor via

MAX

the SLM)

Motorinertia (definedby the motor via the SLM)

M’Ax AdvancedUser Guide 28 Issue Number: 4 www.controltechniques. com

Figure6-1 Menu 4 software diagram

SLM overheat threshold

Motor overload alarm level

Motor overload alarm

'U'phasecurrentloop offset correction

'V' phase current loop offset correction

Torque compensation gain

Torque mode

selector

4.55

4.56

4.57

4.58

4.59

4.26

4.11

4.12

4.23

4.27

Current-demand filter 1 cut-off frequency

Current-demand filter 2 cut-off frequency

Current-demand filter 3 cut-off frequency

Menu 3

Symmetrical current

4.07

limit Kc1

Symmetrical current

4.24

limit Kc2

Symmetrical current

4.28

limit Kc3

4.15

5.07

1.32

−

thermal

Motor

ime-constant

otor

−

ated current

Drive rated current

SLM

Current demand

Speed demand

Torque reference

4.08

Torquereference offset enable

4.10

4.09

Torque reference offset

Menu 5

Motor current

Menu 3

)

orque

4.03

emand

RMS current calculation

technology

orque

ompensation

Motor [I t] overload

trip

ndicator

caling

otor overload

etection

0.17

.01

otor current agnitude

.04

Current demand

Menu 5

29 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

4.01 Motorcurrent magnitude

This parameter is the r.m.s. current from each output phase of the drive.

4.03 Torque demand

The torquedemand is derived from the torquereference and offset. The units of the torque demandare% of allowed maximumtorque to the motor (Based on Symmetrical currentlimit).

100% rated torque= 100% rated currentof the motor.

4.04 Current demand

The Currentdemandis read from SLM. The units of the current demand are % of rated drive current.

620 = 200% rated drive current

4.07 Symmetrical current limit Kc1

Symmetrical current limit is used to scale the maximum motor current. This is used to scale the currentscalingfrom SLM. After changingthis parameter SLM-PIDupdate is necessary to use new settings. Refer to P.I.D gain calculation sectionin Menu 3.

4.08 Torque-reference

This is the parameter for main torque reference. The units are % of maximum motor rated torque based on symmetrical current limit with a resolution of 0.1%. If connectedto an analog input on the drive this parameteris updated every 250µs.

0~I

±0 ~ 200

0~620

0~300

±200

200.0

0.0

AROUni P0.07

%ITA

LIM

RO Bi P

RO Uni P

RW Uni 0.18

RW Bi

4.09 Torque-reference offset

This parameter is for an offset to be addedto the main torque reference.The torqueoffset is updated every 1ms when connectedto an analoginput, and so parameter 4.08 should be used for fast updating if required.

4.10 Torque-reference offset enable

The torque offset is added to the torque reference when parameter 4.10 is set to one.

0 = Torque reference offset disable 1 = Torque reference offset enable

4.11 Torque mode selector

0=Speedcontrolmode

The torque demand is equal to the speed loop output.

1or2 =Torquecontrol The torque demand is given by the sum of the torque reference and the torque offset, if enabled. The speed is not limited in any way, however, the drive will trip at the over speed threshold if runaway occurs.To activate a parameterchange,a save and power down is necessary.

4.12 Current demand filter 1 cut-off frequency

A first order filter, with specified bandwidth by this parameteris providedon the currentdemand to reduce acoustic noiseand vibration produced in an application. The filter introduces a lag in the speed loop, and so the speed loop gains may need to be reduced to maintain stability as the filter time constantis increased. Alternative bandwidth can be selected depending on the valueof the speed controller gain selector[3.16].

[3.16] = 1 parameter [4.12]isused

[3.16] = 2 parameter [4.23]isused

[3.16] = 3 parameter [4.27]isused

±200

0~1

0~2

0 ~ 1200

0 RW Bit

0 RW Uni

500 Hz RW Uni 0.16

LIM

RW Bi

M’Ax AdvancedUser Guide 30 Issue Number: 4 www.controltechniques. com

4.15 Motor-thermal time-constant

ôð

The motor is modelled thermally in a way that is equivalent to the electrical circuit shown below.

=RC

The temperature of the motor as a percentage of maximum temperature, with a constant current magnitude of I, after time t is given by

Temp =[I2/(Motor rated current x Motor overload threshold)2](1 - e-t/τ)x100%

Thisassumes thatthemaximum allowedmotor temperatureisproduced with 110%rated currentand that τ is the thermaltime constant of the point in the motor that reaches it maximum allowed temperature first. τ is defined by SLM (indicated by parameter [4.15]) and Motor overload threshold is defined in parameter [4.52]. When the estimated temperature reaches Motor overload threshold the drive limits the current to current scaling set by the parameter [4.53]. The time for a tripor reductionof currentlimit from coldwith constant motor currentis given by:

=-(Par 4.15)xln(1 -((4.52/100)xPar 5.07/ Par 4.01)2)

trip

The thermal model accumulator is set to zero at power-up and accumulates the temperature of the motor whilst the drive remains poweredup.

4.23 Current-demand filter 2 cut-off frequency

Refer to parameter 4.12.

0 ~ 1200

SLM RO Uni 0.16

Temp

500 Hz RW Uni

4.24 Symmetrical current limit Kc2

Refer to parameter 4.07 and P.I.D calculation section in Menu3.

4.26 Torque-compensation gain

Not available in current software version.

4.27 Current-demand filter 3 cut-off frequency

Refer to parameter 4.12.

4.28 Symmetrical current limit Kc3

Refer to parameter 4.07 and P.I.D calculation section in Menu3.

4.51 Reserved for internal system purposes

For drive’s internal system purposes only.

4.52 Motor thermal-overload trip level

0~300

0 ~ 5000

0 ~ 1200

0~300

200.0

500 Hz RW Uni

200.00

Rads/s RW Uni

RW Uni

See parameter 4.15.Toactivateanewvalueasaveandpowerdownisnecessary.

0~125

110

RW Uni

31 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

4.53 Symmetrical current limit after motor thermal-overload trip

0~300

105

RW Uni

The Motor overload warningbit10.17is set if integrator value is greater than Motor overload warning threshold 4.52. Also the output current

scaling is switched to parameter4.53 (Current scalingduring I

I2t trip threshold

t Warningthreshold

Accumulator value

Standard current Scaling , ,

Current scaling

Current Scaling During I t Trip24.53

SLM I t Trip Bit 13 Status

I tWarning Bit Status

When the I

t threshold goes above the limit set in parameter 4.52, the SLM alters its current scalingto limit the motor current in a default

4.52

4.56

10.58

4.07 4.24 4.28

4.57

1 0

t limit).

Time

state. If a controller wants to use this as a warning bit, the threshold [4.52] can be adjustedtoa requiredlevel(i.e. 75% insteadof 110%).Changing

the I

t thresholdin [4.52] will not limit the currentscalingafter the motor thermal overload alarm is set.In this case the controllershould take the necessaryaction to protect the motor,i.e. reduce acceleration or stop. The drive will operate,when the motor thermaloverload alarm is set, until thethermaloverl oad timeto trip parameter value [4.54]has been exceeded.

Typical Example:

Parameter Value

4.15 Motor – thermal time-constant 89

4.07 Symmetrical currentlimitKc1 150

4.24 Symmetrical currentlimitKc2 200

4.28 Symmetrical currentlimitKc3 175

Process cycletime 11.5s Gainsequencing using all three PID-gains buffers

1. Set 4.53 Symmetrical current limit after motor thermal-overload alarm at 200 (the largest of the symmetrical current limit values).

2. Set 4.54 Thermal-overload time to trip at 12 (process cycle time, rounded-up to nearest integer).

3. Calculate the following:

4.15[]– In 1

89– In 1

æö

×=

ç÷ èø

æö

105

× 28.7 s()==

------ ----- -

–

ç÷ èø

200

105

------- ------------

–

4.53[]

2 2

4. Calculate the following:

DtC

4.54[]– 28.7 12– 16.7 s()===

5. Calculate the following:

t–D4.15[]⁄

4.52[]4.53[]1e

4.52[]200[]1e

–×=

16.7–()89⁄

–× 82.7==

(%)

6. Enter the calculated value into4.52.

7. Performthefollowing, as appropriate:

M’Ax AdvancedUser Guide 32 Issue Number: 4 www.controltechniques. com

Version _AN

Initiatethe save operationby settingparameterXX.00 at 1000. Execute the operationby performing either of the following:

• While the displayis in Edit mode, press at thesame time: and

• Set parameter 10.38 at 100 (via serial communications)

Version _SL Version _AN (if required)

Ensurethe driveis disabledby checking that the Hardware enable contact is open or that parameter 6.15 is set at 0, then perform either of the following:

• Initiatethe store operation by setting parameter 0.50 at 2 (Prog). Execute the operation by setting parameter 10.38 at 100.

• Set 11.67 Flash update enable at 1.

4.54 Thermal overload time to trip

This is a secondary motor overloadprotection.The user can set Current scaling duringI the motion controller reduces torque demand in order to protect the motor. This secondary protection tripsthe drive on motor overload (I2t.AC) if Motor overloadwarning bit (10.17)is continuously set more than Motor overloadtimelimit.

4.55 SLM overheat threshold parameter

The value set in this parameteris the trip thresholdlevelfor the SLM thermistor.Once this level has been exceeded, the drive will trip ‘Oht3’.

4.56 Motor overload alarm level

4.57 Motor overload alarm

This bit parameter is set if the motor overload accumulator [10.58] rises above the motor overload alarm level set in parameter 4.56, otherwise cleared.

4.58 ‘U’ phase current loop offset correction

4.59 ‘V’ phase current loop offsetcorrection

These parameters areto compensate for t he current loop and power stage offsets, which end up as speed ripple on the demandedspeed. These parameters arerelayedto the SLM on power-up and are onlyrequired for high performance applications. Please contact T echnical Support for further assistance in using these parameters.

0~200

0~100

0~1

0 ~ 65535

10 s RW Uni

t limit (4.53)to standard current scaling (4.07)and

85 °CRWUni

70 RW Uni

RO Bit

0 RW Uni

33 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

7 Menu 5 Parameters - Motor Control

Parameter

5.05 {0.43} DC-bus voltage 0 ~ 1000 V

5.07 {0.19} Motor- rated current 0~ FLC A [SLM] RO Uni

5.08 Motor- rated speed 0 ~ 7500rpm [SLM] RO Uni

5.09 Motor- rated voltage

5.11 Motor - number of poles 0 ~ 255 [SLM] RO Uni

5.12 Flux alignment test enable 0~1 0 RW Bit

5.32 Motortorque-constant 0.00 ~ 500.00Nm/A [SLM] RO Uni

5.33 Motorinertia

5.34 {0.11} Inertia units selected 0~1 [SLM] RO Bit

5.52 Reserved for internal system purposes

5.53 Reserved for internal system purposes

5.54 Inertia range select 0~1 1 RW Bit

Notes The settings of parameter 5.34 are as follows:

0 kgm 1 kgcm

The settings of parameter 5.54 are as follows:

0 Ranges are as shown for 3.18 and 3.20 1 Ranges are divided by 10

Full-load current

FLC

(continuous-currentrating of thedrive)

0.1 ~ 6000.0 kgcm

0.00001 ~ 0.6 kgm

Range(

0~V

) Default(ð)

[SLM] RO Uni

RO Uni P

Type

AC supply voltage

M’Ax Advanced User Guide 34 Issue Number: 4 www.controltechniques. com

Figure7-1 Menu 5 software diagram

Phase advance

Current demand

[MO]

SLM

5.05

DC-bus voltage

Menu 4

Sine-wave modulator

information

Motor parameters

Motor

5.07

current

Motor−rated

5.08

speed

Motor

5.11

of poles

Position

−

rated

−

number

Current loop

Current measurement

)

technology

Offset adjustment

ulse width modulator

and power stage

otor current

Braking control

Menu 4

Menu 10

5.33

Motorinertia

Feedback-encoder

3.25

phase offset

35 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

5.05 DC-bus voltage

Voltage across the internalDC Bus Voltage.

5.07 Motor - rated current

This value is read from the SLM. The value is used is for current limit (refer to symmetrical current limit, parameter 4.07) and motor thermal protection (refer to thermal time constant, parameter 4.15).

5.08 Motor - rated speed

This value is set by the motor manufacturer and stored in the SLM. On power up the value set in the motor object is read by the drive and stored in parameter 5.08.

5.09 Motor - rated voltage

TheratedvoltageiscalculatedfromtheKe and rated rpm of the motor.

5.11 Motor - number of poles

This parameter is read from the SLMand is set to the number of poles of the motorbeingused.

0 ~ 1000

0~FLC

0 ~ 7500

0~V

0~255

SLM A RO Uni 0.19

SLM rpm RO Uni

SLM V RO Uni

SLM RO Uni

VROUni P0.43

5.12 Flux alignment test enable

The drive can automatically measure the phase angle between the rotor flux and the encoder position by performing a phasing test. Parameter 5.12 will returnto zero on completingthe flux alignment test. The value of the encoder phase positionis storedin SLM and indicated by parameter [3.25].

Flux Alignment

Use this procedure only in exceptional circumstances; do not use it when setting up the drive.

1. Disconnectthe load from the motor.

2. Ensure the Hardware enable contact is open.

3. If a RUN contactis connected, ensure that it is open.

4. Apply the AC supply (or auxiliary back-up supply) to the drive.

5. Ensure parameter 6.08 Hold zero speed select is set at 0.

6. Close the Hardware enable contact.

7. Check that the display showsrdY, or that parameter0.01 is set at 0.

8. Set 5.12 Flux alignment test enable at 1. When the test is completed,5.12automatically returns to 0.

9. Re-enterthe required settingsintothe appropriate parameters.

10. Remove the AC supply or auxiliary back-up supply; the new flux-alignment value is automatically stored in the SLM.

5.32 Motor - torque constant

The Kt value is read from the SLM. The drive requires this information to calculate the correct speed controller gains.

5.33 Motor inertia

This parameter is read from the SLM. The unit used in the displayed value is dependenton the value in parameter5.34.

0~1

0.00 ~ 500.00

0.1 ~ 6000.0

0.00001 ~ 0.6

0 RW Bit

SLM Nm/A RO Uni

SLM

Kgcm

Kgm

RO Uni

5.34 Inertia units selected

0~1

0-Kgm 1-Kgcm

This parameter is read from the SLM.

SLM RO Bit 0.11

M’Ax Advanced User Guide 36 Issue Number: 4 www.controltechniques. com

5.52 Reserved for internal system purposes

5.53 Reserved for internal system purposes

For drive's internal system purposes only.

5.54 Inertia range select

The settings of parameter 5.54 are as follows:

0 = Rangesare as shown for 3.18 and 3.20 1 = Rangesare divided by 10

The value of this parameterneeds to be known before programming 3.18 and 3.20.

0~1

SLM RW Bit

37 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

8 Menu 6 P arameters - Sequencer Functions, AC Supply Loss

Modes

Parameter

6.01 Stop mode selector 0~2 2 RW Txt P

6.03 AC supply loss mode selector 0~1 0 RW Uni P

6.08 Hold zero speed select 0~1 1 RW Bit

6.15 Driveenable 0~1 1 RW Bit

6.20 Powered-up time (years, days) 00.00~ 9.365 y.d

6.21 Powered-up time (hours, minutes) 00.00 ~ 23.59h.m

6.31 Sequencing bit JOG FORWARD 0 ~ 1 0 RW Bit

6.32 Sequencing bit JOG REVERSE 0~ 1 0 RW Bit

6.33 Sequencing bit FORWARD/REVERSE 0 ~ 1 0 RW Bit

6.34 Sequencing bit RUN 0 ~ 1 0 RW Bit

6.35 FORWARD LIMIT switch 0 ~ 1 0 RW Bit

6.36 REVERSE LIMIT switch 0 ~ 1 0 RW Bit

6.44 Active supply indicator 0~1

6.48 DC-bus threshold voltage 0 ~ 600 400 RW Uni

6.49 Controlled-stop enabled indicator 0~1

6.50 UV warningthreshold 0 ~ 600 400 RW Uni

Range(

) Default(ð)

Type

RO Uni S P RO Uni S P

RO Bit

M’Ax Advanced User Guide 38 Issue Number: 4 www.controltechniques. com

Figure8-1 Menu 6 software diagram

13.15

6.50 10.16

Under-volts warning threshold

Orientation complete

UV warning flag

39 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

6.01 Stop mode select or

Stopping

Mode

0 - COASt Inhibits the inverter 1 - rP Stop with ramp 2-no.rP Stopwithnoramp

Only one stoppingphaseexists and the ready state is entered as soon as the single stopping action is complete.

6.03 AC supply loss mode selector

0 = Disabled

There is no mains loss detection and the drive operates normally as long as the DC Link voltage within specification i.e greatert han DC Bus undervolt trip level.

1= Controlled Stop

The drive detects mains loss by comparing the DC bus voltage with the controlled stop enable DC bus level parameter [6.48]. If the DC bus level is less than the value stored in parameter [6.48] thena controlled stop is requested, whichtriggersa controller to operate.Thiscontroller will regulate the ramp rate to keep the DC bus levelabovetheprogrammed levelas close as possible to the required ramp rate.Controller gainscan be adjustedusingparameters [2.46]&[2.47]. The drive will continue a controlled stop even if mains voltage is restored, a drive reset is necessary to resume normal application. During a controlled stop the drive will display“CSP”.

6.08 Hold zero speed select

Whenthisbit is set the drive willhold torqueatstandstill when not in the running stateratherthandisablingtheoutput bridge.The drive status will be StP when the drive is at standstill rather than rdY.

0=rdY 1=StP

0~2

0~1

Action

2 RW Txt P

0 RW Bit P

1 RW Bit

6.15 Drive enable

Setting this parameter to 0 willdisable the drive. It mustbe at 1 for the drive to run.

0=Drivedisable 1=Driveenable

NOTE

Hardware enable contact must alsobe closed to run the drive. Refer to parameter 8.09 for hardware enable indicator.

6.20 Power-up time (Years, Days)

Together with the next parameter the drive recordsthe amountof time the drive has been running since it left the manufacturing plant.

6.21 Power-up time (Hours, Minutes)

Together with the previous parameter the drive records the amount of time the drivehas been runningsinceit left the manufacturing plant.

6.31 Sequencing Bit JOG FORWARD

6.32 Sequencing Bit JOG REVERSE

6.33 Sequencing Bit FORWARD / REVERSE

6.34 Sequencing Bit RUN

The drive sequenceru ses thesebits as inputsrather than looking at terminals directly. This allows the customer to define the use of each drive terminal according to each application needs.

0 = Disabled 1=Enabled

0~1

00.00 ~ 9.365

00.00 ~ 23.59

0~1

1 RW Bit

Yrs ~ days RO Uni S P

Hours ~ Mins RO Uni S P

0 RW Bit

M’Ax Advanced User Guide 40 Issue Number: 4 www.controltechniques. com

6.35 FORWARD LIMIT switch

6.36 REVERSE LIMIT switch

Digital inputsconnect ed to limitswitches should be routed to these parametersif fast stopping is required at a limit. The drive w ill respond in 500µs(500µs digital input filter delay) and stop the motorwithzeroramp rate (i.e. in current limit)if limit switchramp is disabled(i.e. parameter 2.05Limit switch ramp disable is set to zero). If limit switch ramp is enabled the drive will stop the motor using the ramp rate set in Forward deceleration ramp parameter 2.25 or Reverse deceleration ramp parameter 2.26. The limit switches are direction dependantso that the motor can rotate in a direction that allows the system to move away from the limit switch. The drive status will indicate “LSP” meaningLimitswitch StoP active, untilthe systemmoves away from the limit switch.

6.44 Activesupply indicator

The drive can operatefrom the followin g supplies as indicatedby this parameter.

0-Mainpowerterminals

The drive power circuit, gate drives,controlcircuits and SLM module are using the main power terminalsto derivetheir supplies.The drive willoperate normally. Parameters that are saved at power-down are saved when the supply is removed in this mode and a UU trip occurs.

1- 30V Control backup

Auxiliary back-upsupply in operation.

6.48 DC Bus threshold voltage

The drive detects mains loss by comparing the DC busvoltage with the controlledstop enableDC bus level parameter 6.48.IftheDCbus levelislessthanthevaluestoredinparameter6.48 thenacontrolledstopisrequested.DrivecontrolstherampratetokeeptheDCbuslevel above the programmed level as close as possible to the required ramp rate. The drive will continue a controlled stop even if mains voltage is restored.

0~1

0~600

0 RW Bit

RO Bit

400 V RW Uni

6.49 Controlled stop enabled indicator

This parameter indicates that the motor is beingsubject to controlled deceleration to a stop duringfailure of the AC supply.

0 = Controlled stopnotactive 1 = Controlled stopenabled

6.50 UV warning threshold

TheUVtriplevelis350VDC. Refer to parameter 10.16.

0~1

0~600

400 RW Uni

RO Bit

41 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

9 Menu 7 Parameters - Analog Input Output Settings,

Temperature Monitoring

Parameter

7.01 Analoginput ±100.0%

7.04 Power-staget emperature 0 ~ 100 °C±10°C

7.07 Analoginput offsettrim ±10.0% 0.0 RW Bi P

7.08 Analoginput scaling 0.000 ~ 4.000 1.000 RW Uni

7.09 Analoginput invert 0~1 0 RW Bit

7.10 Analoginput destination selector

7.19 Analogoutput 1 source selector

7.20 Analog output 1 scaling 0.000 ~ 4.000 1.000 RW Uni

7.22 Analogoutput 2 source selector

7.23 Analog output 2 scaling 0.000 ~ 4.000 1.000 RW Uni

7.25 Calibrate analog input 1 full scale 0 ~ 1 0 RW Bit

7.26 Analog-input sample time 0.25 ~ 4.0 ms 1.000 RW Uni R

7.52 _AN optionmodule fitted indicator 0~1

7.53 V/f scale ±4096 871 RW Uni

7.54 Filtered input ±8192

7.55 Analog input scaling numerator 0 ~ 32367 1 RW Uni

7.56 Analoginput scalingdenominator 0 ~ 32367 1 RW Uni

7.57 Analoginput scalingenable 0~1 0 RW Bit

Notes

Analog-input selection

When parameter 1.14 is set at 0, 1 or 2, parameter 7.10 is automatically set at 1.36 in order to select parameter 1.36 as the destination parameter for the analog input. The setting of 7.10 cannot then be changed.

Other settings of parameter 1.14 allow parameter7.10 to be set at any value (including 1.36). When parameter 7.10 issetatanyofthefollowing...

1.36 (irrespective of the setting of parameter 1.14)

4.08

3.22

... the parameters listed beloware by-passed in order to simplify setting-up and increase speed of response to changes in the input signal:

7.01 Analog input

7.07 Analog input offset trim

7.08 Analog input scaling

7.09 Analoginput invert

Parameter 7.54:sampletime=250µs

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

Range(

) Default(ð)

1.36 RW Uni R P

3.64 RW Uni

4.04 RW Uni

Type

RO Bi P RO Uni P

RO Bit

RO Uni

Pulse Mode

The analog inputdestination selector parameter 7.10 cannot be used when a Pulse reference is selected (i.e parameter 1.14 to 5). This is due to the internal characteristics of the drive.

Analog-input scaling

Analog-inputscaling operatesonly when7.10 Analog input destination selector is set at 1.36 or 3.22 and 7.57 Analog input scaling enable is set at 1.

The scaling should be used for final adjustment only. Keep the ratio of 7.55 over 7.56 below 1.1. Failure to do so will possibly end up in speed reversal

WARNING

The appropriate parameter, as follows, indicates the scaled speed demand:

1.36 Analog reference

3.22 Hard speed reference

M’Ax Advanced User Guide 42 Issue Number: 4 www.controltechniques. com

Analog-output scaling

When parameter 3.64 is selected, and parameter 7.20 is set at 1, 10V at Analogoutput 1 represents 7500rpm. When parameter 4.04 is selected, and parameter 7.23 is set at 1, 10V at Analogoutput 2 represents 200% FLC.

Analog-input destination in torque mode

When the drive is in torque mode (parameter 4.11 set to 1 or 2) and controlled by an analog input, parameter 7.10 Analog input destination selector must be set to 4.08, parameter 1.14 Reference selector mustbesetto3to5.

Summary for torque mode with analog reference

1. Set 1.14 to 3

2. Set 4.11to 1 or 2

3. Set 7.10 to 4.08

4. Set XX.00 to 1000

5. Execute command in Edit mode

6. Power-down

7. Power-up

and

43 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

M’Ax Advanced User Guide 44 Issue Number: 4 www.controltechniques. com

Figure9-1 Menu 7 software diagram

45 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

M’Ax Advanced User Guide 46 Issue Number: 4 www.controltechniques. com

7.01 Analog input

This parameter displays the level of the analog signal in percentagethat is present at the terminal.

7.04 Power-stage temperature

This parameter displays the temperature currentlybeingmeasured on the heatsink. If this level reaches90°Cthedrivewillgiveanalarm indication hot on the lower line of the display. If the temperature continues to rise the drive will trip O.ht2 to protect it's self from device failure duetoovertemperature.

7.07 Analoginputoffset trim

This parameter can be usedto trim out any offset in the usersreference signal.

7.08 Analoginputscaling

This parameter can be used to scale the analoginputif so desired.

7.09 Analog input invert

This parameter can be usedto invert the analog input reference if so desired.

0~100

±10.0

0.000 ~ 4.000

0~1

0.0 % RW Bi P

1.000 RW Uni

0 RW Bit

%ROBi P

°C ±10°CROUni P

7.10 Analog input destination selector

The parameter, which the analog input is required to controlis programmed here. Only a non-bit parameterwhich is not protected can be controlled by the analog input. If a non-valid parameter is programmedthentheinput is not routed anywhere. After modification of this parameter the destinat ion is only changedwhena reset is performed or the drive powered down.

The parameter which is desired to be read via the analog output should be programmed here. Only a non bit parameter can be programmed. After modifications of this parameter the source is only changed when a reset is performed or the drive powered down.

Thisparameter is used to scale the outputif so desired. Automatic scaling is providedsuch that when thesourceparameteris at its maximum value the analog output will be at a maximum.

00.00 ~ 20.50

7.19 Analog output1 sourceselector

00.00 ~ 20.50

7.20 Analog output1 scaling

0.000 ~ 4.000

7.22 Analog output2 sourceselector

00.00 ~ 20.50

1.36 Menu. Par RW Uni R P

3.64 Menu. Par RW Uni

1.000 RW Uni

4.04 RW Uni

7.23 Analog output2 scaling

Thisparameter is used to scale the outputif so desired. Automatic scaling is providedsuch that when thesourceparameteris at its maximum value the analog output will be at a maximum.

0.000 ~ 4.000

1.000 RW Uni

47 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

7.25 Calibrate analog input 1 full scale

Setting this bit willcausethe driveto adjustit's own scale factorsuch that the requiredmaximum is reachedat the input level at the time calibration takes place. This parameter is cleared by the software when the calibration is complete.

7.26 Analog input sample time

This parameter affects the low speed performance and the speed of response to a changing speed demand. Low values give good dynamic responsebut noisier operationat low speeds and high values give smooth low speed operationbut less dynamic response. A compromise must be made between low speed operation and good dynamicresponse. Aftermodification of thisparameter the sampletimeis only changedwhena reset or power down and backup again is carried out.

7.52 AN option module fitted indicator

Indicates 1 if an AN (high precision) option module is fitted.

7.53 V/F scale

This parameter is the input scale factor (Counts / 250µs) for full analoginput. This scale factoris automatically adjusted by the calibrate routine, parameter 7.25. Defaultvalueis 227 which is nominal counts with 10V input.

7.54 Filtered input

0~1

0.250 ~ 4.000

0~1

±4096

0 RW Bit

1.000 ms RW Uni R

RO Bit

871 RW Uni

This is the output of the V/F accumulator. Updated every 250µs.

7.55 Analog input scaling numerator

7.56 Analog input scaling denominator

The above two parameters are used for analog input ratio, when routed for Analog Reference input [Parameter 1.36], to achieve the last niche of necessarymaximumspeed. The sampled analog input countsperevery250µS are scaled according to Maximum referenceClamp [Parameter 1.06] and then multiplied by the numerator and divided by the denominator.

7.57 Analog input scaling enable

This parameter enablestheratioof AnalogReference input.

0-Disable 1 - Enable

±8192

±32367

0~1

1 RW Uni

0 RW Bit

RO Uni

M’Ax Advanced User Guide 48 Issue Number: 4 www.controltechniques. com

10 Menu 8 Parameters - Digital Input / Output Settings and

Indications

Parameter

8.01 Digital input 1 state indicator - Digital I/O Terminal 10 0 ~ 1

8.02 Digital input 2 state indicator - Digital I/O Terminal 9 0 ~ 1

8.03 Digital input 3 state indicator - Digital I/O Terminal 8 0 ~ 1

8.04 Digital input 4 state indicator - Digital I/O Terminal 7 0 ~ 1

8.05 Digital input 5 state indicator - Digital I/O Terminal 1 0 ~ 1

8.06 Digital input 6 state indicator - Digital I/O Terminal 6 0 ~ 1

8.07 Digital input 7 state indicator - Digital I/O Terminal 13 0 ~ 1

8.08 Digital input 8 state indicator - Digital I/O Terminal 8 0 ~ 1

8.09 {0.01}

8.11 Digitalinput1 invert 0 ~ 1 0 RW Bit

8.12 Digital input 2 invert 0 ~ 1 0 RW Bit

8.13 Digital input 3 invert 0 ~ 1 0 RW Uni

8.14 Digital input 4 invert 0 ~ 1 0 RW Bit

8.15 Digital input 5 invert 0 ~ 1 0 RW Bit

8.16 Digital input 6 invert 0 ~ 1 0 RW Uni

8.17 Digital input 7 invert 0 ~ 1 0 RW Bit

8.18 Digital input 8 invert 0 ~ 1 0 RW Bit

8.20 Digital input / output read word 0 ~ 16384

8.21

8.22

8.23

8.24

8.25

8.26

8.27

8.28

8.51 Digital output 1 state indicator - Digital I/O Terminal 5 0 ~ 1

8.52 Digital output 2 state indicator - Digital I/O Terminal 4 0 ~ 1

8.53 Digital output 3 state indicator - Digital I/O Terminal 3 0 ~ 1

8.54 Digital output 4 state indicator - Digital I/O Terminal 2 0 ~ 1

8.55 Status-relay state indicator 0~1

8.59 Status line indicator 0~1

8.60 Status line output enable 0 ~ 1

8.61 Digital output 1 invert 0 ~ 1 0 RW Bit

8.62 Digital output 2 invert 0 ~ 1 0 RW Bit

8.63 Digital output 3 invert 0 ~ 1 0 RW Bit

8.64 Digital output 4 invert 0 ~ 1 0 RW Bit

8.65 Status-relay invert 0 ~ 1 0 RW Bit

8.71

8.72

8.73

8.74

8.75

Hardware enable indicator- MCIEIA 485 / Standalone Terminal 3

Digital input 1 destinationselector (RUN)

Digital input 2 destinationselector (REVERSE SELECT)

Digital input 3 destinationselector (JOG FORWARD)

Digital input 4 destinationselector (FORWARD LIMIT)

Digital input 5 destinationselector (REVERSE LIMIT)

Digital input 6 destinationselector (RESET)

Digital input 7 destinationselector (Presetreference select bit-0)

Digital input 8 destinationselector (Presetreference select bit-1)

Digital output 1 source selector (DRIVE RUNNING)

Digital output 2 source selector (AT ZERO SPEED)

Digital output 3 source selector (ALARM)

Digital output 4 source selector (AT SPEED)

Status-relay source selector (DRIVE HEALTHY)

Range(

)Default(

0~1

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

00.00 ~ 20.50

menu.parameter

)

RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P

RO Bit P

RO Un i P

6.34 RW Uni P

6.33 RW Uni P

6.31 RW Uni P

6.35 RW Uni P

6.36 RW Uni P

10.33 RW Uni P

1.45 RW Uni P

1.46 RW Uni P RO Bit P

RO Bit P RO Bit P RO Bit P RO Bit P RO Bit RO Bit

10.02 RW Uni P

10.03 RW Uni P

10.19 RW Uni P

10.06 RW Uni P

10.01 RW Uni P

Type

49 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

Figure 10-1 Menu 8 software diagram

UVW

Digital input X

DIGITAL I/O

Digital input X stateindicator

8.0X

Defaultsource parameter

10.02

10.03

10.19

10.06

x(-1)

Default function

M'AX RUNNING AT ZERO SPEED ALARM AT SPEED

Any bit parameter

??.??

Digital input X

invert

8.1X

Digital input X destination

selector

8.2X

Digital output Y source

elector

(-1)

1 2 3 4 5 6 7 8

?.??

invert

Default

destination parameter

6.34

6.33

6.31

6.35

6.36

10.33

1.45

1.46

Any unprotected bit parameter

igital output Y

.6Y

Default function

RUN REVERSE SELECT JOG FORWARD FORWARD LIMIT REVERSE LIMIT RESET PRESET SELECT BIT 0 PRESET SELECT BIT 1

Digital output Y stateindicator

8.5Y8.7Y

Digital output Y

DIGITAL I/O

Hardware enable

STANDALONE

SIM ENC

3 4 4 4 4

SLM

MULTIDROP

OUT

Hardware enable

indicator

8.09

Drive healthy

indicator

10.01

??.??

Any bit parameter

tatus-relay

source selector

.75

(-1)

ower stage

tatus-relay

invert

.65

Status-relay stateindicator

8.55

MC/EIA485

M’Ax Advanced User Guide 50 Issue Number: 4 www.controltechniques. com

8.01 Digital input 1 state indicator - Digital I/O terminal 10

8.02 Digital input 2 state indicator - Digital I/O terminal 9

8.03 Digital input 3 state indicator - Digital I/O terminal 8

8.04 Digital input 4 state indicator - Digital I/O terminal 7

8.05 Digital input 5 state indicator - Digital I/O terminal 1

8.06 Digital input 6 state indicator - Digital I/O terminal 6

8.07 Digital input 7 state indicator - Digital I/O terminal 13

8.08 Digital input 8 state indicator - Digital I/O terminal 8

These parameters indicate the input stateof the terminals.

0=In-active 1=Active

8.09 Hardware enable indicator - MCIEIA 485 / Standalone terminal 3

This parameter indicates if the hardware enable contact is closed. If the hardware enable contact is open the drive will display “Inh”.Ifthe hardware enable is closed, the drive will display either “Rdy”, “StP”,or“run”.

0=In-active 1=Active

8.11 Digital Input 1 invert

This invert parameter is used to change the sense of terminal 10 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted.

0=Notinverted 1=Inverted

8.12 Digital Input 2 invert

This invert parameter is used to change the sense of terminal 9 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted.

0=Notinverted 1=Inverted

0~1

RO Bit P

RO Bit P 0.01

RO Bit P

8.13 Digital Input 3 invert

This invert parameter is used to change the sense of terminal 8 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted.

0=Notinverted 1=Inverted

8.14 Digital Input 4 invert

This invert parameter is used to change the sense of terminal 7 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted.

0=Notinverted 1=Inverted

8.15 Digital Input 5 invert

This invert parameter is used to change the sense of terminal 1 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted.

0=Notinverted 1=Inverted

0~1

RO Bit P

51 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

8.16 Digital Input 6 invert

This invertparameter is used to change the sense of terminal6 on the Digital I/O port. Settingthisparameter to 1 causesthe input sense to the destination parameter to be inverted.

0 = Not inverted 1=Inverted

8.17 Digital Input 7 invert

This invert parameter is used to change the sense of terminal 13 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted.

0 = Not inverted 1=Inverted

8.18 Digital Input 8 invert

This invert parameter is used to change the sense of terminal 12 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted.

0 = Not inverted 1=Inverted

8.20 Digital input / output read word

This word is used to determine the status of the digital I/O by reading one parameter. The bits in this word reflect the state of parameters 8.01 to 8.08 and parameters 8.51 to 8.60.

0~1

0 ~ 16384

RO Bit P

RO Uni P

Bit Digital I/O Parameter Bit Digital I/O Parameter

0 Digital input 1 8.01 8 DigitalOutput 1 8.51 1 Digital input 2 8.02 9 DigitalOutput 2 8.52 2 Digital input 3 8.03 10 Digital Output 3 8.53 3 Digital input 4 8.04 11 Digital Output 4 8.54 4 Digital input 5 8.05 12 Status Line Input* 8.59 5 Digital input 6 8.06 13 Status Line Output* 8.60 6 Digital input 7 8.07 14 7 Digital input 8 8.08 15

* Reserved for future development.

8.21 Digital input 1 destination selector (RUN)

This parameter should be programmed with the destination parameter for terminal 10 on the Digital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a reset or power down and back up again. Defaulted to Run.

This parameter shouldbe programmed with the destination parameterfor terminal 9 on the Digital I/O port.Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a resetor power down and back up again.Defaulted to Reverse select.

0.00 ~ 20.50

8.22 Digital input 2 destination selector (REVERSE SELECT)

0.00 ~ 20.50

6.34 Menu.Par RW Uni P

6.33 Menu.Par RW Uni P

8.23 Digital input 3 destination selector (JOG FORWARD)

This parameter shouldbe programmed with the destination parameterfor terminal 8 on the Digital I/O port.Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a resetor power down and back up again. Defaulted to Jog forward.

0.00 ~ 20.50

6.31 Menu.Par RW Uni P

M’Ax Advanced User Guide 52 Issue Number: 4 www.controltechniques. com

8.24 Digital input 4 destination selector (FORWARD LIMIT)

This parameter shouldbe programmed with the destination parameter for terminal7 on theDigital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a reset or power down and back up again. Defaulted to Forward limit.

This parameter shouldbe programmed with the destination parameter for terminal1 on theDigital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a reset or power down and back up again. Defaulted to Reverse limit.

This parameter shouldbe programmed with the destination parameter for terminal6 on theDigital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a reset or power down and back up again. Defaulted to Reset.

This parameter should be programmed with the destination parameter for terminal 13 on the Digital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a reset or power down and back up again. Defaulted to Preset reference select bit-0.

0.00 ~ 20.50

8.25 Digital input 5 destination selector (REVERSE LIMIT)

0.00 ~ 20.50

8.26 Digital input 6 destination selector (RESET)

0.00 ~ 20.50

8.27 Digital input 7 destination selector (Preset reference select bit-0)

0.00 ~ 20.50

6.35 Menu.P ar RW Uni P

6.36 Menu.P ar RW Uni P

10.33 Menu.Par RW Uni P

1.45 Menu.P ar RW Uni P

8.28 Digital input 8 destination selector (Preset reference select bit-1)

This parameter should be programmed with the destination parameter for terminal 12 on the Digital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a reset or power down and back up again. Defaulted to Preset reference select bit-1.

This parameter is set if terminal 5 of the Digital I/O port is active.

This parameter is set if terminal 4 of the Digital I/O port is active.

This parameter is set if terminal 3 of the Digital I/O port is active.

This parameter is set if terminal 2 of the Digital I/O port is active.

0.00 ~ 20.50

8.51 Digital output 1 state indicator - Digital I/O Terminal 5

0~1

8.52 Digital output 2 state indicator - Digital I/O Terminal 4

0~1

8.53 Digital output 3 state indicator - Digital I/O Terminal 3

0~1

8.54 Digital output 4 state indicator - Digital I/O Terminal 2

0~1

1.46 Menu.P ar RW Uni P

RO Bit P

8.55 Status relay state indicator

This parameter indicates the state whether the drive has tripped or not. A logic0 indicates a trip state is present.

0 = De-energised 1 = Energised, drive healthy.

0~1

RO Bit P

53 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

8.59 Status line indicator

Parameter not used

8.60 Status line output enable

Parameter not used.

8.61 Digital output 1 invert

This invertparameter is used to change the senseof terminal 5 on the DigitalI/O port.

0 = Not inverted 1=Inverted

8.62 Digital output 2 invert

This invertparameter is used to change the senseof terminal 4 on the DigitalI/O port.

0 = Not inverted 1=Inverted

8.63 Digital output 3 invert

This invertparameter is used to change the senseof terminal 3 on the DigitalI/O port.

0 = Not inverted 1=Inverted

0~1

0 RW Bit

RO Bit

8.64 Digital output 4 invert

This invertparameter is used to change the senseof terminal 2 on the DigitalI/O port.

0 = Not inverted 1=Inverted

8.65 Status relay invert

This invertparameter is used to changethe sense of terminal8 and 10 on the MC/EIA485 port. Setting this parameter to a 1 causesthe output from the source parameterto be inverted.

0 = Not inverted 1=Inverted

8.71 Digital output 1 source selector (DRIVE RUNNING)

This parameter should be programmed with the source parameter for terminal 5 on the Digital I/O port. Only bit parameters can be programmed intothisparameter. If a non-validparameter is programmedan output willassumethe last validstate (i.e.thevalue of previously programmed parameter). Aftermodification of thisparameter the source is only changed when a reset is performed or a power down and back up again. Defaulted to drive running.

8.72 Digital output 2 source selector (AT ZERO SPEED)

This parameter should be programmed with the source parameter for terminal 4 on the Digital I/O port. Only bit parameters can be programmed into this parameter.If a non-validparameter is programmedan outputwilldrivecurrent. Aftermodificationof this parameter the sourceis only changedwhen a reset is performed or a powerdown and back up again. Defaultedto At zero speed.

0~1

0.00 ~ 20.50

0 RW Bit

10.02 Menu.Par RW Uni P

10.03 Menu.Par RW Uni P

M’Ax Advanced User Guide 54 Issue Number: 4 www.controltechniques. com

8.73 Digital output 3 source selector (ALARM)

This parameter should be programmed with the source parameter for terminal 3 on the Digital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed an output will drive current. After modification of this parameter the source is only changed when a reset is performed or a power down and back up again. Defaulted to Alarm indicator.

This parameter should be programmed with the source parameter for terminal 2 on the Digital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed an output will drive current. After modification of this parameter the source is only changed when a reset is performed or a power down and back up again. Defaulted to At speed.

Thisparametershould be programmed withthe source parameterforthe statusrelay on terminal8 and10 on the MC/EIA485connector. Only bitparameters can be programmedinto this parameter. If a non-validparameterisprogrammed theoutputwill be open.Aftermodificationsof these parameters the destinations are only changed when a reset is performed or the drive is powered down and back up again. Defaulted to drive healthy.

0.00 ~ 20.50

8.74 Digital output 4 source selector (AT SPEED)

0.00 ~ 20.50

8.75 Status relay source selector(DRIVE HEALTHY)

0.00 ~ 20.50

10.19 Menu.Par RW Uni P

10.06 Menu.Par RW Uni P

55 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

11 Menu 10 Parameters - Status and Diagnostic Information,

Trip log, Braking control

Parameter

10.01 Drive healthy indicator 0~1

10.02 Drive running indicator 0~1

10.03 At zero speed indicator 0~1

10.05 Below set speed indicator 0~1

10.06 At speed indicator 0~1

10.07 Above set speed indicator 0~1

10.11 Braking active indicator 0~1

10.12 Braking-resistor overload alarm indicator 0~1

10.15 AC supply loss indicator 0~1

10.16 UV warning flag 0 ~ 1

10.17{0.39} Motor [I2t] overload trip indicator 0~1

10.18 Heatsink temperature alarm indicator 0~1

10.19 Alarm indicator 0~1

10.20{0.44} Last trip

10.21 Second last trip

10.22 Third last trip

10.23 Fourth last trip

10.24 Fifth last trip

10.25 Sixth last trip

10.33 Drive reset 0 ~ 1

10.38 User-defined trips 0 ~ 255 0 RW Uni

10.39 {0.42} Internal braking-resistor overload accumulator 0 ~ 100.0%

10.40 Status word 0 ~ 32767

10.41 Trip-0 time (years, days) 0.000 ~ 9 .365 y.d

10.42 Trip-0 time (hours, minutes) 00.00 ~ 23.59 h.m

10.43 Trip-1 time (hours, minutes) 00.00 ~ 600.00 h.m

10.44 Trip-2 time (hours, minutes) 00.00 ~ 600.00 h.m

10.45 Trip-3 time (hours, minutes) 00.00 ~ 600.00 h.m

10.46 Trip-4 time (hours, minutes) 00.00 ~ 600.00 h.m

10.47 Trip-5 time (hours, minutes) 00.00 ~ 600.00 h.m

10.52 SLM technology failure indicator 0~512

10.53 Under-voltage protection disable 0~1

10.54 AC-supply phase failure protection disable 0 ~ 1 0 RW Bit

10.55 Internal braking-resistor protection disable 0~1 0 RW Bit

10.56 {0.41} Drive overload accumulator 0.0 ~ 100.0%

10.57 Supply interlock 0 ~ 1

10.58{0.40}

10.59 SLM PCB temperature 0 ~ 100 °C

10.60 SLM technology fault warning 0 ~ 1

Motor I

t accumulator

Range(

0.0 ~ 100.0%

) Default(ð)

RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit P RO Bit RO Bit P RO Bit P RO Bit P RO Txt S P RO Txt S P RO Txt S P RO Txt S P RO Txt S P RO Txt S P RO Bit

RO Uni P RO Uni P RO Uni P RO Uni S P RO Uni S P RO Uni S P RO Uni S P RO Uni S P RO Uni S P RO Uni P RO Bit P

RO Uni P RO Bit P

RO Uni P RO Uni P RO Bit

Type

NOTE

The under-voltage protection [10.53] can only be disabled via a digital input.

M’Ax Advanced User Guide 56 Issue Number: 4 www.controltechniques. com

10.01 Drive healthy indicator

This parameter indicates whether the drive has tripped or not.

0 = Trip condition 1 = Drive healthy

10.02 Drive running indicator

This parameter is set if the servo output is active.

0 = Inhibit condition 1 = hardware enable active

10.03 At zero speed indicator

This parameter displays 1 when speedfeedback is at zero or below the zero speed thresholdas definedby parameter [3.05].

0=Abovezerospeed 1 = At zero speed

10.05 Below set speed indicator

This parameter is set when the absolute value of the ramp output or speed feedback is below the 'at speed' window as defined by parameters [3.06] and [3.09]. Parameter is only set if the drive is running.

0 = At set speed 1 = Belowset speed

0~1

RO Bit P

10.06 At speed indicator

This parameter is set when the absolute value of the ramp output or speed feedback is within the 'at speed' window as defined by parameters [3.06],[3.07]and[3.09]. Parameter is only set if the drive is running.

0=Outside‘at speed’ threshold 1=‘At speed’ thresholdreached

10.07 Above set speed indicator

This parameter is set when the absolute value of the ramp output or speed feedback is above the 'at speed' window as defined by parameters [3.07], and [3.09].Parameter is onlyset if drive is running.

0=Outside‘above set speed’ threshold 1=‘Above set speed’ threshold reached

10.11 Braking active indicator

This parameter is set when the power is being transferred from the motor to the braking resistor.

0 = Braking circuit inactive (DC Bus level below 780V) 1 = Braking circuit active (DC Bus level above 780V)

10.12 Braking-resistor overload alarm indicator

This parameter is set when the braking is active and the braking energyaccumulatoris greaterthan75%.Only activew hen internal braking resistor is used.

0 = Braking resistor overload alarm inactive 1=Brakingresistoroverloadalarmactive

0~1

RO Bit P

10.15 AC supply loss indicator

This parameter is set to indicate a loss of input supply to the drive.

0 = AC supply healthy, 1 = AC supply lost

0~1

RO Bit P

57 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

10.16 UV warning flag

This bit parameter is set if the DC bus level falls below the UV warning threshold set in parameter [6.50],otherwise cleared. TheUVtriplevelis350VDC.

10.17

This parameter issetif the motorcurrent is largerthan 110% of the programmed motor ratedcurrent and the overloadaccumulatoris greater than 100% to warn that if the motor current is not reduced the drive will trip on I

0=MotorI 1= MotorI

10.18 Heatsink temperature alarm indicator

This parameter is set if the heatsink temperature is greater than 90°C

0 = Heatsink temperatures below alarm threshold 1 = Heatsink temperature alarm active

10.19 Alarm indicator

Indicates that one of the drivealarmsis active.

0=Drivehealthy,noalarmactive 1=Alarmactive

0~1

Motor I

t overload trip indicator

0~1

t overload alarm inactive

t overload alarm active

0~1

RO Bit

RO Bit P 0.39

t overload.

RO Bit P

Alarm indicators

The I

Ibr

OuL

hot The drive heatsink and / or internal control circuits have reached 90°C

OnL SLM on-line

10.20 Lasttrip

ô ð

10.21 Second last trip

10.22 Third last trip

10.23 Fourth last trip

10.24 Fifth lasttrip

10.25 Sixth last trip

ô ð

Contains the last 6 drive trips. Parameter [10.20]is the most recent trip and [10.25] the oldest. When a new trip occurs all the parameters move down one, the current trip is put in [10.20] and the oldest trip is lost off the bottom of the log. Possible trips for M'Ax are shown in the table below. At time stamps are stored for each trip (see parameters [10.41]to[10.47]). UU trips are not stored unless the drive is running when the trip occurs.

Any trip can be initiated by the actions described or by writing the relevant trip number to parameter [10.38]. If any trips shown as user trips are initiated the trip stringis trxxx,wherexxx isthetripnumber.

t accumulator for the internal braking resistor in the drive has

reached 75% of the value of which the drive will trip Motor thermal overload accumulator in the drive indicates that the motor

windings are at their maximum specifiedworking temperature

RO Txt S P 0.44

RO Txt S P

M’Ax Advanced User Guide 58 Issue Number: 4 www.controltechniques. com

No. String Cause of trip

1 UU DC link under voltage

DC link over voltage.Thiscouldbe because the DC link voltage has exceededthemaximumlevel or has remained above the maximumcontinuous levelfor more than 30s.

2OU

3 OI.AC AC instantaneous over current, caused by hardware fault, this trip cannot be reset for 2s 4 OI.br Braking resistor instantaneous current trip. This trip cannot be reset for 2s. 5 PS Internal drive power supply trip 6EtExternaltrip 7 OU.SPd Over speed (see [3.08])

8 ~ 10 tr08 ~ tr10 Usertrips

11 tunE1 No axis movement, duringFluxalignment procedure.

12 tunE2 Incorrect direction of rotation, duringFluxalignment procedure

13 ~ 17 tr13 ~ tr17 User trips

18 tunE Flux alignment procedure stops before completion 19 It.br Braking resistor over-heat based on thermal model. (see [10.39]) 20 I2t.AC Motor over-heat based on thermal model (see [10.58]) 21 O.ht1 Drive over-heat based on thermal model (see [10.56]) 22 O.ht2 Drive over-heatbased on heat sink temperature (see [7.04]) 23 O.ht3 SLM over-heat based on PCB temperature (see [10.59]) 24 O.ht4 SLM over-heat based on PCB temperature (see [10.59]) 25 tr25 User trips 26 OP.Oul Digital output overload

27 ~ 29 tr27 ~ tr29 User trips

31 EEF

32 Ph

33 ~ 49 tr33 ~ tr49 User trips

50 dL.Er

51 dR.SI Motor / drive excessive current rating mismatch 52 SL.Er See parameter 10.52 for explanation

53 Ct C.Er

54 SL.Er 55 In.An9 Initial mismatch from the SLM; contact the supplierof the drive.

56 ~ 99 tr56 ~ tr99 User trips

100 tr100 Drive reset

101 ~ 254 tr101 ~ tr254 User trips

255 tr255 Clear trip log information

Drive voltage rating: 400V Instantaneous trip:830V Max continuous level: 810V

Internal drive EEPROM failure. All the parameters are set to default. The trip can only be removed by enteringa load defaultcommand (i.e. 1233,1244,1255 etc.) into parameter[x.00]before resetting the drive.

High inputvoltage phase imbalanceor input phase loss.Normally a motorload of between50 and 100% or drive rating is requiredto triggerthe trip.The drive will attemptto stop the motor before tripping, if specifiedin parameter [10.54].

DrivelinK hardwareerror. Possibly due to:

• No 24v supply to SLM

• Faulty cable

• DamagedSLM/driveRS485driversduetoexcessiveESD

Encodererrorcause:

• Quadrant mismatch

• Initialisation failure

The SLM is being initialised (the trip code is seen momentarily when the drive is being poweredup). Momentary display of the trip code does not cause the drive to trip.

10.33 Drive Reset

A 0 to 1 change on this parameter will cause a drive reset. If a drive reset terminal is required on the drive the required terminal must be programmed to control this bit. Digital input 6 is defaulted to reset function.

0~1

RO Bit

59 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

10.38 User-defined trips

This parameter is used to generate user trips, or to reset the drive codes are as shown in the table below

1 ~ 55 General drive trips that give trip strings

56 ~ 99 User trips that give string trXX,where XX isthetripnumber

100 If the parameteris set to 100 t he driveis reset 255

10.39 Internal braking-resistor overload accumulator

Thisparametergivesan indication of the averagepower.Zeroindicatesthe resistoris notbeing used and 100% is the triplevel. 100% equals 125W power consumption through the resistor.

10.40 Status word

This parameter is used by the serialcommunicationsinterface The bits in this parameter correspond to the status bits in menu 10 as follows.

1514131211109876543210

Not

used

0~255

If the parameter is set to 255 the trip log (parameters 10.20 ~ 10.25 and 10.41 ~ 10.47) are cleared

0 ~ 100.0

0 ~ 32767

10.15

Not

used

Not

used

10.12 10.11

0 RW Uni

%ROUni P0.42

Not

used

RO Uni P

Not

10.07 10.06 10.05

used

Not

10.03 10.02 10.01

used

10.41 Trip-0 time (years, days)

When a trip occurs, the reason for the trip is put into the top location in the trip log(parameter10.20). At the same time the time from the powered-upclockis put into Trip0 time(parameters 10.41and 10.42).Thetimesforearliertrips(Trip1to5)aremovedtothenextparameter inthesamewaythattripsmovedownthetriplog.ThetimeforTrips1to5arestoredasthetimedifferencebetweenwhenTrip0occurred and the relevanttrip in hours and minutes. The maximum time difference thatcan be stored is 600 hours. If this time is exceededthe value storedis 320.00.

The value of parameter10.52 indicateswhich of the following has caused this trip.

0.000 ~ 9.365

10.42 Trip-0 time (hours, minutes)

00.00 ~ 23.59

10.43 Trip-1 time (hours, minutes)

10.44 Trip-2 time (hours, minutes)

10.45 Trip-3 time (hours, minutes)

10.46 Trip-4 time (hours, minutes)

10.47 Trip-5 time (hours, minutes)

00.00 ~ 600.00

10.52 SLM technology failure indicator

0~512

Years. days RO Uni P

Hours. mins RO Uni S P

RO Uni P

M’Ax Advanced User Guide 60 Issue Number: 4 www.controltechniques. com

10.52 Cause of trip

0 Dl.Er trip has occurredbefore SL.Er trip 1 Encoder object crc or checksum incorrect 2 Motor object crc checksum incorrect 4 Eze object crc checksumincorrect

8 Failure in encoder 16 32 SLM not compatiblewithdrivesoftware

64 Eze object not compatible with drive software

128 256 SLM disabled state 512

10.53 Under voltage protection disable

Invalid entry for address 49 of the motor object

SLM technology failure. Maximum number of communicationattempts reached

190 Frame motor fitted with a SLM software version 3.01

This disablesUU trip state and enables charge up relay for low voltage use. It is necessary to use a digital input to set this bit. This input is usedto provide interlock beforereturn to full volts from low voltage supply.The drivehealthy bit is dropped after a delay of 20ms to allow charging up relay to drop.Thisinterlock mechanism protectsthe drive from applyingfullpower to DC bus capswithout a charging resistor.

Drive healthy

10.54 AC-supply phase failure protection disable

When this parameter is activated by user trip 32 Ph is disabled.

0 = Phasefailure protection enabled 1 = Phase failure protection disabled

10.55 Internal braking-resistor protection disable

When this parameter is activated by user trip 19 It.Br is disabled.

0 = Internal braking resistor protection enabled 1 = Internal braking resistor protection disabled

0~1

10.53

0~1

delay

Supplyinterlockdelay[ ]

0 RW Bit P

RO Bit P

10.57

10.56 Drive overload accumulator

The M'Ax power stage is rated at 200% for 2 seconds. The drive includes a thermal protection system. The drive over temperature alarm bit is set if this parameter is greater than 75%. The drive will trip on O.ht1 if 10.56 >100%.

10.57 Supply interlock

Refer to parameter 10.53.

0.0 ~ 100.0

0~1

%ROUni P0.41

RO Bit P

61 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

10.58

The drive will trip on I2t.AC if 10.58 > 100%, for the time specified in parameter 4.54 Motor Overload time limit. Refer to parameter 4.54.

10.59 SLM PCB temperature

0.0 ~ 100.0

The drive will trip on O.ht3 if 10.59 >85°C.

10.60 SLM technology fault warning

This bit parameter is set to indicate that either the “SL.Er” or “dL.Er” trip condition has occurred.

Motor I

0~100

0~1

T accumulator

%ROUni P0.40

°CROUni

RO Bit

M’Ax Advanced User Guide 62 Issue Number: 4 www.controltechniques. com

12 Menu 11 Parameters - Scale factor, Initial displayed

parameter, Serial commu nications, Drive in fo rmation

Parameter

11.20 Parameter0.46 assignmentselector 00.00 ~ 19.71 3.02 RW Uni

11.21 Parameter 0.46 scaling 0.000 ~ 9.999 0.1 RW Uni

11.22 Initially displayedparameter selector

11.23 {0.37} Serial comms. address 0.0 ~ 24.7 group.unit 1.1 RW Uni

11.24 Serial comms. protocol selector 0~1 0 RW Txt P

11.25 {0.36} Serial comms.baudrate 0 ~ 6 5 (9600) RW Uni P

11.26 Serial comms.transmit-delay time 0 ~ 255 µs 2 RW Uni P

11.29 {0.48} Drive softwareversion 01.00~ 99.99

11.30 {0.35} User security code 0 ~ 255 149 RW Uni S P

11.32 {0.20} Drive rated current(FLC) 00.00 ~ 99.99 A

11.33 Drive voltage rating 200 ~ 480 V

11.34 {0.47} Drive software build number 00 ~ 99

11.39 SLM software version 00.99 ~ 99.99

11.51 Hardware revision 0 ~ 15

11.52 SLM update enable 0~1

11.53 SLM address 1 ~ 128

11.54 SLM data/command 0 ~65535

11.55 SLM instruction 0 ~65535

11.56 {0.45} SLM communications integrity 0 ~ 100%

11.57 Number of errors on last instruction 0 ~ 255

11.58 SLM update errorindicator 0~1

11.59 SLM busy indicator 0~1

11.60 SLM background-read enable 0~1

11.61 SLM test results 0 ~ 1

11.62 SLM power-up delay 0 ~ 5 1 (250) RW Uni P

11.63 SLM buffer update 0 ~ 1 0 RW Bit

11.64 {0.17} SLM on-line enable 0~1 0 RW Bit

11.65 SLM encoder mode select 0~1 0 RW Bit

11.66 Host mode enable 0~1 1 RW Bit P

11.67 Flash updateenable 0~1 0 RW Bit P

11.68 Flash device type FL28 (0) ~ FL29 (1)

00.00 ~ 13.99

menu.parameter

Range(

)Default(

)

0.05 RW Uni

Type

RO Un i P

RO Un i P RO Un i P RO Un i P RO Un i P

RO Un i RW Bit RW Uni RW Uni RW Uni

RO Un i P

RO Bit P

RO Bit P RW Bit P

RO Bit P

RO Txt P

Notes

Parameter 11.25 settings

11.25 0123456

Baud rate

(bits/s)

Parameter 11.62 settings

11.62 012345

SLM power

up delay

(ms)

Parameter 11.68 settings

11.68 Description

FL-28 Intel device fitted FL-29 AMD compatible device fitted

300 600 1200 2400 4800 9600 19200

0 250 500 750 1000 1250

63 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

11.20 Parameter 0.46 assigned selector

Parameter [0.46]can be assigned to any advanced parameter and given a scaling factor. Typical uses are as follows:

1. Indicatestherate of flow in a way that is meaningful t o the production process (e.g cans per hour)

2. Indicates the torque calculated from the motorcurrent. The default function is as follows:

00.00 ~ 19.71

11.21 Parameter 0.46 scaling

0.000 ~ 9.999

0.1 x [0.05] speed feedback

3.02 RW Uni

0.1 RW Uni

Assigning [0.46] to another parameter.

1. Enter the number of the required parameter in [11.20].

2. Save parameters.

Changing the scaling for [0.46.]

1. Note the number of decimal places used by the values of the parameter assigned to parameter [0.46]. Obtain the value of the modifier from the following table.

No. of decimal

places

00.1 11 210 3100

etc. etc.

2. Use [11.21] to define the required scaling factor, as f ollows: [11.21]=[0.46]/[XX.XX]xM

Where:

[XX.XX] is the value of the parameter that is assigned to parameter 0.46 by parameter [11.20].

3. Save parameters.

Scaling

modifier (M)

Examples

Default settings.

Parameter assignedto parameter[0.46]=[3.02] Number of decimal places used in the value of parameter [3.02]=1 Therefore M =1 Default setting of parameter [11.21]=0.1

The value of parameter[0.46]isgivenby:-

[0.46]=[3.02]x[11.21]xM

For example, when [3.02] = 1500rpm, [0.46]isasfollows:-

[0.46]=1500 x 0.1 x 1 = 150

Approximate indication of torque.

1. Set parameter[11.20]at[4.01]or[0.07] (motor current magnitude).

2. Twodecimal places are used in the value,therefore M =10

3. Set parameter[11.21] at 0.16 (1.6 / 10 = 0.16) to represent the K

4. Parameter[0.46] will indicate as follows:- [0.46]=[4.01]x0.16 x 10

When [4.01]is2.75A:-

[0.46]=2.75 x 0.16 x 10 = 4.4

11.22 Initial displayed Parameter selector

This parameter defines which parameter is displayed on power up. Defaulted to parameter 0.05 Speed feedback.

11.23 Serialcomms.Address

0.00 ~ 13.99

0.05 Menu.Par RW Uni P

of the motor.(Here KTisdividedby10duetoM =10.)

Used in ANSI to definethe uniqueaddress for the driveby the serial interface. Any number which has a zero in it should not be used to communicate with a single drive as these are used in addressing groups of drives. Used in MODBUS RTU to define the unique address for the drive for the serialinterface. Any number in the permitted range 0.1 to 24.7 can be used as t he driveaddress, 0.0 is a specialaddress that broadcasts to all drives.

0.0 ~ 24.7

1.1 Group.Unit RW Uni P 0.37

M’Ax Advanced User Guide 64 Issue Number: 4 www.controltechniques. com

11.24 Serial comms. Protocol selector

This is the mode of operation of the serial port.

0=ANSI 1 = MODBUS RTU

11.25 Serial comms baud rate

Used in ANSI comms mode to select the comms port baud rate.

0=300 1=600 2 = 1200 3 = 2400 4 = 4800 5 = 9600 6 = 19200

11.26 Serial comms. transmit-delay time

This defines the minimum time before the drive will enable its transmit buffers and transmit data in response to a message from the controller. This allows the host software to have time to disable its own transmit buffers after transmitting data to the drive.

11.29 Drivesoftwareversion

Indicates the version of the drive softwaref itted. The last digit indicatesthe version of the mask softwarew ithin the drive processor.

0~1

0~6

0~255

01.00 ~ 99.99

0 RW Bit P

5 RW Uni P 0.36

2msRWUniP

RO Uni P 0.48

11.30 User security code

If any number other than 149 (factorydefault) is programmed into this parameter user security is applied. The parameter value can only be seen while it is being edited, otherwisethevaluedisplayed is 149 so that the actual securitycode cannot be seen. Setting this securitycode protects all parameters from being adjusted, except this one, untilthe correct code has been entered in parameter xx.00. Setting a security code of zero does not set security,but disables the function that requires 149 to be entered into parameter [xx.00] to exit Menu 0 after powerup.

11.32 Drive rated current (FLC)

This parameter indicates the maximum continuous current rating of the drive in amps.

11.33 Drive voltage rating

This parameter indicates the voltage rating of the drive.

11.34 Drive software build number

This parameter indicates the sub version of user software stored in the memory.

11.39 SLM software version

0~255

00.00 ~ 99.99

200 ~ 480

.00 ~ .99

149 RW Uni S P 0.35

AROUni P0.20

VROUni P

RO Uni P

Indicates the version of the SLM software fitted to the motor.

00.99 ~ 99.99

RO Uni 0.47

65 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

Read & Write SLM parameters and Issue SLM command to M'Ax

SLM

[]

11.52

[]

11.60

[]

11.55

[]

11.53

[]

11.54

SLM Update bit [11.52] will execute an instruction.SLM Instruction parameter [11.55]providestheinstructiontobecarriedout.Accordingto the instruction Datalocati on is used as a data or command.SLM Status bit is set for Nak and cleared for Ack. SLM update is held high until instruction is complete.Make sure SLM update bit is clear before changingSLM instruction parameter.

11.51 Hardware revision

Indicates the hardware version of the drive.

11.52 SLM update

When set to 1, executes the SLM instruction set in parameter [11.55] and returns to 0 after the execution.

0~15

0~1

Execute Disable background read Instruction

Address Data / Command

EEPROM CRC Error

0 RW Bit

SLM update error

Number of errors

Done

Busy

Data

RO Uni

[]

11.52

[]

11.59

[]

11.54

[]

11.58

[]

11.57

[]

11.56

11.53 SLM address

SLM Memory location to be written or read from the execution of SLM instruction.

11.54 SLM data / command

This parameter serves two purposes:-

1. SLM data / command to be written by the execution of SLM instruction.

2. SLM data read from the specified address in parameter [11.53] by the execution of SLM instruction 1 [11.55].

11.55 SLM instruction

0 Reserved 1 Read SLM Parameter

2 Write SLM Parameter

3 IssueCommandstoSLM

4 SLM Initialisation 5 Change PID parameter buffer 1 6 ChangePID Parameter buffer 2 7 ChangePID Parameter buffer 3 8 SLM Background read 9 Read encoder Object 10 Read encoder MotorObject 11 Readencoder EZ Object 12 Reserved

0~128

0 ~ 65535

Read SLM Address specified on menu [11.53] and update menu [11.54] with the read data.

Write to SLM Address specified on menu [11.53]withtheDataspecifiedonmenu[11.54]

Issue specified Command on menu [11.54]toSLM.

RW Uni

M’Ax Advanced User Guide 66 Issue Number: 4 www.controltechniques. com

13 Encoder error check 14 Issue zero command 15 Read zero offset 16 Select torque mode 17 Select speed mode 18 Test SLM 19 EEPROM write enable 20 EEPROM write disable 21 Read encoder initial angle 22 Flux align 23 Fan enable 24 Fan disable 25 Change Flux align PID parameter buffer 1 26 Update Current Scaling 27 Identify Fitted SLM

11.56 SLM comms integrity

This parameter indicates the DrivelinK serialcommunications physical layerintegrity in %.

11.57 Number of errors on last instruction

This parameter keeps the tracking of total number of protocol errors occurred on SLM instruction [11.55] execution since drive powered up.

11.58 SLM update error indicator

Setto1iflastSLMinstruction[11.55] execution failed / had errors.

11.59 SLM busy indicator

Set to 1 to indicatewhile an SLM instruction is in progress and returns to 0 on executionaccomplished.

11.60 Background-read enable

This parameter enables/disables the background SLM status polling.

1 - Continuous poll for statususingSLMinstruction 8(SLM Background read) enabled. 0 - Continuous poll for statususingSLMinstruction 8(SLMBackground read) disabled.

0~100

0~255

0~1

%ROUni 0.45

RO Uni

RO Bit

RW Bit

11.61 SLM test results

Reserved.

11.62 SLM power up delay

This parameter specifies the time delay in between the drive power-up and +24V SLM supply available.Default time delay is set to 250ms, assuming the drive provides the +24V SLM supply.

Parameter 11.62 Delay (ms)

0~1

0~5

00 1250 2500 3750 41000 51250

1 (250) RW Uni

RO Bit

67 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

11.63 SLM buffer update

A transition from 0 to 1(positiveedge triggered) on this parameterupdates the current gain buffer in use by SLM.

11.64 SLM on-line enable

This parameter enables/disables the continuous gain bufferupdate to SLM.

1 - Continuous gain buffer update enabled. 0 - Continuous gain buffer update disabled.

When this bit is set the drive will be in alarm condition (i.e. parameter 10.19 will be set to 1) and flash onl on the display(notavailableforSL_ option)

11.65 SLM Encoder mode

Reserved.

11.66 Host mode enable

This parameter defines the mode of operation of the drive.

1 - Standalone operation as a speed controller. 0 - Drivelink compatible controller, M’Ax operationas a current amplifier.

0~1

0 RW Bit

0 RW Bit 0.17

0 RW Bit

1 RW Bit

11.67 Flash update enable

Updateflashmemory parameter store.(Refer to 0.50 information).

11.68 Flash device type

This parameter identifies for the user which flash device is fitted to the drive.

11.68 Description

FL-28 (0) Intel device fitted FL-29(1) AMD devicefitted

0~1

FL28 ~ FL29

0 RW Bit

RO Txt P

M’Ax Advanced User Guide 68 Issue Number: 4 www.controltechniques. com

13 Menu 13 P arameters - Pulse Reference Selection & Scaling

Parameter

13.01 Pulse reference ±7500 rpm

13.02 Revolutions error 0 ~ 65535

13.03 Position error 0 ~ 65535

13.10 Pulse / position controlselect 0 ~ 2* 0 RW Uni

13.11 Orientation enable 0 ~ 1 0 RW Uni

13.12 Orientation speed 0 ~ 250 rpm 50 RW Uni

13.13 Orientation position reference 0 ~ 65535 0 RW Uni

13.14 Orientation acceptance window 0 ~ 2000 200 RW Uni

13.15 Orientation complete 0 ~ 1

13.20 Pulse reference selector

13.21 Reference encoder - pulses per revolution 0 ~ 32767

13.22 Referencedemand(mostsignificant word) 0 ~ 65536

13.23 Referencedemand(least significantword) 0 ~ 65536

13.24 Ratio-0 numerator 0 ~ 32767

13.25 Ratio-0 denominator 0 ~ 32767

13.26 Ratio-1 numerator 0 ~ 32767

13.27 Ratio-1 denominator 0 ~ 32767

13.28 Ratio select 0~1

13.29 Pulse-reference offset ±32767

13.30 Movetooffsetenable 0~1

13.31 Maximum positioning speed 0 ~ 512

Range(

)Default(

0~2 0=F&D 1=Quad 2=PulsePulse

)

RO Bi P RW Uni RW Uni

RW Bit

1RWUni

4096

1 1 1 1 0 0 0 0

RW Uni

RO Un i

RO Un i RW Uni RW Uni RW Uni RW Uni RW Bit RW B i RW Bit RW Uni

Type

*Range for parameter 13.10 is as follows:

0 - Pulse reference without position control 1 - Pulse reference with position control 2 - Digital reference control via serial communications

NOTE

Below 100rpm use the following parameters for display purposes only (1.01, 3.01 and 13.01). Use the speed feedback 3.02 for control purpose if necessary.

NOTE

When using a pulse input, analog input cannot be used.

NOTE

Parameter 13.15 is set at 1 when the following applies:

Orientation acceptance window [13.14] When Orientation error= Orientation position reference [13.13] - Feedback position [3.29]

≤

absolute value (Orientation error).

69 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

M’Ax Advanced User Guide 70 Issue Number: 4 www.controltechniques. com

Figure13-1 Menu 13 software diagram

2.02

Ramp

enable

71 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

13.10

ulse / position control select (See parameter

able for settings)

Reference position

13.22

13.23

Reference position (most significant word)

Reference position (least significant word)

Feedback position

3.28

3.29

eedbackencoder revolution counter

Feedbackencoder position

Position

error

13.02

13.03

Menu 3

Revolutions error

Position error

M’Ax Advanced User Guide 72 Issue Number: 4 www.controltechniques. com

13.01 Pulse reference

The speed in rpm is indicated by this parameter, forthe selected Pulse Referenceinput.

NOTE

When the drive is operating from a pulse reference input and the speed is below 100rpm, this parameter should be used for display purposes only. Use the speed feedback parameter [3.02] for control purposes if necessary.

13.02 Revolutions error

13.03 Position error

The required displacement / movement in position should be entered into Revolutions Error (parameter 13.02) and Position Error (parameter

13.03) using serial communicationswhileparameter 13.10 =2.Thevalueofparameter13.02 must be entered first, followed by parameter

13.03. The new valueis entered into the buff er whenthe value of 13.03 has been entered.The drive runs at maximum speed [1.06], whileit

is moving into position (see parameter 13.01). The total position displacement / movement is given by:

Position displacement (32 bit) = [13.02]x 65536 = [13.03] Reference position (parameters 13.22 and 13.23) will be updated with the position displacement. I.e. the appropriate number of counts are added or subtracted to the reference position. When readingthe positionerrorvaluefrom the drive, Positionerror(13.03) must be read first. When parameter13.03is accessed, the value in Revolutions error (13.02) is frozen until it has also been accessed.

13.10 Pulse / position control select

0 - Pulse reference without position control

1 - Pulse reference with position control

2 - Digital reference control via serial communications

±7500

0 ~ 65535

0~2

0 RW Uni

rpm RO Bi P

RW Uni

13.11 Orientation enable

Setting thisparameter enablestheorientation function. Thisfunction allowsthe motor to be stoppedata pre-definedpositionunderanalog or digital speed reference control. The orientation position for the shaft is set in Orientation position reference (parameter 13.13) The range of parameter 13.13is 0 to 65535, giving a resolution of 0.011°. When the Stop signal is received (i.e. bit parameter 6.34 Run enableis set to 0), the motor decelerates to the orientation speed set in Orientation speed parameter 13.12. The motor continues rotating in the same direction until the orientation position is reached within the Orientation acceptance window (parameter 13.14).

13.12 Orientation speed

Refer to parameter 13.11.

13.13 Orientation position reference

Refer to parameter 13.11.

13.14 Orientation acceptance window

Refer to parameter 13.11.

13.15 Orientation complete

Parameter 13.15 is set at 1 when the followingapplies:

Orientation acceptance window [13.14] ≤ absolute value(Orientation error).

When Orientation error = Orientation position reference [13.13]- Feedbackposition [3.29]

0~1

0~250

0 ~ 65535

0 ~ 2000

0~1

0 RW Bit

150 rpm RW Uni

0 RW Uni

200 RW Uni

RO Bit

73 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

13.20 Pulsereference selector

0~2

1 RW Uni

This parameter specifies the Pulse Reference input format.

0 - Digital Reference signals treated as Frequency and Direction. 1 - Digital Referencesignals treatedas Quadrature A & B signals. 2 - Digital Reference signals treated as Directional pulse input signals.

NOTE

When using the pulse input, analog input cannot be used.

Clockwise Counter-clockwise

Parameter = 1: Quadrature 'A' 'B' signals 1

13.20

0 1

In clockwise rotation 'B' lags 'A' by 90

Parameter = 0: Frequency and directions 1

13.20

In counter-clockwise rotation 'B' leads 'A' by 90

0 1

For clockwise rotation 'B' = 0 For counter-clockwise rotation 'B' = 1

Parameter = 2: Directional pulses 1

13.20

0 1

'A' pulses = clockwise rotation

B' pulses = counter-clockwise rotation

13.21 Reference encoder - Number of lines per revolution

0 ~ 32767

4096 RW Uni

This parameter specifies the number of pulses per revolution for the selected Pulse reference input.

13.22 Reference demand (most significant word)

13.23 Reference demand (leastsignificant word)

0 ~ 65536

RO Uni

These two parameters displaythe 32-Bitreference position accumulator,accumulatedwiththe input pulse

31 16 15 0

13.23 13.23

Slave Speed / Demand Ratio

Four parameters allow the user to specify the required ratio for the slave axis. These parameters are grouped in two banks (Bank 0 and Bank

1), allowingto switch in between the banks with a b it parameter. Each Bank is comprised of a numeratorand denominator. The sampled pulse counts every 250µs are multiplied by the corresponding numerator and divided by the corresponding denominator to obtain the required ratio of Speed / Position of the slave followingt he pulsereference input.

M’Ax Advanced User Guide 74 Issue Number: 4 www.controltechniques. com

13.24 Ratio 0 numerator

13.25 Ratio 0 denominator

13.26 Ratio 1 numerator

13.27 Ratio 1 denominator

The above four parameters are used for slave / ratioing of Speed / Position with respectto the Pulse reference input. The sampled pulse counts per every 250µs are multiplied by the corresponding numeratorand dividedby the corresponding denominator to obtain the required ratio of Speed / Position of the slave following the pulse reference input.

13.28 Ratio select

This parameter selects the ratio bank to be used for slave / ratioing.

0 - Selects the ratio bank-0 (Ratio numerator 0 & Ratio denominator 0)

1 - Selects the ratio bank-1 (Ratio numerator 1 & Ratio denominator 1)

0 ~ 32767

0~1

0 RW Bit

1RWUni

Phase advance / retard of the slave axis

Threeparametersallow phase advanceor retardtheslaveaxis. Pulse Reference Offset [13.29] parameter specifies the absolute offset angle in encoder counts(65536 counts / rev). After settingthe offset user enables the bit Move to Offset [13.30] to changethe position. The drive then moves to the new relative position with the programmed Maximum Rate of change [13.31](Pulses/ 125µs). Drive clears 13.30 after reaching to the new position.

13.29 Pulse reference offset

The absolute offset angle in encoder counts (65535 counts / rev).

13.30 Move to offset enable

When this bit is set to 1, with a non-zero value of Pulse Reference Offset [13.29]the slave will move with the specified Maximum Rate of change, by deducting the specified Maximum Rate of change from Pulse Reference Offset [13.29]every125µs, until PulseReference Offset [13.29] becomeszero. Thisbitis clearedby the sequencerwhen Pulse Reference Offset[13.29] reacheszero.

±32767

0~1

0 RW Bi

0 RW Bit

13.31 Maximum positioning speed

The Maximum no of pulses that could be moved every 125µs.

0~512

0 RW Uni

75 M’Ax Advanced User Guide

www.controltechniques.com Issue Number: 4

Control Techniques M'Ax Advanced User's Manual

Specifications and Main Features

Frequently Asked Questions

User Manual