Emerson Digitax ST User Manual

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Page 1

User Guide

AC variable speed drive for servo motors

Part Number: 0475-0001-05 Issue: 5

Page 2

Original Instructions

For the purposes of compliance with the EU Machinery Directive 2006/42/EC:

General Information

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

The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the guide, without notice.

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

Drive software version

This product is supplied with the latest software version. If this drive is to be connected to an existing system or machine, all drive software versions should be verified to confirm the same functionality as drives of the same model already present. This may also apply to drives returned from an Emerson Industrial Automation Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product.

The software version of the drive can be checked by looking at Pr 11.29 and Pr 11.34. This takes the form of xx.yy.zz where Pr 11.29 displays xx.yy and Pr 11.34 displays zz. (e.g. for software version 01.01.00, Pr 11.29 = 1.01 and Pr 11.34 displays 0).

Environmental statement

Emerson Industrial Automation is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other relevant information is available on request, or can be found at:

http://www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/Pages/environment.aspx The electronic variable-speed drives manufactured by Emerson Industrial Automation have the potential to save energy and (through

increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal.

Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, while other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the same way. Emerson Industrial Automations' packaging strategy prefers easily-recyclable materials of low environmental impact, and regular reviews identify opportunities for improvement.

When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation.

For current information on how this requirement applies in relation to specific Emerson Industrial Automations’ products, please approach your usual contact in the first instance. Emerson Industrial Automations’ position statement can be viewed at:

www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/reachregulation/Pages/reachregulation.aspx. Copyright © September 2015 Emerson Industrial Automation. The information contained in this guide is for guidance only and does not form part of any contract. The accuracy cannot be guaranteed

as Emerson have an ongoing process of development and reserve the right to change the specification of their products without notice. Control Techniques Limited. Registered Office: The Gro, Newtown, Powys SY16 3BE. Registered in England and Wales. Company

Reg. No. 01236886. Moteurs Leroy-Somer SAS. Headquarters: Bd Marcellin Leroy, CS 10015, 16915 Angoulême Cedex 9, France. Share Capital: 65 800

512 €, RCS Angoulême 338 567 258. Issue Number: 5 Software: 01.06.00 onwards For patent and intellectual property related information please go to: www.ctpatents.info.

Page 3

How to use this guide

NOTE

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Basic parameters

7 Running the motor

8 Optimization

9 SMARTCARD operation

11 Advanced parameters

12 Technical data

13 Diagnostics

14 UL listing information

10 Onboard PLC

This User Guide provides information for operating the drive from start to finish. The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety Information on page 6 contains general safety information. It is essential that the warnings are observed and the information considered when working with or designing a system using the drive.

This map of the user guide helps to find the right sections for the task you wish to complete:

Page 4

Contents

1 Safety Information .................................6

1.1 Warnings, Cautions and Notes .............................6

1.2 Electrical safety - general warning ........................6

1.3 System design and safety of personnel ................6

1.4 Environmental limits ..............................................6

1.5 Access ...................................................................6

1.6 Fire protection .......................................................6

1.7 Compliance with regulations .................................6

1.8 Motor .....................................................................6

1.9 Mechanical brake control ......................................6

1.10 Adjusting parameters ............................................6

1.11 Electrical installation ..............................................6

2 Product information ..............................8

2.1 Introduction ...........................................................8

2.2 Drive ratings ..........................................................8

2.3 Drive model numbers ............................................9

2.4 Drive nameplate description ..................................9

2.5 Features of the drive ...........................................10

2.6 Options ................................................................11

2.7 Items supplied with the drive ...............................14

3 Mechanical installation .......................15

3.1 Safety information ...............................................15

3.2 Planning the installation ......................................15

3.3 Solutions Module / keypad installation / removal 16

3.4 Drive dimensions .................................................17

3.5 External EMC filter rating ....................................18

3.6 Optional braking resistor .....................................19

3.7 Terminal torque settings ......................................20

3.8 Routine maintenance ..........................................20

4 Electrical installation ...........................21

4.1 Power terminal connections ................................22

4.2 Ground connections ............................................23

4.3 AC supply requirements ......................................23

4.4 DC bus design .....................................................24

4.5 DC drive voltage levels .......................................24

4.6 Ratings ................................................................25

4.7 Output circuit and motor protection .....................25

4.8 Braking ................................................................26

4.9 Ground leakage ...................................................27

4.10 EMC (Electromagnetic compatibility) ..................28

4.11 Internal and external conducted emissions

conformity ............................................................30

4.12 Serial communications connections ....................31

4.13 Control connections ............................................32

4.14 Control terminals .................................................34

4.15 Encoder connections ...........................................37

4.16 Encoder terminals ...............................................38

4.17 Safe Torque Off ...................................................42

5 Getting started .................................... 43

5.1 User interfaces ................................................... 43

5.2 CT Soft ............................................................... 43

5.3 SYPTPro (Indexer & Plus only) .......................... 43

5.4 EZMotion PowerTools Pro ................................. 43

5.5 Keypad operation ............................................... 44

5.6 Understanding the display .................................. 44

5.7 Displaying parameters with non-default

values only ......................................................... 47

5.8 Displaying destination parameters only ............. 47

5.9 Communications ................................................ 47

6 Basic parameters ................................ 49

6.1 Single line descriptions ...................................... 49

6.2 Full descriptions ................................................. 54

7 Running the motor .............................. 60

7.1 Quick start Connections ..................................... 60

7.2 Quick Start set-up .............................................. 64

7.3 Setting up a feedback device ............................. 65

7.4 Setting up a buffered encoder output ................. 68

8 Optimization ........................................ 69

8.1 Motor map parameters ....................................... 69

9 EtherCAT interface ............................. 72

9.1 Features ............................................................. 72

9.2 What is EtherCAT? ............................................ 72

9.3 EtherCAT interface information .......................... 72

9.4 EtherCAT interface terminal descriptions ........... 72

9.5 Module grounding .............................................. 72

9.6 Network topology ............................................... 72

9.7 Minimum node-to-node cable length .................. 72

9.8 Quick start guide ................................................ 72

9.9 Quick start flowchart ........................................... 74

9.10 Saving parameters to the drive .......................... 75

9.11 EtherCAT interface Node address ..................... 75

9.12 EtherCAT interface RUN .................................... 75

9.13 Re-initializing the EtherCAT interface ................ 75

9.14 Process Data Objects (PDOs) ........................... 75

9.15 Service Data Object (SDO) parameter access .. 75

9.16 CANopen over EtherCAT (CoE) ........................ 76

9.17 Ethernet over EtherCAT (EoE) ........................... 80

9.18 Drive profile (DSP-402) support ......................... 81

9.19 Interpolated position mode ................................. 87

9.20 vl velocity mode .................................................. 88

9.21 Profile torque mode ............................................ 90

9.22 Homing mode ..................................................... 91

9.23 Cyclic sync position mode .................................. 94

9.24 Advanced features ............................................. 94

9.25 Advanced cyclic data configuration .................... 96

9.26 Internal shortcuts ................................................ 97

9.27 Quick reference .................................................. 98

4 Digitax ST User Guide

Issue: 5

Page 5

10 SMARTCARD Operation ...................101

10.1 Introduction .......................................................101

10.2 Transferring data ...............................................102

10.3 Data block header information ..........................104

10.4 SMARTCARD parameters ................................104

10.5 SMARTCARD trips ...........................................106

11 Onboard PLC .....................................108

11.1 Onboard PLC and SYPTLite .............................108

11.2 Benefits .............................................................108

11.3 Limitations .........................................................108

11.4 Getting started ..................................................108

11.5 Onboard PLC parameters .................................108

11.6 Onboard PLC trips ............................................109

11.7 Onboard PLC and the SMARTCARD ...............109

14 Diagnostics ........................................183

14.1 Trip indications ..................................................183

14.2 Alarm indications ...............................................198

14.3 Status indications ..............................................199

14.4 EtherCAT Diagnostics .......................................199

14.5 Network configuration objects ...........................200

14.6 Diagnostic parameters ......................................200

14.7 Drive trip display codes .....................................200

14.8 EtherCAT interface temperature .......................201

14.9 EtherCAT interface serial number .....................201

14.10 EtherCAT interface error codes ........................201

14.11 Error handling ...................................................201

14.12 Critical task % free ............................................203

14.13 SDO abort codes ..............................................203

14.14 FLASH file system % free .................................203

12 Advanced parameters .......................110

12.1 Menu 1: Speed reference .................................116

12.2 Menu 2: Ramps .................................................120

12.3 Menu 3: Speed feedback and control ...............124

12.4 Menu 4: Torque and current control ..................127

12.5 Menu 5: Motor control .......................................130

12.6 Menu 6: Sequencer and clock ..........................133

12.7 Menu 7: Analog I/O ...........................................135

12.8 Menu 8: Digital I/O ............................................138

12.9 Menu 9: Programmable logic, motorized

pot, binary sum and timers ................................141

12.10 Menu 10: Status and trips .................................144

12.11 Menu 11: General drive set-up .........................146

12.12 Menu 12: Threshold detectors, variable

selectors and brake control function .................147

12.13 Menu 13: Position control .................................152

12.14 Menu 14: User PID controller ............................156

12.15 Menus 15 and 16: Solutions Module set-up ......159

12.16 Menu 17: Motion processors .............................160

12.17 Menu 18: Application menu 1 ...........................163

12.18 Menu 19: Application menu 2 ...........................163

12.19 Menu 20: Application menu 3 ...........................163

12.20 Menu 21: Second motor parameters ................164

12.21 Menu 22: Additional Menu 0 set-up ..................165

12.22 Advanced features ............................................166

15 UL listing information .......................204

15.1 Common UL information ...................................204

15.2 AC supply specification .....................................204

15.3 Maximum continuous output current .................204

15.4 Common DC bus ..............................................204

15.5 DC Supplied drive .............................................205

15.6 UL listed accessories ........................................205

13 Technical Data ...................................173

13.1 Drive technical data ..........................................173

13.2 Optional external EMC filters ............................182

13.3 Overall EMC filter dimensions ...........................182

Digitax ST User Guide 5 Issue: 5

Page 6

Safety

WARNING

CAUTION

NOTE

Information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

EtherCAT

interface

SMARTCARD

Operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL listing

information

1 Safety Information

1.1 Warnings, Cautions and Notes

A Warning contains information which is essential for avoiding a safety hazard.

A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment.

A Note contains information which helps to ensure correct operation of the product.

1.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive.

Specific warnings are given at the relevant places in this guide.

1.3 System design and safety of personnel

The drive is intended as a component for professional incorporation into complete equipment or a system. If installed incorrectly, the drive may present a safety hazard.

The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury.

Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, set-up and maintenance must be carried out by personnel who have the necessary training and experience. They must read this safety information and this guide carefully.

The STOP and Safe Torque Off functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit. The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

With the sole exception of the Safe Torque Off function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safety-related functions.

Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended behavior or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking.

The Safe Torque Off function has been approved by IFA as meeting the requirements of the following standards, for the prevention of unexpected starting of the drive:

EN 61800-5-2:2007 SIL 3 EN ISO 13849-1:2006 PL e EN 954-1:1997 Category 3 (This standard is withdrawn and

should not be used for new designs, information provided for legacy applications only).

The Safe Torque Off function may be used in a safety-related application. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

1.4 Environmental limits

Instructions regarding transport, storage, installation and use of the drive must be complied with, including the specified environmental limits. Drives must not be subjected to excessive physical force.

1.5 Access

Access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

1.6 Fire protection

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided. For details regarding fire protection please refer to section 3.2.5 Fire protection on page 15.

1.7 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses or other protection, and protective ground (earth) connections.

Within the European Union, all machinery in which this product is used must comply with the following directives:

2006/42/EC: Safety of machinery. 2004/108/EC: Electromagnetic Compatibility.

1.8 Motor

Ensure the motor is installed in accordance with the manufacturer’s recommendations. Ensure the motor shaft is not exposed.

The values of the motor parameters set in the drive affect the protection of the motor. The default values in the drive should not be relied upon.

It is essential that the correct value is entered in Pr 0.46 motor rated current. This affects the thermal protection of the motor.

1.9 Mechanical brake control

The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware and software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a fault or failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could result in injury, independent protection devices of proven integrity must also be incorporated.

1.10 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering.

1.11 Electrical installation

1.11.1 Electric shock risk

The voltages present in the following locations can cause severe electric shock and may be lethal:

• AC supply cables and connections

• DC bus, dynamic brake cables and connections

• Output cables and connections

• Many internal parts of the drive, and external option units Unless otherwise indicated, control terminals are single insulated and

must not be touched.

1.11.2 Isolation device

The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

1.11.3 STOP function

The STOP function does not remove dangerous voltages from the drive, the motor or any external option units.

6 Digitax ST User Guide

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Safety

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Product

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Electrical

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Getting started

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Optimization

1.11.4 Stored charge

Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Emerson Industrial Automation or their authorized distributor.

1.11.5 Equipment supplied by plug and socket

Special attention must be given if the drive is installed in equipment which is connected to the AC supply by a plug and socket. The AC supply terminals of the drive are connected to the internal capacitors through rectifier diodes which are not intended to give safety isolation. If the plug terminals can be touched when the plug is disconnected from the socket, a means of automatically isolating the plug from the drive must be used (e.g. a latching relay).

1.11.6 Permanent magnet motors

If the motor load is capable of rotating the motor when the supply is disconnected, then the motor must be isolated from the drive before gaining access to any live parts.

EtherCAT

interface

SMARTCARD

Operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL listing

information

Digitax ST User Guide 7 Issue: 5

Page 8

Safety

Information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

EtherCAT

interface

SMARTCARD

Operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL listing

information

2 Product information

2.1 Introduction

The Digitax ST family of servo drives are available with five levels of intelligence:

• Digitax ST Base

• Digitax ST Indexer

• Digitax ST Plus

• Digitax ST EZMotion

• Digitax ST EtherCAT

The Digitax ST Base drive operates in velocity or torque modes and is designed to operate with a centralized motion controller or as a standalone drive.

The Digitax ST Indexer drive performs point-to-point motion profiling including relative, absolute, rotary plus, rotary minus, registration and homing motion. The Digitax ST Indexer will operate as a single standalone system controller. Alternatively, the Digitax ST Indexer can form part of a distributed system where commands are sent over a fieldbus or through digital input/output signals. The Digitax ST Indexer drive is commissioned using a simple and easy to use indexing tool that resides within CTSoft, a set-up tool for Emerson Industrial Automation products.

The Digitax ST plus drive offers all the features available o the Digitax ST Indexer drive with the addition of performing complex motion as a single axis or synchronized to a reference axis. This offers digital lock and electronic camming via a virtual master reference. The Digitax ST Plus drive is commissioned using a simple and easy to use indexing tool that resides within CT Soft, a set-up tool for Emerson Industrial Automation products.

For more complex systems using the Digitax ST Indexer and Digitax ST Plus drives, an export feature is available that allows the user to import applications into SYPTPro for further development.

The Digitax ST EZMotion drive is part of the Motion Made Easy family of servo drives and allows the user to create programs to sequence motion, I/O control, and other machine operations in one environment. Digitax ST EZMotion also supports advanced functions such as a Position Capture Object, Multiple Profile Summation, Queuing, and Program Multitasking.

The Digitax ST EtherCAT drive offers onboard EtherCAT allowing the product to be connected to an EtherCAT network as a slave device. It can be used in a variety of applications, including those requiring accurate synchronization and precise motion control.

All variants provide a Safe Torque Off function. Four documentation guides are available for Digitax ST, these cover all

variants: All guides are available for download at: http://www.emersonindustrial.com/en-EN/controltechniques/downloads/

userguidesandsoftware/Pages/downloads.aspx or www.emersonindustrial.com/en-EN/leroy-somer-motors-drives/

downloads/Pages/manuals.aspx

Installation Guide (packed with product)

• Designed to be used by an "Electrician/Wireman" installing the drive (FIGS Available).

Technical Data Guide

• Designed as a reference guide for experienced drive users (FIGS Available).

User Guide

• Designed as a step by step guide to help the user become familiar with the product, and as a reference guide for experienced drive users (FIGS Available).

Advanced User Guide

• In-depth parameter descriptions.

2.2 Drive ratings

The drive rating is limited by numerous systems which protect the power stage hardware. (Rectifier, DC bus, inverter)

These systems come into operation under various extremes of operating conditions. (I.e. ambient, supply imbalance, output power.)

2.2.1 Maximum ratings

Table 2-1 Maximum ratings

Nominal current

Model

No of input

phases

DST1201 1 1.1* 2.2 DST1202 1 2.4* 4.8 DST1203 1 2.9* 5.8 DST1204 1 4.7* 9.4 DST1201 3 1.7 5.1 DST1202 3 3.8 11.4 DST1203 3 5.4 16.2 DST1204 3 7.6 22.8 DST1401 3 1.5 4.5 DST1402 3 2.7 8.1 DST1403 3 4.0 12.0 DST1404 3 5.9 17.7 DST1405 3 8.0 24.0

*The maximum rating information, in Table 2-1 above, for the 200 V single phase supply, illustrates a 200 % overload capability. When the Digitax ST 120x is used with a single phase supply it is possible to achieve the three phase nominal current rating as long as the single phase peak current rating is observed.

The rating information shown in section 2.3 Drive model numbers on page 9 is based on the limitations of the drive output stage only.

The ratings are based on the following operating conditions:

• Ambient temperature = 40 °C

• Altitude = 1000 m

• Not exceeding power ratings

• DC bus voltage = 565 V for DST140X

• DC bus voltage = 325 V for DST120X The sizing tool should be used to select a drive for a profile or condition

that is not given as an example in section 13.1.2 Typical pulse duty on page 173.

Peak current

MAX

8 Digitax ST User Guide

Issue: 5

Page 9

Safety

Model: Digitax ST

Frame size

Voltage rating

2:4:200V to 240V

380V to 480V

Current rating step

Variant

DST 1 2 01 B

B: I: P: Z: E:

Base Indexer Plus EZMotion EtherCAT

Model

3098-0010

2.2/5.1Apk 250ms

S/N: 3000005001

Serial number

Rating

Please read the manual before connecting

Electric Shock Risk: Wait 10 mins

between disconnecting supply

and accessing terminals

UL file: E171230

Approvals

Approvals label

Designed in the U.K. Made in China

IND. CONTROL EQUIPMENT

RoHS

Compliant

I/P 200-240V 50-60Hz 1/3ph 4.0/3.1A

O/P 0-240V 2.2/5.1Apk

Input

voltage

CT Model type

Serial

number

Single/three phase peak output current

Output voltage

ST 1.1A M/TL 3ph

Rating label

S/N: 3000005001

Single/three phase input

current

Frequency

LS Model

type

CUS

R10

Date code

N1652

Information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

EtherCAT

interface

SMARTCARD

Operation

2.3 Drive model numbers

Each drive variant and rating has a unique model number.

Figure 2-1 Model code explanation

2.4 Drive nameplate description

The drive rating label provides the user with various details relating to the drive variant and rating.

Figure 2-2 Typical drive label

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL listing

information

Digitax ST User Guide 9 Issue: 5

Page 10

Safety

Solutions Module slot 2 cover

Solutions Module slot 1 cover

Buffered encoder output

Encoder In connection

Motor connections

Line to ground varistor screw

AC supply

48V connection (for low voltage DC operation)

Braking resistor connections

SMARTCARD slot

Serial port connector

Control terminals

Relay terminal

Keypad connection

EMC bracket

Ground

screw

EMC bracket

Ground screw

Status LED

Marker tag location

Internal EMC filter screw

Rating label

Approvals

label

Brake

resistor slot

Reset button

Fan

Control cable strain relief

Product identifier

NOTE

WARNING

CAUTION

Information

Product

information

Mechanical

installation

Electrical

installation

2.5 Features of the drive

Figure 2-3 Features of the drive

Getting started

Basic

parameters

Running the

motor

Optimization

EtherCAT

interface

SMARTCARD

Operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL listing

information

The Marker Tag (as shown in Figure 2-3 above), is where markers can be placed to identify a particular drive which can prove beneficial where several Digitax

ST drives are located in the same panel. ** A drive reset can be performed even when a keypad is not installed, by pressing the recessed reset button.

If the embedded interface is removed, the warranty for the drive will be void.

The drive is supplied with a SMARTCARD installed. Do not remove until after first power-up, as defaults are stored on the SMARTCARD.

Be aware of possible live terminals when inserting the SMARTCARD.

Static precautions must be taken when removing the Solutions Module slot covers.

10 Digitax ST User Guide

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Safety

SM-Keypad Plus

SMARTCARD*

DST Keypad

CT Comms cable

External footprint/ bookcase EMC filter

Internal braking resistor

Grounding

bracket

15-way D-type

converter

I/O Expansion

Applications

Automation

Fieldbus

Feedback

Inputs Outputs

• Incremental encoders • Quadrature

• SinCos encoders • Frequency and direction

• SSI encoders • SSI simulated outputs

• EnDat encoders

Information

Product

information

Mechanical

installation

Electrical

installation

Getting started

2.6 Options

Figure 2-4 Options available with Digitax ST

Basic

parameters

Running the

motor

Optimization

EtherCAT

interface

SMARTCARD

Operation

Onboard

PLC

Advanced

parameters

Technical

Data

Diagnostics

UL listing

information

* A SMARTCARD is provided as standard. For further information refer to Chapter 10 SMARTCARD Operation on page 101. All Solutions Modules are color-coded in order to make identification easy. The following table shows the color-code key and gives further details on

their function.

Table 2-2 Solutions Module identification

Type Solutions Module Color Name Further Details

Universal Feedback interface

Feedback interface for the following devices:

SM-Universal Encoder Plus

Resolver interface

Feedback interface for resolvers. Simulated quadrature encoder outputs

Feedback

Light Green

Light Blue SM-Resolver

Incremental encoder interface

Brown SM-Encoder Plus

Feedback interface for incremental encoders without commutation signals. No simulated encoder outputs available

Digitax ST User Guide 11 Issue: 5

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Safety

• Digital inputs x 3

• Analog output (voltage) x 1

• Digital I/O x 3 • Relay x 2

• Analog inputs (voltage) x 2

Information

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information

Mechanical

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Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

EtherCAT

interface

SMARTCARD

Operation

Onboard

PLC

Advanced

parameters

Type Solutions Module Color Name Further Details

Incremental encoder interface

Feedback interface for incremental encoders without commutation signals. Simulated encoder output for quadrature, frequency and

Dark Brown

SM-Encoder Output Plus

direction signals

Drive encoder input converter

Provides screw terminal interface for encoder wiring and spade terminal for shield

Single ended encoder interface

Provides an interface for single ended ABZ or UVW encoder signals, such as those from hall effect sensors. 15 V and 24 V versions are available.

Feedback

N/A

15-way D-type converter

Single ended encoder interface (15 V or 24 V)

ERN1387 Encoder Interface Board

Provides an interface for Heidenhain ERN1387 and ERN487 SinCos encoder which use a single SinCos cycle per revolution commutation track. A SM-Universal Encoder Plus module is

N/A

ERN1387 Encoder Interface Board

required to use this interface board.

Extended I/O interface

Increases the I/O capability by adding the following to the

Yellow SM-I/O Plus

existing I/O in the drive:

Extended I/O interface

Increase the I/O capability by adding the following to the

Yellow SM-I/O 32

existing I/O in the drive:

• High speed digital I/O x 32

• +24 V output

Additional I/O

1 x Analog input (±10 V bi-polar or current modes) 1 x Analog output (0-10 V or current modes) 3 x Digital input and 1 x Relay

Additional I/O with real time clock

As per SM-I/O Lite but with the addition of a Real Time Clock

Automation

(I/O

Expansion)

Dark Yellow SM-I/O Lite

Dark Red SM-I/O Timer

for scheduling drive running

Isolated I/O to NAMUR NE37 specifications

For chemical industry applications

Turquoise SM-I/O PELV

1 x Analog input (current modes) 2 x Analog outputs (current modes) 4 x Digital input / outputs, 1 x Digital input, 2 x Relay outputs

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Olive SM-I/O 120V

Cobalt Blue

Automation

(Applications)

12 Digitax ST User Guide

Golden

brown

SM-I/O 24V Protected

SM-Register

Additional I/O conforming to IEC 61131-2 120 Vac

6 digital inputs and 2 relay outputs rated for 120 Vac operation

Additional I/O with overvoltage protection up to 48 V

2 x Analog outputs (current modes) 4 x Digital input / outputs, 3 x Digital inputs, 2 x Relay outputs

Applications Processor

processor for running position capture functionality with

CTNet support.

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Fieldbus

Purple

SM-PROFIBUS-DP-V1Profibus option

Medium Grey SM-DeviceNet

Dark Grey SM-INTERBUS

Pink SM-CAN

Light Grey SM-CANopen

Red SM-SERCOS

Beige SM-Ethernet

PROFIBUS DP adapter for communications with the drive

DeviceNet option

Devicenet adapter for communications with the drive

Interbus option

Interbus adapter for communications with the drive

CAN option

CAN adapter for communications with the drive

CANopen option

CANopen adapter for communications with the drive

SERCOS option

Class B compliant. Torque velocity and position control modes supported with data rates (bit/sec): 2 MB, 4 MB, 8 MB and 16 MB. Minimum 250 μsec network cycle time. Two digital high speed probe inputs 1 μsec for position capture

Ethernet option

10 base-T / 100 base-T; Supports web pages, SMTP mail and multiple protocols: DHCP IP addressing; Standard RJ45 connection

Pale Green SM-LON

Brown Red SM-EtherCAT

LonWorks option

LonWorks adapter for communications with the drive

EtherCAT option

EtherCAT adapter for communications with the drive

SLM interface

The SM-SLM allows SLM feedback to be connected directly to

SLM Orange SM-SLM

the Digitax ST drive and allows operation in either of the following modes:

• Encoder only mode

• Host mode

Table 2-3 Keypad identification

Type Keypad Name Further Details

Digitax ST Keypad

LED keypad option

Keypad with a LED display

Keypad

SM-Keypad Plus

Remote keypad option

Keypad with an alpha-numeric LCD display with Help function

Digitax ST User Guide 13 Issue: 5

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Safety

Control connectors

Relay connector

Ground screws

Cable guides

Grounding bracket

Ground screws

Digitax ST Plus additional connectors

123

Digitax ST EtherCAT additional connector

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Table 2-4 Other options

Type Option Name Further details

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EMC EMC Filters

CT Comms cable

Communications

CTSoft

SyPTLite

These additional filters are designed to operate together with the drive’s own integral EMC filter in areas of sensitive equipment

Cable with isolation RS232 to RS485 converter. For connecting PC/Laptop to the drive when using the various interface software (e.g. CTSoft)

Software for PC or Laptop which allows the user to commission and store parameter settings.

Software for PC or Laptop which allows the user to program PLC functions within the drive.

Both CTSoft and SyPTLite can be downloaded at: http://www.emersonindustrial.com/en-EN/

controltechniques/downloads/userguidesandsoftware/Pages/digitaxst.aspx

Internal braking

resistor

SMARTCARD SMARTCARD

Braking resistor Optional braking resistor 70R 50 W

Standard feature that enables simple configuration of parameters in a variety of ways

2.7 Items supplied with the drive

The drive is supplied with the following items:

• Installation Guide

•SMARTCARD

• Safety Information booklet

• Certificate of Quality

An accessory box containing the items illustrated in Figure 2-5 is also provided.

Figure 2-5 Accessory box contents

Issue: 5

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3 Mechanical installation

This chapter describes how to use all mechanical details to install the drive. The drive is intended to be installed in an enclosure. Key features of this chapter include:

• Through-hole mounting

• IP54 as standard or through-panel mounting

• Enclosure sizing and layout

• Solutions Module installing

• Terminal location and torque settings

3.1 Safety information

Follow the instructions

The mechanical and electrical installation instructions must be adhered to. Any questions or doubt should be referred to the supplier of the equipment. It is the responsibility of the owner or user to ensure that the installation of the drive and any external option unit, and the way in which they are operated and maintained, comply with the requirements of the Health and Safety at Work Act in the United Kingdom or applicable legislation and regulations and codes of practice in the country in which the equipment is used.

Stored charge

The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated at least ten minutes before work may continue. Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Emerson Industrial Automation or their authorized distributor.

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• corrosive gasses

During installation it is recommended that the vents on the drive are covered to prevent debris (e.g. wire off-cuts) from entering the drive.

3.2.3 Cooling

The heat produced by the drive must be removed without its specified operating temperature being exceeded. Note that a sealed enclosure gives much reduced cooling compared with a ventilated one, and may need to be larger and/or use internal air circulating fans.

3.2.4 Electrical safety

The installation must be safe under normal and fault conditions. Electrical installation instructions are given in Chapter 4 Electrical installation on page 21.

3.2.5 Fire protection

The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided.

For installation in the USA, a NEMA 12 enclosure is suitable. For installation outside the USA, the following (based on IEC 62109-1,

standard for PV inverters) is recommended. Enclosure can be metal and/or polymeric, polymer must meet

requirements which can be summarized for larger enclosures as using materials meeting at least UL 94 class 5VB at the point of minimum thickness.

Air filter assemblies to be at least class V-2. The location and size of the bottom shall cover the area shown in Figure

3-1. Any part of the side which is within the area traced out by the 5° angle is also considered to be part of the bottom of the fire enclosure.

Figure 3-1 Fire enclosure bottom layout

Competence of the installer

The drive must be installed by professional assemblers who are familiar with the requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.

Enclosure

The drive is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel, and which prevents the ingress of contamination. It is designed for use in an environment classified as pollution degree 2 in accordance with IEC 60664-1. This means that only dry, non-conducting contamination is acceptable.

3.2 Planning the installation

The following considerations must be made when planning the installation:

3.2.1 Access

Access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

3.2.2 Environmental protection

The drive must be protected from:

• moisture, including dripping water or spraying water and

condensation. An anti-condensation heater may be required, which must be switched off when the drive is running.

• contamination with electrically conductive material

• contamination with any form of dust which may restrict the fan, or

impair airflow over various components

• temperature beyond the specified operating and storage ranges

The bottom, including the part of the side considered to be part of the bottom, must be designed to prevent escape of burning material - either by having no openings or by having a baffle construction. This means that openings for cables etc. must be sealed with materials meeting the 5VB requirement, or else have a baffle above. See Figure 3-2 for acceptable baffle construction. This does not apply for mounting in an enclosed electrical operating area (restricted access) with concrete floor.

Digitax ST User Guide 15 Issue: 5

Page 16

Safety

Notless than 2X

Ba ffle plates (m ay be above orbelow bottom ofenclosure)

Bo ttom of fire

enclosure

Not less than 2 times ‘X’

Baffle plates (may be above or

below bottom of enclosure)

Bottom of fire enclosure

CAUTION

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Figure 3-2 Fire enclosure baffle construction

3.2.6 Electromagnetic compatibility

Variable speed drives are powerful electronic circuits which can cause electromagnetic interference if not installed correctly with careful attention to the layout of the wiring.

Some simple routine precautions can prevent disturbance to typical industrial control equipment.

If it is necessary to meet strict emission limits, or if it is known that electromagnetically sensitive equipment is located nearby, then full precautions must be observed. In-built into the drive, is an internal EMC filter, which reduces emissions under certain conditions. If these conditions are exceeded, then the use of an external EMC filter may be required at the drive inputs, which must be located very close to the drives. Space must be made available for the filters and allowance made for carefully segregated wiring. Both levels of precautions are covered in section 4.10 EMC (Electromagnetic compatibility) on page 28.

3.2.7 Hazardous areas

The drive must not be located in a classified hazardous area unless it is installed in an approved enclosure and the installation is certified.

3.3 Solutions Module / keypad installation

/ removal

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Figure 3-4 Installation of a keypad

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Power down the drive before installing / removing the Solutions Module. Failure to do so may result in damage to the product.

Figure 3-3 Installation of a Solutions Module

The protective tab from the Solutions Module slot must be removed before attempting to install a Solutions Module.

Be aware of possible live terminals when installing the keypad.

16 Digitax ST User Guide

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WARNING

62mm

(2.44in)

249.7mm (9.83in)

220mm (8.66in)

47mm

(1.85in)

7.5mm

(0.3in)

304mm

(11.96in)

292mm

(11.49in)

6mm

(0.24in)

∅

5.4mm (0.21in)

322mm

(12.68in)

226mm (8.9in)

229mm (9.02in)

Ingress protective labels

NOTE

100mm (4in)

*2mm (0.08in)

NOTE

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3.4 Drive dimensions

Enclosure

The drive complies with the requirements of IP20 as standard.

Figure 3-5 Dimensions

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Figure 3-6 Ingress protective label

The ingress protective labels (shown on Figure 3-6 above) should remain in place while the drive is mounted, and until all the electrical wires have been connected. The labels should be removed before first power up.

Figure 3-7 Minimum mounting clearances

*2 mm clearance between drives to allow for mechanical tolerance. If Solutions Modules are installed, a larger clearance between drives will be required if access to the modules is needed without removing the drive.

Digitax ST User Guide 17 Issue: 5

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Safety

47mm (1.85in)

312.7mm (12.31in)

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Digitax ST can be mounted using a DIN rail, either fixed at the top or the bottom of the drive (as illustrated in Figure ). Two screws are required to fix the drive to the backplate at the opposite end to the DIN rail.

Figure 3-8 DIN rail mounting

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3.5 External EMC filter rating

Filter details for each drive rating are provided in the tables below.

Table 3-1 External EMC filter ratings

Worst

case

leakage

current

Used with

Number

phases

Filter part number

CT Schaffner

Maximum

continuous

current

@40°C (104°F)

@50°C

Power

losses at rated current

Weight

rating

Operational

leakage

current

(122°F)AWKglbmAmANmlb ft

DST120X 1 4200-6000 FS23072-19-07 19 17.3 11 DST120X 3 4200-6001 FS23073-17-07 17 15.5 13 1.2 2.64 8 50 0.8 0.6

1.2 2.64 29.5 56.9 0.8 0.6

DST140X 3 4200-6002 FS23074-11-07 11 10 10 1.2 2.64 16 90 0.8 0.6

The external EMC filters can be footprint or bookcase mounted, see Figure 3-9 and Figure 3-10.

Figure 3-9 Bookcase mounting Figure 3-10 Footprint mounting

Filter

terminal

tightening

torque

18 Digitax ST User Guide

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Safety

29mm (1.14in)

359mm (14.13in)

339mm (13.35in)

304mm (11.97in)

38mm (1.50in)

61mm (2.40in)

M5 M5

Torque settings of connector = 0.8 N m

∅

5.3mm (M5) (0.21in)

∅

5.3mm (M5) (0.21in)

Brake connections

Thermistor connection

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Figure 3-11 External EMC filter dimensions

Figure 3-11 shows a 3 phase filter. For a single phase filter, there are only 3 input terminals (L1, N, ground) and 3 output cables (L1, N, ground).

3.6 Optional braking resistor

3.6.1 Optional internal braking resistor

Figure 3-12 Installing an optional internal braking resistor (top view of drive)

1. Remove screws.

2. Remove grill.

3. Install the braking resistor shield.

4. Install the optional internal braking resistor in the slot provided (note the angle).

5. Electrically connect the braking resistor and thermistor (connections shown in Figure 4-1 Power terminal connections on page 22).

6. Re-install the grill and mounting screws by reversing the procedure in points 1 and 2.

3.6.2 Optional external braking resistor

If using an external braking resistor, the following Warning must be adhered to:

Digitax ST User Guide 19 Issue: 5

Braking resistor: High temperatures and overload protection

Braking resistors can reach high temperatures. Locate braking resistors so that damage cannot result. Use cable having insulation capable of withstanding the high temperatures.

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3.7 Terminal torque settings

Table 3-2 Torque settings

Terminals Torque setting*

Power terminals 1.0 N m (12.1 lb in)

Control terminals 0.2 N m (1.7 lb in)

Status relay terminals 0.5 N m (4.5 lb in)

Ground terminals 4 N m (35 lb in)

Small ground terminal screws 2 N m (17.7 lb in)

*Torque tolerance = 10 %

Table 3-3 Plug-in terminal block maximum cable sizes

Model size Terminal block description Max cable size

All 11 way control connectors

All 2 way relay connector

1.5 mm

2.5 mm

(16 AWG)

(12 AWG)

3.8 Routine maintenance

The drive should be installed in a cool, clean, well ventilated location. Contact of moisture and dust with the drive should be prevented.

Regular checks of the following should be carried out to ensure drive / installation reliability are maximized:

Environment

Ambient temperature

Dust

Moisture

Enclosure

Enclosure door filters

Electrical

Screw connections

Crimp terminals

Cables Check all cables for signs of damage

Ensure the enclosure temperature remains at or below maximum specified

Ensure the drive remains dust free – check that the heatsink and drive fan are not gathering dust. The lifetime of the fan is reduced in dusty environments.

Ensure the drive enclosure shows no signs of condensation

Ensure filters are not blocked and that air is free to flow

Ensure all screw terminals remain tight

Ensure all crimp terminals remains tight – check for any discoloration which could indicate overheating

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20 Digitax ST User Guide

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4 Electrical installation

Many cable management features have been incorporated into the product and accessories, this chapter shows how to optimize them. Key features include:

• Safe Torque Off function

• Internal EMC filter

• EMC compliance with shielding / grounding accessories

• Product rating, fusing and cabling information

• Brake resistor details (selection / ratings)

Electric shock risk

The voltages present in the following locations can cause severe electric shock and may be lethal:

• AC supply cables and connections

• DC and brake cables, and connections

• Output cables and connections

• Many internal parts of the drive, and external option units Unless otherwise indicated, control terminals are single insulated and must not be touched.

Isolation device

The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed.

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STOP function

The STOP function does not remove dangerous voltages from the drive, the motor or any external option units.

Safe Torque Off function

The Safe Torque Off function does not remove dangerous voltages from the drive, the motor or any external option units.

Stored charge

Equipment supplied by plug and socket

Permanent magnet motors

Permanent magnet motors generate electrical power if they are rotated, even when the supply to the drive is disconnected. If that happens then the drive will become energized through its motor terminals. If the motor load is capable of rotating the motor when the supply is disconnected, then the motor must be isolated from the drive before gaining access to any live parts.

Digitax ST User Guide 21 Issue: 5

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Safety

L1*L2

L2L1L3/N

UVW

Optional EMC

filter

Optional

line reactor

Fuses

Mains

supply

Supply ground

connections

High current

-DC connections

Low voltage

DC (48V)

DST12XX = 200 to 240V 10%

DST14XX = 380 to 480V 10%

± ±

Connectors specification:

Maximum size of power cable = 4.0mm (10AWG) Torque setting = 1 N m

It is essential that the braking resistor be protected against overload caused by a failure of the brake control. Unless the resistor has in-built protection, a circuit like those shown in Figure 4-1 should be used, where the thermal protection device disconnects the AC supply to the drive. Do not use AC relay contacts directly in series with the braking resistor circuit, because it carries DC.

WARNING

Terminals Torque setting

Power terminals

1.0 N m

(12.1 lb in)

Control terminals

0.2 N m

(1.7 lb in)

Status relay

terminals

0.5 N m

(4.5 lb in)

Ground terminal

screws

4 N m

(35 lb in)

Small ground

terminal screws

2 Nm

(17.7 Ib in)

* *Torque tolerance = 10%

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Figure 4-1 Power terminal connections

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* When using a 200 V drive on a single phase supply, the live and neutral conductors can be connected to any of the AC connections on the drive. ** This is not required if the optional internal braking resistor is used.

22 Digitax ST User Guide

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Supply ground

Motor ground

WARNING

100

----------

-------

2π f I

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

×=

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4.2 Ground connections

Electrochemical corrosion of grounding terminals

Ensure that grounding terminals are protected against corrosion i.e. as could be caused by condensation.

The drive must be connected to the system ground of the AC supply. The ground wiring must conform to local regulations and codes of practice. The supply and motor ground connections are made using the M6 threaded hole in the metal back plate of the drive located at the top and bottom of the drive. See Figure 4-2 for details.

The ground loop impedance must conform to the requirements of local safety regulations. The drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.) disconnects the AC supply. The ground connections must be inspected and tested at appropriate intervals.

Figure 4-2 Ground connection

4.3 AC supply requirements

Table 4-1 Supply requirements

Model Voltage

DST120X 200 V to 240 V ±10 % single phase 48 Hz to 65 Hz DST120X 200 V to 240 V ±10 % three phase* 48 Hz to 65 Hz DST140X 380 V to 480 V ±10 % three phase* 48 Hz to 65 Hz

*Maximum supply in-balance: 2 % negative phase sequence (equivalent to 3 % voltage in-balance between phases).

For UL compliance only, the maximum supply symmetrical fault current must be limited to 100 kA.

4.3.1 Supply types

All drives are suitable for use on any supply type i.e TN-S, TN-C-S, TT and IT.

• Supplies with voltage up to 600 V may have grounding at any potential, i.e. neutral, centre or corner (“grounded delta”)

• Supplies with voltage above 600 V may not have corner grounding

Drives are suitable for use on supplies of installation category III and lower, according to IEC60664-1. This means they may be connected permanently to the supply at its origin in a building, but for outdoor installation additional over-voltage suppression (transient voltage surge suppression) must be provided to reduce category IV to category III.

Frequency

range

Operation with IT (ungrounded) supplies:

Special attention is required when using internal or external EMC filters with ungrounded supplies, because in the event of a ground (earth) fault in the motor circuit the drive may not trip and the filter could be over-stressed. In this case, either the filter must not be used (removed) or additional independent motor ground fault protection must be provided. Refer to Table 4-2.

For instructions on removal, refer to Figure 4-4 Removing the internal EMC filter and line to ground varistors on

page 28. For details of ground fault protection contact the supplier of the drive.

A ground fault in the supply has no effect in any case. If the motor must continue to run with a ground fault in its own circuit then an input isolating transformer must be provided and if an EMC filter is required it must be located in the primary circuit.

Unusual hazards can occur on ungrounded supplies with more than one source, for example on ships. Contact the supplier of the drive for more information.

Table 4-2 Behavior of the drive in the event of a motor circuit

ground (earth) fault with an IT supply

Drive size Internal filter only External filter (with internal)

0 (200 V)

May not trip – precautions

required

Drive trips on fault

0 (400 V) Drive trips on fault Drive trips on fault

4.3.2 Line reactors

Input line reactors reduce the risk of damage to the drive resulting from poor phase balance or severe disturbances on the supply network.

Where line reactors are to be used, reactance values of approximately 2 % are recommended. Higher values may be used if necessary, but may result in a loss of drive output (reduced torque at high speed) because of the voltage drop.

For all drive ratings, 2 % line reactors permit drives to be used with a supply imbalance of up to 3.5 % negative phase sequence (equivalent to 5 % voltage imbalance between phases).

Severe disturbances may be caused by the following factors, for example:

• Power factor correction equipment connected close to the drive

• Large DC drives having no or inadequate line reactors connected to the supply

• Direct-on-line started motor(s) connected to the supply such that when any of these motors are started, the voltage dip exceeds 20 %

Such disturbances may cause excessive peak currents to flow in the input power circuit of the drive. This may cause nuisance tripping, or in extreme cases, failure of the drive.

Drives of low power rating may also be susceptible to disturbance when connected to supplies with a high rated capacity.

When required, each drive must have its own reactor(s). Three individual reactors or a single three-phase reactor should be used.

Reactor current ratings

Continuous current:

Not less than the continuous input current rating of the drive.

Repetitive peak current:

Not less than three times the continuous input current rating of the drive.

4.3.3 Input inductor calculation

To calculate the inductance required (at Y%), use the following equation:

Where:

I = drive rated input current (A)

L = inductance (H) f = supply frequency (Hz) V = voltage between lines

Digitax ST User Guide 23 Issue: 5

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4.4 DC bus design

4.4.1 DC bus design

Parallel connections

The power limit of the rectifier must be adhered to for all combinations of drives in parallel. In addition to this If the total rated bus power required exceeds the capability of 1 x Digitax ST rectifier then two or more Digitax ST's can be connected with the AC & DC in parallel. If the AC supply is connected to more than one drive in a parallel DC bus application, balancing of the current in the input stage of each drive must be considered.

Using DC bus chokes makes the current in the rectifier diodes of each drive the same, so providing a solution to sharing.

There are many possible combinations for paralleling drives through the DC bus connections. Table 4-3 gives details of the internal capacitance for each drive and the additional capacitance which can be powered from the drive. The capacitance must incorporate its own soft-start circuit. All Digitax ST drives incorporate this feature.

Table 4-3 DC bus data

Internal DC bus

Drive

capacitance

(μF)

DST1201 440 1760 DST1202 880 1320 DST1203 880 1320 DST1204 1320 880 DST1401 220 660 DST1402 220 660 DST1403 220 660 DST1404 220 660 DST1405 220 660

For additional details regarding DC bus paralleling please contact the supplier of the drive.

Maximum additional DC

bus capacitance which can

be connected

(μF)

4.5 DC drive voltage levels

4.5.1 Low voltage DC operation

The drive can be operated from low voltage DC supplies, nominally 24 Vdc (control) and 48 Vdc (power). The low voltage DC power operating mode is designed either, to allow for motor operation in an emergency back-up situation following failure of the AC supply, for example in robotic arm applications; or to limit the speed of a servo motor during set-up of equipment, for example a robot cell.

With low voltage DC operation there is a reduction in the level of safety of the Safe Torque Off function. There exist certain unlikely faults which might permit the drive to produce some limited motor torque, if the DC supply has its negative terminal connected to ground. See section 4.17 Safe Torque Off on page 42 for methods on preventing a loss of the safety function under these

conditions. The working voltage range of the low voltage DC power supply is shown in Table 4-4.

Table 4-4 Low voltage DC levels

Condition Value

Minimum continuous operating voltage 36 V Minimum start up voltage 40 V Nominal continuous operating voltage 48 V to 72 V Maximum braking IGBT turn on voltage 63 V to 95 V Maximum over voltage trip threshold 69 V to 104 V

4.5.2 High voltage DC levels

Table 4-5 High voltage DC levels

Condition

DST120X DST140X

Undervoltage trip level 175 330

Undervoltage reset level* 215 425

Overvoltage trip level 415 830

Braking level 390 780

Maximum continuous voltage level for 15 s 400 800

* These are the absolute minimum DC voltages that the drive is capable of operating from. If the drive is not supplied with the minimum voltage, it will not reset following a UV trip at power-up.

4.5.3 Control 24 Vdc supply

The 24 Vdc input has three main functions:

• It can be used as a back-up power supply to keep the control circuits of the drive powered up when the line power supply is removed. This allows any fieldbus modules or serial communications to continue to operate.

• It can be used to supplement the drive’s own internal 24 V when multiple SM-I/O Plus modules are being used and the current drawn by these modules is greater than the drive can supply. (If too much current is drawn from the drive, the drive will initiate a 'PS.24V' trip)

• It can be used to commission the drive when line power supply voltages are not available, as the display operates correctly. However, the drive will be in the UV trip state unless either line power supply is reapplied or low voltage DC operation is enabled, therefore diagnostics may not be possible. (Power down save parameters are not saved when using the 24 V back-up power supply input.)

The working voltage range of the 24 V power supply is shown in Table 4-6.

Table 4-6 Control supply voltage levels

Condition Value

Maximum continuous operating voltage 30.0 V Minimum continuous operating voltage 19.2 V Nominal operating voltage 24.0 V Minimum start up voltage 21.6 V Maximum power supply requirement at 24 V 60 W Recommended fuse 3 A, 50 Vdc

Minimum and maximum voltage values include ripple and noise. Ripple and noise values must not exceed 5 %.

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4.6 Ratings

Fuses The AC supply to the drive must be installed with suitable protection against overload and short-circuits. The following section shows recommended fuse ratings. Failure to observe this requirement will cause risk of fire.

Table 4-7 Fuse ratings and cable sizes

No of

Model

input

phases

DST1201 1 DST1202 1 DST1203 1 DST1204 1

Typical input

current

Maximum

continuous input

current

4.0 6 10 0.75 16 0.75 24

7.6 10 10 1 16 0.75 22

9.0 16 15 2.5 14 0.75 20

13.4 16 20 2.5 12 0.75 18 DST1201 3 3.1 3.5 6 10 0.75 16 0.75 24 DST1202 3 6.4 7.3 10 10 1 16 0.75 22 DST1203 3 8.6 9.4 16 15 2.5 14 0.75 20 DST1204 3 11.8 13.4 16 20 2.5 12 0.75 18 DST1401 3 2.6 2.8 4 10 0.75 16 0.75 24 DST1402 3 4.2 4.3 6 10 0.75 16 0.75 24 DST1403 3 5.9 6.0 8 10 0.75 16 0.75 22 DST1404 3 7.9 8.0 10 10 1 16 0.75 20 DST1405 3 9.9 9.9 12 15 1.5 14 0.75 18

Control cable

Fuse rating Cable size

IEC class

Class CC

Input Output

AWG

≥0.5 20

UL listing

information

AWG

PVC insulated cable should be used.

Installation class (ref: IEC60364-5-52:2001)

B1 - Separate cables in conduit. B2 - Multicore cable in conduit C - Multicore cable in free air.

Cable sizes are from IEC60364-5-52:2001 table A.52.C with correction factor for 40°C ambient of 0.87 (from table A52.14) for cable installation method B2 (multicore cable in conduit).

Cable size may be reduced if a different installation method is used, or if the ambient temperature is lower.

The recommended cable sizes above are only a guide. The mounting and grouping of cables affects their current-carrying capacity, in some cases smaller cables may be acceptable but in other cases a larger cable is required to avoid excessive temperature or voltage drop. Refer to local wiring regulations for the correct size of cables.

The recommended output cable sizes assume that the motor maximum current matches that of the drive. Where a motor of reduced rating is used the cable rating may be chosen to match that of the motor. To ensure that the motor and cable are protected against overload, the drive must be programmed with the correct motor rated current.

UL listing is dependent on the use of the correct type of UL-listed fuse, and applies when symmetrical short-circuit current does not exceed 100kA. See Chapter 15 UL listing information on page 204 for sizing information.

An MCB (miniature circuit breaker) may be used in place of fuses under the following conditions:

• The fault-clearing capacity must be sufficient for the installation

• The I2T rating of the MCB must be less than or equal to that of the fuse rating listed above.

A fuse or other protection must be included in all live connections to the AC supply.

For a parallel DC bus system the maximum AC input fusing is shown in Table 4-8 below.

Table 4-8 Maximum AC input fusing

Fuse rating

IEC class gG

Fuse rating

class CC

Input cable size

Model

AWG

All 20 20 4.0 12

Refer to the supplier of your drive for further information regarding DC bus paralleling.

4.7 Output circuit and motor protection

The output circuit has fast-acting electronic short-circuit protection which limits the fault current to typically no more than five times the rated output current, and interrupts the current in approximately 20 µs. No additional short-circuit protection devices are required.

The drive provides overload protection for the motor and its cable. For this to be effective, Pr 0.46 Motor rated current must be set to suit the motor.

Pr 0.46 Motor rated current must be set correctly to avoid a risk of fire in the event of motor overload.

There is also provision for the use of a motor thermistor to prevent overheating of the motor, e.g. due to loss of cooling.

4.7.1 Motor cable size and maximum lengths

Since capacitance in the motor cable causes loading on the output of the drive, ensure the cable length does not exceed the values given in Table 4-9.

Use 105 °C (221 °F) (UL 60/75 °C temp rise) PVC-insulated cable with copper conductors having a suitable voltage rating, for the following power connections:

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Normal capacitance

Shield or armour separated from the cores

High capacitance

Shield or armour close to the cores

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• AC supply to external EMC filter (when used)

• AC supply (or external EMC filter) to drive

• Drive to motor

• Drive to braking resistor

•

When operating in ambient >45 °C UL 75 °C cable should be used.

Cable sizes are given for guidance only and may be changed depending on the application and the method of installation of the cables.

The mounting and grouping of cables affect their current capacity, in some cases a larger cable is required to avoid excessive temperature or voltage drop.

Input cable sizes should generally be regarded as a minimum, since they have been selected for co-ordination with the recommended fuses.

Output cable sizes assume that the maximum motor current matches that of the drive.

Where a motor of reduced rating is used the cable rating may be chosen to match that of the motor.

To ensure that the motor and cable are protected against overload, the drive must be programmed with the correct motor rated current.

• Cable lengths in excess of the specified values may be used only when special techniques are adopted; refer to the supplier of the drive.

• The default switching frequency is 6 kHz.

The drive power terminals are designed for a maximum cable size of 4.0

(minimum 0.2 mm / 24 AWG).

Where more than one cable per terminal is used the combined diameters should not exceed the maximum.

The terminals are suitable for both solid and stranded wires.

Table 4-9 Motor cable size and maximum lengths

Output cable 6kHz 8kHz 12kHz

Model

DST1201

AWG m m m

24 DST1202 22 DST1203 20 DST1204 18 DST1401 DST1402

0.75 24

DST1403 22 DST1404 20 DST1405 18

High-capacitance cables

The maximum cable length is reduced from that shown in Table 4-9 if high capacitance motor cables are used.

Most cables have an insulating jacket between the cores and the armor or shield; these cables have a low capacitance and are recommended. Cables that do not have an insulating jacket tend to have high capacitance; if a cable of this type is used, the maximum cable length is half that quoted in the tables. (Figure 4-3 shows how to identify the two types).

Figure 4-3 Cable construction influencing the capacitance

4.7.2 Motor winding voltage

The PWM output voltage can adversely affect the inter-turn insulation in the motor. This is because of the high rate of change of voltage, in conjunction with the impedance of the motor cable and the distributed nature of the motor winding.

For normal operation with AC supplies up to 500 Vac and a standard motor with a good quality insulation system, there is no need for any special precautions. In case of doubt the motor supplier should be consulted.

Special precautions are recommended under the following conditions, but only if the motor cable length exceeds 10 m:

• AC supply voltage exceeds 500 V

• DC supply voltage exceeds 670 V

• Operation of 400 V drive with continuous or very frequent sustained braking

For the other cases listed, it is recommended that an inverter-rated motor be used. This has a reinforced insulation system intended by the manufacturer for repetitive fast-rising pulsed voltage operation.

If it is not practical to use an inverter-rated motor, an output choke (inductor) should be used. The recommended type is a simple iron-cored component with a reactance of about 2 %. The exact value is not critical. This operates in conjunction with the capacitance of the motor cable to increase the rise-time of the motor terminal voltage and prevent excessive electrical stress.

4.7.3 Output contactor

If the cable between the drive and the motor is to be interrupted by a contactor or circuit breaker, ensure that the drive is disabled before the contactor or circuit breaker is opened or closed. Severe arcing may occur if this circuit is interrupted with the motor running at high current and low speed.

A contactor is sometimes required to be installed between the drive and motor for safety purposes.

The recommended motor contactor is the AC3 type. Switching of an output contactor should only occur when the output of

the drive is disabled. Opening or closing of the contactor with the drive enabled will lead to:

1. OI.AC trips (which cannot be reset for 10 seconds)

2. High levels of radio frequency noise emission

3. Increased contactor wear and tear

The Drive Enable terminal (T31) when opened provides a Safe Torque Off function. This can in many cases replace output contactors.

For further information see section 4.17 Safe Torque Off on page 42.

4.8 Braking

The internal braking resistor can be used with the drive even though its resistance is lower than the minimum resistance values given in Table 4-11, because of the following reasons.

• The braking resistor overload protection function in the drive is set up to limit the power dissipated in the resistor.

• The braking resistor is installed with a thermistor which will trip the drive if the resistor is too hot.

• The power rating of the resistor is only 50 W

The internal braking resistor for Digitax ST is installed with a thermistor which must be connected to the drive whenever the internal braking resistor in installed.

If an external resistor is used with the drive, its resistance must be equal to or greater than the value given in Table 4-11.

The cable used for Table 4-9 is shielded and contains four cores. Typical capacitance for this type of cable is 130 pF/m (i.e. from one core to all others and the shield connected together).

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Parameter

200 V drive

400 V

drive

Full power braking time

Pr 10.30 0.06 0.01

Full power braking period

Pr 10.31 2.6 1.7

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Table 4-10 Internal braking resistor data

Parameter

Part number 1299-0001 DC resistance at 25 °C 70 Ω

Peak instantaneous power over 1ms at nominal resistance

200 V 400 V

2.2 kW 8.7 kW

Average power over 60 s 50 W

Braking resistor overload protection parameter settings Failure to observe the following information may

damage the resistor.

The drive’s software contains an overload protection function for a braking resistor. On Digitax ST this function is enabled at default to protect the internally mounted resistor. Below are the parameter settings.

For more information on the braking resistor software overload protection, see Pr 10.30 and Pr 10.31 full descriptions in the Advanced User Guide.

If the internally mounted braking resistor is to be used at more than half of its average power rating then the drive's cooling fan must be at full speed, controlled by setting Pr 6.45 to On (1).

4.8.1 External braking resistor

Overload protection When an external braking resistor is used, it is essential that an overload protection device is incorporated in the braking resistor circuit.

When a braking resistor is to be mounted outside the enclosure, ensure that it is mounted in a ventilated metal housing that will perform the following functions:

• Prevent inadvertent contact with the resistor

• Allow adequate ventilation for the resistor When compliance with EMC emission standards is required, external

connection requires the cable to be armored or shielded, since it is not fully contained in a metal enclosure. See section 4.10 EMC (Electromagnetic compatibility) on page 28 for further details.

Internal connection does not require the cable to be armored or shielded.

Table 4-11 Minimum resistance and power ratings

Average

power for

0.25s

Model

Minimum

resistance*

Peak

power

rating

Continuous

power rating

Ω kW kW kW

DST1201 DST1202 1.2 3.5

23 6.6

0.5 1.6

DST1203 1.6 4.9 DST1204 16 9.3 2.3 7.0 DST1401 DST1402 1.4 4.1

111 5.5

0.8 2.3

DST1403 75 8.1 2.0 6.1 DST1404 DST1405 4.1 12.2

28 21.7

3.0 9.0

* Resistor tolerance: ±10 %

4.9 Ground leakage

The ground leakage current depends upon whether the internal EMC filter is installed. The drive is supplied with the filter installed. Instructions for removing the internal filter are given in Figure 4-4.

With the internal EMC filter installed the ground leakage current is as follows:

Table 4-12 Ground leakage current with internal EMC filter installed

3 phase Star

Model

ground

DST120X at 220 V 4 10 3 DST140X at 400 V 12 40

The above leakage current is just the leakage current of the drive with the internal EMC filter connected and does not take into account any leakage currents of the motor or motor cable.

With internal EMC filter removed the ground leakage current = <1 mA.

In both cases, there is an internal voltage surge suppression device connected to ground. Under normal circumstances, this carries negligible current.

When the internal EMC filter is installed, the leakage current is high. In this case, a permanent fixed ground connection must be provided with a cross sectional area equal to 10mm

4.9.1 Use of residual current device (RCD)

There are three common types of ELCB / RCD:

1. AC - detects AC fault currents

2. A - detects AC and pulsating DC fault currents (provided the DC

current reaches zero at least once every half cycle)

3. B - detects AC, pulsating DC and smooth DC fault currents

• Type AC should never be used with drives

• Type A can only be used with single phase drives

• Type B must be used with three phase drives

3 phase Delta

ground

1 phase

Digitax ST User Guide 27 Issue: 5

Only type B ELCB / RCD are suitable for use with 3 phase inverter drives.

If an external EMC filter is used, a delay of at least 50ms should be incorporated to ensure spurious trips are not seen. The leakage current is likely to exceed the trip level if all of the phases are not energized simultaneously.

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4.10 EMC (Electromagnetic compatibility)

4.10.1 Internal EMC filter

It is recommended that the internal EMC filter is kept in place unless there is a specific reason for removing it.

Special attention is required when using a DST120X model on an ungrounded supply (IT supply). In the event of a ground fault in the motor circuit the drive may not trip and the filter could be overstressed. In this case, either the filter must be removed or additional independent motor ground fault protection must be provided.

The internal EMC filter reduces radio-frequency emissions into the line power supply. Where the motor cable is short, it permits the requirements of EN 61800-3:2004 to be met for the second environment.

For longer motor cables, the filter continues to provide a useful reduction in emission level, and when used with any length of shielded cable up to the limit for the drive, it is unlikely that nearby industrial equipment will be disturbed. It is recommended that the filter be used in all applications unless the ground leakage current is unacceptable or the above conditions are true.

The supply must be disconnected before removing the internal EMC filter or line to ground varistor screws.

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Figure 4-4 Removing the internal EMC filter and line to ground

varistors

1. Internal EMC filter. Remove the bottom screw as shown.

2. Line to ground varistors. Remove the top screw as shown.

The line to ground varistors should only be removed in special circumstances.

4.10.2 Further EMC precautions

Further EMC precautions are required if more stringent EMC emission requirements apply:

• Operation in the first environment of EN 61800-3:2004

• Conformity to the generic emission standards

• Equipment which is sensitive to electrical interference operating nearby

In this case it is necessary to use:

• The optional external EMC filter

• A shielded motor cable, with shield clamped to the grounded metal panel

• A shielded control cable, with shield clamped to the grounded metal panel via the grounding bracket.

It is not necessary to remove the external EMC filter when using an IT supply.

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Metal back plate

External controller

Signal cables Plan for all signal cables to be routed at least 300mm (12in) from the drive and any power cable

Optional braking resistor

Locate optional braking resistor and overload external to cubicle (preferably near to or on top of the cubicle).

Note For EMC compliance:

1) When using an external EMC

filter, one filter is required for

each drive

2) Ensure direct metal contact at drive and filter mounting points (any paint must be removed)

The external EMC filter can be bookcase mounted (next to the drive) or footprint mounted (with the drive mounted onto the filter).

Thermal overload

protection

device

AC supply

contactor and

fuses or MCB

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4.10.3 Recommended cable management

Figure 4-5 Drive cable clearances

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Figure 4-6 Grounding bracket at the top of the drive

Figure 4-7 Grounding bracket at the bottom of the drive

Grounding bracket and drive to be directly connected to a grounded backplate.

1. The distance for EMC (shown in Figure 4-7 above) from the drive is as

follows:

200 V drive - Allowance up to 65 mm (2.56 in) 400 V drive - Allowance up to 100 mm (3.94 in)

The grounding bracket can remain mounted when the drive is removed. as follows.

Figure 4-8 Multiple drives with single grounding bracket

If installing multiple drives, one grounding bracket can be used for two drives.

4.11 Internal and external conducted emissions conformity

Table 4-13 Immunity compliance

Standard

IEC61000-4-2 EN61000-4-2

IEC61000-4-3 EN61000-4-3

IEC61000-4-4 EN61000-4-4

IEC61000-4-5 EN61000-4-5

IEC61000-4-6 EN61000-4-6

IEC61000-4-11 EN61000-4-11

IEC61000-6-1 EN61000-61:2007

IEC61000-6-2 EN61000-62:2005

EN 618003:2004 IEC61800-3

Type of

immunity

Electrostatic discharge

Radio frequency radiated field

Test specification Application Level

6 kV contact discharge 8 kV air discharge

10V/m prior to modulation 80 - 1000 MHz 80 % AM (1 kHz) modulation

5/50 ns 2 kV transient at 5 kHz repetition frequency

Fast transient burst

via coupling clamp 5/50 ns 2 kV

transient at 5 kHz repetition frequency by direct injection

Common mode 4 kV

1.2/50 μs waveshape

Surges

Differential mode 2 kV

1.2/50 μs waveshape

Lines to ground

Conducted radio frequency

Voltage dips and interruptions

10V prior to modulation

0.15 - 80 MHz 80 % AM (1 kHz) modulation

-30 % 10 ms +60 % 100 ms

-60 % 1 s <-95 % 5 s

Generic immunity standard for the residential, commercial and light industrial environment

Generic immunity standard for the industrial environment

Product standard for adjustable speed power drive systems (immunity requirements)

Module enclosure

Control lines

Level 3 (industrial)

Level 4 (industrial harsh)

Power lines

AC supply lines:

Level 3 (industrial)

Level 4

line to ground

AC supply lines: line to line

Signal ports to ground

Control and power lines

AC power ports

Level 3

Level 2

Level 3 (industrial)

Complies

Meets immunity requirements for first and second environments

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Table 4-14 DST120X (200 V) emission compliance (single and

three phase drives

Motor cable length

(m)

Switching frequency (kHz)

346 812

Using internal filter:

0 to 7 E2U 7 to 9 E2U E2R

9 to 11 E2U E2R

>11 E2R

Using external filter:

0 to 20 R I

20 to 100 I

Table 4-15 DST140X (400 V) emission compliance

Motor cable length

(m)

Switching frequency (kHz)

346812

Using internal filter:

0 to 6 E2U E2R

6 to 12 E2U E2R

12 to 14 E2U E2R

>14 E2R

Using external filter:

0 to 20 R I

20 to 70 I

70 to 100 I Do not use

Key to Table 4-14 and Table 4-15

(shown in decreasing order of permitted emission level): E2R EN 61800-3:2004 second environment, restricted distribution

(Additional measures may be required to prevent interference) E2U EN 61800-3:2004 second environment, unrestricted distribution I Industrial generic standard EN 61000-6-4:2007

EN 61800-3:2004 first environment restricted distribution (The following caution is required by EN 61800-3:2004)

This is a product of the restricted distribution class according to IEC 61800-3. In a residential environment this product may cause radio interference in which case the user may be required to take adequate measures.

R Residential generic standard EN 61000-6-3:2007

EN 61800-3:2004 first environment unrestricted distribution

EN 61800-3:2004 defines the following:

• The first environment is one that includes residential premises. It also includes properties directly connected without intermediate transformers to a low-voltage power supply network which supplies buildings used for residential purposes.

• The second environment is one that includes all establishments other than those directly connected to a low-voltage power supply network which supplies buildings used for residential purposes.

• Restricted distribution is defined as a mode of sales distribution in which the manufacturer restricts the supply of equipment to suppliers, customers or users who separately or jointly have technical competence in the EMC requirements of the application of drives.

IEC 61800-3:2004 and EN 61800-3:2004

The 2004 revision of the standard uses different terminology to align the requirements of the standard better with the EC EMC Directive.

Power drive systems are categorized C1 to C4:

Corresponding

Category Definition

code used

above

Intended for use in the first or second

environments

Not a plug-in or movable device, and intended for use in the first environment

only when installed by a professional, or

in the second environment Intended for use in the second

environment, not the first environment

E2U

Rated at over 1000 V or over 400 A,

intended for use in complex systems in

E2R

the second environment

Note that category 4 is more restrictive than E2R, since the rated current of the PDS must exceed 400 A or the supply voltage exceed 1000 V, for the complete PDS.

Where the drive is incorporated into a system with rated input current exceeding 100 A, the higher emission limits of EN 61800-3:2004 for the second environment are applicable, and no filter is then required.

Operation without an external filter is a practical cost-effective possibility in an industrial installation where existing levels of electrical noise are likely to be high, and any electronic equipment in operation has been designed for such an environment. This is in accordance with EN 618003:2004 in the second environment, with restricted distribution. There is some risk of disturbance to other equipment, and in this case the user and supplier of the drive system must jointly take responsibility for correcting any problem which occurs.

4.12 Serial communications connections

The drive has a serial communications port (serial port) as standard supporting 2 wire EIA485 communications. Please see Table 4-16 for the connection details for the RJ45 connector.

Figure 4-9 Location of the RJ45 serial comms connector

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Table 4-16 Connection details for RJ45 connector

Pin Function

1 120 Ω Termination resistor 2RX TX 3 Isolated 0V 4 +24 V (100 mA) 5 Isolated 0V 6 TX enable 7RX\ TX\

RX\ TX\ (if termination resistors are required, jumper to

pin 1)

Shield Isolated 0V

The communications port applies a 2 unit load to the communications network.

Minimum number of connections are 2, 3, 7 and shield. Shielded cable must be used at all times.

4.12.1 Isolation of the serial communications port

The serial communications port is double insulated and meets the requirements for SELV in IEC61800-5-1.

In order to meet the requirements for SELV in IEC60950 (IT equipment) it is necessary for the control computer to be grounded. Alternatively, when a lap-top or similar device is used which has no provision for grounding, an isolation device must be incorporated in the communications lead.

An isolated serial communications lead has been designed to connect the drive to IT equipment (such as lap-top computers), and is available from the supplier of the drive. See Table 4-17 below for details:

Table 4-17 Isolated serial comms lead details

Part number Description

4500-0087 CT EIA232 Comms cable 4500-0096 CT USB Comms cable

The “isolated serial communications” lead has reinforced insulation as defined in IEC60950 for altitudes up to 3,000 m.

When using the CT EIA232 Comms cable the available baud rate is limited to 19.2 k baud.

4.12.2 Multi-drop network

The drive can be used on a 2 wire EIA485 multi-drop network using the drive's serial communications port when the following guidelines are adhered to.

Connections

The network should be a daisy chain arrangement and not a star, although short stubs to the drive are allowed.

The minimum connections are pins 2 (RX TX), 3 (isolated 0V), 7 (RX\ TX\) and the shield.

Pin 4 (+24 V) on each drive can be connected together but there is no power sharing mechanism between drives and therefore the maximum power available is the same as a single drive. (If pin 4 is not linked to the other drives on the network and has an individual load then the maximum power can be taken from pin 4 of each drive.)

Termination resistors

If a drive is on the end of the network chain then pins 1 and 8 should be linked together. This will connect an internal 120 Ω termination resistor between RXTX and RX\TX\. (If the end unit is not a drive or the user wishes to use their own termination resistor, a 120 Ω termination resistor should be connected between RXTX and RX\TX\ at the end unit.)

If the host is connected to a single drive then termination resistors should not be used unless the baud rate is high.

CT Comms Cable

The CT Comms Cable can be used on a multi-drop network but should only be used occasionally for diagnostic and set up purposes. The network should be made up entirely of Digitax ST drives.

If the CT Comms Cable is to be used, then pin 6 (TX enable) should be connected on all drives and pin 4 (+24 V) should be linked to at least 1 drive to supply power to the converter in the cable.

Only one CT Comms Cable can be used on a network.

4.13 Control connections

4.13.1 General

Table 4-18 The control connections consist of:

Function Qty Control parameters available

Differential analog input 1

Single ended analog input

Analog output 2 Source, mode, scaling, 9,10 Digital input 3 Destination, invert, logic select 27, 28, 29

Digital input / output 3

Relay 1 Source, invert 41,42 Drive enable (Safe

Torque Off) +10V User output 1 4 +24V User output 1 Source, invert 22

0V common 6

+24V External input 1 2

Destination, offset, offset trim, invert, scaling

Mode, offset, scaling, invert,

destination

Input / output mode select, destination / source, invert, logic select

131

Key:

Destination parameter:

Source parameter:

Mode parameter:

indicates the parameter which is being controlled by the terminal / function

indicates the parameter being output by the terminal

analog - indicates the mode of operation of the terminal, i.e. voltage 0-10 V, current 4-20 mA etc.

digital - indicates the mode of operation of the terminal, i.e. positive / negative logic (the Drive Enable terminal is fixed in positive logic), open collector.

All analog terminal functions can be programmed in menu 7. All digital terminal functions (including the relay) can be programmed in

menu 8. The setting of Pr 1.14 and Pr 6.04 can cause the function of digital inputs

T25 to T29 to change. For more information, please refer to section

12.22.1 Reference modes on page 166 and section 12.22.7 Start / stop logic modes on page 170.

The control circuits are isolated from the power circuits in the drive by basic insulation (single insulation) only. The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation (supplementary insulation) rated for use at the AC supply voltage.

If the control circuits are to be connected to other circuits classified as Safety Extra Low Voltage (SELV) (e.g. to a personal computer), an additional isolating barrier must be included in order to maintain the SELV classification.

Ter mi nal

number

5,6

7,8

24, 25, 26

1, 3, 11, 21,

23, 30

32 Digitax ST User Guide

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If any of the digital inputs or outputs (including the drive enable input) are connected in parallel with an inductive load (i.e. contactor or motor brake) then suitable suppression (i.e. diode or varistor) should be used on the coil of the load. If no suppression is used then over voltage spikes can cause damage to the digital inputs and outputs on the drive.

Ensure the logic sense is correct for the control circuit to be used. Incorrect logic sense could cause the motor to be started unexpectedly. Positive logic is the default state for the drive.

Any signal cables which are carried inside the motor cable (i.e. motor thermistor, motor brake) will pick up large pulse currents via the cable capacitance. The shield of these signal cables must be connected to ground close to the point of exit of the motor cable, to avoid this noise current spreading through the control system.

The Safe Torque Off drive enable terminal is a positive logic input only. It is not affected by the setting of Pr 8.29 Positive logic select.

The common 0V from analog signals should, wherever possible, not be connected to the same 0V terminal as the common 0V from digital signals. Terminals 3 and 11 should be used for connecting the 0V common of analog signals and terminals 21, 23 and 30 for digital signals. This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals.

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0V common External 24V supply

0V common

Analog speed reference 1

Connections for

single-ended input

signal

Connections for

differential input signal

0V common

Analog input 2

Analog input 1

0V common

232425

26272829303141

At zero speed

Reset

Run forward

Run reverse

Analog input 1/

input 2 select

Jog forward select

SAFE TORQUE OFF

(drive enable)

Status relay

(Overvoltage

category II)

Drive OK

Speed

0V common

Analog

speed

reference 2

Torque (active

current)

Analog input 3

Motor thermistor

Connectors specification:

Maximum size of control connections cable =

1.5mm (16AWG)

Torque setting =

0.2 N m (1.8 lb in)

Status relay cable =

2.5mm (12AWG)

Torque setting =

0.5 N m (4.4 lb in)

Polarized

signal connections

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4.14 Control terminals

Figure 4-10 Default terminal functions

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For control terminal specification, refer to Chapter 4.14.1 Control terminal specification on page 35.

If Terminal 31 is used as a Safe Torque Off function, the cable must be shielded or segregated.

34 Digitax ST User Guide

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4.14.1 Control terminal specification

1 0V common

Function

2 +24 V external input

Function

Nominal voltage +24.0 Vdc Minimum continuous

operating voltage Maximum continuous

operating voltage Minimum start-up voltage 21.6 Vdc Recommended power supply 60 W 24 Vdc nominal Recommended fuse 3 A, 50 Vdc

3 0V common

Function

4 +10V user output

Function Supply for external analog devices

Voltage tolerance ±1 % Maximum output current 10 mA Protection Current limit and trip @ 30 mA

Precision reference Analog input 1

5 Non-inverting input

6 Inverting input

Default function Speed reference

Type of input

Full scale voltage range ±9.8 V ±1 % Absolute maximum

voltage range Working common mode

voltage range Input resistance 100 kΩ ±1% Resolution 16-bit plus sign (as speed reference) Monotonic Yes (including 0V) Dead band None (including 0V) Jumps None (including 0V) Maximum offset 700 μV Maximum non linearity 0.3 % of input Maximum gain asymmetry 0.5 % Input filter bandwidth single

pole

Sampling period

Common connection for all external devices

To supply the control circuit without providing a supply to the power stage

+19.2 Vdc

+30.0 Vdc

Common connection for all external devices

Bipolar differential analog (For single-ended use, connect terminal 6 to terminal 3)

±36 V relative to 0V

±13 V relative to 0V

~1 kHz

250 μs with destinations as Pr 1.36, Pr 1.37 or Pr 3.22.

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7 Analog input 2

Default function Speed reference

Type of input

Bipolar single-ended analog voltage

or unipolar current Mode controlled by... Pr 7.11 Operating in Voltage mode Full scale voltage range ±9.8 V ±3 % Maximum offset ±30 mV Absolute maximum

voltage range

±36 V relative to 0V

Input resistance >100 kΩ

Operating in current mode

Current ranges

0 to 20 mA ±5 %, 20 to 0 mA ±5 %,

4 to 20 mA ±5 %, 20 to 4 mA ±5 % Maximum offset 250 μA Absolute maximum voltage

(reverse bias)

−36 V max

Absolute maximum current +70 mA Equivalent input resistance ≤200 Ω at 20 mA Resolution 10 bit + sign

250 μs when configured as voltage Sample period

input with destinations as Pr 1.36,

Pr 1.37, Pr 3.22 or Pr 4.08.

8 Analog input 3

Default function Motor thermistor input (PTC)

Bipolar single-ended analog voltage, Type of input

unipolar current or motor thermistor

input Mode controlled by... Pr 7.15 Operating in Voltage mode (default) Voltage range ±9.8 V ±3 % Maximum offset ±30 mV Absolute maximum

voltage range

±36 V relative to 0V

Input resistance >100 kΩ

Operating in current mode

Current ranges

0 to 20 mA ±5 %, 20 to 0 mA ±5 %,

4 to 20 mA ±5 %, 20 to 4 mA ±5 % Maximum offset 250 μA Absolute maximum voltage

(reverse bias)

−36 V max

Absolute maximum current +70 mA Equivalent input resistance ≤200 Ω at 20 mA

Operating in thermistor input mode

Internal pull-up voltage <5 V Trip threshold resistance 3.3 kΩ ±10 % Reset resistance 1.8 kΩ ±10 % Short-circuit detection

resistance

50 Ω ±30 %

Resolution 10 bit + sign

250 μs when configured as voltage Sample period

input with destinations as Pr 1.36,

Pr 1.37, Pr 3.22 or Pr 4.08.

T8 analog input 3 has a parallel connection to terminal 15 of the drive input encoder connector.

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9 Analog output 1

10 Analog output 2

Terminal 9 default function SPEED output signal Terminal 10 default function Motor active current

Type of output

Bipolar single-ended analog voltage

or unipolar single ended current Mode controlled by... Pr 7.21 and Pr 7.24 Operating in Voltage mode (default) Voltage range ±9.6 V ±5 % Maximum offset 100 mV Maximum output current ±10 mA Load resistance 1 kΩ min Protection 35 mA max. Short circuit protection

Operating in current mode

Current ranges

0 to 20 mA ±10 %

4 to 20 mA ±10 % Maximum offset 600 μA Maximum open circuit voltage +15 V Maximum load resistance 500 Ω Resolution 10-bit (plus sign in voltage mode)

250 μs when configured as a high

speed output with sources as Pr 4.02, Update period

Pr 4.17, Pr 3.02 or Pr 5.03. 4ms when

configured as any other type of output

or with all other sources.

11 0V common

Function

Common connection for all external devices

24 Digital I/O 1

25 Digital I/O 2

26 Digital I/O 3

Terminal 24 default function AT ZERO SPEED output Terminal 25 default function DRIVE RESET input Terminal 26 default function RUN FORWARD input

Positive or negative logic digital

Type

inputs, positive or negative logic pushpull outputs or open collector outputs

Input / output mode controlled by...

Pr 8.31, Pr 8.32 and Pr 8.33

Operating as an input Logic mode controlled by... Pr 8.29 Absolute maximum applied

voltage range

±30 V

Impedance 6 kΩ Input thresholds 10.0 V ±0.8 V Operating as an output Open collector outputs

selected Nominal maximum output

current

Pr 8.30

200 mA (total including terminal 22)

Maximum output current 240 mA (total including terminal 22) Nominal working voltage

range

0V to +24 V

250 μs when configured as an input with destinations as Pr 6.35 or

Sample / Update period

Pr 6.36. 600 μs when configured as an input with destination as Pr 6.29. 4 ms in all other cases.

21 0V common

Function

Common connection for all external devices

22 +24V user output (selectable)

Terminal 22 default function +24 V user output

Can be switched on or off to act as a

Programmability

fourth digital output (positive logic

only) by setting the source Pr 8.28

and source invert Pr 8.18 Nominal output current 200 mA (including all digital I/O) Maximum output current 240 mA (including all digital I/O) Protection Current limit and trip

23 0V common

Function

Common connection for all external devices

27 Digital Input 4

28 Digital Input 5

29 Digital Input 6

Terminal 27 default function RUN REVERSE input Terminal 27 special function High Speed Freeze input (with

destination set as Pr 8.40) Terminal 28 default function Analog INPUT 1 / INPUT 2 select Terminal 29 default function JOG SELECT input

Type Positive or negative logic digital inputs Logic mode controlled by... Pr 8.29 Voltage range 0V to +24 V Absolute maximum applied

voltage range

±30 V

Impedance 6 kΩ Input thresholds 10.0 V ±0.8 V

1 µs when T27 (Digital Input 4)

destination is Pr 8.40. 250μs with Sample / Update period

destinations as Pr 6.35 or Pr 6.36.

600μs with destination as Pr 6.29.

4ms in all other cases.

30 0V common

Function

Common connection for all external

devices

36 Digitax ST User Guide

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5 10

Break-outs

WARNING

NOTE

Twisted

pair

cable

Twisted pair shield

Cable

Cable overall shield

NOTE

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31 Safe Torque Off function (drive enable)

Type Positive logic only digital input Voltage range 0V to +24 V Absolute maximum applied

voltage

±30 V

LogicThreshold 15.5 V ±2.5 V Low state maximum voltage

for SIL3 and EN954-1

2 V (or open-circuit)

category 3

Response time

Nominal: 8 ms Maximum: 20 ms

Safe Torque Off function has been approved by IFA as meeting the requirements of the following standards, for the prevention of unexpected starting of the drive:

EN 61800-5-2:2007 SIL 3 EN ISO 13849-1:2006 PL e EN 954-1:1997 Category 3 (This standard is withdrawn and should not be used for new designs, information provided for

legacy applications only). The Safe Torque Off function may be used in a safety-related application in preventing the drive from generating torque in the motor to a high level of integrity. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

Refer to section 4.17 Safe Torque Off on page 42 for further information.

Figure 4-12 Access to encoder connections

After removing the break-out, ensure that the ground tab is connected to ground (see Figure 4-13). This will connect 0V of the drive to ground. This is required to enable the drive to meet IP20 when the break-out is removed.

Do not remove break-out if the connections are not required.

Figure 4-13 Connecting the encoder ground tab to the EMC

bracket

Relay contacts

Default function Drive OK indicator

Contact voltage rating

240 Vac, Installation over-voltage category II

2 A AC 240 V Contact maximum current rating

4 A DC 30 V resistive load

0.5 A DC 30 V inductive load (L/R =

40 ms) Contact minimum

recommended rating

12 V 100 mA

Contact type Normally open

Default contact condition

Closed when power applied and drive

OK Update period 4 ms

A fuse or other over-current protection should be Installed to the relay circuit.

4.15 Encoder connections

Figure 4-11 Encoder

The size of the connecting cable between the encoder ground tab and the EMC bracket should be equal to the input cable.

Recommended cable

The recommended cable for feedback signals are shielded twisted pairs, shielded with an overall shield as shown in Figure 4-14.

Figure 4-14 Feedback Cable, Twisted Pairs

4.15.1 Location of encoder connector

Before using the encoder connectors for the first time, the break-outs need removing as shown in Figure 4-12.

Digitax ST User Guide 37 Issue: 5

Using this type of cable also allows for the connection of the outer shield to ground and the inner shields to 0V alone at both drive and encoder end, when required.

Ensure that feedback cables are kept as far away as possible from power cables and avoid parallel routing.

Page 38

Safety

Cable

Cable shield

Twis ted

pair

shield

Cable shield

Twist ed

pair

shield

Connection

at motor

Connection

at drive

Ground clamp or

grounding bracket on shield

Shield

connection

to 0V

Shield

connection

to 0V

5 10

Drive encoder connector

Female 15-way D-type

Encoder

input

Buffered

encoder

output

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Figure 4-15 Feedback cable connections

4.16 Encoder terminals

Figure 4-16 Location of encoder connectors on underside of drive

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signals are used to define the motor position during the first 120° electrical rotation after the drive is powered-up or the encoder is initialized.

Drive encoder input converter connector

A 15-way D-type converter is available to provide a screw terminal interface for encoder wiring, and a spade terminal for the shield.

Figure 4-17 Drive encoder input converter connector

4.16.1 Encoder In connections

Table 4-19 Encoder types

Setting of

Pr 3.38

(0)

(1)

(2)

Quadrature incremental encoder with or without marker pulse

Incremental encoder with frequency pulses and direction, with or without marker pulse

Incremental encoder with forward pulses and reverse pulses, with or without marker pulse

Description

If using the Drive Encoder Input Converter connector, the Single Ended Encoder Interface or the ERN1387 Encoder Interface protection to at least IP2X must be provided for the connector.

Quadrature incremental encoder with UVW commutation

Ab.SErVO

(3)

signals, with or without marker pulse Encoder with UVW commutation signals only (Pr 3.34 set to zero)*

Fd.SErVO

(4)

Fr.SErVO

(5)

(6)

SC.HiPEr

(7)

EndAt

(8)

SC.EndAt

(9)

SSI

(10)

SC.SSI

(11)

* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance

** The U, V & W commutation signals are required with an incremental type encoder when used with a servo motor. The UVW commutation

38 Digitax ST User Guide

Incremental encoder with frequency pulses and direction with commutation signals**, with or without marker pulse Incremental encoder with forward pulses and reverse pulses with commutation signals**, with or without marker pulse

SinCos encoder without serial communications

Absolute SinCos encoder with HiperFace serial communications protocol (Stegmann)

Absolute EndAt serial communications encoder (Heidenhain)

Absolute SinCos encoder with EnDat serial communications protocol (Heidenhain)

Absolute SSI only encoder

Absolute SinCos encoder with SSI

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Table 4-20 Encoder In connector details

Setting of Pr 3.38

Ter m.

1AFF A F F Cos

(0)

Fd (1)

(2)

Ab.SErVO

(3)

Fd.SErVO

(4)

Fr.SErVO

(5)

SC (6)

SC.HiPEr

(7)

EndAt

(8)

SC.EndAt

(9)

SSI (10)

Cos Cos

SC.SSI

(11)

2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref 3 B D R B D R Sin Sin Sin 4 B\ D\ R\ B\ D\ R\ Sinref Sinref Sinref 5Z*

Encoder input - Data (input/output) 6 Z\* Encoder input - Data\ (input/output) 7

U 8U\ 9V

10 V\

11 W

Encoder input - Clock (output) 12 W\ Encoder input - Clock\ (output) 13 +V** 14 0V common 15 th***

Shell 0V common * Marker pulse is optional ** The encoder supply is selectable through parameter configuration to 5 Vdc, 8 Vdc and 15 Vdc

*** Terminal 15 is a parallel connection to T8 analog input 3. If this is to be used as a thermistor input, ensure that Pr 7.15 is set to ‘th.sc’ (7), ‘th’ (8)

or ‘th.diSP’ (9)

Table 4-21 Simulated encoder output connector details

Setting of Pr 3.54

Ter m.

Ab (0)

Fd (1)

(2)

Ab.L

(3)

Fd.L

(4)

1A F F A F 2A\F\F\A\F\ 3BDRBD

5 Marker pulse channel Z

6 Marker pulse channel Z\

7 Phase channel U

8 Phase channel U\

4B\D\R\B\D\ 5Z* 6Z\*

14 0V

Shell 0V common

9 Phase channel V

10 Phase channel V\

11 Phase channel W

SSI encoders typically have maximum baud rate of 500 kBaud. When a SSI only encoder is used for speed feedback with a servo motor, a large speed feedback filter (Pr 3.42) is required due to the time taken for the position information to be transferred from the encoder into the drive. The addition of this filter means that SSI only encoders are not suitable for speed feedback in dynamic or high-speed applications.

Specifications

Feedback device connections

Ab, Fd, Fr, Ab.SErVO, Fd.SErVO and Fr.SErVO encoders

1 Channel A, Frequency or Forward inputs

2 Channel A\, Frequency\ or Forward\ inputs

3 Channel B, Direction or Reverse inputs

4 Channel B\, Direction\ or Reverse\ inputs

Type EIA 485 differential receivers Maximum input frequency 500 kHz Line loading <2 unit loads Line termination components 120 Ω (switchable) Working common mode range +12 V to –7 V Absolute maximum applied

voltage relative to 0V Absolute maximum applied

differential voltage

±25 V

12 Phase channel W\

Type EIA 485 differential receivers

Maximum input frequency 512 kHz

Line loading

32 unit loads (for terminals 5 and 6) 1 unit load (for terminals 7 to 12)

120 Ω (switchable for terminals 5

Line termination components

and 6, always in circuit for terminals 7 to 12)

Working common mode range +12 V to –7 V

Absolute maximum applied voltage relative to 0V

Absolute maximum applied differential voltage

+14 V to -9 V

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SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI encoders

1 Channel Cos*

2 Channel Cosref*

3 Channel Sin*

4 Channel Sinref*

Type Differential voltage

1.25 V peak to peak (sin with regard

Maximum Signal level

to sinref and cos with regard to cosref)

Maximum input frequency See Table 4-22

Maximum applied differential voltage and common mode

±4V

voltage range

For the SinCos encoder to be compatible with Digitax ST, the output signals from the encoder must be a 1 V peak to peak differential voltage (across Sin to Sinref and Cos to Cosref).

The majority of encoders have a DC offset on all signals. A number of encoder manufactures typically have a 2.5 Vdc offset. The Sinref and Cosref are a flat DC level at 2.5 Vdc and the Cos and Sin signals have a 1 V peak to peak waveform biased at 2.5 Vdc.

Encoders are available which have a 1 V peak to peak voltage on Sin, Sinref, Cos and Cosref. This results in a 2 V peak to peak voltage seen at the drive's encoder terminals. It is not recommended that encoders of this type are used with Digitax ST, and that the encoder feedback signals should meet the above parameters (1 V peak to peak).

Resolution: The sinewave frequency can be up to 500 kHz but the resolution is reduced at high frequency. Table 4-22 shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port. The total resolution in bits per revolution is the ELPR plus the number of bits of interpolated information. Although it is possible to obtain 11 bits of interpolation information, the nominal design value is 10 bits.

* Not used with EndAt and SSI communications only encoders.

Table 4-22 Feedback resolution based on frequency and voltage level

Volt/Freq 1 kHz 5 kHz 50 kHz 100 kHz 200 kHz 500 kHz

1.2 11 11 10 10 9 8

1.0111110997

0.8101010987

0.610109987

0.4999876

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14 0V common

15 Motor thermistor input

This terminal is connected internally to terminal 8 of the signal connector. Connect only one of these terminals to a motor thermistor. Analog input 3 must be in thermistor mode, Pr 7.15 = th.SC (7), th (8) or th.diSP (9).

4.16.2 Buffered encoder output

The buffered encoder output is sourced from the drive encoder input and can be any incremental type or any SINCOS type (Note: - No output is available if EndAt only or SSI communications only encoders are used). If a SINCOS is used as the source the buffered output is derived from the zero crossings of the sine waves and does not include interpolated information. The buffered encoder output provides an output with minimal delay from the drive encoder input (maximum delay is 0.5 µs). If the source encoder does not have a marker pulse, then no marker pulse can be obtained from the buffered encoder output.

Table 4-23 Encoder output types

Setting of

Pr 3.54

Ab (0) Quadrature outputs

Fd (1) Frequency and direction outputs Fr (2) Frequency and reverse outputs

Ab.L (3) Quadrature outputs with marker lock

Fd.L (4) Frequency and direction outputs with marker lock

Table 4-24 Buffered encoder connections

Ter m.

(0)

Fd (1)

1A F F A F 2A\F\F\A\F\ 3BDR BD 4B\D\R\B\D\ 5Z* 6Z\*

14 0V

*Available when marker pulse input connected

Description

Setting of Pr 3.54

(2)

Ab.L

(3)

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Fd.L

(4)

1 A, F

5 Data**

6 Data\**

11 Clock***

12 Clock\***

Type EIA 485 differential transceivers Maximum frequency 2 MHz

Line loading

32 unit loads (for terminals 5 and 6)

1 unit load (for terminals 11 and 12) Working common mode range +12 V to –7 V Absolute maximum applied

voltage relative to 0V Absolute maximum applied

differential voltage

+14 V to -9 V

** Not used with SC encoders.

2 A\, F\

3 B, D, R

4 B\, D\, R\

5 Z

6 Z\

Type EIA 485 differential transmitter Max frequency 512 KHz Max load capability 31 units Working common mode range +12 V to -7 V Absolute maximum applied

voltage relative to 0V Absolute maximum applied

differential voltage

+14 V to -14 V

*** Not used with SC and SC.HiPEr encoders.

40 Digitax ST User Guide

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Connector specification:

Maximum size cable = 1.5 mm

Torque = 0.2 N m (1.8 lb in)

Connector specification:

Maximum size cable = 1.5 mm

Torque = 0.2 N m (1.8 lb in)

123

Connector specification:

Maximum size cable = 1.5mm

Torque = 0.2 N m (1.8 lb in)

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14 0V common

4.16.3 Digitax ST Plus additional connections

Figure 4-18 Digitax ST Plus terminals view

The terminals are numbered from terminal 1 at the top, to terminal 13 at the bottom as per the orientation shown in Figure 4-18. The terminal functions are given in Table 4-25:

Table 4-25 Digitax ST Plus connector details

Terminal Function Description

1 0V SC 0V connection for EIA-RS485 port

2/RX

3RX

4/TX

5TX

EIA-RS485 Receive line (negative). Incoming.

EIA-RS485 Receive line (positive). Incoming.

EIA-RS485 Transmit line (negative). Outgoing.

EIA-RS485 Transmit line (positive). Outgoing.

6 Fieldbus Type A Fieldbus Type data line

Fieldbus Type

Shield

Shield connection for Fieldbus Type

8 Fieldbus Type B Fieldbus Type data line

9 0V 0V connection for digital I/O 10 DI0 Digital input 0 11 DI1 Digital input 1 12 DO0 Digital output 0 13 DO1 Digital output 1

4.16.4 Digitax ST EZMotion additional connections

Figure 4-19 Digitax ST EZMotion terminals view

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Table 4-26 Digitax EZMotion connector details

Terminal Function Description

1 0V common 0V common connection for digital I/O 2 Input 1 Digital input 1 3 Input 2 Digital input 2 4 Input 3 Digital input 3 5 Input 4 Digital input 4 6 Output 1 Digital output 1 7 Output 2 Digital output 2

4.16.5 Digitax ST EtherCAT additional connections

Figure 4-27 Digitax ST EtherCAT terminals view

Table 4-20 Digitax EtherCAT connector details

Terminal

Function

(A - IN)

Terminal

1 Transmit + 1 Transmit + 1

2 Transmit - 2 Transmit - 2

3 Receive + 3 Receive + 3

4 Not used 4 Not used 5 Not used 5 Not used 6 Receive - 6 Receive 7 Not used 7 Not used 8 Not used 8 Not used

1 0V common

Function Common connection for Digital I/O

Function (B - OUT)

Digital Inputs

Function

Common

Digital

input 0

Digital

input 1

2 Input 1

3 Input 2

4 Input 3

5 Input 4

Input turn on voltage 15 Vdc ± 0.5 Vdc Input voltage range 0 Vdc to +24 Vdc Maximum input voltage + 30 Vdc

6 Output 1

7 Output 2

Output voltage Depends on 24 Vdc supply Maximum output current 20mA total for both outputs

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4.17 Safe Torque Off

The Safe Torque Off function provides a means for preventing the drive from generating torque in the motor, with a very high level of integrity. It is suitable for incorporation into a safety system for a machine. It is also suitable for use as a conventional drive enable input.

The Safe Torque Off function makes use of the special property of an inverter drive with an induction motor, which is that torque cannot be generated without the continuous correct active behavior of the inverter circuit. All credible faults in the inverter power circuit cause a loss of torque generation.

The Safe Torque Off function is fail-safe, so when the Safe Torque off input is disconnected the drive will not operate the motor, even if a combination of components within the drive has failed. Most component failures are revealed by the drive failing to operate. Safe Torque Off is also independent of the drive firmware. This meets the requirements of

the following standards, for the prevention of operation of the motor.

EN 61800-5-2:2007 SIL 3 (PFH ≤10-8)

EN ISO 13849-1:2006 PL e (MTTF

>105 yr)

EN954-1:1997 Category 3 (This standard is withdrawn and should not be used for new designs, information provided for legacy applications only).

On drives with date code P04 and later the Safe Torque Off input also meets the requirements (of EN 81-1 clause 12.7.3 b) as part of a system

for preventing unwanted operation of the motor in a lift (elevator).

Independent approval has been given by IFA.

Independent approval of concept has been given by TÜV. Please

consult the separate guide for lift applications for further information. Safe Torque Off can be used to eliminate electro-mechanical contactors,

including special safety contactors, which would otherwise be required for safety applications.

Note On Response Time Of Safe Torque Off, And Use With Safety Controllers With Self-testing Outputs (Drives With Date Code P04 And Later).

Safe Torque Off Has Been Designed To Have A Response Time Of Greater Than 1 Ms, So That It Is Compatible With Safety Controllers Whose Outputs Are Subject To A Dynamic Test With A Pulse Width Not Exceeding 1ms.

For Applications Where A Fast-acting Disable Function Is Required, section 12.22.10 Fast Disable on page 172

Note On The Use Of Servo Motors, Other Permanent-magnet Motors, Reluctance Motors And Salient-pole Induction Motors

When The Drive Is Disabled Through Safe Torque Off, A Possible (Although Highly Unlikely) Failure Mode Is For Two Power Devices In The Inverter Circuit To Conduct Incorrectly.

This Fault Cannot Produce A Steady Rotating Torque In Any Ac Motor. It Produces No Torque In A Conventional Induction Motor With A Cage Rotor. If The Rotor Has Permanent Magnets And/or Saliency, Then A Transient Alignment Torque May Occur. The Motor May Briefly Try To Rotate By Up To 180° Electrical, For A Permanent Magnet Motor, Or 90° Electrical, For A Salient Pole Induction Motor Or Reluctance Motor. This Possible Failure Mode Must Be Allowed For In The Machine Design.

The design of safety-related control systems must only be done by personnel with the required training and experience. The Safe Torque Off function will only ensure the safety of a machine if it is correctly incorporated into a complete safety system. The system must be subject to a risk assessment to confirm that the residual risk of an unsafe event is at an acceptable level for the application.

Safe Torque Off inhibits the operation of the drive, this includes inhibiting braking. If the drive is required to provide both braking and Safe Torque Off in the same operation (e.g. for emergency stop) then a safety timer relay or similar device must be used to ensure that the drive is disabled a suitable time after braking. The braking function in the drive is provided by an electronic circuit which is not fail-safe. If braking is a safety requirement, it must be supplemented by an independent fail-safe braking mechanism.

Safe Torque Off does not provide electrical isolation. The supply to the drive must be disconnected by an approved isolation device before gaining access to power connections.

Low voltage DC operation

With low voltage DC operation there is a reduction in the level of safety of the Safe Torque Off function. There exist certain unlikely faults which might permit the drive to produce some limited motor torque when disabled, but only if the DC supply has its negative pole connected to ground.

To prevent a loss of the safety function in the event of such a fault, one of the following methods can be used:

1. Monitor the state of Pr 8.09. This parameter value should match the state of the enable input. If it does not match then there is a fault and further operation must be prevented.

2. Connect the positive pole of the DC supply to ground.

3. Connect neither pole of the DC supply to ground. Use a ground fault detection circuit to prevent further operation in the event of a ground fault in the DC circuit. If the detection circuit requires the supply to be biased relative to ground, ensure that the bias is negative, i.e. both DC rails are negative relative to ground.

Note that in lift (elevator) applications designed to meet EN 81-1 with the use of one contactor or no contactors, method 1 is normally implemented as part of the standard lift safety control system.

With Safe Torque Off There Are No Single Faults In The Drive Which Can Permit The Motor To Be Driven. Therefore It Is Not Necessary To Have A Second Channel To Interrupt The Power Connection, Nor A Fault Detection Circuit.

It Is Important To Note That A Single Short-circuit From The Safe Torque Off Input To A Dc Supply Of Approximately +24 V Would Cause The Drive To Be Enabled. This Can Be Excluded Under En Iso 13849-2 By The Use Of Protected Wiring. The Wiring Can Be Protected By Either Of The Following Methods:

• By Placing the wiring in a segregated cable duct or other enclosure. or

• By providing the wiring with a grounded shield in a positive-logic grounded control circuit. The shield is provided to avoid a hazard from an electrical fault. It may be grounded by any convenient method; no special EMC precautions are required.

If the use of protected wiring is not acceptable, so that the possibility of this short circuit occurring is anticipated, then a relay must be used to monitor the state of the Safe Torque Off input, together with a single safety contactor to prevent operation of the motor after a fault.

For more information regarding the Safe Torque Off input, please see the Safe Torque Off Engineering Guide available for download from http://www.emersonindustrial.com/en-EN/controltechniques/downloads/ userguidesandsoftware/Pages/downloads.aspx.

42 Digitax ST User Guide

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5 Getting started

5.1 User interfaces

There are six user interfaces available for the various drive variants.

•CTSoft

•SYPT Pro

• EZMotion PowerTools Pro

• DST Keypad (LED)

• SM-Keypad Plus (LCD)

Table 5-1 User interface compatibility

Digitax

Base

CTSoft √√

SYPT Pro √√

EZMotion

PowerTools

pro

DST Keypad √√√√√

SM-Keypad

Plus

√√√√√

5.1.1 User software system requirements

System requirements are:

• Windows 7, Windows Vista, Windows XP or Windows 2000 (Including the latest Service Packs) only.

• Internet Explorer 5.0 or later.

• Minimum of 800x600 screen resolution with 256 colors. 1024x768 is recommended.

• 512 MB RAM.

• Microsoft.Net frameworks 2.0.

• Pentium IV 1000 MHz or better recommended.

• Adobe Acrobat Reader 5.05 or later for parameter help files access

• Windows™ Administrator rights to install.

Digitax

Indexer

Digitax

Plus

Digitax

EZMotion

√

Digitax

EtherCAT

5.3 SYPTPro (Indexer & Plus only)

SYPTPro is a professional drive programming toolkit for OEM’s and End Users who wish to maximize performance of the Digitax ST Indexer or the Digitax ST Plus. SYPTPro allows the user to program in a choice of three languages, with a real-time multi-tasking environment

SYPTPro incorporates IEC61131-3 style ladder language editor. This form of programming will be familiar to all PLC programmers and is the ideal format for sequencing and I/O control.

For further information on programming with SYPTPro refer to the SM-

Applications Module And Motion Processors User Guide. SM-Applications Module And Motion Processors User Guide is available

to download from: http://www.emersonindustrial.com/en-EN/ controltechniques/downloads/userguidesandsoftware/Pages/ digitaxst.aspx

5.4 EZMotion PowerTools Pro

Applications for the Digitax ST EZMotion are developed using PowerTools Pro software. PowerTools Pro is an easy to use, Windows™ based set-up and diagnostics tool. It provides the user with the ability to create, edit and maintain the system set-up.

PowerTools Pro is designed to be the easiest to use software available for the 1 ½ axis motion controllers.

Features of PowerTools Pro include:

• Hierarchy Tree for quick navigation to any set-up view.

• Simple I/O function assignments.

• Powerful on-line diagnostic capability.

• Fill in black motion profile parameters For further information on programming with PowerTools Pro refer to the

EZMotion User/Programming Guide.

5.2 CT Soft

CTSoft is a Windows based drive commissioning / start-up program that allows the complete control and display of all parameters within Emerson Industrial Automations’ ranges of drives.

CTSoft provides the user with a graphical interface that is logically split into a series of screens offering quick and easy viewing and, where appropriate, the ability to edit parameter values. Individual detailed parameter information can at any time be displayed showing the parameter function, type and range of permitted values.

CTSoft can be used for set-up and monitoring, drive parameters can be uploaded, downloaded and compared, and simple or custom menu listings can be created. Drive menus can be displayed in standard list format or as live block diagrams. CTSoft is able to communicate with a single drive or network.

The drive's parameter set is split up into a series of related groups or menus. Many of these menus have an associated graphical block diagram which may be displayed and used interactively within CTSoft. For full details of the drive's parameters, the relevant pages from the drive and Solutions Module Advanced User Guides can also be displayed by simply clicking any parameter on any displayed list or block diagram view.

For the Digitax ST Indexer and Digitax ST Plus variants, CTSoft allows users to specify and execute motion sequences using sequential function chart style diagrams.

Refer to the on-line set-up wizard and help files in CTSoft for further information.

CTSoft is available to download from: http://www.emersonindustrial.com/en-EN/controltechniques/downloads/

userguidesandsoftware/Pages/digitaxst.aspx

Digitax ST User Guide 43 Issue: 5

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Upper display

Lower display

Mode (black) button

Programming buttons

Stop/reset (red) button

Mode (black) button

Joypad

Fwd / Rev (blue) button Stop/reset (red) button Start (green) button

Control buttons

Help button

Use

* keys

to select parameter for editing

To enter Edit Mode, press key

Status Mode

(Display not flashing)

Parameter Mode

(Upper display flashing)

Edit Mode

(Character to be edited in lower line of display flashing) Change parameter values

using keys.

When returning to Parameter Mode use the

keys to select another parameter to change, if required

To exit Edit Mode, press key

To enter Parameter Mode, press key or

Temporary Parameter Mode

(Upper display flashing)

Timeout**

To return to Status Mode, press

key

parameter

R/W parameter

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5.5 Keypad operation

Beware of possible live terminals when installing the keypad.

5.6 Understanding the display

There are two keypads available for the Digitax ST. The Digitax ST Keypad has an LED display and the SM-Keypad Plus has an LCD display. The Digitax ST Keypad can be installed to the drive and the SM -Keypad Plus is remotely mounted on an enclosure door.

5.6.1 Digitax ST Keypad (LED)

The display consists of two horizontal rows of 7 segment LED displays. The upper display shows the drive status or the current menu and

parameter number being viewed. The lower display shows the parameter value or the specific trip type.

Figure 5-1 Digitax ST Keypad Figure 5-2 SM-Keypad Plus (remote mount only)

5.6.2 SM-Keypad Plus (LCD)

The display consists of three lines of text. The top line shows the drive status or the current menu and parameter

number being viewed on the left, and the parameter value or the specific trip type on the right. The lower two lines show the parameter name or the help text.

Control buttons

The keypad consists of:

1. Programming buttons: used to navigate the parameter structure and change parameter values.

2. Mode button: used to change between the display modes – parameter view, parameter edit, status.

3. Reset button

4. Help button (Keypad Plus only) - displays text briefly describing the selected parameter.

5. Start, Fwd/Rev buttons (Keypad Plus only) - used to control the drive if Keypad mode is selected.

Figure 5-3 Display modes

44 Digitax ST User Guide

*Can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section 5.6.7 Parameter access level and security on page 46.

**Timeout defined by Pr 11.4 1 (default value = 240 s).

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Pr value

5.05

Menu 5. Parameter 5

Parameter

View Mode

Healthy Status Alarm Status Trip Status

Status Mode

Drive status = tripped Trip type (UU = undervolts)

WARNING

NOTE

Menu 0

....XX.00....

0.50

0.49

0.48

0.47

0.46

0.01

0.02

0.03

0.04

0.05

Moves

between

parameters

Moves between Menus

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Do not change parameter values without careful consideration; incorrect values may cause damage or a safety hazard.

When changing the values of parameters, make a note of the new values in case they need to be entered again.

For new parameter-values to apply after the AC supply to the drive is interrupted, new values must be saved. Refer to section 5.6.5 Saving parameters on page 46.

5.6.3 Menu structure

The drive parameter structure consists of menus and parameters. The drive initially powers up so that only menu 0 can be viewed. The up

and down arrow buttons are used to navigate between parameters and once level 2 access (L2) has been enabled (see Pr 0.49) the left and right buttons are used to navigate between menus. For further information, refer to section 5.6.7 Parameter access level and security on page 46.

Figure 5-5 Parameter navigation

Figure 5-6 Menu structure

The menus and parameters roll over in both directions. i.e. if the last parameter is displayed, a further press will cause the

display to rollover and show the first parameter. When changing between menus the drive remembers which parameter

was last viewed in a particular menu and thus displays that parameter.

Digitax ST User Guide 45 Issue: 5

*Can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section

5.6.7 Parameter access level and security on page 46.

Page 46

Safety

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

Pr 22.00 Pr 22.01 Pr 22.02 Pr 22.03

Pr 22.28 Pr 22.29

............

L2 access selected

- All parameters visible

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

Pr 19.00 Pr 19.01 Pr 19.02 Pr 19.03

Pr 19.49 Pr 19.50

Pr 20.00 Pr 20.01 Pr 20.02 Pr 20.03

Pr 20.49 Pr 20.50

............

L1 access selected

- Menu 0 only visible

Pr 21.00 Pr 21.01 Pr 21.02 Pr 21.03

Pr 21.30 Pr 21.31

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5.6.4 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive. Menus 0 to 22 can be viewed on both keypads. Menus 40 and 41 are specific to the Keypad Plus (LCD).

Menu Description

Commonly used basic set up parameters for quick / easy

programming 1 Speed reference 2Ramps 3 Speed feedback and speed control 4 Torque and current control 5 Motor control 6 Sequencer and clock 7 Analog I/O 8 Digital I/O 9 Programmable logic, motorized pot and binary sum

10 Status and trips 11 General drive set-up 12 Threshold detectors and variable selectors 13 Position control 14 User PID controller

15, 16 Solutions Module set-up

17 Motion processor 18 Application menu 1 19 Application menu 2 20 Application menu 3 21 Second motor parameters 22 Additional Menu 0 set-up

5.6.7 Parameter access level and security

The parameter access level determines whether the user has access to menu 0 only or to all the advanced menus (menus 1 to 22) in addition to menu 0.

The User Security determines whether the access to the user is read only or read write.

Both the User Security and Parameter Access Level can operate independently of each other as shown in the table below:

Parameter

Access Level

User Security

Menu 0

status

L1 Open RW Not visible L1 Closed RO Not visible L2 Open RW RW L2 Closed RO RO

RW = Read / write access RO = Read only access The default settings of the drive are Parameter Access Level L1 and

user Security Open, i.e. read / write access to Menu 0 with the advanced menus not visible.

Access Level

The access level is set in Pr 0.49 and allows or prevents access to the advanced menu parameters.

Advanced

menus status

5.6.5 Saving parameters

When changing a parameter in Menu 0, the new value is saved when pressing the Mode button to return to parameter view mode from

parameter edit mode. If parameters have been changed in the advanced menus, then the

change will not be saved automatically. A save function must be carried out.

Procedure

Enter 1000* in Pr. xx.00 Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

*If the drive is in the under voltage trip state or is being supplied from a low voltage DC supply, a value of 1001 must be entered into Pr xx.00 to perform a save function.

5.6.6 Restoring parameter defaults

Restoring parameter defaults by this method saves the default values in the drive’s memory. (Pr 0.49 and Pr 0.34 are not affected by this procedure.)

Procedure

1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is Off (0)

2. Enter 1233 (EUR 50 Hz settings) or 1244 (USA 60 Hz settings) in Pr xx.00.

3. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

46 Digitax ST User Guide

Changing the Access Level

The Access Level is determined by the setting of Pr 0.49 as follows:

String Value Effect

L1 0 Access to menu 0 only

L2 1 Access to all menus (menu 0 to menu 22)

The Access Level can be changed through the keypad even if the User Security has been set.

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Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

............

Pr 0.00 Pr 0.01 Pr 0.02 Pr 0.03

Pr 0.49 Pr 0.50

Pr 1.00 Pr 1.01 Pr 1.02 Pr 1.03

Pr 1.49 Pr 1.50

Pr 22.00 Pr 22.01 Pr 22.02 Pr 22.03

Pr 22.28 Pr 22.29

............

User security open

- All parameters: Read / Write access

User security closed

0.49 11.44

- All parameters: Read Only access

(except Pr and Pr )

Pr 22.00 Pr 22.01 Pr 22.02 Pr 22.03

Pr 22.28 Pr 22.29

Pr 0.49

Pr 21.00 Pr 21.01 Pr 21.02 Pr 21.03

Pr 21.30 Pr 21.31

Pr 21.00 Pr 21.01 Pr 21.02 Pr 21.03

Pr 21.30 Pr 21.31

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5.6.8 User Security

The User Security, when set, prevents write access to any of the parameters (other than Pr. 0.49 and Pr 11.44 Access Level) in any menu.

Setting User Security

Enter a value between 1 and 999 in Pr 0.34 and press the button; the security code has now been set to this value. In order to activate the security, the Access level must be set to Loc in Pr 0.49. When the drive is reset, the security code will have been activated and the drive returns to Access Level L1. The value of Pr 0.34 will return to 0 in order to hide the security code. At this point, the only parameter that can be changed by the user is the Access Level Pr 0.49.

Unlocking User Security

Select a read write parameter to be edited and press the button, the display will now show CodE. Use the arrow buttons to set the security

code and press the button. With the correct security code entered, the display will revert to the

parameter selected in edit mode. If an incorrect security code is entered the display will revert to

parameter view mode.

To lock the User Security again, set Pr 0.49 to Loc and press the reset button.

Disabling User Security

Unlock the previously set security code as detailed above. Set Pr 0.34 to 0 and press the button. The User Security has now been disabled,

and will not have to be unlocked each time the drive is powered up to allow read / write access to the parameters.

Digitax ST User Guide 47 Issue: 5

5.7 Displaying parameters with nondefault values only

By entering 12000 in Pr xx.00, the only parameters that will be visible to the user will be those containing a non-default value. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr xx.00 and enter a value of 0.

Please note that this function can be affected by the access level enabled, refer to section 5.6.7 Parameter access level and security for further information regarding access level.

5.8 Displaying destination parameters only

By entering 12001 in Pr xx.00, the only parameters that will be visible to the user will be destination parameters. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr xx.00 and enter a value of 0.

Please note that this function can be affected by the access level enabled, refer to section 5.6.7 Parameter access level and security for further information regarding access level.

5.9 Communications

5.9.1 Introduction

The Digitax ST has a standard 2-wire EIA485 interface (serial communications interface) which enables all drive set-up, operation and monitoring to be carried out with a PC or PLC if required. Therefore, it is possible to control the drive entirely by serial communications without the need for a -keypad or other control cabling. The Digitax ST supports two protocols selected by parameter configuration:

• Modbus RTU

• CT ANSI

Modbus RTU has been set as the default protocol, as it is used with the PC-tools set-up software as provided on the CD ROM.

The communications port of the drive is a RJ45 socket, and is isolated from the power stage and the other control terminals.

The communications port applies a 2 unit load to the communications network.

USB/EIA232 to EIA485 Communications

An external USB/EIA232 hardware interface such as a PC cannot be used directly with the 2-wire interface of the drive. Therefore a suitable converter is required.

Suitable USB to EIA485 and EIA232 to EIA485 isolated converters are available from Emerson Industrial Automation as follows:

• CT USB Comms cable (CT Part No. 4500-0096)

• CT EIA232 Comms cable (CT Part No. 4500-0087)

When using one of the above converters or any other suitable converter with the Digitax ST, it is recommended that no terminating resistors be connected on the network. It may be necessary to 'jumper out' the terminating resistor within the converter depending on which type is used. The information on how to jumper out the terminating resistor will normally be contained in the user information supplied with the converter.

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5.9.2 Communications set-up parameters

The following parameters need to be set according to the system requirements.

0.35 {11.24} Serial mode

RW Txt US

AnSI (0)

rtU (1)

This parameter defines the communications protocol used by the 485 comms port on the drive. This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original protocol. The master should wait at least 20ms before send a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity.)

Comms value String Communications mode

0 AnSI ANSI 1 rtU Modbus RTU protocol

2Lcd

Modbus RTU protocol, but with an Keypad Plus only

ANSIx3.28 protocol

Full details of the CT ANSI communications protocol are given in the Advanced User Guide.

Modbus RTU protocol

Full details of the CT implementation of Modbus RTU are given in the Advanced User Guide.

Modbus RTU protocol, but with an SM-Keypad Plus only

This setting is used for disabling communications access when the Keypad Plus is used as a hardware key. See the Advanced User Guide for more details.

rtU (1)

9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used to globally address all slaves on the system, and x0 is used to address all slaves of group x, therefore these addresses should not be set in this parameter.

0.36 {11.25} Serial communications baud rate

RW Txt US

300 (0), 600 (1), 1200 (2),

2400 (3), 4800 (4), 9600 (5),

19200 (6), 38400 (7),

19200 (6)

57600 (8)*, 115200 (9)*

* only applicable to Modbus RTU mode This parameter can be changed via the drive keypad, via a Solutions

Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original baud rate. The master should wait at least 20 ms before sending a new message using the new baud rate.

When using the CT EIA232 Comms cable the available baud rate is limited to 19.2 k baud.

0.37 {11.23} Serial communications address

RW Txt US

0 to 247

Used to define the unique address for the drive for the serial interface. The drive is always a slave.

Modbus RTU

When the Modbus RTU protocol is used addresses between 0 and 247 are permitted. Address 0 is used to globally address all slaves, and so this address should not be set in this parameter

ANSI

When the ANSI protocol is used the first digit is the group and the second digit is the address within a group. The maximum permitted group number is 9 and the maximum permitted address within a group is

48 Digitax ST User Guide

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Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. All the parameters in menu 0 appear in other menus in the drive (denoted by {…}).

Menus 11 and 22 can be used to change most of the parameters in menu 0. Menu 0 can also contain up to 59 parameters by setting up menu 22.

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Parameter

Ú) Default(Ö)

Range(

Typ e

0.00 xx.00 {x.00} 0 to 32,767 0 RW Uni

0.01 Minimum reference clamp {1.07} ±SPEED_LIMIT_MAX rpm 0.0 RW Bi PT US

0.02 Maximum reference clamp {1.06} SPEED_LIMIT_MAX rpm 3,000.0 RW Uni

{

0.03 Acceleration rate

2.11} 0.000 to 3,200.000

0.04 Deceleration rate {2.21}

0.05 Reference select {1.14}

s/1,000 rpm

0.000 to 3,200.000 s/1,000rpm

A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4),

Prc (5)

0.200 RW Uni

0.200 RW Uni US

A1.A2 (0) RW Txt NC US

0.06 Current limit {4.07} 0 to MOTOR1_CURRENT_LIMIT_MAX % 300.0 RW Uni RA US

0.07 Speed controller P gain {3.10}

0.0000 to 6.5535 1/rad s

-1

0.0100 RW Uni US

0.08 Speed controller I gain {3.11} 0.00 to 655.35 1/rad 1.00 RW Uni US

0.09 Speed controller D gain {3.12} 0.00000 to 0.65535 (s) 0.00000 RW Uni US

0.10 Motor speed {3.02} ±SPEED_MAX rpm RO Bi FI NC PT

0.11 Drive encoder position {3.29}

0 to 65,535

ths of a revolution

1/2

RO Uni FI NC PT

0.12 Total motor current {4.01} 0 to DRIVE_CURRENT_MAX A RO Uni FI NC PT

0.13

Analog input 1 offset trim

{7.07} ±10.000 % 0.000 RW Bi US

0.14 Torque mode selector {4.11} 0 to 4 Speed control mode (0) RW Uni US

0.15 Ramp mode select {2.04}

FASt (0)

Std (1)

Std ( 1) RW Txt US

0.16 Ramp enable {2.02} OFF (0) or On (1) On (1) RW Bit US

0.17 Current demand filter filter {4.12} 0.0 to 25.0 ms 0.0 RW Uni US

0.18 Positive logic select {8.29} OFF (0) or On (1) On (1) RW Bit PT US

0.19 Analog input 2 mode {7.11}

0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),

4-20 (4), 20-4 (5), VOLt (6)

VOLt (6) RW Txt US

0.20 Analog input 2 destination {7.14}Pr 0.00 to Pr 21.51 Pr 1.37 RW Uni DE PT US

0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),

0.21 Analog input 3 mode {7.15}

4-20 (4), 20-4 (5), VOLt (6), th.SC (7),

th (8), th.diSp (9)

th (8) RW Txt PT US

0.22 Bipolar reference select {1.10} OFF (0) or On (1) OFF (0) RW Bit US

0.23 Jog reference {1.05} 0 to 4000.0 rpm 0.0 RW Uni US

0.24 Pre-set reference 1 {1.21} ±SPEED_LIMIT_MAX rpm 0.0 RW Bi US

0.25 Pre-set reference 2 {1.22} ±SPEED_LIMIT_MAX rpm 0.0 RW Bi US

0.26 Overspeed threshold {3.08} 0 to 40,000 rpm 0 RW Uni US

Drive encoder lines per

0.27

revolution

3.34} 0 to 50,000 4096 RW Uni US

{

0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit US

SMARTCARD parameter

0.29

data

11.36 } 0 to 999 0 RO Uni NC PT US

{

0.30 Parameter copying {11.4 2} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt NC *

0.31 Drive rated voltage {11.3 3} 200 (0), 400 (1) RO Txt NC PT

0.32 Drive rated current {11 .32} 0.00 to 9999.99 A RO Uni NC PT

0.34 User security code {11 .30} 0 to 999 0 RW Uni NC PT PS

0.35 Serial comms mode {11.24 } AnSI (0), rtu (1), Lcd (2) rtU (1) RW Txt US

300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),

0.36 Serial comms baud rate {11.2 5}

9600 (5), 19200 (6), 38400 (7),

57600 (8) Modbus RTU only,

19200 (6) RW Txt US

115200 (9) Modbus RTU only

0.37 Serial comms address {11. 23 } 0 to 247 1 RW Uni US

0.38 Current loop P gain {4.13} 0 to 30,000

0.39 Current loop I gain {4.14}

0 to 30,000 200V drive: 1000

200V drive: 75

400V drive: 150

400V drive: 2000

RW Uni US

0.40 Autotune {5.12}0 to 6 0RWUni

Maximum switching

0.41

frequency

5.18} 3 (0), 4 (1), 6 (2), 8 (3), 12 (4) 6 (2) RW Txt RA US

{

0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 6 POLE (3) RW Txt US

0.43 Encoder phase angle {3.25} 0.0 to 359.9° 0.0 RW Uni US

0.44 Motor rated voltage {5.09} 0 to AC_VOLTAGE_SET_MAX V

200 V drive: 230

400 V drive: EUR> 400, USA> 460

RW Uni RA US

0.45 Motor thermal filter {4.15} 0.0 to 3000.0 20.0 RW Uni US

0.46 Motor rated current {5.07} 0 to RATED_CURRENT_MAX A Drive rated current [11. 32] RW Uni RA US

0.48 User drive mode {11.32 } SErVO (3) SErVO (3) RO Txt NC PT

0.49 Security status {11. 44} L1 (0), L2 (1), Loc (2) RW Txt PT US

0.50 Software version {11. 29} 1.00 to 99.99 RO Uni NC PT

0.51 Action on trip detection {10.37} 0 to 15 0 RW US

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Key:

Coding Attribute

{X.XX} Copied advanced parameter

RW Read/write: can be written by the user

RO Read only: can only be read by the user

Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display

Bi Bipolar parameter Uni Unipolar parameter Txt Text: the parameter uses text strings instead of numbers.

Filtered: some parameters which can have rapidly changing values are filtered when displayed on the drive keypad for easy viewing.

DE Destination: This parameter selects the destination of an input or logic function.

Rating dependent: this parameter is likely to have different values and ranges with drives of different voltage and current

ratings. Parameters with this attribute will not be transferred to the destination drive by SMARTCARDs when the rating of the destination drive is different from the source drive and the file is a parameter file.

NC Not copied: not transferred to or from SMARTCARDs during copying.

PT Protected: cannot be used as a destination. US User save: parameter saved in drive EEPROM when the user initiates a parameter save. PS Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs.

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Analog

input

2 mode

0.19

Analog reference

Keypad reference

0.XX

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

0.24

0.25

Preset reference 1

Preset reference 2

Preset speed reference

Analog

reference 2

1.37

0.20

??.??

Any unprotected variable parameter

??.??

Analog input 2

destination

0.13

28 29

The function of the two digital inputs are controlled by the setting of Pr (reference selector). See table below for details.0.05

Precision reference

0.05

Reference selector

Analog input 1

offset trim

0.05

Reference selector

0.22

Bipolar reference

select

0.23

Jog reference

A1.A2 Local/Remote Jog A1.Pr Preset reference selectors A2.Pr Preset reference selectors Pr Preset reference selectors PAd Local/Remote Jog Prc Local/Remote Jog

Pr T28 T290.05

Digital inputs T28 & T29

A1.A2

A1.Pr

A2.Pr

PAd

Prc

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Figure 6-1 Menu 0 logic diagram

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52 Digitax ST User Guide

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SPEED

TORQUE

Motor control

Speed-loop proportional gain

Motor speed

0.06

0.07

Speed-loop integral gain

0.08

Speed-loop derivative gain

0.09

0.10

CL> Speed-loop PID gains

9 10

15 way sub-D connector

AT ZERO SPEED

Current limit

No. of poles

Rated voltage Rated speed Rated current

0.42 ~ 0.46

Motor parameters

Power stage

L1 L2 L3

U V W

Resistor optional

Drive

RUN

FORWARD

RUN REVERSE

RESET

Minimum reference/ speed clamp

0.01

0.02

26 27 25

Ramps

Acceleration rate

Deceleration rate

Ramp mode

selector

0.03

0.04

0.15

0.16

Maximum reference/ speed clamp

Ramp enable

Analog outputs Digital output

0.27

0.26

Drive encoder ppr

Overspeed threshold

0.41

0.11

PWM switching frequency

Drive encoder position

Motor thermal time constant

0.14

Torque mode selector

0.17

Current demand filter time constant

+ BR

Encoder phase angle

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6.2 Full descriptions

6.2.1 Parameter x.00

0.00 {x.00} Parameter zero

RW Uni

0 to 32,767

Pr x.00 is available in all menus and has the following functions.

Value Action

Save parameters when under voltage is not active (Pr 10.16

1000

= 0) and low voltage DC supply is not active (Pr 6.44 = 0). 1001 Save parameters under all conditions 1070 Reset all Solutions Modules 1233 Load standard defaults 1244 Load US defaults

Change drive mode with standard defaults (excluding menus 1255

15 to 20)

Change drive mode with US defaults (excluding menus 15 to 1256

20)

2001*

Transfer drive parameters as difference from default to a

bootable SMARTCARD block in data block number 001

Transfer drive EEPROM data to a SMARTCARD block 3yyy*

number yyy

Transfer drive data as difference from defaults to 4yyy*

SMARTCARD block number yyy

Transfer drive ladder program to SMARTCARD block 5yyy*

number yyy 6yyy* Transfer SMARTCARD data block number yyy to the drive 7yyy* Erase SMARTCARD data block number yyy

Compare drive parameters with SMARTCARD data block 8yyy*

number yyy

15yyy

16yyy

Transfer the user program in the applications module in slot 1

to data block number yyy on a SMARTCARD

Transfer the user program in the applications module in slot 2

to data block number yyy on a SMARTCARD

Transfer the user program in the SM-Applications Modules

17yyy

And Motion Processors (Digitax ST Plus and Indexer) to data

block number yyy on a SMARTCARD

18yyy

19yyy

Transfer a user program in data block number yyy on a

SMARTCARD to the applications module in slot 1

Transfer a user program in data block number yyy on a

SMARTCARD to the applications module in slot 2

Transfer a user program in data block number yyy on a

20yyy

SMARTCARD to the SM-Applications Modules And Motion

Processors (Digitax ST Plus and Indexer)

9555* Clear SMARTCARD warning suppression flag 9666* Set SMARTCARD warning suppression card 9777* Clear SMARTCARD read-only flag 9888* Set SMARTCARD read-only flag 9999* Erase SMARTCARD data block 1 to 499

Transfer electronic nameplate parameters to/from drive from/

110zy

to encoder. See the Advanced User Guide for more

information on this function.

12000** Display non-default values only 12001** Display destination parameters only

* See Chapter 10 SMARTCARD Operation for more information of these functions.

** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function.

6.2.2 Speed limits

0.01 {1.07} Minimum reference clamp

RW Bi PT US

±SPEED_LIMIT_MAX rpm

0.0

(When the drive is jogging, [0.01] has no effect.)

0.02 {1.06} Maximum reference clamp

RW Uni US

SPEED_LIMIT_MAX rpm

3,000.0

(The drive has additional over-speed protection.)

6.2.3 Ramps, speed reference selection, current limit

0.03 {2.11} Acceleration rate

RW Uni US

0.000 to 3,200.000 s/1,000 rpm

Set Pr 0.03 at the required rate of acceleration. Note that larger values produce lower acceleration. The rate applies in both directions of rotation.

0.04 {2.21} Deceleration rate

RW Uni US

0.000 to 3,200.000 s/1,000 rpm

Set Pr 0.04 at the required rate of deceleration. Note that larger values produce lower deceleration. The rate applies in

both directions of rotation.

0.05 {1.14} Reference selector

RW Txt NC US

0 to 5

Use Pr 0.05 to select the required speed reference as follows:

Setting

A1.A2 0

A1.Pr 1

A2.Pr 2

Analog input 1 OR analog input 2 selectable by digital input, terminal 28

Analog input 1 OR preset speed selectable by digital input, terminal 28 and 29

Analog input 2 OR preset speed selectable by digital input, terminal 28 and 29

Pr 3 Pre-set speed

PAd 4 Keypad reference

Prc 5 Precision reference

Setting Pr 0.05 to 1, 2 or 3 will re-configure T28 and T29. Refer to Pr 8.39 (Pr 0.16 in OL) to disable this function.

0.06 {4.07} Current Limit

RW Uni RA US

0 to

MOTOR1_CURRENT_LIMIT

_MAX %

Pr 0.06 limits the maximum output current of the drive (and hence maximum motor torque) to protect the drive and motor from overload.

Set Pr 0.06 at the required maximum torque as a percentage of the rated torque of the motor, as follows:

0.200

A1.A2 (0)

300.0

54 Digitax ST User Guide

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0.06[]

RATED

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

100×=

0.06[]

RATED

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

100×=

Active current

Total current

Magnetising current

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(%)

Where:

Required maximum torque

Motor rated torque

RATED

Alternatively, set 0.06 at the required maximum active (torqueproducing) current as a percentage of the rated active current of the motor, as follows:

(%)

Where:

Required maximum active current

Motor rated active current

RATED

0.07 {3.10} Speed controller proportional gain

RW Uni US

0.0000 to 6.5535

-1

1/rad s

0.0100

Pr 0.07 (3.10) operates in the feed-forward path of the speed-control loop in the drive. See Figure 12-3 on page 124 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization .

0.12 {4.01} Total motor current

RO Uni FI NC PT

DRIVE_CURRENT_MAX A

0 to

Pr 0.12 displays the rms value of the output current of the drive in each of the three phases. The phase currents consist of an active component and a reactive component, which can form a resultant current vector as shown in the following diagram.

The active current is the torque producing current and the reactive current is the magnetising or flux-producing current.

0.13 {7.07} Analog input 1 offset trim

RW Bi US

±10.000 %

0.000

0.08 {3.11} Speed controller integral gain

RW Uni US

0.00 to 655.35 1/rad

1.00

Pr 0.08 (3.11) operates in the feed-forward path of the speed-control loop in the drive. See Figure 12-3 on page 124 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization .

0.09 {3.12} Speed controller differential feedback gain

RW Uni US

0.00000 to 0.65535(s)

0.00000

Pr 0.09 (3.12) operates in the feedback path of the speed-control loop in the drive. See Figure 12-3 on page 124 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization .

0.10 {3.02} Motor speed

RO Bi FI NC PT

±SPEED_MAX rpm

Pr 0.10 (3.02) indicates the value of motor speed that is obtained from the speed feedback.

0.11 {3.29} Drive encoder position

RO Uni FI NC PT

Pr 0.11 displays the position of the encoder in mechanical values of 0 to

0 to 65,535

1/2

ths of a revolution

65,535. There are 65,536 units to one mechanical revolution.

Pr 0.13 can be used to trim out any offset in the user signal to analog input 1.

6.2.4 Jog reference, Ramp mode selector, Stop and torque mode selectors

0.14 {4.11} Torque mode selector

RW Uni US

0 to 4

Pr 0.14 is used to select the required control mode of the drive as follows:

Setting Function

0 Speed control 1 Torque control 2 Torque control with speed override 3 Coiler/uncoiler mode 4 Speed control with torque feed-forward

0.15 {2.04} Ramp mode select

RW Txt US

FASt (0)

Std (1)

Pr 0.15 sets the ramp mode of the drive as shown below:

0: Fast ramp

Fast ramp is used where the deceleration follows the programmed deceleration rate subject to current limits. This mode must be used if a braking resistor is connected to the drive.

1: Standard ramp

Standard ramp is used. During deceleration, if the voltage rises to the standard ramp level (Pr

2.08

) it causes a controller to operate, the output of which changes the demanded load current in the motor. As the controller regulates the DC bus voltage, the motor deceleration increases as the speed approaches zero speed. When the motor deceleration rate

Speed control (0)

Std (1)

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DC bus voltage

Motor Speed

Programmed deceleration

rate

Controller operational

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reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. If the standard ramp voltage (Pr

2.08

) is set lower than the nominal DC bus level the drive will not decelerate the motor, but it will coast to rest. The output of the ramp controller (when active) is a current demand that is fed to the torque producing current controller (Servo mode). The gain of these controllers can be modified with Pr

4.13

and Pr

4.14

2: Standard ramp with motor voltage boost

This mode is the same as normal standard ramp mode except that the motor voltage is boosted by 20 %. This increases the losses in the motor, dissipating some of the mechanical energy as heat giving faster deceleration.

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0 0-20 0 - 20 mA 1 20-0 20 - 0 mA 2 4-20.tr 4 - 20 mA with trip on loss Trip if I < 3 mA 3 20-4.tr 20 - 4 mA with trip on loss Trip if I < 3 mA 4 4-20 4 - 20 mA with no trip on loss 0.0 % if I ≤ 4 mA 5 20-4 20 – 4 mA with no trip on loss 100 % if I ≤ 4 mA 6 VOLt Voltage mode

0.20 {7.14} Analog input 2 destination

RW Uni DE PT US

Pr 0.00 to Pr 21.51

Pr 1.37

Pr 0.20 sets the destination of analog input 2.

0.21 {7.15} Analog input 3 mode

RW Txt PT US

0 to 9

th (8)

In modes 2 & 3 a current loop loss trip is generated if the current falls below 3 mA.

In modes 2 & 4 the analog input level goes to 0.0 % if the input current falls below 4 mA.

0.16 {2.02} Ramp enable

RW Bit US

OFF (0) or On (1)

On (1)

Setting Pr 0.16 to 0 allows the user to disable the ramps. This is generally used when the drive is required to closely follow a speed reference which already contains acceleration and deceleration ramps.

0.17 {4.12} Current demand filter

RW Uni US

0.0 to 25.0 ms

0.0

A first order filter, with a filter defined by Pr 0.17, is provided on the current demand to reduce acoustic noise and vibration produced as a result of position feedback quantization noise. The filter introduces a lag in the speed loop, and so the speed loop gains may need to be reduced to maintain stability as the filter is increased.

0.19 {7.11} Analog input 2 mode

RW Txt US

0 to 6

VOLt (6)

In modes 2 & 3 a current loop loss trip is generated if the current falls below 3 mA. In modes 2 & 4 the analog input level goes to 0.0 % if the input current falls below 4 mA.

value

string

Mode Comments

0 0-20 0 - 20 mA 1 20-0 20 - 0 mA 2 4-20.tr 4 - 20 mA with trip on loss Trip if I < 3 mA 3 20-4.tr 20 - 4 mA with trip on loss Trip if I < 3 mA

44-20

5 20-4

4 - 20 mA with no trip on

loss

20 - 4 mA with no trip on

loss

0.0% if I ≤ 4 mA

100 % if I ≤ 4 mA

6 VOLt Voltage mode

7th.SC

Thermistor mode with short-

8th

9 th.diSp

circuit detection

Thermistor mode with no

short-circuit detection Thermistor mode with

display only and no trip

Th trip if R > 3K3 Th reset if R < 1K8 ThS trip if R < 50R

Th trip if R > 3K3 Th reset if R < 1K8

0.22 {1.10} Bipolar reference select

RW Bit US

OFF (0) or On (1)

OFF (0)

Pr 0.22 determines whether the reference is uni-polar or bi-polar as follows:

Pr 0.22 Function

0 Unipolar speed/reference

1 Bipolar speed/reference

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0.23 {1.05} Jog reference

RW Uni US

0 to 4,000.0 rpm

0.0

Enter the required value of jog/speed. The speed limits affect the drive when jogging as follows:

Speed-limit parameter Limit applies

Pr 0.01 Minimum reference clamp No Pr 0.02 Maximum reference clamp Yes

0.24 {1.21} Preset reference 1

RW Bi US

±SPEED_LIMIT_MAX rpm

0.0

0.25 {1.22} Preset reference 2

RW Bi US

±SPEED_LIMIT_MAX rpm

0.0

0.26 {3.08} Overspeed threshold

RW Uni US

0 to 40,000 rpm

If the speed feedback (Pr 3.02) exceeds this level in either direction, an overspeed trip is produced. If this parameter is set to zero, the overspeed threshold is automatically set to 120 % x SPEED_REF_MAX.

0.27 {3.34} Drive encoder lines per revolution

RW Uni US

0 to 50,000

4096

String

value

Comment

nonE 0 Inactive rEAd 1 Read parameter set from the SMARTCARD

Prog 2 Programming a parameter set to the SMARTCARD Auto 3 Auto save boot 4 Boot mode

For further information, please refer to Chapter 10 SMARTCARD Operation .

0.31 {11.33} Drive rated voltage

RO Txt NC PT

200 V (0), 400 V (1)

Pr 0.31 indicates the voltage rating of the drive.

0.32 {11.32} Drive rated current

RO Uni NC PT

0.00 to 9,999.99 A

Pr 0.32 indicates the maximum current rating (which will allow for an overload of 300 %).

0.34 {11.30} User security code

RW Uni NC PT PS

0 to 999

If any number other than 0 is programmed into this parameter, user security is applied so that no parameters except parameter 0.49 can be adjusted with the keypad. When this parameter is read via a keypad it appears as zero.

For further details refer to section 5.6.7 Parameter access level and security .

Enter in Pr 0.27 the number of lines per revolution of the drive encoder.

0.28 {6.13} Keypad fwd/rev key enable

RW Bit US

OFF (0) or On (1)

OFF (0)

When a keypad is installed, this parameter enables the forward/reverse key.

0.29 {11.36} SMARTCARD parameter data

RO Uni NC PT US

0 to 999

This parameter shows the number of the data block last transferred from a SMARTCARD to the drive.

0.30 {11.42} Parameter copying

RW Txt NC *

0 to 4

nonE (0)

* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved.

If Pr 0.30 is equal to 1 or 2 this value is not transferred to the EEPROM or the drive. If Pr 0.30 is set to a 3 or 4 the value is transferred.

0.35 {11.24} Serial comms mode

RW Txt US

AnSI (0), rtu (1), Lcd (2)

rtU (1)

This parameter defines the communications protocol used by the EIA485 comms port on the drive. This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original protocol. The master should wait at least 20 ms before send a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity.)

Comms value String Communications mode

0 AnSI ANSI 1 rtU Modbus RTU protocol

2Lcd

Modbus RTU protocol, but with an SMKeypad Plus only

ANSIx3.28 protocol

Full details of the CT ANSI communications protocol are the Advanced User Guide.

Modbus RTU protocol

Full details of the CT implementation of Modbus RTU are given in the Advanced User Guide.

Modbus RTU protocol, but with an SM-Keypad Plus only

This setting is used for disabling communications access when the SMKeypad Plus is used as a hardware key. See the Keypad Plus User Guide for more details.

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0.36 {11.25} Serial comms baud rate

RW Txt US

300 (0), 600 (1), 1200 (2),

2400 (3), 4800 (4), 9600 (5),

19200 (6), 38400 (7),

19200 (6)

57600 (8)*, 115200 (9)*

* only applicable to Modbus RTU mode This parameter can be changed via the drive keypad, via a Solutions

0.37 {11.23} Serial address

RW Uni US

0 to 247

Used to define the unique address for the drive for the serial interface. The drive is always a slave.

Modbus RTU

When the Modbus RTU protocol is used addresses between 0 and 247 are permitted. Address 0 is used to globally address all slaves, and so this address should not be set in this parameter

ANSI

0.38 {4.13} Current loop P gain

RW Uni US

0 to 30,000

200 V drive: 75

400 V drive: 150

0.39 {4.14} Current loop I gain

RW Uni US

0 to 30,000

200 V drive: 1,000 400 V drive: 2,000

• A short low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the forward direction, and measure the encoder phase angle. The motor must be free from load for this test.

• A normal low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the forward direction. This test measures the encoder phase angle and updates other parameters including the current loop gains. The motor must be free from load for this test.

• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains and to provide torque feed forward when required during acceleration. During the inertia measurement test the motor speed changes from

/3 to 2/3 rated speed in the forward direction several times. The

motor can be loaded with a constant torque load and still give an accurate result, however, non-linear loads and loads that change with speed will cause measurement errors.

• The stationary test only measures the motor resistance and inductance, and updates the current loop gain parameters. This test does not measure the encoder phase angle so this test needs to be done in conjunction with either the short low speed or minimal movement tests.

• The minimal movement test will move the motor through a small angle to measure the encoder phase angle. This test will operate correctly when the load is an inertia, and although a small amount of cogging and stiction is acceptable, this test cannot be used for a loaded motor.

To perform an autotune, set Pr 0.40 to 1 for a short low speed test, 2 for a normal low speed test, 3 for an inertia measurement test, 4 for a stationary test or 5 for a minimal movement test, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the drive enable parameter Pr 6.15 to OFF (0) or disabling the drive via the control word (Pr 6.42 & Pr 6.43).

Setting Pr 0.40 to 6 will cause the drive to calculate the current loop gains based on the previously measured values of motor resistance and inductance. The drive does apply any voltage to the motor during this test. The drive will change Pr 0.40 back to 0 as soon as the calculations are complete (approximately 500 ms).

For further information refer to section Pr 0.40 {5.12} Autotune on page 69.

These parameters control the proportional and integral gains of the current controller used in the open loop drive. The current controller either provides current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque

0.41 {5.18} Maximum switching frequency

RW Txt RA US

3 (0), 4 (1), 6 (2), 8 (3), 12 (4)

6 (2) mode during line power supply loss, or when the controlled mode standard ramp is active and the drive is decelerating, to regulate the flow of current into the drive.

This parameter defines the required switching frequency. The drive may automatically reduce the actual switching frequency (without changing this parameter) if the power stage becomes too hot. A thermal model of

0.40 {5.12} Autotune

RW Uni

0 to 6

There are five autotune tests available, a short low speed test, a normal low speed test, an inertia measurement test, a stationary test and a minimal movement test. A normal low speed should be done where possible as the drive measures the stator resistance and inductance of the motor, and from these calculates the current loop gains. An inertia measurement test should be performed separately to a short low speed or normal low speed autotune.

the IGBT junction temperature is used based on the heatsink temperature and an instantaneous temperature drop using the drive output current and switching frequency. The estimated IGBT junction temperature is displayed in Pr 7.34. If the temperature exceeds 145 °C/ 170 °C (variant dependant) the switching frequency is reduced if this is possible (i.e >3 kHz). Reducing the switching frequency reduces the drive losses and the junction temperature displayed in Pr 7.34 also reduces. If the load condition persists the junction temperature may continue to rise again above 145 °C/170 °C (variant dependant) and the drive cannot reduce the switching frequency further the drive will initiate an ‘O.ht1’ trip. Every second the drive will attempt to restore the switching frequency to the level set in Pr 0.41.

58 Digitax ST User Guide

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6.2.5 Motor parameters

0.42 {5.11} No. of motor poles

RW Txt US

0 to 60 (Auto to 120 Pole)

This parameter must be set correctly for the vector control algorithms to operate correctly. When auto is selected the number of poles is set to 6.

0.43 {3.25} Encoder phase angle

RW Uni US

0.0 to 359.9°

The phase angle between the rotor flux in a servo motor and the encoder position is required for the motor to operate correctly. If the phase angle is known it can be set in this parameter by the user. Alternatively the drive can automatically measure the phase angle by performing a phasing test (see autotune in servo mode Pr 0.40). When the test is complete the new value is written to this parameter. The encoder phase angle can be modified at any time and becomes effective immediately. This parameter has a factory default value of 0.0, but is not affected when defaults are loaded by the user.

0.44 {5.09} Motor rated voltage

RW Uni RA US

AC_VOLTAGE_SET_MAX V

0 to

0.45 {4.15} Motor thermal filter

RW Uni US

0 to 3000.0

Pr 0.45 is the motor thermal filter of the motor, and is used (along with the motor rated current Pr 0.46, and total motor current Pr 0.12) in the thermal model of the motor in applying thermal protection to the motor.

Setting this parameter to 0 disables the motor thermal protection.

0.46 {5.07} Motor rated current

RW Uni RA US

RATED_CURRENT_MAX A

0 to

Enter the name-plate value for the motor rated current.

0.48 {11.31} User drive mode

RO Txt NC PT

SErVO (3)

This parameter is read only.

6 POLE (3)

0.0

200 V drive: 230

400 V drive: EUR> 400

USA> 460

20.0

Drive rated current [11. 32]

SErVO (3)

6.2.6 Status information

0.49 {11.44} Security status

RW Txt PT US

0 to 2

This parameter controls access via the drive keypad as follows:

Value String Action

0 L1 Only menu 0 can be accessed 1 L2 All menus can be accessed

2 Loc

Lock user security when drive is reset.

(This parameter is set to L1 after reset.)

The keypad can adjust this parameter even when user security is set.

0.50 {11.29} Software version number

RO Uni NC PT

1.00 to 99.99

The parameter displays the software version of the drive.

0.51 {10.37} Action on trip detection

RW Uni US

0 to 15

Each bit in this parameter has the following functions:

Bit Function

0 Stop on non-important trips 1 Disable braking IGBT trips 2 Disable phase loss trip 3 Disable braking resistor temperature monitoring failure detection

Stop on non-important trips

If bit 0 is set to zero then the drive simply trips when a non-important trip occurs. Non-important trips are: th, ths, Old1, cL2, cL3, SCL. If bit 0 is set to one the drive will stop before tripping when one of these trips is initiated, except in Regen mode where the drive trips immediately.

Disable braking IGBT trips For details of braking IGBT trip mode see Pr 10.31.

Disable phase loss trip

The user can disable the phase loss trip in 200 V drives as these are allowed to operate from a single phase supply. If bit 2 is set to zero the phase loss trip is enabled. If bit 2 is set to one the phase loss trip is disabled in 200 V drives only.

Disable braking resistor temperature monitoring failure detection

Digitax ST have an internal user install braking resistor with a thermistor to detect overheating of the resistor. If the resistor is not installed the trip can be disabled by setting Pr 10.37 (0.51) to 8. If the resistor is installed then no trip is produced unless the thermistor fails. With the resistor installed Pr 10.37 must be set to zero.

Digitax ST User Guide 59 Issue: 5

Page 60

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WARNING

CAUTION

WARNING

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7 Running the motor

This chapter takes the new user through all the essential steps to running a motor for the first time.

Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 0.46 Motor rated current. This affects the thermal protection of the motor.

If the keypad mode has been used previously, ensure that the keypad reference has been set to 0 using the buttons as if the drive is started using the keypad it will run to

the speed defined by the keypad reference (Pr 1.17).

If the intended maximum speed affects the safety of the machinery, additional independent over-speed protection must be used.

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7.1 Quick start Connections

7.1.1 Basic requirements

This section shows the basic connections which must be made for the drive. For minimal parameter settings to run, please see the relevant part of section 7.2 Quick Start set-up on page 64.

Table 7-1 Minimum control connection requirements for each

Terminal mode

Keypad mode Drive Enable

Serial communications

Table 7-2 Minimum control connection requirements

Closed loop servo mode

Speed and position feedback

Suitable devices are:

• Incremental encoder (A, B or F, D with or without Z) with

• Incremental encoder with forward and reverse outputs (F, R with or

• SINCOS encoder (with Stegmann Hiperface, EnDat or SSI

• EnDat absolute encoder

For Solutions Module terminal information see section 12.15 Menus 15

and 16: Solutions Module set-up on page 159 or the appropriate Solutions Module Option User Guide.

control mode

Drive control method Requirements

Drive Enable Speed reference Run forward or run reverse command

Drive Enable Serial communications link

Operating mode Requirements

Permanent magnet motor with speed and position feedback

commutation signals (U, V, W)

without Z) and commutation outputs (U, V, W)

communications protocols)

60 Digitax ST User Guide

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312829262724252321

SAFE TORQUE

OFF(drive

enable - T31)

24V

UVW

A A

B B

U U

V V

W W

Z Z

Encoder connector

15 way D-type

5 10

Serial

communications

port

External

braking resistor

(optional)

L3/NL2

Fuses

Serial Comms User Interface

Isolated serial

comms lead

DST12XX = 200 to 240V 10% DST14XX = 380 to 480V 10%

± ±

Part number Description

CT EIA232

Comms cable

CT USB

Comms cable

4500-0087

4500-0096

Internal braking resistor (optional)

Thermal

overload

protection

device

Polarized signal

connections

Terminals Torque setting*

Power terminals

1.0 N m

(12.1 lb in)

Control terminals

0.2 N m

(1.7 lb in)

Status r elay

terminals

0.5 N m

(4.5 lb in)

Ground terminal

screws

4 N m

(35 lb in)

Small ground

terminal screws

2 Nm

(17.7 Ib in)

* Torque tolerance = 10%

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Figure 7-1 Minimum connections to get the motor running via Serial Communications (e.g. CTSoft)

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Digitax ST User Guide 61 Issue: 5

Page 62

Safety

3031282926272425232122

24V

UVW

A A

B B

U U

V V

W W

Z Z

Encoder connector

15 way D-type

5 10

L3/NL2L1

Fuses

DST12XX = 200 to 240V 10%

DST14XX = 380 to 480V 10%

± ±

Internal braking resistor (optional)

External

braking resistor

(optional)

Thermal

overload

protection

device

Polarized signal

connections

SAFE TORQUE OFF(drive enable - T31)

Terminals Torque setting*

Power terminals

1.0 N m

(12.1 lb in)

Control terminals

0.2 N m

(1.7 lb in)

Stat us re la y

terminals

0.5 N m

(4.5 lb in)

Ground terminal

screws

4 N m

(35 lb in)

Small ground

terminal screws

2 Nm

(17.7 Ib in)

* Torque tolerance = 10%

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Figure 7-2 Minimum connections to get the motor running via keypad

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62 Digitax ST User Guide

Issue: 5

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3031282926272425232122

24V

UVW

A A

B B

U U

V V

W W

Z Z

Encoder connector

15 way D-type

5 10

L3/NL2L1

Fuses

DST12XX = 200 to 240V 10%

DST14XX = 380 to 480V 10%

± ±

Internal braking resistor (optional)

10118

9674531

Speed

reference

input

+10V

External

braking resistor

(optional)

Thermal overload

protection

device

Run

reverse

Run

forward

Polarized signal

connections

SAFE TORQUE OFF(drive enable - T31)

Ter m in als Tor qu e se tti n g*

Power terminals

1.0 N m

(12.1 lb in)

Control terminals

0.2 N m

(1.7 lb in)

Status rel ay

terminals

0.5 N m

(4.5 lb in)

Ground terminal

screws

4 N m

(35 lb in)

Small ground

terminal screws

2 Nm

(17.7 Ib in)

* Torque tolerance = 10%

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Figure 7-3 Minimum connections to get the motor running via terminal mode (analog input)

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Digitax ST User Guide 63 Issue: 5

Page 64

Safety

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUTION

Model No: 95UXXXXXXXXXXXX Volts: 380/480 Cont: 7.7Nm:4.81Arms Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Kt: 1.6Nm/Arms Ins Class: H

Brake: 12Nm 24V

0.67A

Serial No: XXXXXXXXXXX

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.02

1000rpm

The short low speed and normal low speed tests will rotate the motor by up to 2 revolutions in the direction selected, regardless of the reference provided. The minimal movement test will move the motor through an angle defined by Pr 5.38. Once complete the motor will come to a standstill. The enable signal must be removed before the drive can be made to run at the required reference.

The drive can be stopped at any time by removing the run signal or removing the Drive Enable.

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7.2 Quick Start set-up

For simplicity only an incremental quadrature encoder will be considered here. For information on setting up one of the other supported speed feedback devices, refer to section 7.3 Setting up a feedback device on page 65.

Action Detail

Ensure:

Before powerup

Power-up the drive

Set motor feedback parameters

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

• Drive Enable signal is not given (terminal 31)

• Run signal is not given

• Motor is connected

• Feedback device is connected

If a motor thermistor is not connected and the drive trips on ‘th’ set Pr 0.21 = VOLt and press the red reset button.

Ensure:

• SMARTCARD is installed (first power-up only)

• Drive displays ‘inh’ If the drive trips, see Chapter 14 Diagnostics on page 183. * If no internal braking resistor is installed, then the drive will trip ‘br.th’. If no internal braking resistor is required, then set Pr 0.51 to 8 to disable the trip.

Incremental encoder basic set-up

Enter:

• Drive encoder type in Pr. 3.38 = Ab.SErVO (3): Quadrature encoder with commutation outputs

• Encoder power supply in Pr. 3.36 = 5 V (0), 8 V (1) or 15 V (2). If Ab encoder voltage is greater than 5 V, then the termination resistors must be disabled Pr

3.39

to 0.

• Drive encoder Pulses Per Revolution in Pr. 3.34 (set according to encoder)

• Drive encoder termination resistor setting in Pr. 3.39:

0 = A-A\, B-B\, Z-Z\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled 2 = A-A\, B-B\, Z-Z\ termination resistors enabled

Enter:

• Motor rated current in Pr 0.46 (A)

Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise It.AC trips may occur during the autotune.

• Number of poles in Pr 0.42

Enter:

• Maximum speed in Pr 0.02 (rpm)

Enter:

• Acceleration rate in Pr 0.03 (s/1000 rpm)

• Deceleration rate in Pr 0.04 (s/1000 rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure Pr 10.30

and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) Digitax ST is able to perform a short low speed, a normal low speed or a minimal movement autotune. The motor must be at a standstill before an autotune is enabled. A normal low speed autotune will measure the encoder phase offset angle and calculate the current gains.

The motor must not be loaded when attempting an autotune.

• The short low speed and normal low speed tests will rotate the motor by up to 2 rotations in the direction selected

Autotune

and the drive measures the encoder phase angle and updates the value in Pr

measures the stator resistance, and inductance of the motor. These are used to calculate the current loop gains,

and at the end of the test the values in Pr

0.38

and Pr

0.39

are updated. The short low speed test takes

3.25

. The normal low speed test also

approximately 2 s and the normal low speed test approximately 20 s to complete.

• The minimal movement autotune will move the motor through an angle defined by Pr 5.38. The motor must not

be loaded for this test although it will operate correctly when the load is an inertia. To perform an autotune:

•Set Pr 0.40 = 1 for a short low speed autotune, Pr 0.40 = 2 for a normal low speed test or Pr 0.40 = 5 for a

minimal movement autotune.

• Close the run signal (terminal 26 or 27).

• Close the Drive Enable signal (terminal 31). The lower display will flash 'Auto' and 'tunE' alternatively, while the

drive is performing the test.

• Wait for the drive to display 'rdy' or ‘inh’ and for the motor to come to a standstill. If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed. See Chapter 14 Diagnostics on page 183. Remove the drive enabled and run signal from the drive.

Save parameters

Run Drive is now ready to run

64 Digitax ST User Guide

Enter 1000 in Pr xx.00 Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

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7.3 Setting up a feedback device

This section shows the parameter settings which must be made to use each of the compatible encoder types with Digitax ST. For more information on the parameters listed here please refer to the Advanced User Guide.

7.3.1 Overview

Table 7-3 Parameters required for feedback device set-up

Ab, Fd, Fr,

Parameter

Ab.SErVO,

Fd.SErVO, Fr.SErVO,

SC.HiPEr

encoder

or SC encoders

3.33 Drive encoder turns

3.34 Drive encoder lines per revolution 9

3.35 Drive encoder comms resolution

9 x 9 x 9 x 9 x 9 x 9 x 9 x 9 x

3.36 Drive encoder supply voltage* 9 9999

3.37 Drive encoder comms baud rate

3.38 Drive encoder type 9 9999

3.41

Drive encoder auto configuration enable or SSI binary format select

9999

9 Information required

x Parameter can be set-up automatically by the drive through auto-configuration * Pr 3.36: If A + B >5 V then disable termination resistors

Table 7-3 shows a summary of the parameters required to set-up each feedback device. More detailed information follows.

SC.EndAt or

SC.SSI

encoders

EndAt

encoder

SSI encoder

999

7.3.2 Detailed feedback device set-up information

Standard quadrature encoder with or without commutation signals (A, B, Z or A, B, Z, U, V, W), or Sincos encoder without serial communications

Ab (0) for a quadrature encoder without commutation signals

Encoder type Pr 3.38

Encoder power supply voltage Pr 3.36

Encoder number of lines per revolution

Encoder termination selection (Ab or Ab.SErVO only)

Pr 3.34 Set to the number of lines or sine waves per revolution of the encoder.

Pr 3.39

Encoder error detection level Pr 3.40

Ab.SErVO (3) for a quadrature encoder with commutation signals SC (6) for a Sincos encoder without serial communications

5 V (0), 8 V (1) or 15 V (2)

If Ab encoder voltage is greater than 5 V, then the termination resistors must be disabled Pr 3.39 to 0

0 = A, B, Z termination resistors disabled 1 = A, B termination resistors enabled and Z termination resistors disabled 2 = A, B, Z termination resistors enabled

0 = Error detection disable 1 = Wire break detection on A, B and Z inputs enabled 2 = Phase error detection (Ab.SErVO only) 3 = Wire break detection on A, B and Z inputs and phase error detection (Ab.SErVO only)

Termination resistors must be enabled for wire break detection to operate

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Incremental encoder with frequency and direction (F and D), or Forward and Reverse (CW and CCW) signals, with or without commutation signals

Fd (1) for frequency and direction signals without commutation signals

Encoder type Pr 3.38

Fr (2) for forward and reverse signals without commutation signals Fd.SErVO (4) for a frequency and direction encoder with commutation signals Fr.SErVO (5) for forward and reverse signals with commutation signals

5 V (0), 8 V (1) or 15 V (2)

Encoder power supply voltage Pr 3.36

If Ab encoder voltage is greater than 5 V, then the termination resistors must be disabled Pr

Encoder number of lines per revolution

Pr 3.34 Set to the number of pulses per revolution of the encoder divide by 2.

0 = F or CW, D or CCW, Z termination resistors disabled

Encoder termination selection Pr 3.39

1 = F or CW, D or CCW termination resistors enabled and Z termination resistors disabled 2 = For CW, D or CCW, Z termination resistors enabled

0 = Error detection disable 1 = Wire break detection on F & D or CW & CCW, and Z inputs enabled

Encoder error detection level Pr 3.40

2 = Phase error detection (Fd.SErVO and Fr.SErVO only) 3 = Wire break detection on F & D or CW & CCW, and Z inputs and Phase error detection

(Fd.SErVO and Fr.SErVO only) Termination resistors must be enabled for wire break detection to operate

Absolute Sincos encoder with Hiperface or EnDat serial communications, or Absolute EnDat communications only encoder

The Digitax ST is compatible with the following Hiperface encoders:

SCS 60/70, SCM 60/70, SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101, SKS36, SKM36, SEK-53.

SC.HiPEr (7) for a Sincos encoder with Hiperface serial communications

Encoder type Pr 3.38

EndAt (8) for an EnDat communications only encoder SC.EndAt (9) for a Sincos encoder with EnDat serial communications

Encoder power supply voltage Pr 3.36 5 V (0), 8 V (1) or 15 V (2)

Setting this to 1 automatically sets up the following parameters: Pr 3.33 Encoder turn bits

Encoder auto configure enable Pr 3.41

Pr 3.34 Encoder number of lines of revolution (SC.HiPEr and SC.EndAt only) * Pr 3.35 Encoder single turn comms resolution Alternatively these parameters can be entered manually.

Encoder comms baud rate (EndAt and SC.EndAt only)

Pr 3.37 100 = 100 k, 200 = 200 k, 300 = 300 k, 500 = 500 k, 1000 = 1M, 1500 = 1.5 M, or 2000 = 2 M

0 = Error detection disabled Encoder error detection level (SC.HiPEr and SC.EndAt only)

Pr 3.40

1 = Wire break detection on Sin and Cos inputs

2 = Phase error detection

3 = Wire break detection on Sin and Cos inputs and phase error detection

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3.39

to 0

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Absolute SSI communications only encoder, or Absolute Sincos encoder with SSI

Encoder type Pr 3.38

SSI (10) for a SSI communications only encoder SC.SSI (11) for a Sincos encoder with SSI

5 V (0), 8 V (1) or 15 V (2)

Encoder power supply voltage Pr 3.36

Encoder number of lines per revolution. (SC.SSI only)

Pr 3.34 Set to the number of sine waves per revolution of the encoder.

If Ab encoder voltage is greater than 5 V, then the termination resistors must be disabled Pr

3.39

to 0

SSI binary format select Pr 3.41 OFF (0) for gray code, or On (1) for binary format SSI encoders Encoder turn bits Pr 3.33 Set to the number of turn bits for the encoder (this is usually 12 bits for a SSI encoder) Encoder single turn comms resolution Pr 3.35 Set to the single turn comms resolution for the encoder (this is usually 13 bits for a SSI encoder) Encoder comms baud rate Pr 3.37 100 = 100 k, 200 = 200 k, 300 = 300 k, 500 = 500 k, 1000 = 1 M, 1500 = 1.5 M, or 2000 = 2 M

0 = Error detection disabled 1 = Wire break detection on Sin and Cos inputs (SC.SSI only) 2 = Phase error detection (SC.SSI only)

Encoder error detection level Pr 3.40

3 = Wire break detection and phase error detection (SC.SSI only) 4 = SSI power supply bit monitor 5 = SSI power supply bit monitor and wire break detection (SC.SSI only) 6 = SSI power supply bit monitor and phase error detection (SC.SSI only) 7 = SSI power supply bit monitor, wire break detection and phase error detection (SC.SSI only)

UVW commutation signal only encoders*

Encoder type Pr 3.38 Ab.servo Encoder power supply voltage Pr 3.36 5 V (0), 8 V (1) or 15 V (2) Encoder number of lines per

revolution

Pr 3.34 Set to zero

Encoder error detection level Pr 3.40 Set to zero to disable wire break detection

* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance.

7.3.3 Restriction of encoder number of lines per revolution

Although Pr 3.34 can be set to any value from 0 to 50,000 there are restrictions on the values actually used by the drive. These restrictions are dependent on the software version as follows:

Software version V01.06.01 and later

Table 7-4 Restrictions of drive encoder lines per revolution with software version V01.06.01 and later

Position feedback device Equivalent Lines per revolution used by the drive

Ab, Fd, Fr, Ab.SErVO, Fd.SErVO, Fr.SerVO, SC

SC.HiPEr, SC.EndAt, SC.SSI (rotary encoders)

SC.HiPEr, SC.EndAt, SC.SSI (linear encoders

The drive uses the value in Pr 3.34.

If Pr 3.34 ≤1, the drive uses the value of 1. If 1< Pr 3.34 <32,768, the drive uses the value in Pr 3.34 rounded down to nearest value that is a power of 2. If Pr 3.34 ≥32,768, the drive uses the value of 32,768.

The drive uses the value in Pr 3.34.

At power-up Pr 3.48 is initially zero, but is set to one when the drive encoder and any encoders connected to any Solutions Modules have been initialized. The drive cannot be enabled until this parameter is one.

Encoder initialization will occur as follows:

• At drive power-up

• When requested by the user via Pr 3.47

• When trips PS.24V, Enc1 to Enc8, or Enc11 to Enc17 trips are reset

• The encoder number of lines per revolution (Pr 3.34) or the number of motor poles (Pr 5.11 and Pr 21.11) are changed (software version V01.08.00 and later).

Initialization causes an encoder with communications to be re-initialized and auto-configuration to be performed if selected. After initialization Ab.SErVO, Fd.SErVO and Fr.SErVO encoders will use the UVW commutations signals to give position feedback for the first 120° (electrical) of rotation when the motor is restarted.

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7.4 Setting up a buffered encoder output

The Digitax ST has a buffered encoder output, which derives its position from the drive encoder input.

The buffered encoder output is sourced from the drive encoder input and can be any incremental type or any SINCOS type.

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No output is available if EndAt only or SSI communications only encoders are used

If a SINCOS is used as the source the buffered output is derived from the zero crossings of the sine waves and does not include interpolated information. The buffered encoder output provides an output with minimal delay from the drive encoder input (maximum delay is 0.5 µs). If the source encoder does not have a marker pulse then no marker pulse can be obtained from the buffered encoder output.

This section shows the parameter settings required for the buffered Encoder output.

Pr 3.54 selects the type of buffered encoder output as shown in Table 75:

Table 7-5 Buffered encoder output type

Pr 3.54 String Mode

0 Ab Quadrature outputs 1 Fd Frequency and direction outputs 2 Fr Forward and reverse outputs 3 Ab.L Quadrature outputs with marker lock

4Fd.L

Frequency and direction outputs with marker lock

The buffered encoder output can be scaled using Pr 3.52 as shown in the table below:

Pr 3.52 Ratio

0.0312 1/32

0.0625 1/16

0.1250 1/8

0.2500 1/4

0.5000 1/2

1.0000 1

For more information on the parameters mentioned above please refer to the Advanced User Guide.

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8 Optimization

This chapter takes the user through methods of optimizing the product set-up, maximizing performance. The auto-tuning features of the drive simplify this task.

8.1 Motor map parameters

8.1.1 Motor control

Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor. The motor rated current is used in the following:

• Current limits

• Motor thermal overload protection

Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles

The motor number of poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor. This parameter must be set correctly for the control algorithms to operate correctly. When Pr 0.42 is set to "Auto" the number of poles is 6.

Pr 0.40 {5.12} Autotune

There are five autotune tests available, a short low speed test, a normal low speed test, an inertia measurement test, a stationary test to set up current controller gains and a minimal movement phasing test. A normal low speed should be done where possible as the drive measures the stator resistance and inductance of the motor, and from these calculates the current loop gains. An inertia measurement test should be performed separately to a short low speed or normal low speed autotune.

• A short low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the direction selected. The drive applies rated current to the motor during the test and measures the encoder phase angle (Pr the motor has stopped at the end of the test, therefore there must be no load on the motor when it is at rest for the correct angle to be measured. This test takes approximately 2 seconds to complete and can only be used where the rotor settles to a stable position in a short time. To perform a short low speed autotune, set Pr

0.40

to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• A normal low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the direction selected. The drive applies rated current to the motor during the test and measures the encoder phase angle (Pr

3.25

has stopped at the end of the test, therefore there must be no load on the motor when it is at rest for the correct angle to be measured. The motor resistance (Pr {

4.14

}). The whole test takes approximately 20 seconds and can be used with motors that take time to settle after the rotor has moved. During the

5.17

) and inductance (Pr

5.24

) are then measured, and the values are used to set up the current loop gains (Pr

motor inductance measurement the drive applies current pulses to the motor that produces flux that opposes the flux produced by the magnets. The maximum current applied is a quarter of rated current (Pr

0.46

). This current is unlikely to affect the motor magnets, however, if this level of current could permanently de-magnetise the magnets the rated current should be set to a lower level for the tests to avoid this. To perform a normal low speed autotune, set Pr

0.40

to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

3.25

). The phase angle measurement is taken when

). The phase angle measurement is taken when the motor

0.38 {4.13

} and Pr

0.39

• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop gains) and to provide torque feed-forwards when required during acceleration.

During the inertia measurement test the drive attempts to accelerate the motor in the direction selected up to 3/4 x rated load rpm and then back to standstill. The drive uses rated torque/16, but if the motor cannot be accelerated to the required speed the drive then increases the torque progressively

to x

/8, x1/4, x1/2 and x1 rated torque. If the required speed is not achieved on the final attempt the test is aborted and a tunE1 trip is initiated. If the test

3.18

is successful the acceleration and deceleration times are used to calculate the motor and load inertia which is then written to Pr value of motor torque per amp in Pr

5.32

and the motor rated speed in Pr

5.08

must be set up correctly before performing an inertia measurement test.

. The value of the

To perform an Inertia measurement autotune, set Pr 0.40 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• The stationary test to set up current controller gains measures the stator resistance and the transient inductance of the motor, calculates the current loop gains and updates the current loop gain parameters. This test does not measure the encoder phase angle. This test should only be performed when the correct phasing angle has been set in Pr 0.43. If the phasing angle is not correct the motor may move and the results may be incorrect. To perform a stationary test to set up current controller gains, set Pr 0.40 to 4, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• A minimal movement phasing test can measure the encoder phase offset by moving the motor through a small angle. Short current pulses are applied to the motor to produce a small movement and then to move the motor back to the original position. The size and length of the pulses are gradually increased (up to a maximum of motor rated current) until the movement is approximately at the level defined by Pr 5.38 electrical degrees. The resulting movements are used to estimate the phase angle. To perform a minimal movement phasing test, set Pr 0.40 to 5, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

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Current loop gains (Pr 0.38 {4.13} / Pr 0.39 {4.14})

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The proportional gain (Pr 4.13) is the most critical value in controlling the performance. The values for the current loop gains can be calculated by one of the following:

• During a stationary or rotating autotune (see Autotune Pr 0.40, earlier in this table) the drive measures the stator resistance (Pr 5.17) and transient inductance (Pr 5.24) of the motor and calculates the current loop gains.

• By setting Pr 0.40 to 6 the drive will calculate the current loop gains from the values of stator resistance (Pr 5.17) and transient inductance (Pr 5.24) set in the drive.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed closed-loop induction motor applications) the integral gain may need to have a significantly higher value.

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Speed demand

Insufficient proportional gain [0.07]

Excessive proportional gain [0.07]

Excessive integral gain [0.08]

Ideal response

Information

Speed loop gains (Pr 0.07 {3.10}, Pr 0.08 {3.11}, Pr 0.09 {3.12})

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 (Pr 0.07 to Pr 0.09) are used, and if Pr 3.16 = 1, gains Kp2, Ki2 and Kd2 (Pr 3.13 to Pr 3.15) are used. Pr 3.16 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 3.17.

Proportional gain (Kp), Pr 0.07 {3.10} and Pr 3.13

If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the closed-loop stability limit is reached.

Integral gain (Ki), Pr 0.08 {3.11} and Pr 3.14

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application.

Differential gain (Kd), Pr 0.09 {3.12} and Pr 3.15

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

There are three methods of tuning the speed loop gains dependant on the setting of Pr 3.17:

1. Pr 3.17 = 0, User set-up.

This involves the connecting of an oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the speed overshoots and then reduced slightly. The integral gain (Ki) should then be increased up to the point where the speed becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response as shown. The diagram shows the effect of incorrect P and I gain settings as well as the ideal response.

2. Pr 3.17 = 1, Bandwidth set-up

If bandwidth based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 3.20 - Required bandwidth, Pr 3.21 - Required damping factor, Pr 5.32 - Motor torque per amp (Kt). Pr 3.18 - Motor and load inertia. The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 0.40, earlier in this table).

3. Pr 3.17 = 2, Compliance angle set-up

If compliance angle based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 3.19 - Required compliance angle, Pr 3.21 - Required damping factor, Pr 5.32 - Motor torque per amp (Kt). Pr 3.18 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 0.40, earlier in this table).

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BAB

Master / PLC

Digitax ST

SM -

EtherCAT

SM -

EtherCAT

Distributed I/O

Digitax STDigitax STDigitax ST

SM -

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9 EtherCAT interface

9.1 Features

• Standard RJ45 with support for shielded twisted pair, half-duplex / full-duplex and 10Mbs / 100Mbs connectivity

• Dual 100 Mbps EtherCAT interfaces for use in line topologies i.e. daisy chaining

• Control loop synchronization

• Control cycle times down to 250 µs

• Configured Station Alias

• CANopen over EtherCAT (CoE) which includes: Support of CANopen DSP-402 (Device Profile for Drives and Motion)

• Cyclic sync position mode

• Interpolated position mode

• Velocity mode

• Profile torque mode

• Homing mode

• Two transmit and two receive PDOs

• SDO access to all profile objects and drive parameters

• Two digital inputs available for use in homing mode

• EoE (Ethernet over EtherCAT)

9.2 What is EtherCAT?

EtherCAT is an open high performance Ethernet-based fieldbus system that overcomes the system limitations of other Ethernet solutions. The Ethernet packet is no longer received, then interpreted and copied as process data at every connection; instead the Ethernet frame is processed on the fly. The development goal of EtherCAT was to apply Ethernet to automation applications that require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. Typical application fields for EtherCAT are machine controls (e.g. semiconductor tools, metal forming, packaging, injection moulding, assembly systems, printing machines, robotics and many others).

9.3 EtherCAT interface information

9.3.1 Bus media

The EtherCAT interface incorporates two 100 BASE-TX RJ45 interfaces.

9.3.2 Cabling considerations

To ensure long-term reliability it is recommended that any cables used to connect a system together be tested using a suitable Ethernet cable tester, this is of particular importance when cables are constructed on site.

9.3.3 Cable

Cables should be shielded and as a minimum, meet TIA Cat 5e requirements.

The EtherCAT system designer must consider the impact that the selected network structure will have on performance.

9.4 EtherCAT interface terminal descriptions

The EtherCAT interface has two RJ45 Ethernet ports for the EtherCAT network. There are also two digital inputs available for use in Homing Mode.

Figure 9-1 EtherCAT connection

Table 9-1 EtherCAT terminal descriptions

Pin A - IN Pin B - OUT Digital Inputs Function

1 Transmit + 1 Transmit + 1 0V Common 2 Transmit - 2 Transmit - 2 Digital input 0 3 Receive + 3 Receive + 3 Digital input 1 4 Not used 4 Not used 5 Not used 5 Not used 6 Receive - 6 Receive 7 Not used 7 Not used 8 Not used 8 Not used

9.5 Module grounding

EtherCAT interface is supplied with a grounding tag on the module that should be connected to the closest possible grounding point using the minimum length of cable. This will greatly improve the noise immunity of the module.

9.6 Network topology

Emerson Industrial Automation recommend implementing daisy chaining on EtherCAT networks (see Figure 9-2). Other Ethernet network topologies can be used but care must be taken to ensure that the system still operates within the constraints specified by the designer.

Figure 9-2 EtherCAT interface daisy chain network topology

Cabling issues are the single biggest cause of network downtime. Ensure cabling is correctly routed, wiring is correct, connectors are correctly installed and any switches or routers used are rated for industrial use. Office grade Ethernet equipment does not generally offer the same degree of noise immunity as equipment intended for industrial use.

9.3.4 Maximum network length

The main restriction imposed on Ethernet cabling is the length of a single segment of cable. The EtherCAT interface has two 100BASE-TX Ethernet ports, which support segment lengths of up to 100 m. This means that the maximum cable length which can be used between one EtherCAT interface port and another 100BASE-TX port is 100 m however it is not recommended that the full 100 m cable length is used. The total network length is not restricted by the Ethernet standard but depends on the number of devices on the network and the transmission media (copper, fiber optic, etc.).

9.7 Minimum node-to-node cable length

There is no minimum length of cable recommended in the Ethernet standards. To avoid possible problems it is recommended that you allow sufficient cable length to ensure good bend radii on cables and avoid unnecessary strain on connectors.

9.8 Quick start guide

This section is intended to provide a generic guide for setting up EtherCAT interface with a master/controller PLC. It will cover the basic steps required to get cyclic data communicating using the CANopen over EtherCAT (CoE) protocol on the EtherCAT interface.

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0x6064 position

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TxPDO1

Pr 18.22 Pr 20.22

TxPDO6

PLC

0x6040

Control word

0x6042

vl_target_velocity

Pr 20.21

RxPDO1

NOTE

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9.8.1 PDO test mappings

For the purpose of the example this section will follow the steps required to set up cyclic communications using one RxPDO and two TxPDOs. These PDOs will consist of the mappings shown in Table 9-2:

Table 9-2 PDO test mappings

RxPDO1 TxPDO1 TxPDO6

Mapping 1

Mapping 2

controlword)

0x6040 ( (16-bits)

0x6042

vl_target_velocity)

( (16-bits)

0x6041 (statusword) (16-bits)

0x6064 (position_actual_value) (32-bits)

Pr 18.22 (16-bits)

Pr 20.21 (32-bits)

Mapping 3 Pr 20.21 (32-bits) N/A N/A

It is strongly recommended that the latest firmware be used where possible to ensure that all features are supported.

Due to the large number of different masters that support CoE, details cannot be provided for a specific master. Generic support is available through your supplier or local Emerson Industrial Automation centre. Before contacting your supplier or local Emerson Industrial Automation centre for support please ensure you have read Chapter 14 Diagnostics on page 183 of this manual and have checked that the SDO/PDO configurations are correct.

9.8.2 EtherCAT XML file

Emerson Industrial Automation provides EtherCAT device description files (in the form of .xml files). These files provide the master with information about the EtherCAT interface and drive configuration to aid with its configuration. These files can be obtained from your local Emerson Industrial Automation Centre or supplier. They should be placed in the directory specified by the master e.g. when using TwinCAT this could be C:\TwinCAT\Io\EtherCAT.

The master may have to be re-started for the file to be loaded.

9.8.3 Configuring the EtherCAT interface for cyclic communications

Unlike other Emerson Industrial Automation fieldbus communication protocols, CoE does not require that any module parameters be changed in order to achieve communications. The baud rate of the network is fixed and the module is automatically allocated an address.

To check that the ethernet cable connected to the EtherCAT interface on the drive is connected correctly, look at the LED on the front of the EtherCAT interface relating to the connector being used, if this light is a solid green color then a link is established with the master, if this light is off then check the cabling and also check that the master has started communications.

In the master, scan the network ensuring that the EtherCAT interface is connected correctly to the master. If the network is configured correctly the EtherCAT node(s) should be visible in the PLC master.

Decide on the input / output data you wish to send cyclically (objects and/or parameters).

Cyclic data is implemented on CoE networks by using "Process Data Objects" or PDOs. Separate data objects are used for receiving (TxPDOs - from the slave to the master) and transmitting (RxPDOs from the master to the slave) data.

These PDOs contain the cyclic data (objects and/or parameters), the RxPDOs available are 1, 2, 6 and 22, the TxPDOs available are 1, 2, 3, 6 and 22 (for more information on these PDOs including default mappings please see section 9.16.2 RxPDO mappings on page 77 and section 9.16.3 TxPDO mappings on page 77).

Figure 9-3 EtherCAT interface PDO configuration

RxPDO1, TxPDO1 and TxPDO6 will need to be enabled in the master. Once enabled you will need to add mappings to the PDOs.

The format used when mapping objects to PDOs is as follows:

• Index: Object index number (0x0000)

• Sub-index: Object sub-index number (0x00)

• Size: Dependant on the size (in bytes) of the object to be mapped (range: 1-4)

The format used when mapping drive parameters to PDOs is as follows:

• Index: 0x2000 + menu number

• Sub-index: 0x00 + parameter number

• Size: Dependant on the size (in bytes) of the object to be mapped (range: 1-4)

For example Pr 20.21 would be index 0x2014, sub-index 0x15 and the size would be 4 (the parameter is a 32-bit signed value).

The values are normally expressed in hexadecimal, so care must be taken to enter the correct parameter number.

For this example the following objects will need to be set in order to achieve the mappings of the parameters/objects in the PDOs.

Table 9-3 Cyclic data mapping configuration

RxPDO1: TxPDO1: TxPDO6:

Object: 0x1600 Object: 0x1A00 Object: 0x1A05 Sub-

index:

0x00 Sub-index: 0x00 Sub-index: 0x00

Size: 1 Size: 1 Size: 1 Value: 3 Value: 2 Value: 2 Sub-

index:

0x01 Sub-index: 0x01 Sub-index: 0x01

Size: 4 Size: 4 Size: 4 Value: 0x60400010 Value: 0x60410010 Value: 0x20121610 Sub-

index:

0x02 Sub-index: 0x02 Sub-index: 0x02

Size: 4 Size: 4 Size: 4 Value: 0x60420010 Value: 0x60640020 Value: 0x20141620 Sub-

index:

0x03 Not Used Not Used

Size: 4 Value: 0x20141520

The format used to define the value of a mapped object is as follows: Bit 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap). Bit 8 to 15: Sub-index of the mapped object (if a gap, zero). Bit 16 to 31: Index of the mapped object (if a gap, zero).

The maximum number of mappings in one PDO is five. There are no restrictions on the data length of these 5 parameters (i.e. It is possible to map five, 32-bit parameters in one PDO). It is also possible to use a maximum of two RxPDOs and two TxPDOs.

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0x1C12

0x6040

Control word

0x6042

vl_target_velocity

Pr 20.21

RxPDO1

0x1C13

0x6041

Status word

0x6064 position

actual value

TxPDO1

Pr 18.22 Pr 20.22

TxPDO6

PLC

Ensure the Control Techniques .xml file is in

the appropriate folder on the hard drive of the

master

Check the LED status of the SM-EtherCAT

module

In the master,

scan the EtherCAT network

Select required PDOs

Configure the PDOs with the mappings

required

Check the front of the SM-EtherCAT module

to ensure that the LED relating to the

connection being used is flashing, this

confirms that communications are functioning

Download or activate the configuration to the

master

Configure the Sync managers using the

required PDOs

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9.8.4 Configuring the sync managers

The sync manager is used to control the transmission of CANopen PDOs over the EtherCAT network.

The following objects 0x1C12 - sync manager 2 PDO assignment (RxPDO) and 0x1C13 - sync manager 3 PDO assignment (TxPDO) are required to assign PDOs to the synchronization task. For the purpose of

9.9 Quick start flowchart

Figure 9-5 details the steps required to achieve cyclic communications on the EtherCAT network. This flowchart should be used as the starting point for all configurations.

Figure 9-5 Quick start flowchart

the example assign one RxPDO to sync manager 2 and two TxPDOs to sync manager 3.

Figure 9-4 EtherCAT interface sync manager configuration

Assigning RxPDO to the sync manager

To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following objects:

• Index: 0x1C12

• Sub index:0x00

•Size: 1

• Value: 1 Setting object 0x1C12, sub-index 0 to a value of 1 (as above) indicates that one RxPDO will be assigned to the sync manager 2 assignment.

• Index: 0x1C12

• Sub index:0x01

•Size: 2

• Value: 0x1600 Setting object 0x1C12, sub-index 1 to a value of 0x1600 (as above)

maps RxPDO1 to the process data output sync.

Assigning TxPDO to the sync manager

To assign TxPDO1 to sync manager 3 PDO assignment set the values below to the following objects:

• Index: 0x1C13

• Sub index:0x00

•Size: 1

• Value: 2 Setting object 0x1C13, sub-index 0 to a value of 2 (as above) indicates that two TxPDOs will be assigned to the sync manager 3 assignment.

• Index: 0x1C13

• Sub index:0x01

•Size: 2

• Value: 0x1A00

• Index: 0x1C13

• Sub index:0x02

•Size: 2

• Value: 0x1A05 Setting object 0x1C13, sub-index 1 to a value of 0x1A00 and sub-index 2 to a value of 0x1A05 (as above) maps TxPDO1 and TxPDO6 to the process data input sync.

Download the configuration to the master.

After downloading the configuration to the master the LED(s) on the front of the EtherCAT interface should flash, depending on the port(s) connected.

Values written to parameters over RxPDOs should now be viewable using the drive’s keypad so long as the master has put the slave into the operational state; also, parameter values changed using the drive keypad will be updated on the master.

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9.10 Saving parameters to the drive

To avoid loss of the configured settings when the drive is powered down it is necessary to write 1000 to Pr 17.00 followed by pressing the reset button to perform a drive save.

To store drive parameters:

•Set Pr 17.00 to 1000.

• Press the red RESET button.

The drive will store all parameters (except Menu 20) but the operation of the EtherCAT interface will not be affected. Changes made to the EtherCAT interface configuration parameters will not take effect until the EtherCAT interface is reset.

Menu 20 applications parameters may be saved if an Applications Module is installed, menu 20 is stored in the Applications Module’s memory. See the relevant Applications Module documentation for more information. If the drive is running on backup supply only, Pr 17.00 must be set to 1001 to perform a save.

This saves only drive and module parameters and not EtherCAT interface related objects.

9.11 EtherCAT interface Node address

Table 9-4 EtherCAT interface Node address

EtherCAT interface Node address

Default 0

Pr 17.03

Range 0 to 65535 Access RW

It is not necessary for a user to set a node address manually in order to initiate EtherCAT communications; however, this parameter can be used to configure an EtherCAT Station Alias. When changed, this value will be stored in the option non-volatile storage upon a transition from the INIT state to the PRE-OPERATIONAL state; this change will also cause an AL Status Code to be set to indicate that the option needs to be reset. It will be possible to read the value at the 16-bit word address 0x0004 of the SII (Slave Information Interface) data, and in EtherCAT register 0x0012 (a 16-bit word).

9.12 EtherCAT interface RUN

Table 9-5 EtherCAT interface RUN

EtherCAT interface RUN

Default 1

Pr 17.04

This parameter displays the EtherCAT interface RUN state as required by the EtherCAT indicator and Marking Specification. It will contain one of the values in Table 9-6.

Table 9-6 EtherCAT State Machine State

Value ESM State

1INIT 2 PRE-OPERATIONAL 4 SAFE-OPERATIONAL 8OPERATIONAL

Although this parameter has the read/write attribute, it will be forced to the state value continuously to prevent it being written by another entity.

Range 1 to 8 Access RW

9.13 Re-initializing the EtherCAT interface

Table 9-7 EtherCAT interface re-initialize

EtherCAT interface re-initialize

Default 0 (OFF)

Pr 17.32

Range 0 (OFF) to 1 (ON) Access RW

Changes to the EtherCAT interface configuration in menu 17 parameters will not take effect until the EtherCAT interface has been re-initialized.

To re-initialize EtherCAT interface:

1. Set Pr 17.32 to ON.

2. When the sequence has been completed, Pr 17.32 will be reset to OFF.

3. The EtherCAT interface will re-initialize using the updated configuration.

The above sequence does NOT store the EtherCAT interface configuration parameters in the drive or the EtherCAT interface’s internal FLASH memory. This parameter will change back to OFF immediately and as such the change may not be visible on the display. related objects.

9.14 Process Data Objects (PDOs)

Cyclic data is implemented on EtherCAT networks by using "Process Data Objects" or PDOs. Separate data objects are used for transmitting (TxPDOs) and receiving (RxPDOs) data. PDO configuration objects are usually pre-configured in the EtherCAT master controller and downloaded to the EtherCAT interface at network Initialization using SDOs.

9.14.1 PDO Priority

If 2 PDOs are mapped in a sync manager then the second PDO will always be considered to be low priority (and, as such, should not be used for deterministic process data).

Mappings to slow parameters (such as SM-Applications PLC parameters, etc) should always be placed in the second PDO. When there is more than one PDO mapping in a Sync Manager, placing a slow parameter in the first PDO will trigger an SDO abort code. If only one PDO is mapped to a sync manager, then placing a slow parameter in that PDO will make it low priority (so slow parameter accesses should not be placed in PDOs where deterministic data access is required).

It is possible to map any drive parameters in PDOs.

9.15 Service Data Object (SDO) parameter

access

The service data object (SDO) provides access to all objects in the EtherCAT object dictionary and the drive parameters are mapped into the object dictionary as 0x2XXX objects in the following way:

Index: 0x2000 + menu

Sub-index: parameter

For example Pr 20.21 would be index 0x2014 and the sub-index would be 0x15. The values are usually expressed in base 16 (hexadecimal), so care must be taken to enter the correct parameter number.

All other supported entries in the EtherCAT interface object dictionary can also be accessed using SDOs. Refer to the master controller documentation for full details about implementing SDO transfers within the particular master controller.

Sub-index 0 for any menu will return the highest sub-index available for the object (i.e. the highest parameter number). Pr 17.00 in any drive can only be accessed as Pr 61. 01 (0x203D, sub-index changes to 1).

The following SDO services are supported:

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• Initiate SDO Download (Write)

• Initiate SDO Upload (Read)

• Abort SDO Transfer (Error)

9.16 CANopen over EtherCAT (CoE)

The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary. This is specified in Table 9-8.

Table 9-8 CoE object dictionary

Index Object dictionary area

0x0000 to 0x0FFF Data type area 0x1000 to 0x1FFF CoE communication area 0x2000 to 0x5FFF Manufacturer specific area 0x6000 to 0x9FFF Profile area 0xA000 to 0xFFFF Reserved area

The object description format describes object related information such as size, range and descriptions and is detailed in Table 9-9.

Table 9-9 Object description format

Access: <access>

Range:

<range> Default: <default> Description: <description>

For entries having sub-indices

Table 9-10 Object description format with sub-indices

Sub-index 0

Access: <access>

Range:

<range> Default: <default> Description: <description> Sub-index 1

Access: <access>

Range:

<range> Default: <default> Description: <description> ...

Access: <access>

Range:

<range> Default: <default> Description: <description> Sub-index n-1

Access: <access>

Range:

<range> Default: <default> Description: <description> Sub-index n

Access: <access>

Range:

<range> Default: <default> Description: <description>

Size: <size> Unit: <unit>

Definitions:

• <index> : A signed 16-bit number. This is the index of the object dictionary entry specified in four hexadecimal characters.

• <access> : A value describing how the object may be accessed (RW = read/write, RO = read-only and WO = write-only).

• <size> : The size of the object/sub-index in bytes.

• <unit> : The physical unit (e.g. ms, counts per second etc.).

9.16.1 CoE communication area

The first set of objects specify general communication settings.

Table 9-11 Device type object

0x1000 Device type

Access: RO Range: N/A Size: 4 bytes Unit: N/A Default: 0x00030192

The primary CoE functional profile is DSP-402, the value of the object is defined as follows:

Bits 0 to 15 (Device profile number): 402 (0x192) Bit 16 (Frequency converter): x Bit 17 (Servo drive): y

Description:

Table 9-12 Identity object

0x1018 Identity object

Sub-index 0 Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 4 Description: The number of the last sub-index in this object. Sub-index 1 Access: RO Range: N/A Size: 4 bytes Unit: N/A Default: 0x000000F9

Description:

Sub-index 2 Access: RO Range: N/A Size: 4 bytes Unit: N/A Default: See Pr 17.01 Description: This has the value of the option ID code. Sub-index 3 Access: RO Range: N/A Size: 4 bytes Unit: N/A Default: High word: Pr 17.02 Low word: Pr 17.51

Description:

Sub-index 4 Access: RO Range: N/A Size: 4 bytes Unit: N/A Default: See Pr 17.35 Description: Contains the option hardware serial number.

Bit 18 (Stepper motor): 0 Bit 24 (DC drive - manufacturer specific : z Bits 25 to 31 (Manufacturer specific): 0

This value will depend on the drive operating mode and/or type. On a Digitax ST, bit 17 will be set, while bits 16 and 24 will be cleared.

This contains the EtherCAT Technology Group vendor ID for Emerson Industrial Automation (0x000000F9).

Contains the Solutions Module software version number (the major and minor version parameter placed in the high word of this object, and the sub-version parameter (Pr 17.51) is the low word).

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9.16.2 RxPDO mappings

Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The mappings from DSP-402 are included as standard (the PDO mappings will have the following default values).

Table 9-13 RxPDO mappings

PDO number

Mapping object

index

1 0x6040 controlword 2 0x6040

0x6060

6 0x6040

0x6042

The RxPDO mapping objects are defined in the following tables. Each mapping object has the maximum number of sub-indices (each representing an object mapped to a PDO) defined in the XML configuration file (specified as “CF” in the following descriptions).

Table 9-14 RxPDO mapping 1

0x1600 Receive PDO mapping 1

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 1 Description

The number of mapped objects in thie PDO

Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Default: 0x60400010 - the DSP-402 control word (0x6040)

A mapping to an object with the following format:

Description :

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Table 9-15 RxPDO mapping 2

0x1601 Receive PDO mapping 2

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of mapped objects in this PDO. Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Default: 0x60400010 - the DSP-402 control word (0x6040)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2nd mapped object

Access: RW

Default:

Range: 0 to 0xFFFFFFFF

0x60600008 - the DSP-402 modes of operation object (0x6060)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Mapping object name

controlword

modes of operation

controlword

vl_target _velocity

Size: 4 bytes Unit: N/A

Table 9-16 RxPDO mapping 6

0x1605 Receive PDO mapping 6

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of mapped objects in this PDO. Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0x60400010 - the DSP-402 control word (0x6040)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2nd mapped object

Access: RW

Default:

Range: 0 to 0xFFFFFFFF

0x60600008 - the DSP-402 modes of operation object (0x6060)

Size: 4 bytes Unit: N/A

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Table 9-17 RxPDO mapping 22

0x1615 Receive PDO mapping 22

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 0 Description: The number of mapped objects in thie PDO Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

9.16.3 TxPDO mappings

Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO mappings. The following mappings from DSP-402 are included as standard.

Table 9-18 TxPDO mappings

PDO number

Mapping object

index

1 0x6041 statusword

0x6041 0x6061

0x6041 0x6064

0x6041 0x6044

The PDO mapping objects are defined below. Each mapping object has the maximum number of sub-indices (each representing an object mapped to a PDO) defined in the XML configuration file.

Mapping object name

statusword

modes_of_operation_display

statusword

position_actual_value

statusword

vl_velocity_actual_value

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Table 9-19 TxPDO mapping 1

0x1A00 Transmit PDO mapping 1

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 1 Description: The number of mapped objects in thie PDO Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0x60410010 - the DSP-402 status word (0x6041)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Table 9-20 TxPDO mapping 2

0x1A01 Transmit PDO mapping 2

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of mapped objects in this PDO. Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0x60410010 - the DSP-402 status word (0x6041)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2nd mapped object

Access: RW

Default:

Range: 0 to 0xFFFFFFFF

0x60610008 - the DSP-402 modes of operation display object (0x6061)

Size: 4 bytes Unit: N/A

A mapping to an object with the following format:

Table 9-21 TxPDO mapping 3

0x1A02 Transmit PDO mapping 3

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of mapped objects in this PDO. Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0x60410010 - the DSP-402 status word (0x6041)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2nd mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0x60640020 - the DSP-402 actual position (0x6064)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Table 9-22 TxPDO mapping 6

0x1A05 Transmit PDO mapping 6

Sub-index 0: Number of mapped objects Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A Default: 2 Description: The number of mapped objects in this PDO. Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0x60410010 - the DSP-402 status word (0x6041)

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2nd mapped object

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0x60440010 - the DSP-402 actual motor speed (0x6044).

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

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Table 9-23 TxPDO mapping 22

0x1A15 Transmit PDO mapping 22

Access: RW

Range: 0 to 0xFFFFFFFF

Size: 4 bytes Unit: N/A

Default: 0

A mapping to an object with the following format:

Description:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32bit parameter would have a length of 32 or 0x20. Bits 8 to 15: Sub-index of the mapped object. Bits 16 to 31: Index of the mapped object.

9.16.4 Sync manager configuration

The sync managers are the EtherCAT means for setting access attributes for different areas of memory and triggering or notifying the application when the memory is accessed. The following objects specify how the sync managers (and thus corresponding memory areas) are utilized by the CoE protocol.

Table 9-24 Sync manager communication type object

0x1C00 Sync manager communication type

Sub-index 0 - number of sync manager channels used Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 4 Description: The number of sync manager protocols used by the CoE

protocol. Sub-index 1 - Usage of sync manager 0 Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 1 Description: Sync manager 0 is used by CoE as the mailbox receive

channel (master to slave). Sub-index 2 - Usage of sync manager 1 Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 2 Description: Sync manager 1 is used by CoE as the mailbox send

Sub-index 3 - Usage of sync manager 2 Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 3 Description: Sync manager 2 is used by CoE as the process data

Sub-index 4 - Usage of sync manager 3 Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 4 Description: Sync manager 3 is used by CoE as the process data input

Table 9-25 Sync manager 0 PDO assignment object

0x1C10 Sync manager 0 PDO assignment

Sub-index 0 Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 0

Description:

channel (slave to master).

output (RxPDOx - master to slave).

(TxPDOs - slave to master).

Number of assigned PDOs. The mailbox received sync manager can never have PDOs assigned to it.

Table 9-26 Sync manager 1 PDO assignment object

0x1C11 Sync manager 1 PDO assignment

Sub-index 0 Access: RO Range: N/A Size: 1 byte Unit: N/A Default: 0

Description:

Number of assigned PDOs. The mailbox send sync manager can never have PDOs assigned to it.

Table 9-27 Sync manager 2 PDO assignment object

0x1C12 Sync manager 2 PDO assignment

Sub-index 0 Access: RW Range: 0 to 255 Size: 1 byte Unit: N/A Default: 1 Description:The number of RxPDOs assigned to this sync manager

(used for process data output).

Sub-indices 1 to (sub-index 0)

Access: RW

Range: 0x1600 to 0x17FF

Size: 2 bytes Unit: N/A

Default: 0x1605

Description :

The object index of a RxPDO to assign to this sync manager. By default this is assigned to RxPDO mapping 6 (vl_target_velocity and controlword).

Table 9-28 Sync manager 3 PDO assignment object

0x1C13 Sync manager 3 PDO assignment

Sub-index 0 Access: RW Range: 0 to 255 Size: 1 byte Unit: N/A Default: 1

Description:

The number of TxPDOs assigned to this sync manager (used for process data input).

Sub-indices 1 to (sub-index 0)

Access: RW

Range: 0x1A00 to 0x1BFF

Size: 2 bytes Unit: N/A

Default: 0x1A05

The object index of a TxPDO to assign to this sync

Description:

manager. By default this is assigned to TxPDO mapping 6 (vl_velocity_actual_value and statusword).

9.16.5 Feedback encoder source

Table 9-29 Feedback encoder source

0x2802 Feedback encoder source

Sub-index 0 Access: RW Range: 0 to 3 Size: 1 byte Unit: N/A Default: 0

Description:

0 = Use drive as the feedback source 1 = Use the encoder module in slot 1 as the encoder source 2 = Use the encoder module in slot 2 as the encoder source 3 = Use the encoder module in slot 3 as the encoder source

This object specifies the source position for position controller feedback.

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SM-EtherCAT EoE IP address

ip ip

MM.10

MM.11

MM.12

MM.13

SM-EtherCAT EoE Subnet mask

WZX

MM.14

MM.15

MM.16

MM.17

subnet subnet subnet subnet

SM-EtherCAT EoE Default gateway

WZX

MM.18

MM.19

MM.20

MM.21

gateway

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9.17 Ethernet over EtherCAT (EoE)

This protocol allows standard Ethernet messages and protocols to be tunnelled through the EtherCAT network. This provides users with the possibility of connecting to the Emerson Industrial Automation PC Tools (SyPT Pro, SyPTLite, CTSoft, CTScope and Winflasher) along the same connection currently being used for EtherCAT communications.

9.17.1 EoE IP address

The EtherCAT interface EoE IP address is defined in the EtherCAT Master and is displayed in the module parameters as shown in Figure 9-

Figure 9-6 EoE IP address format

Table 9-30 EoE - IP address W

EoE - IP address W

Default 0

Pr 17.10

Range 0 to 255

Access RW

This is the most significant octet of the EtherCAT interface EoE IP address.

Table 9-31 EoE - IP address X

EoE - IP address X

Default 0

Pr 17.11

Range 0 to 255

Access RW

This is the second most significant octet of the EtherCAT interface EoE IP address.

Table 9-32 EoE - IP address Y

EoE - IP address Y

Default 0

Pr 17.12

Range 0 to 255

Access RW

This is the third most significant octet of the EtherCAT interface EoE IP address.

Table 9-33 EoE - IP address Z

EoE - IP address Z

Default 0

Pr 17.13

Range 0 to 255

Access RW

Figure 9-7 EoE Subnet mask format

Table 9-34 EoE - Subnet mask W

EoE - Subnet Mask W

subnet

Default 0

Pr 17.14

Range 0 to 255

Access RW

This is the most significant octet of the EtherCAT interface EoE Subnet mask.

Table 9-35 EoE - Subnet mask X

EoE - Subnet Mask X

subnet

Default 0

Pr 17.15

Range 0 to 255

Access RW

This is the second most significant octet of the EtherCAT interface EoE Subnet mask.

Table 9-36 EoE - Subnet mask Y

EoE - Subnet Mask Y

subnet

Default 0

Pr 17.16

Range 0 to 255

Access RW

This is the third most significant octet of the EtherCAT interface EoE Subnet mask.

Table 9-37 EoE - Subnet mask Z

EoE - Subnet Mask Z

subnet

Default 0

Pr 17.17

Range 0 to 255

Access RW

This is the least significant octet of the EtherCAT interface EoE Subnet mask.

9.17.3 EoE default gateway

The EtherCAT interface EoE default gateway is defined in the EtherCAT Master and is displayed in the drive parameters as shown in Figure 9-8.

Figure 9-8 EoE default gateway

This is the least significant octet of the EtherCAT interface EoE IP address.

9.17.2 EoE Subnet mask

The EtherCAT interface EoE Subnet mask is defined in the EtherCAT Master and is displayed in the module parameters as shown in Figure 9-

The default gateway is a routing device that allows a host to reach other devices that are not on the same subnet. The default gateway must be on the same subnet as the host that is trying to use it.

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Table 9-38 EoE - Default gateway W

EoE - Default gateway W

gateway

Default 0

Pr 17.18

Range 0 to 255

Access RW

This is the most significant octet of the EtherCAT interface EoE default gateway.

Table 9-39 Default gateway X

EoE - Default gateway X

gateway

Default 0

Pr 17.19

Range 0 to 255

Access RW

This is the second most significant octet of the EtherCAT interface EoE default gateway.

Table 9-40 Default gateway Y

EoE - Default gateway Y

gateway

Default 0

Pr 17.20

Range 0 to 255

Access RW

This is the third most significant octet of the EtherCAT interface EoE default gateway.

Table 9-41 Default gateway Z

EoE - Default gateway Z

gateway

Default 0

Pr 17.21

Range 0 to 255

Access RW

This is the least significant octet of the EtherCAT interface EoE default gateway.

Although parameters Pr 17.10 - Pr 17.21 have RW access, changing them via the parameters will have no affect to the EoE settings. The EoE configuration for the EtherCAT interface can only be done with an EtherCAT master which supports the EoE protocol (e.g. TwinCAT). The settings for Pr 17.10 - Pr 17.21 will need to be set by the Master and these parameters are for display purposes only.

9.17.4 EtherCAT interface reduce serial interface priority

Table 9-42 Reduce Drive serial interface priority

Reduce Drive serial interface priority

Default OFF

Pr 17.37

It is not possible for the both the Drive and the EtherCAT interface to support all of the available serial communication protocols simultaneously. This means that the user must decide if they wish the drive to provide the primary communication interface via its serial RJ45 connector, or the EtherCAT interface. In the default state the primary interface will be provided by the drive.

Pr 17.37 = OFF (default):

Range OFF - ON

Access RW

It will not be possible to forward on messages that are intended for either the drive or another Solutions Module. The EtherCAT interface will be able to handle two types of messages:

1. Those that access Drive parameters

2. Those that access SM-Applications parameters.

Pr 17.37 = ON:

The EtherCAT interface will request that the drive permits it to become the primary communication interface. If the drive is able to transfer control then the following restrictions will be imposed:

1. The drives serial interface will only be able to handle messages that are 32 bytes or less. A Remote LCD keypad would continue to work, although SM-Application parameters would not be visible. If a message is received that is too long for the drive to handle, no reply will be sent.

2. Any LCD keypad installed (not remotely mounted) to the drive will stop working.

Pr 17.37 must be set to ON to achieve EoE communications.

9.18 Drive profile (DSP-402) support

EtherCAT interface supports the following modes of the DSP-402 profile:

• Cyclic sync position mode

• Interpolated position mode

• vl velocity mode

• Profile torque mode

• Homing mode

9.18.1 0x6040 Controlword

This provides the primary method of controlling the behavior of the drive e.g. enabling, disabling, resetting, etc. Table 9-43 describes the format of the control word. The individual bits are used in combinations (see Table 9-44) to sequence the drive through the state machine described in Figure 9-9.

Table 9-43 Controlword

0x6040 Controlword

Access: RW

Range: 0 to 65535

Default: N/A

Description:

1514131211109 876543210

Reserved ila r oms h fr oms hos eo qs ev so

Provides the primary method of controlling the behavior of the drive.

LEGEND: ms = manufacturer-specific; r = reserved; oms = operation mode specific; h = halt; fr = fault reset; hos = homing operation start; eo = enable operation; qs = quick stop; ev = enable voltage; so = switch on

Table 9-44 Command coding

Command

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

Shutdown 0 X 1 1 0 Switch on 00111

Switch on + enable

operation

01111

Disable voltage 0 X X 0 X

Quick stop 0 X 0 1 X Disable operation 0 0 1 1 1 Enable operation 0 1 1 1 1

Fault reset X X X X

NOTE: Automatic transition to Enable operation state after executing SWITCHED

ON state functionality.

Size: Unsigned 16

Bits of the controlword

Unit: N/A

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SWITCH ON

DISABLED

NOT READY TO

SWITCH ON

START

READY TO

SWITCH ON

SWITCHED ON

OPERATION

ENABLE

QUICK STOP

ACTIVE

FAULT

FAULT REACTION

ACTIVE

Pr 10.01 = 1

Pr 10.02 = 0

Shutdown

Switch On

Enable

operation

Disable operation

Shutdown

Quick stop

Shutdown

Disable voltage

Quick stop

Disable voltage

Any drive

trip

Fault reaction complete

Fault reset

Enable

operation

Any drive trip

Power enabled

FaultPower disabled

Drive not

tripped

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9.18.2 0x6041 Statusword

This provides feedback about the current operating state of the drive. Table 9-45 describes the format of the status word and illustrates how the individual statusword bits are combined to represent the current state of the drive.

Table 9-45 Statusword

0x6041 Statusword

Access: RW

Range: 0 to 65535

Default: N/A

Description:

This provides feedback about the current operating state of the drive.

Table 9-46 Statusword bit functions

1514131211109876543210

ms ha ila tr rm ms w sod qs ve f oe so rtso

LEGEND: ms = manufacturer-specific; ha = homing attained; oms = operation mode specific; ila = internal limit active; tr = target reached; rm = remote; w = warning; sod = switch on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so = switched on; rtso = ready to switch on

Table 9-47 State coding

Statusword State

xxxx xxxx x0xx 0000b Not ready to switch on xxxx xxxx x1xx 0000b Switch on disabled

xxxx xxxx x01x 0001b Ready to switch on

xxxx xxxx x01x 0011b Switched on xxxx xxxx x01x 0111b Operation enabled xxxx xxxx x00x 0111b Quick stop active

xxxx xxxx x0xx 1111b Fault reaction active

xxxx xxxx x0xx 1000b Fault

Size: Unsigned 16

Unit: N/A

The EtherCAT interface master device must be in the operational state before the state machine can move from the ‘SWITCH ON DISABLED’ state to the ‘READY TO SWITCH ON’ state. If the master leaves the operational state while the state machine is in the ‘SWITCH ON’, ‘OPERATION ENABLE’ , ‘QUICK STOP ACTIVE’ or ‘READY TO SWITCH ON’ state then the EtherCAT interface will transition to the ‘SWITCH ON DISABLED’ state. This implies that the drive will be inhibited and the motor will coast.

Figure 9-9 CoE state machine diagram

9.18.3 Common profile features

Sequencing control

These are the supported objects used to control the drive:

Table 9-48 Sequencing control supported objects

Index Name

0x6040 controlword

0x6041 statusword 0x605B shutdown_option_code 0x605C disable_operation_option_code 0x605A quick_stop_option_code 0x605D halt_option_code 0x605E fault_reaction_option_code

0x6060 modes_of_operation

0x6061 modes_of_operation_display

0x6085 quick_stop_deceleration

The behavior of the sequencing control is shown in Figure 9-9 CoE state machine diagram . This state machine indicates how the drive will be controlled. For clarity the Statusword is abbreviated to ‘SW’ in the diagram.

When in the ‘QUICK STOP ACTIVE’ state, the currently selected mode of operation indicates how a quick stop function should be handled. When the drive is stopped, and the Quick stop option code doesn’t indicate that the state should remain at ‘QUICK STOP ACTIVE’, the state will move to ‘SWITCH ON DISABLED’.

When in the ‘OPERATION ENABLED’ or ‘QUICK STOP ACTIVE’ states it is not possible to change the mode_of_operation object. This is to ensure that the motor is stopped before changing the operation mode.

82 Digitax ST User Guide

On the Drive with the default drive parameters the 'Switched on' state will correspond to a drive status of 'STOP'. If the STOP state is not acceptable for any applications that do not use the menu 12 brake controller, Pr 6.08 will have to be set to OFF. With Pr 6.08 set to OFF the 'Switched on' state will now correspond to a drive status of 'Rdy'.

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Table 9-49 CoE state machine transition and events

Transition Event(s) Action(s)

0 Automatic transition after power-on or reset application Drive device self-test and/or self Initialization shall be performed 1 Automatic transition Communication shall be activated 2 Shutdown command from control device or local signal None 3 Switch on command received from control device or local signal Power section shall be switched on if not already switched on

Enable operation command received from control device or local signal

Disable operation command received from control device or local signal

Drive function shall be enabled and clear all internal set-points

Drive function shall be disabled

The high-power shall be switched off immediately, and the motor

6 Shutdown command received from control device or local signal

shall be free to rotate if not braked; additional action depends on the shutdown option code

Quick stop or disable voltage command from control device or local signal

8 Shutdown command from control device or local signal

9 Disable voltage command from control device or local signal

Disable voltage or quick stop command from control device or local signal

None

The high-power shall be switched off immediately if possible, and the motor shall be free to rotate if not braked

11 Quick stop command from control device or local signal The quick stop function shall be started

Automatic transition when the quick stop function is completed

and quick stop option code 1, 2, 3 or 4 disable voltage command received from control device (dependant on the quick stop

The power section shall be switched off

option code)

13 Fault signal The configure fault reaction function shall be executed

14 Automatic transition

The drive function shall be disabled; the high-power may be switched off

A reset of the fault condition is carried out, if no fault exists

15 Fault reset command from control device or local signal

currently on the drive device; after leaving the Fault state, the Fault reset bit in the controlword shall be cleared by the control device

Enable operation command from control device, if the quick stop option code is 5, 6, 7 or 8

The drive function shall be enabled

When the EtherCAT interface transitions from the EtherCAT Safe-operational state to the EtherCAT Operational state, a number of drive parameters are set to allow the CoE profiles to control the drive and motor. These parameters are set in the following order:

•Pr 6.42 to 0

•Pr 6.43 to On (1)

•Pr 3.22 to 0 (where present)

•Pr 3.23 to On (1) (where present)

•Pr 3.13 to OFF (0) (In open-loop operating modes)

•Pr 2.10 to 1

•Pr 2.20 to 1

•Pr 2.02 to On (1)

•Pr 1.04 to 0

•Pr 1.21 to 0

•Pr 1.38 to 0

•Pr 1.08 to OFF (0)

•Pr 1.10 to On (1)

•Pr 1.09 to OFF (0)

•Pr 1.15 to 1

•Pr 1.14 to 3

These values are set once and not continuously forced. They are not reset when leaving the Operational state. In addition, the option starts to write parameters implicitly mapped by the CoE profiles, when moving to the Operational state.

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9.18.4 0x605A Quick stop option code

This object indicates what action is performed when the quick stop function is executed. The slow down ramp is the deceleration value of the used mode of operations.

Table 9-50 Quick_stop_option_code

0x605A Quick_stop_option_code

Access: RW Range: 0 to 6

Size: Unsigned 16

Unit: N/A

Default: 2

Specifies what action is performed in the event of a quick

Description:

stop function. See Table 9-49 CoE state machine transition and events on page 83 for more information.

Table 9-51 Quick stop value definitions

Value Definition

0 Disable drive function

Slow down on slow down ramp and transit into Switch on

disabled Slow down on quick stop ramp and transit into Switch on

disabled Slow down on slow down ramp and stay in Quick stop

active Slow down on quick stop ramp and stay in Quick stop

active

9.18.5 0x605B Shutdown_option_code

This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state.

Table 9-52 Shutdown_option_code

0x605B Shutdown_option_code

Access: RW Range: 0 to 1

Size: Unsigned 16

Unit: N/A

Default: N/A

Used to control what action is performed if there is a

Description:

transition from the Operation Enabled state to the Ready To Switch On state.

Table 9-53 Shutdown_option_code values

Value Definition

Disable drive function (switch off the drive power stage)

Slow down with slow down ramp; disable the drive function

9.18.6 0x605C Disable_operation_option_code

Disable drive function (switch off the drive power stage). This object is used to control what action is performed if there is a

transition from the ‘Operation Enabled’ state to the ‘Switched On’ state.

Table 9-54 Disabled_operation_option_code

0x605C Disable_operation_option_code

Access: RW Range: 0 to 1

Default: N/A

This object is used to control what action is performed if

Description:

there is a transition from the Operation Enabled state to the Switched On state.

Size: Unsigned 16

Unit: N/A

Table 9-55 Disable_operation_option_code values

Value Definition

0 Disable drive function (switch off the drive power

stage)

1 Slow down with slow down ramp; disable the drive

function

9.18.7 0x605E Fault_reaction_option_code

This object is used to control what action is performed when a fault is detected. This object is ignored if the drive is tripped.

Table 9-56 Fault_reaction_option_code

0x605E Fault_reaction_option_code

Access: RW Range: 0 to 2

Size: Unsigned 16

Unit: N/A

Default: N/A

Description:

This object is used to control what action is performed when a fault is detected.

Table 9-57 Fault_reaction_option_code values

Value Definition

0 Disable drive function, motor is free to rotate 1 Slow down on slow down ramp 2 Slow down on quick stop ramp

9.18.8 0x6060 Modes_of_operation

This object is used to request a change in the mode of operation.

Table 9-58 Modes_of_operation

0x6060 Modes_of_operation

Access: RW Range: 0 to 8

Size: Unsigned 8

Unit: N/A

Default: 2

Description:

This object is used to request a change in the mode of operation.

Table 9-59 Modes_of_operation values

Value Definition

0 No mode change 2 vl velocity mode 4 Profile torque mode 6 Homing mode 7 Interpolated position mode 8 Cyclic sync position mode

9.18.9 0x6061 Modes_of_operation_display

This read only object indicates the active mode of operation.

Table 9-60 Modes_of_operation_display

0x6061 Modes_of_operation_display

Access: RO Range: 0 to 8

Size:

Unsigned 8 Default: N/A Description: Used to provide the active mode of operation.

Table 9-61 Modes_of_operation_display values

Value Definition

0 No mode change 2 vl velocity mode 4 Profile torque mode 6 Homing mode 7 Interpolated position mode 8 Cyclic sync position mode

Unit: N/A

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9.18.10 0x6084 Profile decleration

Table 9-62 Profile decleration

0x6084 Profile deceleration

Access: RW

Range:0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 65536 Description: Provides the deceleration ramp for the positioning modes

9.18.11 0x6085 Quick_stop_deceleration

This object is used to configure the deceleration rate used to stop the motor when the quick stop function is activated and the quick stop code object (0x605A) is set to 2 or 6. The quick stop deceleration is also used if the fault reaction code object (0x605E) is 2. The value is given in userdefined acceleration units.

Table 9-63 Quick_stop_deceleration

0x6085 Quick_stop_deceleration

Sub-index 0

Access: RW

Range:0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 2 Description: Quick stop function for the positioning related modes.

9.18.12 Profile units

The EtherCAT interface implementation provides a means to convert profile units into position controller and drive units. All scaling values are standard profile objects. The following objects are supported:

Table 9-64 Supported profile units

Index Name

0x608F position_encoder_resolution 0x6091 gear_ratio 0x6092 feed_constant

For positions, the scaling control includes a feed constant, a gear ratio and an encoder revolution. These values are combined by the implementation into a simple scaling numerator and denominator. It is possible to change these values non-cyclically (i.e. using SDOs), in which case the scaling numerator and denominator and any position limit values are recalculated in the background. It is not, however, possible to change these values cyclically (i.e. by mapping PDOs to them).

For velocities, in addition to the position constants described above, these values are combined into a simple numerator and denominator to scale velocities to internal velocity units. This scaling also properly handles remainders (i.e. when used on a reference or feedback, accumulate the remainder and add it to subsequent velocity values, and when used with a limit, round up or down). It is possible to change these values non-cyclically (i.e. using SDOs), in which case the scaling numerator and denominator is recalculated in the background. It is also necessary to re-scale velocity limit values with the new factor. It is not possible to change these values cyclically (i.e. by mapping PDOs to them).

9.18.13 0x608F Position_encoder_resolution

This read only object indicates the configured encoder increments per number of motor revolutions. The information is read from the drive's encoder configuration.

Table 9-65 Position_encoder_resolution

0x608F Position_encoder_resolution

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: Sub-index 1

Access: RO

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 1 Description: Encoder increments Sub-index 2

Access: RO

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 1 Description: Motor revolutions

9.18.14 0x6091 Gear_ratio

This object is used to apply scaling. When configured, appropriate user units can be used to control the position of the shaft beyond a gearbox. The gear ratio is calculated using the following formula:

gear ratio = motor shaft revolutions / driving shaft revolutions

Table 9-66 Gear_ratio

0x6091 Gear_ratio

Sub-index 0

Access: RO Range: N/A

Default: 2 Description: Sub-index 1

Access: RW

Range: 0 to

0xFFFFFFFF Default: 1 Description: Motor revolutions Sub-index 2

Access: RW

Range: 0 to

0xFFFFFFFF Default: 1 Description: Shaft revolutions

Size: Unsigned 8

Size: Unsigned 32

Unit: N/A

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9.18.15 0x6092 Feed_constant

This is used to configure a feed constant. This is the measurement distance per one revolution of the output shaft of the gearbox. The feed constant is calculated using the following formula:

feed constant = feed / driving shaft revolutions

Table 9-67 Feed_constant

0x6092 Feed_constant

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: Sub-index 1

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 1 Description: Feed Sub-index 2

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 1 Description: Shaft revolutions

9.18.16 Basic position control

Basic position control is supported. The position control described here is used under the interpolated position mode of operation. Table 9-68 lists the objects that are supported:

Table 9-68 Basic position control supported objects

Index Name

0x6062 position_demand_value 0x6064 position_actual_value 0x6065 following_error_window 0x6067 position_window 0x6080 max motor speed 0x60F4 following_error_actual_value 0x60FB position_control_parameter_set

9.18.17 0x6062 Position_demand_value

This read only object is used to provide the currently demanded position value. The value is given in user defined position units.

Table 9-69 Position_demand_value

0x6062 Position_demand_value

Access: RO

Range: 0 to 0xFFFFFFFF

Size: signed 32 Unit: N/A

Default: N/A Description: Used to provide the currently demanded position value.

9.18.18 0x6064 Position_actual_value

This read only object provides the actual value of the position feedback device. The value is given in internal units.

Table 9-70 Position_actual_value

0x6064 Position_actual_value

Access: RO

Default: N/A

This read only object provides the actual value of the

Description:

position feedback device. The value is given in internal units.

Range: 0 to 0xFFFFFFFF

Size: signed 32 Unit: N/A

9.18.19 0x6080 Max motor speed

Table 9-71 Max motor speed

0x6080 Max motor speed

Sub-index 0

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32 Unit: rpm

Default: 3000

This object indicates the configured maximum allowed speed for the motor in either direction. It is used to

Description:

protect the motor and changing the value of this object will also change Pr 1.06. The value is given in rotations per minute (rpm).

9.18.20 0x60F4 Following_error_actual_value

This read only object provides the actual value of the following error. The value is given in user-defined position units.

Table 9-72 Following_error actual_value

0x60F4 Following_error actual_value

Access: RO

Range: 0 to 0xFFFFFFFF

Size: signed 32 Unit: N/A

Default: N/A

Description:

This read only object provides the actual value of the following error.

9.18.21 0x60FB Position_control_parameter_set object

Table 9-73 Position_control_parameter_set object

0x60FB Position_control_parameter_set

Sub-index 0

Access: RO Range: N/A

Size:

Unsigned 8 Default: 2 Description: The number of control loop parameters. Sub-index 1

Access: RW

Range: 0 to 65535

Size:

Unsigned 16 Default: 2500 Description: The position controller proportional gain. Sub-index 2

Access: RW

Range: 0 to 65535

Size:

Unsigned 16 Default: 1000 (i.e. a gain of 1) Description: The position controller speed feed forward gain.

The APC position controller kernel is used by the basic internal position control.

The position_demand_value object contains the value supplied by either the interpolated position mode or the profile position mode (in user units). It is updated every control loop cycle. This object can be mapped as cyclic data.

Unit: N/A

Unit: 0.01 rad/ s/rad

Unit: 1 / 1000

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9.19 Interpolated position mode

Interpolated position mode operates in servo mode. Table 9-74 lists the objects that are supported:

Table 9-74 Supported Interpolated position mode objects

Index Name

0x60C0 interpolation_submode_select 0x60C1 interpolation_data_record 0x60C2 interpolation_time_period

When using one of the DSP-402 positioning modes, Distributed Clocks must be enabled. Failure to do so may result in the EtherCAT interface going into the SAFE-OPERATIONAL state (Pr 17.04 = 4).

9.19.1 0x60C0 Interpolation_sub-mode_select

Table 9-75 0x60C0 Interpolation_sub-mode_select

0x60C0 Interpolation_sub-mode_select

Access: RW Range: 0 Size: Signed 16 Unit: N/A Default: 0 (Linear interpolation)

Description:

9.19.2 0x60C1 Interpolation_data_record

This object is used to specify the target position. Linear interpolation is used to generate position demand values every 250 µs. The position is specified in user-defined position units. The value is written into subindex 1.

Table 9-76 0x60C1 Interpolation_data_record

0x60C1 Interpolation_data_record

Sub-index 0

Access: RO Range: N/A

Default: 1 Description: This object is used to specify the target position. Sub-index 1

Access: RW

Default: N/A Description: The set-point.

Specifies the interpolation type. At present the only supported Interpolation Sub-Mode is ‘Linear Interpolation’.

Range: 0 to 0xFFFFFFFF

Size: Unsigned 8

Size: Unsigned 32

Unit: N/A

9.19.3 0x60C2 Interpolation_time_period

Table 9-77 Interpolation_time_period

0x60C2 Interpolation_time_period

Sub-index 0

Access: RO Range: N/A

Size:

Unsigned 8 Default: 2 Description: The number of the last sub-index in this object. Sub-index 1

Access: RW Range: 0 to 255

Size:

Unsigned 8 Default: 250 (units are dependant on the value in sub-index 2)

The number of time units between interpolator re-starts. A time unit is defined by sub-index 2. The interpolator time

Description:

period value is checked to ensure that it is valid. Valid values are 250 µs, 500 µs or any multiple of 1 ms. An attempt to write other values results in an SDO Abort

code. Sub-index 2 Access: RW Range: -6 to 0 Size: Signed 8 Unit: N/A Default: -6 (a time unit of 1 µs)

This specifies the time unit for the interpolation time

period. Sub-index 2 specifies the unit exponent. The time Description:

unit, therefore, is 10 (sub-index 2). The range of values

allows for the shortest time unit to be 1 µs, and the longest

to be 1 s.

The implementation of interpolated position mode allows synchronous operation only, where a fixed, common interpolation interval is defined. The time specified must always be an integer multiple of the control loop cycle time. The time period index has a minimum value of -6 (i.e. the smallest time unit will be microseconds), see Table 9-78 for more information.

Table 9-78 Interpolation time period units

Value in 0x60C2, sub-index 2 Description

0 1 second

-1 0.1 of a second

-2 0.01 of a second

-3 0.001 of a second

-4 0.0001 of a second

-5 0.00001 of a second

-6 0.000001 of a second

The time period is checked to ensure that it is an integer multiple of the control loop cycle time. Only linear interpolation is currently supported, this type inserts a delay of one interpolation time period.

The input buffer has a maximum size of 1 data record, and a data record contains one position in profile-defined units. The buffer is a FIFO buffer. On each interpolator time period, a value is read from this buffer. The correct number of data points for a specific interpolation mode are stored internally. When a new position command is loaded in, the oldest position command in the data set is discarded.

Unit: N/A

Unit: (sub-index 2)

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9.20 vl velocity mode

Velocity mode is supported and the scaled velocity is written to the drive internal speed shortcut. Table 9-79 lists the objects that are supported:

Table 9-79 vl velocity mode supported objects

Index Name

0x6042 vl_target_velocity 0x6043 vl_velocity_demand 0x6044 vl_velocity_actual_value 0x6046 vl_velocity_min_max_amount 0x6047 vl_velocity_min_max 0x6048 vl_velocity_accleration 0x6049 vl_velocity_deceleration 0x604A vl_velocity_quick_stop 0x604B vl_setpoint_factor 0x604C vl_dimension_factor

9.20.1 0x6042 vl_target_velocity

This object is used to set the required velocity of the system. It is multiplied by the vl_dimension_factor and the vl_setpoint_factor. The value is given in rpm, If the vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction.

Table 9-80 vl_target_velocity

0x6042 vl_target_velocity

Access: RW

Range: -32768

to +32767 Default: 0 Description: Used to set the required velocity of the system.

9.20.2 0x6043 vl_velocity_demand

This read only object provides the instantaneous velocity demand generated by the drive ramp function. The value is given in rpm if the vl_dimension_factor and the vl_setpoint_factor have the value 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction.

Table 9-81 vl_velocity_demand

0x6043 vl_velocity_demand

Access: RO

Range: -32768 to +32767

Default: 0

Description:

Provides the instantaneous velocity demand generated by the drive ramp function.

9.20.3 0x6044 vl_velocity_actual_value

This read only object provides the velocity at the motor spindle or load. In a closed loop system this is determined from the motor feedback device and in an open loop system it is a copy of vl_velocity_demand.

The value is given in rpm if the vl_dimension_factor has the value of 1, otherwise the value is in user units. Positive values indicate forward direction and negative values indicate reverse direction.

Table 9-82 velocity_actual_value

0x6044 vl_velocity_actual_value

Access: RO

Range: -32768

to +32767 Default: 0 Description: Provides the velocity at the motor spindle or load.

9.20.4 0x6046 vl_velocity_min_max_amount

This object is used to configure the minimum and maximum velocity. The value is given in rpm if the vl_dimension_factor has the value of 1,

otherwise the value is in user units.

Size: Signed 16 Unit: rpm

Size: Signed 16 Unit: N/A

Table 9-83 vl_velocity_min_max_amount

0x6046 vl_velocity_min_max_amount

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: The number of sub-indices in this object. Sub-index 1

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: rpm

Default: 0

Used to configure the minimum velocity (both in the

Description:

forward and reverse direction) that the system can operate at. Writing to this sub index will overwrite vl_velocity_min positive and vl_velocity_min negative.

Sub-index 2

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: rpm

Default: 2147483647

Used to configure the maximum velocity (both in the

Description:

forward and reverse direction) that the system can operate at. Writing to this sub index will overwrite vl_velocity_max positive and vl_velocity_max negative.

9.20.5 0x6047 vl_velocity_min_max

This object is used to configure the minimum and maximum velocity. The value is given in rpm if the vl_dimension_factor has the value of 1,

otherwise the value is in user units.

Table 9-84 0x6047 vl_velocity_min_max

0x6047 vl_velocity_min_max

Sub-index 0

Access: RO Range: N/A

Size:

Unsigned 8 Default: 4 Description: The number of sub-indices in this object. Sub-index 1

Access: RW

Range: 0 to 0xFFFFFFFF

Size:

Unsigned 32 Default: 0

Description:

Used to configure the minimum positive velocity at which the system can operate.

Sub-index 2

Access: RW

Range: 0 to 0xFFFFFFFF

Size:

Unsigned 32 Default: 2147483647

Description:

Used to configure the maximum positive velocity at which the system can operate.

Sub-index 3

Access: RW

Range: 0 to 0xFFFFFFFF

Size:

Unsigned 32 Default: 0

Description:

Used to configure the minimum negative velocity at which the system can operate.

Sub-index 4

Access: RW

Range: 0 to 0xFFFFFFFF

Size:

Unsigned 32 Default: 2147483647

Description:

Used to configure the maximum negative velocity at which the system can operate.

Unit: N/A

Unit: rpm

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9.20.6 0x6048 vl_velocity_acceleration

This object is used to configure the delta speed and delta time of the slope of the acceleration ramp.

Example: To ramp to 1000 rpm in 5s, possible values for delta speed and delta time are 10000 and 50 respectively.

vl_velocity_acceleration = delta speed / delta time

Table 9-85 0x6048 vl_velocity_acceleration

0x6048 vl_velocity_acceleration

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: The number of sub-indices in this object. Sub-index 1

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: rpm

Default: 1000

The value of delta speed is given in rpm if the

Description:

vl_dimension_factor and the vl_setpoint_factor have the value 1, otherwise the value is in user units.

Sub-index 2

Access: RW

Range: 0 to 65535

Size: Unsigned 16

Unit: s

Default: 2 Description: The value of delta time is given in seconds.

9.20.7 0x6049 vl_velocity_deceleration

This object is used to configure the delta speed and delta time of the slope of the deceleration ramp.

Example: To decelerate by 800 rpm in 10s, possible values for delta speed and delta time are 8000 and 100 respectively.

vl_velocity_deceleration = delta speed / delta time

Table 9-86 0x6049 vl_velocity_deceleration

0x6049 vl_velocity_deceleration

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: The number of sub-indices in this object. Sub-index 1

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: rpm

Default: 1000

The value of delta speed is given in rpm if the

Description:

vl_dimension_factor and the vl_setpoint_factor have the value 1, otherwise the value is in user units.

Sub-index 2

Access: RW

Range: 0 to 65535

Size: Unsigned 16

Unit: s

Default: 2 Description: The value of delta time is given in seconds.

9.20.8 0x604A vl_velocity_quick_stop

This object is used to configure the delta speed and delta time of the slope of the deceleration ramp for quick stop.

Example: To decelerate by 800 rpm in 10 s, possible values for delta speed and delta time are 8000 and 100 respectively.

vl velocity deceleration = delta speed / delta time

Table 9-87 0x604A vl_velocity_quick_stop

0x604A vl_velocity_quick_stop

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: The number of sub-indices in this object. Sub-index 1

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: rpm

Default: 1000

The value of delta speed is given in rpm if the

Description:

vl_dimension_factor and the vl_setpoint_factor have the value 1, otherwise the value is in user units.

Sub-index 2

Access: RW

Range: 0 to 65535

Size: Unsigned 16

Unit: s

Default: 2 Description: The value of delta time is given in seconds.

9.20.9 0x604B vl_setpoint_factor

This object is used to configure the numerator and denominator of the vl_setpoint_factor. The vl_setpoint_factor modifies the resolution or directing range of the specified setpoint. It does not influence the velocity limit function and the ramp function. A value of 0 must not be used.

Table 9-88 0x604B vl_setpoint_factor

0x604B vl_setpoint_factor

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: The number of sub-indices in this object. Sub-index 1

Access: RW

Range: -32768 to +32767

Size: Signed 16 Unit: N/A

Default: 1 Description: vl_setpoint_factor numerator (a value of 0 is not valid). Sub-index 2

Access: RW

Range: -32768 to +32767

Size: Signed 16 Unit: N/A

Default: 1 Description: vl_setpoint_factor denominator (a value of 0 is not valid).

9.20.10 0x604C vl_dimension_factor

This object is used to configure the numerator and denominator of the vl_dimension_factor. The vl_dimension_factor is used to scale the user units so that they can be used in a way that relates to the specific application.

Calculating the vl_dimension_factor:

Every user-specific velocity consists of a specific unit referred to as a specific unit of time (e.g. 1/s, bottles/min, m/s,...). The purpose of the vl_dimension_factor is to convert this specific unit to the revolutions/ minute unit. A value of 0 must not be used.

Velocity [user-defined unit] / Dimension factor [rpm/user-defined unit] = Veloc ity [r pm ]

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Table 9-89 0x604C vl_dimension_factor

0x604C vl_dimension_factor

Sub-index 0

Access: RO Range: N/A

Size: Unsigned 8

Unit: N/A

Default: 2 Description: The number of sub-indices in this object. Sub-index 1

Access: RW

Range: -32768 to +32767

Size: Signed 16 Unit: N/A

Default: 1 Description: vl_dimension_factor numerator (a value of 0 is not valid). Sub-index 2

Access: RW

Range: -32768 to +32767

Size: Signed 16 Unit: N/A

Default: 1

Description:

vl_dimension_factor denominator (a value of 0 is not valid).

The vl_target_velocity object is re-read every new profile cycle. It is scaled to appropriate units using the vl_dimension_factor and vl_setpoint_factor objects and then written to the drive preset reference 1 parameter (Pr 1.21).

The object vl_velocity_min_max is handled every profile cycle. The

vl_target_velocity is limited according to the values set in the object vl_velocity_min_max, which is read every profile cycle. The object vl_velocity_min_max_amount is mapped to vl_velocity_min_max.

The value of the vl_velocity_demand object is calculated in the background. The option reads the value of parameter Pr 2.01 (post ramp reference), scaled from RPM to user units using vl_dimension_factor and vl_setpoint_factor, and writes the value to the vl_velocity_demand object.

On a closed-loop drive, the speed feedback is read from the drive internally every profile cycle, scaled to the same units as vl_target_velocity and written to the vl_velocity_actual_value object. On an open-loop drive, the estimated motor speed is read from Pr 5.04 (motor RPM) in the background, scaled to the units of vl_target_velocity and written to the vl_velocity_actual_value object.

The vl_velocity_acceleration and vl_velocity_deceleration objects are handled in the background. They are read, scaled to drive acceleration units (depending on the drive operating mode), and written to the drive acceleration rate and deceleration rate presets. In addition, if the drive acceleration rate preset is changed, the vl_velocity_acceleration object is updated, and if the drive deceleration rate preset is changed (Pr 2.21), the vl_velocity_deceleration object is updated.

9.21 Profile torque mode

The profile torque mode is supported on the drive. In closed-loop servo mode, this mode operates on the profile cycle time, using the drives internal torque shortcut (which is read by the drive every 250 µs). When using profile torque mode object 0x604A vl_velocity_quick_stop will be used in the event of a quick stop (also for quick stop option codes 2 and 6 the 0x6049 vl_velocity_deceleration object will be used). Table 9-90 shows the objects that are supported:

Table 9-90 Profile torque mode supported objects

Index Name

0x6071 Target_torque 0x6075 Motor_rated_current 0x6078 Current_actual_value 0x6087 Torque_slope

9.21.1 0x6071 Target_torque

This object indicates the configured input value for the torque controller in profile torque mode. The value of this object is given per thousand of rated torque.

Table 9-91 0x6071 Target_torque

0x6071 Target_torque

Access: RW

Range: -32768 to +32767

Size: Signed 16

Unit: 0.1 % of rated torque

Default: 0

Description:

Indicates the configured input value for the torque controller in profile torque mode.

9.21.2 0x6075 Motor_rated_current

This object indicates the configured motor rated current. It is taken from the motor’s name-plate. Depending on the motor and drive technology this current is DC, peak or rms (root-mean-square) current. All relative current data refers to this value. The value of this object is given in mA.

Table 9-92 0x6075 Motor_rated_current

0x6075 Motor_rated_current

Access: RO

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: mA

Default: 0 Description: Indicates the configured motor rated current (Pr 5.07).

9.21.3 0x6078 Current_actual_value

This object provides the actual value of the current. It shall correspond to the current in the motor. The value of this object is given per thousand of rated current.

Table 9-93 0x6078 Current_actual_value

0x6078 Current_actual_value

Access: RO

Range: -32768 to +32767

Size: Signed 16

Unit: 0.1 % of

rated current Default: 0 Description: Provides the actual value of the current.

9.21.4 0x6087 Torque_slope

This object indicates the configured rate of change of torque. The value of this object is given in units of per thousand of rated torque per second.

Table 9-94 Torque_slope

0x6087 Torque_slope

Access: RW

Range: 0 to

0xFFFFFFFF Default: 0 Description: Indicates the configured rate of change of torque.

Size: Unsigned 32

Unit: 0.1 % of rated torque per second

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Homing method

Statusword (6041 )

Position demand value (6062 )

Controlword (6040 )

Homing method (6098 )

Homing Speeds (6099 )

Homing acceleration (609A )

Home offset (607C )

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9.22 Homing mode

This section describes the method by which a drive seeks the home position (also called, the datum, reference point or zero point).

Figure 9-10 shows the defined input objects as well as the output objects. The user may specify the speeds, acceleration and the method of homing. There is a further object named home offset, which allows the user to displace zero in the user's coordinate system from the home position.

There is no output data except for those bits in the statusword, which return the status or result of the homing process and the demand to the position control loops.

Figure 9-10 Homing mode function

By choosing a homing method the following behavior is determined: The homing signal (positive limit switch, negative limit switch, home switch), the direction of actuation and where appropriate the position of the index pulse.

An encircled number in Figure 9-11 to Figure 9-18 indicates the code for selection of this homing position. The direction of movement is also indicated.

There are four sources of homing signal available: These are the negative and positive limit switches, the home switch and the index pulse from an encoder.

In the diagrams of homing sequences in Figure 9-11, the encoder count increases as the axis's position moves to the right, in other words the left is the minimum position and the right is the maximum position.

There are two digital inputs on the front of the EtherCAT interface that can be used in Homing Mode, more information is given in the following section.

9.22.1 General homing definitions

Method 1: Homing on negative limit switch and index pulse

Using this method as shown in Figure 9-11, the initial direction of movement shall be leftward if the negative limit switch is inactive (here: low). The home position shall be at the first index pulse to the right of the position where the negative limit switch becomes inactive.

Figure 9-11 Homing on negative limit switch and index pulse

Figure 9-12 Homing on positive limit switch and index pulse

Method 3 and 4: Homing on positive home switch and index pulse

Using these methods as shown in Figure 9-13, the initial direction of movement shall be dependent on the state of the home switch.

The home position shall be at the index pulse either to the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement shall reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 9-13 Homing on positive home switch and index pulse

Method 5 and 6: Homing on negative home switch and index pulse

Using these methods as shown in Figure 9-14, the initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the index pulse either to the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement shall reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 9-14 Homing on negative home switch and index pulse

Method 2: Homing on positive limit switch and index pulse

Using this method as shown in Figure 9-12, the initial direction of movement shall be rightward if the positive limit switch is inactive (here: low). The position of home shall be at the first index pulse to the left of the position where the positive limit switch becomes inactive.

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Method 7 to 14: Homing on home switch and index pulse

These methods use a home switch, which is active over only a portion of the travel; in effect the switch has a 'momentary' action as the axis's position sweeps past the switch. Using the methods 7 to 10, the initial direction of movement shall be to the right, and using methods 11 to 14 the initial direction of movement shall be to the left except if the home switch is active at the start of the motion. In this case the initial direction of motion shall be dependent on the edge being sought. The home position shall be at the index pulse on either side of the rising or falling edges of the home switch, as shown in Figure 9-15 and Figure 9-16. If the initial direction of movement leads away from the home switch, the drive shall reverse on encountering the relevant limit switch.

Figure 9-15 Homing on home switch and index pulse - positive

initial motion

Figure 9-17 Homing on positive home switch

Method 31 and 32: Reserved

These methods are reserved.

Method 33 and 34: Homing on index pulse

Using these methods, the direction of homing is negative or positive respectively. The home position shall be at the index pulse found in the selected direction as shown in Figure 9-18.

Figure 9-18 Homing on index pulse

Figure 9-16 Homing on home switch and index pulse - negative

initial motion

Method 15 and 16: Reserved

These methods are reserved.

Method 17 to 30: Homing without index pulse

These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 9-17.

Method 35: Homing on index pulse

In this method, the current position shall be taken to be the home position. This method does not require the drive device to be in operational enabled state.

Use of controlword and statusword

The homing mode uses some bits of the controlword and the statusword for mode-specific purposes. Table 9-95 defines the values for bits 4 and 8 of the controlword.

Table 9-95 Definition of bits 4 and 8 of the controlword

Bit Value Definition

0 Do not start homing procedure. 1 Start or continue homing procedure. 0 Enable bit 4. 1 Stop axis according to halt option code (0x605D).

Table 9-96 Definition of bits 10 and 12 of the statusword

Bit 12 Bit 10 Definition

0 0 Homing procedure is in progress. 0 1 Homing procedure is interrupted or not started. 1 0 Homing is attained, but target is not reached. 1 1 Homing procedure was completed successfully. 0 0 Homing error occurred, velocity is not 0. 0 1 Homing error occurred, velocity is 0. 1 X Reserved.

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9.22.2 Homing mode object definitions

0x2803 Homing source

This object indicates the configured source of the homing switch used during the homing procedure. Table 9-97 specifies the object description.

Table 9-97 Homing source

0x2803 Homing source

Sub-index 0

Access: RO Range: N/A

Size:

Unsigned 8 Default: 2 Description: The number of the last sub-index in this object. Sub-index 1 Access:

Range: 1 to 8

Size:

Unsigned 8 Default: 5 Description: The source of the homing switch. This will specify a digital

input as follows: 1 to 6 - The number of a drive digital input 7 to 8 - EtherCAT interface digital input 0 or 1

Sub-index 2 Access:

Range: 0 to 1

Size: Unsigned

8 Default: 0 Description: Use the feedback source freeze for homing. This will

cause the freeze from the selected feedback device to be used instead of the index (marker) pulse when it is required during homing.

0x2804 Freeze object

This object is used to configure the freeze function that can be used within the Homing mode profile. Table 9-98 specifies the object description.

Table 9-98 Freeze object

0x2804 Freeze object

Sub-index 0

Access: RO Range: N/A

Size:

Unsigned 8 Default: 2 Description: The number of the last sub-index in this object. Sub-index 1 Access:

Range: 0 to 1

Size:

Unsigned 8 Default: 0 Description: Route the option freeze onto the drive. Setting a value of 1

here will route the option digital input 0 onto the drive freeze line. Sub-index 2 Access:

Range: 0 to 1

Size:

Unsigned 8 Default: 0 Description: Option to drive freeze invert. Setting a value of 1 will invert

the freeze signal routed onto the drive from the option input 0 (if 0x2804, sub-index 1 is set to 1). This value will be read only on a transition from 0 to 1 in sub-index 1.

0x607C Home offset

This object indicates the configured difference between the zero position for the application and the machine home position (found during homing). During homing the machine home position is found and once the homing is completed, the zero position is offset from the home position by adding the home offset to the home position. All subsequent absolute moves shall be taken relative to this new zero position. This is illustrated in Figure 9-19. The value of this object shall be given in user-

Unit: N/A

defined position units. Negative values indicate the opposite direction.

Figure 9-19 Home offset definition

Table 9-99 Home offse

0x607C Home offset

Unit: Userdefined position units

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Signed 32

Default: 0 Description: Homing offset value.

0x6098 Homing method

This object indicates the configured homing method that shall be used. Table 9-100 specifies the object description, and Table 9-101 specifies the value ranges for this object.

Table 9-100 Homing method

0x6098 Homing method

Access: RW Range: 0 - 35

Size: Unsigned 8

Unit: N/A

Default: 0 Descriptio

The homing method that shall be used.

Table 9-101 Homing method values

Value Definition

0 No homing method assigned 1 Method 1 shall be used

to 34 Method 34 shall be used 35 Method 35 shall be used

0x6099 Homing speeds

This object indicates the configured speeds used during the homing procedure. The values shall be given in user-defined velocity units. Table 9-102 specifies the object description.

Table 9-102 Homing speeds

0x6099 Homing speeds

Sub-index 0 Access: RO Range: 2 Size: Signed 8 Unit: N/A Default: 2 Description: The number of the last sub-index in this object. Sub-index 1 Access:

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 0 Description: Speed during search for a switch. Sub-index 2 Access:

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

Unit: N/A

Default: 0 Description: Speed during search for a zero.

0x609A Homing acceleration

This object indicates the configured acceleration and deceleration to be used during the homing operation. The value shall be given in userdefined acceleration units. Table 9-103 specifies the object description.

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Interrupt 1 cycle time

500μs

Drive synchronization waveform

Control loop cycles

Profile cycles

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Table 9-103 Homing acceleration

0x609A Homing acceleration

Unit: User-

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Unsigned 32

defined acceleration units

Default: 0

Description:

Indicates the configured acceleration and deceleration to be used during homing operation.

9.23 Cyclic sync position mode

Cyclic sync position mode is supported in servo mode.

Table 9-104 Cyclic sync position mode

Index Name

0x6077 torque_actual_value 0x607A target_position 0x60B1 velocity_offset

0x60C2 interpolation_time_period

When using one of the DSP-402 positioning modes, Distributed Clocks must be enabled. Failure to do so may result in the EtherCAT interface going into the SAFE-OPERATIONAL state (Pr 17.04 = 4).

Cyclic sync position mode provides linear interpolation which will always insert a delay of one position command. The time specified must always be an integer multiple of the control loop cycle time. The time period index has a minimum value of -6 (i.e. the smallest time unit will be microseconds). The time period is checked to ensure that it an integer multiple of the control loop cycle time.

A velocity feed forward will be calculated for the position controller. On each interpolator time period, a value is read from the target_position object. The correct number of data points for linear interpolation is stored internally. When a new target position is loaded in, the oldest position command in the data set will be discarded.

9.23.1 0x6077 Torque_actual_value

This object provides the actual value of the torque. It shall correspond to the instantaneous torque in the motor. The value is given per thousand of rated torque.

Table 9-105 Torque actual value

0x6077 Torque actual value

Access: RO

Default: 0 Description: Provides the actual value of the torque.

Range: -32768 to +32767

Size: Signed 16

Unit: 0.1% of rated torque

Table 9-107 Velocity offset

0x60B1 Velocity offset

Unit: Userdefined velocity units

Access: RW

Range: 0 to 0xFFFFFFFF

Size: Signed 32

Default: 0 Description: Provides the offset for the velocity value.

9.24 Advanced features

9.24.1 Distributed Clocks

The EtherCAT interface supports Distributed Clocks. This is the scheme used by EtherCAT to accurately time synchronize slave devices. Position, speed and current control loops can all be synchronized.

When the EtherCAT interface is connected to a drive which can take a time synchronization signal, the EtherCAT Distributed Clocks facility can be used to provide this signal so the drive speed and current tasks are synchronized to the network. The position controller, and appropriate motion features will also be synchronized to the drive speed task.

In CoE interpolated position mode the position command provided by the master every interpolation cycle time is used to generate a position command for the drive every 250 µs.

9.24.2 Time synchronization support

The time between edges of the drive synchronization square wave (referred to as the drive synchronization interval) will be an integer multiple of 250 µs (up to a maximum value of 15 ms).

The position controller will be executed at the interval defined in the Distributed Clock settings, if Distributed Clocks is disabled the controller will execute each 250 µs. When the profile torque or velocity control mode is used with Distributed Clocks enabled, a new profile cycle will be started every sync interval in the control loop cycle starting at the sync signal edge as shown in Figure 9-20. This will be referred to as a profile cycle. When Distributed Clocks are not enabled, a new profile cycle will be started every 250 µs.

Figure 9-20 Profile Cycle Timing

9.23.2 0x607A Target_position

This object indicates the commanded position that the drive should move to in cyclic sync position mode using the current settings of motion control parameters such as velocity, acceleration, deceleration, motion profile type etc. The value of this object is given in user-defined position units.

Table 9-106 Target position

0x607A Target position

Access: RW

Default: N/A

Description:

9.23.3 0x60B1 Velocity offset

This object provides the offset for the velocity value. The offset is given

Indicates the command positions that the drive should move to in cyclic sync position mode.

in user defined velocity units. In cyclic synchronous position mode this object contains the input value for velocity feed forward.

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Range: 0 to 0xFFFFFFFF

Size: Signed 32

Unit: User-defined position units

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It is expected that most systems will have the interpolation cycle time equal to the drive synchronization interval. An interpolation cycle is referred to as a profile cycle. The inter-operation between a profile cycle when interpolation position mode is being used and the drive synchronization interval is described as follows:

1. Interpolation cycle time = drive synchronization interval. In this case, each new interpolation cycle will be synchronized to the drive synchronization interval. Interpolation will be performed in each of the subsequent control loop cycles until the next sync signal edge.

Command and feedback values which are handled cyclically will be read at defined times in the cycle. Command values handled/used every cycle (profile or control loop) will be cached from the object dictionary in the 90 µs period at the beginning of that cycle.

Any feedback values read during a cycle will be scaled as appropriate in that cycle, cached, and then written during the 90 µs period at the beginning of the next cycle. Feedback values that change internally between control loop cycles (but whose objects are only updated every profile cycle) will be read from the last control loop cycle in the profile cycle.

PDO data will be copied to and from the object dictionary (from and to the sync manager memory areas) in the 90 µs period at the beginning of every profile cycle. PDO data mapped to drive parameters (but not SMApplications PLC parameters or other parameters accessed using InterOption Communications), will be written to those parameters in the 90 µs period at the beginning of every control loop cycle.

9.24.3 EtherCAT interface protocol support

The following are supported:

• Four Sync Managers. Two are used for the Mailbox Protocol (noncyclic data) and two are used for process data (cyclic data)

• Distributed Clocks

• CANopen over EtherCAT (CoE)

• Ethernet over EtherCAT (EoE)

• CMP protocol through Modbus RTU

9.24.4 Menu 61 - General The EtherCAT interface

Set-up

Parameter 1.00 shortcut

Table 9-108 Parameter 1.00 shortcut

Parameter 1.00 shortcut

Default 0

Pr 61.01

Range 0 to 32767 Access RW

This Parameter can be used as a shortcut to Pr 1.00 as DSP-402 objects do not permit access to parameter zero.

9.24.5 Drive synchronization control

Table 9-109 Drive synchronization control

Drive synchronization control

Default 1

Pr 61.03

Range 0 to 2 Access RW

Table 9-110 Synchronization control values

Value Description

Independent.

The EtherCAT interface should not try to become synchronization master to the drive.

Master with sync. The EtherCAT interface should try to become synchronization

master to the drive only when fieldbus specific synchronization has been achieved.

Master always.

The EtherCAT interface should always try to become synchronization master to the drive.

9.24.6 Inter-option module synchronization control

Table 9-111 Inter-option module synchronization control

Inter-option module synchronization control

Default 1

Pr 61.04

Range 0 to 2 Access RW

Table 9-112 Inter-option module synchronization control values

Value Description

Independent.

The EtherCAT interface should not try to become synchronization master to other EtherCAT interfaces.

Master with sync. The EtherCAT interface should try to become

synchronization master to other EtherCAT interfaces only when fieldbus specific synchronization has been achieved.

Master always.

The EtherCAT interface should always try to become synchronization master to other EtherCAT interfaces.

9.24.7 Inter-option clock synchronization control

Table 9-113 Inter-option clock synchronization control

Inter-option clock synchronization control

Default 0

Pr 61.05

This parameter provides control of the inter-option module clock synchronization mechanism.

Table 9-114 Inter-option clock synchronization control values

Value Description

Independent. The EtherCAT interface should not try to be come

synchronization master to clocks in other EtherCAT interfaces.

Master. The EtherCAT interface should try to become

synchronization master to clocks in other EtherCAT interfaces.

Slave. The EtherCAT interface should become a

synchronization slave to clocks in another EtherCAT interfaces.

Range 0 to 2 Access RW

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9.24.8 Option slot indicator

Table 9-115 Option slot indicator

Option slot indicator

Default 0

Pr 61.07

Range 0 to 3 Access RO

The parameter displays the number of the option slot on the drive that the EtherCAT interface is connected to. The values for the slots are 1, 2 and 3. The EtherCAT interface is located in slot 3.

9.24.9 Option hardware issue

Table 9-116 Option hardware issue

Option hardware issue

Default 0

Pr 61.40

Range 0 to 255 Access RO

The parameter displays the hardware revision number of the The EtherCAT interface.

9.24.10 500 ms Task % free

Table 9-117 500 ms Task % free

500 ms Task % free

Default 0

Pr 61.42

Range 0 to 100 Access RO

This parameter indicates what percentage of the 500 ms system task is unused and still available.

9.24.11 External memory % free

Table 9-118 External memory % free.

External memory % free

Default 0

Pr 61.43

Range 0 to 100 Access RO

This parameter indicates what percentage of the external memory is unused and still available.

9.24.12 Internal memory % free

Table 9-119 Internal memory % free

Internal memory % free

Default 0

Pr 61.44

Range 0 to 100 Access RO

This parameter indicates what percentage of the internal memory is unused and still available.

9.24.13 EtherCAT interface error sub-code

Table 9-120 EtherCAT interface error sub-code

EtherCAT interface error sub-code

Default 0

Pr 61.49

This parameter provides more detailed information of the cause of the current EtherCAT interface error.

Range 0 to 255 Access RO

9.24.14 Bootloader software version

Table 9-121 Bootloader software version

Bootloader software version (XX.YY)

Default 0

Pr 61.50

Range 0 to 9999 Access RO

9.24.15 Bootloader software sub-version

Table 9-122 Bootloader software sub-version

Bootloader software subversion (ZZ)

Default 0

Pr 61.51

Range 0 to 99 Access RO

These parameters provide the XX.YY and ZZ parts of the bootloader firmware version number while the main application is running.

9.25 Advanced cyclic data configuration

This configuration will allow the behavior of the cyclic data handling to be modified; specifically, it will allow the tasks in which cyclic data is handled to be changed.

Table 9-123 Out cyclic data configuration

0x2820

Sub-index 0

Access: RO Range:N/A Size: Unsigned 8 Unit:N/A Default: 2 Description: The number of the last sub-index in this object.

Sub-index 1

Access: RW Range: 0 to 2 Size: Unsigned 8 Unit:ms Default: 0 Description: High priority cyclic data task; selects the task in which

Sub-index 2

Access: RW Range: 0 to 2 Size: Unsigned 8 Unit:N/A Default: 2 Description: Intermediate buffer copy task. Selects the task in which

Out cyclic data configuration

high priority out (master to slave) cyclic data is copied between the intermediate buffer and the mapped objects, parameters, etc. 0 – Critical task (default). This is the first 90 μs of the critical task. 1 – Critical+90 task. This is the task that commences 90μs after the critical task start, and finishes before the next critical task. 2 – Sync Manager task. This is the AL event task which occurs upon a sync manager access.

the high priority out (master to slave) cyclic data is copied into the intermediate buffer. 0 – Critical task. This is the first 90 μs of the critical task. 1 – Critical+90 task. This is the task that commences 90μs after the critical task start, and finishes before the next critical task. 2 – Sync Manager task (default). This is the AL event task which occurs upon a sync manager access.

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Table 9-124 In cyclic data configuration

0x2821

In cyclic data configuration

Sub-index 0

Size

Access: RO Range:N/A

Unsigned 8 Unit: N/A

Default: 2 Description: The number of the last sub-index in this object.

Sub-index 1

Size

Access: RW Range: 0 to 2

Unsigned 8 Unit:ms

Default: 1 Description: High priority cyclic data task; selects the task in which

high priority in (slave to master) cyclic data is copied between the intermediate buffer and the mapped objects, parameters, etc. 0 – Critical task. This is the default task. This is the first 90μs of the critical task. 1_Critical+90 task (Default). This is the task that commences 90μs after the critical task start, and finishes before the next critical task. 2 – Sync Manager task (default). This is the AL event task which occurs upon a sync manager access.

Sub-index 2

Size

Access: RW Range: 0 to 2

Unsigned 8 Unit:N/A

Default: 1 Description: Intermediate buffer copy task. Selects the task in which

the high priority in (slave to master) cyclic data is copied into the intermediate buffer. 0 – Critical task. This is the first 90μs of the critical task. 1_Critical+90 task (Default). This is the task that commences 90μs after the critical task start, and finishes before the next critical task. 2 – Sync Manager task (default). This is the AL event task which occurs upon a sync manager access.

9.26 Internal shortcuts

Internal shortcuts are provided for very fast operation. It is not possible to read the values non-cyclically; they can only be accessed at certain parts of the cycle in order to read and write correct values.

Table 9-125 Internal position feedback shortcut

0x2830

Sub-index 0

Access: RO Range:

Default: 0 Description: This value is the drive feedback source. It consists of the

Table 9-126 Internal torque shortcut

0x2831

Sub-index 0

Access: RW Range:N/A Size:

Default: 0

Description:

Internal position feedback shortcut

-2 Size: Signed 32 Unit: Counts

-1

coarse position in the most significant 16 bits and the fine position in the least significant 16 bits. It will then have a number of turns bits shifted into the most significant bits (“pushing” as many fine position bits as required out). This should not be read in the first 90 μs after the RMINT edge, because data skew may result.

Internal torque shortcut

Signed 16

Unit:

0.01 % rated torque

This represents the drive internal torque shortcut, scaled to 0.01 % units.

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9.27 Quick reference

Table 9-127 and Table 9-129 list of all the EtherCAT interface set-up objects and parameters that are required to configure the module.

Table 9-127 EtherCAT interface objects reference

Object Name Description Cross reference

0x1000 Device type Specifies the device profile being used (DSP-402). 0x1018 Identity object Contains the EtherCAT interface specific identity information. 0x1600 Receive PDO mapping 1 Contains the mapping information for receive PDO mapping 1. 0x1601 Receive PDO mapping 2 Contains the mapping information for receive PDO mapping 2. 0x1605 Receive PDO mapping 6 Contains the mapping information for receive PDO mapping 6.

0x1615 Receive PDO mapping 22 Contains the mapping information for receive PDO mapping 22. 0x1A00 Transmit PDO mapping 1 Contains the mapping information for transmit PDO mapping 1. 0x1A01 Transmit PDO mapping 2 Contains the mapping information for transmit PDO mapping 2. 0x1A02 Transmit PDO mapping 3 Contains the mapping information for transmit PDO mapping 3. 0x1A05 Transmit PDO mapping 6 Contains the mapping information for transmit PDO mapping 6. 0x1A15 Transmit PDO mapping 22 Contains the mapping information for transmit PDO mapping 22.

0x1C00

0x1C10

0x1C11

0x1C12

0x1C13

Sync manager communication type

Sync manager 0 PDO assignment

Sync manager 1 PDO assignment

Sync manager 2 PDO assignment

Sync manager 3 PDO assignment

This read-only object provides sync manager usage details.

This read-only object contains information relating to the non-cyclic receive mailbox.

This read-only object contains information relating to the non-cyclic send mailbox.

Contains the currently in use receive PDOs.

Contains the currently in use transmit PDOs.

0x2802 Feedback encoder source Specifies the source position for position controller feedback. Section 9.16.5 on page 79

0x2803 Homing source

0x2804 Freeze object

Indicates the configured source of the homing switch used during the homing procedure.

Used to configure the freeze function that can be used within the

Homing mode profile. 0x2813 Network loss behavior object Used to configure the network loss trip behavior (watchdog). Section 14.5 on page 200 0x2820 Out cyclic data configuration The number of the last sub-index in this object 0x2821 In cyclic data configuration The number of the last sub-index in this object

This value is the drive feedback source. It consists of the coarse

position in the most significant 16 bits and the fine position in the

least significant 16 bits.

It will then have a number of turns bits shifted into the most

significant bits (“pushing” as many fine position bits as required out).

0x2830

Internal position feedback shortcut

This should not be read in the first 90 μs after the RMINT edge,

because data skew may result.

0x2831 Internal torque shortcut

This represents the drive internal torque shortcut scaled to 0.01 %

units.

0x603F Error code Indicates the current drive error code. Section 14.10 on page 201

0x6040 Controlword Provides the primary method of controlling the behavior of the drive. Section 9.18.1 on page 81 0x6041 Statusword This provides feedback about the current operating state of the drive. Section 9.18.2 on page 82 0x6042 vl_target_velocity Used to set the required velocity of the system. Section 9.20.1 on page 88

0x6043 vl_velocity demand

Provides the instantaneous velocity demand generated by the drive

ramp function. 0x6044 vl_velocity_actual value Provides the velocity at the motor spindle or load. Section 9.20.3 on page 88 0x6046 vl_velocity_min max_amount This object is used to configure the minimum and maximum velocity. Section 9.20.4 on page 88 0x6047 vl_velocity_min max This object is used to configure the minimum and maximum velocity. Section 9.20.5 on page 88

0x6048 vl_velocity acceleration

0x6049 vl_velocity deceleration

0x604A vl_velocity_quick stop

0x604B vl_setpoint factor

This object is used to configure the delta speed and delta time of the

slope of the acceleration ramp.

This object is used to configure the delta speed and delta time of the

slope of the deceleration ramp.

This object is used to configure the delta speed and delta time of the

slope of the deceleration ramp for quick stop.

This object is used to configure the numerator and denominator of

the vl_setpoint_factor.

Section 9.16.1 on page 76

Section 9.16.2 on page 77

Section 9.16.4 on page 79

Section 9.22.2 on page 93

Section 9.25 on page 96

Section 9.26 on page 97

Section 9.20.2 on page 88

Section 9.20.6 on page 89

Section 9.20.7 on page 89

Section 9.20.8 on page 89

Section 9.20.9 on page 89

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Object Name Description Cross reference

0x604C vl_dimension_factor

0x605A Quick_stop option_code

0x605B Shutdown_option code

0x605C Disable operation_optioncode

0x605E Fault_reaction option_code

This object is used to configure the numerator and denominator of the vl_dimension_factor.

Specifies what action is performed in the event of a quick stop function

Used to control what action is performed if there is a transition from the Operation Enabled state to the Ready To Switch On state.

This object is used to control what action is performed if there is a transition from the Operation Enabled state to the Switched On state.

This object is used to control what action is performed when a fault is detected.

Section 9.20.10 on page 89

Section 9.18.4 on page 84

Section 9.18.5 on page 84

Section 9.18.6 on page 84

Section 9.18.7 on page 84

0x6060 Modes_of operation This object is used to request a change in the mode of operation. Section 9.18.8 on page 84 0x6061 Modes of operation display This read only object is used to provide the active mode of operation. Section 9.18.9 on page 84 0x6062 Position_demand value Used to provide the currently demanded position value. Section 9.18.17 on page 86

0x6064 Position_actual value

0x6071 Target_torque

This read only object provides the actual value of the position feedback device.

This object indicates the configured input value for the torque controller in profile torque mode.

Section 9.18.18 on page 86

Section 9.21.1 on page 90

0x6075 Motor_rated_current This object indicates the motor rated current. Section 9.21.2 on page 90 0x6077 Torque_actual_value This object provides the actual torque value Section 9.23.1 on page 94 0x6078 Current_actual_value This object provides the actual value of the current. Section 9.21.3 on page 90

0x607A Target_position

Indicates the command positions that the drive should move to in cyclic sync position mode.

Section 9.23.2 on page 94

this object indicates the configured difference between the zero

0x607C Home offset

position for the application and the machine home position (found

Section 9.20.7 on page 89

during homing).

0x6080 Max motor speed

This object indicated the configured maximum allowed speed for the motor in either direction.

Section 9.18.19 on page 86

0x6084 Profile deceleration Provides the deceleration ramp for the positioning modes Section 9.18.10 on page 85

This object is used to configure the deceleration rate used to stop the

0x6085 Quick_stop deceleration

motor when the quickstop function is activated and the quick stop

Section 9.18.11 on page 85

code object (0x605A) is set to 2 or 6.

0x608F Position_encoder resolution

This read only object indicates the configured encoder increments per number of motor revolutions.

Section 9.18.13 on page 85

0x6091 Gear_ratio This object is used to apply scaling. Section 9.18.14 on page 85 0x6092 Feed_constant This is used to configure a feed constant. Section 9.18.15 on page 86

0x6098 Homing Method

0x6099 Homing speeds

0x609A Homing acceleration

This object indicates the configured homing method that shall be used.

This object indicated the configured speeds used during the homing procedure.

Indicates the configured acceleration and deceleration to be used during homing operation.

Table 9-100 on page 93

Table 9-102 on page 93

Table 9-103 on page 94

0x60B1 Velocity_offset This object provides the value of the velocity offset. Section 9.23.3 on page 94 0x60F4 Following_error actual_value This read only object provides the actual value of the following error. Section 9.18.20 on page 86

0x60FB

0x60C0

Position_control parameter_set object

Interpolation submode_select

Used to configure the positional control gains. Section 9.18.21 on page 86

Specifies the interpolation type. Section 9.19.1 on page 87

0x60C1 Interpolation data_record This object is used to specify the target position. Section 9.19.2 on page 87 0x60C2 Interpolation time_period The number of time units between interpolator re-starts. Section 9.19.3 on page 87

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Table 9-128 Virtual parameter reference

Parameter Default Description Cross reference

Pr 61.01 0 Parameter 1.00 shortcut Section 9.24.4 on page 95 Pr 61.03 1 Drive synchronization control Section 9.24.5 on page 95 Pr 61.04 1 Inter-option module synchronization control Section 9.24.6 on page 95 Pr 61.05 0 Inter-option clock synchronization control Section 9.24.7 on page 95 Pr 61.07 0 Option slot indicator Section 9.24.8 on page 96 Pr 61.40 0 Option hardware issue Section 9.24.9 on page 96 Pr 61.42 0 500 ms Task % free Section 9.24.10 on page 96 Pr 61.43 0 External memory % free Section 9.24.11 on page 96 Pr 61.44 0 Internal memory % free Section 9.24.12 on page 96 Pr 61.49 0 The EtherCAT interface error sub-code Section 9.24.13 on page 96 Pr 61.50 0 Bootloader software version - major and minor (XX.YY) Section 9.24.14 on page 96 Pr 61.51 0 Bootloader software version -subversion (ZZ) Section 9.24.15 on page 96

Table 9-129 EtherCAT interface parameter reference

Object Description Default Range Cross reference

Pr 17.01 EtherCAT interface ID code 421 - - - - Section 14.4.1 on page 199 Pr 17.02 EtherCAT interface firmware - major and minor version N/A 00.00 to 99.99 Section 14.4.2 on page 199 Pr 17.03 Node address 0 0 to 65535 Section 9.11 on page 75 Pr 17.04 EtherCAT interface RUN 1 1 to 8 Section 9.12 on page 75 Pr 17.06 EtherCAT interface operating status N/A -9999 to 9999 Section 14.6 on page 200 Pr 17.10

Pr 17.11

Pr 17.12 Pr 17.13 Pr 17.14 Pr 17.15 Pr 17.16 Pr 17.17 Pr 17.18 Pr 17.19 Pr 17.20 Pr 17.21

EoE - IP address W EoE - IP address X EoE - IP address Y EoE - IP address Z EoE - Subnet mask W EoE - Subnet mask X EoE - Subnet mask Y EoE - Subnet mask Z

subnet

EoE - Default gateway W EoE - Default gateway X EoE - Default gateway Y EoE - Default gateway Z

0 0 to 255

gateway

Table 9-30 on page 80 Table 9-31 on page 80 Table 9-32 on page 80 Table 9-33 on page 80 Table 9-34 on page 80 Table 9-35 on page 80 Table 9-36 on page 80 Table 9-37 on page 80 Table 9-38 on page 81 Table 9-39 on page 81 Table 9-40 on page 81

Table 9-41 on page 81 Pr 17.32 EtherCAT interface re-initialize 0 (OFF) 0 (OFF) to 1 (ON) Section 9.12 on page 75 Pr 17.35 EtherCAT interface serial number N/A 0 to 16777215 Section 14.9 on page 201 Pr 17.37 Reduce Drive serial interface priority OFF OFF - ON Section 9.17.4 on page 81 Pr 17.44 EtherCAT interface temperature N/A 0 to 255 Section 14.8 on page 201 Pr 17.46 Critical task % free N/A 0 to 100 Pr 17.47 Worst case critical task % free N/A 0 to 100

Section 14.12 on page 203

Pr 17.48 Flash file system % free N/A 0 to 100 Section 14.14 on page 203 Pr 17.50 EtherCAT interface error code N/A 0 to 255 Section 14.10 on page 201 Pr 17.51 EtherCAT interface firmware - subversion N/A 0 to 99 Section 14.4.2 on page 199

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