ADP200
English
Pressure/Flow Control for Hybrid
Injection Molding Machines
User Manual
Changes Index
Data
Author
Description
VER 0.1.
3-3-15
Colombo D.
Draft
VER 0.2
19-3-15
Colombo D.
VER 0.3
1-5-15
Macaccaro A.
ADP200 FW1_0_0 Upd..
VER 0.32
28-5-15
Macaccaro A.
Add. New Draws and Modif (FW1_0_0).
VER 0.4
18-6-15
Mac
Upd new FW
VER 0.421
30-7-15
Mac
Upd new FW and flow/ pres tuning V1_18_37_1
14-9-15
Mac
Upd Last fw FW1_0_1 App V1_x_37_1
19-10-15
Mac
Small corrections
Version 1.1
2-5-16
Brugali
Pag 2: mod. Sw. version; add pars 11080 and 11082 on
menu 5.3 REFERENCEs; renamed par 11066 to Press
TORQUEFF_TUNING. menues.
Version 1.2
31-5-16
Colombo D.
Ch. 5.8, add “GUIDELINES about how to use the
5.1.1
26-7-16
Macaccaro
Brugali
Update chapter 4 Commissioning via GF_eXpress
26-9-16
Brugali – Mac.
Pag 35 corrected pars name ANALOG INPUTS menu;
pag.55 mod text chapter 5.7 SWITCH_GAIN Menu
Version 1.3
20-10-16
Brugali
Add GF_eXpress block diagrams
Version 1.4
30-1-18
Brugali
Variuos minor corrections
Version 1.5
26-3-18
Brugali
Upd fw 2.22.37.0
Add NegSpeed alarm.
Version 1.6
22-11-18
Brugali
ADP200 Version V4_0_0.
section) and 5.8.1 Gain Scheduling Parameter List.
Ramp Acc Coef and 11068 to Speed Ramp Acc Coef.
Removed TORQUEFF_TUNING and
Brugali
GAIN_SCH menu”. Mod Auto Setup description on Menu
PROTECTIONS MENU: new pars 11048 and 11050
Gain Scheduling menu: new pars 11080, 11082, 11084,
11086, 11088, 11090, 11092, 11094, 11096, 11098,
12160, 12162,
Modified Gain schedule and Control block diagrams.
Correct IPAs on SET column (table on “Variable gain”
This manual applies to the hardware and software configurations of the following drives:
ADP200 Version V4_0_0
PID-IMM Application V 2.22.37.0
-----------------------------------------------------------------------------------------------------------------------------Thank you for choosing this Gefran product.
If you have any information that might help us to improve this manual, do not hesitate to contact us at
tecnohelp@gefran.com
.
Before using the product, read the safety instructions section carefully.
Keep the manual in a safe place and available to technical personnel during the product functioning period.
Gefran Drives and Motion Control S.r.l. reserves the right to modify products, data and dimensions without
notice.
The data indicated are provided for the sole purpose of describing the product and must not be considered
as legally binding characteristics.
All rights reserved.
ADP200 Application PID-IMM User Manual Pag. 2 of 80
TABLE OF CONTENTS
1 Introduction ............................................................................................................................................... 4
2 General description .................................................................................................................................. 5
2.1 Description of the control function ....................................................................................................... 9
3 Connection diagrams and system interface ........................................................................................ 10
3.1 Preliminary operations ...................................................................................................................... 10
3.2 Single Pump Analog and digital I/Os configuration ........................................................................... 10
3.3 Single pump configuration via CANopen .......................................................................................... 12
3.4 Multi- Pump configuration via Can interface ..................................................................................... 14
3.4.1 Multi-Pump Convergent Configuration ....................................................................................... 15
3.4.2 Multi - Pump Convergent & Divergent Configuration ................................................................. 16
4 Commissioning via GF_eXpress .......................................................................................................... 17
4.1 General description ........................................................................................................................... 17
4.2 Preliminary operations and PID-IMM application startup (Guided Procedure) ................................. 18
4.3 Drive system parameter mandatory settings .................................................................................... 34
4.3.1 Drive Commands ....................................................................................................................... 35
4.3.2 PID_IMM Basic control Settings ................................................................................................ 37
4.3.3 PID IMM: Pump direction of rotation .......................................................................................... 38
4.3.4 Speed Loop Tuning: ................................................................................................................... 39
4.3.5 Flow and pressure Control Tuning ............................................................................................. 39
5 Application functions List of Parameters ............................................................................................ 40
5.1 Configuration menu ........................................................................................................................... 40
5.1.1 List of parameters for CONFIGURATION MENU ...................................................................... 41
5.2 Protections Menu .............................................................................................................................. 43
5.2.1 List of parameters for PROTECTIONS MENU .......................................................................... 44
5.3 REFERENCEs menu ........................................................................................................................ 46
5.4 BASICRUN menu .............................................................................................................................. 51
5.5 GAIN menu - Pressure and Speed Control Loop .............................................................................. 52
5.5.1 Conversion from application speed gains and drive speed reg gains ....................................... 52
5.5.2 GAIN Tuning .............................................................................................................................. 53
5.5.3 List of Parameters GAIN menu .................................................................................................. 54
5.6 Saturation Limit ................................................................................................................................. 56
5.7 SWITCH_GAIN menu ....................................................................................................................... 57
5.8 GAIN_SCH Gain Scheduling ............................................................................................................ 58
5.8.1 Gain Scheduling Parameter List ................................................................................................ 61
5.9 IO_FILTERS menu ............................................................................................................................ 63
5.9.1 IO_FILTERS parameter list ........................................................................................................ 63
5.10 ADAPT FEED FORW ARD menu .................................................................................................. 65
5.10.1 ADAPT FEEDFORWARD Parameter List ................................................................................. 65
5.11 MULTIPUMP menu ....................................................................................................................... 66
5.11.1 MULTIPUMP parameter list ....................................................................................................... 68
5.12 TUNING menu ............................................................................................................................... 69
5.12.1 TUNING parameter list ............................................................................................................. 70
5.13 CAN Menu ..................................................................................................................................... 71
5.14 MONITORS menu ......................................................................................................................... 74
5.15 ABOUT menu ................................................................................................................................ 76
6 Application Alarm ................................................................................................................................... 77
ADP200 Application PID-IMM User Manual Pag. 3 of 80
1 Introduction
This manual contains all the information necessary for wiring and configuration of a system based on the
application Pressure/Flow Control for hybrid injection molding machines (PID-IMM) for ADP200 drive.
Chapter 2 - "General description" provides information about system characteristics and functions.
Chapter 3 - "Connection diagrams and system interface" illustrates typical connection diagrams and the
command interface for controlling the application via digital I/O or fieldbus.
Chapter 4 - "Commissioning" provides information about installing the application on the ADP200 drive.
Chapter 5 - "Application functions List of Parameters" contains detailed information about application functions,
operating modes and the complete list of system parameters.
Chapter 6 – “Application Alarm” explain all the PID-IMM application alarms.
ADP200 Application PID-IMM User Manual Pag. 4 of 80
2 General description
In conventional hydraulic Injection Molding Machines (IMM) all movements (Mould Closing - Charge - Injection
- Ejection) are controlled by hydraulic actuators. The oil pump determines an output pressure and flow rate in
excess of those actually required by each single machine actuator. Proportional solenoid valves then discharge
the oil in excess to achieve the correct levels.
The aim of hybrid machines is to regulate the flow and pressure of the oil generated by a fixed-displacement
gear pump (P1) driven by a brushless motor (M1) controlled by a drive, as shown in the diagram below, without
the need for a proportional valve.
The pressure in the hydraulic circuit is measured by a transducer (T1) and regulated according to a userdefined value by means of a specific PID controller.
The flow rate is proportional to the rotational speed and displacement of the pump.
Figure 1 General Scheme of an hybrid IMM with servo pump
The flow rate and pressure settings are mutually exclusive, i.e. if the pressure generated is below
requested value the motor is driven at the requested speed, otherwise speed is modulated to limit the pressure
to the set value.
The advantage of hybrid machines is that they save energy. The oil flow and pressure can be adjusted exactly
as required by the machine rather than at higher levels, without having to discharge oil as in conventional
hydraulic machines.
That is why hybrid machines are also referred to as "Servo Energy-Saving IMMs".
Some manufacturers estimated the energy saved by these machines as:
Energy-Saving vs Conventional fixed-pump IMM = saving of 55%
Energy-Saving vs Variable-pump IMM = saving of 17%.
The drive thus receives Flow and Pressure references and the Pressure feedback, as shown in picture below.
ADP200 Application PID-IMM User Manual Pag. 5 of 80
Figure 2 Servo Pump Controller
Machine PLC controls all movements and generates flow rate and pressure commanded profiles, usually
referred to each axis’ position (except for charge – screw), to be sent to drive through analog signals. Also in
conventional systems these references are sent via analog signals to the proportional valves.
The Hybrid IMM PID function can receive flow rate and pressure commands also via fieldbus interface.
On hybrid machines, due to gear pump operating principle, pump speed and consequently generated flow are
in direct proportion.
Figure 3: Hybrid IMM PID block diagram
The diagram below shows a typical pattern of the flow (speed) and pressure references during a complete
machine cycle.
Machine movements are sequentially managed and each axis is selected through directional valves that
open/close the respective hydraulic circuit.
ADP200 Application PID-IMM User Manual Pag. 6 of 80
Step 1: Mould opening
Step 2: Multiple stroke ejection cycle
Step 3: Recycle
Step 4: Mould closing
Step 5: Carriage forward
Step 6: Injection
Step 7: Decompression
Step 8: Charge
Step 9: Carriage back
The Hybrid IMM PID function control single pump and multi pump configurations.
The possible control mode are:
- Single Pump configuration
- Multi pump configuration working in Convergent Mode
- Multi pump configuration working in Convergent & Divergent mode
The multi-pump convergent mode is used on bigger machines (> 300-400 Tons), allows operation of 1 master
pump, controlled by an ADP200 running flow/pressure control, and 1 or more slave (Max. 6 slaves) pumps
that operate speed (flow) control only.
Master pump can activate slave pumps according to flow threshold; slave pump speed is set from master to
slave via CANbus interface.
Figure 4: Multi Pump in Convergent Mode
ADP200 Application PID-IMM User Manual Pag. 7 of 80
The multi-pump in convergent/divergent mode allows, in divergent mode, to use two ADP200 that can operate
independently on 2 different hydraulic circuits for contemporary management of 2 movements.
When operating divergent mode, machine controller must deliver a double flow/pressure profile reference to
the drive, each one operating as a master on its own circuit, with 2 pressure sensors; however, master to slave
speed reference sent via CANbus as in convergent mode is ignored. The switching between Convergent and
divergent mode is managed by machine PLC.
Figure 5: Multi Pump in Convergent & Divergent Mode
ADP200 Application PID-IMM User Manual Pag. 8 of 80
2.1 Description of the control function
Figure 6: General control block diagram
IMM Controller
PID-IMM application control scheme aims to manage pump speed according to flow reference and pressure
feed-back. As simplification, the motor speed is used to control the pump flow rate.
Hereunder the general diagram of the control system:
Input
interface
Input
Parameters
P_Fbk
P_Ref
S_Ref
IMM Control
Parameters
S_Ref
ADP 200
Speed Control
Imot
Speed Control
Parameters
The system architecture is composed by 3 main layers:
• Input interface
• PID-IMM Controller
• ADP200 Speed control
PID-IMM controller is the core of the application. The control needs as input the Pressure feedback measured
from external sensor, the pressure reference and the speed reference. These information are processed by
the reference and the feedback Input interfaces.
The Input Interface gives the user the possibility to set properly the references and the pressure feedback
signals by using different ways (Analog / Digital input output or CANbus Field-bus).
ADP200 Application PID-IMM User Manual Pag. 9 of 80
3 Connection diagrams and system interface
3.1 Preliminary operations
Following operations must be done according to ADP200 Quick Start-Up Guide:
- Drive power connection (AC mains)
- Motor and encoder connection
- Basic motor startup
Note! If motor is already mechanically connected to gear pump, check motor direction of rotation and operate at limited speed
in order to avoid irreversible damage to gear pump itself. Correct motor direction of rotation can be detected following procedure at
section 4.2.3.
3.2 Single Pump Analog and digital I/Os configuration
The example below shows a typical configuration of the digital inputs and outputs of the drive ADP200, in the
basic configuration. Digital input signals can be set as shown in the typical startup procedure(see figure below):
Figure 7: ADP200 Typical Analog & Digital I/O Connections
For special Resolver/Encoder configuration, see ADP200 – QS manual.
The parameter PID_IMM/CONFIGURATION/ 11014 AutoSetup set in the factory configuration all the Analog
I/O. See “Application Function list of Parameters” for a complete description.
Typical (Factory) I/O terminals (Regulation board + I/O expansion)
ADP200 Application PID-IMM User Manual Pag. 10 of 80
Digital Input (T1):
M9 = EN HW - Enable (not programmable)
M8 = DI1 – Start
M4 = DI5 – Fault Reset
Analog Input (T2):
M72 = AIS 0V : Pressure sensor 0V
M71 = AIS 24V : Pressure sensor 24V
M70 = AIS In+ : Analog Input pressure sensor +
M99 (T2) = PE :Shield Pressure sensor cable
M43 = AI1+ : Pressure Reference +
M42 = AI1- : Pressure Reference -
M41 = AI2+ : Flow Reference +
M40 = AI2- : Flow Reference -
M81 = M01+ : Motor protection input +
M80 = M01 - : Motor protection Input –
M99 (T3) = PE :Shield Motor protection cable
Digital Output (T3):
M27 = DO1 : Drive Ready
M26 = DO2 : Drive Ok
Note! If the pressure sensor signal is in current (i.e.. 4-10mA) is necessary to move the selection of Voltage/Current analog input
jumper in the I/O Board.
Here the I/O board jumper for the Analog I/O setting in Voltage/current (OFF = Voltage, ON = Current)
P2: Pressure sensor analog input AIS
P3: Analog Input AI1
P4: Analog Input AI2
P5: Analog Output AO
Figure 8: Analog Input Configuration
ADP200 Application PID-IMM User Manual Pag. 11 of 80
3.3 Single pump configuration via CANopen
Machine
PLC
CANOPEN
FIELDBUS
L H
Gnd
GND
120ohm
ADP200
120ohm
Enable
Start
Fault Reset
Pressure
Sensor
Pressure
Feedback
9
8
70
71
72
With a single pump application (Par [11626] “CANMPActive= Off”) is possible to use the CANopen
interface to communicate between the Machine PLC and the drive (in this mode the drive is a Slave of the
CANopen Communication).
Note that in any case the Analog input for pressure feedback sensor is always necessary.
CANopen communication is enabled via parameter [4000] FieldBus Type in the menu
“COMMUNICATIONS/FIELDBUS CONFIG”. In the same menu you can select the BaudRate and the slave
address (see ADP200-FP manual for detail).
The example below shows a typical configuration, and an assignment of process data on a CANopen interface.
For digital input, the only fixed configuration is that to enable the drive the terminal EN HW must be 24V all the
other digital input should be done via CANopen (Control Word). For analog input, the sensor must be
connected to analog input all other reference can be done via CANopen.
Since process data are assigned in the parameters in the drive COMMUNICATION menu, the settings
described below are applicable regardless of the type of fieldbus used.
In Single Pump configuration process data are configured by the user via Gf-eXpress or Alphanumerical or
Local keypad or a dynamic mapping from master PLC (see example).
Figure 9: ADP200 CANopen PLC master Digital & Analog I/O connection
Typical I/O terminals (Regulation board + I/O expansion)
Digital Input (T1):
Figure 10: ADP200 with PLC CANopen master Bus Connection and termination
M9 = EN HW – (*) Enable (not programmable must be 24V if command done via control word)
M8 = DI1 – (*)Start (optional done with control word)
M6 = DI3 – (*)Fault Reset (Optional done with control word)
ADP200 Application PID-IMM User Manual Pag. 12 of 80
(*) Commands Enable Start and alarm reset can be done using Digital input signals as shown in previous
Bit
Description
Note
0
EnableCmd
Enable command from CANopen master
1
StartCmd
Start command from CANopen master
2
Fault Reset
Fault Reset from CANopen master
3
Free
4
..
..
..
15
Free
Bit
Description
Note
0
EnableState
0 = Drive is disabled 1 = Drive is enabled
1
Drive ready
Drive ready
2
Speed is zero
Speed is zero
3
Fault State
Fault status 4 ..
..
..
15
Free
chapter, or they can be assigned to the control word bits (WORD DECOMP) managed by CANopen.
Analog Input (T2):
M72 = AIS 0V : Pressure sensor 0V
M71 = AIS 24V : Pressure sensor 24V
M70 = AIS In+ : Analog Input pressure sensor +
M99 (T2) = PE :Shield Pressure sensor cable
M81 = M01+ : Motor protection input +
M80 = M01 - : Motor protection Input M99 (T3) = PE :Shield Motor protection cable
Digital Output (T3):
M27 = DO1 : Drive Ready (**)
M26 = DO2 : Drive Ok (**)
(**) Digital output signals can be send to the master via CANopen PDO channel as bit in the ADP200 Status
word (WORD COMP).
Example of FieldBus Configuration at 500K address 3:
Example of assignment of process data:
FieldBus M -> S1: “[11076] FieldBus Press Ref” Pressure Reference from PLC
FieldBus M -> S2: “[11078] FieldBus Speed Ref” Flow Reference from PLC
FieldBus M -> S3: “[4452] WDECOMP” Commands from PLC (Control Word)
FieldBus S -> M1: “[12006]Speed Feedback” Motor Speed
FieldBus S -> M2: ”[12008]Pressure FeedBack” Pressure Feedback
FieldBus S -> M1: “[4432] WCOMP” Status Word to PLC (Status Word)
WORD DECOMP=CONTROL WORD:
WORD COMP = STATUS WORD:
ADP200 Application PID-IMM User Manual Pag. 13 of 80
3.4 Multi- Pump configuration via Can interface
With a multi-pump configuration (Par [11626] “CANMPActive= On”) Can port Is used for Master –Slave
communication.
In the typical configuration, the commands and reference signals between machine PLC and ADP 200 Master
done via Digital & Analog inputs.
Special configuration allow to send the machine commands via CANopen from the machine PLC. In this case
the Drive Can Port is the same for PLC master and Multi-Pump messages and then there are some specific
rule to follow.
For more information contact us at tecnohelp@gefran.com.
Also here user must follow the same connection for CAN-BUS reported in the previous chapter and in the
ADP200 QS (Quick Start) manual.
In this case the process data channel are automatic and done by the drive according to the settings in PID
IMM /CAN menu
For a complete description of the multi-pump configuration see the “Multi-Pump Control” Chapter
Figure 11: ADP200 multi-pump connections
ADP200 Application PID-IMM User Manual Pag. 14 of 80
3.4.1 Multi-Pump Convergent Configuration
PLC (Panel)
DRV0
Master
DRV1
Slave1
DRVn
Slaven
Pressure
Feedback
FluxReference
Enable
PressureReference
Start
CAN CAN CAN
Max 6 Slave
70
40
43
8
9
In multi-pump convergent configuration there is one ADP master running in flow/pressure control and one or
more slave (max 6 Slaves) that work only in flow control.
In this example, the commands and reference signals between machine PLC and ADP 200 Master done via
Digital & Analog inputs.
The application allows the possibility to configure via parameters all the ADP200 for Multi-Pump purposes.
The connection among drives need to be done by using CAN HW layer. The picture reported below shows the
typical connection done on Multi-Pump system for a convergent configuration:
Figure 12: ADP200 Multi-Pump Convergent System
ADP200 Application PID-IMM User Manual Pag. 15 of 80
3.4.2 Multi - Pump Convergent & Divergent Configuration
[11002]
MasterSlave
Drive 2 Dig. Input
Div/Conv = Convergent
Drive 2 Dig. Input
Div/Conv = Divergent
Note
DRIVE 1
Master
Master
Master
DRIVE 2
SlaveDivMaster
Slave 1
DivMaster
DRIVE 3
Slave
Slave 2
Slave 1 (Drive 1 Master)
DRIVE 4
Slave
Slave 3
Slave 2 (Drive 1 Master)
PLC (Panel)
DRV1
Master
DRV2
Slave
(Master1)
DRV3
Slave
DRVn
Slave
FluxReference
Enable
Pressure
Feedback1
PressureReference
Converget/Divergent
Pressure
Feedback
Start
PressureReference1
FluxReference1
CAN
Max 6 Slave
CAN
CAN CAN
70
40
43
8
9
70
40
43
8
9
6
In the Convergent & Divergent configuration, the convergent operation is the same of previous chapter.
In divergent mode, the machine operate with two independent hydraulic circuits and then allows two
independent and contemporary movement in the machine (Ex. Clamp Open and in parallel Ejector
movements). When in divergent mode the machine controller must handle a double flow/pressure profile with
two independent pressure sensor and hydraulic circuits.
Figure 13: ADP200 CANopen Convergent & Divergent Configurations
Example:
The picture reported below DRV2 is in a Convergent & Divergent configuration.
When convergent Drive 1 is the master and all the other drives are slave. When in divergent mode DRV1 is
the first master DRV3 … are the slaves of DRV1. DRV2 become a master and perform an independent
pressure and loop control.
ADP200 Application PID-IMM User Manual Pag. 16 of 80
Figure 14: ADP200 Example Multi-Pump Convergent & Divergent System
4 Commissioning via GF_eXpress
4.1 General description
This section describes a standard application commissioning procedure using a PC with Gefran GF-eXpress
configurator.
The startup with a PC require Gefran GF-eXpress version 1.9.15 or higher and Catalog 2.38.0 or higher
installed, the RS485 - PCI COM connection kit to the drive and the CD to install the Application.
The CD to install the application contains a wizard (automatic procedure) that copies the necessary files to the
folders of the GF-eXpress catalog. The setup files can be download from Gefran web page
http://www.gefran.com/en/gb
In factory configuration ADP200 - PID-IMM application is in Application 1 that is Enabled (Menu DRIVE
CONFIG Parameter IPA558 Application Select = 1 in expert mode).
When you connect the PC to the Modbus serial port of the drive and open GF-eXpress, you will find and open
this file:
in the download area.
If you press select you open ADP200 Fw2.0.0 with PID_IMM application FW. 1.20.37.3.
ADP200 Application PID-IMM User Manual Pag. 17 of 80
4.2 Preliminary operations and PID-IMM application startup (Guided Procedure)
The following steps must be performed prior to the guided procedure:
• Electrical connections Step 1
• Setting motor parameters Step 2
• Autotune with rotating motor / at stand-still or coupled to the load Step 3
• Setting encoder parameters Step 4
• Encoder phasing (rotating or still) Step 5
• Setting speed parameters Step 6
• Motor overload setting Step 7
• Motor overtemperature setting Step 8
• Braking resistor setting Step 9
• Setting application parameters Step 10
• Analog input setting Step 11
• Saving parameters Step 12
Note! Check the connections, with particular attention to shieling (see wiring diagram) in order to reduce interference and
noise. Take particular attention to the Resolver/Encoder shield connection for detail see. ADP200 QS manual.
See the ADP200 QS manual for details on steps 1….9, 11 and 12.
ADP200 Application PID-IMM User Manual Pag. 18 of 80
Step 1 - Electrical connections
Make the connections as described in paragraph 7.3.2. of ADP200-QS manual.
Checks to be performed before powering the drive
• Check that the supply voltage is correct and that the input terminals on the drive (L1, L2 and L3) are
connected correctly.
• Check that the output terminals on the drive (U, V and W) are connected to the motor correctly.
• Check that all the drive control circuit terminals are connected correctly. Check that all control inputs are
open.
• Check the encoder connections, see ADP200 QS manual, Appendix section A.3.
Powering the drive
• After completing all the checks described above, power the drive and proceed to step 2.
To start the guided installation, press “WIZARD” The following page appears:
Set the supply voltage value (for example, 400V).
Press the forward key to display the next page setting motor parameters.
ADP200 Application PID-IMM User Manual Pag. 19 of 80
Step 2 - Setting motor parameters
Set the plate data based on the type of motor connected by following the procedures described above
Rated voltage [V]: the rated voltage of the motor indicated on the data plate.
Rated current [A]: motor rated current; approximately, the value should not be less than 0.3 times the
rated current of the drive, output current class 1 @ 400 V on the data plate of the
drive.
Rated speed [rpm]: motor rated speed; see data plate.
Pole pairs: Number of motor pole pairs; see data plate.
Torque constant (KT): (KT) Ratio between the torque generated by the motor and the current required to
supply it.
EMF constant: (KE = KT / √3) Electromotive force constant, which represents the ratio between
motor voltage and motor rated speed.
Note ! When data entry is complete the Take parameters command is executed automatically (menu 16 MOTOR DATA,
PAR: 2020). The motor data entered during the STARTUP WIZARD procedure are saved in a RAM memory to
enable the drive to perform the necessary calculations.
These data are lost if the device is switched off. To save the motor data follow the procedure described in step 12.
Press the forward key to display the next page for autotuning (step 3).
ADP200 Application PID-IMM User Manual Pag. 20 of 80
Step 3 – Self-tuning with rotating motor / at stand-still or coupled to the load
The drive carries out the motor autotune procedure (real measurement of motor parameters).
Autotuning may take a few minutes.
Note ! If this operation generates an error message (e.g. Error code 1), check the connections of the power and control
circuits (see step 1 - Connections), check the motor data settings (see step 2 - Setting motor parameters) and then
repeat the guided Autotune procedure.
Note ! Autotuning can be cancelled at any time by pressing
If you press the “Autotune rotation” or “Autotune still” button, the following message appears:
Bring the Enable input to 24V, then press the “Autotune rotation” or “Autotune still” button. The autotune
sequence starts. The percentage of progress is shown on the “autotune progress” bar.
ADP200 Application PID-IMM User Manual Pag. 21 of 80
When autotuning is done the bar is at 100%. Autotune status is “Done,” as shown in the following figure:
If you press the forward button, the following message appears:
ADP200 Application PID-IMM User Manual Pag. 22 of 80
Return the Enable input to 0V and press the forward key to go to the next page.
ADP200 Application PID-IMM User Manual Pag. 23 of 80
Step 4 – Setting encoder parameters
The incorrect configuration of the encoder tension can permanently damage the device; therefore, it is advisable to
check the values on the encoder’s specification plate.
Enter the resolver / encoder parameters and then go to the next page.
ADP200 Application PID-IMM User Manual Pag. 24 of 80
Step 5 - Encoder phasing
ADP200 drives have a command to start automatic phasing of the resolver.
Phasing must be repeated whenever:
- the drive is replaced (alternatively, download parameters taken from previous drive)
- the motor is replaced
- the encoder is replaced
Note ! For more information see parameters 17.23 PAR 2190 Autophase rotation and 17.24 PAR 2192 Autophase still
on "Functions description and parameters list" manual (ADP200 Vector inverter for Hybrid injection molding
machines). See section A.3.2 Phasing in the Appendix for further information (ADP200 QS manual).
If you press the “Autophase rotation” or “Autophase still” button, the following message appears:
Bring the Enable input to 24V, then press the “Autophase rotation” or “Autophase still” button. The autophase
sequence starts. The percentage of progress is shown on the “autophase progress” bar.
ADP200 Application PID-IMM User Manual Pag. 25 of 80
When autophasing is done the bar is at 100%. Autophase status is “Done,” as shown in the following figure:
Return the Enable input to 0V and press the forward key to go to the next page.
ADP200 Application PID-IMM User Manual Pag. 26 of 80
Step 6 - Setting speed parameters
Setting the maximum speed reference value: this defines the maximum motor speed value (in rpm) that can
be reached with each single reference signal (analog or digital).
Setting of the threshold above which the Overspeed alarm [23] is enabled.
Enter the full-scale speed value. The overspeed threshold is automatically calculated.
Go to the next page.
Speed loop tuning values are entered on this page.
See the “1S9PFPEN_...._ADP200FP-SYN_EN” manual for more information.
Next page.
ADP200 Application PID-IMM User Manual Pag. 27 of 80
Step 7 – Motor overload setting
Enabling of the motor overload control, setting of the motor overload value (the value is expressed as a
percentage of Rated current PAR 2002 * Motor service factor PAR 3206 and setting of the motor overload
duration in seconds).
If used, enables entering of motor overload values.
Next page.
Step 8 – Motor overtemperature setting
Motor OT protection management: selection of the source, threshold and sensor type setting, behaviour of
the drive in case of a motor overtemperature alarm.
Next page.
ADP200 Application PID-IMM User Manual Pag. 28 of 80
Step 9 – Braking resistor setting
External braking resistor: enabling of the overload control, setting of the resistance value and of the power
that can be continuously dissipated.
Enable and enter plate values of the braking resistor connected to the drive.
Next page.
ADP200 Application PID-IMM User Manual Pag. 29 of 80
Step 10 - Setting PID_IMM application parameters
Enter the nominal speed of the pump, the nominal pressure value, and the full-scale of the pressure sensor.
The application can automatically set the typical configuration with PID-IMM using analog and digital I/Os by
using the IPA 11014 AutoSetup command.
Set Auto Setup -> ON, the application run automatically the setup and at the end bring it to OFF.
The recipe list on the default drive is empty, but is completed with preset parameters at the AutoSetup
command (IPA 11014), which normally must be enabled at this stage of commissioning of the drive.
Paragraph 5.1.1 “List of parameters for CONFIGURATION MENU” shows the preset recipe at the AutoSetup command.
ADP200 Application PID-IMM User Manual Pag. 30 of 80
Step 10A – Setting PID_IMM parameters for multi-pump
In case of Multi-Pump application, set the following parameters according to the instructions given on the
MULTIPUMP menu.
Next page:
In case of Multi-Pump application, set the following CAN config parameters according to the instructions
given in the MULTIPUMP paragraph and on the CAN menu.
Next page.
ADP200 Application PID-IMM User Manual Pag. 31 of 80
Step 11 – Analog input setting
Analog inputs (integrated and from optional expansion card): selection of the type of input (voltage or
current) and self-tuning command for the relative analog inputs gain.
Next page.
Step 12 - Save parameters
To save the new parameter settings, so that they are maintained also after power-off, proceed as follows:
ADP200 Application PID-IMM User Manual Pag. 32 of 80
When the parameters have been saved correctly the drive displays the initial screen to show that the startup
wizard is complete.
ADP200 Application PID-IMM User Manual Pag. 33 of 80
4.3 Drive system parameter mandatory settings
The ADP product is released with the application PID IMM installed as Application 1 (Menu DRIVE CONFIG
Parameter IPA558 Application Select = 1 in expert mode).
In the factory configuration in DRIVE CONFIG menu parameter IPA 552 Regulation Mode=Flux vector CL,
this parameter cannot be changed. The application is able to set the typical configuration for the drive and PIDIMM about the analog signals, control mode, by using the command IPA 11014 AutoSetup.
Figure 17: GF-Express PID_IMM application CONFIGURATION Menu
Change the Auto Setup -> ON the application perform the initialization and then automatically put the
parameter OFF again.
Only with FW1.0.0: if stay on, set manually the parameter from ON to OFF.
The most important initializations made by Auto Setup command are:
SYSTEM PARAMETERS:
FUNCTIONS / CONTROL MODE system menu
IPA 556 Control mode select = Speed
REFERENCES system menu
IPA 650 Speed ref 1 src = Pad 3
IPA 652 Speed Ref2 = Digital Par
IPA 642 Digital Par = 0 cnt
IPA 666 Speed Reference Filter = 2 ms
GF-eXpress diagram:
Figure 18: GF-Express Speed Reference block diagram
ADP200 Application PID-IMM User Manual Pag. 34 of 80
ANALOG INPUTS menu
IPA 1512 Analog Input 1 Top = 32767 cnt IPA 1514 Analog Input 1 Bottom = 0 cnt
IPA 1510 Analog Input Filter = 2 ms IPA 1602 Analog Input 1X Type = 0..10 V
IPA 1612 Analog Input 1X Top = 32767 cnt IPA 1614 Analog Input 1X Bottom = 0 cnt
IPA 1652 Analog Input 2X Type = 0..10 V IPA 1662 Analog Input 2 Top = 32767 cnt
IPA 1664 Analog Input 2 Bottom = 0 cnt
GF-eXpress Diagram:
Figure 19: GF-Express Analog Input 1 Standard
The analog input menu can be changed according the type of pressure sensor used. The application offset
and gain tuning of the analog sensors are required.
For more detail about analog input tuning sequence and parameters see ADP200 FP (Function Parameter)
Manual. Here the most important information. For the pressure sensor analog input (AnInp1Std) offset
command can be done with zero pressure while Gain require the maximum pressure and should be done
only when the machine is running. For the Pressure and Flow (speed) reference, coming from the machine
PLC. Set the two reference to zero value and perform, offset command for the two analog input (AnInp1Exp
and AnInp2Exp). Set the two reference to 100% and perform, gain command for the two analog input
(AnInp1Exp and AnInp2Exp).
Figure 20: GF-Express Analog Input Offset & Gain
4.3.1 Drive Commands
In the factory configuration there are only the following commands: Enable, Start and Fault Reset.
The command may be configured to digital input as shown in the following typical scheme:
ADP200 Application PID-IMM User Manual Pag. 35 of 80
Figure 21: Commands Digital Intput Configuration
The PID IMM Fw1.0.0 version do not change any commands with IPA 11014 AutoSetup.
Starting from Fw1.0.1, the AutoSetup operation configure also these commands
No digital input are programmed in the forward – reverse control:
Forward Reverse Control:
IPA 1042 FR forward src = Null
IPA 1044 FR reverse src = Null
Figure 22: Forward Reverse Control
COMMANDS CONTROL
IPA 1000 Commands remote sel = Terminal
IPA 1016 Terminal Start Src = Digital Input 1X mon
Figure 23: Commands Management
In the above scheme Fault Reset is to Digital input 5x
IPA 4500 Fault reset src = Digital input 5x mon
ADP200 Application PID-IMM User Manual Pag. 36 of 80
4.3.2 PID_IMM Basic control Settings
After the system parameter we can set the PID IMM parameter starting from the basic machine settings.
Basic Control Settings in menù PID_IMM \CONFIGURATION
Machine Setting insert the machine parameters.
Example:
Ipa 11132 Nominal pump speed 2400 rpm
Ipa 11134 Nominal Pump pressure 140 bar
Ipa 11136 Full Scale Press Sens 200 bar
Ipa 11094 Analog pressure gain 1.00
Figure 24: PID_IMM Configuration
ADP200 Application PID-IMM User Manual Pag. 37 of 80
4.3.3 PID IMM: Pump direction of rotation
Gear pumps are able to generate pressure by rotating only in one direction. Wrong pump direction of rotation
can lead to pump damage. User must identify pump direction of rotation correctly.
When correct direction of rotation is unknown it is possible to follow this procedure:
1) Disable drive (usually bring the enable terminal of regulation board to low level is enough)
2) Set following parameters in CONFIGURATION menu :
• Ipa 11000 Control Selector = SPEED
Drive control will follow speed reference as from parameter Ipa 11064 Flow Ref Source on
REFERENCEs menu, neglecting pressure reference; by setting Flow Ref Source to “Digital
param”, speed reference can be locally set by Ipa 11056 Manual Speed Ref [rpm].
If actual pressure raises above pressure reference selected by parameter Ipa 11062
Pressure Ref Source on REFERENCEs menu, application will trigger an alarm; user can
set its own pressure threshold by setting Pressure Ref Source to “Digital param”, so that
pressure reference can be locally set by Ipa 11054 Manual Press Ref [bar].
• Ipa 11010 Pump Direction = NEGATIVE (affects Ipa 654 Speed ref invert src)
3) After setting flow and pressure reference for local control, set(in REFERENCEs menu):
• Ipa 11056 Manual Speed Ref = 20 rpm
• Ipa 11054 Manual Pressure Ref = 100 bar
In MONITORS menu:
• Check parameters Ipa 12006 SpeedFbk and Ipa 12008 PressureFbk on MONITORS menu (drag
& drop parameters in GF Express monitor view)
Figure 25 Monitor view di GF Express
4) Enable Drive
Motor will turn at -20 rpm. Wait some seconds, if pressure increases it means that selected direction
is correct, otherwise repeat same procedure starting from point 1) and changing the parameter Ipa
11010 Pump Direction to POSITIVE in CONFIGURATION menu
5) Disable Drive
6) Set Ipa 11000 Control Selector = ADP200 on CONFIGURATION menu, so that both pressure and speed
references are processed by application.
7) Set pressure reference and flow reference sources (Ipa 11054 and Ipa 11056 respectively) to final
assignment (analog inputs or fieldbus process data).
8) Save parameters (DRIVE CONFIGURATION \ Ipa 550 Save parameters)
ADP200 Application PID-IMM User Manual Pag. 38 of 80
4.3.4 Speed Loop Tuning:
Application Speed (Flow) loop Gains are in the PID-IMM/GAIN [11094] Kp Speed Control and [11096] Ki
Speed Control.
Note! When Pressure / Flow controller application is operating, it affects SPEED REG GAINS system
menu parameters Ipa 2236 Speed reg P gain and Ipa 2238 Speed reg I time, as well as
REFERENCES system menu parameters Ipa 654 Speed ref invert src.
4.3.5 Flow and pressure Control Tuning
The parameters for the two regulation loops can be found on GAIN menu:
Figure 25: PID_IMM Gain
- Pressure PID Loop
• Ipa 11086 Kp Pressure Control is the proportional action gain for pressure control (bar -> rad/s)
• Ipa 11088 Ki Pressure Control is the integral action gain for the pressure control (bar -> rad/s
2)
• Ipa 11090 Kd for Press Contr is the derivative action gain for the pressure control (bar -> rad)
• Ipa 11092 Derivative filter is the bandwidth of the filter applied to derivative action (Hz)
- Speed PI Loop
• Ipa 11094 Kp Speed Control is the proportion action for speed control ( rad/s -> Nm)
• Ipa 11196 Ki Speed Control is the integral action for speed control (rad/s -> Nm/s)
For Speed (flow) loop and pressure loop there are two mode for tuning, manual tuning and automatic
tuning.
In the chapter “TUNING menu” there are all information related to speed/ pressure Automatic Tuning
sequence.
For additional information related how to tune these gains (Manual tuning) see chapter “Gain menu” on the
“Application Function List of Parameters” of this manual.
ADP200 Application PID-IMM User Manual Pag. 39 of 80
5 Application functions List of Parameters
In this section there are the application parameter list. The list are in the same order of menu and parameter
list of the alphanumerical keypad in PID IMM application menu.
5.1 Configuration menu
PID_IMM Application can be configured by parameters included in SERVOPUMP PID \ CONFIGURATION
menu. This is the first sub-menu in the PID_IMM main menu.
During basic motor startup, speed control without P/Q regulation is possible by setting parameter Ipa 11000
Control Selector to “SPEED”; for pressure / flow regulation.
Control Selector will have to be set to “ADP200” starting from Version 1.0.0 with PID IMM application version
1_x37_0 (Standard P+S is the old application)
In CONFIGURATION menu user has the possibility to make the proper selection for control and general
settings.
Here the explanation of the parameter then the parameter list of Configuration Menù.
Control Selector This parameter allows the use to Set the application control type.
1=SPEED: In this case control will follow the speed reference only. If actual pressure
feedback is over the pressure set-point, the application will stop the motor and
trigger an “Over Pressure” alarm. This function can be used for motor and
drive commissioning check the pump correct direction and speed loop tuning.
2=ADP200: Standard control for the application. The control will manage both
pressure and speed control.
MasterSlave This configuration of the drive for multi-pump. It can be:
0=Master: The drive is working alone or as Master
1=Slave: Convergent mode
2=SlaveDivMaster: Drive will work as Slave in Convergent mode and as Master for
the divergent slaves pump
3=SlaveDivSlave: Drive will work as Slave of Master in Convergent mode and Slave
of the SlaveDivMaster in Divergent Mode
Nominal pump speed (rpm): it is used to scale the speed reference signal from PLC.
As default the speed reference must be sent to drive with signal from 0 to 10V. 0V is
interpreted as 0 rpm, 10 V means Nominal pump speed
Nominal Pump pressure (bar): it is used to scale the pressure reference signal from PLC.
As default, pressure reference must be sent to drive with signal from 0 to 10V. 0V is
interpreted as 0 bar, 10V means Nominal pump pressure
Full Scale Press Sens (bar):
Full scale sensor pressure is used to scale the pressure feedback signal from pressure
transducer. As default, pressure reference must be sent to drive with signal from 0 to 10V.
0V is interpreted as 0 bar, 10V means Full scale pressure sensor
Analog pressure sensor gain (-):
Gain applied on pressure feedback signal. This parameter can be used to adjust tolerance
on pressure sensor. Factory and suggested initial value is 1.0.
Note! Positive or negative is just conventional.
This parameter must be set carefully. A wrong setting of this parameter can lead to pump damaging.
ADP200 Application PID-IMM User Manual Pag. 40 of 80
5.1.1 List of parameters for CONFIGURATION MENU
Ipa
Parameter Name
Unit
Type
Default
Min
Max
CO_MASTER_SLAVE
11000 Control Selector - CONT TYPE ADP200 0 2
11002 MasterSlave -
11004 Nominal pump speed rpm FLOAT 2400 0.00 4000.00
11006 Nominal pump press bar FLOAT 140 0.00 1000.00
11008 Full Scale Pres Sens bar FLOAT 250 0.00 1000.00
11010 Pump Direction - PUMP DIRECTION NEGATIVE - -
11012 Analog Pres Gain - FLOAT 1 0.10 2.00
11014 Auto Setup - BOOL OFF - -
MASTER - -
Control Selector Setting of application control type.
1= SPEED
2= ADP200
Master Slave Configuration of the drive for multipump. It can be:
0=Master
1=Slave
2=SlaveDivMaste
3=SlaveDivSlave
Nominal pump speed Gear pump rated speed; used to scale the speed reference signal
Nominal pump press Gear pump rated pressure; used to scale the pressure reference signal
Full Scale Pres Sens Pressure sensor full scale value; used to scale the pressure feedback signal from
pressure transducer.
Pump Direction Gear pump direction of rotation; can be POSITIVE or NEGATIVE according to the
capability of the pump to generate pressure with related direction of rotation.
0=NEGATIVE
1=POSITIVE
Note! Positive or negative is just conventional.
This parameter must be set carefully. A wrong setting of this parameter can lead to pump damaging.
Note! After you select the pump direction in the application all the speed value in the PID-IMM application are shown with
positive value also if pump direction is negative. Example, if direction is negative and speed is 200rpm what happen?
If you read PID-IMM/MONITOR [12006] Speed Feedback = 200rpm but if you read MONITOR [260] motor speed =200rpm (real speed of the motor). If Pump direction is positive both parameters are positive.
Analog Pres Gain Gain applied on pressure feedback signal.
This parameter can be used to adjust tolerance on pressure transducer.
Auto Setup This command will set the drive system parameter in order to be ready for standard
application (0…10 V Analog Input Signals) see paragraph 4.3.
When active the parameter perform the operations and automatically return “OFF”
(in ADP200 Fw1_0_0 PID-IMM 1-x.37.0 the transition from “On” to OFF” value
must be done manually.
0=OFF
1=ON
Starting with version PID IMM V1_x_37_2, the Auto-setup command compiles the
Recipe, i.e., the following default parameters are inserted in menu 29-Recipe:
ADP200 Application PID-IMM User Manual Pag. 41 of 80
General settings
554 Access Mode
550 Save Par
582 Drive Reset
Monitor application signals
12008 Pressure Fbk
12012 Pressure Ref
12006 Speed Fbk
12010 Speed Ref
12004 Torque
Pressure references
11054 Manual Press Ref
11056 Manual Speed Ref
11062 Pressure Ref Source
11064 Flow Ref Source
11010 Pump Direction
Control
11086 Kp Pressure Control
11088 Ki Pressure Control
11094 Kp Speed Control
11096 Ki Speed Control
666 Speed Ref filter (*)
1510 Analog inp 1 filter (*)
Monitor overload
368 Drive Overload (*)
3212 Motor Overload (*)
Save and enable management
1012 Dig local/remote (*)
1016 Terminal Start src (*)
1018 Digital Enable src (*)
1020 Digital Start src (*)
1410 Dig output 1X src
1430 Dig out 1X inversion
596 Save Par To SD
598 Load Par From SD
(*) parameters visible on Expert mode only.
ADP200 Application PID-IMM User Manual Pag. 42 of 80
5.2 Protections Menu
Protections block diagram
In this menu there are the management of some alarm. A complete list of PID-IMM alarm are in the Alarm
chapter of this manual.
Leakage Alarm: minimum pressure level that is checked during the Basic Run Mode.
If the pump reaches pressure level below the threshold (parameter “Min Press Leak Al 11032”) for time
longer than the time specified in “Leakage Al Time Out 11034” Leakage Detection alarm is triggered.
Alarm action is defined with IPA 11036 (“Leakage alarm Action”)
For a complete description of Basic Run mode see BASIC RUN Menù
Indirect Sensor Alarm (ISA): If pressure sensor is 0.1 to 10.1 V or 4 to 20 mA the drive is able to recognize
malfunctioning of pressure sensor. In the other case, this alarm detect a malfunction or a not correct wiring of
the pressure sensor.
If the torque is more than “ISA Torque Min 11040” and the pressure in lower than “ISA Press Threshold
11042” for a time more than “ISA Time Out 11044” Pressure Sensor alarm is triggered.
Parameter “ISA Alarm Enable 11046” enable this function.
ADP200 Application PID-IMM User Manual Pag. 43 of 80
5.2.1 List of parameters for PROTECTIONS MENU
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11032
Min Press Leak Al
bar
FLOAT
0
0.00
500.00
11034
Leakage Al TimeOut
ms
UINT
5000
0.00
60000.00
11036
Leakage alarm Action
-
ALARM ACTION
Ignore - -
DISABLED
Protection menu contains application protection functions.
11038 Sensor Prot Action - ALARM ACTION Ignore - -
11040 ISA Torque Min Nm Float 0 0 1000
11042 ISA Press Threshold bar Float 0.5 0 1000
11044 ISA Time Out ms Float 40 0 60000
11046 ISA Alarm Enable - Enum
11048 Action for Neg Speed - Enum Ignore - -
11050 Max Neg Speed Time ms Unsigned Short 2000 1 60000
- -
Min Press Leak Al Minimum pressure level that is checked during the basic run mode. If the pump
reaches pressure level below the threshold for time longer than the time specified
in 11034 (Leakage Al TimeOut) alarm is triggered. Alarm action is defined with IPA
11036 (Leakage alarm Action)
Leakage Al TimeOut Waiting time to trigger the Leakage Alarm when alarm condition occurs
Leakage alarm Action Leakage alarm action. It can be:
0=IGNORE
1=WARNING
2=DISABLE
3=STOP
4=FAST STOP
Sensor protection The alarm action can be activated by selecting the following listed action on Ipa
11038
0=IGNORE
1=WARNING
2=DISABLE
3=STOP
4=FAST STOP
ISA Torque Min Indirect Sensor Alarm Torque min
ISA Press Threshold Indirect Sensor Alarm Pressure Threshold
ISA Time Out Indirect Sensor Alarm Time Out
ISA Alarm Enabler Indirect Sensor Alarm Enabler
0=DISABLED
1=ENABLED
Action for Neg Speed Manages an alarm if the pump’s speed is negative for a period of time exceeding the
value of IPA 11050.
In general, this alarm is not necessary, however, it ensures that the pump does not
rotate in the opposite direction to normal operation, thus avoiding any damage.
Normally the pump can only rotate in the opposite direction to normal operation if
pressure exceeds the minimum values specified by parameter IPA 11122.
Nevertheless, if the pressure sensor is set incorrectly and/or does not work correctly,
negative rotation of the motor may occur.
ADP200 Application PID-IMM User Manual Pag. 44 of 80
Max Neg Speed Time Setting of the maximum length of time (in ms) above which the NegSpeed alarm
activates if the pump’s speed is negative.
ADP200 Application PID-IMM User Manual Pag. 45 of 80
5.3 REFERENCEs menu
Pressure feedback block diagram
Pressure reference block diagram
Flow reference block diagram
ADP200 Application PID-IMM User Manual Pag. 46 of 80
This menu contains pressure and flow (speed) references and pressure feedback source assignment, as
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11068
Speed Ramp Acc Coef
s
FLOAT
0.1
0.00
100.00
11070
Reference Variation
-
FLOAT
0
0.00
0.20
11072
Conv Div Cmd Source
-
DIG_PAR
0 - -
11074
Diverg Cmd Dig Val
-
BOOL
OFF - -
11076
Fieldbus Press Ref (Expert)
bar
FLOAT
30
0.00
1000.00
11078
Fieldbus Speed Ref (Expert)
rpm
FLOAT
100
0.00
4000.00
11080
Press Ramp Dec Coef
s
FLOAT
0.1 0 100
11082
Speed Ramp Dec Coef
s
FLOAT
0.1 0 100
well as local settings useful for test purpose (manual references and feedback).
Signals sources can be selected from standard list containing analog inputs, fieldbus process data and pads.
11054 Manual Press Ref bar FLOAT 30 0.00 1000.00
11056 Manual Speed Ref rpm FLOAT 100 0.00 4000.00
11058 Manual FeedBack bar FLOAT 0 - -
11060 Pres Fbk source (!) - INPUT SELECT 1500 0.00 -
11062 Pressure Ref Source - INPUT SELECT 1600 - -
11064 Flow Ref Source - INPUT SELECT 1650 - -
11066 Press Ramp Acc Coef s FLOAT 0.1 0.00 100.00
Manual Speed Ref Speed reference digital parameter for local setting .
Manual Press Ref Pressure reference digital parameter for local setting.
Manual FeedBack Pressure feedback digital parameter for local setting (test purpose).
Pres Fbk Source (!) Selection of source for pressure feedback signal.
Assigned from:
0 = Digital Param: source is local parameter.
1500 = Analog Input S: source is analog input port S = sensor (T2:70-71-72)
1600 = Analog Input 1: source is analog input 1 (T2:42-43)
1650 = Analog Input 2: source is analog input 2 (T2: 40-41)
3700 = Pad 1 source is system pad1 (see menu FUNCTIONS / PADS).
3702 = Pad 2 source is system pad2
…….
…….
3730 = PAD16: source is system pad16 (see menu FUNCTIONS / PADS).
4024 = Fieldbus M->S1 Real source is fieldbus process data channel 1.
4034 = Fieldbus M->S2 Real source is fieldbus process data channel 2
…….
…….
4094 = Fieldbus M->S8 Real source is fieldbus process data channel 8
Note: The following selection are not used for Pres Fbk Source (!) selection
11554 = PLCPressRef: source of Press. Ref. is external CANopen master
(Convergent mode)
11556 = PLCSpeedRef: source of Speed Ref. is external CANopen master
(Convergent mode)
This two parameters are used only in case of multi-pump Master Drive with PID
IMM/CAN/[11626]CANMPacrive = ON
11560 = DivPressRef: source of Press. Ref. is external CANopen master
(Divergent mode)
ADP200 Application PID-IMM User Manual Pag. 47 of 80
11562 = DivSpeedRef: source of Speed Ref is external CANopen master
(Divergent mode)
This two parameters are used only in case of multi-pump Convergent/divergent in
divergent mode only and the Divergent Master drive
[11002] MasterSlave = SlaveDivMaster.
Pressure Ref source Selection of source for pressure reference signal.
Assigned from:
0 = Digital Param: source is local parameter.
1500 = Analog Input S: source is analog input port S = sensor (T2:70-71-72)
1600 = Analog Input 1: source is analog input 1 (T2:42-43)
1650 = Analog Input 2: source is analog input 2 (T2: 40-41)
3700 = Pad 1 source is system pad1 (see menu FUNCTIONS / PADS).
3702 = Pad 2 source is system pad2
…….
…….
3730 = PAD16: source is system pad16 (see menu FUNCTIONS / PADS).
4024 = Fieldbus M->S1 source is fieldbus process data channel 1.
4034 = Fieldbus M->S2 source is fieldbus process data channel 2
…….
…….
4094 = Fieldbus M->S8: source is fieldbus process data channel 8
11554 = PLCPressRef: source of Press. Ref. is external CANopen master
(Convergent mode)
11556 = PLCSpeedRef: source of Speed Ref. is external CANopen master
(Convergent mode)
This two parameters are used only in case of multi-pump Master Drive with PID
IMM/CAN/[11626]CANMPacrive = ON
11560 = DivPressRef: source of Press. Ref. is external CANopen master
(Divergent mode)
11562 = DivSpeedRef: source of Speed Ref is external CANopen master
(Divergent mode)
This two parameters are used only in case of multi-pump Convergent/divergent in
divergent mode only and the Divergent Master drive
[11002] MasterSlave = SlaveDivMaster.
Flow Ref Source Selection of source for flow reference signal (speed reference).
Assigned from:
0 = Digital Param: source is local parameter.
1500 = Analog Input S: source is analog input port S = sensor (T2:70-71-72)
1600 = Analog Input 1: source is analog input 1 (T2:42-43)
1650 = Analog Input 2: source is analog input 2 (T2: 40-41)
3700 = Pad 1 source is system pad1 (see menu FUNCTIONS / PADS).
3702 = Pad 2 source is system pad2
…….
…….
3730 = PAD16: source is system pad16 (see menu FUNCTIONS / PADS).
4024 = Fieldbus M->S1 source is fieldbus process data channel 1.
4034 = Fieldbus M->S2 source is fieldbus process data channel 2
…….
…….
4094 = Fieldbus M->S8: source is fieldbus process data channel 8
11554 = PLCPressRef: source of Press. Ref. is external CANopen master
(Convergent mode)
11556 = PLCSpeedRef: source of Speed Ref. is external CANopen master
(Convergent mode)
ADP200 Application PID-IMM User Manual Pag. 48 of 80
This two parameters are used only in case of multi-pump Master Drive with PID
IMM/CAN/[11626]CANMPacrive = ON
11560 = DivPressRef: source of Press. Ref. is external CANopen master
(Divergent mode)
11562 = DivSpeedRef: source of Speed Ref is external CANopen master
(Divergent mode)
This two parameters are used only in case of multi-pump Convergent/divergent in
divergent mode only and the Divergent Master drive
[11002] MasterSlave = SlaveDivMaster.
Press Ramp Acc Coef Ramp coefficient for pressure referred to Ipa 11134 Nominal pump press.
The pressure rise time is referred to a pressure variation from 0 to Nominal pump
press.
If parameter is set to 0, no ramp is applied.
Speed Ramp Acc Coef Ramp coefficient for speed referred to Ipa 11132 Nominal pump speed.
The speed acceleration time is referred to a speed variation from 0 to Nominal
pump speed.
If parameter is set to 0, no ramp is applied.
Reference Variation When assigned a value greater than 0, a square waveform signal is added to
speed and pressure reference signal. The amplitude of the square waveform signal
added to references is related to references settings.
Example: if pressure reference is 100 bar and speed reference is 500 rpm, a Reference Variation of 0.1
will result in square waveform of pressure set-point amplitude from 90 to 110 bar, and from 495 to 505
rpm in speed.
The square signal has a fixed frequency of 1 Hz. This function can be used for
parameter tuning.
If the parameter is set to 0, function is off.
Conv Div Cmd Source For Master or SlaveDivMaster the parameter define on which channel the source of
the divergent command signal
0= DIGITAL VALUE (test) The divergent command is taken directly from
parameter on IPA 11074
1000= DI_0 divergent command is taken from digital input 0
1001= DI_1 divergent command is taken from digital input 1
…….
…….
1007= DI_7 divergent command is taken from digital input 7
1100= FROM MASTER The divergent command is taken from the master via Can
(this selection can be used only for the SlaveDivMasterdrive
1200=FROM PLC The divergent command is taken from the PLC via CANopen
4454 = Wdecomp B0 divergent command is taken from Wdecomp bit 0
4456 = Wdecomp B1 divergent command is taken from Wdecomp bit 1
……..
4484 = Wdecomp B15 divergent command is taken from Wdecomp bit 15
Diverg Cmd Dig Val Divergent command used for test.
0=OFF
1=ON
Fieldbus Speed Ref Speed reference digital parameter for Fieldbus setting. (expert mode)
Fieldbus Press Ref Pressure reference digital parameter for Fieldbus setting. (expert mode)
Press Ramp Dec Coef Deceleration ramp coefficient for speed referred to IPA 11132 Nominal pump
speed. The speed fall time is referred to a speed variation from 0 to Nominal
pump speed. If parameter is set to 0, no ramp is applied.
ADP200 Application PID-IMM User Manual Pag. 49 of 80
Speed Ramp Dec Coef Deceleration ramp coefficient for pressure referred to IPA 11134 Nominal pump
press. The pressure fall time is referred to a pressure variation from 0 to Nominal
pump press. If parameter is set to 0, no ramp is applied.
ADP200 Application PID-IMM User Manual Pag. 50 of 80
5.4 BASICRUN menu
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11334
BRSpRefEnPerc
perc
FLOAT
0
0.00
100.00
11336
BRSpRefPerc
perc
FLOAT
0
0.00
4.50
11338
BRPrRefEnPerc
perc
FLOAT
0
0.00
100.00
11340
BRPrRefPerc
perc
FLOAT
0
0.00
4.50
BRDelayTime
BasicRun block diagram
By using this function the pump turns continuously with a basic speed or a basic pressure so the vane or the
tooth of the pump are always filled by the oil. The user has to specify a minimum speed and pressure to
activate the basic references.
11342
ms 0 0 0.00 10000.00
BasicRunSpRefEnPerc Speed reference level to activate basic run mode. If speed reference (percentages
of the nominal pump speed) is below the specified value or pressure reference
(percentages of the nominal pressure pump) is below the specified value basic run
is enabled
BasicRunSpRefPerc Speed reference in Basic Run mode
BasicRunPrRefEnPerc Pressure reference level to activate basic run mode. See also explanation of
BasicRunSpRefEnPerc
BasicRunPrRefPerc Pressure reference in Basic Run mode
BasicRunDelayTime Delay time to exit from the basic run mode when either pressure and speed
reference are greater than thresholds (Ipa 11334 & Ia 11338)
ADP200 Application PID-IMM User Manual Pag. 51 of 80
5.5 GAIN menu - Pressure and Speed Control Loop
PressureReference
PressureFeedback
Pressure Control
Kp Pressure Control
Ki Pressure Control
Kd Pressure Control
Derivative Filter
SpeedReference
SpeedFeedback
Kp Speed Control
Ki Speed Control
Speed (Flow) Control
MotorSpeedReference
SAT
PID
PRESSURE
PI
FLOW
Automatic <-
<- Manual
Ipa
2236
2238
11094
11096
Name
Kp_Drv
Ti
Kp_IMM
Ki_IMM
Unit
[Nm/rpm
[ms
[Nm/[
[Nm/(
PID IMM is composed basically of cascade control loop of one PID for pressure control and another PI for
speed control.
When the pressure control loop is enabled, the pressure loop set the proper speed set-point of the motor to
reach and maintain the pressure feedback equal to the pressure reference. In this case is never possible to
handle speed reference by operator.
If pressure control is disabled speed reference is applied directly as speed set-point.
Figure 25: ADP200 Pressure & Flow (Speed) Control Loop
Relevant parameters for the two regulation loops can be found on GAIN menu:
Pressure PID Loop Parameters
Kp Pressure Control is the proportional action gain for pressure control (bar -> rad/s).
- Higher the kp value faster is the response of the system.
- If the pressure response oscillates try to reduce the kp value.
Ki Pressure Control is the integral action gain for the pressure control (bar -> rad/s
2
)
- Higher the ki value less is the time to reach the steady value.
- If the pressure response oscillates try to reduce the ki value
Kd for Press Contr is the derivative action gain for the pressure control (bar -> rad)
- Kd has to be used rarely, it can increase the response performance, but it needs to be well tuned
in order to avoid instability oscillation.
Derivative filter is the bandwidth of the filter applied to derivative action (Hz)
Antiwindup gain is the gain used to improve the readiness of integral action. If the system has noise during
pressure control try to reduce the antiwindup below 1.0 (def. value) (small changements ex. 0.9)
Speed PI Loop Parameters
Kp Speed Control is the proportion action for speed control ( rad/s -> Nm)
Ki Speed Control is the integral action for speed control (rad/s -> Nm/s).
5.5.1 Conversion from application speed gains and drive speed reg gains
The application every time that parameter on IPA 11094 and 11096 are changed will modify the parameter
on IPA 2236 and 2238 according to the following formula (left side - red).
The operation is done automatically.
It is possible, but not suggested, to tune the speed loop by using the parameter on IPA 2236 and 2238,
but the parameter 11094 and 11096 must be calculated following the below formula (right side blue or
formula down) and put manually on parameters 11094 and 11096.
ADP200 Application PID-IMM User Manual Pag. 52 of 80
]
]
rad/s]]
rad)]
Formula
Kp_IMM*(2*PI)/60
Kp_IMM/Ki_IMM
* 1000
Kp_Drv*60/(2*PI)
Kp_IMM / Ti *
1000.0
[
=
5.5.2 GAIN Tuning
Speed and pressure control loops usually require a calibration.
This calibration can be done in different mode Automatic mode or Manual Mode:
1- AUTOMATIC: The gains are calculated from the drive following the procedure described in the TUNING
menu. The calculated values can be used by the speed and pressure regulator. This function is available
from FW. Version ADP200V 1_0_1-PID-IMM Application V1_18_37_1. The complete explanation of this
procedure are in the chapter “TUNING”
2- MANUAL procedure. Is done following the procedure described here below.
To make tuning operation easier and to have a fast feedback of the control performances, it is possible to
add a square waveform signal to both speed and pressure references changing parameter Ipa 11070
Reference Variation on REFERENCEs menu.
In order to reduce overshoot, it is possible to add ramp on input references by changing the parameters Ipa
11066 Press Ramp Acc Coef and 11068 Speed Ramp Acc Coef.
See section RFERENCE parameters for a description of above mentioned functions parameters.
As a general recommendation, it is suggested to perform tuning by making injection and pressure hold cycle
with material: during this phase, machine works first in speed mode and then it switches to pressure mode.
Softscope tool allow performing calibration on both Pressure and Speed loop by using a single machine
movement. The procedure for mapping MDPLC application variables on Softscope is described in tool
specific manual (see “1S9SFTEN_26-9-13_SoftScope-EN”, page 17 – “Softscope with MDPLC Applications).
Following signals need to be mapped for Softscope sampling:
- vSpeed_Fbk
- vSpeed_Ref_Mon
- vPressureFbk
- vPressure_Ref_Mon
-
[]∗
∗
=
[)
]
As example on softscope it is possible to make comparison between the reference and feedback of Speed
and Pressure. The following figure show a scope with Reference variation parameter.
ADP200 Application PID-IMM User Manual Pag. 53 of 80
Figure 26: Softscope Acquisition during injection
Figure 27: Example of Speed Tuning
Ipa
Parameter Name
Unit
Type
Default
Min
Max
FLOAT
100.00
11088
Ki Pressure Control
-
FLOAT
18
0.00
1000.00
FLOAT
100.00
FLOAT
500.00
FLOAT
100.00
FLOAT
1000.00
FLOAT
1.00
Figure 28: Example of Pressure Tuning
5.5.3 List of Parameters GAIN menu
11086 Kp Pressure Control -
11090 Kd for Press Contr -
11092 Derivative filter Hz
11094 Kp Speed Control -
11096 Ki Speed Control -
11098 AntiWindupGain -
2.5 0.00
0.01 0.00
100 1.00
2.51 0.00
64 0.00
1 0.00
Kp Pressure Control Proportional gain for pressure control loop.
Ki Pressure Control Integral gain for pressure control loop.
ADP200 Application PID-IMM User Manual Pag. 54 of 80
Kd Pressure Control Derivative gain for pressure control loop.
Derivative filter Bandwidth of Filter applied to pressure feedback for derivative part.
Kp Speed Control Proportional gain for speed control loop.
Ki Speed Control Integral gain for speed control loop.
AntiWindupGain Anti-Windup Gain
ADP200 Application PID-IMM User Manual Pag. 55 of 80
5.6 Saturation Limit
Ipa
Parameter Name
Unit
Type
Default
Min
Max
Saturation limits fix maximum output capability of application’s control loops in pressure control.
Figure 29: Saturation Limit
Relevant parameters can be found in SAT_LIMIT menu:
11118 High Sat Pr Control rpm FLOAT
11120 Low Sat Pr Control rpm FLOAT
11122 NegSpeedLowP bar FLOAT
11124 NegSpeedHighP bar FLOAT
Ipa 11118 HighSatPrControl:
High Sat(uration) Pr(essure) control set to rated pump speed or less.
This is the maximum speed that will be set when pressure control is active.
Ipa 11120 LowSatPrControl:
Low Sat(uration) Pr(essure) control set minimum pump set-point speed.
Limited negative speed is generally allowed only if pressure is in enable state of the hysteresis
specified from parameters Neg(ative)SpeedHighPr(essure) (higher/activate threshold) and
Neg(ative) Speed Low Pr(essure) (lower/disable threshold).
If the hysteresis is in disable state the minimum speed allowed is 0 Rpm. (see. Figure)
Ipa 11122 NegSpeedLowPr:
Neg(ative)SpeedLowPr(essure) set the level of pressure that disable the hysteresis for low saturation
pressure loop speed set point.
Ipa 11124 NegSpeedHighPr:
Neg(ative)SpeedHighPr(essure)set the level of pressure that enable the hysteresis for low saturation
pressure loop speed set point.
3000 0.00 4000.00
-30 -1000.00 0.00
20.0 0.00 1000.00
30.00 0.00 1000.00
ADP200 Application PID-IMM User Manual Pag. 56 of 80
5.7 SWITCH_GAIN menu
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11142
Min Press for P Cnt
bar
FLOAT 7 2.00
7.00
11146
Fixed Contr Enabler
-
ENUM
DISABLED
-
-
11148
Fixed Contr Type
-
ENUM
Pressure
- - 11150
P_Cont_Dis_Thr
-
FLOAT
85
0.00
100.00
11152
P_Cont_En_Thr
-
FLOAT
75
0.00
100.00
The PID-IMM application automatically switches between speed and pressure loop. The switch gain menu
allow the possibility to tune the switching logic in order to optimize the dynamic of the control.
If IPA 11148 (Fixed Contr Enabler) is disabled PID-IMM application switches properly the control or in
pressure or in speed/flow. The system recognizes which is the target that must be followed according to the
hydraulic circuit current pressure value, and pressure reference.
Pressure control is disabled if the pressure error % = [(Pressure Set Point - Pressure Feedback) /
Pressure Set Point * 100.0] is above the specified value in IPA 11150 (P_Cont_Dis_Thr) and it is
disabled if it is below IPA 11152 (P_Cont_En_Thr).
Figure 30: Switch Gain logic
If IPA 11148 (Fixed Contr Enabler) is enabled the control is based on IPA 11148 (Fixed Contr Type)
Min Press for PCnt Minimum pressure value that triggers switch to pressure control.
Fixed Contr Enabler If Enabled control is fixed in flow or in pressure based on IPA 11148 (Fixed Contr
Type).
0=DISABLED
1=ENABLED
Fixed Contr Type Control can be Pressure (pressure reference is followed) or Speed/Flow . Note that
speed/flow reference is followed without considering the pressure feed-back
0=Pressure
1=Speed Flow
P_Cont_En_Thr Pressure control is enabled if the relative percentage error of Pressure Feedback
and internal Pressure Set Point is above the specified value
P_Cont_Dis_Thr Pressure control is disabled if the relative percentage error of Pressure Feedback
and internal Pressure Set Point is below the specified value
ADP200 Application PID-IMM User Manual Pag. 57 of 80
5.8 GAIN_SCH Gain Scheduling
Gain scheduling is related to possibility to adapt pressure control loop gains to different operating
conditions as a function of motor speed feedback.
See picture below for reference diagram:
Figure 31: Gain Scheduling function
Each pressure control PID parameter (e.g. Kp) is multiplied by scheduled gain values according to the
current speed feedback, resulting in:
Kxx = NOMINAL_Kxx * GAIN_SCHEDULING_MULTIPLICATOR
“NOMINAL_Kxx” is the nominal gain set for pressure control loop (see Ipa 11094 - 11098).
The “GAIN SCHEDULING MULTIPLICATOR” parameters can be changed in the GAIN_SCH menu
The following linearization strategy is applied:
• Below lower speed threshold (Ipa 11174): GAIN = 1.0
• Between lower speed threshold and medium speed threshold (Ipa 11176): GAIN is linearized from 1.0
to “Medium Gain” (Gain Sch Sp Kxx (M)).
• Between medium speed threshold and high speed threshold (Ipa 11178): GAIN is linearized from
“Medium Gain” (Gain Sch Sp Kxx (M)) to “High Gain” (Gain Sch Sp Kxx (H)).
• Over high speed threshold (Ipa 11178): GAIN is equal to “High Gain” (Gain Sch Sp Kxx (H)).
Note that speed loop scheduling is available in the standard firmware Menu SPEED REG GAINS (expert
mode).
ADP200 Application PID-IMM User Manual Pag. 58 of 80
Guideline about how to use the GAIN_SCH menu
Gain schedule block diagram
The application PID-IMM for ADP200 drive allows the possibility to change the behavior of the pressure loop
gain according to the actual motor speed. This function is known as Gain-Scheduling, below are reported
some hints about how to set the parameters.
The Gain Scheduling function is useful to:
- adapt the pressure loop according to the type of hydraulic movement.
- reduce the overshoot during speed to pressure transition.
a) Adapt the pressure loop according to the type of hydraulic movement.
Aim of the PID-IMM application is to control pressure and speed in different situation, without any
information about the status of valve and/or in general about the knowledge of the hydraulic model.
An IMM machine is composed by a Machine with several hydraulic circuits that are commanded
through PLC that make the switching of valves. The information of the valve commands is not
transmitted to the drive. From the control point of view of the PID-IMM application the different
hydraulic scenario means a different hydraulic model, and so to get a robust and fast control
adaptive gains are required.
To be practices , in the IMM there is movement that requires high pressure with low speed, and vice
versa there is other condition where there is high speed with low pressure. One example of the
movement where is possible to see this effect is during the transition between injection and holding
phase.
In the following picture is reported a P/Q (pressure,flow) diagram of this movement:
ADP200 Application PID-IMM User Manual Pag. 59 of 80
Q Flow
P
Pressure
Control Area during Holding
Holding phase
(after injection)
Injection
Control Area during Injection
Figure 1: Example of Injection to holding phase transition
From the graph is possible to see that in injection phase the speed is higher than the holding phase
at the same level pressure. In general, due to hydraulic model, in the injection phase the pressure
gain during the injection phase should be higher than the holding phase. The gain scheduling works
in this direction allowing the user to increase the gain of the pressure loop at high speed. So to get
best performance the user can adapt the gain for these 2 condition (higher gains at higher speed).
b) Reduce overshoot during transition.
There is also a further benefits by using the gain scheduling that help to reduce the overshoot during
the transition. The reason is the interaction between the gain scheduling and the internal variables of
PI control. Higher value of the Proportional value at high/medium speed allow to create a fast
response during the transition from speed control to pressure control.
So as suggestion, if there is issue about pressure overshoot during transition, one way to try to solve
it is to increase the proportional gain (IPA 11162 and IPA 11168).
Variable gain (Multilevel PID)
In addition to existing parameters relating to gain-scheduling, they can also be changed using a digital control
or fieldbus (through WDecomp).
As a result, pressure control response dynamics can be altered in relation to a PLC command, which, for
example, may be linked to a processing phase change or any other information known by the same PLC.
In addition to standard operation, three additional proportional (kp) and integral (ki) pressure gain sets can be
set.
The gains used will not be offset using the Gain Scheduling method, which is only applied to the basic setting.
A command defined by IPA 11180, 11182, 11184, 11186 enables transition from set 0 (standard gains), to set
1 (IPA 11188, 11190), to set 2 (IPA 11192, 11194) and to set 3 (IPA 11196, 11198).
Gain transition occurs with a filter with a time constant equal to parameter 11200.
The combination of parameters 11184 and 11186, as well as from the fieldbus (through Wdecomp), allows for
gains to be programmed with digital HW inputs (this should be the main use).
With a digital bus, an SDO can be programmed directly on the digital command PAR 11182 and the desired
parameter setting can be written directly in a transition.
If parameter 11180 is ON (default condition), the parameter set is set by a digital command through parameter
11182 (default = 0).
If parameter 11180 is OFF, the parameter set is determined by the combination of 2 bits. The lower bit’s source
is given by parameter 11184 MGain Term Source 1 while that of the upper bit by parameter 11186 MGain
Term Source 2.
In general, the following scenario is possible:
ADP200 Application PID-IMM User Manual Pag. 60 of 80
LOWER BIT
expressed by IPA 11184)
UPPER BIT
expressed by IPA 11186)
Default set
(standard gains are used)
Set 1 (gains expressed by IPA
11188, 11190)
Set 2 (gains expressed by
IPA 11192, 11194)
Set 3 (gains expressed by
IPA 11196, 11198)
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11186
MGain Term Source 2
-
ENUM
- - -
11188
Prop Gain 1
-
FLOAT
1
0
1000
11190
Int Gain 1
-
FLOAT
10
0
1000
11192
Prop Gain 2
-
FLOAT
1
0
1000
11194
Int Gain 2
-
FLOAT
10
0
1000
11196
Prop Gain 3
-
FLOAT
1
0
1000
11198
Int Gain 3
-
FLOAT
10
0
1000
11200
Multi Gain Filter
ms
FLOAT
10
3
1000
11180 MGain Digital En
(BIT relevant to the source
(BIT relevant to the source
SET
0 (default) 0 0
1 1 0
2 0 1
3 1 1
The gains applied are published in the variables with IPA 12160 (Active Kp Press) and IPA 12162 (Active Ki
Press).
5.8.1 Gain Scheduling Parameter List
11162 Gain Sch Sp Kp (M) - FLOAT 1.3 0.10 10.00
11164 Gain Sch Sp Ki (M) - FLOAT 1.6 0.10 10.00
11166 Gain Sch Sp Kd (M) - FLOAT 1 0.10 10.00
11168 Gain Sch Sp Kp (H) - FLOAT 2 0.10 10.00
11170 Gain Sch Sp Ki (H) - FLOAT 4 0.10 10.00
11172 Gain Sch Sp Kd (H) - FLOAT 1 0.10 10.00
11174 Gain Sch Sp Low Thr rpm FLOAT 200 0.00 4000.00
11176 Gain Sch Sp Med Thr rpm FLOAT 700 0.00 4000.00
11178 Gain Sch Sp High Thr rpm FLOAT 1000 0.00 4000.00
11180 MGain Digital En - BOOLEAN ON - -
11182 MGain Dig Value UnsignedShort 0 0 3
11184 MGain Term Source 1 - ENUM - - -
12160 Active Kp Press - FLOAT - - -
12162 Active Ki Press - FLOAT - - -
Gain Sch Sp Kp (M) Scaling factor 1 (Medium) for pressure loop Kp
Gain Sch Sp Ki (M) Scaling factor 1 (Medium) for pressure loop Ki.
Gain Sch Sp Kd (M) Scaling factor 1 (Medium) for pressure loop Kd.
Gain Sch Sp Kp (H) Scaling factor 2 (High) for pressure loop Kp.
Gain Sch Sp Ki (H) Scaling factor 2 (High) for pressure loop Ki
Gain Sch Sp Kd (H) Scaling factor 2 (High) for pressure loop Kd.
ADP200 Application PID-IMM User Manual Pag. 61 of 80
Gain Sch Sp Low Thr Gain scheduling speed low threshold.
Gain Sch Sp Med Thr Gain scheduling speed medium threshold.
Gain Sch Sp High Thr Gain scheduling speed high threshold.
MGain Digital En Enabling Gain-scheduling via a digital command or from the fieldbus (default =
ON).
MGain Dig Value Selection of the gain set from the digital command (0 default, 1, 2, 3).
MGain Term Source 1 / 2 Source selection for gain selector definition (from digital command or
fieldbus)
Prop Gain 1 Proportional gain for pressure control - set n.1.
Int Gain 1 Integral gain for the pressure control - set n.1.
Prop Gain 2 Proportional gain for pressure control - set n.2.
Int Gain 2 Integral gain for the pressure control - set n.2.
Prop Gain 3 Proportional gain for pressure control - set n.3.
Int Gain 3 Integral gain for the pressure control - set n.3.
Active Kp Press Display of the gains applied to the Kp variable.
Active Ki Press Display of the gains applied to the Ki variable.
ADP200 Application PID-IMM User Manual Pag. 62 of 80
5.9 IO_FILTERS menu
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11204
Enabler Sp Ref F
-
ENUM
DISABLED
- - 11206
Filt Freq Speed Ref
Hz
FLOAT
100
0.01
500.00
11208
InputFilter Enabler
-
ENUM
DISABLED
- - 11210
InputFilterCoeff
Hz
FLOAT
100
0.01
200.00
11212
Notch Enabler
-
ENUM
DISABLED
-
-
This menu contains parameters related to filtering pressure feedback and speed reference input.
There is also a Notch filter on the speed feedback and one on pressure feedback.
The scope of these filters is to band stop a specific frequency (see figure).
Figure 32: Noch Filter o speed feedback
5.9.1 IO_FILTERS parameter list
11214 Notch frequency Hz FLOAT
11216 Notch Damp at Cut F - FLOAT
11218 Output Notch Enabler - ENUM DISABLED - -
11220 Output Notch Freq Hz FLOAT
11222 Output Notch Smooth - FLOAT
50 - -
0.99 0.90 0.999
50 0.00 200.00
0.99 0.90 0.999
Enabler Sp Ref F Enables speed reference input filter.
0=DISABLED
1=ENABLED
Filt Freq Speed Ref Speed reference filter frequency.
InputFilter Enabler Enables pressure feedback input filter.
0=DISABLED
1=ENABLED
InputFilterCoeff Pressure feedback filter frequency.
ADP200 Application PID-IMM User Manual Pag. 63 of 80
Notch Enabler Enables notch filter on actual pressure feedback.
0=DISABLED
1=ENABLED
Notch frequency Notch filter frequency.
Notch Damp at Cut F Notch filter smoothness.
Output Notch Enabler Enables notch filter on speed feedback.
0=DISABLED
1=ENABLED
Output Notch freq Notch filter frequency.
Output Notch
Smoothness Notch filter smoothness.
ADP200 Application PID-IMM User Manual Pag. 64 of 80
5.10 ADAPT FEED FORWARD menu
A model based observer is acting as feed-forward control to prevent pressure overshoot and optimize control.
Function is ON by default.
User can disable this function by changing the parameter Ipa 11222 DynamicFFEnabler in
ADAPTFEEDFORW menu.
Feedforward action can be regulated by parameter Ipa 11224 DynamicFFGain.
5.10.1 ADAPT FEEDFORWARD Parameter List
Ipa Parameter Name Unit Type Default Min Max
11246 DynamicFFEnabler Enum - ENABLED - -
11248 DynamicFFGain Float - 2 1 100
DynamicFFEnabler Enables feed-forward control.
0=DISABLED
1=ENABLED
DynamicFFGain Scaling of integrator limitation (strong = 1.0, weak = 100.0).
ADP200 Application PID-IMM User Manual Pag. 65 of 80
5.11 MULTIPUMP menu
RefVel
Int. Drive
RefVel
From PLC
100%
100%
11304
SwitchThresold
50%
Multipump-Example with 1 Master and 1 Slave
Master Speed Ref
Slave Speed Ref
[11002]
MasterSlave
Drive 4 Dig. Input
Div/Conv = Convergent
Drive 4 Dig. Input
Div/Conv = Divergent
Note
DRIVE 1
Master
Master
Master
DRIVE 2
Slave
Slave 1
Slave 1
DRIVE 3
Slave
Slave 2
Slave 2
DRIVE 4
SlaveDivMaster
Slave 3
DivMaster
DRIVE 5
SlaveDivSlave
Slave 4
DivSlave
This menu contains parameters for Multi – pump configuration.
In multi pump there are one master and one or more (max 6) slaves.
Master receive the machine speed (Flow) reference and pressure reference while slave receive from
master via CanBus only its speed(flow) reference calculated by the master.
In pressure control only master is working and slave speed is 0.
The multi-pump configuration baud rate must be 1 Mbit/sec, in this case the data exchange between drive
are done with a correct cycle time.
The standard configuration must be done with no other devices on the Can line, so there are only ADP 200
multi-pump connection on the Can.
The following curve show one example with two servo-pump one master and one slave in convergent mode.
All the drive and the pump are the same power / type (Slave Pmp Flow Ratio=1).
When the machine is in flow mode master share the flow reference to the slave following the curve below:
In Convergent divergent configuration, one or more slave can change in master, in this case also the
hydraulic circuit change, in two or more independent circuit where each of this have an independent
pressure sensor.
Example:
In this example there are a configuration with 5 Drives one Master, two Slaves, one SlaveDiv Master and
one Slave Div Slave.
Here the configuration parameter (MasterSlaves) and the situation on convergent and in divergent case.
The following tables show some parameter configuration:
ADP200 Application PID-IMM User Manual Pag. 66 of 80
Figure 33: Multi-Pump Convergent Mode 2 pump speed ref calculation
Menù COMMUNICATIONS/FIELDBUS CONFIG: Can Configuration
[4004]
FieldBus Baudrate
[4006]
Fieldbus address
Note
DRIVE 1
1M
3
Is the default value
DRIVE 2
1M
4
DRIVE 3
1M
5
DRIVE 4
1M
6
DRIVE 5
1M
7
DRIVE1
DRIVE2
DRIVE3
DRIVE4
Note
11602 Slave1 Active
ON
ON
ON
ON
11604 Slave2 Active
ON
OFF
OFF
OFF
11606 Slave3 Active
ON
OFF
OFF
OFF
11608 Slave4 Active
ON
OFF
OFF
OFF
11610 Slave5 Active
OFF
OFF
OFF
OFF
11612 Slave6 Active
OFF
OFF
OFF
OFF
11614 Master Address
3 3 3
3
CAN CAN CAN
CAN
CAN
DRIVE 3
MASTER
DRIVE 2
DRIVE 4 DRIVE 5
DIV/CONV = CONVERGENT
DRIVE 1
SLAVE 1 SLAVE 2 SLAVE 3 SLAVE 4
CAN CAN CAN
CAN
CAN
DRIVE 3
MASTER
DRIVE 2
DRIVE 4 DRIVE 5
DIV/CONV = DIVERGENT
DRIVE 1
SLAVE 1
DIV MASTER
DIV SLAVE
SLAVE 2
Menu PID IMM/CAN: Application CAN parameters.
The two possible configuration are:
1- Drive 4 in Convergent mode:
There is one master and all the other drives are slaves as shown in the following figure:
The master receive the commands (analog and digital input) and read also the pressure feedback from the
pressure sensor.
2- Drive 4 in divergent mode
ADP200 Application PID-IMM User Manual Pag. 67 of 80
Figure 34: Control in convergent mode
Figure 35: Control in Divergent mode
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11298
Ramp Time
-
FLOAT
0.2
0.00
10.00
11300
Tot Number of Pumps
-
UINT 1 1.00
7.00
11302
Slave Pmp Flow Ratio
-
FLOAT
1
0.10
10.00
11304
Switch Threshold
perc
INT
25
0.00
100.00
Drive 1 is the master of Drive 2 and Drive 3 are slaves, Drive 4 is Divergent Master while Drive 5 is
Divergent Slave (slave of drive 4)
Also here the master Drive 1 receive the commands (analog and digital input) and read the first pressure
feedback from the first pressure sensor now also Drive 4 is a Master so receive independent commands
from PLC and read a second pressure sensor to perform a second movement.
The machine can perform two movement in parallel (ex. Clamp open and ejector in parallel).
On master drive ”DRIVE 1” Tot Number of Pumps [11300]= 5
On slave div. Master “DRIVE 4” Tot Number of Pumps [11300]= 2
5.11.1 MULTIPUMP parameter list
Ramp Time Not used
Tot Number of Pumps Only for Master or Slave-Div Master specify the total number of pumps that are
connected. For Slave-Div Master is the total number of pumps considering only
the divergent mode (1 or 2)
Slave Pmp Flow Ratio It is the ratio between the Master displacement and the Slave displacement.
Switch Threshold It is the Master speed threshold that makes enable the slaves
ADP200 Application PID-IMM User Manual Pag. 68 of 80
5.12 TUNING menu
The parameters in TUNING menu allow to perform an automatic calculation of the speed gains and of the
pressure gains; then the value calculated can be copied to the working gains parameters.
Speed Loop Auto-Tuning:
The speed loop tuning is done by executing a speed profile. The profile is fixed and it starts from 500 RPM to
1500 RPM with 3s of Ramps.
During this profile, the algorithm will estimate the mechanical parameters of the system. Based on the Speed
Loop Bandwidth set on IPA 11480, the algorithm will estimate the Speed Loop Kp (IPA 12150) and Speed
Loop Ki (IPA 12152).
In order to execute the speed loop tuning:
o) the IMM must be configured, by opening valve or set properly safety valve, in “open loop circuit”. This
condition means that motor can rotate with low/no pressure.
o) the Speed reference and Pressure Reference must be set as digital parameter (see 5.3). The Pressure
reference needs to be at least 50% more the pressure that is reached at 1500 RPM to avoid that during the
speed tuning procedure there are constrain due Pressure Control. (i.e. (IPA 11054) Pressure ref = 100 bar)
To enable the speed loop tuning, the operator has to switch to ON the parameter Speed Tuning En (IPA
11482). After this command, the speed profile for auto-tuning is applied and motor will move from 500 to
1500 Rpm and from 1500 to 500 Rpm. At the end of the procedure the speed comes back to the original
speed that operators has set to digital reference (IPA 11056).
The tuned parameters will be shown as:
Speed Loop Kp (IPA 12150) – that is the proportional gain
Speed Loop Ki (IPA 12152) – that is the integral gain
SLT Tau (EXP) (IPA 12140) – that is the time constant of the mechanical system
SLT Gain (EXP) (IPA 12142) – that is the gain of the mechanical system
The ratio between SLT Tau and SLT Gain gives an indication of the Inertia of the system.
Finally in order to apply the calculated value, the operator can switch to ON the parameter “Load SpL Tuned
Value” (IPA 11484) that makes a copy and paste of the tuned value to the GAIN menu. As alternative the
value can be copy and paste manually.
Pressure Loop Auto-Tuning:
The pressure loop auto tuning requires that the machines is working in “closed loop” and the system must be
in pressure. The tuning should be done in the condition where the ratio between Pressure and Speed is
higher, typically on IMM this condition is reached in the hold phase after the injection.
The operator must to take a fixed value of pressure reference (this can be done from Digital or Analog) and
to put the system in pressure. After this, the operator has to Switch ON the parameter “Press Tuning EN”
(IPA 11492). The algorithm will make a 1 Hz of pressure variation and the algorithm will calculate the value
of Pressure Loop Kp and Ki (IPA 12112, IPA 12114). The procedure requires about 6 seconds, and at the
end of the procedure the pressure reference variation is automatically disabled.
In order to make active the tuned value, the operator has to switch ON the parameter “Load PrL Tuned
Value” (IPA 11494)
Note! the automatic tuning procedure, both Speed and Pressure is based on “standard machine” and it has general
hypothesis. The operator, prior to switch On the procedure that apply the tuned parameters (IPA 11484 and 11494)
must check that value estimated are “reasonable” in the proper range. If operator is not sure about the calculated
value, repeat the procedure or proceed by changing the value manually (ref.
When IPA 11484 and 11494 are switched ON, the tuned parameters are immediately applied. As recommendation,
this operation should be done when enable is OFF or at least operator must be ready about the change.
5.5)
ADP200 Application PID-IMM User Manual Pag. 69 of 80
5.12.1 TUNING parameter list
Type
FLOAT
BOOL
11484
Load SpL Tuned Value
-
BOOL
OFF - -
11490
P band request
-
FLOAT
50 1 200
11492
Press Tuning EN
-
BOOL
OFF - -
11494
Load PrL Tuned Value
-
BOOL
OFF - -
12112*
Press Loop Kp
-
FLOAT
- - -
12114*
Press Loop Ki
-
FLOAT
- - -
FLOAT
FLOAT
FLOAT
FLOAT
Ipa Parameter Name Unit
11480 Speed Loop BandWith Rad/sec
11482 Speed Tuning En -
12140* SLT Tau (Expert) s
12142* SLT Gain (Expert) -
12150* Speed Loop Kp -
12152* Speed Loop Ki -
Default Min Max
200 0 400
OFF - -
- - -
- - -
- - -
- - -
Speed Loop BandWith is the PID-IMM Speed Loop BandWith
Speed Tuning En Enables speed tuning control. When you enable autotuning start, when finish this
parameter automatically return in DISABLED status. Note that the Speed reference
must be set as digital parameter
0=DISABLED
1=ENABLED
Load SpL Tuned Value Load the speed gains calculated by speed tuning in the speed regulation Gains
P band request Band request for speed tuning
Press Tuning EN Enables pressure tuning control. When you enable autotuning start, when finish
this parameter automatically return in DISABLED status.
0=DISABLED
1=ENABLED
Load PrL Tuned Value Load the pressure gains calculated by pressure tuning in the pressure regulation
Gains
Press Loop Kp Pressure loop tuned Kp
Press Loop Ki Pressure loop tuned Ki
SLT Tau (expert mode)
SLT Gain (expert mode)
Speed Loop Kp Speed loop tuned Kp
Speed Loop Ki Speed loop tuned Ki
ADP200 Application PID-IMM User Manual Pag. 70 of 80
5.13 CAN Menu
Ipa
Parameter Name
Unit
Type
Default
Min
Max
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
UINT
UINT
11618
RPDOTimer
-
INT
12 - -
11620
TPDOTimer
-
INT
10 - -
11622
StandAlone
-
CO_STAND_ALONE
0 - -
11624
CANAlarm
-
BOOL
OFF - -
11626
CANMPActive
-
BOOL
ON - -
11628
PLC Ref Div
-
FLOAT
1
0.1
1000
BOOL
UDINT
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
The parameter in this menu are used only in the ADP200 PID-IMM multi-pump configuration.
The example described in multi pump menu show how program the parameter Slave xActive and master
address.
11602 Slave1Active -
11604 Slave2Active -
11606 Slave3Active -
11608 Slave4Active -
11610 Slave5Active -
11612 Slave6Active -
11614 MasterAddress -
11616 DivSlaveAddr -
11630 MPCopyWDecomp -
12054* COState -
12056* SlaveState1 -
12058* SlaveState2 -
12060* SlaveState3 -
12062* SlaveState4 -
12064* SlaveState5 -
12066* SlaveState6 -
ON - -
OFF - -
OFF - -
OFF - -
OFF - -
OFF - -
3 - -
6 - -
OFF - -
0 - -
OFF - -
OFF - -
OFF - -
OFF - -
OFF - -
OFF - -
Slave1Active If on set the presence of the slave 1. From Default configuration only slave 1 is active.
0=OFF
1=ON
Slave2Active If on set the presence of the slave 2. From Default configuration only slave 1 is active.
0=OFF
1=ON
Slave3Active If on set the presence of the slave 3. From Default configuration only slave 1 is active.
0=OFF
1=ON
Slave4Active If on set the presence of the slave 4. From Default configuration only slave 1 is active.
0=OFF
1=ON
Slave5Active If on set the presence of the slave 5. From Default configuration only slave 1 is active.
0=OFF
1=ON
Slave6Active If on set the presence of the slave 1. From Default configuration only slave 1 is active.
0=OFF
1=ON
MasterAddress
Address of the master drive (Default is 3). Must be equal in all the drives.
Parameter variation have effect only after reset.
ADP200 Application PID-IMM User Manual Pag. 71 of 80
DivSlaveAddr Address of the DivSlave must be set on the DivMaster.
A change of this parameter have effect only after reset.
RPDOTimer wait delay time in mSec for the process data monitoring.
If the monitored PDO is not arriving in this time, the communication will be considered not
valid and an alarm is generated.
Default value is 12msec.
TPDOTimer time in mSec with are still sent TPDOs, even if the data does not change.
It must be less of RPDOTimer’ of the drives that read these PDO, otherwise there is timeout.
Default value is 10mSec.
StandAlone Sets the behavior to an external PLC, possible selections:
0 = StandAlone
1 = NoNMT
2 = NoMap
3 = NoMapNoNMT
Active only after restart.
The value of this parameter has no effect on the control of process data: each drive monitors the
data that is to receive and detect the communication status.
If the selection is different from Stand Alone, the network master is the external PLC.
With "StandAlone", the external PLC do not handles the CAN network, the master puts in
Operational himself and Slave, and controls its status.
With "NoNMT", the drive (master or slave) prepare PDO, but does not bring themselves or others in
Operational status.
The external PLC are managing to control the state and bring the drive in communication.
With "NoMAP", the mapping is not done automatically (with external PLC)
With "NoMapNoNMT", not do the mapping and the state machine is not active.
The external PLC must do everything, including dynamic mapping via SDO.
CANAlarm enables and disables the generation of PLC alarms. Defaul value is “OFF”
There are two alarms: the alarm CAN MP Error (PLC05) is generated if the drive is enabled, in Op
and occurs a time-out on the PDO monitored.
The alarm (PLC06) CAN DIV MP Error is reserved to DivMaster, occurs if the drive is enabled and
in Operational and the DivSlave is not seen. For more information see the alarm chapter.
CANMPActive Default value is “ON”.
Enabled / disabled CAN multi-pump functions.
If OFF, the drive works as a normal CANopen slave, without using the multi-pump functions.
Active only after restart.
PLC Ref Div Default value is 1 (used only with external PLC in CANopen and Multipump configuration).
This parameter increases the resolution of the reference coming from the master. The reference
coming is a 16 bit integer value in percent. This parameter divides the incoming reference, permit
the use of decimal digits.
MPCopyWDecomp Default value is “OFF”(used only with external CANopen PLC and Multipump config.).
Enable copying of control word coming from PLC to “Dig Word Decomp”. If WDecomp is not used (is
free) it’s possible to control the multipump master remotely from the external PLC with WDecomp.
If you do this association you can then program directly the bit of wdecomp to the commands.
COState: communication status.
On the Slave is 1 if the PDO of the Master is received.
ADP200 Application PID-IMM User Manual Pag. 72 of 80
On the Master, is a bit word where each nibble corresponds to the status of a slave. Ex: 101011h
are communicating slaves 1,2,4 and 6 (read from right to left).
On DivMaster is 11h if you connect and communicate the Master and the DivSlave.
On DivSlave, it is 11h if it is in communication with the master and the DivMaster
SlaveState1..SlaveState6: Monitor the status of the single slave.
It is valid only on the master
ADP200 Application PID-IMM User Manual Pag. 73 of 80
5.14 MONITORS menu
Ipa
Parameter Name
Unit
Type
Default
Min
Max
11400
Auto SoftScope Setup
---
BOOL
OFF - -
11470
SoftScope Mem En
---
BOOL
OFF - -
11472
SoftScope Par Mem En
---
BOOL
OFF - -
12004*
Motor Torque
Nm
Float
12006*
Speed Feedback
rpm
Float
12008*
Pressure Fbk
bar
Float
Speed Ref Mon Int
Pressure Ref Mon Int
Speed Ref Ext
Pressure Ref Ext
Derivative Fbk
Derivative Fbk
P
D
I
Est Gain (P/Q)
BOOL
Pressure
Control block diagram
This menu contains monitor parameters.
12010*
12012*
12014*
12016*
12020*
12022*
12030*
12032*
12034*
12036*
12052* Basic Run State -
12116* Control Mode -
- Output - Float
- Output - Float
- Output - Float
rpm Float
bar Float
rpm Float
bar Float
- Float
Filt - Float
- Float
OFF - -
Enum - -
ADP200 Application PID-IMM User Manual Pag. 74 of 80
Auto SoftScope Setup Reserved
SoftScope Mem En Reserved
SoftScope Par Mem En Reserved
Motor Torque Motor torque monitor. (*)
Speed Feedback Speed feedback monitor. (*)
Pressure Fbk Pressure feedback monitor.
Speed Ref Mon Int Speed reference monitor.
Pressure Ref Mon Int Pressure reference monitor.
Speed Ref Ext Speed reference from external PLC (before Ramps) monitor
Pressure Ref Ext Pressure reference from external PLC (before Ramps) monitor
Derivative Fbk Derivative Fbk
Derivative Fbk Filt Derivative Fbk Filtered
P-Output Proportional feed-back monitor
D-Output Derivative feed-back monitor
I-Output Integrative feed-back monitor
Est Gain (P/Q) Estimated Q/P Gain
Basic Run State Basic run state (ON (1), OFF (0) )
Control Mode Actual Control Mode
0 = Pressure
1= Speed/Flow
(*) TORQUE an SPEED is displayed according the pump direction convention. Example is the direction is
negative and motor speed [260*] is negative, the Speed Feedback [12006*] show the same value but
positive.
ADP200 Application PID-IMM User Manual Pag. 75 of 80
5.15 ABOUT menu
Unit
Max
-
-
-
-
-
- 12050*
Appl Date
Float - 0 - -
This menu contains information related to application and MDPLC compiler version.
Ipa Parameter Name Type
12042* ApplVersion Float
12046* Mdplc Version Float
12048* Config Version Float
ApplVersion Application Version.
Mdplc Version MDPLC compiler version.
Config Version GF-eXpress configurator version.
Appl Date Release date of current version.
Default Min
0 -
0 -
0 -
ADP200 Application PID-IMM User Manual Pag. 76 of 80
6 Application Alarm
The PID-IMM application carries out a series of checks on itself while it is functioning.
In this chapter there are a list and a short description about this application alarm.
Note that all the other drive alarms (Eg. OverVoltage…) are listed and described in the ADP200 QS (Quick
Start) manual in the troubleshooting chapter.
As described in the ADP200 FP manual in the alarm chapter, for each alarm the possible activity (or Action)
are:
0 = Ignore
1 = Warning
2 = Disable
3 = Stop
4 = Fast stop
For PID IMM the application alarm are:
Over Pressure: (AlmPlc1 - code 33)
This alarm occur only in Speed (Flow) mode (Mode 0) if actual speed is over the speed
reference or the pressure feedback is over the pressure set-point, the application will stop
the motor and trigger an “Over Pressure” alarm. This function can be used for motor and
drive commissioning check the pump correct direction and speed loop tuning. This alarm do
not have any activity parameter when occur generate an alarm.
Speed out of limit: (AlmPlc2 - code 34)
Reserved
Leakage Detection: (AlmPlc3 - code 35)
Leakage Alarm: minimum pressure level that is checked during the Basic Run Mode.
If the pump reaches pressure level below the threshold (parameter 11032 Min Press Leak
Al) for time longer than the time specified in par 11034 Leakage Al Time Out, the Leakage
Detection alarm is triggered.
Alarm action is defined with IPA 11036 Leakage alarm Action.
For a complete description of Basic Run mode see BASIC RUN Menù.
Pressure Sensor: (AlmPlc4 - code 36)
Should be direct or indirect Sensor Alarm. Direct Alarm is possible if the machine has the
sensor 0.1….10V or 4-20mAmp if the threshold are below 50% of the min. V
Indirect Sensor Alarm (ISA): If pressure sensor is 0.1 to 10.1 V or 4 to 20 mA the drive is
able to recognize malfunctioning of pressure sensor. In the other case, this alarm detect a
malfunction or a not correct wiring of the pressure sensor.
If the torque is more than par 11040 ISA Torque Min and the pressure in lower than par
11042 ISA Press Threshold for a time more than par 11044 ISA Time Out the Pressure
Sensor alarm is triggered.
Parameter 11046 ISA Alarm Enable enable this function.
CAN MP error: (AlmPlc5 - code 37)
This alarm is enabled if the parameter 11624 CAN Alarm is “ON”
Alarm CAN MP error is generated when the CAN MultiPump function is enabled, the
communication is in Operational when on PDO monitored there is a timeout.
For the master Multi-Pump all the PDO send to the slave are monitored.
For the Slave Multi-Pump, is the PDO send by the Master.
The timeout time is controlled by the parameter 11618 RPDO Timer.
CAN DIV MP error: (AlmPlc6 - code 38)
This alarm is enabled if the parameter 11624 CAN Alarm is “ON”
Alarm CAN DIV MP error is generated when the CAN MultiPump function is enabled and the
communication is in Operational and the drive is configured as a “Divergent Master” or
“Divergent Slave”.
ADP200 Application PID-IMM User Manual Pag. 77 of 80
The alarm come on when on PDO monitored there is a timeout.
The “divergent master” monitors the PDO from the “divergent slave” and vice-versa.
The timeout time is controlled by the parameter 11618 RPDO Timer.
NegSpeed error: (AlmPlc7 - code 39)
The Negative Speed alarm intervenes if the pressure sensor malfunctions or if the voltage
or electrical current read by the sensor is not 0.
Or if the time of the alarm intervention may have been set too short.
In fact, it should be taken into consideration that normally the pump is only allowed to rotate
in a negative direction for a short period of time, in order to stimulate depressurisation of the
hydraulic circuit; see Chapter SAT_LIMIT.
In such cases, the setting of parameter 11050 Max Neg Speed Time should be checked.
ADP200 Application PID-IMM User Manual Pag. 78 of 80
ADP200 Application PID-IMM User Manual Pag. 79 of 80
ADP200 Application PID-IMM User Manual Pag. 80 of 80
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