Danfoss ISD 510 Programming guide

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ENGINEERING TOMORROW

Programming Guide

VLT® Integrated Servo Drive ISD® 510 System

vlt-drives.danfoss.com

Contents Programming Guide

Contents

1 Introduction

1.1 Purpose of the Programming Guide

1.2 Additional Resources

1.3 Copyright

1.4 Software

1.4.1 Software Version 15

1.4.2 Firmware Updates 15

1.5 Approvals and Certications

1.6 Terminology

1.7 Safety

2 Servo Drive Operation

2.1 Overview

2.2 Firmware Update

2.3 Basic Operation

2.3.1 State Machine 19

2.3.2 Factor Group 21

2.3.3 Positions and Osets 22

2.3.4 Position Limits 22

2.3.4.1 Hardware Limit Switch 22

2.3.4.2 Software Position Limit 22

2.3.5 Brake Handling 24

2.3.6 Control Loops 24

2.3.6.1 Position Controller 25

2.3.6.2 Speed Controller 26

2.3.6.3 Current Controller 26

2.4 Operating Modes

2.4.1 Prole Position Mode 26

2.4.2 Prole Velocity Mode 30

2.4.3 Prole Torque Mode 32

2.4.4 Homing Mode 33

2.4.4.1 Homing on Actual Position 35

2.4.4.2 Homing on Positive/Negative Block 36

2.4.4.3 Homing on Positive/Negative Limit Switch 36

2.4.4.4 Homing on Positive/Negative Home Switch 37

2.4.4.5 Homing on Current Position 37

2.4.4.6 Error Behavior in Homing Mode 38

2.4.5 CAM Mode 38

2.4.5.1 Activating a CAM prole 40

Contents

VLT® Integrated Servo Drive ISD® 510 System

2.4.5.2 CAM Conguration: Master Absolute/Relative 41

2.4.5.3 CAM Header Information 41

2.4.5.4 Basic CAM 43

2.4.5.5 Advanced CAM 52

2.4.5.6 Commands During Operation 75

2.4.5.7 Notications from the Servo Drive 76

2.4.6 Gear Mode 77

2.4.7 ISD Inertia Measurement Mode 77

2.4.8 Cyclic Synchronous Position Mode 78

2.4.9 Cyclic Synchronous Velocity Mode 78

2.5 Motion Functions

2.5.1 Digital CAM Switch 79

2.5.2 ISD Touch Probe 82

2.5.2.1 Touch Probe Window 83

2.5.2.2 Touch Probe Edge Counter for Continuous Mode 83

2.5.2.3 Timing Example 84

2.5.3 Guide Value 85

2.5.3.1 Guide Value Reference 85

2.5.3.2 Guide Value Reference Simulation 85

2.6 Peripherals

2.6.1 Inputs 86

2.6.2 Output 86

2.6.3 External Encoder 86

2.7 Monitoring

2.7.1 Errors and Warnings 86

2.7.2 Trace 86

2.7.3 Following Error Detection 87

2.7.4 Standstill Detection 87

2.7.5 Constant Velocity Detection 88

2.7.6 STO and Brake Status 88

3 Servo Access Box (SAB) Operation

3.1 Overview

3.2 Control

3.2.1 Relay Outputs 91

3.3 Monitoring

3.3.1 AUX Output 92

3.3.2 DC Output 92

3.3.3 Brake Control and Monitoring 92

3.3.4 Input Voltages 93

3.3.5 Temperatures 93

Contents Programming Guide

3.3.6 Cooling Fans 93

3.4 External Encoder and Guide Value

3.5 Signal Tracing

3.6 Multiple Device ID Assignment

3.7 Software Version

3.8 Firmware Update

4 Local Control Panel (LCP) Operation

4.1 Overview

4.2 Local Control Panel (LCP) Layout

4.3 Graphical User Interface

4.3.1 Supported Languages 96

4.3.2 LCP Display 96

4.3.3 Status Menu (Auto On Mode) 96

4.3.3.1 Default Readouts for ISD 510 Servo Drive 97

4.3.3.2 Default Readouts for SAB 97

4.3.3.3 Alarms and Warnings 98

4.3.4 Main Menu 98

4.3.4.1 Displaying and Editing Values 99

4.3.4.2 ISD 510 Drive Menu 100

4.3.4.3 SAB Menu 100

4.3.5 Hand On Mode 101

4.3.5.1 Servo Drive 101

4.3.5.2 SAB 104

4.3.6 Alarm Log 104

4.4 Keys

4.4.1 Status Key 104

4.4.2 Quick Menu Key 104

4.4.3 Main Menu Key 104

4.4.4 Alarm Log Key 105

4.4.5 Back Key 105

4.4.6 Cancel Key 105

4.4.7 Info Key 105

4.4.8 OK Key 106

4.4.9 Hand On Key 106

4.4.10 O Key 106

104

4.4.11 Auto On Key 106

4.4.12 Reset Key 106

4.4.13 Up [▲] and Down [▼] Keys

4.4.14 Left [◀] and Right [▶] Keys

106

107

Contents

VLT® Integrated Servo Drive ISD® 510 System

4.5 LCP-specic Parameters

4.5.1 ISD 510 Servo Drive-specic LCP Parameters 107

4.5.2 SAB-specic LCP Parameters 108

5 Operation with ISD Toolbox

5.1 Overview

5.2 ISD Toolbox Installation

5.2.1 System Requirements 109

5.2.2 Installation 109

5.3 ISD Toolbox Communication

5.3.1 Network Settings for Indirect Communication 110

5.3.2 Network Settings for Direct Communication with Ethernet POWERLINK

5.3.3 Network Settings for Direct Communication with EtherCAT

5.4 ISD Toolbox Commissioning

5.5 Look and Feel

5.5.1 Main Window 114

5.5.2 Device Environment Window 116

5.5.2.1 Device Information Window 116

107

109

111

112

113

5.5.3 Watchlist Window 118

5.5.4 Output Window 118

5.5.5 Project File 119

5.5.6 Importing and Exporting Devices 119

5.5.7 Online Help 119

5.5.8 Options Window 119

5.6 Connection and Devices

5.6.1 Connect to Bus 121

5.6.2 Disconnect from Bus 121

5.6.3 Online/Oine Devices 121

5.6.4 Adding/Removing Devices 121

5.6.5 Scan for Devices 122

5.7 Sub-Tools

5.7.1 Parameter List (Servo Drive and SAB) 122

5.7.2 Firmware Update (Single and Multi-device for Servo Drive and SAB) 124

5.7.2.1 Single Device Firmware Update 124

5.7.2.2 Multi-Device Firmware Update 124

121

122

5.7.3 Scope (Single and Multi-device for Servo Drive and SAB) 125

5.7.3.1 Sampling 125

5.7.3.2 Triggering 126

5.7.3.3 Trace Signals 127

5.7.3.4 Status 128

Contents Programming Guide

5.7.3.5 Running a Trace 128

5.7.3.6 Polling 129

5.7.3.7 Canceling a Trace 129

5.7.3.8 Trace Visualization 129

5.7.3.9 Saving and Loading Data 130

5.7.3.10 Online and Oine Mode 131

5.7.3.11 Reports, Document Exporting, and Printing 131

5.7.3.12 Multi-device Scope 131

5.7.4 Drive Control (Servo Drive only) 132

5.7.5 Get Error History (Servo Drive and SAB) 136

5.7.6 Digital CAM Switch (Servo Drive only) 137

5.7.7 CAM Editor (Servo Drive only) 138

5.7.7.1 Menu Bar 138

5.7.7.2 Property Window 141

5.7.7.3 Toolbar 141

5.7.7.4 Wizards 141

5.7.7.5 CAM Prole Window Overview 143

5.7.7.6 Editing Basic CAM Proles 144

5.7.7.7 Editing Advanced CAM Proles 146

5.7.7.8 Standalone Emulation of the CAM Editor 157

5.7.8 CAM Prole Management 157

5.7.9 Touch Probe (Servo Drive only) 158

5.7.10 SAB Control (SAB only) 158

5.7.11 SAB ID Assignment via Ethernet POWERLINK® (SAB only) 159

6 Programming

6.1 ID Assignment

6.1.1 EtherCAT

6.1.2 Ethernet POWERLINK

6.1.2.1 Single Device ID Assignment 161

6.1.2.2 Multiple Device ID Assignment 161

6.2 Basic Programming

6.3 TwinCAT

6.3.1 Programming with TwinCAT

161

162

6.3.1.1 ISD Deliverables 162

6.3.1.2 Creating a TwinCAT® Project 162

6.3.1.3 Conguration as a TwinCAT® NC Axis 167

6.3.1.4 Connecting to the PLC 167

6.4 Automation Studio™

6.4.1 Programming with Automation Studio™

168

Contents

VLT® Integrated Servo Drive ISD® 510 System

6.4.1.1 Requirements 168

6.4.1.2 Creating an Automation Studio™ Project

6.4.1.3 Connecting to the PLC 172

6.5 Function Block Descriptions

6.5.1 Overview PLCopen

6.5.1.1 Naming Conventions 172

6.5.1.2 Structure of Library/Package 172

6.5.1.3 PLCopen® State Machine 172

6.5.2 General Input/Output Behavior 174

6.5.2.1 Function Blocks with Execute Input 174

6.5.2.2 Function Blocks with Enable Input 175

6.5.2.3 Error Indication 175

6.5.2.4 Technical Units in the PLC library 176

6.5.3 Programming Guidelines 176

6.5.4 Drive – Administrative 177

6.5.4.1 AXIS_REF_ISD51x 177

6.5.4.2 MC_Power_ISD51x 177

6.5.4.3 MC_Reset_ISD51x 178

168

172

6.5.4.4 MC_ReadStatus_ISD51x 179

6.5.4.5 MC_ReadAxisError_ISD51x 179

6.5.4.6 DD_ReadAxisWarning_ISD51x 180

6.5.4.7 DD_ReadVersion_ISD51x 180

6.5.4.8 DD_UpdateFirmware_ISD51x 181

6.5.4.9 MC_ReadAxisInfo_ISD51x 182

6.5.4.10 MC_ReadMotionState_ISD51x 182

6.5.4.11 MC_ReadActualPosition_ISD51x 183

6.5.4.12 MC_ReadActualVelocity_ISD51x 183

6.5.4.13 MC_ReadActualTorque_ISD51x 184

6.5.4.14 MC_ReadDigitalInput_ISD51x 185

6.5.4.15 DD_ReadAnalogInput_ISD51x 185

6.5.4.16 MC_ReadDigitalOutput_ISD51x 186

6.5.4.17 DD_WriteDigitalOutput_ISD51x 186

6.5.4.18 MC_ReadParameter_ISD51x and MC_ReadBoolParameter_ISD51x 187

6.5.4.19 DD_ReadParameter4_ISD51x 188

6.5.4.20 DD_ReadParameter_ISD51x 189

6.5.4.21 MC_WriteParameter_ISD51x 189

6.5.4.22 DD_WriteParameter_ISD51x 190

6.5.4.23 DD_WriteParameter4_ISD51x 190

6.5.4.24 DD_Trace_ISD51x 191

6.5.4.25 DD_BrakeHandling_ISD51x 193

Contents Programming Guide

6.5.4.26 DD_SelectControlParamSet_ISD51x 193

6.5.4.27 MC_TouchProbe_ISD51x 194

6.5.4.28 MC_AbortTrigger_ISD51x 195

6.5.4.29 DD_PrepareDigCamSwitch_ISD51x 195

6.5.4.30 DD_DigitalCamSwitch_ISD51x 196

6.5.4.31 DD_ProduceGuideValue_ISD51x 197

6.5.5 Drive – Motion 197

6.5.5.1 MC_Home_ISD51x 197

6.5.5.2 MC_Stop_ISD51x 200

6.5.5.3 MC_Halt_ISD51x 201

6.5.5.4 MC_MoveAbsolute_ISD51x 202

6.5.5.5 MC_MoveRelative_ISD51x 205

6.5.5.6 MC_MoveAdditive_ISD51x 207

6.5.5.7 MC_MoveVelocity_ISD51x 209

6.5.5.8 MC_TorqueControl_ISD51x 209

6.5.5.9 MC_GearIn_ISD51x 210

6.5.5.10 MC_GearInPos_ISD51x 210

6.5.5.11 DD_GetInertia_ISD51x 212

6.5.6 Drive – CAM Operation 212

6.5.6.1 MC_CamTableSelect_ISD51x 212

6.5.6.2 MC_CamIn_ISD51x 213

6.5.6.3 DD_CamScaling_ISD51x 214

6.5.6.4 DD_SetFollowSegment_ISD51x 215

6.5.6.5 DD_SetSegmentParameter_ISD51x 216

6.5.6.6 DD_RotationStop_ISD51x 216

6.5.6.7 DD_NodeNotication_ISD51x 217

6.5.6.8 DD_GoToSetpoint_ISD51x 217

6.5.6.9 DD_ReadCamInfo_ISD51x 218

6.5.7 Drive – CAM Creation 218

6.5.7.1 Basic CAM 218

6.5.8 SAB 221

6.5.8.1 SAB_REF 221

6.5.8.2 DD_Power_SAB 221

6.5.8.3 DD_Reset_SAB 222

6.5.8.4 DD_ReadSabInfo_SAB 222

6.5.8.5 DD_ReadSabError_SAB 223

6.5.8.6 DD_ReadSabWarning_SAB 223

6.5.8.7 DD_ReadVersion_SAB 224

6.5.8.8 DD_UpdateFirmware_SAB 224

6.5.8.9 DD_ReadDcLinkPower_SAB 225

Contents

VLT® Integrated Servo Drive ISD® 510 System

6.5.8.10 DD_ReadDcLinkVoltage_SAB 225

6.5.8.11 DD_ReadParameter4_SAB 226

6.5.8.12 DD_ReadParameter_SAB 226

6.5.8.13 DD_WriteParameter4_SAB 227

6.5.8.14 DD_WriteParameter_SAB 228

6.5.8.15 DD_Trace_SAB 228

6.5.8.16 DD_SimulateGuideValue_SAB 229

6.5.8.17 DD_ReadPosGuideValueRef_SAB 230

6.5.8.18 DD_ReadVelGuideValueRef_SAB 231

6.6 Simple Programming Template

7 Servo Drive Parameter Description

7.1 Overview

7.2 Controlword Object

7.2.1 Parameter 16-00 Controlword (0x6040) 232

7.2.1.1 Controlword in Prole Position Mode 233

7.2.1.2 Controlword in Prole Velocity Mode 234

7.2.1.3 Controlword in Prole Torque Mode 234

7.2.1.4 Controlword in Homing Mode 235

7.2.1.5 Controlword in CAM Mode 235

7.2.1.6 Controlword in Gear Mode 236

7.2.1.7 Controlword in ISD Inertia Measurement Mode 236

7.2.1.8 Controlword in Cyclic Synchronous Position Mode 236

7.2.1.9 Controlword in Cyclic Synchronous Velocity Mode 237

7.3 Statusword Object

7.3.1 Parameter 16-03 Statusword (0x6041) 237

7.3.1.1 Statusword in Prole Position Mode 239

231

232

237

7.3.1.2 Statusword in Prole Velocity Mode 239

7.3.1.3 Statusword in Prole Torque Mode 240

7.3.1.4 Statusword in Homing Mode 240

7.3.1.5 Statusword in CAM Mode 241

7.3.1.6 Statusword in Gear Mode 241

7.3.1.7 Statusword in ISD Inertia Measurement Mode 242

7.3.1.8 Statusword in Cyclic Synchronous Position Mode 242

7.3.1.9 Statusword in Cyclic Synchronous Velocity Mode 243

7.4 Factor Group Objects

7.4.1 Parameters 55-00 and 55-01: Position Encoder Resolution (0x608F) 243

7.4.2 Parameters 55-10 and 55-11: Gear Ratio (0x6091) 244

7.4.3 Parameters 55-20 and 55-21: Feed Constant (0x6092) 245

7.4.4 Parameters 55-30 and 55-31: Velocity Factor (0x6096) 246

7.4.5 Parameters 55-40 and 55-41: Acceleration Factor (0x6097) 246

243

Contents Programming Guide

7.5 Commonly Used Objects

7.5.1 Parameter 52-00: Modes of Operation (0x6060) 247

7.5.2 Parameter 52-01: Modes of Operation Display (0x6061) 248

7.5.3 Parameter: Supported Drive Modes (0x6502) 248

7.5.4 Parameter 50-16: Maximum Prole Velocity (0x607F) 249

7.5.5 Parameter 52-37: Maximum Motor Speed (0x6080) 249

7.5.6 Parameter 52-12: Prole Velocity (0x6081) 250

7.5.7 Parameter 50-11: Prole Acceleration (0x6083) 250

7.5.8 Parameter 50-12: Prole Deceleration (0x6084) 251

7.5.9 Parameter 50-13: Quick Stop Deceleration (0x6085) 251

7.5.10 Parameter 50-14: Maximum Acceleration (0x60C5) 252

7.5.11 Parameter 50-15: Maximum Deceleration (0x60C6) 252

7.5.12 Parameter: Maximum Torque (0x6072) 253

7.5.13 Parameters 52-15, 52-23, and 52-36: Application Torque Limit (0x2053) 253

7.6 Control Parameters

7.6.1 Parameter 51-07 to 51-09: Used Task Cycle Times (0x201D) 254

7.6.2 Parameter 51-01: Control Parameter Blending Time (0x201B) 255

247

254

7.6.3 Parameter 51-00: Control Parameter Usage (0x201C) 255

7.6.4 Position Controller 255

7.6.4.1 Parameters 51-16 and 51-17: Position Controller Parameters (0x2013) 255

7.6.4.2 Parameters 51-26 and 51-27: Position Controller Parameters 2 (0x2015) 256

7.6.5 Speed Controller 257

7.6.5.1 Parameters 51-10 to 51-15: Speed Controller Parameters (0x2012) 257

7.6.5.2 Parameters 51-20 to 51-25: Speed Controller Parameters 2 (0x2014) 258

7.7 Positions and Oset Objects

7.7.1 Parameter: Position Demand Value (0x6062) 260

7.7.2 Parameter: Position Demand Internal Value (0x60FC) 260

7.7.3 Parameter: Drive Position (0x2022) 261

7.7.4 Parameter: Position Actual Internal Value (0x6063) 261

7.7.5 Parameter 50-03: Position Actual Value (0x6064) 262

7.7.6 Parameters 50-30 and 50-31: Position Range Limit (0x607B) 262

7.7.7 Parameters 50-32 and 50-33: Software Position Limit (0x607D) 263

7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016) 264

7.8 Guide Value Objects

260

265

7.8.1 Parameter: Position Guide Value (0x2060) 265

7.8.2 Parameter: Velocity Guide Value (0x2064) 266

7.8.3 Parameter: Guide Value Option Code (0x2061) 266

7.8.4 Parameter: Guide Value Scaling Factor (0x3808) 267

7.8.5 Parameter: Guide Value Oset (0x3806) 268

7.9 Guide Value Reference Objects

269

Contents

VLT® Integrated Servo Drive ISD® 510 System

7.9.1 Parameter: Position Guide Value Reference (0x2062) 269

7.9.2 Parameter: Velocity Guide Value Reference (0x2065) 269

7.9.3 Parameter: Guide Value Reference Option Code (0x2063) 269

7.9.4 Parameter: Position Guide Value Reference Set (0x2068) 270

7.9.5 Parameter: Guide Value Plausibility Distance (0x2067) 271

7.9.6 Guide Value Reference Simulation 271

7.9.6.1 Parameter: Guide Value Reference Simulation Control (0x2070) 271

7.9.6.2 Parameter: Guide Value Reference Speed Limit (0x2071) 272

7.9.6.3 Parameter: Guide Value Reference Target Velocity (0x2072) 272

7.9.6.4 Parameter: Guide Value Reference Acceleration (0x2073) 272

7.9.6.5 Parameter: Guide Value Reference Deceleration (0x2074) 273

7.10 Prole Position Mode Objects

7.10.1 Parameter 52-10: Target Position (0x607A) 273

7.10.2 Parameter 52-16: End Velocity (0x6082) 274

7.10.3 Parameter: Positioning Option Code (0x60F2) 274

7.10.4 Parameter: Position Window (0x6067) 277

7.10.5 Parameter: Position Window Time (0x6068) 277

7.11 Prole Velocity Mode Objects

7.11.1 Parameter 52-20: Target Velocity (0x60FF) 277

7.11.2 Parameter: Velocity Demand Value (0x606B) 278

7.11.3 Parameter 50-04: Velocity Actual Value (0x606C) 278

7.11.4 Parameter: Velocity Window (0x606D) 279

7.11.5 Parameter: Velocity Window Time (0x606E) 279

7.12 Prole Torque Mode Objects

7.12.1 Parameter 52-30: Target Torque (0x6071) 279

7.12.2 Parameter: Torque Demand (0x6074) 280

7.12.3 Parameter 50-20: Motor Rated Current (0x6075) 280

7.12.4 Parameter 50-21: Motor Rated Torque (0x6076) 280

273

277

279

7.12.5 Parameter 52-31: Torque Actual Value (0x6077) 281

7.12.6 Parameter 16-14: Current Actual Value (0x6078) 281

7.12.7 Parameter 52-32: Torque Slope (0x6087) 282

7.12.8 Parameter: Torque Window (0x2050) 282

7.12.9 Parameter: Torque Window Time (0x2051) 282

7.13 Homing Mode Objects

283

7.13.1 Parameter 52-40: Home Oset (0x607C) 283

7.13.2 Parameter 52-41: Homing Method (0x6098) 283

7.13.3 Parameters 52-42 and 52-43: Homing Speeds (0x6099) 284

7.13.4 Parameter 52-44: Homing Acceleration (0x609A) 284

7.13.5 Parameter 52-50 to 52-57: Supported Homing Methods (0x60E3) 285

7.13.6 Parameter 52-45 to 52-48: Additional Homing objects (0x2040) 287

Contents Programming Guide

7.14 CAM Mode Objects

7.14.1 Parameter: CAM Prole Memory Layout (0x380F) 288

7.14.2 Parameter: CAM Status (0x3801) 289

7.14.3 Parameter: CAM Control (0x3800) 290

7.14.4 Parameters: CAM Prole 1–8 (0x3810–0x3817) 291

7.14.5 Parameters: CAM Data 1–8 (0x3820–3827) 301

7.14.6 Parameters: CAM Pattern 1–8 (0x3830–3837) 301

7.14.7 Parameter: CAM Prole Selector (0x3804) 302

7.14.8 Parameter: CAM Prole Status (0x3805) 303

7.14.9 Parameter: CAM Slave Oset (0x3807) 304

7.14.10 Parameter: CAM Slave Scaling (0x3809) 305

7.14.11 Parameter: Minimum Blending Distance (0x380A) 306

7.14.12 Parameter: Logical CAM Position (0x2020) 307

7.14.13 Parameter: Logical CAM Set Point (0x2021) 307

7.14.14 Parameter: Active Segment ID (0x2019) 307

7.14.15 Parameter: Last Node ID (0x201A) 308

7.14.16 Parameter: Logged Values (0x3870) 308

288

7.14.17 Parameter: Digital Input Counters (0x3860) 309

7.15 Gear Mode Objects

7.15.1 Parameter: Gear Ratio (0x3900) 309

7.15.2 Parameter: Gear Synchronization Option Code (0x3901) 310

7.15.3 Parameter: Gear Master Start Distance (0x3902) 311

7.15.4 Parameter: Gear Master Sync Position (0x3903) 312

7.15.5 Parameter: Gear Slave Sync Position (0x3904) 312

7.16 ISD Inertia Measurement Objects

7.16.1 Parameter 52-60: Measured Inertia (0x2009) 313

7.16.2 Parameters 52-61 and 52-62: Inertia Measurement Parameters (0x200A) 314

7.17 Digital CAM Switch Objects

7.17.1 Parameter: On Compensation (0x3840) 314

7.17.2 Parameter: O Compensation (0x3841) 315

7.17.3 Parameter: Hysteresis (0x3842) 315

7.17.4 Parameters: Digital CAM Switch Parsing Control (0x3843) 316

7.17.5 Parameter: Digital CAM Switches Data (0x3844) 318

7.18 Touch Probe Objects

309

313

314

318

7.18.1 Parameter: Touch Probe Function (0x60B8) 318

7.18.2 Parameter: Touch Probe Status (0x60B9) 319

7.18.3 Parameter 51-51: Touch Probe 1 Positive Edge (0x60BA) 320

7.18.4 Parameter 51-54: Touch Probe 1 Negative Edge (0x60BB) 321

7.18.5 Parameter 51-61: Touch Probe 2 Positive Edge (0x60BC) 321

7.18.6 Parameter 51-64: Touch Probe 2 Negative Edge (0x60BD) 321

Contents

VLT® Integrated Servo Drive ISD® 510 System

7.18.7 Parameters 51-50 and 51-60: Touch Probe Source (0x60D0) 322

7.18.8 Parameter: First Position (0x3853) 322

7.18.9 Parameter: Last Position (0x3854) 323

7.18.10 Parameter 51-53: Touch Probe Time Stamp 1 Positive Value (0x60D1) 324

7.18.11 Parameter 51-56: Touch Probe Time Stamp 1 Negative Value (0x60D2) 324

7.18.12 Parameter 51-63: Touch Probe Time Stamp 2 Positive Value (0x60D3) 324

7.18.13 Parameter 51-66: Touch Probe Time Stamp 2 Negative Value (0x60D4) 325

7.18.14 Parameter 51-52: Touch Probe 1 Positive Edge Counter (0x60D5) 325

7.18.15 Parameter 51-55: Touch Probe 1 Negative Edge Counter (0x60D6) 326

7.18.16 Parameter 51-62: Touch Probe 2 Positive Edge Counter (0x60D7) 326

7.18.17 Parameter 51-65: Touch Probe 2 Negative Edge Counter (0x60D8) 327

7.19 Tracing Objects

7.19.1 Parameter: Signal Tracer Control (0x5000) 327

7.19.2 Parameter: Signal Trace Channel IDs (0x5001) 329

7.19.3 Parameter: Trace Data (0x5002) 330

7.19.4 Parameter: Trace Signal Info (0x5004) 330

7.20 Option Code Objects

7.20.1 Parameter 50-41: Fault Reaction Option Code (0x605E) 331

7.20.2 Parameter 50-42: Target Reached Option Code (0x2054) 331

7.20.3 Parameter 50-43: Following Error Option Code (0x2055) 332

7.20.4 Parameter 50-44: Enable in Positioning Option Code (0x2052) 333

7.20.5 Parameter 50-45: Abort Connection Option Code (0x6007) 333

7.20.6 Parameter 50-46: Quick Stop Option Code (0x605A) 334

7.20.7 Parameter 50-47: Halt Option Code (0x605D) 334

7.20.8 Parameter 50-48: Shutdown Option Code (0x605B) 335

7.20.9 Parameter 50-49: Disable Operation Option Code (0x605C) 335

7.21 Peripherals

7.21.1 Parameter 16-60: Digital Inputs (0x60FD) 336

327

331

336

7.21.2 Parameters 16-62 and 16-64: Analog Inputs (0x200D) 337

7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F) 337

7.21.4 Parameter 16-66: Digital Outputs (0x60FE) 338

7.21.5 Parameter 52-05: Digital Output Conguration (0x2FFF) 339

7.21.6 External Encoder Objects 340

7.21.6.1 Parameters 51-30 and 51-34 to 51-40: External Encoder Conguration (0x3000) 340

7.21.6.2 Parameter 51-32 and 51-33: External Encoder (0x2011) 342

7.21.6.3 Parameter 51-31: External Encoder Enable (0x3001) 343

7.22 Monitoring Objects

343

7.22.1 Following Error Detection Objects 343

7.22.1.1 Parameter: Following Error Window (0x6065) 343

Contents Programming Guide

7.22.1.2 Parameter: Following Error Time Out (0x6066) 344

7.22.1.3 Parameter: Following Error Actual Value (0x60F4) 344

7.22.2 Standstill Detection Objects 345

7.22.2.1 Parameter: Velocity Threshold (0x606F) 345

7.22.2.2 Parameter: Velocity Threshold Time (0x6070) 345

7.22.3 Constant Velocity Detection Objects 346

7.22.3.1 Parameter 51-70: Constant Velocity Window (0x2030) 346

7.22.3.2 Parameter 51-71: Constant Velocity Window Time (0x2031) 346

7.22.4 Parameters 15-40, 15-41, and 15-43: Version log (0x4000) 346

7.22.5 Parameter 15-51: Serial String (0x4004) 348

7.22.6 Parameters 12-00 to 12-05: Communication Settings (0x400A) 349

7.22.7 Parameters 15-01 and 15-02: Total Running Time (0x5807) 350

7.22.8 Parameter 50-09: STO Voltage and Brake Status (0x2007) 351

7.22.9 Parameter 15-30: Error Code (0x603F) 352

7.22.10 Parameter 16-92: Warning Code (0x5FFE) 352

7.22.11 Parameter: Control Source (0x5020) 352

7.22.12 Parameter 50-08: Motion and Input Status (0x2006) 353

7.22.13 Parameter 50-07: Overlaying Motion Status (0x2005) 354

7.22.14 Parameter: Physical Limits (0x5100) 354

7.22.15 Voltage Objects 356

7.22.15.1 Parameter 16-30: DC Link Voltage (0x2003) 356

7.22.15.2 Parameter 50-06: Auxiliary Voltage (0x200E) 356

7.22.16 Parameter 16-19, 16-31, 16-34, 16-39: Temperature (0x2000) 356

8 SAB Parameter Description

8.1 Object 0x4040: Controlword

8.2 Object 0x4041: Statusword

8.3 Object 0x2000: SAB Temperatures

8.4 Object 0x2001: DC-link Related Values

8.5 Object 0x2003: U

8.6 Object 0x2008: ISD Power Consumption

8.7 Object 0x2009: Fan Speed Power Card

8.8 Object 0x200D: Relay 1 Control

Related Values

AUX

358

359

360

361

8.9 Object 0x200E: Relay 2 Control

8.10 Object 0x2030: Brake Control

8.10.1 Object 0x2030: Brake Control 362

8.11 Object 0x2031: Brake Resistor

8.12 Object 0x2032: Brake Resistor Power Limit

8.13 Object 0x2033: Brake Resistor Power Monitoring

8.14 Object 0x2034: Brake Check

8.15 Object 0x2035: Brake Duty Cycle Monitoring

361

362

363

Contents

VLT® Integrated Servo Drive ISD® 510 System

8.16 Object 0x2036: Brake Resistor Power 120 s

8.17 Object 0x2062: Position Guide Value Reference

8.18 Object 0x2063: Guide Value Reference Option Code

8.19 Object 0x2065: Velocity Guide Value Reference

8.20 Object 0x2068: Position Guide Value Reference Set

8.21 Object 0x2070: Guide Value Reference Simulation Control

8.22 Object 0x2071: Guide Value Reference Speed Limit

8.23 Object 0x2072: Guide Value Reference Target Velocity

8.24 Object 0x2073: Guide Value Reference Acceleration

8.25 Object 0x2074: Guide Value Reference Deceleration

8.26 Object 0x3000: External Encoder Conguration

8.27 Object 0x3001: External Encoder Enable

8.28 Object 0x4004: Serial String

8.29 Object 0x400A: Communication Settings

8.30 Object 0x5020: Control Source

8.31 Object 0x5807: Total Running Time

8.32 Object 0x503F: Error Code

363

364

365

366

8.33 Object 0x5FFE: Warning Code

9 Diagnostics

9.1 System Monitoring

9.2 Drive

9.2.1 Troubleshooting 367

9.2.2 Error Codes 368

9.2.3 Trace Signals 370

9.3 SAB

9.3.1 Troubleshooting 372

9.3.2 Warnings and Alarms 374

9.3.3 Trace Signals 377

9.4 Operating Status Indicators

9.4.1 Operating LEDs on the Servo Drive 378

9.4.2 Operating LEDs on the Servo Access Box 378

10 Appendix

10.1 Glossary

366

367

372

378

380

10.2 General XML Conventions

Index

381

383

Introduction Programming Guide

1 Introduction

1.1 Purpose of the Programming Guide

The purpose of this programming guide is to describe the programming of the VLT® Integrated Servo Drive ISD® 510

System.

This programming guide contains information about:

Software installation

•

Programming

•

Operation

•

Applications

•

Troubleshooting

•

This programming guide is intended for use by qualied personnel. Read the document in full in order to use the servo system safely and professionally, and pay particular attention to the safety instructions and general warnings. This programming guide is an integral part of the ISD 510 servo system so keep it available with the servo system at all times.

Compliance with the information in this document is a prerequisite for:

Trouble-free operation

•

Recognition of product liability claims

•

Therefore, read this document before working with the servo system.

Additional Resources

1.2

Available manuals for the VLT® Integrated Servo Drive ISD 510 System:

Software

1.4

The software for the ISD 510 servo system comprises:

The rmware of the VLT® Integrated Servo Drive

•

ISD® 510 that is already installed on the device.

rmware of the VLT® Servo Access Box that is

The

•

already installed on the device.

A package of PLC libraries for Automation

•

Studio™ for operating the ISD 510 devices (see

chapter 6.4.1 Programming with Automation Studio™ for further information).

A PLC library for TwinCAT® 2 for operating the

•

ISD 510 devices (see chapter 6.3.1 Programming

with TwinCAT

ISD Toolbox: A Danfoss PC-based software tool for

•

commissioning and debugging the devices.

for further information).

1.4.1 Software Version

This programming guide can be used for the following software versions onwards:

ISD 510 Servo Drive: Version 1.4.0

•

Servo Access Box (SAB): Version 1.2.0

•

ISD Toolbox: Version 2.0

•

PLC libraries (Powerlink / EtherCAT): Version 1.0

•

The software version number can be read from object 0x4000 (see chapter 7.22.4 Parameters 15-40, 15-41, and 15-43: Version log (0x4000)).

1.4.2 Firmware Updates

1 1

Document Contents

VLT® Integrated Servo Drive ISD® 510 System Operating Instructions

VLT® Integrated Servo Drive ISD® 510 System Design Guide

VLT® Integrated Servo Drive ISD® 510 System Programming Guide

Table 1.1 Available Manuals for the ISD 510 Servo System

Technical literature for Danfoss drives is also available online at drives.danfoss.com/knowledge-center/technical- documentation/.

1.3

VLT®, ISD®, and SAB® are Danfoss registered trademarks.

Information about the installation, commissioning, and operation of the ISD 510 servo system.

Information about the set-up of the ISD 510 servo system and detailed technical data.

Information about the programming of the ISD 510 servo system.

Firmware updates may be available. When rmware updates are available, they can be downloaded from the danfoss.com website. Use the ISD Toolbox software to install the rmware in the servo drives.

Approvals and Certications

1.5

The ISD 510 servo system fullls the standards listed in Table 1.2.

IEC/EN 61800-3 Adjustable speed electrical power drive

systems. Part 3: EMC requirements and specic test methods.

IEC/EN 61800-5-1 Adjustable speed electrical power drive

systems. Part 5-1: Safety requirements – Electrical, thermal and energy.

Introduction

VLT® Integrated Servo Drive ISD® 510 System

IEC/EN 61800-5-2 Adjustable speed electrical power drive

systems. Part 5-2: Safety requirements – Functional.

IEC/EN 61508 Functional safety of electrical/electronical/

programmable electronic safety-related systems.

EN ISO 13849-1 Safety of machinery – Safety-related parts of

control systems. Part 1: General principles for design.

EN ISO 13849-2 Safety of machinery – Safety-related parts of

control systems. Part 2: Validation.

IEC/EN 60204-1 Safety of machinery – Electrical equipment of

machines. Part 1: General requirements.

IEC/EN 62061 Safety of machinery – Functional safety of

safety-related electrical, electronic, and programmable electronic control systems.

IEC/EN 61326-3-1 Electrical equipment for measurement,

control, and laboratory use – EMC requirements. Part 3-1: Immunity requirements for safetyrelated systems and for equipment intended to perform safety-related functions (functional safety) – General industrial applications.

UL508C UL Standard for Safety for Power Conversion

Equipment.

Terminology

1.6

ISD Integrated servo drive ISD 510 Servo Drive

VLT® Servo Access Box (SAB)

PLC External device for controlling the ISD 510

Loop cable Hybrid cable for connecting drives in daisy-

Feed-in cable Hybrid cable for connection from the SAB to

Table 1.3 Terminology

Decentral servo drive

Unit that generates the DC-link voltage and passes the U signals to the ISD 510 servo drives via a hybrid cable.

servo system.

chain format.

the 1st servo drive.

, Real-Time Ethernet, and STO

AUX

An explanation of all terminology and abbreviations can be found in chapter 10.1 Glossary.

1.7 Safety

The following symbols are used in this guide:

WARNING

Indicates a potentially hazardous situation that could result in death or serious injury.

2006/42/EC Machinery Directive CE

2014/30/EU EMC Directive 2014/35/EU Low Voltage Directive RoHS (2002/95/EC)

EtherCAT

Ethernet POWERLINK

PLCopen

Table 1.2 Approvals and Certications

Restriction of hazardous substances.

Ethernet for Control Automation Technology. Ethernet-based eldbus system. Ethernet-based eldbus system:

Technical specication. Function blocks for motion control (formerly Part 1 and Part 2) Version 2.0 March 17, 2011.

CAUTION

Indicates a potentially hazardous situation that could result in minor or moderate injury. It can also be used to alert against unsafe practices.

NOTICE

Indicates important information, including situations that can result in damage to equipment or property.

The following safety instructions and precautions relate to the ISD 510 servo system. Read the safety instructions carefully before starting to work in any way with the ISD 510 servo system or its components. Pay particular attention to the safety instructions in the relevant sections of this manual.

WARNING

HAZARDOUS SITUATION

If the servo drive, SAB, or the bus lines are incorrectly connected, there is a risk of death, serious injury, or damage to the unit. Always comply with the instructions in this manual and national and local safety regulations.

Introduction Programming Guide

WARNING

GROUNDING HAZARD

The ground leakage current is >3.5 mA. Improper grounding of the ISD 510 servo system components may result in death or serious injury.

For reasons of operator safety, ground the

•

components of the ISD 510 servo system correctly in accordance with national or local electrical regulations and the information in this manual.

WARNING

HIGH VOLTAGE

The ISD 510 servo system contains components that operate at high voltage when connected to the electrical supply network. A hazardous voltage is present on the servo drives and the SAB whenever they are connected to the mains network. There are no indicators on the servo drive or SAB that indicate the presence of mains supply. Incorrect installation, commissioning, or maintenance can lead to death or serious injury.

Installation, commissioning, and maintenance

•

may only be performed by qualied personnel.

WARNING

UNINTENDED START

The ISD 510 servo system contains servo drives and the SAB that are connected to the electrical supply network and can start running at any time. This may be caused by a eldbus command, a reference signal, or clearing a fault condition. Servo drives and all connected devices must be in good operating condition. A decient operating condition may lead to death, serious injury, damage to equipment, or other material damage when the unit is connected to the electrical supply network.

Take suitable measures to prevent unintended

•

starts.

WARNING

DISCHARGE TIME

The servo drives and the SAB contain DC-link capacitors that remain charged for some time after the mains supply is switched o at the SAB. Failure to wait the specied time after power has been removed before performing service or repair work could result in death or serious injury.

To avoid electrical shock, fully disconnect the

•

SAB from the mains and wait for at least the time listed in Table 1.4 for the capacitors to fully discharge before carrying out any maintenance or repair work on the ISD 510 servo system or its components.

Number Minimum waiting time (minutes)

0–64 servo drives 10

Table 1.4 Discharge Time

NOTICE

Never connect or disconnect the hybrid cable to or from the servo drive when the ISD 510 servo system is connected to mains or auxiliary supply, or when voltage is still present. Doing so damages the electronic circuitry. Ensure that the mains supply is disconnected and the required discharge time for the DC-link capacitors has elapsed before disconnecting or connecting the hybrid cables or disconnecting cables from the SAB.

NOTICE

Full safety warnings and instructions are detailed in the

VLT® Integrated Servo Drive ISD 510 System Operating Instructions.

1 1

WARNING

UNINTENDED MOVEMENT

Unintended movement may occur when parameter changes are carried out immediately, which may result in death, serious injury, or damage to equipment.

When changing parameters, take suitable

•

measures to ensure that unintended movement cannot pose any danger.

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

2 Servo Drive Operation

2.1 Overview

The CiA CANopen standard DS402 Drives and Motion Control Device Prole is supported by both Ethernet

POWERLINK® and EtherCAT®.

2.2 Firmware Update

The products are delivered with the most recent version. See chapter 1.4.2 Firmware Updates for information on upgrading.

The servo drive rmware can be updated via the eldbus. The download of new rmware is only allowed in the unpowered drive state Switch on disabled. If the servo drive is in another state, the transfer is refused. While the update is in progress, the servo drive signals the warning Firmware update in progress. After nishing, the servo drive signals the warning Firmware update occurred. Power cycle the servo drive to resume normal operation.

If the servo drive state machine is switched to another state than Switch on disabled after the rmware update has begun (that is, during le transfer or after ashing without a power-cycle), the servo drive switches to state Fault. This error indicates that a power-cycle is needed before the servo drive can resume operation. If, for example, a power failure occurs during upgrading, the servo drive remains in a state that allows the update process to resume. The currently installed version can be read from object 0x4000 (see chapter 7.22.4 Parameters 15-40, 15-41, and 15-43: Version log (0x4000)).

rmware

NOTICE

To change the supported eldbus, update to the corresponding rmware. After changing the eldbus, the original product code is no longer valid.

Start

Not ready to

switch on

Switch on

disabled

Fault

Fault reaction

active

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

2 7

8 9

4 5

130BF157.10

Servo Drive Operation Programming Guide

2.3 Basic Operation

2.3.1 State Machine

The servo drive uses the state machine described in the CiA DS402 standard. The state machine is operated either locally via the LCP or remotely via the network.

The state machine is operated by local signals and by the Controlword sent over the eldbus. The state of the state machine is reported by the Statusword produced by the servo drive.

A single state represents a special internal or external behavior. The state of the state machine also determines which commands are accepted.

Illustration 2.1 shows the state machine of the servo drive with regard to control of the power electronics as a result of commands and internal servo drive faults.

2 2

Illustration 2.1 DS402 State Machine

The states support the functions shown in Table 2.1. The Start state is a pseudo state indicating the start when the state machine is activated during the start-up sequence of the device drives application software.

Function

Brake applied, if present Yes Yes Yes Yes No No No Yes Low-level power applied Yes Yes Yes Yes Yes Yes Yes Yes High-level power applied Yes/no Yes/no Yes/no Yes Yes Yes Yes Yes/no Drive function enabled No No No No Yes Yes Yes No Conguration allowed Yes Yes Yes Yes Yes Yes Yes Yes

Table 2.1 DS402 States and Supported Functions

Quick stop active state is implemented, which is optional according to the standard. When entering this state, the behavior of the servo drive is according to the option code Option Code (0x605A)).

Not ready to

switch on

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

dened in object 0x605A (see chapter 7.20.6 Parameter 50-46: Quick Stop

Fault

reaction

active

Fault

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

The transition from state Quick stop active to state Operation enabled (Transition 16 in Illustration 2.1) is not available, as recommended by the standard.

The servo drive supports the transitions and actions as given in Table 2.2. The events initiate the transition. The transition is terminated after the action has been performed.

High-level power applied means that UDC is applied at the input of the servo drive. Yes/No means that it is allowed but not necessary.

Conguration allowed means that the following conguration is allowed:

Changes to the option code objects (see chapter 7.20 Option Code Objects).

•

Changes to the mode of operation object (see chapter 7.5.1 Parameter 52-00: Modes of Operation (0x6060)).

•

Transition Event Action

0 Automatic transition after power-on or reset

application. 1 Automatic transition. Communication is activated. 2 Shutdown command received from control device. – 3 Switch on command received from control device. High-level power is switched on, if possible. 4 Enable operation command received from control

device.

5 Disable operation command received from control

device. 6 Shutdown command received from control device. The congured shutdown reaction function is executed (see

7 Quick stop or disable voltage command received

from control device. 8 Shutdown command received from control device. The servo drive function is disabled and high-level power is switched

9 Disable voltage command received from control

device. 10 Disable voltage or quick stop command received

from control device. 11 Quick stop command received from control device. The quick stop function is started. 12 Automatic transition when:

Quick stop function is completed (see

•

chapter 7.20.6 Parameter 50-46: Quick Stop Option Code (0x605A)).

Disable voltage command received from control

•

device.

13 Fault signal. The congured fault reaction function is executed (see

14 Automatic transition. The servo drive function is disabled and high-level power is switched

15 Fault reset command received from control device. If no fault exists on the servo drive, the fault condition is reset. After

16 Not supported. –

Servo drive self-test and self-initialization are performed.

The servo drive function is enabled and all internal setpoints are cleared. If the servo drive is rotating when the command to carry out transition 4 is received, the behavior is dened by option code

chapter 7.20.4 Parameter 50-44: Enable in Positioning Option Code (0x2052).

The congured disable operation reaction function is executed (see

chapter 7.20.9 Parameter 50-49: Disable Operation Option Code (0x605C)).

chapter 7.20.8 Parameter 50-48: Shutdown Option Code (0x605B)).

–

o, if possible. The servo drive function is disabled and high-level power is switched o, if possible. High-level power is switched o, if possible.

The congured quick stop reaction function is executed (see

chapter 7.20.6 Parameter 50-46: Quick Stop Option Code (0x605A)).

chapter 7.20.1 Parameter 50-41: Fault Reaction Option Code (0x605E)).

o, if possible.

leaving state Fault, clear the fault reset bit in the Controlword via eldbus or the LCP.

Table 2.2 Transition Events and Actions

Position value =

position internal value x feed constant

position encoder resolution x gear ratio

Velocity value = x velocity factor

velocity internal value x feed constant

velocity encoder resolution x gear ratio

Velocity value = x velocity factor

position value

Servo Drive Operation Programming Guide

If a state transition is requested, the related actions are processed completely before transitioning to the new state. For example, in state Operation enabled, when the disable operation command is received, the servo drive remains in state

Operation enabled until the disable operation function (see chapter 7.20.9 Parameter 50-49: Disable Operation Option Code (0x605C)) is completed.

Drive function is disabled means that no energy is supplied to the motor. Target or setpoint values (for example, torque,

velocity, position) are not processed. Drive function is enabled means that energy is supplied to the motor. Target or setpoint values are processed.

If a fault is detected in the servo drive, a transition to state Fault reaction active takes place. In this state, the state machine executes a special fault reaction (see chapter 7.20.1 Parameter 50-41: Fault Reaction Option Code (0x605E)). After the execution of this fault reaction, the servo drive automatically switches to state Fault. This state can only be left by using the fault reset command, but only if the fault is no longer active.

2 2

If a fatal error occurs, the servo drive is no longer able to control the motor, so the servo drive must be switched immediately. If a fatal error has occurred, the servo is trip-locked and cannot be reset via eldbus.

The behavior of drive disabling, quick stop, halt, and fault reaction functions are congurable via the objects dened in chapter 7.20 Option Code Objects.

If a brake is present, the high-level power is switched o after a delay time in order to apply the brake.

2.3.2 Factor Group

Use the factor group to set the user-dened units required in the application.

The user-dened units are:

Position units

•

Velocity units

•

Acceleration units

•

These units are used for all objects that support userdened units (for example, position actual value, prole

velocity, and prole acceleration).

Changing the objects in the factor group has an immediate eect on all objects that support user-dened units. Their numerical values stay the same, but they are interpreted dierently (according to the new scaling factors of the factor group). All numerical values are interpreted using the current settings of the factor group.

Position units:

The position value is calculated as:

Position value means all objects containing values in user- dened position units. Position internal value is given in encoder increments.

Velocity units:

The velocity value is calculated as:

Velocity internal value is the position internal value(s), resulting in the following formula:

o

NOTICE

If the factor group is changed, then the default values are interpreted dierently.

The formulae in this chapter show the calculation of the units. Objects, whose values are not dependent on the factor group, have xed units specied with the objects.

The objects of the factor group can be found in chapter 7.4 Factor Group Objects.

Velocity value means all objects containing values in user- dened velocity units.

Acceleration value = x acceleration factor

velocity value

Internal Encoder Position

(-)

TRC_ROTOR_POS_RAW

[increments]

Physical (Absolute) Position

(-)

TRC_ROTOR_POS

[increments]

Drive Position

(0x2022)

[user-dened position unit]

TRC_POS_ACT_REAL

[revolutions]

Position Actual Value

(0x6064)

TRC_POS_ACT_ABS

[user-dened position unit]

Logical CAM Position

(0x2020)

TRC_CAM_POS

[revolutions]

Only up to date if CAM

mode is active;

otherwise, the last value

remains

Position Actual Internal

Value

(0x6063)

[increments]

Encoder oset

(set during callibration)

Position oset

(set during homing)

Factor group

Factor group +

Position range limit

(0x6078)

CAM osets

130BF158.10

Position

Hardware

limit switch

Velocity

Quick-stop

deceleration

130BF159.10

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Acceleration units:

The acceleration value is calculated as:

2.3.4 Position Limits

2.3.4.1 Hardware Limit Switch

One method to limit the positions of the servo drive is to use limit switches (left/negative or right/positive), which are also referred to as hardware limit switches. The limit

Acceleration value means all objects containing values in user-dened acceleration units. The acceleration unit is also used for deceleration.

2.3.3 Positions and Osets

Inside the servo drive, there are several logical positions. Illustration 2.2 shows the relationships between them.

switches must be congured using object 0x200F (see

chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)). When the servo drive reaches the Left

(Right) Limit switch, it ramps down to standstill using the value set in object 0x6085 (see chapter 7.5.9 Parameter 50-13: Quick Stop Deceleration (0x6085)). It is possible to command the servo drive out of the limit switch in the opposite direction. The states of the limit switches are indicated in object 0x2006 (see chapter 7.22.12 Parameter 50-08: Motion and Input Status (0x2006)).

The servo drive remains in state Operation enabled. If a motion command is issued that would direct the servo drive further in the wrong direction, the command is rejected by setting the command error bit in the Statusword. The monitoring of the limit switch is edgetriggered because the signal does not need to remain high for the duration of the servo drive ramp-down time.

The hardware limit switch is monitored in all modes of operation.

Illustration 2.2 Servo Drive Logical Positions

The object index is given in round brackets. The positions

oset is the oset that is calculated during a

without index numbers are not available in the object dictionary but are used internally in the rmware of the servo drive. The units are given in square brackets.

The Position homing procedure (see chapter 2.4.4 Homing Mode). For applications where the zero position only needs to be set once during the lifetime of the servo drive, this oset can be saved to non-volatile memory (see

chapter 7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016)).

Illustration 2.3 Hardware Limit Switch

2.3.4.2 Software Position Limit

The valid positions of the servo drive can also be limited using software position limits (object 0x607D: Software position limit). This object indicates the congured maximum and minimum software position limits and is used to monitor the position limits in all available modes of operation.

Supervision of software position limits requires a dened home position (the Is homed bit in the Statusword must be set).

The behavior of the servo drive in a position-controlled mode of operation diers to other modes. In a positioncontrolled mode of operation, the drive does not pass over the software position limit. The target position is limited to

Position

Software

position limit

Velocity

Quick-stop

deceleration

Prole

deceleration

130BF160.10

Position

controlled

Velocity

controlled

Target

reached

Position

Command

Error

Positive software

limit active

Done

PLC

Fieldbus

Busy

Error

Positioning

command

Time

Software

position limit

Target

position

130BF161.10

Target

reached

Position

Command

Error

Positive software

limit active

Done

PLC

Fieldbus

Busy

Error

Positioning

command

Positioning only to

Software position limit

Time

Target

position

Software

position limit

130BF162.10

Target

reached

Position

Command

Error

Positive software

limit active

Done

PLC

Fieldbus

Busy

Error

Positioning

command

Software

position limit

Target

position

Time

130BF163.10

Servo Drive Operation Programming Guide

the software position limit. In all other modes of operation, the servo drive immediately ramps down using the Quick

stop deceleration value (see chapter 7.5.9 Parameter 50-13: Quick Stop Deceleration (0x6085)) when the software

position limit is passed. This means that the servo drive always stops after the Software position limit.

Illustration 2.4 Software Position Limit

Illustration 2.5 to Illustration 2.9 show the behavior of the servo drive around the position limits.

2 2

Illustration 2.6 Position Command: Target Position is Behind

the Software Position Limit

Illustration 2.5 Normal Positioning: Target Position is in the

Valid Position Range

Illustration 2.7 Servo Drive is Outside the Valid Position Limit

and the Target Position is in a Valid Area

Target

reached

Position

Command

Error

Positive software

limit active

Done

PLC

Fieldbus

Busy

Error

Positioning

command

Target

position

Software

position limit

Time

130BF164.10

Target

reached

Position

Command

Error

Positive software

limit active

Done

PLC

Fieldbus

Busy

Error

Time

Target

position

Software

position limit

Positioning

command

130BF165.10

Motor in

unpowered

state

Brake is open

Motor in

unpowered

state

Brake is closed

Motor is

energized

Brake is open

User command:

Close brake

Energize

motor

Unpower

motor

User command:

Open brake

Energize motor

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VLT® Integrated Servo Drive ISD® 510 System

2.3.5 Brake Handling

automatically lifts the brake. The servo drive reports the new state after the brake is lifted.

When the servo drive leaves state Operation enabled, it automatically releases the brake so that the axis cannot sag down. The servo drive reports the new state after the brake is unreleased.

The brake state can be overwritten using the digital output object (see chapter 7.21.4 Parameter 16-66: Digital Outputs (0x60FE)). This is only allowed in unpowered state. The valid commands and the reactions are shown in Illustration 2.10.

WARNING

UNINTENDED MOTION

Releasing the brake in an unpowered state may result in unintended motion leading to death, serious injury, damage to equipment, or other material damage.

Do not release the brake in an unpowered state.

When the servo drive enters state Operation enabled, it

Illustration 2.8 Servo Drive is Outside the Valid Position Limit

and the Target Position is in the Wrong Direction

•

Illustration 2.10 Valid Brake Commands and Reactions

It is not possible to have an energized motor with a closed brake. For further information about the current state, see

chapter 7.22.8 Parameter 50-09: STO Voltage and Brake Status (0x2007).

2.3.6 Control Loops

Servo motor control takes place using 3 cascaded control loops (position controller, speed controller, and current controller) with trajectory generators for position and velocity. The control loops run synchronously with the eldbus cycles. The cycle times shown in Table 2.3 are

possible with Ethernet POWERLINK® and EtherCAT®:

Fieldbus cycle

[µs]

Illustration 2.9 Servo Drive is Outside the Valid Position Limit.

The Target Position is Still Not in a Valid Area, but is Nearer to

it than the Previous Position

400 200 200 100 500 250 250 125 800 200 200 100

Position control

cycle

[µs]

Speed control

cycle

[µs]

Current control

cycle

[µs]

Limit

function

Limit

function

Torque control

Velocity

control

Position

control

Selector

Application torque limit (0x2053) Max torque (0x6072)

Max motor speed (0x6080)

Feed forward torque Feed forward velocity

Position demand Internal value (0x60FC)

Controlword (0x6040)

Position controller parameters (0x2013) Speed controller parameters (0x2012) Position controller parameters 2 (0x2015) Speed controller parameters 2 (0x2014)

– – –

P D

Notch

Inertia

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Fieldbus cycle

[µs]

1000 250 250 125

Table 2.3 Ethernet POWERLINK® and EtherCAT® Cycle Times

Position control

cycle

[µs]

Speed control

cycle

[µs]

Current control

cycle

[µs]

Linear blending occurs from the parameter of the currently active set to the new one. The blending time is dened in object 0x201B (see chapter 7.6.2 Parameter 51-01: Control Parameter Blending Time (0x201B)).

No blending takes place when writing to a value of the currently active control parameter set. The new value is

The used cycle times can be read using object 0x201D (see

used immediately, which could cause a jerk on the shaft.

chapter 7.6.1 Parameter 51-07 to 51-09: Used Task Cycle Times (0x201D)). The values are given in microseconds.

Blending is used when updating a whole set of parameters at the same time (for example, when activating CAM mode,

There are 2 control parameter sets in the servo drive,

which uses its own sets of control parameters).

however only 1 of them can be active at any time. Use bit 15 (cs) in the Controlword to switch from 1 set to the other.

2.3.6.1 Position Controller

The controller uses PD control. The D constant is the derivative time constant. The controller provides 2 sets of control parameters that can be switched during operation (see chapter 7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016) and chapter 7.6.4.2 Parameters 51-26 and 51-27: Position Controller Parameters 2 (0x2015)).

Both sets are available as read-write objects in the object dictionary. Use a manufacturer-specic bit in the Controlword to switch between the 2 sets of parameters.

2 2

Illustration 2.11 Position Control Loop

Limit

function

Limit

function

Torque control

Velocity

control

Selector

Application torque limit (0x2053) Max torque (0x6072)

Max motor speed (0x6080)

Feed forward torque

Feed forward velocity

Controlword (0x6040)

Position controller parameters (0x2013) Speed controller parameters (0x2012) Position controller parameters 2 (0x2015) Speed controller parameters 2 (0x2014)

+ +

– –

P D

Notch

Inertia

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2.3.6.2 Speed Controller

VLT® Integrated Servo Drive ISD® 510 System

that can be parameterized (center frequency/bandwidth) to suppress resonance. The controller provides 2 sets of control parameters (see chapter 7.6.5.1 Parameters 51-10 to 51-15: Speed Controller Parameters (0x2012) and chapter 7.6.5.2 Parameters 51-20 to 51-25: Speed Controller Parameters 2 (0x2014)) that can be switched spontaneously.

Both sets are available as read-write objects in the object dictionary. Use a manufacturer-specic bit in the Controlword to switch between the 2 sets of parameters.

The controller uses PID control. The D constant is the derivative time constant. The speed controller has a Notch-Filter (IIR)

Illustration 2.12 Speed Control Loop

2.3.6.3 Current Controller

The current controller runs synchronous to the eldbus cycle time. It cannot be parameterized.

Operating Modes

2.4

The servo drive implements several modes of operation. The behavior of the servo drive depends on the activated mode of operation. It is possible to switch between the modes while the servo drive is enabled. The supported modes of operation

are according to CANopen® CiA DS402 and there are also ISD-specic modes of operation. All supported modes of operation are available for EtherCAT® and Ethernet POWERLINK®.

2.4.1 Prole Position Mode

In Prole position mode, the servo drive is operated under position control and executes absolute and relative movements. Parameters such as velocity, acceleration, and deceleration can be parameterized. The servo drive provides a buer to queue a following move while another move is already executing.

This functionality can be commanded using the function blocks MC_MoveAbsolute_ISD51x (see chapter 6.5.5.4 MC_MoveAb- solute_ISD51x) and MC_MoveRelative_ISD51x (see chapter 6.5.5.5 MC_MoveRelative_ISD51x). This functionality can also be used via the LCP (see section Position mode in chapter 4.3.5.1 Servo Drive).

When switching to Prole position mode from Prole velocity mode, CAM mode, Gear mode, or Prole torque mode, the servo drive continues rotating with the current velocity. As soon as there is a new setpoint (handed over using the handshaking between Controlword and Statusword), the new setpoint is processed with the corresponding parameters.

Tragectory

generator

Minimum

comparator

Minimum

comparator

Limit

function

Limit

function

Limit

function

Multiplier

Target position (0x607A)

Position range limit (0x607B) Software position limit (0x607D)

Drive mirror mode (0x2016, 02)

End velocity (0x6082)

Max motor speed (0x6080)

Quick-stop deceleration (0x6085)

Max acceleration (0x60C5)

Quick-stop option code (0x605A) Positioning option code (0x60F2)

Max torque (0x6072) Application torque limit (0x2053)

Torque limit

Position demand

internal value

(0x60FC)

Feed forward

velocity

Feed forward

torque

Max deceleration (0x60C6)

quick-stop deceleration

Target position

Velocity limit

or End velocity

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When switching from a torque or velocity controlled mode to Prole position mode, the last target position is set to the position actual value. This is relevant when starting a relative movement from the last target position after switching to this mode, because no last target position from the previous mode is available. If the previous mode ended with a velocity unequal to 0, the last target position is the position actual value at the time of the mode switch.

If the trajectory is completed (target position is reached) and the end velocity (see chapter 7.10.2 Parameter 52-16: End Velocity (0x6082)) is unequal to 0, the servo drive continues rotating at the specied end velocity until a further trajectory is set.

2 2

Illustration 2.13 Prole Position Mode Control Function

Target position activation

The activation of a setpoint is controlled by the timing of:

The new setpoint bit and the change set immediately bit in the Controlword.

•

The setpoint acknowledge bit in the Statusword.

•

If the Change set immediately bit of the Controlword is set to 1, a potentially ongoing motion is interrupted and the new setpoint is used immediately. If the Change set immediately bit of the Controlword is set to 0, the ongoing positioning command is nished rst and the new setpoint is executed afterwards.

After a setpoint is applied to the servo drive, the control device signals that the setpoint is valid by a rising edge of the new setpoint bit in the Controlword. The servo drive sets the setpoint acknowledge bit in the Statusword to 1. Afterwards, the servo drive with the setpoint acknowledge bit set to 0 signals its ability to accept new setpoints. An example is shown in Illustration 2.14.

Actual speed

New

setpoint

(bit 4)

Target

position

(setpoint)

Setpoint

acknowledge

(bit 12)

Target

reached

(bit 10)

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A A B B B E

B C

C D

New

setpoint

(bit 4)

Change set

immediately

(bit 5)

Setpoint

knowledge

(bit 12)

Target

reached

(bit 10)

Setpoint

setpoint

Processed

setpoint

1 2 3 4 5

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Illustration 2.14 Handshaking Procedure for Setpoint

Activation

The servo drive supports 2 setpoints: a setpoint that is currently being processed, and a buered setpoint. If a setpoint is still in progress (has not been reached) and a new setpoint is activated by the new setpoint bit in the Controlword, 2 methods of handling are supported. The new setpoint is activated immediately if the Change set immediately bit of the

Controlword is set to 1. If the Change set immediately bit of Controlword is set to 0, the currently active setpoint is nished rst and the new setpoint is started afterwards.

Illustration 2.15 Setpoint Handling for 2 Setpoints

New setpoints are buered as long as a free setpoint buer is available in the axis. If no setpoint is in progress, the new setpoint becomes active immediately (case 1 in Illustration 2.15). If a setpoint is in progress, the new setpoint is stored in the setpoint buer (cases 2 and 3 in Illustration 2.15).

If all setpoint buers are busy (Setpoint acknowledge bit is set to 1), the reaction depends on the Change set immediately bit. If the Change set immediately bit is set to 0, the new setpoint is rejected (case 4 in Illustration 2.15). If the Change set immediately bit is set to 1, the new setpoint is processed immediately. The currently running setpoint prole is discarded (case 5 in Illustration 2.15).

Actual

speed

New

setpoint

(bit 4)

Target

position

(setpoint)

Current target

position

processed

Setpoint

acknowledge

(bit 12)

Target

reached

(bit 10)

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Window

comparator

Limit

function

Comparator

Selector

Timer

Target reached option code (0x2054)

Position window time (0x6068)

Position window (0x6067)

Drive position (0x2022)

Position range (0x607B)

Target reached

Software position (0x607D)

Target position (0x607A)

Position demand value (0x6062)

Target position (0x607A)

–

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Servo Drive Operation Programming Guide

The Target reached bit in the Statusword remains as 0 until all setpoints are processed.

The Buered setpoint is not available as an object for readout.

When a setpoint is in progress and a new setpoint is set to start afterwards (New setpoint bit is set to 0), the new setpoint is only processed after the previous setpoint has been reached. The handshaking procedure shown in Illustration 2.16 is used for this scenario. The additional gray line in the graph Actual speed shows the actual speed if the Change of setpoint bit (bit 9 in the Controlword) is set to 1.

2 2

Illustration 2.16 Inuence of Change of Setpoint Bit in Prole

Position Mode

Position reached function

The position reached function oers the possibility to dene a range around a position demand value to be regarded as valid. If the position of the servo drive is within this area for a specied time (the position window time), the related control bit Target reached (bit 10) in the Statusword is set to 1.

Illustration 2.17 Position Reached – Functional Overview

Accepted position range

Position window

Position not

reached

Position not

reached

Position reached

Target

position

Position

Position window

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Drive mirror mode (0x2016,02)

Target velocity (0x60FF) Limit

function

Limit

function

Trajectory generator

d/dt

Minimum

comparator

Minimum

comparator

Multiplier

Max motor speed (0x6080)

Position actual value (0x6064)

Max torque (0x6072)

Torque limit

Feed forward

torque

Velocity demand

value (0x6068)

Velocity limit

quick-stop deceleration

Application torque limit (0x2053)

Max acceleration (0x60C5)

Max deceleration (0x60C6)

Quick-stop deceleration (0x6085)

Quick-stop option code (0x605A)

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VLT® Integrated Servo Drive ISD® 510 System

Illustration 2.18 shows the denition of the sub-function position reached. A window is dened for the accepted position range symmetrically around the target position. If a servo drive is situated in the accepted position range over the time position window time, the bit Target reached (bit 10) in the Statusword is set to 1.

Illustration 2.18 Position Reached Window

2.4.2 Prole Velocity Mode

In Prole velocity mode, the servo drive is operated under velocity control and executes a movement with a dened velocity (see chapter 7.11.1 Parameter 52-20: Target Velocity (0x60FF)). Parameters such as acceleration (see chapter 7.5.7 Parameter 50-11: Prole Acceleration (0x6083)) and deceleration (see chapter 7.5.8 Parameter 50-12: Prole Deceleration (0x6084)) can be parameterized. Parameters that inuence the Prole velocity mode can be found in Illustration 2.19.

This functionality can be commanded using function block MC_MoveVelocity_ISD51X (see chapter 6.5.5.7 MC_MoveVe- locity_ISD51x). This functionality can also be used via the LCP (see the Velocity mode section in chapter 4.3.5.1 Servo Drive). In

Prole velocity mode, the velocity control loop is used to reach the target velocity (see chapter 7.11.1 Parameter 52-20: Target Velocity (0x60FF)).

Illustration 2.19 Prole Velocity Mode Control Function

The usage of acceleration and deceleration for the calculation of the trajectory is shown in Illustration 2.20.

Target velocity

Velocity

acc

dec

acc dec acc dec

acc dec

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Target reached option code (0x2054)

Velocity window time (0x606E)

Velocity window (0x606D)

Velocity actual value (0x606C)

Velocity demand value (0x606B)

Target velocity (0x60FF)

Target reached

Comparator

Window

comparator

Limit

function

Timer

Selector

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Servo Drive Operation Programming Guide

Illustration 2.20 Usage of Acceleration and Deceleration in

Velocity Control

This principle on using the acceleration and deceleration value applies to all velocity controlled modes of operation. The ramp bends when reversing the velocity. If this behavior is undesired, set the value of the acceleration and deceleration to the same value.

Velocity reached function

The velocity reached function oers the possibility to dene a velocity range around a velocity demand value to be regarded as valid. If the velocity of the servo drive is within this area for a specied time (see chapter 7.11.4 Parameter: Velocity Window (0x606D)), the velocity window time (see chapter 7.11.5 Parameter: Velocity Window Time (0x606E)), the related control bit Target reached (bit 10) in the Statusword is set to 1.

2 2

Illustration 2.22 shows the denitions of the sub-function Velocity reached. A window is dened for the accepted velocity range symmetrically around the velocity. If a servo drive is running within the accepted velocity range over the time velocity window time, the bit Target reached (bit 10) in the Statusword is set to 1.

Illustration 2.21 Velocity Reached - Functional Overview

Accepted velocity range

Velocity window

Velocity not

reached

Velocity not

reached

Velocity reached

Target

velocity

Velocity

Velocity window

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Trajectory generator

Limit

function

Torque

control

and

power

stage

Target torque (0x6071)

Target slope (0x6087)

Max torque (0x6072)

Prole velocity (0x6081)

Torque demand (0x6074)

Velocity limit

Minimum

comparator

Max prole velocity (0x607F)

Max motor speed (0x6080)

Motor rated torque (0x6076) Motor rated current (0x6075)

Torque actual value (0x6077) Current actual value (0x6078)

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Illustration 2.22 Velocity Reached Window

2.4.3 Prole Torque Mode

In Prole torque mode, the servo drive is operated under torque control and executes a movement with constant torque. Linear ramps are used. Additional parameters, such as the torque ramp and maximum velocity can be parameterized. This functionality can be commanded using function block MC_TorqueControl_ISD51X (see chapter 6.5.5.8 MC_Torque- Control_ISD51x).

The

Prole torque mode allows transmitting the target torque value (see chapter 7.12.1 Parameter 52-30: Target Torque (0x6071)), which is processed via the trajectory generator. The torque slope (see chapter 7.12.7 Parameter 52-32: Torque Slope (0x6087)) is required. The servo drive supports linear ramps for calculation of the trajectory generation. If the Controlword bit

8 (Halt) is switched from 0 to 1, or from 1 to 0, then the trajectory generator ramps its control eort output down to 0, or up to the target torque. In both cases, the trajectory generator uses the torque slope for the ramp calculation.

Illustration 2.23 Prole Torque Mode Control Function

Torque reached function

The Torque reached function oers the possibility to dene a torque range around a torque demand value to be regarded as valid. If the torque of the servo drive is within this area (see chapter 7.12.8 Parameter: Torque Window (0x2050)) for a specied time, the torque window time (see chapter 7.12.9 Parameter: Torque Window Time (0x2051)) and the related control bit 10 Target reached, in the Statusword is set to 1.

Target reached option code (0x2054)

Torque window time (0x2051)

Torque window (0x2050)

Torque actual value

Target reached

Target torque (0x6071)

Target demand (0x6074)

Target torque (0x6071)

Comparator

Selector

Timer

Window

comparator

Limit

function

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(0x6077)

Accepted torque range

Torque

window

Torque not

reached

Torque not

reached

Torque reached

Target torque

Torque

window

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Zero

position

Home

position

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Illustration 2.24 Torque Reached - Functional Overview

Illustration 2.25 shows the denitions of the sub-function Torque reached. A window is dened for the accepted torque range symmetrically around the velocity. If a servo drive is running within the accepted torque range over the time torque window time, the bit target reached (bit 10) in the Statusword is set to 1.

2 2

Illustration 2.25 Torque Reached Window

2.4.4 Homing Mode

In Homing mode, the application reference position of the servo drive can be set. Several homing methods, described in this chapter, are available.

This functionality can be commanded using MC_Home_ISD51x (see chapter 6.5.5.1 MC_Home_ISD51x).

The home position is the position where an event was triggered. The type of event depends on the homing method (for example, detection of an edge of a switch). Based on this home position and the home 52-40: Home Oset (0x607C)), the new zero position is calculated (see Illustration 2.26).

Illustration 2.26 Home Oset Denition

oset (see chapter 7.13.1 Parameter

Physical (Absolut) Position

Position Actual Internal

Value

(0x6063)

[increments]

(-)

TRC_ROTOR_POS

[increments]

Position oset =

permanent position oset + temporary position oset

(temporary position oset is set during homing)

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=>420°–360°=60°

Range limit: 0–360°

Home oset 420°

Home oset 180°

Current position =home position (method 37)

60°

180°

360° 720°

720°360°

40°

360°0° 720°

0°

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Illustration 2.27 Position Oset Denition

Illustration 2.28 Behavior of Homing with Software Range

Limit Applied

In Illustration 2.28, the lowermost solid line shows the current physical position of the servo drive. The software range limit is applied so that the servo drive shows position actual values between 0° and 360°. The bold vertical line shows the current/ reference position, where the servo drive shows 40°. The ne dashed line in the middle shows the situation when activating homing method 37 (Homing on current position) with a value for the home oset (0x607C) of 180°. The position actual value (0x6064) shows 180°. The multi-turn revolutions are discarded. The bold dashed line at the top shows the situation when activating homing method 37 (Homing on current position) with a value for the home oset (0x607C) of 420°. The position actual value (0x6064) shows 60°. The multiples of the software range limit from the home oset are discarded.

The reference position found during homing is lost after a reset. However, it is possible to save this reference position permanently (see sub-index 3 in chapter 7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016) for details). The homing bit is not set after a power-cycle, however the position is preserved.

Homing method

Controlword (0x6040)

Drive mirror mode (0x2016.02)

Max torque (0x6072)

Homing method (0x6098)

Homing speeds (0x6099)

Statusword (0x6041)

Velocity demand value

(0x606B)

Homing acceleration (0x609A)

Homing deceleration (0x2040.04)

Homing oset (0x607C)

Homing blocking window velocity (0x2040.01)

Homing blocking window time (0x2040.02)

Homing limit distance (0x2040.03)

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Illustration 2.29 Homing Mode Function

The homing methods that require a physical input (home switch or limit switches) are available depending on the conguration of the analog inputs (see chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)).

2 2

The methods are described in detail in the corresponding sub-chapters.

Value Denition

–3 Homing on actual position. –2 Homing on positive block. –1 Homing on negative block. +17 Homing on negative limit switch. +18 Homing on positive limit switch. +19 Homing on positive home switch. +21 Homing on negative home switch. +37 Homing on current position.

Table 2.4 Supported Homing Methods

The successful completion of a homing procedure is indicated by bit 8 of the Statusword (home bit). This bit remains set until the servo drive is power-cycled (U

), reset, or a new homing procedure is started.

AUX

Switching to Homing mode while the servo drive is in state Operation enabled is only allowed in standstill. In all other states, the mode of operation can always be changed.

Exiting Homing mode (and switching to any other mode of operation) is allowed without restrictions. If homing procedure is being carried out at that time, it is automatically aborted. In this case, the home bit in the Statusword is not set.

2.4.4.1 Homing on Actual Position

In method –3 Homing on actual position, the temporary part of the position oset is set to 0 (see Illustration 2.26). This method does not require the servo drive to be in state Operation enabled, as there is no movement. If the servo drive is in state Operation enabled during activation, it must be in standstill.

MOVING

PAR T

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VLT® Integrated Servo Drive ISD® 510 System

2.4.4.2 Homing on Positive/Negative Block

Illustration 2.30 Example of Homing Method on Block

Method –1 Homing on negative block and method –2 Homing on positive block perform a homing against a physical object that mechanically blocks the movement. A limit switch or home switch is not required.

NOTICE

An inadequate torque limit during the homing process may result in damage to mechanics.

The servo drive is considered as blocked if the actual speed falls below the Homing blocking window velocity for the specied Homing blocking window time (see chapter 7.13.6 Parameter 52-45 to 52-48: Additional Homing objects (0x2040)) and the torque limit is reached (see chapter 7.5.12 Parameter: Maximum Torque (0x6072) and chapter 7.5.13 Parameters 52-15, 52-23, and 52-36: Application Torque Limit (0x2053)).

When the motor is blocked, the actual position is the home position. The motor then ramps down to 0 velocity using the homing deceleration value and the successful homing procedure is reported.

The dierences between the 2 methods are:

Homing on negative block (–1): Motor moves with negative speed.

•

Homing on positive block (–2): Motor moves with positive speed.

•

2.4.4.3 Homing on Positive/Negative Limit Switch

Illustration 2.31 Homing Method 17: Homing on Negative

Limit Switch

Homing methods 17: Homing on negative limit switch or 18: Homing on positive limit switch can be used if a limit switch is available (and congured using object 0x200F, see chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)), so that the limit switch signals the home reference point.

The dierences between the 2 methods are:

17: Homing on negative limit switch: Motor moves with negative speed to reach the negative limit switch.

•

18: Homing on positive limit switch: Motor moves with positive speed to reach the positive limit switch.

•

When starting the homing procedure, the servo drive starts moving with the dened velocity value set in object 0x6099 sub-index 01: Speed during search for switch (see chapter 7.13.3 Parameters 52-42 and 52-43: Homing Speeds (0x6099)). The direction depends on the selected method (positive or negative). As soon as a rising edge is detected on the limit switch, the motor reverses direction and ramps to the velocity set in object 0x6099 sub-index 2: Speed during search for zero (see

Illustration 2.32 Homing Method 18: Homing on Positive Limit

Switch

Home Switch

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Servo Drive Operation Programming Guide

chapter 7.13.3 Parameters 52-42 and 52-43: Homing Speeds (0x6099)) until the switch is no longer active (falling edge). The home position of the servo drive is at this edge. The motor ramps down to 0 velocity and the successful homing procedure is reported. If the homing procedure is started and the limit switch is already set, the servo drive immediately signals a homing error.

2.4.4.4 Homing on Positive/Negative Home Switch

Illustration 2.34 Homing Method 21: Homing on Negative

Illustration 2.33 Homing Method 19: Homing on Positive

Home Switch

2 2

Homing method 19 (positive) or 21 (negative) can be used if a home switch is available and can be congured using object 0x200F (see chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)) so that the home switch signals the home reference point.

The initial movement depends on the logical state of the home switch at activation. In all cases, the servo drive turns with the velocity set in object 0x6099, sub-index 01: Speed during search for switch (see chapter 7.13.3 Parameters 52-42 and 52-43: Homing Speeds (0x6099)) until it encounters a signal change of the home switch. The servo drive reverses direction and ramps to the velocity set in object 0x6099, sub-index 02: Speed during search for zero until the home switch changes states again. The home position of the servo drive is at this edge. The motor ramps down to 0 velocity and the successful homing procedure is reported.

The dierences between the 2 methods are:

Positive home switch (19): During activation of the homing procedure, a low state of the home switch leads to the

•

servo drive moving in a positive direction. A high state of the home switch leads to the servo drive moving in a negative direction.

Negative home switch (21): During activation of the homing procedure, a low state of the home switch leads to

•

the servo drive moving in a negative direction. A high state of the home switch leads to the servo drive moving in a positive direction.

2.4.4.5 Homing on Current Position

In this method (37), the current position of the servo drive is used as the home position. This method does not require the servo drive to be in state Operation enabled because no movement occurs. If the servo drive is in state Operation enabled during activation, it must be in standstill.

At the home position, the Position oset is calculated so that the value of the Position actual value (see

chapter 7.7.5 Parameter 50-03: Position Actual Value (0x6064)) equals the Home oset (see chapter 7.13.1 Parameter 52-40: Home Oset (0x607C)):

Position actual value (0x6064) = Home oset (0x607C)

If the value of the Home oset is higher than the Position range limit, only the modulo part is used.

Multiplier

Logical CAM

Position (0x2020)

Selector

Multiplier

Trajectory generator

Drive Position (0x2022)

CAM slave scaling (0x3809)

CAM data 1-8 (0x3820 - 0x3827)

Minimum blending distance (0x380A)

Position guide value (0x2060)

Guide value scaling factor (0x3808)

Guide value oset (0x3806)

Velocity guide value (0x2064)

Guide value scaling factor (0x3808)

Position demand internal value

(0x60FC)

(0x3805)

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2.4.4.6 Error Behavior in Homing Mode

Homing objects (0x2040)) is used for supervising, the following error behavior applies:

If the limit is exceeded, the homing procedure is aborted. The servo drive signals a Homing error. If the servo drive is in motion at this point of time, it ramps down with the quick stop deceleration (see chapter 7.5.9 Parameter 50-13: Quick Stop

Deceleration (0x6085)) to standstill but stays in state Operation enabled. Additionally, a warning is issued (Warning bit in Statusword and setting of warning code).

The following situations can also lead to a warning:

For the methods where Homing limit distance (see sub-index 03: in chapter 7.13.6 Parameter 52-45 to 52-48: Additional

Entering Homing mode when not in standstill.

•

Starting a homing procedure while not in standstill. A warning and a homing error are reported. If the axis reaches

•

standstill, the homing method is started.

If the homing procedure reaches the homing distance, the homing is aborted and a warning is reported.

•

2.4.5 CAM Mode

In CAM mode, the servo drive executes a synchronized movement based on a master axis (guide value). The synchronization takes place by means of a CAM prole that contains slave positions corresponding to master positions. CAMs are designed with either the CAM Editor of the ISD Toolbox chapter 5.7.7 CAM Editor (Servo Drive only) or by using special structures in the PLC library chapter 6.5.7 Drive – CAM Creation. The guide value can be provided by an external encoder, virtual axis, or the position of another axis.

Illustration 2.35 Inputs for CAM Mode

When switching to CAM mode when the servo drive is not in standstill, it continues rotating with its current velocity. As soon as a new CAM prole is activated, the new CAM prole is processed with the corresponding behavior. The servo drive can hold a maximum of 8 CAM proles (see chapter 7.14.4 Parameters: CAM Prole 1–8 (0x3810–0x3817)). A CAM prole consists of the CAM itself and its CAM conguration. CAM proles are automatically stored inside the servo drive.

There are 2 types of CAMs:

•

Basic CAM

A basic CAM is a list of data points that describe the relationship between the slave position and the master position. Each data point consists of:

- Master position

- Slave position

- Slave velocity

- Slave acceleration

Advanced CAM

An advanced CAM is represented by nodes, segments, actions, and exit conditions. There are

•

dierent segment types that each have a special functionality to provide intelligent application functionality within the servo drive.

Servo Drive Operation Programming Guide

The CAM is represented in an XML le, which contains the following information:

Master scaling (optional)

•

Slave scaling (optional)

•

Control loop parameter (optional; both sets)

•

Following error settings (optional)

•

Basic cam or advanced cam denition

•

The CAM conguration consists of the following information:

Cyclic/non-cyclic

•

Master absolute/relative

•

Slave absolute/ relative (only applicable for basic

•

CAM)

For general information about the format of an XML le, see chapter 10.2 General XML Conventions. When parsing a CAM prole, the servo drive checks the format and the plausibility. The result is available in the sub-indexes 3 and 4 of the same objects (see chapter 7.14.4 Parameters: CAM Prole 1–8 (0x3810–0x3817)). These sub-indexes contain detailed information about the parsing state, error result, and more detailed information for debugging.

The factor group (see chapter 2.3.2 Factor Group) is not used in CAM mode. The velocity must be given as a unitless factor between rotor angle and angle of guide value. The acceleration must be given as velocity per degree of guide value. A CAM prole is running based on the guide value. This value always runs from 0 to 1. To adjust this to the real application environment, it is possible to specify a factor (master scaling) to reduce or increase the value that is considered as a full cycle.

There are 2 possible CAM buer layouts available:

8 CAM proles

•

2 CAM proles with more data

•

The CAM buer layout can be selected in object 0x380F (see chapter 7.14.1 Parameter: CAM Prole Memory Layout (0x380F)). Carry out a power-cycle to activate the selection. All nodes are non-signaling nodes. The axis does not automatically signal if it passes a node. However, for example for debugging purpose, it is possible to enable this signaling for selected nodes.

NOTICE

The factor group (feed constant, gear ratio, and so on) has no eect in CAM mode.

Terminology

Name Description

CAM prole Consists of 1 CAM and 1 CAM

conguration. A valid CAM prole is

automatically stored in the servo drive (maximum 8 CAM proles).

CAM XML le (basic CAM or advanced

CAM) containing the data points or the nodes and segments.

CAM conguration Contains the following information:

- Cyclic/non-cyclic

- Master absolute/relative

- Slave absolute/relative

Basic CAM List of data points that describe the

relationship between the slave position and the master position.

Advanced CAM Describes the relationship between

the slave and the master based on nodes, segments, actions, and exit

conditions. CAM prole activation request (Handshaking)

Change CAM immediate/ delayed

CAM prole activation All setpoints of the CAM prole are

Full CAM A basic CAM that is dened with

Handshaking procedure with

Controlword and Statusword to

activate a valid CAM prole. This

does not necessarily mean that the

prole starts immediately. This

depends on the CAM conguration,

time of CAM activation request, and

so on.

In the Controlword there are 2

options for changing the CAM:

- Immediate: Abort the currently running CAM and immediately change to the new CAM.

- Delayed: The currently running CAM prole nishes rst before the CAM is activated (see Illustration 2.37).

calculated and the servo drive is able to run the CAM prole. This mainly contains the calculations for blending.

the 1st data point at guide value 0 and last data point at guide value

1. The CAM is dened over the whole guide value cycle. Not applicable for advanced CAM.

2 2

New CAM (Bit 4)

CAM prole selector

CAM ack (Bit 12)

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Name Description

Partial CAM

End of prole Output signaling the end of the

InSync Output InSync is high as long as the

Blending Blending occurs whenever the servo

Table 2.5 Terminology

A CAM that is dened with the 1 data point not at guide value 0 or last data point not at guide value 1 (or both). The CAM is only dened on part of the guide value cycle. Parts of the guide value are “undened”. Not applicable for advanced CAM.

Polynomial of 5th degree.

CAM prole. For cyclic processing of the CAM, it is displayed every time the end of the CAM prole is reached. This signal is only high for 1 eldbus cycle. For basic CAMs, the end of prole is signaled at the last data point. For advanced CAMs, the end of prole is signaled at each end node.

slave follows the commanded CAM

prole.

drive automatically calculates a P5 when switching between CAMs, or it is used to ll up the undened parts in cyclic processing of CAMs.

To transfer a CAM prole, use function block MC_CamTable-

Select_ISD51x (see chapter 6.5.6.1 MC_CamTableSelect_ISD51x).

CAM prole activation request (Handshaking)

The activation of a CAM prole is controlled by the timing of the New CAM bit in the Controlword, and the CAM ack bit in the Statusword. After a CAM prole is transferred and successfully parsed, the control device signals that the CAM prole will be activated (CAM prole activation request) by a rising edge of the New CAM bit in the Controlword. The axis internally calculates all necessary parameters and afterwards sets the CAM ack bit in the Statusword to 1. With the CAM ack bit set to 0, the axis signals its ability to accept new CAM proles. An example is shown in Illustration 2.36. After activation of the CAM prole, the CAM is not necessarily executed immediately. This depends on the CAM conguration and the change immediate bit in the Controlword.

Illustration 2.36 Handshaking Procedure for CAM Prole

Activation

2.4.5.1 Activating a CAM prole

Perform the following steps to activate a CAM prole:

1. Write the CAM data to 1 of the objects 0x3820– 0x3827: CAM data 1–8 (see

chapter 7.14.5 Parameters: CAM Data 1–8 (0x3820–

3827)).

2. Write the CAM conguration and activate the CAM parsing to the corresponding object 0x3810–0x3817: CAM prole, sub-index 01 (see

chapter 7.14.4 Parameters: CAM Prole 1–8 (0x3810–0x3817)).

3. Check the CAM parsing state in objects 0x3810– 0x3817: CAM prole, sub-index 02 and 03 (see

chapter 7.14.4 Parameters: CAM Prole 1–8 (0x3810–0x3817)).

4. Write the number of the CAM and the delay code that should be used into object 0x3804: CAM prole selector (see chapter 7.14.7 Parameter: CAM Prole Selector (0x3804).

5. Switch to CAM mode (this can also be done earlier).

6. Perform handshaking to send the CAM activation request.

The CAM prole can also be activated using function block MC_CamIn_ISD51x (see chapter 6.5.6.2 MC_CamIn_ISD51x).

The axis supports a set of 2 CAM proles numbers: a CAM

prole that is currently being processed, and a buered prole.

If a CAM prole is still in progress and a new CAM prole is validated by the new CAM (bit 4) in the Controlword, 2 methods of handling are supported:

The new CAM prole is activated immediately

•

(Change CAM immediately bit of the Controlword is set to 1).

The currently active CAM prole is nished rst

•

and afterwards the new CAM prole is started (Change CAM immediately bit of the Controlword is set to 0).

When a new CAM prole is activated, all specic parameters are activated at the start of the new prole (this is the beginning of the blending). This can lead to jumps in position and velocity, for example when using dierent master scaling values.

New CAM (Bit 4)

selector

status

CAM ack (Bit 12)

Change CAM immediately (Bit 5)

2 3 4

A B C D E

A A

B B BCCE

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synchronization movement within the axis. This distance should be regarded as a minimum value, as there are situations where the servo drive automatically enlarges this distance (for example, if the end of the distance does not lead to a point of a dened CAM, see Illustration 2.50). When using non-cyclic CAM proles, the inuence of Master relative versus Master absolute is only an oset in guide value direction. This is dependent on the point of activation of the CAM prole.

2.4.5.3 CAM Header Information

2 2

Illustration 2.37 CAM Prole Handling for 2 CAM Proles

New CAM prole numbers are buered in the buered CAM prole selector as long as there is a free CAM prole selector buer available in the axis. If no CAM is in progress, the new CAM prole becomes active immediately (case 1 in Illustration 2.37). If a CAM prole is in progress, the new CAM prole number is stored in the CAM prole buer (cases 2 and 3 in Illustration 2.37). If all prole number buers are busy (CAM ack bit is 1), the reaction depends on the Change CAM immediately bit. If the Change CAM immediately bit is set to 0, the new CAM prole is rejected (case 4) with a command error indication (Statusword). If the Change CAM immediately bit is set to 1, the new CAM prole number is processed immediately. The currently running CAM prole is discarded (case 5 in Illustration 2.37). The Buered CAM prole selector is not available as an object for readout. There are cases where it is necessary to do a compensation movement when switching between CAMs. This movement is called blending and it is calculated automatically by the servo drive. The blending takes place using a polynomial of 5th degree.

2.4.5.2 CAM Conguration: Master Absolute/Relative

If the master and slave positions are congured to be absolute positions, it is necessary to have a synchronization movement that aligns the position at the point of activation with the set-position of the prole. This is called blending. For blending, a polynomial of 5th degree is used. It is automatically calculated by the servo drive.

The blending can be inuenced using bit Use blend distance. When set to 0, the blending is done to the 1 data point of a basic CAM, or the start node of an advanced CAM. This distance can be very short, which leads to high velocity or acceleration.

When a concrete blend distance is used, set the Use blend distance bit. Then, the value given in the minimum blending object 0x380A (see chapter 7.14.11 Parameter: Minimum Blending Distance (0x380A)) is used to calculate a

All parameters dened in this header information have corresponding parameters in the object dictionary. These objects are updated at the point of activation of the CAM. If an element is not included in the header (which is allowed for optional elements), the parameter in the object dictionary remains unchanged. When leaving a CAM, the values in the object dictionary persist; so they are not switched back to their old values before the CAM activation. The header information is the same for both CAM types.

Illustration 2.38 CAM Header Information

Each le can only contain 1 CamProle element.

Mandatory/

Attri

optional

bute

(+default

value)

VersionO x.x.x.x Gives the version of the

Table 2.6 Attribute for Element CamProle

Value

range/

allowed

values

Description

CAM prole denition.

The CamProle element contains an optional element masterScaling which denes the length of a guide value cycle. This parameter is used as scaling factor. If this element is missing, the values from the object dictionary are used (see chapter 7.8.4 Parameter: Guide Value Scaling Factor (0x3808)).

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Mandatory/

Attribute

numerator M Same as for object

denominatorM Same as for object

Table 2.7 Attributes for Element masterScaling

optional

(+default

value)

Value range/

allowed values

0x3808, sub-index

Description

See object 0x3808, subindex 1. See object 0x3808, subindex 2.

Attribute

speedP,

speedI,

speedD,

inertia

positionP,

positionD

Table 2.9 Attributes for Element controlParam1

The CamProle element contains an optional element slaveScaling which denes the scaling factor for the axis. If this element is missing, the values from the object

Attribute

dictionary are used (see chapter 7.14.10 Parameter: CAM Slave Scaling (0x3809)). The same value range applies as

described for the objects in the object dictionary.

Mandatory/

Attribute

numerator M Same as for

denominatorM Same as for

optional

(+default value)

Value range/

allowed values

object 0x3809, sub-index 1.

object 0x3809, sub-index 2.

Description

See object 0x3809, subindex 1. See object 0x3809, subindex 2.

speedP,

speedI,

speedD,

inertia

positionP,

positionD

Table 2.10 Attributes for Element controlParam2

The optional element followingError denes the following error settings for the CAM. The mandatory attribute windowRev refers to object 0x6065 (see

Mandatory/

optional

(+default

value)

M Float, same as for

Mandatory/

optional

(+default

value)

M Float, same as for

Value range/

allowed values

object 0x2012.

object 0x2013.

Value range/

allowed values

object 0x2014.

object 0x2015.

Description

See object 0x2012.

See object 0x2013.

Description

See object 0x2014.

See object 0x2015.

chapter 7.22.1.1 Parameter: Following Error Window (0x6065)),

Table 2.8 Attributes for Element slaveScaling

but the value must be given in revolutions. The mandatory attribute time gives the time in milliseconds (see

Another optional element is the controlParam1, and/or

controlParam2 element, where the control loop parameters

chapter 7.22.1.2 Parameter: Following Error Time Out (0x6066)). The following error behavior applies here.

are dened. Those 2 elements allow the automatic overwriting of the 2 sets of control parameters (in the object dictionary) on activation of the CAM. Both objects are optional and can be present independently of each other. controlParam1 refers to the 1st set of control parameters (see chapter 7.6.5.1 Parameters 51-10 to 51-15: Speed

Controller Parameters (0x2012) and chapter 7.6.4.1 Parameters 51-16 and 51-17: Position Controller Parameters (0x2013)), whereas controlParam2

refers to the 2nd set of control parameters (see

chapter 7.6.5.2 Parameters 51-20 to 51-25: Speed Controller Parameters 2 (0x2014) and chapter 7.6.4.2 Parameters 51-26 and 51-27: Position Controller Parameters 2 (0x2015)).

Mandatory/

Attribute

windowRevM Float See object 0x6065 for

time M Same as

optional

(+default

value)

Value

range/

allowed

values

for object 0x6066.

Description

description, however this value must be given in revolutions. The servo drive automatically recalculates the value to the value required for object 0x6065. See object 0x6066.

Table 2.11 Attributes for Element followingError

The rest of the CamProle element depends on the prole type (basic or advanced) and is described in the following chapters.

Guide value

Rotor angle of axis

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2.4.5.4 Basic CAM

Data points

The basic CAM consists of data points, which all have the same structure. There can be a maximum of 256 or 1024 data points inside 1 basic CAM (see chapter 7.14.1 Parameter: CAM Prole Memory Layout (0x380F)).

Illustration 2.39 Basic CAM Data Points

Attribute

masterPos M Float: [0;1] Master position for this data point. Given in revolutions of

slavePos M Float Axis position for this data point. Given in revolutions of rotor

vel O;

acc O;

Mandatory/optional (+default

value)

default = 0

Value range/allowed

values

Float Velocity of the axis in this data point. The velocity must be

Float Acceleration of the axis in this data point. The acceleration

Description

guide value. The masterPos inside a CAM prole is always dened from 0 to 1.

position. SlavePos describes the position on the motor side.

given as a factor between the velocity of the axis in relation to the velocity of the guide value (1 revolution of the axis per 1 round of guide value). Jumps in velocity are not possible.

must be given as a factor between the acceleration of the axis in relation to the velocity of the guide value (1 revolution of axis per square of round of guide value). Jumps in acceleration are not possible.

2 2

Table 2.12 Attributes for a Data Point

All data points are non-signaling data points. The axis does not automatically signal if it passes a data point. However, it is possible to enable this signaling for selected data points, for example for debugging purposes.

CAM conguration: Slave absolute/relative

When using the slave absolute option for a basic CAM, the values of the slavePos attribute in the data point are used. When using the slave relative option, the start of the CAM is transferred to the current position of the slave.

CAM conguration: cyclic/non-cyclic

The dierent congurations are explained using illustrations. There are 3 basic CAMs dened to show all situations:

Illustration 2.40 shows a full CAM (1st data point

•

at masterPos 0, last data point at masterPos 1), which has a velocity unequal to 0 in the 1st data point.

Illustration 2.41 and Illustration 2.42 show partial

•

CAMs (1st data point not at masterPos 0, last data point not at masterPos 1).

In the following chapters, several situations are dened. The mentioned CAMs are used throughout the description of the basic CAM to cover all situations.

Illustration 2.40 CAM 1 - Full CAM with Velocity of Last Node/

point = 0

Rotor angle of axis

0 1

Guide value

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0 1

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0 1 Guide value

cycle

Non-cyclic

CAM 1

Active CAM

InSync

End of

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Non-cyclic

CAM 2

Active CAM

InSync

End of

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Guide value cycle

InSync

End of prole

Rotor angle of axis

0 1

Guide value cycle

Slave absolute Cyclic

Blending

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Illustration 2.41 CAM 2 - Partial CAM

Illustration 2.44 CAM 2: Partial CAM - Non-cyclic: Velocity at

the End is Unequal to 0

If the last data point of a CAM prole has a velocity other than 0, and ends in this data point (for example, because of non-cyclic conguration), the axis keeps on turning at the velocity of this last data point (see Illustration 2.44).

Illustration 2.42 CAM 3 - Partial CAM

Non-cyclic CAM execution

However, the velocity is still related to the guide value. The acceleration of this last data point is automatically set to 0.

Cyclic CAM execution

Illustration 2.43 CAM 1: Full CAM - Non-cyclic: Velocity at the

End is 0

Illustration 2.45 CAM 2: Partial CAM - Cyclic: Blending

Segment is an Automatically Calculated P5

InSync

End of prole

Rotor angle of axis

0 1

Guide value cycle

Slave relative Cyclic

Blending

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relative

Rotor angle of axis

0 1

Guide value cycle

Slave relative Cyclic

Slave

relative

InSync

End of prole

Jump in velocity!

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0 1

Guide value cycle

Slave absolute Cyclic

InSync

End of

Jump in position and velocity!

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2 2

Illustration 2.46 CAM 2: Partial CAM - Cyclic, Slave relative:

Blending Segment is an Automatically Calculated P5.

The CAM is adjusted in a way that the 1st rotor angle value

matches the rotor angle of the last node.

A special case in Illustration 2.46 is when the velocity of the last point and the velocity of the 1st point are both 0. Then the P5 is actually a P0.

For smooth movements with cyclic use of fully dened CAM proles, the 1st and the last data point of the proles must match each other. “Matching” means having the same velocity value and, depending on the conguration, also the slave position value (see Illustration 2.47 and Illustration 2.48).

Illustration 2.47 Cyclic, Full CAM Prole Dened Over the

Whole Guide Value Cycle.

The velocity of the 1st and the last node are not equal. During

execution, a jump may occur.

Illustration 2.48 Cyclic, Full CAM Prole.

The velocity and the position of 1st and last nodes do not

match.

Switching between CAM proles

Depending on the CAM conguration options Master absolute/relative and Slave absolute/relative, there are

several methods to transition from 1 running CAM prole to the next. All the possibilities are described in the illustrations in this section. The examples all show the starting point based on the time of the CAM activation request, or when CAM ack (bit 12) is set by the axis (see chapter 2.4.5.1 Activating a CAM prole).

All illustrations in the following sub-chapters show the transition from currently running CAM 2 (see

Illustration 2.41) to a newly activated CAM 1 (see Illustration 2.40) or CAM 3 (see Illustration 2.42). The CAM

itself is always the same, but the illustrations show the behavior with dierent congurations and settings.

The following conventions are used for transitions between

proles:

The blending distance has no inuence on the

•

position of the CAM (for example, regarding the automatically calculated relative oset).

If a CAM prole is aborted (Change CAM

•

imm = 1), the current slave position is considered as end slave position.

When activating a non-cyclic CAM prole with

•

Use blend distance = 0, the processing takes place in the same master cycle (as the CAM activation request) or in the next one (depending on the end point of the currently running CAM prole and the start point of the new CAM prole). In both cases, the prole is processed as 1 complete cycle (starting with the next upcoming start node).

When activating a non-cyclic CAM prole with

•

Use blend distance = 1, the processing of it (at least the start point) takes place in the same master cycle (as the CAM activation request), otherwise a CAM error is issued.

Guide value

cycle

Rotor angle of axis

0 1 2

InSync

End of prole

Active CAM

CAM 2 CAM 3

Blending

Master absolute Slave absolute

Change CAM imm=0

Use blend dist=0

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cycle

Rotor angle of axis

0 1

InSync

End of

Active CAM

CAM 2 CAM 3

Blending

Master absolute Slave absolute Cyclic

Change CAM imm=0

Use blend dist=1

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dist

Guide value

cycle

Rotor angle of axis

InSync

End of

Active CAM

CAM 2 CAM 3

Blending

Master absolute Slave absolute Cyclic

Change CAM imm=0

Use blend dist=1

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dist

0 1

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Rotor angle of axis

Master absolute Slave absolute Non-Cyclic

Change CAM imm=0

Use blend dist=1

InSync

End of

Prole

CAM Error

Guide value

cycle

blend

dist

CAM 2

Active

CAM

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Absolute master position, absolute slave position

Illustration 2.51 Change CAM immediately = 0.

Illustration 2.49 Change CAM immediately = 0.

Do not use blending distance

Use blending distance; Blending distance is long enough to

cover the gap to the next CAM.

Illustration 2.50 Change CAM immediately = 0.

Use blending distance; Blending distance is not long enough

to reach the next CAM.

In Illustration 2.50, the blending distance is not long enough to reach the 1st data point of the next CAM. The axis therefore automatically increases the blending up to the 1st point of the next CAM.

Illustration 2.52 The end of the blend distance is not on the

new CAM in the same guide value cycle.

This situation leads to a rejection of the transition. The servo

drive acts as if the command has never been issued.

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Rotor angle of axis

0 1 2

Master absolute Slave absolute

Blending

Change CAM Imm=1

Use blend dist=0

InSync

End of Prole

Active

CAM

Guide value

cycle

CAM 2 CAM 3

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Master absolute Slave absolute Non-Cyclic

blend

dist

CAM Error

Active

CAM

InSync

End of prole

Change CAM imm=1

Use blend dist=1

Guide value

cycle

CAM 2

Rotor angle of axis

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0 1

Active

CAM

InSync

End of prole

Blending

blend

dist

Change CAM imm=1

Use blend dist=1

Guide value

cycle

CAM 2 CAM 3

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0 1 2

Master absolute Slave absolute Cyclic

Blending

blend

dist

Active

CAM

InSync

End of

prole

Change CAM imm=1

Use blend dist=1

Guide value

cycle

CAM 2 CAM 3

Rotor angle of axis

130BF270.10

Master absolute Slave absolute

0 1

Blending

Active

CAM

InSync

End of prole

blend

dist

Change CAM imm=1

Use blend dist=1

Guide value

cycle

CAM 2 CAM 3

Servo Drive Operation Programming Guide

Illustration 2.53 Change CAM immediately = 1.

No blending distance used. The blending is then done

automatically to the beginning of the new CAM. It does not

necessarily mean that this is in the next cycle (for example,

see Illustration 2.57).

2 2

Illustration 2.55 Change CAM immediately = 1.

Use blending distance; Blending is possible to the new CAM

prole in the same cycle.

Illustration 2.54 The end of the blend distance is not on the

new CAM in the same guide value cycle.

This situation leads to a reject of the transition. An error is

issued because the 1st CAM was aborted with Change CAM

imm = 1.

Illustration 2.56 Change CAM immediately = 1.

Use blending distance; Blending distance ends after the new

CAM prole ends; Blending is then extended to the starting

point of the next cycle.

Illustration 2.57 Use blending distance; Blending distance is

not long enough to reach the next CAM.

0 1 2

Active

CAM

InSync

End of

CAM 2 CAM 3

Slave

relative

Blending Master absolute

Slave relative

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Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=0

0 1 2

Active

CAM

InSync

End of

CAM 2 CAM 3

Slave

relative

Blending

Master absolute Slave relative Cyclic

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cycle

Rotor angle of axis

blend

dist

Change CAM imm=0

Use blend dist=1

0 1 2

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Guide value

cycle

Rotor angle of axis

CAM 2 CAM 1

Slave

relative

Master absolute Slave relative Cyclic

Blending

blend

dist

Active

CAM

InSync

End of

Change CAM imm=0

Use blend dist=1

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Absolute master position, relative slave position

Change CAM immediately = 0: The currently running CAM is processed until the end. The

1st slave position of the new CAM is adjusted so that it matches the slave position of the end point of the old CAM prole.

Change CAM immediately = 1: The currently running CAM is aborted immediately. The slave position of the new CAM at the current guide value is adjusted so that it matches the current slave position. If the new CAM has not dened at this current guide value, the slave value of the 1st point of the new CAM is adjusted so that it matches the current slave position.

The behavior when switching to non-cyclic CAM

proles is

the same as detailed in section Absolute master position,

absolute slave position in chapter 2.4.5.4 Basic CAM. Options slave absolute and slave relative have no inuence in these

cases and are therefore not mentioned again in this section.

Illustration 2.59 Change CAM immediately = 0.

Use blending distance; Blending distance is not long enough

to reach the next CAM.

Illustration 2.58 Transition with absolute master and relative

slave positioning;

No blending distance used.

Illustration 2.60 Change CAM immediately = 0.

Use blending distance; Blending distance is long enough to

cover the gap to the next CAM.

Active

CAM

InSync

End of prole

0 1 2

130BF274.10

Guide value

cycle

Rotor angle of axis

CAM 2 CAM 1

Master absolute Slave relative

Slave

relative

Blending

Change CAM imm=1

Use blend dist=0

Rotor angle of axis

Active CAM

InSync

End of prole

Change CAM imm=1

Use blend dist=1

CAM 2 CAM 3

Master absolute Slave absolute Cyclic

blend

dist

Blending

Slave

relative

Guide value

cycle

1 2

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cycle

Rotor angle of axis

Master absolute Slave relative

Slave relative

Blending

Active

CAM

InSync

End of prole

blend

dist

Change CAM imm=1

Use blend dist=1

CAM 2 CAM 3

0 1

130BF276.10

Guide value

cycle

Rotor angle of axis

Master absolute Slave relative

CAM 2 CAM 1

Slave

relative

Blending

Active

CAM

InSync

End of prole

blend

dist

Change CAM imm=1

Use blend dist=1

Change CAM imm=0

Use blend dist=0

CAM 2 CAM 3

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Guide value

cycle

Rotor angle of axis

Active

CAM

InSync

End of prole

Master relative Slave absolute

0 1 2

Jump in position and velocity possible!

Master relative

Servo Drive Operation Programming Guide

2 2

Illustration 2.64 Change CAM immediately = 1.

Use blending distance; Blending is possible to the new prole

of the next CAM.

Illustration 2.61 Change CAM immediately = 1.

No blending distance used. The blending is then done

automatically to the beginning of the new CAM.

It does not necessarily mean that this is in the next cycle (for

example, see Illustration 2.62).

Illustration 2.62 Change CAM immediately = 1.

Use blending distance; Blending distance ends after the new

CAM prole ends;

Blending is then extended to the starting point of the next

cycle.

Relative master position, absolute slave position

In this case, the option Use blend distance is ignored. The minimum blending distance (see chapter 7.14.11 Parameter: Minimum Blending Distance (0x380A)) is used to calculate a polynomial of 5th degree for the synchronization movement to align the current rotor angle of the axis to the slave position of the 1st data point in the CAM

Illustration 2.65 Change CAM immediately = 0.

Do not use blending distance. If the CAMs do not match in

slave position and velocity, a jump may occur.

This would probably lead to a following error.

prole.

Illustration 2.63 Change CAM immediately = 1.

Use blending distance; Blending distance is not long enough

to reach the next CAM.

Change CAM imm=0

Use blend dist=1

CAM 2 CAM 3

130BF278.10

Guide value

cycle

Rotor angle of axis

Active

CAM

InSync

End of prole

Master relative Slave absolute

0 1 2

Master relative

Blending

blend dist

Change CAM imm=0

Use blend dist=1

CAM 2 CAM 3

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Guide value

cycle

Rotor angle of axis

Active

CAM

InSync

End of

prole

Master relative Slave absolute Cyclic

0 1 2

Master relative

Blending

blend dist

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Use blend dist=1

Master relative Slave absolute Non- cyclic

blend

dist

Guide value

cycle

Rotor angle of axis

1 2

Master relative

Active

CAM

InSync

End of prole

CAM Error

CAM 2

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Guide value

cycle

Rotor angle of axis

Active

CAM

InSync

End of prole

Master relative

Change CAM imm=1

Use blend dist=0

Master relative Slave absolute

Jump in position and velocity possible!

CAM 2 CAM 3

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Illustration 2.66 Change CAM immediately = 0.

Use blending distance; Blending distance is inside the new

CAM.

Illustration 2.68 The end of the blend distance is not on the

new CAM.

This situation leads to rejection of the transition. An error is

issued

because the 1st CAM was aborted with Change CAM

immediately = 1.

Illustration 2.67 Change CAM immediately = 0.

Use blending distance; Blending distance ends after the end

point of the new CAM.

Illustration 2.69 Change CAM immediately = 1.

No blending distance used. If the CAMs do not match in slave

position and velocity, a jump may occur.

This may lead to a following error.

130BF282.10

Guide value

cycle

Rotor angle of axis

Master relative Slave absolute Cyclic

Active

CAM

InSync

End of prole

Change CAM imm=1

Use blend dist=1

Master relative

blend

dist

Blending

CAM 2 CAM 3

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Guide value

cycle

Rotor angle of axis

1 2

Master relative Slave absolute Non- cyclic

blend

dist

Master relative

Change CAM imm=1

Use blend dist=1

Active

CAM

InSync

End of prole

CAM Error

CAM 2

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Master relative Slave absolute

blend distMaster

relative

Guide value

cycle

Rotor angle of axis

Change CAM imm=1

Use blend dist=1

Active

CAM

InSync

End of prole

Blending

CAM 2 CAM 3

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Guide value

cycle

Rotor angle of axis

CAM 2 CAM 3

Active

CAM

InSync

End of prole

Change CAM imm=0

Use blend dist=0

Master relative Slave relative

Master relative

Jump in

velocity possible!

Slave

relative

Servo Drive Operation Programming Guide

Illustration 2.70 Change CAM immediately = 1.

Use blending distance; Blending distance ends after the end

point of the new CAM.

2 2

Illustration 2.72 Change CAM immediately = 1.

Use blending distance; Blending distance is shorter than the

new CAM prole.

Relative master position, relative slave position

The processing starts as soon as the CAM prole is activated. The 1st point of the CAM prole is moved to the current position and guide value. The behavior when switching to non-cyclic CAM proles is the same as shown in section Relative master position, absolute slave position in

chapter 2.4.5.4 Basic CAM. Option slave absolute or slave relative has no inuence in these cases and is therefore not

mentioned again in this chapter.

Illustration 2.71 The end of the blend distance is not on the

new CAM.

The transition is rejected and the servo drive acts as if the

command was never issued.

Illustration 2.73 CAM prole with relative master and relative

slave positioning.

A jump in velocity may occur if the CAMs do not match.

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Guide value

cycle

Rotor angle of axis

CAM 2 CAM 3

Active

CAM

InSync

End of

Change CAM imm=0

Use blend dist=1

Master relative Slave relative

Master relative

Slave

relative

Blending

blend dist

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Guide value

cycle

Rotor angle of axis

Active

CAM

InSync

End of

prole

CAM 2 CAM 3

Change CAM imm=1

Use blend dist=1

Master relative Slave relative Cyclic

Slave

relative

Master relative

Blending

blend

dist

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Guide value

cycle

Rotor angle of axis

CAM 2 CAM 3

Active

CAM

InSync

End of prole

Change CAM imm=1

Use blend dist=0

Master relative

Jump in

velocity possible!

Slave

relative

Master relative Slave relative

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Illustration 2.76 Change CAM immediately = 1.

Illustration 2.74 Change CAM immediately = 0.

Use blending distance.

Do not use blending distance. Jumps in velocity may occur.

2.4.5.5 Advanced CAM

Illustration 2.75 Change CAM immediately = 1.

Use blending distance; Distance is longer than the new CAM.

The advanced CAM is represented by nodes and segments. The available node types are described in Table 2.13. The available segment types are described in Table 2.14.

The CAM conguration options Slave absolute and Slave relative are not available for advanced CAM. In advanced CAM, the behavior of an absolute or relative movement is built in to the dierent segment types. A dierentiation between full and partial CAM is not applicable for advanced CAM. An advanced CAM can contain paths that form a circle, and alternative paths (see Illustration 2.78), which end at nodes without further following segment.

An advanced CAM prole can consist of several nodes, segments, actions, and exit conditions. The size of a CAM prole highly depends on the number of elements and, for example, on the segment types (some require more and others require fewer parameters).

Name Description

GuideNode Connects GuideSegments EventNode Connects EventSegments

Table 2.13 Available Node Types

All nodes are non-signaling nodes. The axis does not automatically signal if it passes a node. However, for example for debugging purposes, it is possible to enable this signaling for selected nodes.

GuidePoly GuideSegment

Polynomial of 5th order based on guide value. MoveDistanceSegment

GuideSegment

Uses run-time calculated polynomial of 5

order; the angle is sent over eldbus at run-

time.

130BF289.10

Guide

value

nodeID3nodeID

nodeID1nodeID

segID 1

segID 2

segID 3

segID 4

segID 5

Rotor angle

of axis

130BF290.10

Guide

value

Rotor angle

of axis

nodeID3nodeID

nodeID1nodeID

segID 1

segID 2

segID 3

segID 4

segID 5

segID 6

Servo Drive Operation Programming Guide

FlyingStopSegment

ReturnSegment GuideSegment

EventSegmentContainer

TimePoly EventSegment

VelocitySegment EventSegment

SyncSegment EventSegment

TorqueSegment EventSegment

PwmOSegment EventSegment

FrictionSegment EventSegment

Table 2.14 Available Segment Types

GuideSegment Constant speed, followed by braking ramp, angle of constant movement is sent over eldbus at run-time.

Turns shaft to a symmetric angle (absolute position) to eliminate rounding errors. GuideSegment All time-related movements must be encapsulated by this segment type.

Polynomial of 5th order based on time.

Constant velocity, independent of the guide value.

Constant velocity, depending on the guide value.

Constant torque, independent of the guide value.

Turns o the PWM.

Determines the friction of the system.

need to be the 1

node of the CAM (see Illustration 2.78).

The starting node must be a guide node.

End nodes dene the end of a non-cyclic CAM, or the end when switching non-immediate to another CAM. Only guide nodes can be end nodes. A guide node that has no following segment is automatically dened as an end node.

Illustration 2.78 NodeID 2 has no following segment:

It automatically becomes an end node.

An advanced CAM must have at least 1 end node, however it is possible to have >1 end node within a CAM. If no end node is explicitly dened, and there is no node without a following segment (that implicitly would be an end node), the start node becomes an end node.

2 2

This CAM

prole type can only be used with forward

turning guide values.

The advanced CAM prole consists of a list of nodes (containing GuideNodes), a list of segments (containing GuideSegments), an optional list of actions, and an optional list of exit conditions.

Illustration 2.77 Advanced CAM Prole

Nodes

Nodes are dened by their position on the guide value. The slave position is dened, where necessary, inside the segments. The starting node of a CAM is the node with nodeID 0. In a CAM, there must be exactly 1 starting node (1 node with ID 0). However, this starting node does not

Illustration 2.79 No end node explicitly dened and no node

without following segment dened in the CAM.

NodeID 0 (start node) automatically becomes the end node.

A non-cyclic CAM ends at the 1st end point that is processed. This can take several cycles of guide value or continue innitely if there is no end node within the currently processed path. For example, in Illustration 2.79, when the path is set in a way that segID 1 is used instead of segID 2, the start node is not in the active path. A cyclic CAM just passes an end node like every normal node; the End of Prole bit (see chapter 7.14.8 Parameter: CAM Prole Status (0x3805)) is set. This bit is set for every end node that is passed within a cyclic CAM. So, the end of prole bit can also be set several times within 1 cycle. It is also possible that it is not set at all if there is no end node within the processed path.

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

A cyclic CAM that passes an end node without following segment blends to the start node of the CAM prole. For example, in Illustration 2.78, the nodeID 2 has no following

segment and when executing this CAM as cyclic CAM, the axis blends from node ID 2 to node ID 0.

Attribute

signal O;

Non-immediate switching to another CAM takes place when the currently running CAM passes the next occurring end node (cyclic and non-cyclic). In Illustration 2.78, this would be when passing node ID 2 and in Illustration 2.79, this would be, when passing node ID 0. The switching only takes place when node ID 0 is in the processed path. Otherwise, a command is needed for segment ID 2 to be

endNode O;

the following segment of node ID 3.

GuideNode

GuideNodes are similar to data points within a machine

cycle. However, in contrast to data points of a basic CAM, a GuideNode is only dened by its guide value position (master position). The slave position, velocity, and

action O;

acceleration are not dened inside a GuideNode. This information is given in the connected segments. The velocity (and acceleration) of 2 segments that are connected to the same node must match. Otherwise a jump in velocity (and/or acceleration) occurs. Each node has a unique ID for referencing to it. A GuideNode combines GuideSegments so therefore, represents starting and ending points of segments.

Illustration 2.80 XML Representation of a GuideNode

Mandatory/

optional

(+default

value)

default = FALSE

default = no action

Value range/

allowed values

FALSE or TRUE Denes if this node is

0, 1, or more existing action IDs

Description

signaled by the axis. This attribute is optional. If it is not present, the default behavior is not to signal this node.

an end node of the CAM. This attribute is optional. If it is not present, the node is no end node. Denes if 1 or multiple actions are attached to this node. This attribute is optional. If it is not present, no action is assigned to this node. To dene multiple actions for this node, all action IDs must be listed inside the attribute, separated by a white space. If a non-existing action ID is used, an error is issued during parsing.

Mandatory/

Attribute

nodeID M Integral

masterPos M Float; 0.0–1.0 Master position for this

optional

(+default

value)

Value range/

allowed values

number; 0– 65535

Description

Integral number to uniquely identify this node. The nodeID must be unique across all

GuideNodes and EventNodes. The same nodeID cannot be used

twice. The node with nodeID 0 is the starting node.

GuideNode. Given in revolutions of guide value.

Table 2.15 Attributes for GuideNode

EventNode

Like GuideNodes, EventNodes are data points within a timerelated movement. They combine EventSegments in an EventSegmentContainer. Each EventSegmentContainer has exactly 1 rst EventNode, which has no preceding EventSegment, and at least 1 ending EventNode, which has no succeeding EventSegment.

Illustration 2.81 XML Representation of an EventNode

130BF289.10

Guide

value

nodeID3nodeID

nodeID1nodeID

segID 1

segID 2

segID 3

segID 4

segID 5

Rotor angle

of axis

Servo Drive Operation Programming Guide

Mandatory/

Attribute

nodeID M Integral

signal O;

action Same as in Table 2.15.

Table 2.16 Attributes for EventNode

optional

(+default

value)

default = FALSE

Value

range/

allowed

values

number; 1–65535

FALSE or TRUE

Description

Integral number to uniquely identify this node. The nodeID must be unique across all

GuideNodes and EventNodes. The same nodeID cannot be used

twice. Denes if this node is signaled by the axis. This attribute is optional. If it is not present, the default behavior is not to signal this node.

Segments

There are 2 types of segment:

GuideSegments: All segment types that are

•

dened based on the guide value.

EventSegments: All segment types that are

•

dened based on time.

There are 2 types of XML representation for some of the segments:

Start/Endpoint representation

•

Coecient representation

•

The availability of each type is stated in the corresponding section.

All segments always have exactly 1 preceding and 1 succeeding node. Multiple segments can have the same node as the preceding node. This is used to design alternative paths. The selection between those paths takes place during run-time (see chapter 2.4.5.6 Commands During Operation). In Illustration 2.82, an example is given where the segment with ID 3 is an alternative to segment 4. Both have the same preceding and succeeding nodes. It is also possible to overleap a node, as shown in segment 1: it is an alternative path to segments 2 and 3 or segments 2 and 4. Multiple segments can also have the same node as the succeeding node. The alternative paths are then combined again and the further movement is common. In Illustration 2.82, an example is given where segments with ID 1, 3, and 4 all have the same succeeding node. Regardless of which segment the servo drive is coming from, segment 5 is processed afterwards.

Illustration 2.82 Example of Alternative Segments

GuideSegments

GuideSegments are all segment types that are

dened

based on the guide value. GuideSegments can only have GuideNodes as preceding and succeeding nodes.

There are some attributes that are common to all GuideSegments (see Table 2.17).

Mandatory/

Attribute

segID M Integral

precNode M An existing

succNode M An existing

optional

(+default

value)

Value

range/

allowed

values

number; 0– 50000

nodeID of a

GuideNode

nodeID of a

GuideNode

Description

Integral number to uniquely identify this segment. The segID must be unique across all

GuideNodes and EventSegments. The same segID cannot be used

twice. ID of the GuideNode at the beginning of this segment. If a non-existing node ID is used, an error is issued during parsing. ID of the GuideNode at the end of this segment. If a non-existing node ID is used, an error is issued during parsing.

2 2

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Guide

value

Rotor angle

of axis

distance

startPos

endVel

startVel

succNodeprecNode

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Mandatory/

Attribute

default O; default =

startAction O; default =

endAction O; default =

Table 2.17 Common Attributes for all GuideSegments

optional

(+default

value)

FALSE

no action

Value

range/

allowed

values

TRUE/FALSE Denes if this segment is

0, 1, or more existing action IDs

Description

the default segment for the referenced preceding node. This attribute is not necessary if only 1 segment has this precNode as preceding node. If >1 segment has this precNode as preceding node, and none of them claims to be the default one, the segment with the lowest segment ID is used. If >1 segment claims to be the default segment of a specied precNode, a parsing error is issued. Denes if 1 or multiple actions are attached to the beginning of this segment. This attribute is optional. If it is not present, no action is assigned to the beginning of this segment. To dene multiple actions, all actionIDs must be listed inside the attribute, separated by a white space. If a non-existing action ID is used, an error is issued during parsing. Denes if 1 or multiple actions are attached to the end of this segment. This attribute is optional. If it is not present, no action is assigned to the end of this segment. To dene multiple actions, all actionIDs must be listed inside the attribute, separated by a white space. If a non-existing action ID is used, an error is issued during parsing.

GuidePoly:

The GuidePoly denes a movement that relates the rotor angle of the axis with the guide value. Position, velocity, and acceleration at the preceding and the succeeding node can be selected without restrictions. It is therefore possible to realize many movements already with a single GuidePoly.

Complex movements can be combined by a number of GuidePolys. When combining GuidePolys, the end velocity of the segment and the start velocity of the next segment must match, otherwise a jump in velocity occurs. It is possible to dene absolute and relative movements.

Illustration 2.83 GuidePoly

Illustration 2.84 Start/Endpoint Representation

Mandatory/

Attribute

segID Same as in Table 2.17. precNode Same as in Table 2.17. succNode Same as in Table 2.17. type M Absolute/

optional

(+default

value)

Value

range/

allowed

values

relative

Description

Denes if the segment is executed at an absolute slave position or if the segment is executed relative to the previous position.

Servo Drive Operation Programming Guide

Mandatory/

Attribute

startPos M for type=

distance M Float Rotor angle of the axis

startVel O; default = 0 Float Velocity of the axis at the

endVel O; default = 0 Float Same as startVel but at

optional

(+default

value)

absolute; O for type=

relative

Value

range/

allowed

values

Float Axis position at the

Description

beginning of this segment. Given in revolutions of rotor position. startPos describes the position on the motor side. If it is a relative segment, the startPos attribute only

modies the Logical CAM position. If startPos is not

present (in a relative segment), the Logical CAM position from the previous segment is used as startPos.

during this segment. Given in revolutions of rotor position. Use negative values for backward movements.

beginning of this segment. The velocity must be given as a factor between the velocity of the axis in relation to the velocity of the guide value (1 revolution of the axis per 1 round of guide value). To ensure smooth movements, the velocities of all segments that are connected in the same node should be the same. If not parameterized correctly, a jump in velocity may occur.

the end of the segment.

Mandatory/

Attribute

startAcc O; default = 0 Float Acceleration of the axis at

endAcc O; default = 0 Float Same as startAcc but at

startAction Same as in Table 2.17. endAction Same as in Table 2.17.

Table 2.18 Attributes for GuidePoly in Start/Endpoint

Representation

Illustration 2.85

Attribute

segID Same as in Table 2.17. precNode Same as in Table 2.17. succNode Same as in Table 2.17. type Same as in Table 2.17. a0 type = absolute:

a1-a5 M Float

startAction Same as in Table 2.17. endAction Same as in Table 2.17.

optional

(+default

value)

Coecient Representation

Mandatory/

optional

(+default value)

M else O

Value

range/

allowed

values

Value

range/

allowed

values

Float Polynomial coecients

Description

the beginning of this segment. The acceleration must be given as a factor between the acceleration of the axis in relation to the velocity of the guide value (1 revolution of axis per square of round of guide value). Jumps in acceleration may occur when 2 succeeding segments have dierent startAcc and endAcc values.

the end of the segment.

Description

for the movement described by a5x5 + a4x4 + a3x³ + a2x² + a1x + a0 a0 is the same as startPos in the Start/ Endpoint representation.

2 2

Table 2.19 Attributes for GuidePoly in Coecient Representation

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Guide

value

Rotor angle

of axis

startPos

endVel

startVel

succNode

precNode

Distance is variable;

needs to be sent at

run-time in every

machine cycle

Guide

value

Rotor angle

of axis

startPos

succNodeprecNode

maxConstDist

startVel

brakeLength

brakeDist

Distance is variable; needs to be sent at run-time in every machine cycle

130BF294.10

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

MoveDistanceSegment:

MoveDistanceSegments are used for movements with no

predened rotation angle. The desired rotor angle is given to the axis during run-time. It must be given before the beginning of the segment. It must be given in every machine cycle (see Table 2.53 in chapter 2.4.5.6 Commands During Operation).

This segment is mostly used together with an external camera for object alignment. The start and end velocity,

Attribute

startAcc Same as in Table 2.18. endAcc Same as in Table 2.18. startAction Same as in Table 2.17. endAction Same as in Table 2.17.

Table 2.20 Attributes for MoveDistanceSegment in

Start/Endpoint Representation

Mandatory/

optional

(+default value)

Value range/

allowed

values

Description

and the start and end acceleration can be parameterized. The parameter that is sent during run-time must be given in revolutions of rotor angle. The rotor angle must be sent at least 5 ms before the segment begins.

If no parameter is sent for this segment, the axis reports an error (see chapter 2.4.5.7 Notications from the Servo Drive) and assumes a distance of 0. An error message is sent when passing the precNode of this segment. A new parameter message, meant for the next cycle, can be sent to the servo drive when the succNode of this segment has been passed.

Coecient representation: This representation is not available.

FlyingStopSegment:

The FlyingStopSegment is used to stop the servo drive out of a synchronous movement at a position, which can be determined at run-time. This angle is usually determined by a camera system. The motion consists of 2 parts, a constant rotation, which length is dened by the sent parameter, and a deceleration polynomial for stopping the servo drive (a polynomial of 3rd degree is used). The angle must be passed before the segment has started. The parameter can be in a range from 0° to maxConstantDist. The value is given as an absolute value. The direction is determined by the direction of the velocity.

The rotor angle must be sent during run-time but before the beginning of this segment. When the constant part has been processed for the parameter, which was given, the stopping part of the segment starts. This braking polynomial is always the same, independent of the remaining distance to the end of the segment.

The parameter that is sent during run-time must be given in revolutions of rotor angle. The rotor angle must be sent at least 5 ms before the segment begins. If no parameter is

Illustration 2.86 MoveDistanceSegment

sent for this segment, the axis reports an error (see section Notications from the servo drive in this sub-chapter) and assumes a distance of maxConstDist. The error message is sent when passing the precNode of this segment. A new parameter message, meant for the next cycle can be sent to the servo drive when the succNode of this segment was passed.

Illustration 2.87 Start/Endpoint Representation

Mandatory/

Attribute

segID Same as in Table 2.17. precNode Same as in Table 2.17. succNode Same as in Table 2.17. startPos O Float See Table 2.18 for

startVel Same as in Table 2.18. endVel Same as in Table 2.18.

optional

(+default value)

Value range/

allowed

values

Description

type= relative.

Illustration 2.88 FlyingStopSegment

Servo Drive Operation Programming Guide

Illustration 2.89 Start/Endpoint Representation

Illustration 2.90

2 2

Coecient Representation

Mandat

ory/

Attribute

segID Same as in Table 2.17. precNode Same as in Table 2.17. succNode Same as in Table 2.17. startPos O Float See Table 2.18 for type=

startVel Same as in Table 2.18. maxConstDist M Float>0Denes the maximum rotor

brakeDist M Float>0Rotor angle of the axis during

brakeLength M Float>0Guide value for the length of

startAction Same as in Table 2.17. endAction Same as in Table 2.17.

optional

(+defaul

t value)

Value

range/

allowe

values

Description

relative.

angle that the axis turns if no parameter is sent during runtime. Given in revolutions of rotor position. Only positive values are allowed. The value is considered as absolute value in the direction of the start velocity.

the deceleration phase of this segment. Given in revolutions of rotor position. Only positive values are allowed. The value is considered as absolute value in the direction of the start velocity. There must be enough space to be able to brake also in worst case situations.

the deceleration phase of this segment. Given in revolutions of guide value. The segment must be long enough to run the maxConstDist and have enough guide value left for at least the brakeLength. If there is space left, the servo drive remains in standstill until the succeeding GuideNode is reached.

Mandatory/

Attribute

segID Same as in Table 2.17. precNode Same as in Table 2.17.

succNode Same as in Table 2.17. a0 type =

maxConstDist Same as in Table 2.21. brakeLength Same as in Table 2.21. a1-a3 M Float Polynomial coecients

startAction Same as in Table 2.17. endAction Same as in Table 2.17.

Table 2.22 Attributes for FlyingStopSegment in Coecient

Representation

optional

(+default

value)

absolute: M else O

Value

range/

allowed

values

Float Polynomial coecients

Description

for the movement described by a5x5 + a4x4 + a3x³ + a2x² + a1x + a0 a0 is the same as startPos in the Start/ Endpoint representation.

for the movement described by a3x³ + a2x² + a1x It is not necessary to give a0 as this information comes from the position value of the beginning of the decelerating part. a1 is also the velocity for the constant part of the segment. This value must be unequal to 0. The coecients must be given so that the braking part ends in a standstill.

Table 2.21 Attributes for FlyingStopSegment in Start/Endpoint

Representation

ReturnSegment:

The ReturnSegment is used to return from any position to a dened absolute position. In this way, all osets of the logical rotor angle are discarded and a xed relation

+ osetRev

partition

revolutions

Guide

value

Rotor angle

of axis

startPos

succNodeprecNode

130BF295.10

End position

depends on the position at the start of the segment and

the parameters

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

between logical and absolute rotor angle is established or re-established. This is useful, if the axis has to be moved to an absolute position after a loss of the reference position by using a variable movement (for example, MoveDistance- Segment). Usually the ReturnSegment is used at the beginning of the CAM to start from a dened absolute position. The Return-

Illustration 2.92 Start/Endpoint Representation

Segment is used in conjunction with devices which have multiple, equidistant, and equivalent starting positions, for example, a square device.

The axis automatically selects the shortest way and calculates a polynomial of 5th degree to reach the next valid position. A backward movement of the servo drive is possible. Valid positions are calculated by the formula:

The ReturnSegment should be the rst segment in a CAM prole. It provides a means to return to the next equivalent starting position and eliminate all rounding errors. This segment must always start in standstill and it also stops in standstill.

Illustration 2.91 Return Segment

Partition0 1 2 3 4 5 6 ...

Possibl

shapes

valid

phys.

rotor

angles

worst

case

angle

to turn

each 0° 0°

180°0°120°

0° ±180° ±90° ±60° ±45° ±36° ±30°

Table 2.23 Partition Example of ReturnSegment for

Single-turn Axis (revolutions = 1; osetRev = 0)

0° 90°

240°

180° 270°

0° 72° 144° 216° 288°

0° 60° 120 180° 240° 300°

Attribute Mandatory/

optional

(+default

value)

segID Same as in Table 2.17. precNode Same as in Table 2.17.

succNode Same as in Table 2.17. startPos O Float See Table 2.18 for type=

partition O; default = 0 Integer:

revolutions O; default = 1 Integer >0 Number of revolutions

osetRev O; default = 0 Float Desired end rotor

startAction Same as in Table 2.17. endAction Same as in Table 2.17.

Table 2.24 Attributes for ReturnSegment in Start/Endpoint

Representation

Value

range/

allowed

values

(0;16)

Description

relative. Can be used for shaped plates when several equal, valid starting positions are allowed. The worst case movement is inuenced by this parameter.

that are used when calculating valid positions, for example, if there is a gear.

position relative to the nearest physical position. The referenceposition is determined by the absolute position at the beginning of this segment and the partition/revolutions. Given in revolutions of the axis.

Coecient representation: This representation is not available.

EventSegmentContainer:

The EventSegmentContainer embeds a time-related movement (composed by EventNodes and EventSegments) into the guide value-related process. It provides a certain

Servo Drive Operation Programming Guide

guide value position for the beginning of the time-related movement and so that the further guide value-related movement can be resumed at the end of the EventSeg- mentContainer. For that, the EventSegmentContainer must be long enough, so that even at the highest speed of the guide value, the time-related movement of the EventSeg- mentContainer can still be processed completely.

Otherwise, the time-related movement is aborted at the end of the EventSegmentContainer, leading to possible jumps in velocity and position. The time-related movement must start and end in standstill (the 1st EventSegment must start in standstill and the last EventSegment must end in standstill). The guide value-related movement that is before the EventSegmentContainer must end in standstill. The guide value-related movement after the EventSegment- Container must start in standstill. If 1 of the conditions is not fullled, a jump in velocity occurs.

Illustration 2.93 Event Segment Container

There is no special list of actions or exit conditions inside the EventSegmentContainer element. All actions dened in the CAM prole can be used for time-related nodes and segments as well.

Attribute Mandatory/

optional

(+default

value)

segID Same as in Table 2.17. precNode Same as in Table 2.17. This needs to be a

GuideNode.

succNode Same as in Table 2.17. This needs to be a

GuideNode. startAction Same as in Table 2.17. endAction Same as in Table 2.17.

startingE-

ventNode

M An existing

Value range/

allowed values

nodeID of an EventNode.

Description

ID of the starting EventNode at the beginning of this segment. If a non-existing node ID is used, an error is issued during parsing.

Additionally, an EventSegmentContainer has subelements to describe its embedded time-related movement. There is a (mandatory) list of EventNodes and a (mandatory) list of EventSegments. The beginning of the rst time-related segment and the end of the last time-related segment must have velocity 0.

EventSegments

EventSegments are all segment types that are dened based on time. EventSegments must be embedded into an EventSegmentContainer.

EventSegments may only have EventNodes as preceding and

succeeding nodes. There are some attributes that are common to all EventSegments. Those attributes can be found in Table 2.26.

GuideSegments always run from one guide value position to the next. EventSegments are more exible. It is possible to dene additional supervising parameters that serve as exit conditions. If such an exit condition appears, the axis proceeds with the next segment.

Attribute Mandatory/

optional

(+default

value)

segID M Integral

precNode M An existing

succNode M An existing

Value

range/

allowed

values

number; 0– 50000

nodeID of an

EventNode.

nodeID of

an EventNode.

Description

Integral number to uniquely identify this segment. The segID must be unique across all Guide- and

EventSegments. The same segID cannot be used

twice. ID of the EventNode at the beginning of this segment. If a non-existing node ID is used, an error is issued during parsing. ID of the EventNode at the end of this segment. If a non-existing node ID is used, an error is issued during parsing.

2 2

Table 2.25 Attributes for EventSegmentContainer

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Attribute Mandatory/

optional

(+default

default O; default =

duration M Integer >3

exitCond O; default =

value)

FALSE

only duration

Value

range/

allowed

values

TRUE/FALSE Denes if this segment is

or 0: disable

0, 1, or more existing exit condition IDs

Description

the default segment for the referenced preceding node. This attribute is not necessary if only 1 segment has this precNode as the preceding node. If >1 segment has this precNode as preceding node and none of them claims to be the default one, the segment with the lowest segment ID is used. If >1 segment claims to be the default segment of a specied precNode, a parsing error is issued. Time given in ms counted from the beginning of this segment (duration). This is the maximum time if the segment has not been exited otherwise. Denes if 1 or multiple exit conditions are attached to this segment. This attribute is optional. If it is not present, there is no exit condition assigned to the segment. The duration attribute is then the only exit condition. To dene multiple exit conditions, all exitIDs must be listed inside the attribute, separated by a white space. If there are multiple exit conditions, the segment is aborted as soon as 1 of them applies (logical OR). If a non-existing exit condition ID is used, an error is issued during parsing.

Attribute Mandatory/

optional

(+default

value)

startAction O; default =

no action

endAction O; default =

no action

Table 2.26 Common Attributes for all EventSegments

Value

range/

allowed

values

0, 1 or more existing action IDs

Description

Denes if 1 or multiple actions are attached to the beginning of this segment. This attribute is optional. If it is not present, no action is assigned to the beginning of this segment. To dene multiple actions, all actionIDs must be listed inside the attribute, separated by a white space. If a non-existing action ID is used, an error is issued during parsing. Denes 1 or multiple actions attached to the end of this segment. This attribute is optional. If it is not present, no action is assigned to the end of this segment. To dene multiple actions, all actionIDs must be listed inside the attribute, separated by a white space. If a non-existing action ID is used, an error is issued during parsing.

TimePoly:

The TimePoly is the time-related correspondent to the GuidePoly. It denes a time-related movement. In general, advanced CAM proles are related to a guide value; therefore, the time-related movements must be embedded into an EventSegmentContainer.

Start and ending position, velocity, and acceleration at the start and the end of the segment can be selected without restrictions. Complex movements can be combined by a number of TimePolys.

130BF292.10

Time

Rotor angle

of axis

distance

startPos

duration

endVel

startVel

succNodeprecNode

Servo Drive Operation Programming Guide

Illustration 2.94 TimePoly

Illustration 2.95 Start/Endpoint Representation

Attribute Mandatory/

optional

(+default value)

Value

range/

allowed

Description

values

segID Same as in Table 2.26. precNode Same as in Table 2.26. succNode Same as in Table 2.26. default Same as in Table 2.26. startPos Same as in Table 2.18. duration Same as in Table 2.26. type Same as in Table 2.18. distance Same as in Table 2.18. startVel O; default = 0 Float Velocity of the axis at

the beginning of this segment. The velocity must be given in rps. To ensure smooth movements, the velocities of all segments that are connected in the same node should be the same. If this is not parameterized correctly, a jump in velocity may occur.

endVel O; default = 0 Float Same as startVel but at

the end of the segment.

Attribute Mandatory/

optional

(+default value)

Value

range/

allowed

Description

values

startAcc O; default = 0 Float Acceleration of the

axis at the beginning of this segment. The acceleration must be given in rps per second. It is possible to parameterize jumps in acceleration when 2 succeeding segments have dierent startAcc and endAcc values.

endAcc O; default = 0 Same as

startAcc

Same as startAcc but at the end of the segment.

exitCond Same as in Table 2.26. startAction Same as in Table 2.26. endAction Same as in Table 2.26.

Table 2.27 Attributes for TimePoly in Start/Endpoint Representation

Illustration 2.96

Attribute Mandatory/

Coecient Representation

Value

optional

(+default value)

range/

allowed

Description

values

segID Same as in Table 2.26. precNode Same as in Table 2.26. succNode Same as in Table 2.26. default Same as in Table 2.26. duration Same as in Table 2.26. type Same as in Table 2.18. a0 type = absolute:

M else O

a1-a5 M Float

Float Polynomial coe-

cients for the movement described by a5x5 + a4x4 + a3x

+ a2x3 + a1x + a0. a0 is the same as startPos in the Start/ Endpoint representation.

exitCond Same as in Table 2.26. startAction Same as in Table 2.26.

2 2

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Attribute Mandatory/

optional

(+default value)

endAction Same as in Table 2.26.

Table 2.28 Attributes for TimePoly in Coecient Representation

VelocitySegment:

The VelocitySegment is used for a movement with constant velocity, independent from the velocity of the guide value. It is similar to a P1 TimePoly of type relative, but velocity controlled instead of position controlled.

Illustration 2.97 Start/Endpoint Representation

Attribute Mandatory/

optional

(+default

value)

segID Same as in Table 2.26. precNode Same as in Table 2.26. succNode Same as in Table 2.26. default Same as in Table 2.26. duration Same as in Table 2.26. startPos Same as in Table 2.18. velocity M Float Velocity of the axis

Value

range/

allowed

values

Value

range/

allowed

values

Description

during this segment. The velocity must be given in rps. To ensure smooth movements, the velocities of all segments that are connected in the same node should be the same. If this is not parameterized correctly, a jump in velocity may occur.

Attribute Mandatory/

optional

(+default

value)

acceleration M Float >0 Acceleration of the axis

deceleration O; default =

value of

acceleration

torqueLimit O; default =

maximum

exitCond Same as in Table 2.26. startAction Same as in Table 2.26. endAction Same as in Table 2.26.

Table 2.29 Attributes for VelocitySegment in Start/Endpoint

Representation

Value

range/

allowed

values

Float >0 Deceleration of the axis

Positive integer (0;

32767)

Description

when increasing the velocity. The acceleration must be given in rps per second. It is possible to parameterize jumps in acceleration when 2 succeeding segments have dierent startAcc and endAcc values.

when decreasing the velocity. The deceleration must be given in rps per second. It is possible to parameterize jumps in acceleration when 2 succeeding segments have dierent startAcc and endAcc values. Congures the maximum torque used during this segment. The value is given per mNm.

Coecient representation: This representation is not available.

SyncSegment:

The SyncSegment is used for a synchronized, velocity controlled movement in relation to the velocity of the guide value. It is similar to a VelocitySegment, but with a coupling factor for the velocity (velocityRatio).

Illustration 2.98 Start/Endpoint Representation

Servo Drive Operation Programming Guide

Attribute Mandatory/

optional

(+default

value)

segID Same as in Table 2.26. precNode Same as in Table 2.26. succNode Same as in Table 2.26. default Same as in Table 2.26. duration Same as in Table 2.26. startPos Same as in Table 2.18.

velocity

Ratio

acceleration M Float Acceleration of the axis

deceleration O; default =

torqueLimit Same as in Table 2.29. exitCond Same as in Table 2.26. startAction Same as in Table 2.26.

M Float Velocity of the axis

value of

acceleration

Value

range/

allowed

values

Float Deceleration of the axis

Description

during this segment. The velocity must be given as a factor between the velocity of the axis in relation to the velocity of the guide value (1 revolution of the axis per 1 round of guide value). To ensure smooth movements, the velocities of all segments that are connected in the same node should be the same. If this is not parameterized correctly, a jump in velocity may occur.

Attribute Mandatory/

optional

(+default

value)

endAction Same as in Table 2.26.

Table 2.30 Attributes for SyncSegment in Start/Endpoint

Representation

Value

range/

allowed

values

Description

Coecient representation: This representation is not available.

TorqueSegment:

The TorqueSegment is used for a torque controlled movement, independent of the guide value.

Illustration 2.99 Start/Endpoint Representation

Attribute Mandatory/

optional

(+default

value)

torqueRamp O; default =

maximum

Value range/

allowed values

32768; 32767)

Integer (1;

2147483648)

Description

Congures the target torque. The value is given in mNm. Congures the rate of change of torque. The value is given in mNm per second.

2 2

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Attribute Mandatory/

optional

(+default

velocity

Limit

exitCond Same as in Table 2.26. startAction Same as in Table 2.26. endAction Same as in Table 2.26.

Table 2.31 Attributes for TorqueSegment in Start/Endpoint

Representation

value)

O; default = maximum

Coecient representation: This representation is not available.

PwmOSegment:

The PwmOSegment is used to turn o the PWM. Enabling the PWM again afterwards takes some time.

Illustration 2.100 Start/Endpoint Representation

Attribute Mandatory/

optional

(+default

value)

segID Same as in Table 2.26. precNode Same as in Table 2.26. succNode Same as in Table 2.26. default Same as in Table 2.26. startPos Same as in Table 2.18. duration Same as in Table 2.26. exitCond Same as in Table 2.26. startAction Same as in Table 2.26. endAction Same as in Table 2.26.

Table 2.32 Attributes for PwMOSegment in Start/Endpoint

Representation

Value range/

allowed values

Float >0 Congures the

Value

range/

allowed

values

Description

maximum velocity that can be used during this segment (absolute value). The velocity must be given in rps. When limit is reached, no more torque is generated until velocity is below limit again.

Description

Coecient representation: This representation is not available.

FrictionSegment:

The FrictionSegment is used to rst measure the friction of the servo drive system at 2 dierent velocities. This friction can either be used for long-term monitoring or the servo drive can use it for an automatic compensation. The measurement occurs alternating (over the guide value cycles) with velocityLow and with velocityHigh.

This segment ends either with the dened velocityLow or velocityHigh.

Illustration 2.101 Start/Endpoint Representation

Attribute Mandato

ry/

optional

(+default

value)

velocityHigh O; no

default exists

doCompen-

sation

O; default = FALSE

Value

range/

allowed

values

Float Velocity of the axis

TRUE/FALSE If TRUE, the measured

Description

during the rst part of the measurement. The velocity must be given in rps.

friction is compensated automatically by the servo drive. If FALSE, the value can be used for diagnostics.

130BF296.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=0

Master absolute

Starting

Node

Blending

Servo Drive Operation Programming Guide

Attribute Mandato

ry/

optional

(+default

value)

acceleration M Float >0 Acceleration of the axis

deceleration O;

default = value of

accelerati

timeout M Uint32 Timeout in ms for

guideValue M Float 0–

exitCond Same as in Table 2.26. startAction Same as in Table 2.26. endAction Same as in Table 2.26.

Table 2.33 Attributes for FrictionSegment in Start/Endpoint

Representation

Value

range/

allowed

values

Float >0 Deceleration of the axis

0.9999

Description

when increasing the velocity. The acceleration must be given in rps per second. It is possible to parameterize jumps in the acceleration when 2 succeeding segments have dierent startAcc and endAcc values.

when decreasing the velocity. The deceleration must be given in rps per second. It is possible to parameterized jumps in the deceleration when 2 succeeding segments have dierent startAcc and endAcc values.

reaching guideValue oset and start of measuring. guideValue Oset for starting the measuring.

All illustrations in the following sub-chapters show the transition from a currently running CAM 2 (see Illustration 2.41) to a newly activated CAM.

The following conventions are basically used for transitions between proles:

If a CAM prole is aborted (Change CAM

•

imm = 1), the current slave position is considered as end slave position.

Master absolute uses the GuideNode positions as

•

specied in the CAM.

Master relative moves the starting node of the

•

CAM (nodeID = 0) to the end point of the previous CAM. This can be the end position or the point where it has been aborted (using Change CAM imm = 1), see Illustration 2.102).

When activating a non-cyclic CAM prole with

•

Use blend distance = 0, the processing of it takes place in the same master cycle (as the CAM activation request) or in the next one (depending on the end point of the currently running CAM

prole and the starting node of the new CAM prole). In both cases, the CAM is processed as 1

complete cycle (starting with the next upcoming starting node).

When activating a non-cyclic CAM prole with

•

Use blend distance = 1, the processing of (at least the starting node) it takes place in the same master cycle (as the CAM activation request) or a CAM error is issued. This means that the starting node must be in the same master cycle.

When option Use blend distance = 0, it leads to a

•

blending to the starting node of the CAM (nodeID = 0). However, this is not necessarily the next node (seen from the current guide value position).

2 2

Coecient representation: This representation is not available.

Switching between CAM proles

Depending on the CAM conguration option master abs/rel and especially on the advanced CAM itself, there are several ways to go from 1 running CAM prole to the next. All the possibilities are described in the graphics in this section.

The following examples all show the starting point based on the time of the CAM activation request, respectively

Illustration 2.102 Blending is Done to the Starting Node of the

CAM; Master Absolute

when CAM ack (bit 12) is set by the axis (see chapter 2.4.5.5 Advanced CAM).

In the following sub-chapters, it is assumed, that the servo drive is already running on the rst shown CAM. The behavior that is interesting here is the transition to the second (advanced) CAM based on the point of activation request and the conguration of the second (advanced) CAM.

130BF297.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=0

Starting

Node

Master relative

Possible jump in

position and velocity

130BF298.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=1

Starting

Node

Master absolute

Blending

blend dist

130BF299.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=1

Master absolute

Starting

Node

Blending

blend

dist

130BF315.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=1

Master absolute

Starting

Node

Blending

blend

dist

Return

Segment

130BF316.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=1

Master absolute

Starting

Node

Blending

blend

dist

absolute

GuidePoly

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

The blending behavior depends on the segment type where it ends (see Table 2.34). In Illustration 2.105, the blending is extended to the next GuideNode (not

Illustration 2.103 Blending is Done to the Starting Node of the

CAM; Master Relative.

Jump depends on the following segment of the starting node

of the CAM.

When option Use blend distance = 1, there are 2

•

possible cases:

necessarily the starting node).

Segment type Start position End position

GuidePoly of type absolute determined determined GuidePoly of type relative undetermined undetermined MoveDistanceSegment undetermined undetermined FlyingStopSegment undetermined undetermined ReturnSegment undetermined determined EventSegmentContainer undetermined undetermined TimePoly of type absolute determined determined TimePoly of type relative undetermined undetermined All other EventSegments undetermined undetermined

Table 2.34 Segment types and their Classications of Start

and End Position

- Minimum blending distance ends before

the CAM denition starts: The blending distance is extended to the next node (seen from the current guide value position, based on the default CAM).

Blending ends inside segment with determined end position

If the segment is a segment with a determined end position (see Table 2.34), the blending distance is extended to the end of the segment and the blending is done to this absolute (determined) position.

Illustration 2.104 Blending is Extended to the Next GuideNode

(not necessarily the starting node)

Illustration 2.106 Blending Ends inside a Segment with

Determined End Position (Here: ReturnSegment)

Minimum blending distance ends within a segment: The behavior depends on the segment type where the blending would end (see the following sub-

A special case is the

GuidePoly of type absolute. Here, the whole segment (not only the end position) is determined. So for GuidePolys the blending distance is not extended.

chapters).

Illustration 2.105 Minimum Blending Distance Ends within a

Segment

Illustration 2.107 Blending Ends inside a GuidePoly of Type

Absolute.

The blending is done to that exact position.

130BF317.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=1

Master absolute

Starting

Node

Blending

blend

dist

Segment with undetermined

end position

130BF318.10

Guide value

cycle

Rotor angle of axis

Change CAM imm=0

Use blend dist=1

Master absolute

Starting

Node

Blending

using a P4

blend

dist

relative

GuidePoly

Servo Drive Operation Programming Guide

Blending ends inside segment with undetermined end position

If the segment has an undetermined end position (see Table 2.34), the blending distance is extended to the end of the segment. The blending is done to the preceding node of the segment.

Illustration 2.108 Blending Ends inside a Segment with

Undetermined End Position.

The blending is extended to the next node. The blending

behavior then depends on the node.

A special case is the GuidePoly of type relative. Here, the servo drive calculates a P4 to adjust the velocity and the acceleration to match at the point where the blending distance ends. The position is not relevant here.

the velocity and acceleration of this start condition. The slave position itself is not relevant.

A CAM error is issued if there is no following segment to a node (as it is for example: the last node of a non-cyclic CAM).

Actions

A list of actions can be attached to several events. These events can be:

A node.

•

The beginning of a segment.

•

The end of a segment.

•

The order of executing actions when processing segment A, node B, and segment C is the following:

Start actions of segment A.

•

End actions of segment A.

•

Actions of node B.

•

Start actions of segment C.

•

End actions of segment C.

•

An action is described with a surrounding element to dene an actionID which is used for referencing inside the CAM prole. This actionID must be unique across all dened actions. Inside this action element, there can be 1 or more sub-elements.

Available actions are listed in the following sub-chapters.

2 2

Illustration 2.110 Actions

Illustration 2.109 Blending Ends inside a GuidePoly of Type

Relative.

The blending distance is as specied.

Action: Change set of control loop parameters

To dene an action that changes a set of control parameters, the following element must be inserted inside

The slave position is not relevant here, but is determined automatically by the P4 that is calculated by the servo drive to adjust the velocity and acceleration.

Blending ends at a node

the action. The denition and value ranges are equal to the general denition of a control parameter set within a CAM prole.

To change the control parameters for the 1st set use:

The behavior is all the same, independent if this node is the starting node of a CAM, or some other node. It is also the same, if the blending distance has been extended to the node or not. When blending to a node, the following

Illustration 2.111 Control Parameters for Set 1

segment of this node is relevant.

For the EventSegmentContainer, the rst EventSegment is relevant. If the following segment is a segment with a determined start position (see Table 2.34), a P5 is used to blend to this position.

If the following segment is a segment with an undetermined start position (see Table 2.34), the servo drive calculates a P4 to do the blending in order to adjust

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

To change the control parameters for the 2nd set use:

Action: Set/Reset Digital Output

To dene an action that changes the digital output, the

Illustration 2.112 Control Parameters for Set 2

following element must be inserted inside the action.

The attribute value is mandatory and the allowed values are on, o, and toggle, where toggle inverts the current

Mandatory/

Attribute

speedP,

speedI,

speedD,

inertia

positionP,

positionD

Table 2.35 Attributes for controlParam1

optional

(+default

value)

M Float,

Value

range/

allowed

values

same as for object 0x2012.

same as for object 0x2013.

Description

See object 0x2012 (chapter 7.6.5.1 Parameters

51-10 to 51-15: Speed

Controller Parameters (0x2012)).

See object 0x2013 (chapter 7.6.4.1 Parameters

51-16 and 51-17: Position

Controller Parameters (0x2013)).

state of the digital output. The polarity of the digital output can be congured using object 0x200F (see

chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)).

Mandatory/

Attribute

value M on/o/toggle Switches the

Table 2.38 Attributes for setDigOut

optional

(+default

value)

Value range/

allowed values

Description

digital output on, o, or changes the current state.

Action: Rounding Compensation

Mandatory/

Attribute

speedP,

speedI,

speedD,

inertia

positionP,

positionD

Table 2.36 Attributes for controlParam2

optional

(+default

value)

M Float,

Select set of control loop parameters

To dene an action that changes the used set of control parameters, the following element must be inserted inside the action.

Mandatory/

Attribute

set M 1/2 Switches/selects

optional

(+default value)

Value

range/

allowed

values

same as for object 0x2014.

same as for object 0x2015.

Value

range/

allowed

values

Description

See object 0x2014 (chapter 7.6.5.2 Parameters

51-20 to 51-25: Speed

Controller Parameters 2 (0x2014)).

See object 0x2015 (chapter 7.6.4.2 Parameters

51-26 and 51-27: Position

Controller Parameters 2 (0x2015)).

Description

control parameter set 1 or 2.

This action is used to compensate the rounding errors that necessarily appear during calculations. The behavior is similar to the ReturnSegment behavior, but there should not be an explicit movement. This means that the servo drive must be near to the correct position (so only small rounding errors can be compensated), otherwise the servo drive jumps to the corrected position.

<compensateRounding partition="1" revolutions="1"

osetRev="0.25"/>

Mandatory/

Attribute

partition M Integer: (0;16) Can be used

optional

(+default

value)

Value range/

allowed values

Description

for shaped plates when several equal, valid starting positions are allowed. The worst case movement is inuenced by this parameter.

Table 2.37 Attributes for selControlParam

Servo Drive Operation Programming Guide

Mandatory/

Attribute

revolutions O; default = 1 Integer >0 Number of

osetRev O; default = 0 Float Desired end

Table 2.39 Attributes for compensateRounding

optional

(+default

value)

Value range/

allowed values

Description

revolutions that are used when calculating valid positions, for example, if there is a gear.

rotor position relative to the nearest physical position. The referenceposition is determined by the absolute position at the beginning of this segment and the

partition/ revolutions.

Given in revolutions of the axis.

Action: Log Value

This action is used to log values at specic points in the CAM for later readout. All parameters that are available in the object dictionary can be logged.

There are 16 memory cells available for logging. The information is not automatically read out. This must be done by the application. Memory cells are in object 0x3870 (see chapter 7.14.16 Parameter: Logged Values (0x3870)).

The data must be interpreted according to the data type of the value.

Mandatory/

Attribute

index M Existing

Sub-index O; default = 0 Existing sub-

memory M Integer: [1;16] Memory cell

Table 2.40 Attributes for logValue

optional

(+default

value)

Value range/

allowed values

parameter index

index

Description

Index of the parameter to be logged. Sub-index of the parameter to be logged.

the parameter should be logged to.

Action: Digital Input Counter

These actions control the counters of the digital input.

Element resetCounter resets the counter value to 0.

Mandatory/

Attribute

input M 1/2 Selects if the

Table 2.41 Attributes for resetCounter

optional

(+default

value)

Value range/

allowed values

Description

1st or the 2 digital input counter is

aected.

Element startCounter starts the counting of the specied digital input events of the specied digital input.

Mandatory/

Attribute

input M 1/2 Selects if the

edge M Rising/falling/

optional

(+default

value)

Value range/

allowed values

both

Description

1st or the 2 digital input counter is

aected.

Indicates which input events are counted.

2 2

Table 2.42 Attributes for startCounter

Element stopCounter stops the counting of any digital input events of the specied digital input.

130BF260.10

Accelerating

phase

Rotor angle

Decelerating

phase

Decelerating

phase

Guide value

Time

Mark

found

Constant plate speed

during search for

mark

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Mandatory/

Attribute

input M 1/2 Selects if the

Table 2.43 Attributes for stopCounter

optional

(+default

value)

Value range/

allowed values

Description

1st or the 2 digital input counter is

aected.

An exit condition is described with a surrounding element to dene an exitID which is used for referencing inside the CAM prole. This exitID must be unique across all dened exit conditions. Inside this exit element, there can be 1 or more subelements. Available exit conditions are listed in the following sub-chapters.

… specic exit condition(s) with corresponding attributes

<exit>

Exit: Rectangle Mark Detection

This exit condition is used to start the search for a

The counter values can be read from the object 0x3860 (see chapter 7.14.17 Parameter: Digital Input Counters (0x3860)). The values are read/write for manually modifying the counters.

Action: Set Follow Segment

Instructs the servo drive to change the used succeeding segment of a node. It is only possible to select a segment ID that has this node ID

dened as preceding node. This change is preserved over the guide value cycles, so no automatic switching back takes place.

rectangle mark, using the sensor interface. This exit condition is used for alignment, depending on a sensor signal. When using this exit condition, the axis waits for a rectangle input on the sensor interface with a length between the specied minimum and maximum.

When using an analog sensor, a threshold for the height of the impulse must be dened. Positive and negative impulses can be processed. This equates to light and dark marks with optical sensors. The axis proceeds with the next segment as soon as the impulse is found or the maximum duration of the segment is reached.

If the mark has been found and the following segment is a

Mandatory/

Attribute

nodeID M An existing

segID M An existing

Table 2.44 Attributes for setFollowSegment

Exit conditions

optional

(+default

value)

The following exit conditions are used to monitor several variables. The axis proceeds with the next segment as soon as the condition is met. Exit conditions can only be dened

Value range/

allowed values

node ID.

segment ID.

Description

The mode ID to get another following segment. When using a non-existing nodeID, a

notication

from the axis is sent. The segment ID that will be processed after the specied node. When using a nonexisting segID, a notication from the axis is sent.

for EventSegments.

braking segment (TimePoly which leads to a standstill), the servo drive always stops at the same distance to the mark.

Illustration 2.113 Behavior when Mark was Found

The time at which the mark is found depends on the position of the mark. The black line shows an example for the case that the mark is found right at the point in time that is marked with the black arrow. The duration of the segment determines the latest point in time when the search is aborted. If the mark is found before this duration is over, the axis proceeds with the following segment immediately after the mark is found.

Proceeding to the next segment always takes place in relation to the middle of the impulse. To make this possible, the point in time for proceeding depends on the parameterized maximal length of the mark.

Servo Drive Operation Programming Guide

Mandatory/

Attribute

input M 1/2 Selects if the

mode M Analogue/

threshold M Float: [-100;

minLength M Integer: 0 to

maxLength M Integer:

Table 2.45 Attributes for rectMark Search

optional

(+default

value)

Value range/

allowed values

digital

100]%

maxLength

minLength to 65535

Description

1st or the 2 digital input is

aected. Species the

signal source. Allowed values are analog or digital. Threshold for the sensor signal in %. Negative values are used for inverse mark polarity. Species the maximum length that is recognized as a mark; Given in number of samples. Species the maximum length that is recognized as a mark; Given in number of samples.

Exit: Pattern detection

Just like the search for a rectangle mark, also the search for a pattern is used for alignment, depending on a sensor signal. In contrast to the rectangle mark, here it is possible to search for any mark. Therefore, it is necessary to download the reference signal to the axis together with the CAM prole. A pattern search can only be done using an analog sensor.

The behavior of the search for pattern exit condition is more or less equivalent to the search for a rectangle mark (see Illustration 2.113). As soon a pattern is recognized, the axis proceeds with the next segment. In addition to the reference pattern, the axis only needs a threshold for the expected correlation. It is usually placed in the middle between the highest disturbing signal and the expected desired signal.

The time at which the pattern is found, depends on the position of the pattern. The black line shows an example for the case that the pattern is found right at the point in

time that is marked with a black arrow. The position of the succeeding node determines the latest point in time when the search is aborted. If the pattern is found before reaching the succeeding node, the axis proceeds with the following segment right after the pattern is found, that means before the succeeding node is reached.

Proceeding to the next segment always takes place in relation to the end of the pattern. When changing the position or the length of the reference pattern, the position where the axis stops is also changed.

Mandatory/

Attribute

input M 1/2 Selects if the

threshold M Float: [-100;

subsample M 0–4 Subsampling

checkLength M Integer: [1;

Table 2.46 Attributes for Pattern Search Action

Each CAM

optional

(+default

value)

prole has 1 pattern le associated. This means

Value range/

allowed values

100]%

1000]

Description

rst or the second digital input is

aected.

Threshold for the minimum correlation in %. Negative values are used for inverse mark polarity.

factor for sensor input. 0: 16 kHz or 20 kHz 1: 8 kHz or 10 kHz 2: 4 kHz or 5 kHz 3: 2 kHz or

2.5 kHz 4: 1 kHz or

1.25 kHz Number of consecutive descending correlation samples after correlation maximum.

that, if there is >1 pattern search action inside 1 CAM, they would use the same pattern le.

The pattern information is transmitted to objects 0x3830 to 0x3837 (see chapter 7.14.6 Parameters: CAM Pattern 1–8 (0x3830–3837)).

2 2

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Check Digital Input Event

This exit condition checks for the state of the digital input.

As soon as the specied state is reached, the axis proceeds with the next segment.

Attribute

input M 1/2 Selects if the

Mandatory/

Attribute

input M 1/2 Selects if the

value M On/o/toggle Switches the

Table 2.47 Attributes for Pattern Search Action

optional

(+default

value)

Counter Exceeds Limit

This exit condition checks for the digital input counters that are controlled via actions (see section Digital Input Counter in chapter 2.4.5.5 Advanced CAM). As soon as the threshold value is reached or exceeded, the axis proceeds with the next segment.

Mandatory/

Attribute

input M 1/2 Selects if the

threshold M Positive integer Denes the

Table 2.48 Attributes for checkCounter

optional

(+default

value)

Value range/

allowed values

Value range/

allowed values

Description

1st or the 2 digital input is

aected.

digital output on, o, or changes the current state.

Description

1st or the 2 digital input counter is

aected.

threshold of the counter (greater or equal).

threshold M 0–1 Threshold to

condition M Above/below Selects if the

Table 2.49 Attributes for checkAnaInput

Exit: Velocity Below/Above Limit

This exit condition checks if the velocity is below or above the specied absolute. As soon as the value is above or below the threshold, the axis proceeds with the next segment.

Attribute

threshold M Float Velocity

condition M Above/below Selects if the

Check Analog Input Event

This exit condition checks for the state of the analog input. As soon as the

specied state is reached, the axis proceeds

with the next segment.

Table 2.50 Attributes for checkVelocity

Torque Below/Above Limit

This exit condition checks if the torque is above or below the specied absolute value. As soon as the value is above

Mandatory/

optional

(+default

value)

Mandatory/

optional

(+default

value)

Value range/

allowed values

Value range/

allowed values

Description

1st or the 2 analog input is

aected.

be exceeded or underrun. Scaled from 0 to 1.

segment should be left if the threshold has been exceeded or underrun.

Description

threshold to be exceeded or underrun. The velocity must be given in rps.

segment should be left if the threshold has been exceeded or underrun.

or below the threshold, the axis proceeds with the next segment.

Servo Drive Operation Programming Guide

Mandatory/

Attribute

threshold M Float Torque

condition M Above/below Selects if the

Table 2.51 Attributes for checkTorque

optional

(+default

value)

Value range/

allowed values

Description

threshold to be exceeded or underrun. The torque must be given in mNm.

segment should be left if the threshold has been exceeded or underrun.

Distance Above Limit

This exit condition checks if the distance that has been processed during the current segment is above the specied absolute value. As soon as the value is above the threshold, the axis proceeds with the next segment.

Mandatory/

Attribute

threshold M Float Distance

Table 2.52 Attributes for checkDistance

optional

(+default

value)

Value range/

allowed values

Description

threshold to be exceeded. Given in revolutions of rotor position.

2.4.5.6 Commands During Operation

The commands listed in this chapter are provided by the servo drive to control the functionality during the operation of a CAM. Some commands are only available if an advanced CAM is used. The CAM control data information is represented in 4 16 bit objects (see chapter 7.14.3 Parameter: CAM Control (0x3800) for object description). One of them is the control code, whereas the rest contain additional parameters (see Table 2.53). The detailed descriptions are given in the following subchapters.

Bit 16 (MSB) of the control code is a toggle bit. As synchronous eldbuses are supported, it is not possible to distinguish between a new and a resent command. Therefore, the edge of the toggle bit is used for this purpose.

Control

code

0x0000 Reserved – Reserved Reserved Reserved 0x0001 Rotation

0x0002 Segment

0x0003 Set follow

0x0004 Node

0x0005 Go to

Meaning Availa-

bility

Basic &

stop

parameter during runtime

segment

signaling status (leads to a status information with status code 0x0005)

setpoint (while guide value velocity is

Table 2.53 CAM Control Data Information

Advanced

Advanced only

Advanced only Basic & Advanced

Basic & Advanced

Control

parameter

Rotation stop option code (see

Table 2.54) SegmentID Parameter [oat; in

nodeID SegmentID Reserved

nodeID/No

. of data point

Direction option code (see Table 2.55)

Control

parameter

Deceleration [oat; rps per second] Low byte High byte

revolutions] Low byte High byte

1: Enable 0: Disable

Time inmsReserved

Control

parameter

Reserved

When using the PLC, the libraries provide function blocks to send the commands. The function blocks are described in chapter 6.5.6 Drive – CAM Operation.

Rotation stop

This command issues a stop of the servo drive for 1 CAM cycle. The stopping takes place according to the Table 2.54.

Value Denition

0 Coasting and stay in Operation enabled. +1 Slow down on specied ramp and stay in Operation

enabled.

+2 Slow down on current limit and stay in Operation enabled.

Table 2.54 Rotation Stop Option

The CAM processing is resumed at the starting node of the CAM. Ensure that the resuming can take place without jumps. For advanced CAMs, this can be done by:

Starting the CAM with a relative movement.

•

Starting the CAM with a ReturnSegment

•

(suggested solution).

2 2

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

For basic CAMs, use the slave relative option. A jump occurs if the CAM starts with an absolute movement and the servo drive is at a dierent position. No blending

occurs.

Segment parameter during run-time

distinguish between a new and a resent notication. Therefore, the edge of the toggle bit must be monitored. The CAM status information is represented in 4 16-bit objects (see chapter 7.14.2 Parameter: CAM Status (0x3801)). One of them is the status code, whereas the rest contains additional information (see Table 2.56).

This command sends a parameter to a specic segment. The parameter inuences the behavior of the segment during run-time. Segment types that expect an angle parameter at every guide value cycle (master cycle) are

Move Distance segments and Flying Stop segments (see chapter 5.7.7.7 Editing Advanced CAM Proles).

The specic segment is addressed using its ID. The parameter is a oating point value given in rotor shaft revolutions.

Set follow segment

This command instructs the servo drive to change the used succeeding segment of a node. It is only possible to select a segment ID that already has this node ID dened as preceding node. This change is preserved over the guide value cycles. Therefore, no automatic switching back takes place.

Node signaling status

This command enables/disables the signaling of a node/ data point. That means that the servo drive can send a notication when passing a node/data point. If there are too many notications coming from the axis, others could be delayed. Basic CAMs do not signal the passing of a data point per default.

Go to setpoint

This command issues a movement to the setpoint of the CAM while the Guide Value velocity is 0. This is used, for example, when starting up a CAM with slave absolute and the servo drive is at another position. The required movement is then calculated by the servo drive automatically, based on the direction option code (see Table 2.55) over the specied time. This movement takes place using a polynomial of 5th degree. The Guide Value velocity must stay at 0 until this movement is nished.

Value Denition

0 Normal movement similar to linear axis. +1 Movement only in negative direction. +2 Movement only in positive direction. +3 Movement the shortest way. Assuming a rotary axis. Cam

slave scaling is considered (regarding a possible gear).

+4 Movement in last direction.

Table 2.55 Direction Option Code

2.4.5.7 Notications from the Servo Drive

Status

code

0x0000 Reserved Reserved Reserved Reserved 0x0002 Result of

0x0004 Following error

0x0005 Node/data

0x0006 Bad parameter

0x0007 Bad parameter

0x0009 Correction

0x000A Flying stop

0x000B Forced Time-

Meaning Status

parameter

SegmentID of dynamic alignment

(also signaled in the Statusword)

point passed

sent to a segment or segment does not exist

sent: Error when setting following segment of a node (node or segment not valid)

angle indication

exit;

EventSegmentContainer too

short

alignment

segment

(pattern or

mark)

SegmentID of

the segment

in which the

following error

occurred

nodeID/data

point that was

passed

Sent

SegmentID

Sent

SegmentID

ID of MoveDis-

tanceSegment

ID of Flying-

StopSegment

ID of EventSeg-

mentContainer

Status

parameter

1: Success 0: Failure

Reserved Reserved

SegmentID

of current segment/n ot available for basic CAM Sent parameter [oat] Low byte High byte

Sent

nodeID

Logical rotor angle [oat; given in revolutions] Low byte High byte Logical rotor angle [oat; given in revolutions] Low byte High byte Reserved Reserved

Status

parameter

Reserved

The servo drive sends out information about the currently ongoing CAM execution or as a reaction on a command.

Table 2.56 CAM Control Data Information

Bit 16 (MSB) of the status code is a toggle bit. As synchronous eldbuses are supported, it is not possible to

Master axis

Master position

Slave

position

Slave drive

Slave axis

Gear acceleration Gear deceleration

Gear ratio numerator Gear denominator

130BF573.10

x master velocitySlave velocity =

gear ratio numerator

gear ratio denominrator

TRUE

FALSE

Master sync position

Master start distance

Slave sync position

Execute

Start sync

Insync

130BF574.10

TRUE

FALSE

Servo Drive Operation Programming Guide

The PLC library provides the information in function block chapter 6.5.6.9 DD_ReadCamInfo_ISD51x.

2.4.6 Gear Mode

In Gear mode, the servo drive executes a synchronized movement based on a master axis by using a gear ratio between the master and the slave position. The guide value can be provided by an external encoder, virtual axis, or the position of another axis. This functionality can be commanded using function block MC_GearIn_ISD51x (see chapter 6.5.5.9 MC_GearIn_ISD51x) and MC_GearInPos_ISD51x (see chapter 6.5.5.10 MC_GearInPos_ISD51x).

The slave axis calculates its position out of the master position value (see chapter 7.8.1 Parameter: Position Guide Value (0x2060)). The slave axis sets its target position corresponding to the congured gear ratio (see chapter 7.15.1 Parameter: Gear Ratio (0x3900)). The principle of the Gear mode is shown in Illustration 2.114.

2 2

Illustration 2.115 Timing Diagram for Gear In Position

Procedure

Illustration 2.114 Gear Mode Description

A polynomial of maximum 5th degree is used for the

The slave velocity is calculated as:

synchronization phase.

The mode is activated by writing –7 to object 0x6060.

For the Controlword (see chapter 7.2.1 Parameter 16-00 Controlword (0x6040)) and the Statusword (see

To start a geared movement, the acceleration (see chapter 7.5.7 Parameter 50-11: Prole Acceleration (0x6083)) and deceleration (see chapter 7.5.8 Parameter 50-12: Prole Deceleration (0x6084)) can also be congured. These parameters are also used to link up the gear. The slave ramps up or down to the ratio of the master velocity according to the given acceleration or deceleration value and locks in when this velocity is reached.

chapter 7.3.1 Parameter 16-03 Statusword (0x6041)), the bits that usually hold the operating mode-specic bits are dened here.

Depending on the value of the Guide value option code object (see chapter 7.8.3 Parameter: Guide Value Option Code (0x2061)), the guide value (backward or forward movement) must be handled. The parameters

specic to

this mode are listed in chapter 7.15 Gear Mode Objects.

There are 2 synchronization methods:

The relative synchronization between the master

•

and the slave is important (Gear In functionality). For the Gear In functionality, the synchronization phase is velocity controlled, so any lost distance during synchronization is not caught up.

The absolute relation between master and slave is

•

2.4.7 ISD Inertia Measurement Mode

This mode measures the inertia of an axis. It is used to measure the inertia of the servo drive and the external load, and can be used to optimize the control loop settings. The friction eects are eliminated automatically.

important (Gear In Pos functionality), as shown in Illustration 2.115.

This functionality can be commanded using function block DD_GetInertia_ISD51x (see

130BF261.10

Position

control

Velocity

control

Torque control

Target position (0x607A)

Torque actual value (0x6077)

Velocity actual value (0x606C)

Position actual value (0x6064)

130BF262.10

Drive

control

function

Multiplier

Minimum

comparator

Target

position

Target position (0x607A)

Torque

limit

Position actual value (0x6064)

Velocity actual value (0x606C)

Torque actual

value (0x6077)

Following error

actual value

(0x60F4)

Max torque (0x6072)

Drive mirror mode (0x2016,02)

Following error window (0x6065)

Following error time out (0x6066)

Max motor speed (0x6080)

Quick-stop deceleration (0x6085)

Quick-stop option code (0x605A)

Interpolation time period (0x60C2)

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

chapter 6.5.5.11 DD_GetInertia_ISD51x). It can also be used via LCP parameter 52-6* Inertia Measurement. The measured inertia is written to object 0x2009 (see

chapter 7.16.1 Parameter 52-60: Measured Inertia (0x2009)).

The measured value is not automatically used by the control loop.

Illustration 2.116 Cyclic Synchronous Position Mode Overview

WARNING

DANGER OF MOVING PARTS

The servo drive moves during the measurement.

Limit the maximum velocity to be used during

•

measurement using object 0x200A, sub-index 01 (see chapter 7.16.2 Parameters 52-61 and 52-62: Inertia Measurement Parameters (0x200A)).

Limit the maximum torque to be used during

•

measurement using object 0x200A, sub-index 02 (see chapter 7.16.2 Parameters 52-61 and 52-62: Inertia Measurement Parameters (0x200A)).

Illustration 2.116 shows the inputs and outputs of the servo drive control function. The input value (from the control function point of view) is the target position.

To start the measurement, the servo drive must be switched to ISD Inertia Measurement mode. Switching is always possible when the servo drive is disabled. If the servo drive is in state Operation enabled, it must be in Standstill (dened in chapter 10.1 Glossary). Start the measurement by using bit 4 in the Controlword (see chapter 7.2.1 Parameter 16-00 Controlword (0x6040)). The end of the measurement is reported in the Statusword (see chapter 7.3.1 Parameter 16-03 Statusword (0x6041)). After the measurement, the value can be read from object 0x2009 (see chapter 7.16.1 Parameter 52-60: Measured Inertia (0x2009)).

If an error occurred during the measurement, the servo drive signals the error in the Statusword and the value of object 0x2009 (see chapter 7.16.1 Parameter 52-60: Measured Inertia (0x2009)) is used for the error reason.

2.4.8 Cyclic Synchronous Position Mode

In Cyclic synchronous position mode, the trajectory generator of the position is located in the control device, not in the servo drive. The overall structure for this mode is shown in Illustration 2.116. The servo drive provides actual values for position, velocity, and torque to the control device. In cyclic synchronous manner, it provides a target position to the servo drive, which performs position control, velocity control, and torque control.

Illustration 2.117 Cyclic Synchronous Position Control Function

The servo drive monitors the following error. Other features specied in this mode are limitation of motor speed and a quick stop function for emergency reasons. The torque is limited as well. The interpolation time period denes the time period between 2 updates of the target position and is used for intercycle interpolation. The target position is interpreted as absolute value. The position actual value is used as output to the control device. Further outputs are the velocity actual value, torque actual value, and the following error actual value. All values are given in user-dened units. A target position value outside the allowed range of the following error window around a position demand value for longer than the following error time-out results in setting bit 13 (Following error) in the Statusword to 1. Object 0x2055: Following error option code is not supported in this mode of operation.

2.4.9 Cyclic Synchronous Velocity Mode

In Cyclic synchronous velocity mode, the trajectory generator of the velocity is located in the control device, not in the servo drive. The overall structure for this mode is shown in Illustration 2.118. The servo drive provides actual values for position, velocity, and torque to the control device. In cyclic synchronous manner, it provides a target velocity to

130BF263.10

Velocity

control

Torque control

Target velocity (0x60FF)

Torque actual value (0x6077)

Velocity actual value (0x606C)

Position actual value (0x6064)

130BF264.10

Drive

control

function

Multiplier

Minimum

comparator

Target

velocity

Target velocity (0x60FF)

Torque

limit

Position actual value (0x6064)

Velocity actual value (0x606C)

Torque actual

value (0x6077)

Following error

actual value

(0x60F4)

Max torque (0x6072)

Drive mirror mode (0x2016,02)

Max motor speed (0x6080)

Quick-stop deceleration (0x6085)

Quick-stop option code (0x605A)

Interpolation time period (0x60C2)

Servo Drive Operation Programming Guide

the servo drive, which performs velocity control and torque control.

Illustration 2.118 Cyclic Synchronous Velocity Mode Overview

Illustration 2.119 shows the inputs and outputs of the servo drive control function. The input value (from the control function point of view) is the target velocity.

Function Description

Guide value The guide value is used in all synchronous modes

of operation (CAM mode and Gear mode). It is used as the master position within the synchronous modes.

Table 2.57 Motion Functions

2.5.1 Digital CAM Switch

This functionality controls whether the digital output is enabled or disabled, depending on the axis position. It performs a function comparable to switches on a motor shaft. Forward and backward movements of the axis position are allowed. On and o compensation and hysteresis can be parameterized.

The digital CAM switches are stored and handed over to the servo drive using the contents of an XML le. The content is stored automatically in the servo drive. There is only 1 conguration for the digital CAM switches and a maximum of 100 switches are supported.

2 2

Illustration 2.119 Cyclic Synchronous Velocity Control Function

The servo drive supports limitation of motor speed and a quick stop function for emergency reasons. The torque is limited as well. The interpolation time period denes the time period between 2 updates of the target velocity and/or additive velocity and is used for intercycle interpolation. The position actual value is used as mandatory output to the control device. The PLC calculates the actual velocity from the changes to the actual position changes. All values are given in user-dened units.

Motion Functions

2.5

Function Description

Digital CAM switch

ISD touch probe

The calculation of the digital CAM switches is based on the

Position actual value (see chapter 7.7.5 Parameter 50-03: Position Actual Value (0x6064)) in all modes of operation

except CAM mode. In CAM mode, the calculation is based on the Logical CAM position (see chapter 7.14.12 Parameter: Logical CAM Position (0x2020)). The cyclic usage of switches is based on the range of the Position actual value and/or the Logical CAM position.

Information about the state of the digital CAM switching functionality is given in object 0x2005 (see

chapter 7.22.13 Parameter 50-07: Overlaying Motion Status (0x2005)).

A compensation time with which the switching on (see chapter 7.17.1 Parameter: On Compensation (0x3840)) or the switching

o (see chapter 7.17.2 Parameter: O Compen-

sation (0x3841)) can be advanced or delayed in time.

A hysteresis can be dened by using object 0x3842 (see chapter 7.17.3 Parameter: Hysteresis (0x3842)) to avoid jittering around the switching point.

To use the digital CAM switch, transfer the le content to object 0x3844 (see chapter 7.17.5 Parameter: Digital CAM Switches Data (0x3844)). Afterwards, parse the prole using object 0x3843 (see chapter 7.17.4 Parameters: Digital CAM Switch Parsing Control (0x3843)). When the status signals that the data is valid, the functionality can be enabled by using the Controlword (see chapter 7.2.1 Parameter 16-00 Controlword (0x6040)).

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

NOTICE

The digital output must be congured to be used for the

digital CAM switching functionality by using object 0x2FFF (see chapter 7.21.5 Parameter 52-05: Digital

dierent values to the objects. This does not change the content of object 0x3844 (see chapter 7.17.5 Parameter:

Digital CAM Switches Data (0x3844)). Switches is a mandatory element.

Output Conguration (0x2FFF)). Otherwise, the activation of the digital CAM switch has no eect.

This functionality can be commanded via PLC by using function blocks DD_PrepareDigCamSwitch_ISD51x and DD_DigitalCamSwitch_ISD51x.

Illustration 2.120 XML Representation of Digital CAM Switches

Each le can only contain 1 DigitalCamSwitch element.

Attribute Mandatory/

optional

(+default value)

version O x.x.x.x Gives the version of

Table 2.58 Attributes for DigitalCamSwitch Element

Value

range/

allowed

values

Description

the digital CAM switches denition.

The DigitalCamSwitch element contains the following optional elements:

OnCompensation (see chapter 7.17.1 Parameter: On

•

Compensation (0x3840)).

OCompensation (see chapter 7.17.2 Parameter: O

•

Compensation (0x3841)).

If those elements are present, the parameters are written to the object dictionary at the point of enabling of the digital CAM.

Attribute Mandatory/

optional

(+default

value)

Unit M User/

Hysteresis M If unit =

Table 2.59 Attributes for Switches Element

Value

range/

allowed

values

revolutions

User: integer ≥0 If unit = Revolutions: oat ≥0

Description

Denes the unit in which all the position values in this le are given. Allowed values are:

User: The position

•

values are given in userdened position units.

All numerical values accept integers only.

Revolutions: The

•

position values are given in shaft revolutions (matching the units that are used in CAM mode). The numerical values accept oats and integers.

See

chapter 7.17.3 Parameter: Hysteresis (0x3842) for the

description. This parameter is written to the object dictionary at the point of enabling of the digital CAM. When disabling the digital CAM switching functionality, the value persists (that is, it does not switch back to value before the enabling). It is also possible to change this value during the operation of the digital CAM by writing a dierent value to the object. It is not possible to change the parameter in the le on- the-y. The unit of this value depends on the Unit attribute of the Switches element.

When disabling the digital CAM switching functionality, the values persist (that is, they do not switch back to values, before the enabling). It is also possible to change those values during the operation of the digital CAM by writing

Servo Drive Operation Programming Guide

The Switches element itself contains 1–100 switch elements.

Attribute Mandatory/

optional

(+default value)

CamSwitchMode M Position/

FirstOnPosition M If unit =

LastOnPosition M if

CamSwitchMode = Position; not used otherwise

Value

range/

allowed

values

time

User: integer ≥0 If unit = Revolutions: oat ≥0

If unit = User: integer >0 If unit = Revolutions: oat >0

Description

Position and time-based switches are possible and a mixture of both can be used. Possible values are:

Position:

•

Position based. Attribute

LastOnPosition is

mandatory, attribute Duration is not used.

Time: Time

•

based. Attribute

LastOnPosition is not

used, attribute Duration is mandatory.

Lower boundary where the switch is ON. The unit of this value depends on the Unit attribute of the

Switches

element. Upper boundary where the switch is ON. The unit of this value depends on the Unit attribute of the

Switches

element.

Attribute Mandatory/

optional

(+default value)

AxisDirection M Both/

Duration M if

CamSwitchMode = Time; not used otherwise

Table 2.60 Attributes for Switches Element

Illustration 2.121 Example 1

Value

range/

allowed

values

positive/ negative

integer >0 Duration that

Description

Denes in which directions the switches are used:

Both: Switch

•

is active in both directions.

Positive:

•

Switch is only active, when the servo drive moves in positive direction.

Negative:

•

Switch is only active, when the servo drive moves in negative direction.

the output is ON. Given in milliseconds.

2 2

1000 10002000 3000 4000 5000

Switch03

Switch01

Position

Axis is moving continuously in positive direction

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125

250 ms

Switch01

Resulting output with delay

Without delay

2000 2500

3000

Resulting position depends on the current velocity

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Switch03

Switch02

Switch03

Axis is moving continously in negative direction

Position1000 3000 5000 100040002000

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Switch04

Axis is moving continously in positive direction

Position1000 3000 5000 100040002000

130BF237.10

1350 ms

Switch04

Axis is moving continously in negative direction

Position1000 3000 5000 100040002000

130BF238.10

1350 ms

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Example 2:

Illustration 2.125 Example 2

Illustration 2.122 Example 1 - Behavior of Output in Positive

Direction

Illustration 2.122 shows the behavior of the output when the axis is moving continuously in a positive direction. The axis is a modulo axis with a modulo length of 5000. It does not include on/o compensation or hysteresis.

Illustration 2.126 Example 2- Behavior of Output in Positive

Direction

Illustration 2.123 Example 1 - Use of On/O Compensation

Illustration 2.123 shows the additional use of on compensation of 125 ms and o compensation of 250 ms. The axis is moving continuously in a positive direction.

Illustration 2.124 Example 1 - Behavior of Output in Negative

Direction

Illustration 2.124 shows the behavior of the output when the axis is moving continuously in a negative direction. The axis is a modulo axis with a modulo length of 5000. It does not include on/o compensation or hysteresis.

Illustration 2.126 shows the behavior of the output when the axis is moving continuously in a positive direction. The axis is a modulo axis with a modulo length of 5000. It does not include on/o compensation or hysteresis.

Illustration 2.127 Example 2- Behavior of Output in Negative

Direction

Illustration 2.127 shows the behavior of the output when the axis is moving continuously in a negative direction. The axis is a modulo axis with a modulo length of 5000. It does not include on/o compensation or hysteresis.

2.5.2 ISD Touch Probe

This functionality stores the position actual value and a time stamp at the rising or falling edge of the congured digital input. This functionality is available in all modes of operation for each input individually.

The function is

congured using object 0x60B8 (see chapter 7.18.1 Parameter: Touch Probe Function (0x60B8)), where the dierent options regarding the trigger event can be selected.

A. FirstPosition < LastPosition

B. FirstPosition > LastPosition

LastPosition LastPosition

FirstPosition

LastPosition

LastPositionFirstPosition

FirstPosition

0 0

accepted

– + – +

130BF239.10

Servo Drive Operation Programming Guide

The status of the touch probe can be obtained using object 0x60B9 (see chapter 7.18.2 Parameter: Touch Probe Status (0x60B9)). The position results are given in objects 0x60BA–0x60BD (see chapter 7.18.3 Parameter 51-51: Touch

Probe 1 Positive Edge (0x60BA) to chapter 7.18.6 Parameter 51-64: Touch Probe 2 Negative Edge (0x60BD)). The

corresponding time stamps can be read using the objects 0x60D1–0x60D4 (see chapter 7.18.10 Parameter 51-53: Touch

Probe Time Stamp 1 Positive Value (0x60D1) to chapter 7.18.13 Parameter 51-66: Touch Probe Time Stamp 2 Negative Value (0x60D4)).

2.5.2.1 Touch Probe Window

For touch probe events it is possible to dene a window. If this functionality is activated (for touch probe 1: object 0x60B8 bit 6 = 1, and for touch probe 2: object 0x60B8 bit 14 = 1), touch probe events are only accepted within this window. The window is congured using objects 0x3853: First position (see chapter 7.18.8 Parameter: First Position

(0x3853)) and 0x3854: Last position (see chapter 7.18.9 Parameter: Last Position (0x3854)).

2.5.2.2 Touch Probe Edge Counter for

Continuous Mode

Touch probe edge counter for continuous mode

For continuous touch probe mode (0x60B8 bit 1 = 1, or 0x60B8 bit 9 = 1), a counter per touch probe channel is incremented on each touch probe event. Therefore, the control device may check how many touch probe events occur between the control cycles. A counter object is dened per touch probe and per edge. See objects:

0x60D5 (chapter 7.18.14 Parameter 51-52: Touch

•

Probe 1 Positive Edge Counter (0x60D5))

0x60D6 (chapter 7.18.15 Parameter 51-55: Touch

•

Probe 1 Negative Edge Counter (0x60D6))

0x60D7 (chapter 7.18.16 Parameter 51-62: Touch

•

Probe 2 Positive Edge Counter (0x60D7))

0x60D8 (chapter 7.18.17 Parameter 51-65: Touch

•

Probe 2 Negative Edge Counter (0x60D8))

2 2

Illustration 2.128 Examples of Windows where Trigger Events

are Accepted (For Modulo Axes)

130BF319.10

0x60B8 bit 0

Enable touch probe 1

0x60B9 bit 0

Touch probe 1 is enabled

0x60B9 bit 1

Touch probe 1 positive edge stored

0x60BA

Touch probe position 1 positive value

0x60BB

Touch probe position 1 negative value

0x60B9 bit 2

Touch probe 1 negative edge stored

Touch probe signal

0x60B8 bit 1

0x60B8 bit 4

Enable sampling at positive edge

0x60B8 bit 5

Enable sampling at negative edge

7 9

146

3 5 11

4a 8a 10 12a

14a6a

0000 yyyy

xxxx0000

uuuu

Servo Drive Operation

2.5.2.3 Timing Example

VLT® Integrated Servo Drive ISD® 510 System

Illustration 2.129 shows a timing diagram for an example touch probe conguration and the corresponding behavior.

Number Touch probe behavior

1 0x60B8, bit 0 = 1

Enable touch probe 1.

0x60B8, bit 1, 4, 5 Congure and enable touch probe 1 positive and negative edge. 2 3 External touch probe signal has positive edge 4 4a 5 External touch probe has negative edge 6 6a 7 0x60B8, bit 4 = 0 8 8a 9 0x60B8, bit 4 = 1 10

→ 0x60B9 bit 0 = 1

→ 0x60B9 bit 1 = 1

→ 0x60BA

→ 0x60B9 bit 2 = 1

→ 0x60BB

→ 0x60B9 bit 0 = 0

→ 0x60BA

11 External touch probe signal has positive edge. 12 12a 13 0x60B8, bit 0 = 0 14 14a

→ 0x60B9 bit 1=1

→ 0x60BA

→ 0x60B9 bit 0, 1, 2 = 0

→ 0x60BA, 0x60BB

Status Touch probe 1 enabled is set.

Status Touch probe 1 positive edge stored is set. Touch probe position 1 positive value is stored.

Status Touch probe 1 negative edge stored is set Touch probe position 1 negative value is stored. Sample positive edge is disabled. Status Touch probe 1 positive edge stored is reset. Touch probe position 1 positive value is not changed Sample positive edge is enabled. Touch probe position 1 positive value is not changed.

Status Touch probe 1 positive edge stored is set. Touch probe position 1 positive value is stored. Touch probe 1 is disabled. Status bits are reset. Touch probe position 1 positive/negative values are not changed.

Illustration 2.129 Timing Diagram for Touch Probe Example

Guide value scaled = Guide value x Scaling factor + Guide value oset

(Internally used = 0x2060 x 0x3808.01/02 + 0x3806)

Rotor angle of axis

Master axis / guide value

Original CAM prole

Used CAM prole (Original guide value multiplied with master scaling factor)

130BF233.10

Rotor angle of axis

Master axis / guide value

Original CAM prole

Used CAM prole (Original + master oset)

CAM master oset =

Guide value oset

130BF214.10

Target velocity

Velocity

acc

dec

acc dec acc dec

acc dec

130BE848.10

Servo Drive Operation Programming Guide

2.5.3 Guide Value

The guide value is used in all synchronous modes of operation (CAM mode and Gear mode). It is used as the master position within the synchronous modes. The guide value consists of a position value (see chapter 7.8.1 Parameter: Position Guide Value (0x2060)) and an optional velocity value (see chapter 7.8.2 Parameter: Velocity Guide Value (0x2064)).

The servo drive also supports a scaling of the guide value. The scaling factor (see chapter 7.8.4 Parameter: Guide Value Scaling Factor (0x3808)) consists of a numerator and a denominator.

The Position guide value is multiplied by the quotient of numerator and denominator.

The guide value objects can be found inchapter 7.8 Guide Value Objects.

2.5.3.1 Guide Value Reference

The servo drive is also able to provide a guide value that can be used, for example, by the PLC. This generated guide value is called Guide value reference. It consists of the position and the velocity. The servo drive can provide these values based on dierent sources.

Possible guide value reference sources are:

External encoder

•

Simulation

•

Actual target position

•

- Actual position

- Set position

Select 1 of these using object 0x2063 (see

chapter 7.9.3 Parameter: Guide Value Reference Option Code (0x2063)). The objects to inuence the guide value reference can be found in chapter 7.9 Guide Value Reference Objects.

2 2

Illustration 2.130 Example of Guide Value Scaling in CAM

Mode

Illustration 2.131 Example of Position Guide Value Oset in

CAM Mode

When receiving a guide value, the servo drive can optionally check the value against reversing and jumps in the position using object 0x2061 (see chapter 7.8.3 Parameter: Guide Value Option Code (0x2061)). Using this object, the servo drive can also be instructed to calculate the guide value velocity.

2.5.3.2 Guide Value Reference Simulation

A guide value reference simulation functionality is provided (activate/deactivate guide value reference simulation) by the servo drive. Velocity, acceleration, and speed limits can be parameterized.

The guide value reference simulation can also be used as a virtual axis in a real application. The guide value reference simulation can be useful in commissioning scenarios when it is not possible/appropriate to use the entire machine. The guide value reference simulation can then be used to simulate that the main axis is moving.

Illustration 2.132 Usage of Acceleration and Deceleration in

GuideValue Reference Simulation

The device puts the calculated position and the velocity into the reference objects (see chapter 7.9.1 Parameter:

Position Guide Value Reference (0x2062) and chapter 7.9.2 Parameter: Velocity Guide Value Reference (0x2065)) every cycle while increasing or decreasing the

simulation speed with the desired ramp acceleration until the demanded speed has been reached.

The guide value reference simulation can be parameterized with the objects given in chapter 7.9.6 Guide Value Reference Simulation.

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

2.6 Peripherals

2.6.1 Inputs

The servo drive supports 2 inputs. The functionality of the inputs can be can be dened as being:

•

Also the logical polarity of the input can be congured using object 0x200F (see chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)). Use objects 0x60FD, 0x200D, or 0x2006 to read the values of the inputs (see chapter 7.21.1 Parameter 16-60: Digital Inputs (0x60FD),

chapter 7.21.2 Parameters 16-62 and 16-64: Analog Inputs (0x200D), and chapter 7.22.12 Parameter 50-08: Motion and Input Status (0x2006)).

2.6.2 Output

congured for various purposes. Each input

Analog input (for example, usable in CAM mode as analog sensor for alignment).

Digital input (for example, usable in CAM mode as trigger).

Left/right limit switch (for example, usable in Homing mode).

Homing switch (for example, usable in Homing mode).

Touch probe input.

shutdown of the machine, so that the downtime can be reduced. The required warning messages are listed in chapter 9.2.2 Error Codes. When an error occurs, its code is recorded in non-volatile memory, along with the actual guide value, IGBT temperature, winding temperature, and operating time. There are maximum 128 entries available and older entries are overwritten. Use the ISD Toolbox to read the error history (see chapter 5.7.5 Get Error History (Servo Drive and SAB)).

The last error code and the last warning code are given in objects 0x603F (see chapter 7.22.9 Parameter 15-30: Error

Code (0x603F)) and/or 0x5FFE (see chapter 7.22.10 Parameter 16-92: Warning Code (0x5FFE)).

2.7.2 Trace

The servo drive has a built-in real-time signal tracer component which can record up to 8 internal signals into internal memory for later upload over the eldbus. The trace process is controlled via parameters over the eldbus, using a PLC library function block (see chapter 6.5.4.24 DD_Trace_ISD51x), or using the Scope subtool of the ISD Toolbox (see chapter 5.7.3 Scope (Single and Multi-device for Servo Drive and SAB)) for graphical representation. The available trace signals are listed in chapter 9.2.3 Trace Signals).

The servo drive supports 1 output. This output can be inuenced by various functionalities of the servo drive. Use object 0x2FFF (see chapter 7.21.5 Parameter 52-05: Digital Output Conguration (0x2FFF)) to congure the functionality that controls the output. Use object 0x2006 to read the value of the output (see

chapter 7.22.12 Parameter 50-08: Motion and Input Status (0x2006)).

2.6.3 External Encoder

The advanced servo drive supports an interface to connect an external encoder. The parameters for conguration are described in chapter 7.21.6 External Encoder Objects. The external encoder can be used as source for the guide value (see chapter 7.9.3 Parameter: Guide Value Reference Option Code (0x2063)). Encoders of type BiSS-B and SSI are supported.

Monitoring

2.7

2.7.1 Errors and Warnings

If an error occurs the servo drive signals it. Depending on the reason of the error or warning, the servo drive changes its state. Some events provide warning messages before disabling the servo drive through an error. An application has the possibility then to react on the warning to avoid a

There are 3 dierent task levels for sampling:

Real-time task: 100 µs or 125 µs

•

Fast task: 200 µs or 250 µs

•

Slow task: 400 µs or 500 µs

•

The sampling is always done synchronous to the eldbus cycle.

The servo drive supports recording of up to 64000 samples in total (sum of all recorded signals). The complete number of congured samples must be recorded before it is possible to read the data. All samples are represented as oating point values. Use subsampling to get longer traces, so only every nth sample is recorded by the servo drive.

Tracing can be started instantly or a trigger can be congured. The trigger can be every trace signal, together with a trigger level, the slope, and the length of pretrigger history. The trigger signal itself can be recorded but it is not required. The servo drive provides a status readout for the trace process.

–

Timer

Window comparator

130BF231.10

Following error

Following error time out (0x6066)

Following error window (0x6065)

Position demand value

Position actual value (0x6064)

(0x6062)

130BF230.10

Accepted following error tolerance

Following error window

No following error

Position

Following errorFollowing error

Reference position

130BF229.10

Target reached option code (0x2054) Velocity threshold time (0x6070) Velocity threshold (0x606F)

Velocity actual value

Velocity demand value (0x606B)

Timer

Selector

Comparator

Window comparator

Limit function

Standstill reached

–

(0x606C)

Servo Drive Operation Programming Guide

Workow to parameterize a trace

1. Write the IDs of the signals to trace into object 0x5001, sub-indexes 1 to N. Use the channels in ascending order without gaps.

2. Use the signal tracer control object (0x5000) to congure the trace settings:

- Number of used channels

- Task level

- Trigger slop and mode

- Number of samples to record

- Subsampling

- Amount of pre-trigger history

- ID of the Trigger signal

- Trigger level

3. Start the trace by writing to object 0x5000, subindex 2.

4. Poll object 0x5000, sub-index 1 for the appearance of the data ready ag.

5. Upload the trace data from object 0x5002.

6. Separate the samples into the dierent channels.

2 2

Illustration 2.134 Following Error Window

The behavior of the servo drive when a following error occurs, can be inuenced by using the Following error

option code (see chapter 7.20.3 Parameter 50-43: Following Error Option Code (0x2055)).

2.7.4 Standstill Detection

The standstill reached function oers the possibility to dene a velocity range around velocity 0 to be regarded as standstill. If the velocity of a servo drive is within this area for a specied time (velocity window time), the servo drive is regarded to be in standstill.

2.7.3 Following Error Detection

A following error is signaled in all position controlled modes of operation (see chapter 7.5.1 Parameter 52-00:

Modes of Operation (0x6060)). A position actual value (see chapter 7.7.5 Parameter 50-03: Position Actual Value (0x6064))

outside the allowed range of the following error window (see chapter 7.22.1.1 Parameter: Following Error Window

(0x6065)) around a position demand value (see chapter 7.7.1 Parameter: Position Demand Value (0x6062)) for

longer than the following error timeout (see

chapter 7.22.1.2 Parameter: Following Error Time Out (0x6066)) results in setting bit 13: Following error in the Statusword to 1. This window for the accepted following

error tolerance is dened symmetrically around the reference position (see Illustration 2.134).

Illustration 2.135 Standstill Reached - Functional Description

Illustration 2.136 shows the denitions for the sub-function Standstill reached (see chapter 7.22.2 Standstill Detection Objects). A window is dened for the accepted velocity

range symmetrically around 0 velocity. If a servo drive is running within the accepted standstill range over the

Velocity threshold time (see chapter 7.22.2.2 Parameter: Velocity Threshold Time (0x6070)), the servo drive is

regarded to be in standstill.

Illustration 2.133 Following Error - Functional Description

130BF199.10

Accepted standstil range

Velocity

Velocity threshold

Standstill reached

Standstill not reached

Servo Drive Operation

VLT® Integrated Servo Drive ISD® 510 System

Illustration 2.136 Standstill Reached Window

2.7.5 Constant Velocity Detection

The constant velocity detection function oers the possibility to dene a symmetrical range of accepted velocity changes (see chapter 7.22.3.1 Parameter 51-70: Constant Velocity Window (0x2030)), relative to the last velocity. If the velocity of a servo drive is within this area for a specied time, the constant velocity window time (see chapter 7.22.3.2 Parameter 51-71: Constant Velocity Window Time (0x2031)), the servo drive is regarded to be running at constant velocity.

The working principle is the same as for standstill detection (see chapter 2.7.4 Standstill Detection).

2.7.6 STO and Brake Status

The voltage is checked against a dened threshold (by the hardware) and the state is made available to the application for utilization with the DS402 state machine. The safety functionality itself is not part of the software.

The STO (Safe Torque O) voltage state inuences the DS402 state machine. The servo drive cannot be operated if the STO voltage is not active.

If the servo drive receives the command to enter DS402 state Operation enabled, it checks if the STO voltage is present or not. If it is not present, the servo drive enters state Fault and signals the occurrence of an error as described in chapter 2.7.1 Errors and Warnings.

If the servo drive is already in DS402 state Operation enabled, it continuously monitors whether the STO voltage is present or not. If it is not present, the servo drive enters state Fault and signals the occurrence of an error as described in chapter 2.7.1 Errors and Warnings.

The error code used for these 2 situations is the same and is detailed in chapter 9.2.1 Troubleshooting. STO information is available in objects 0x6041 (see chapter 7.3.1 Parameter

16-03 Statusword (0x6041)) and 0x2007 (see chapter 7.22.8 Parameter 50-09: STO Voltage and Brake Status (0x2007)).

AUX 1

Status

Hand

O

Reset

Auto

Back

Cancel

Info

Quick Menu

Main Menu

Alarm

Log

AUX 2 SAFE 1 SAFE 2

Status

Hand On

O Reset

Auto On

Back

Cancel

Info

Quick Menu

Main Menu

Alarm Log

LCP

SAB

400-480 V AC

ISD 510

2 3 n

UDC + Real-Time Ethernet Bus + STO + U

AUX

. . .

130BE384.10

Real-Time Ethernet

Servo Access Box (SAB) Oper... Programming Guide

3 Servo Access Box (SAB) Operation

3.1 Overview

The Servo Access Box (SAB) is the central component in the ISD 510 servo system, together with ISD 510 servo drives. It is the connection point for several servo drives. Up to 64 servo drives can be connected to 1 SAB (maximum of 2 lines, each with 32 servo drives), depending on the total power load. Illustration 3.1 shows the typical system set-up:

3 3

Illustration 3.1 ISD 510 Servo System

Initial

Init without U

Enable U

Switch On

Error

Reset (Clear Errors )

Error

Disable UDC

Inrush SAB card nished

U is applied AND

Disable U

Init with U

Init Fault

U Disabled

Standby

Power up

Operation

Enabled

130BF037.10

AUX

Init Without U

Servo Access Box (SAB) Oper...

VLT® Integrated Servo Drive ISD® 510 System

The functionalities of the SAB include:

Distributes and switches the U

•

Recties the 400 V AC 3-phase mains input and switches the resulting DC bus voltage.

•

Distributes the eldbus to the hybrid cable outputs and routes it to a 2nd RJ45-connector for simple cabinet

•

voltage (24–48 V) that powers the control logic of the servo drives.

AUX

cabling.

Connects the STO (Safe Torque O) voltages to the hybrid cables.

•

Provides a master guide value for the whole system.

•

When required, assigns the Ethernet POWERLINK® IDs to the connected servo drives.

•

Controls the 2 relays.

•

Dissipates the recuperation energy using an external brake resistor.

•

3.2 Control

To change the state of the SAB, write to the Controlword (see chapter 8.1 Object 0x4040: Controlword). This can be done in 2 ways:

Using the PLC via the eldbus.

•

Via a connected LCP in local control mode.

•

The actual state can be read back from the Statusword (see chapter 8.2 Object 0x4041: Statusword). After power-up, the

output is activated by default and communication

AUX

Transitions with dashed lines: Commands (Reset, Errors, U

control, UDC control).

AUX

Transitions with solid lines: Automatic transitions with specied conditions. States shaded dark gray: The control can be changed between remote and local via the LCP.

The dened states and the possible transitions, along with the executed actions, are dened in Table 3.1. The actual encoding is shown in chapter 8.2 Object 0x4041: Statusword.

with the connected servo drives is possible.

Current

UDC cannot be activated unless U vating U

always also deactivates UDC.

AUX

is enabled. Deacti-

AUX

state

Init (Auto) Initialization

Illustration 3.2 shows the possible transitions.

AUX

disabled

Standby U

Power-up (Auto) Inrush

Illustration 3.2 State Diagram with Possible Transitions

Legend:

Operation enabled

Transition

command

Required

condition

Executed

action

Following

state

– Standby

nished

Error – – Fault U

enable U

AUX

applied Enable

AUX

Standby

AUX

Error – – Fault

disable – Disable

AUX

UDC enable U

AUX

1 & 2

AUX

– Power-up

Standby

ready

Error – – Fault

– Operation

nished

disable – Disable

AUX

enabled U

AUX

disabled Disable UDC

UDC disable – Disable

Standby UDC

Error – Disable

Fault UDC

disable – Disable

AUX

disabled Disable UDC

UDC disable – Disable

Standby UDC

Error – Disable

Fault UDC

Event

Relay output

Delay

O

Delay

O

Delay

130BF036.10

Servo Access Box (SAB) Oper... Programming Guide

Current

state

Fault Reset errors No further

Table 3.1 States, Transitions, and Actions

Transition

command

Required

condition

error conditions

Executed

action

– Init

Following

state

NOTICE

If the U machine only transitions to state U the Enable U stage, the U advances to state Standby.

3.2.1 Relay Outputs

The SAB has 2 relays:

Select the functionality of the relay via the corresponding parameter (see Table 3.2). There is 1 parameter for each relay for setting the On delay time and 1 for the O delay time. Both delay times are independently adjustable from 0 s (default) to 10 minutes and the adjustment is possible in 1-second steps. The default setting for the relays is No operation. The function of the on and o delay time is described in Illustration 3.3.

input is not supplied on start-up, the state

AUX

disabled, even if

AUX

control bit is set to 0 (active). If, at a later

AUX

input is provided, then the state machine

AUX

Relay 1: 0x200D (see chapter 8.8 Object 0x200D:

•

Relay 1 Control).

Relay 2: 0x200E (see chapter 8.9 Object 0x200E:

•

Relay 2 Control).

1 If the condition changes before the on or o delay times

expire, the relay is not aected.

Illustration 3.3 Relay Control Functions

Number Description

0 (default) No operation 1 SAB ready 2 SAB ready/remote control 3 SAB ready/local control 4 Enable/no warning 5 Alarm 6 Warning 7 Out of current range, U 8 Below current low, U 9 Above current high, U 10 Above current high, UDC 11 Encoder fault 12 Encoder simulation fault 13 Thermal warning 14 Thermal fault 15 Bus OK 16 Brake resistor ready, no warning 17 Brake resistor warning 18 Brake resistor ready, no fault 19 Brake resistor fault 20 Brake energy too high/fault (IGBT) 21 Controlword 22 Remote control 23 Local control 24 Standby/no alarm 25 Standby/no warning

AUX

3 3

Servo Access Box (SAB) Oper...

VLT® Integrated Servo Drive ISD® 510 System

Number Description

26 Outputs UDC active

Table 3.2 Relay Control Functions

3.3.1 AUX Output

The SAB protects the servo drives connected to the AUX lines against overcurrent, overvoltage, and undervoltage. If an overload occurs, the outputs are disabled and an alarm

3.3 Monitoring

The SAB monitors the voltages and currents in the input and output lines, for example the auxiliary line and the DC-link, so that a phase loss or other errors can be detected. These values provide detailed information on the current load. The information is available via the eldbus, the LCP, and the ISD Toolbox.

The SAB monitors the signals detailed in Table 3.3 and provides the measured values via the eldbus and the LCP.

is issued. If the UDC outputs are enabled, they are disabled

rst.

For overvoltage and undervoltage conditions, an associated warning with a dierent threshold is triggered before the error. Set a user current limit in steps of 0.1 amperes for each of the auxiliary lines in object 0x2003, sub-indexes 4 and 5 (see chapter 8.5 Object 0x2003: U

AUX

Related Values). If this limit is reached, the SAB disables the

auxiliary lines. If the current reaches 90% of the limit set, a warning is issued. The SAB has additional hardware detection/protection in case a hard short circuit occurs on

Signal name Description

DC-link voltage DC-link voltage Warning code Warning code Error code Error code Temperature control card Temperature control card Temperature power card Temperature power card Temperature SAB card Temperature SAB card External encoder position External encoder position External encoder speed External encoder speed UDC 1 current Current ow on DC-link line 1 UDC 2 current Current ow on DC-link line 2 AUX line 1 current Current on AUX Line 1 AUX line 2 current Current on AUX Line 2 AUX line voltage AUX line voltage Brake chopper gate Brake chopper gate Brake chopper feedback Brake chopper feedback UDC Over-Inrush UDC current over-inrush UDC Bypass-Inrush UDC Current bypass-inrush UDC back current Current (link voltage) back from

the servo drives

Inrush relay power card Inrush relay power card

the auxiliary lines.

3.3.2 DC Output

The SAB protects itself and the servo drives connected to the UDC lines against overcurrent, overvoltage, and undervoltage. If an overload occurs, the outputs are disabled and an alarm is issued.

For overvoltage and undervoltage conditions, an associated warning with a dierent threshold is triggered before the error. The SAB provides short-term overload capabilities; it is possible to run at 160% load for 60 s. However, afterwards, the SAB must run at a reduced output load to compensate the overload. The SAB has an internal monitoring logic for the overload condition and its duration.

3.3.3 Brake Control and Monitoring

Connect a brake resistor to the SAB to limit the UDC voltage when the connected servo drives are in

Inrush relay SAB card Inrush relay SAB card DC leakage current DC leakage current Brake resistor power monitoring DC link total current DC link total current DC link total current raw DC link total current (unltered) UDC 1 ow (ltered) UDC 1 current readout UDC 2 ow (ltered) UDC 2 current readout Controlword Controlword

Table 3.3 Signals Monitored by the SAB

Brake resistor power monitoring

recuperation mode and acting as a generator. If congured, the SAB limits the UDC voltage by connecting the resistor via an internal IGBT switch. To monitor the functionality of the brake, the brake circuitry, and the brake power dissipation, make the following settings:

Enter the correct resistance in object 0x2031 (see

•

chapter 8.11 Object 0x2031: Brake Resistor).

Enter the correct power limit in object 0x2032

•

(see chapter 8.12 Object 0x2032: Brake Resistor Power Limit).

If any congured limit is overstepped, the SAB issues a

Use the ISD Toolbox Scope subtool to perform a trace on these signals. If the overload situation is critical, the SAB protects itself and the servo drives by shutting down to

warning or alarm. If congured to report an alarm, the SAB transitions to fault state. Reinitialize the SAB using the error recover command in the SAB state machine.

prevent any damage. In such cases, warnings may not be visible if the shutdown occurs quickly.

Servo Access Box (SAB) Oper... Programming Guide

NOTICE

If a short circuit of the IGBT switch occurs, the brake resistor is powered continuously and the external mains input must be cut by external means.

3.3.4 Input Voltages

The SAB monitors the phase balance of the input voltages. If the imbalance becomes too high, a phase loss warning is issued. If the situation remains, an error is issued and the SAB enters the Fault state.

3.3.5 Temperatures

The SAB can operate within a temperature range of 5– 50 °C. If the temperature rises above the upper limit, the lifetime of the electronics decreases at a forced pace and there is a risk of malfunction. Therefore, the SAB has 3 temperature sensors that are placed on the power card, the control card, and the SAB card. The measured temperatures are visual in the LCP and can be read via the following eldbus objects:

0x2000, sub-index 1 = Power card

•

0x2000, sub-index 2 = Control card

•

0x2000, sub-index 3 = SAB card

•

If 1 of the temperatures becomes too high, the SAB issues a warning. If the temperature continues to rise and passes a 2nd limit, the SAB protects itself by shutting down and issuing an error.

Multiple Device ID Assignment

3.6

For information on multiple device ID assignment, see chapter 6.1.2.2 Multiple Device ID Assignment.

3.7 Software Version

For information about the software, see

chapter 7.22.4 Parameters 15-40, 15-41, and 15-43: Version log (0x4000).

3.8 Firmware Update

The SAB rmware can be updated remotely via the eldbus. The procedure for the SAB is identical to that of the servo drive (see chapter 2.2 Firmware Update).

3 3

3.3.6 Cooling Fans

The SAB has 2 cooling fans to control the internal temperature; 1 is on the power card and the other 1 on the SAB card. The SAB controls the speed of the cooling fans to maintain a suciently low temperature. The speed of the power card fan can be read back via object 0x2009 (see chapter 8.7 Object 0x2009: Fan Speed Power Card).

External Encoder and Guide Value

3.4

It is possible to connect an external BiSS or SSI Encoder to provide a system global guide value. Alternatively, it is possible to generate a synthetic guide value. Operation is identical to the servo drive. See objects 0x2062 (chapter 7.9 Guide Value Reference Objects), 0x2063 (chapter 8.18 Object 0x2063: Guide Value Reference Option

Code), and 0x3000 (chapter 7.21.6.1 Parameters 51-30 and 51-34 to 51-40: External Encoder Conguration (0x3000)).

Signal Tracing

3.5

For information on signal tracing, see chapter 2.7.2 Trace.

130BE692.11

Auto

Reset

Hand

O

Status

Quick Menu

Main Menu

Alarm

Log

Back

Cancel

Info

Status

271°

2850 RPM

Alarm

Warn.

38 °C

3.1 Nm

1.8 A

18 19 20 21

Local Control Panel (LCP) O...

VLT® Integrated Servo Drive ISD® 510 System

4 Local Control Panel (LCP) Operation

4.1 Overview

The LCP is the graphical user interface on the SAB for diagnostic and operating purposes. It is included as standard with the SAB but can also be connected to the

advanced servo drives using an optional cable (M8 to LCP D-SUB extension cable).

The LCP display provides the operator with a quick view of the state of the servo drive or SAB, depending on which device it is connected to. The display shows parameters and alarms/errors and can be used for commissioning and troubleshooting. It can also be used to perform simple functions, for example activating and deactivating the output lines on the SAB.

The LCP can be mounted on the front of the control cabinet and then connected to the SAB via a SUB-D cable (available as an accessory).

4.2 Local Control Panel (LCP) Layout

The local control panel is divided into 4 functional groups (see Illustration 4.1).

A. Display area.

B. Display menu keys.

C. Navigation keys and indicator lights (LEDs).

D. Operation keys and reset.

A. Display area

The values in the display area dier depending on whether the LCP is connected to an ISD 510 servo drive or the SAB, as shown in Illustration 4.1 and Illustration 4.2.

The display area is activated when the servo drive or SAB it is connected to receives power from the mains supply, a DC bus terminal, or U

AUX

Callout

number

1 Actual torque 2 Temperature module 3 Position 4 Speed 5 Current

Illustration 4.1 Display Area when Connected to an ISD 510

Servo Drive

Description

130BE693.11

Auto

Reset

Hand

O

Status

Quick Menu

Main Menu

Alarm

Log

Back

Cancel

Info

Status

11.5 A

2.1 kW

Alarm

Warn.

38 °C

24 V

565 V

18 19 20 21

Local Control Panel (LCP) O... Programming Guide

C. Navigation keys and indicator lights (LEDs)

Navigation keys are used to move the display cursor and provide operation control in local operation. There are also 3 status LEDs in this area.

Callout

Description

number

1 AUX line voltage 2 Temperature power card 3 Actual UDC (current) 4 ISD power consumption 5 Actual UDC (voltage)

Callout

Key Function

number

10 Back Reverts to the previous step or list in

the menu structure.

11 Cancel Cancels the last change or command

(unless the display mode is changed).

12 Info Gives a denition of the current

function.

13 Navigation

keys

The 4 keys enable navigation between menu items.

14 OK Accesses parameter groups or enables

a selection.

Table 4.2 Navigation Keys

Callout

LED Color Function

number

15 On Green The On LED activates when the

servo drive or SAB it is connected to receives power from the mains, auxiliary supply, or a DC bus terminal.

16 Warn. Yellow When a warning is issued, the

yellow Warn. LED activates and text appears in the display area identifying the problem.

17 Alarm Red A fault condition causes the

red Alarm LED to ash and an alarm text is shown.

4 4

Illustration 4.2 Display Area when Connected to the SAB

Table 4.3 Indicator Lights (LEDs)

D. Operation keys and reset

B. Display menu keys

Menu keys are used to access menus for parameter set-up, toggling through status display modes during normal operation, and viewing fault log data.

Callout

number

6 Status Shows operational information. 7 Quick Menu Allows access to parameters. 8 Main Menu Allows access to parameters. 9 Alarm Log Shows the last 10 alarms.

Table 4.1 Display Menu Keys

Key Function

The operation keys are at the bottom of the LCP.

Callout

number

18 Hand On Enables the connected servo drive or

19 O Puts the SAB into state Standby and

Key Function

SAB to be controlled via the LCP. See chapter 4.3.5 Hand On Mode for further information. Switching between Hand On mode and Auto On mode is only possible in certain states.

the servo drive to state Switch on Disabled. This only works in Hand On mode.

O mode enables transition from Hand On mode to Auto On mode.

130BE896.10

Local Control Panel (LCP) O...

VLT® Integrated Servo Drive ISD® 510 System

Callout

number

20 Auto On Puts the system in remote operational

21 Reset Resets the servo drive or SAB after a

Table 4.4 Operation Keys and Reset

4.3 Graphical User Interface

4.3.1 Supported Languages

The user interface language is English, regardless of whether the LCP is connected to the servo drive or the SAB.

4.3.2 LCP Display

Key Function

mode. In Auto On mode, the device is controlled by eldbus (PLC). Switching between Auto On mode and Hand On mode is only possible when the servo drive is in state Switch on

disabled and/or the SAB is in state Standby.

fault has been cleared. The reset is only possible when in Hand On mode.

1 Top section

Shows up to 2 measurements in normal operating status.

2 Middle section

The top line shows up to 5 measurements with related unit, regardless of status (except in the case of alarm/warning).

3 Bottom section

Shows the state of the device when the Status view is active:

If an alarm or warning is active, its number and short

•

description are shown.

For the servo drives, the mode of operation is shown on

•

the left and the servo drive state on the right.

For SAB, the SAB state is shown on the right.

•

The state names and the mode of operation names have been shortened for the LCP display, as dened by Table 4.5 and Table 4.6.

Full name Short name

Switch on disabled Disabled Ready to switch on Ready Switched on Switched on Operation enabled Enabled Fault Fault Quick stop active Quick stop

Table 4.5 ISD 510 Servo Drive State Names

The display is backlit and has a total of 6 alphanumeric lines. The display lines show the direction of rotation (arrow), the selected set-up, and the programming set-up. The display is divided into 3 sections (see Illustration 4.3).

Full name Short name

Prole position mode Position Prole velocity mode Velocity

Homing mode Homing Inertia measurement mode Inertia Torque mode Torque Gear mode Gear CAM mode CAM

Table 4.6 Mode of Operation Names

NOTICE

To adjust the display contrast, press the [Status] and the [▲] or [▼] key.

Illustration 4.3 LCP Display Overview

4.3.3 Status Menu (Auto On Mode)

The Auto On mode is the default mode after power up. It is also activated using the [Auto On] key (see chapter 4.4.11 Auto On Key). In Auto On mode, it is only possible to read parameters – the parameter values cannot be changed. The Status menu in Auto On mode shows readout parameters. Press the [Status] key while the Status menu is shown to toggle the readout mode between Single-line readout and Double-line readout.

2 3

130BE898.10

2 3

130BE897.10

Local Control Panel (LCP) O... Programming Guide

The [▲] and [▼] keys can be used to toggle between the values shown in Readout 2 on Double-line readout or Single-line readout.

Double-line readout

This readout state is a default mode after start-up or initialization. Use the [Info] key to obtain information about the measurement links to the shown operating variables (1.1,

1.2, 1.3, 2, and 3). See the operating variables shown in Illustration 4.4.

4 4

1 Readout 1.1 2 Readout 1.2 3 Readout 1.3 4 Readout 2

Illustration 4.5 Single-line Readout

1 Readout 1.1 2 Readout 1.2 3 Readout 1.3 4 Readout 2 5 Readout 3

Illustration 4.4 Double-line Readout

Single-line readout

Use the [Info] key to obtain information about the measurement links to the shown operating variables (1.1,

1.2, 1.3, and 2). See the operating variables shown in Illustration 4.5. The dynamic data (readout parameters) on the Status screen is updated 3 times per second.

4.3.3.1 Default Readouts for ISD 510 Servo Drive

The following parameters are the default readout congu-

ration:

Operating variable Name Parameter number

1.1 Torque [16-16]

1.2 Temperature module [16-34]

1.3 Drive position [16-20] 2 Speed [16-17] 3 Current actual value [16-14]

Table 4.7 Default Readouts for ISD 510 Servo Drive

The readout conguration can be changed and is retained after a power cycle.

4.3.3.2 Default Readouts for SAB

The following parameters are the default readout congu-

ration:

Operating

variable

1.1 AUX line voltage [50-61]

1.2 Temperature power card [16-31]

1.3 Actual UDC (current) [50-73] 2 ISD power consumption [16-10] 3 Actual UDC (voltage) [16-30]

Name Parameter number

Table 4.8 Default Readouts for SAB

The readout

conguration can be changed and is retained

after a power cycle.

130BE901.10

130BE912.10

Local Control Panel (LCP) O...

VLT® Integrated Servo Drive ISD® 510 System

4.3.3.3 Alarms and Warnings

Alarms and warnings are indicated on the LCP by the alarm overlay of the Status menu. Whenever an alarm or warning appears on the device, the Status menu is shown on the screen and the bottom section shows the alarm or warning indication using color-inverted text.

The alarm or warning screen consists of:

Alarm or warning symbol:

•

- Alarm: If an alarm is active on the

device, a bell symbol is shown in the upper right corner (see Illustration 4.6). Also, the Alarm LED ashes red.

- Warning: If a warning is active on the device, an exclamation mark symbol is shown in the upper right corner (see Illustration 4.3). Also, the Warning LED ashes yellow.

Short alarm or warning text.

•

Alarm or warning number: the 4-digit

•

hexadecimal identier of the alarm or warning, preceded by the capital letter A for alarm (see Illustration 4.6) or the capital letter W for warning (see Illustration 4.3).

When the LCP menu head line that shows readout 1.1 and 1.2 (see Illustration 4.5 and Illustration 4.4), and the actual motor direction. It also shows an alarm or warning symbol if an alarm or warning is present.

The motor direction is illustrated by an arrow in the upperright corner:

•

For more information on the servo drive directions, see

parameter 52-04 Drive Mirror Mode in chapter 7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016).

The 2nd line is the menu line and shows the color-inverted menu name on the left – Main Menu for the root menu (see Illustration 4.7), or the group or subgroup name. The rest of the screen is made up of the item selector (a control that shows the group numbers and names), and a scroll bar. Use the [▲] and [▼] keys on the LCP to navigate to the desired group, subgroup, or parameter.

Main Menu is shown, the 1st line is the

A left arrow indicates that the motor is turning in a negative direction.

A right arrow indicates that the motor is turning in a positive direction.

Illustration 4.6 Alarm Display

NOTICE

If multiple alarms occur, the alarm that occurred last is shown. See chapter 4.3.6 Alarm Log for further information on the history of alarms.

4.3.4 Main Menu

The LCP Main Menu is the interface for browsing through all available device parameters. The LCP parameters are organized in groups (level 1) and subgroups (level 2). At the Main Menu root, the LCP screen shows all groups (level

1), as depicted in Illustration 4.7. Select a group and press the [OK] key to show its subgroup (level 2). Select the subgroup and press the [OK] key to show all parameters belonging to the subgroup.

Illustration 4.7 Main Menu Level 1

Press the [OK] key when a parameter group or subgroup is selected to enter the group or subgroup. When navigating to parameter group 00-** Operation/ Display, press the [OK] key to access the subgroups belonging to this group (see Illustration 4.7 and Illustration 4.8).

Danfoss ISD 510 Programming guide

Specifications and Main Features

Frequently Asked Questions

User Manual