num 1060 D.I.S.C. User Manual

NUM 1060

D.I.S.C.

(DIGITAL INTEGRATED

SERVO CONTROL)

INTEGRATION

MANUAL

0101938907/3

06-97 en-938907/3

Despite the care taken in the preparation of this document, NUM cannot guarantee the accuracy of the information it contains and cannot be held
responsible for any errors therein, nor for any damage which might result from the use or application of the document.

The physical, technical and functional characteristics of the hardware and software products and the services described in this document are subject
to modification and cannot under any circumstances be regarded as contractual.

The programming examples described in this manual are intended for guidance only. They must be specially adapted before they can be used in
programs with an industrial application, according to the automated system used and the safety levels required.

© Copyright NUM 1997.

All rights reserved. No part of this manual may be copied or reproduced in any form or by any means whatsoever, including photographic or magnetic
processes. The transcription on an electronic machine of all or part of the contents is forbidden.

© Copyright NUM 1997 software NUM 1060.

This software is the property of NUM. Each memorized copy of this software sold confers upon the purchaser a non-exclusive licence strictly limited
to the use of the said copy. No copy or other form of duplication of this product is authorized.

2 en-938907/3

Table of Contents

Table of Contents

1 General 1-1

1.1 General Description

1.2 Functional Description

1.3 System Architecture

2 Components 2-1

2.1 QVN Card

2.2 Measurement Cable

2.3 Compatible Axis Drives

3 Interconnections 3-1

3.1 Schematic Diagram

3.2 Servo-Drive Interconnections

3.3 Motor and Brake Power Supply

3.4 Measurement Cable Wiring Diagrams

3.5 Connection in Fibre-Optic Ring

3.6 Transmit Power Control

3.7 Setting of the Address Switch on the
Serial Bus

3.8 Setting a Motor/Servo-Drive Association

4 Safecty Device Setting and Use

4.1 Messages Displayed at Power ON

4.2 Fault Detection and Processing of
Safety Devices

4.3 Fault Diagnostic

4.4 QVN Information Pages

4.5 Reset After a Fault

5 Machine Parameters 5-1

5.1 General

5.2 Miscellaneous Parameters

5.3 Servo-Control Loop Gain Coefficient

5.4 Noisy Signal and Encoder Channel
Complementarity Monitoring Declaration

5.5 Sampling Period

5.6 Card Mapping

5.7 Axes Controlled by QVN

5.8 Motor Direction of Rotation

5.9 Maximum Motor Speed

5.10 Block Diagram of the Speed Loop

5.11 Speed Servo-Loop Proportional Action
Coefficient

5.12 Speed Servo-Loop Integral Action Cut-off
Pulse

5.13 Speed Sensor Measurement Increment
Average (Motor Sensor)

5.14 Speed Measurement Filter

5.15 Torque Reference Filter

5.16 Static Current Limiting

1-3
1-4
1-5

2-3
2-4
2-5

3-3
3-4

3-6
3-7
3-9

3-10
3-12

3-13

4-1
4-3

4-5
4-9

4-10
4-14

5-3

5-8
5-9

5-10
5-11
5-12
5-14
5-18
5-20
5-21

5-22
5-24
5-25

5-26
5-27
5-28

en-938907/3 3

5.17 Association of a Torque Slave with a
Master

5.18 Direction of Rotation of a Torque Slave
Application

5.19 Preload Current of a Master/Slave Pair

5-29
5-30

5-31

6 PLC Variables 6-1

6.1 Torque Enable

6.2 Speed Reference Enable

6.3 Programming Recommendations

6.4 Dynamic Current Limiting

6.5 Exchange Area

6-3
6-3
6-3
6-4
6-4

4 en-938907/3

Record of Revisions

Record of Revisions

Date Revision Pages revised Pages added Pages deleted

07 - 94 1 Complete revision

10 - 96 2 Complete revision

06 - 97 3 All pages issued in

Revision 3

REVISIONS OF THE DOCUMENTATION

Date Revision Reason for revision

08 - 93 0 Conforming to NUM 1060 software at index F.

07 - 94 1 Conforming to NUM 1060 software at index F2.

Miscellaneous corrections.

10 - 96 2 Conforming to NUM 1020, 1040 and 1060 software at index K.

SETTool software at index E taken into account.
Changes in servo-drives: transmit power and motor/servo-drive association settings on
the front panel.
Miscellaneous corrections.

06 - 97 3 Change in motor torques after measurements.

Miscellaneous corrections.

en-938907/3 5

6 en-938907/3

Structure of the NUM 1060 Documentation

User Documents

These documents are designed for the operator of the numerical control.

Preliminary

Preliminary

NUM

OPERATOR'S

MANUAL

M/W

938821

NUM

OPERATOR'S

MANUAL

T/G

938822

NUM

PROGRAMMING

MANUAL

M

938819

OEM Documents

These documents are designed for the OEM integrating the numerical control on a machine.

NUM 1060

INSTALLATION

AND

COMMISSIONING

MANUAL

NUM

PARAMETER

MANUAL

NUM

MACHINE

PROCESSOR

PROGRAMMING

MANUAL
LADDER

LANGUAGE

NUM

PROGRAMMING

MANUAL

T

938820

NUM

D.I.S.C.

INTEGRATION

MANUAL

938816

938818

938846

938907

en-938907/3 7

List of NUM 1020 - 1040 - 1060 Utilities

A series of utilities are available for the NUM 1020 - 1040 - 1060 CNCs for integration and use of the systems.
These utilities may be included in the basic version or available as options.
Depending on the function performed by each utility, its use is described in the integration manual or operator manual.
The table below lists the utilities and gives the references of the document describing them:

Utility Name Manual Chapter

UT 2 axis calibration installation and commissioning manuals 10

(938 816 or 938 938)
UT 3 resident macros operator manuals (938 821 or 938 822) 8
UT5 parameter integration parameter manual (938 818) 12
UT 7 PLC programme debugging machine processor programming manual 18

ladder language (938 946)
UT12 option locking operator manuals (938 821 or 938 822) 8
UT20 interaxis calibration installation and commissioning manual 1 1

(938 816 or 938 938)
UT22 axis parameter integration SETTool manual (938 924) 8

8 en-938907/3

DISC (Digital Integrated Servo Control) Integration Manual

This manual is used for integrating the DISC components in the CNC.

Description of the axis and spindle DISC concepts

- General description,

- Functional description,

CHAPTER 1

GENERAL

CHAPTER 2

- System architecture.

Description of the DISC components

- Physical characteristics,

- Technical characteristics,

- List of DISC-compatible drives.

Preliminary

COMPONENTS

CHAPTER 3

INTERCONNECTIONS

CHAPTER 4

SAFETY DEVICE

SETTING AND

USE

Interconnections, adjustments and settings

- Fibre-optic ring,

- Transmit power setting,

- Address settings,

- Motor/servo-drive association settings,

- Schemas.

Faults and safety device processing

- Procedure for accessing the error display pages,

- Resetting procedures.

en-938907/3 9

List of machine parameters and axis and spindle configuration rules.

CHAPTER 5

MACHINE

PARAMETERS

List of PLC variables and programming rules.

CHAPTER 6

PLC

VARIABLES

Use of the DISC Integration Manual

Agencies

The list of NUM agencies is given at the end of the manual.

Questionnaire

To help us improve the quality of our documentation, we kindly request you to return the questionnaire at the end of the
manual.

10 en-938907/3

General

1 General

1.1 General Description 1-3

1.2 Functional Description

1.3 System Architecture 1-5

1.3.1 NUM 1060 Series 2 System

1.3.1.1 1060 Series 2 with Two Processors

1.3.1.2 1060 Series 2 with UC SII Processor

1.3.2 NUM 1060 Series 1 System

1-4

1-5
1-5
1-6
1-7

1

en-938907/3 1 - 1

1 - 2 en-938907/3

General

1.1 General Description

The DISC (Digital Integrated Servo-Control) concept includes:

- QVN card (heart of the DISC concept),

- Current amplifier for the axes,

- Sensor integrated in the BMH motor,

- Fibre-optic digital link.
The QVN card is built around a signal processor specially designed for servo-control (feedback) algorithms. It currently

operates on conventional axis speed and position control algorithms.
This servo-control architecture is based on the following principles:

CNC

1

Digital
servo-

drive

Fibre-optic link

400 VAC

current

amplifier

Digital
sensor

BMH

motor

- Digital position and speed loops (in the CNC),

- Modular current amplifier directly connected to the European 400 VAC network,

- Two-way communication by optical fibre allowing transfers from the CNC to the amplifier (current reference,
amplifier module control word) and from the amplifier to the CNC (module status word for processing the safety
devices and diagnostic in the CNC),

- Dedicated sensor integrated in the motor,

- SETTool integration tool running on PC.

Several high-level diagnostic devices are included in the CNC for remote diagnostic from the CNC operator panel.
The SETTool integration tool with sophisticated ergonomics, running on a PC, is used to optimise the servo-control

parameters. SETTool includes an oscilloscope function and automatic setting procedures (machine parameters)
allowing rapid and reliable integration.

Since the speed servo-loop is fully digitised, any offset that could bias the following error has been completely
eliminated, making the servo-control more accurate and the axes more stable.

Both DISC and conventional axes and spindles can be controlled by the same CNC (for the conventional axes,
a +/-10 V speed reference is used by each axis card).

Two sensor configurations are possible for an axis controlled by QVN:

- A single speed and position measurement sensor (motor sensor) connected to the QVN card,

- A speed measurement sensor (motor sensor) connected to the QVN card and a position measurement sensor (on
the moving assembly) connected to the same QVN card or to an axis encoder card.

A QVN sensor input can receive data from a spindle sensor, a handwheel (with complemented channels) or a position
sensor for an axis that is only measured.

en-938907/3 1 - 3

Maximum Axis Speed

Considering an internal resolution of one micron (one ten-thousandth of a degree for rotary axes), the maximum
speeds are as follows:

Axis speed Axis speed

(without additional sensor) (with additional sensor)

Motor speed Linear axis Rotary axis Linear axis Rotary axis
(rpm) (m/min) (rpm) (m/min) (x1000 °/rpm)

2000 36 100 360 100
3000 54 150 360 100
4000 72 200 360 100

1.2 Functional Description

When connected to the CNC system bus, the QVN (digital drive) card:

- Handles transfers with the current amplifier and interfaces with the motor sensors; if an additional sensor is placed
on the axis, it can provide the interfacing,

- Handles feedback with position and speed control,

- Manages the safety devices specific to the axis.

Machine

E_CNPRET

SETTOOL

parameter

integration tool

The SETTool software is used for:

- Setting the machine parameters,

- Testing of the servo-control responses to a typical signal (indicial response for the speed loop),

- Display of the response by the oscilloscope function.

safety

device

Interpo-

lation

Safety device processing

Position

control

QVN card

QVN card or axes

Speed
control

CNC

Current

Measu-

rement

Measu-

rement

control

Amplifier

safety

devices

Power

stage

Current

amplifier

BMH

motor

Motor

sensor

Axis

sensor

1 - 4 en-938907/3

1.3 System Architecture

1.3.1 NUM 1060 Series 2 System

1.3.1.1 1060 Series 2 with Two Processors

General

1

Operator panel

Compact panel ∗

System Bus

CNC/graphic

processor

Memory

QVN
Axes

Axes

Dedicated
interfaces

Digital bus

or

or

Optional keyboard

To current amplifier
Measurement

Origin switch

Anamogue speed reference
Measurement
Origin switch

Inputs

Outputs

Machine

processor

Serial Bus

Serial

bus/fibre-optic

adapter

Interrupts
Analogue inputs/outputs
Serial interfaces

∗ The use of the compact panel precludes the use of a machine panel.

Machine

panel

Machine

panel extension

(I/O)

en-938907/3 1 - 5

1.3.1.2 1060 Series 2 with UC SII Processor

Graphic
function

Operator panel

Compact panel ∗

or

or

U
C

S

II

System Bus

Serial Bus

Memory

CNC

function

PLC

function

Serial

bus/fibre-optic

adapter

Inputs

Outputs

Optional keyboard

RS 232 serial interfaces

Interrupt

Analogue inputs/outputs

Machine

panel

Machine

panel

extension (I/O)

Digital bus

QVN
Axes

Axes

Dedicated

interfaces

To current amplifier
Measurement

Origin switch

Speed reference
Measurement
Origin switch

∗ The use of the compact panel precludes the use of a machine panel.

1 - 6 en-938907/3

1.3.2 NUM 1060 Series 1 System

General

System Bus

Graphic

processor

Memory

CNC

processor

QVN
Axes

Axes

Digital bus

Operator panel

or

Serial interfaces

To current amplifier
Measurement

Origin switch

Speed reference
Measurement
Origin switch

1

Compact panel ∗

or

Optional keyboard

Remote

inputs

Dedicated
interfaces

Machine

processor

Serial Bus

Interrupts
Analogue inputs/outputs
Serial interfaces

Serial

bus/fibre-optic

adapter

Inputs

Outputs

∗ The use of the compact panel precludes the use of a machine panel.

Remote

outputs

Machine

panel

Machine

panel extension

(I/O)

en-938907/3 1 - 7

1 - 8 en-938907/3

Components

2 Components

2.1 QVN Card 2-3

2.2 Measurement Cable

2.3 Compatible Axis Drives 2-5

2.3.1 Motor Characteristics

2.3.2 Current Amplifier Module

2.3.2.1 Characteristics

2.3.2.2 Overall Dimensions and Mounting
Dimensions

2.3.3 BMH Axis Motor

2-4

2-5
2-8
2-9

2-10
2-10

2

en-938907/3 2 - 1

2 - 2 en-938907/3

Components

2.1 QVN Card

The QVN card is in double Eurocard format. It plugs into the system bus of the CNC rack. The interconnections are
made on the front using four 26-contact Sub.D (high density) connectors for the sensors and one fibre-optic transmit/
receive connector.

CAUTION

!

The QVN cards (P/N 204 202 069) must be connected to the system bus just to the left of

the memory card.

Power consumption 1.25 A (+ 0.18 A per DISC sensor)
Location in the continuity of the CNC cards
Switch contact one 24 V input per axis

2

C
A
P
T
3

The QVN card includes four measurement inputs and is able to drive up to four axes.
The built-in sensors on the axis motors controlled by the QVN card are connected in

priority to the measurement inputs. Any additional axis, spindle and handwheel
sensors can be connected to the remaining inputs, to another QVN card or to an axis
encoder card.

C
A
P
T
2

C
A
P
T
1

C
A
P
T
0

E

M

I

V
A
R

R
E
C

QVN

en-938907/3 2 - 3

2.2 Measurement Cable

y

Protective earth

This cable interconnects the QVN card with:

- The motor sensor,

- An encoder or a rule,

- A handwheel.

Solder side

18

26

9

1 2

19

Cable Assembly Part Number

1

10

1 - Cable assembly (see P/N) including:

2 - Connector supplied with the motor to be wired (see Sec. 3.4)

BMH Q 50 M xx

To switch and

24 V power suppl

- One 26-contact male Sub.D (high density) connector

- One typical sensor and thermal probe cable
(length 6, 10, 15, 20, 25, 30 or 40 m)

- One typical FM2R switch cable (length 1.5 m)

Length in m

If the switch cable is not used

When the switch cable is not used, the shielding and
two conductors must mandatorily be connected to the
protective earth to prevent interference.

2 - 4 en-938907/3

Components

2.3 Compatible Axis Drives

The axis drives compatible with DISC consist of BMH axis motors equipped with a dedicated sensor and 400 VAC
modular current amplifiers.

REMARK All spindle drives with UAC servo-drive are compatible with DISC.

2.3.1 Motor Characteristics

BMH..D Motor Cn 60 ∗ In 60 ∗ rated Pn 60 ∗ rated Nominal Amplifier Cmax Cmax

torque current A rms power kW dim speed rpm MDL D...Q /Cn Nm

• 075 1 N 1.1 1.9 0.35 3000 007 2.45 2.7

014 4.73 5.2

1 V 1.1 2.6 0.46 4000 014 3.55 3.9

• 2 N 1.8 2.3 0.63 3000 014 4.17 7.5

2 V 1.8 3 0.84 4000 014 3.28 5.9

• 4 N 3.1 3 1.07 3000 014 3.55 11

• 095 2 N 3.3 2.9 1.16 3000 014 3.33 11

2 V 3.3 5 1.55 4000 021 3.03 10

3.3 5 1.55 4000 034 4.24 14

• 3 N 4.6 4.5 1.6 3000 021 3.48 16

3 V 4.6 8.8 2.14 4000 034 3.04 14

050 4.13 19

• 5 N 7.1 4.9 2.45 3000 021 3.1 22

034 4.37 31

• 115 2 N 5.7 4.7 1.98 3000 021 2.81 16

034 3.68 21

2 V 5.7 8.9 2.64 4000 034 2.46 14

050 3.16 18

3 K 8.1 4.5 1.86 2000 021 2.96 24

• 3 N 8.1 7.8 2.79 3000 034 2.72 22

050 3.58 29

3 V 8.1 10.7 3.73 4000 034 2.22 18

050 2.96 24
075 3.7 30

• 4 K 10.2 5.3 2.37 2000 021 2.65 27

034 3.73 38

4 N 10.2 8.6 3.55 3000 034 2.65 27

050 3.43 35

4 V 10.2 15 4.73 4000 050 2.25 23

075 3.14 32
100 3.82 39

6 N 14.4 10.2 5.02 3000 034 2.29 33

050 3.13 45

2

∗ :∆T = 60 K.

• : Preferred motor type.

en-938907/3 2 - 5

BMH..D Motor Cn 60 ∗ In 60 ∗ rated Pn 60 ∗ rated Nominal Amplifier Cmax Cmax

torque current A rms power kW dim speed rpm MDL D...Q /Cn Nm

142 2 K 9.2 5.1 2.09 2000 021 2.39 22

034 3.15 29

• 2 N 9.2 8.8 3.14 3000 034 2.17 20

050 2.93 27

2 R 9.2 9.8 4.19 4000 034 2.07 19

050 2.72 25

3 K 13.1 8.1 2.93 2000 034 2.52 33

050 3.28 43

• 3 N 13.1 9.9 4.4 3000 034 2.14 28

050 2.82 37

3 R 13.1 14.4 5.86 4000 050 2.14 28

075 2.90 38
100 3.44 45

• 4 K 16.9 8.8 3.98 2000 034 2.43 41

050 3.25 55

4 N 16.9 13.3 5.97 3000 034 1.72 29

050 2.43 41
075 3.25 55

4 R 16.9 17.7 7.95 4000 075 2.66 45

100 3.25 55

7 N 27 20.6 9.42 3000 050 1.85 50

075 2.63 71
100 3.33 90

∗ :∆T = 60 K.

• : Preferred motor type.

2 - 6 en-938907/3

Components

BMH..D Motor Cn 60 ∗ In 60 ∗ rated Pn 60 ∗ rated Nominal Amplifier Cmax Cmax

torque current A rms power kW dim speed rpm MDL D...Q /Cn Nm

• 190 2 K 19.3 14.1 4. 4 2000 034 1.55 30

050 2.07 40

2 N 19.3 16.9 6.59 3000 050 1.81 35

075 2.38 46

2 R 19.3 24.8 8.79 4000 075 1.87 36

100 2.23 43

3 K 27.7 16.7 6.49 2000 050 1.88 52

075 2.45 68

• 3 N 27.7 23.6 9.73 3000 075 1.95 54

100 2.38 66

4 K 37 17.5 8.16 2000 050 1.84 68

075 2.43 90
100 2.84 105

4 N 37 25.8 12.25 3000 075 1.86 69

100 2.3 85

5 H 43.1 17 7.54 1500 050 1.9 82

075 2.53 109
100 2.95 127

• 5 L 43.1 26.7 12.56 2500 075 1.83 79

100 2.27 98
150 2.9 125

7 K 57.8 23.7 13.4 2000 075 2.08 120

100 2.56 148

A K 77 37.4 17.79 2000 100 1.88 145

150 2.60 200

2

∗ :∆T = 60 K.

• : Preferred motor type.

en-938907/3 2 - 7

2.3.2 Current Amplifier Module

PA and PB

for size 2

6

5

4

3

2

1

PA PB 1-L1 3-L2 5-L3

+

-

J3

J1

7

8

9

J400J400J400

10

11

12
13

1 - Ribbon cable connector 9 - Torque enable connector
2 - Plug-in terminal board for source I / O 10 - Microswitches for setting the
3 - Plug-in terminal board for serial interface (not used) motor / servo-drive associations
4 - LEDs 11 - Address microswitch
5 - Power cable connector (power lines L1, L2, L3) 12 - Optical output power setting
6 - Terminals for dissipation resistor (PA - PB) microswitch
7 - Connectors for monitor power supplies 13 - Fibre-optic connector (transmit)
8 - Plug-in connector (except on size 4) for motor 14 - Fibre-optic connector (receive)

power supply (U, V, W, earth) 15 - Connector cap

2 - 8 en-938907/3

14

15

Components

2.3.2.1 Characteristics

Amplifier Module

Module Size Pitch Rated Peak Rated Nominal Weight

(mm) current current power dissipation (kg)

(A rms) (A) (kW) (W)

MDL D2 007 Q 1 50 2 7 20 4.6
MDL D2 014 Q 4 14 35
MDL D2 021 Q 7 21 50

MDL D2 034 Q 2 80 14 34 150 6.9
MDL D2 050 Q 20 50 170

MDL D2 075 Q 3 110 35 75 200 9.2
MDL D2 100 Q 4 140 45 100 400 10.5

MDL D2 150 Q 60 150 460

2

Power Supply Module

Module Size Pitch Rated Peak Rated Nominal Weight

(mm) current current power dissipation (kg)

(A rms) (A) (kW) (W)

MDL L1 008 Q 2 80 14 8 50 8.1
MDL L1 015 Q 21 12 80 8.5

MDL L1 030 Q 4 140 53 30 170 10.5
Operating temperature range: 0 to +40 °C

Relative humidity: Maximum 75 percent noncondensing, nondripping
Protection class: IP20

en-938907/3 2 - 9

2.3.2.2 Overall Dimensions and Mounting Dimensions

285

40

35

60

100

100

355

380

50

140

+

-

70 40

110 80 50

Install the components vertically, placing the amplifier modules to the right of the power supply modules.

50

Keep the assembly away from heat-generating components.
Provide a clearance of 100 mm at the top and bottom and 50 mm on the left and right of the assembly for ventilation.
Provide a clearance of 40 mm in front for the cables.
Use M6 attaching screws.

2.3.3 BMH Axis Motor

The overall dimensions are the same as those of standard BMH motors. The internal sensor is specific to DISC.

Example of a DISC-Compatible Motor Reference

BMH 142 2 N 1 D F 1 L

DISC sensor

2 - 10 en-938907/3

Interconnections

3 Interconnections

3.1 Schematic Diagram 3-3

3.2 Servo-Drive Interconnections

3.2.1 Connection of Axis Amplifier Power
Supply

3.2.2 Wiring of the Torque Enable Connector

3.3 Motor and Brake Power Supply

3.3.1 Motor and Brake Power Supply with
Terminal Box

3.3.2 Motor and Brake Power Supply with
Power Connector on Motor

3.4 Measurement Cable Wiring Diagrams

3.4.1 Motor Sensor - QVN Connecting Cable

3.4.2 Encoder or Rule - QVN Connecting
Cable

3.4.3 Handwheel - QVN Connecting Cable

3.5 Connection in Fibre-Optic Ring

3.6 Transmit Power Control 3-10

3.6.1 Control on QVN Card

3.6.2 Setting on the Current Amplifier

3.7 Setting of the Address Switch on the Serial Bus 3-12

3.8 Setting a Motor/Servo-Drive Association

3.8.1 BMH075 Motor

3.8.2 BMH095 Motor

3.8.3 BMH115 Motor

3.8.4 BMH142 Motor

3.8.5 BMH190 Motor

3-4
3-4

3-5
3-6

3-6
3-6

3-7
3-7

3-8
3-8

3-9

3-10
3-11

3-13
3-13
3-14
3-15
3-16
3-17

3

en-938907/3 3 - 1

3 - 2 en-938907/3

3.1 Schematic Diagram

Interconnections

BMH motors

with built-in sensor

Measurement cable
(see Sec. 3.4.1)

3

C
A
P

1

T
3

C
A
P
T
2

2

Encoder or

Rule

Current amplifier

C
A
P
T
1

3

C
A
P
T
0

+

-

Power supply module

Measurement cable
(see Sec. 3.4.2)

Measurement cable
(see Sec. 3.4.3)

modules

Fibre-optic cable,

E

M

I

V

4

Axes

A
R

R
E
C

QVN

Handwheel

Length: 0.25 m
(see Sec. 3.5)

Fibre-optic cable
(see Sec. 3.5)

Conventional axis drive
with ± 10 V analogue link

en-938907/3 3 - 3

Sensor/Card Compatibility

QVN Card Axis card

Sensors Motor sensor Remaining axis sensor

Handwheel Remaining handwheel
Axis sensor Spindle

Measurement cable BMH Q 50 M xx To be assembled (see Installation and

Commissioning Manual)

3.2 Servo-Drive Interconnections

3.2.1 Connection of Axis Amplifier Power Supply

Monitor power

supply

Q1

F (4 A gf, 600 V)

F (4 A gf, 600 V)

KM1

Braking

resistor

Thermal switch

CL1 CL2 PY PZ PA PB L1 L2 L3

Plug-in connector J1 Plug-in connector

to sources T2

POWER SUPPLY 400 V MODULE

400 VAC

F

KM1

FF

Q1

A

Automatic control enable
signals including E_CNPRET

KM1M

DF1 DF2

Plug-in connector J1

No fault

(8 A, 230 VAC relay)

Isolating switch Q1 Contactor KM1
Size 2 power supply: 25 A fuse gf - 400 V 8 kW power supply: 25 A contactor
Size 4 power supply: 63 A fuse gf - 400 V 12 kW power supply: 40 A contactor

30 kW power supply: 80 A contactor

3 - 4 en-938907/3

3.2.2 Wiring of the Torque Enable Connector

6
5
4
3
2
1

Connector
J400

Interconnections

3

Protective relay as

per ZH 1/457

Coil Contacts
Nominal voltage 24 V Maximum current rating 6 A
Pick-up consumption 280 mW Maximum switched voltage 440 V
Operating consumption 500 mW Interrupt rating 150 W

Torque enable

Torque is enabled when a voltage of 24 V is present across terminals 1 and 2.

Machine safety

The NO contact (3-4) and/or the NC contact (5-6) are to be included in the machine safety daisy chain.

en-938907/3 3 - 5

3.3 Motor and Brake Power Supply

3.3.1 Motor and Brake Power Supply with Terminal Box

Brake
control

24 V

24 V

0 V

Brake

Plug-in
connector for
motor power supply

U
V

W

5
4

Gland

Cable

1
2

3

5

4

V /J

V2

U2

W2

W1

V1

U1

3

2

1

PE

CURRENT
AMPLIFIER

Green/Yellow

BMH MOTOR
TERMINAL BOX

3.3.2 Motor and Brake Power Supply with Power Connector on Motor

Brake
control

Brake

24 V

Plug-in
connector for
motor power supply

CURRENT
AMPLIFIER

24 V

0 V

U
V

W

PE

F

brake

E

A

B
C

D earth
G

H

MOTOR
CONNECTOR

3 motor
phases

not
connected

Motor power

connectors

A

B

G

H

F

E

D

BMH 075
BMH 095

A

F

G

E

D

C

BMH 115
BMH 142

E

D

A

F

C

BMH 190

C

B

B

3 - 6 en-938907/3

3.4 Measurement Cable Wiring Diagrams

CAUTION

!

For the wiring instructions, refer to the Installation and Commissioning Manual.

When the switch cable is not used, connect the shielding and two connectors to the

protective earth (see Sec. 2.2).

3.4.1 Motor Sensor - QVN Connecting Cable

Interconnections

3

Vcc

GND

Vcc

GND

Vcc

GND

Vcc

GND

Vcc

GND
x_Z_p
x_Z_n
x_B_p
x_B_n

x_A_p
x_A_n

x_abs2_p
x_abs2_n
x_abs1_p
x_abs1_n
x_abs0_p
x_abs0_n

X_CTP

T_GND

PROTECTIVE

EARTH

19
10

12
11
13

14
17
16

26
18

20
21

22
23
24
25

15

Red
Black

2
1

9
8

7
6

5

Red
Black
Red
Black
Red

Black
Red
Black
Pink
Grey
Yellow
Green
Brown
White
Pink/Blue
Grey/Blue
Yellow/White
Green/White
Brown/Violet
White/Violet
Violet
Blue

+5V

+5V

+5V

+5V

+5V

abs2

abs2\

abs1

abs1\

abs0

abs0\

0V

0V

0V

0V

Z

Z \

B

B \

A

A \

Z
W
Y

S
X
T

V
U
G
H
J
K
L
M
N
A
B
C
D
E
F
P
R
PROTECTIVE

EARTH

XBUT_p
XBUT_n

4
3

Red/Grey
Black/Grey

Cable assembly

+

-

24 V

Switch contact
24 V RETURN

PROTECTIVE
EARTH

REMARK If there is an additional sensor on the axis, the switch cable is not connected (pins

3 and 4).

en-938907/3 3 - 7

3.4.2 Encoder or Rule - QVN Connecting Cable

x_CTP

Vcc

GND

GND

Vcc
x_Z_p
x_Z_n
x_B_p
x_B_n

x_A_n

PROTECTIVE

EARTH

XBUT_p
XBUT_n

5
13
14
16
17

9

8

7

6
26x_A_p
18

4

3

Violet
Red
Black
Red
Black
Pink
Grey
Yellow
Green
Brown
White

Red/Grey
Black/Grey

3.4.3 Handwheel - QVN Connecting Cable

Cable assembly

Poor signal fault
5 V return
0 V return
0 V
+ 5 V
Z
Z
B
B
A
A

PROTECTIVE
EARTH

+

Switch contact

-

24 V RETURN

24 V

PROTECTIVE
EARTH

GND

Vcc

GND

Vcc
x_B_p
x_B_n

x_A_p
x_A_n 18

PROTECTIVE

EARTH

14
13

16
17

7
6

26

Black
Red
Black

Red

Yellow
Green
Brown
White

Cable assembly

REMARK The switch cable is never connected (pins 3 and 4).

3 - 8 en-938907/3

0 V

0 V

+ 5 V

5 V

Channel B

B

Channel B

B'
A

Channel A
Channel A

A'

PROTECTIVE
EARTH

3.5 Connection in Fibre-Optic Ring

The fibre-optic bus of the QVN card forms a ring with a number of strands.

QVN cards connected

to the system bus

of the main rack

Interconnections

C

3

C

A

A

P

P

T

T

3

3

C

C

A

A

P

P

T

T

2

2

C

C

A

A

P

P

T

T

1

1

C

C

A

A

P

P

T

T

0

0

E

E

M

M

I

V
A

R

QVN

I

V
A
R

R

R

E

E

C

C

QVN

+

-

Current amplifier

modules

1 2

3

1 - Connection of the transmitter of a QVN card to the receiver

of an amplifier (see Sec. 3.6.1: Power control)

2 - Connection of the transmitter of an amplifier to the receiver

of a QVN card (see Sec. 3.6.2: Power control)

3 - Connections between amplifiers - length 0.25 m (see

Sec. 3.6.2: Power control)

en-938907/3 3 - 9

3.6 Transmit Power Control

3.6.1 Control on QVN Card

123

ON

SW1

Transmit fibre-optic cable length Switch settings

123

ON

0.20 m - 1 m

123

ON

5 m - 10 m - 15 m

123

ON

20 m - 30 m

3 - 10 en-938907/3

3.6.2 Setting on the Current Amplifier

1

2

3

ON

ON

1

2

3

ON

1

2

3

+

-

Interconnections

3
2

1

ON

3

Transmit fibre-optic cable length Switch settings

0.25 m - 1 m

5 m - 10 m - 15 m

20 m - 30 m

REMARK The connections between amplifiers use 0.25 m long optical fibres.

en-938907/3 3 - 11

3.7 Setting of the Address Switch on the Serial Bus

The address of each axis must be encoded on the current amplifier:

+

-

Bit weight

16

8
4

2

1

5
4

3
2

1

ON

The binary code of the address set in parameter P71 for each axis is reproduced (see Sec. 5.4). The switch is set to
ON for a high level and to OFF for a low level.

Bit weight

16

8
4

2
1

5
4

3
2

1

ON

Axis address

Low level
High level

ON

Example

The binary code for the axis at address $0D is:
The switches are coded as follows:

3 - 12 en-938907/3

00001101

Bit weight

16

8
4

2

1

5
4
3
2

1

ON

3.8 Setting a Motor/Servo-Drive Association

A motor is associated with a servo-drive by a switch array (see table below) on the current amplifier:

Interconnections

+

-

REMARK The switches must always be set in pairs.

3.8.1 BMH075 Motor

Motor BMH075

Servo­drive

7A

14A

1N 1V 2N 2V 4N

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

3

en-938907/3 3 - 13

3.8.2 BMH095 Motor

Motor BMH095

Servo­drive

14A

21A

34A

50A

2N 2V 3N 3V 5N

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

3 - 14 en-938907/3

Interconnections

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

3.8.3 BMH115 Motor

Motor BMH115

Servo­drive

21A

34A

50A

75A

100A

2N 2V 3K 3N 3V 4K 4N 4V 6N

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

3

en-938907/3 3 - 15

3.8.4 BMH142 Motor

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

Motor BMH142

Servo­drive

21A

34A

50A

75A

100A

3 - 16 en-938907/3

2K 2N 2R 3K 3N 3R 4K 4N 4R 7N

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

3.8.5 BMH190 Motor

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

ON

1

2

3

4

5

6

7

8

Motor BMH190

Servo­drive

34A

50A

75A

100A

2K 2N 2R 3K 3N 4K 4N 5H 5L 7K AK

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

Interconnections

3

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

8
7
6
5
4
3
2
1

ON

150A

en-938907/3 3 - 17

3 - 18 en-938907/3

Safety Device Setting and Use

4 Safecty Device Setting and Use

4.1 Messages Displayed at Power ON 4-3

4.2 Fault Detection and Processing of Safety Devices

4.2.1 Faults

4.2.1.1 Faults Detected by the Power Supply
Module

4.2.1.2 Faults Detected by the Current Amplifier
Module

4.2.1.3 Faults Detected by the QVN Card

4.2.1.4 Faults Detected by a Sensor

4.2.1.5 Faults Detected by the Motor

4.2.2 Axis Safety Device Processing

4.2.2.1 Hardware Processing in the Amplifier
and Power Supply Modules

4.2.2.2 Software Processing by QVN

4.2.2.3 Internal Fault Processing

4.3 Fault Diagnostic 4-9

4.4 QVN Information Pages

4.5 Reset After a Fault 4-14

4-5
4-5

4-5
4-6

4-6
4-6
4-7
4-7

4-7
4-8
4-8

4-10

4

en-938907/3 4 - 1

4 - 2 en-938907/3

Safety Device Setting and Use

4.1 Messages Displayed at Power ON

When Loading QVN Software

The message "Loading QVN cards" is systematically displayed if a QVN card is present in the rack.
If an error occurs during loading, the message "Error in loading QVN cards" is displayed. If this message is displayed,

contact NUM Customer Service.

Configuration Errors

Message Cause
ERROR: ILLEGAL FEEDBACK NUMBER A sensor number is outside the values authorised

(00, 01, ..., 31, FF) in P70 or P71

ERROR: MULTI-DECLARED FEEDBACK A sensor number is declared several times in P70
EITHER CONNECTED TO QVN CARD OR (words N0 to N7 or word N8)
DECLARED FICTITIOUS

ERROR: MULTI-DECLARED FEEDBACK A sensor number is declared in P70 in the list of sensors
CONNECTED TO QVN CARD AND connected to the QVN card (words N0 to N7) and in the list of
DECLARED FICTITIOUS fictitious sensors (word N8)

ERROR: FEEDBACK DETECTED ON A sensor number is declared connected to a QVN card in P70
ANALOGUE AXIS CARD AND ALSO (words N0 to N7) and is detected on an analogue axis card
DECLARED CONNECTED TO QVN CARD

ERROR: FEEDBACK DETECT. ON ANALOGUE A sensor number as declared fictitious in P70 (word N8) is
AXIS CARD AND DECL. FICTIT. detected on an analogue axis card

ERROR: MORE THAN ONE DRIVE HAS THE Several axis drives have the same address
SAME ADDRESS

REMARK This error is not detected when the servo-drives are connected to the same fibre-optic serial bus, but in
this case, no drive is detected, which generates another error message

ERROR: QVN SPINDLE VELOCITY FEEDBACK - A speed and position sensor number for a QVN spindle
NOT FOUND OR ALREADY ASSIGNED declared in P71 is not declared as connected to the QVN

card in P70 (words N0 to N7)

- A speed sensor number of a QVN spindle declared in P71
is not declared as connected to the QVN card in P70 or is
assigned by priority to a handwheel or an analogue spindle

ERROR: QVN VELOCITY FEEDBACK A sensor number is declared as a speed sensor on several
DECLARED ON MORE THAN ONE SPINDLE QVN spindles in P71

ERROR: QVN SPINDLE POSITION FEEDBACK A position sensor number for a QVN spindle declared in P71 is
NOT FOUND OR ALREADY ASSIGNED not declared as connected to a QVN card in P70 and was not

detected on an analogue axis card or is assigned by priority to
an analogue spindle

ERROR: VELOCITY AND POSITION A sensor number is declared as a speed sensor and a speed
FEEDBACK DECLARED ON MORE THAN and position sensor on several QVN spindles in P71
ONE QVN SPINDLE

ERROR: MISSING QVN DECLARED SPINDLE The list of QVN spindles declared in P71 does not match the

list of QVN spindles effectively recognised

4

en-938907/3 4 - 3

Message Cause
ERROR: QVN AXIS VELOCITY FEEDBACK - A speed and position sensor number of a QVN axis

NOT FOUND OR ALREADY ASSIGNED declared in P71 is not declared as connected to the QVN

card in P70 (words N0 to N7 and word N8)

- A speed sensor number of a QVN axis declared in P71 is
not declared as connected to the QVN card in P70 (words
N0 to N7) or is assigned by priority to a handwheel or an
analogue spindle

ERROR: VELOCITY FEEDBACK DECLARED A sensor number is declared as a speed sensor on several
ON MORE THAN ONE QVN AXIS QVN axes in P71

ERROR: SEVERAL QVN AXES LINKED TO Several QVN axes are associated with the same QVN spindle
A QVN SPINDLE in P71

ERROR: IMPOSSIBLE TO LINK A QVN A QVN axis with a fictitious sensor is associated with a QVN
SPINDLE TO A QVN AXIS WITH FICTITIOUS spindle with an additional sensor
FEEDBACK

ERROR: QVN AXIS POSITION FEEDBACK A position sensor number of a QVN axis declared in P71 is not
NOT FOUND OR ALREADY ASSIGNED declared as connected to the QVN card in P70 and was not

detected on the analogue axis card

ERROR: VELOCITY AND POSITION A sensor number is declared as a speed sensor and a speed
FEEDBACK DECLARED ON MORE THAN and position sensor on several QVN axes in P71
ONE QVN AXIS

ERROR: DUMMY FEEDBACK NOT USED One or more sensors declared as fictitious in P70 (word N8)

are not used

ERROR: MISMATCH BETWEEN THE DRIVES The list of axis drives detected does not match the list of axes
PRESENT AND THE QVN DECLARED AXES declared as QVN

ERROR: MISSING QVN DECLARED AXIS The list of QVN axes declared in P71 does not match the list

of recognised QVN axes

ERROR: MISSING QVN MEASURING The list of axes declared as measured only by QVN does not
ONLY AXIS match the real list of measured-only QVN axes

ERROR: ILLEGAL QVN AXIS OR SPINDLE Error in declaration in P85
COUPLING DECLARATION

ERROR: MISSING QVN SLAVED AXIS A slave declared in P85 is not found
OR SPINDLE

ERROR: UNRECOGNISED SIZE OF DRIVE The size code read in a drive is unknown, which leads to non

recognition of the corresponding QVN application

4 - 4 en-938907/3

Clearing the Messages

Y

When one these messages occurs:

Safety Device Setting and Use

Acknowledge the message. ☞

The "PROSV" fixed field is displayed (blocking of modes and E_CNPRET = 0).

Check the configuration of the system axes.
Correctly set the parameters involved using SETTool or utility 5.
Reset the system.

4.2 Fault Detection and Processing of Safety Devices

4.2.1 Faults

The following components are capable detecting faults:

- Power supply module,

- Current amplifier module,

- QVN card (digital drive),

- Motor,

- Sensor.

4.2.1.1 Faults Detected by the Power Supply Module

Fault Description Probable causes
Undervoltage The voltage level on the DC bus Line voltage out of tolerance.

is below the minimum threshold Line power isolating switch open.

Overvoltage The voltage level on the DC bus Braking module faulty.

is above the maximum threshold Line voltage out of tolerance.

Earth fault The current is not balanced between Earth leakage

the two branches of the DC bus (motor phase, etc.).

Resistor The thermal switch of the braking Braking module faulty.
temperature resistor or power supply module Resistor rating.

heat sink is open

4

REMARK These faults are transmitted simultaneously to all the modules in the load circuit of

the power supply, which all indicate the same fault to the QVN card.

en-938907/3 4 - 5

4.2.1.2 Faults Detected by the Current Amplifier Module

Fault Description Probable causes
Heat sink The thermal switch on the heat rms current > amplifier Ip

temperature sink is open
Power control Detection of an axis drive auxiliary power

(monitor power supply) supply failure
Short-circuit Short-circuit between phases or The fault may be internal or external

on the DC bus to the module.

Serial bus Transmission error on the serial bus Bus not connected or open-circuited.

between the QVN card and an axis drive SBC component faulty.

Overcurrent Overcurrent detected in the axis drive Short-circuit on a phase causing a

measurement current above 1.5 x
peak current.

4.2.1.3 Faults Detected by the QVN Card

Fault Description Probable causes
Complementarity Faulty complementarity on Sensor built into the motor.

one of the channels Connecting cable.

Overspeed Overspeed detected

(The detection threshold is set at 1.18 x max.
speed specified in parameter P73)

Overcurrent (overtorque) Current draw greater than Rotor stuck.

Feedback With sinusoidal feedback, the electrical Sensor built into the motor.
loss angle supplied by the incremental Connecting cable.

Drive runaway The axis drive power transistor

1/2

2

/3 x peak current detected for too long

(Detection threshold = Peak current x 2 s)

channels from the rotor position is no
longer consistent with the electrical
angle supplied by the absolute channels
(the fault detection threshold is
between 5 and 35 degrees electrical)

control is locked

4.2.1.4 Faults Detected by a Sensor

Fault Description Probable causes
Noisy signal Faulty read of Faulty read of the Sensor faulty.

internal optical signals of the sensor Connecting cables.

Code sur voies absolues A code never used was read on one
(Code on absolute of the absolute channels of the
channels) speed sensor

4 - 6 en-938907/3

Safety Device Setting and Use

4.2.1.5 Faults Detected by the Motor

Fault Description Probable causes
Motor The internal thermal switch rms current in the motor > motor

temperautre of the motor is open rated current.

4.2.2 Axis Safety Device Processing

Three component process the safety devices:

- Power supply module,

- Current amplifier module,

- QVN card (digital drive).

4.2.2.1 Hardware Processing in the Amplifier and Power Supply Modules

The processing performed in the power supply module and current amplifier module is illustrated in the diagram below.
All the module faults are transmitted to the QVN card via the SBC interface of the fibre-optic bus.

"UNDERVOLTAGE" fault

"RESISTOR TEMPERATURE" fault
"EARTH" fault
"OVERVOLTAGE" fault

Line contactor latching

circuit opens

Power supply

"SHORT-CIRCUIT" fault

4

"HEAT SINK TEMPERATURE" fault

"POWER CONTROL"
(LED power supply) fault

Current amplifier

Torque disabled

SBCE

Serial bus

fault

SBCM

Serial bus

fault

QVN card

en-938907/3 4 - 7

4.2.2.2 Software Processing by QVN

After detection, the software processing performed by the QVN card activates one of the three following operating
modes on the drive:

- Free-wheeling,

- Braking at maximum torque,

- Gradual braking.

Free-Wheeling

The motor brake is released. The axis is stopped by mechanical friction. Braking current is inhibited in the current
amplifier and the internal current reference in the QVN card is forced low.

Braking at Maximum Torque

The axis is electrically braked by applying the maximum motor torque until the axis stops completely. This braking
(the fastest possible) is obtained by forcing the speed reference low. The CNC resets the CNC-ready (E_CNPRE+)
bit. The PLC then opens the line contactor on the amplifier power supply modules (the contactor may already have
been opened by the power supply module itself: see the internal module processing diagram).

Gradual Braking

The CNC controls deceleration on all the axes according to a ramp. Deceleration is carried out immediately.

4.2.2.3 Internal Fault Processing

Fault Internal processing
Undervoltage Braking at maximum torque on all CNC axes.

Fault LED lit for all the axes that reported the fault.
Overvoltage Same as "Undervoltage".
Earth fault Same as "Undervoltage".
Resistor temperature Same as "Undervoltage".
Heat sink temperature Gradual braking.

Fault LED lit on the amplifier considered.

PLC variable E_CNPRET = 0.
Power control Free-wheeling on the axis considered.

(Monitor power supply) Braking at maximum torque on all the other CNC axes.

Fault LED lit on the amplifier considered.
Short-circuit Same as "Power control" (Monitor power supply).
Serial link from Free-wheeling on the axis of the QVN card considered.

QVN card to axes Braking at maximum torque on all the other CNC axes.
Complementarity Free-wheeling on the axis considered.

Braking at maximum torque on all the other CNC axes.
Overspeed Same as "Sensor channel complementarity".
Following error Braking at maximum torque on all CNC axes.
Overcurrent Free-wheeling on the axis considered.

Braking at maximum torque on all the other CNC axes.
Feedback loss Same as "Overtorque".
Communication Free-wheeling on the axis considered.

4 - 8 en-938907/3

Safety Device Setting and Use

Fault Internal processing
Amplifier serial bus Amplifier serial bus fault LED lit.
Noisy signal Free-wheeling on the axis considered.

Braking at maximum torque on all the other CNC axes.

Motor temperature Gradual braking.

PLC variable E_CNPRET = 0.

QVN card general failure Free-wheeling on the axes of the QVN card considered.

Braking at maximum torque on all the other CNC axes.

QVN processor Free-wheeling on the axes of the QVN card considered.

Braking at maximum torque on all the other CNC axes.

4.3 Fault Diagnostic

Fault diagnosis is provided on two levels:

- Drive status and failure origin displayed on the CNC,

- Module status displayed on the LEDs on the front of the modules.

Error Message

If an error is detected on a QVN card or on an axis controlled by a QVN card, error 245, "Défaut sur asservissement
numérique" (error on digital servo-control) is displayed on the "AXIS" or "INFO" page. The field "NC ??" flashes in the
CNC status window to indicate the presence of a fault that caused a power cutoff.

The origin of the fault can then be found by accessing the "QVN controlled axis" information pages via the
"PLC I/O" page (see Sec. 4.4).

Power Supply Module LEDs

Power-onGreen
Monitoring voltage onGreen

Current Amplifier Module LEDs

Monitoring voltage onGreen
Module faultRed

4

Torque enabledGreen
Speed enabled (not used)Green
Serial bus faultRed

en-938907/3 4 - 9

4.4 QVN Information Pages

I / O

$

4

In the event of a problem at power on or during operation (error 245), the field "NC ??" flashes in the CNC status window.
It indicates the presence of a fault that caused a power cutoff.

For each axis processed by a QVN card, the operator can display the information pages describing the faults in natural
language.

Browsing Through the Information Pages

Operation Command
Go to next page "PgDown" key

Go to previous page "PgUp" key
Go to last page "End" key
Go to first page "Home" key

Procedure

Select the "CNC COMMUNICATION DISPLAY" page. ☞
Select “QVN INFORMATION”. ☞

The "QVN SPINDLE AND AXIS INFORMATION" page is displayed:

The "1st fault" field indicates detection of a first fault on a given axis or spindle.
The "Curr. fault" field indicates the presence of faults on a given axis or spindle.
In the example above:

- "10/20+" indicates that "20" is a positive slave of the QVN "10" application ("10/20-" indicates a negative slave),

- The word "Unchange" for a switchful axis/spindle association indicates which of the two (axis or spindle) is not
switched.

4 - 10 en-938907/3

Safety Device Setting and Use

Data displayed on a position sensor

Enter the axis or spindle position sensor number in the dialogue line. ☞

The page giving detailed information on the axis or spindle is displayed:

4

When the axis or spindle is part of a switchable axis/spindle association and is not switched, the word "Unchange" is
displayed at the end of the second line.

For details on the fault, see Sec. 4.2.1.

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Information on the Cards

CARDS

QVN

Select the general card information page. ☞

The "QVN CARD INFORMATION" page is displayed:

4 - 12 en-938907/3

Safety Device Setting and Use

Information on a QVN card is displayed

Enter the card number in the dialogue line. ☞

The page containing detailed information on a QVN card is displayed:

4

CAUTION

!

If the fields "Card on hold" or "Curr. fault" are checked,

contact NUM Customer Service.

Exit from the Procedure

Return to the "CNC COMMUNICATION DISPLAY" page. ☞

Out

en-938907/3 4 - 13

4.5 Reset After a Fault

After occurrence of a fault:

Analyse the reason for the fault (see Sec. 4.2.1) then proceed to clear it.

After clearing the fault, the reset procedure can be carried out.
Case of "serial bus" and "power control" (monitor power supply) faults

Reset the CNC (by the reset button on the front of the power supply card).
Turn on the drives.

Other faults

Reset the CNC.
Turn on the drives.

4 - 14 en-938907/3

Machine Parameters

5 Machine Parameters

5.1 General

5.1.1 Control of an Axis or Spindle by QVN
Card

5.1.2 Declaring a QVN Axis

5.1.3 Declaring a QVN Spindle

5.1.4 Speed Loop Parameters

5.1.5 Associating a Switchable QVN Spindle
and Axis

5.1.5.1 General

5.1.5.2 Associating a QVN Axis with a QVN
Spindle

5.1.5.3 Speed Loop Operational Parameters

5.1.5.4 QVN Spindle/QVN Axis Switching

5.1.6 Torque Master/Slave Function

5.1.6.1 General

5.1.6.2 Declaring a Torque Slave QVN
Application

5.1.6.3 Parameters

5.1.6.4 Precaution

5.1.7 Anti-Pitching

5.1.8 Static Current Limiting

5.1.9 Sensor Fault Monitoring

5.1.9.1 Monitoring a QVN Motor Sensor

5.1.9.2 Consequences of Inhibiting Monitoring
of a QVN Motor Sensor

5.1.9.3 Modifying Sensor Monitoring During
Operation

5.1.9.4 Precaution for Modifying Monitoring of a
Position Sensor

5.1.9.5 Precaution for Modifying Monitoring of a
QVN Motor Sensor

5.2 Miscellaneous Parameters

5.2.1 QVN Sampling period

5.2.2 Measured, Servo-Controlled and
Interpolated Axes

5-3
5-3

5-3
5-3
5-3

5-4
5-4

5-4
5-4
5-4
5-6
5-6

5-6
5-6
5-6
5-6
5-7
5-7
5-7

5-7
5-7
5-7
5-8

5-8
5-8

5-8

5.3 Servo-Control Loop Gain Coefficient P21 5-9

5.4 Noisy Signal and Encoder Channel Complementarity P25
Monitoring Declaration

5.5 Sampling Period P50

5-10
5-11

5.6 Card Mapping P70 5-12

5.7 Axes Controlled by QVN P71 5-14

5.8 Motor Direction of Rotation P72

5.9 Maximum Motor Speed P73

5-18
5-20

5.10 Block Diagram of the Speed Loop 5-21

5

en-938907/3 5 - 1

5.11 Speed Servo-Loop Proportional Action Coefficient P74

5.12 Speed Servo-Loop Integral Action Cut-off Pulse P75

5-22
5-24

5.13 Speed Sensor Measurement Increment Average P76
(Motor Sensor) 5-25

5.14 Speed Measurement Filter P77

5.15 Torque Reference Filter P78

5.16 Static Current Limiting P79

5-26
5-27
5-28

5.17 Association of a Torque Slave with a Master P85 5-29

5.18 Direction of Rotation of a Torque Slave Application P86

5.19 Preload Current of a Master/Slave Pair P87

5-30
5-31

5 - 2 en-938907/3

Machine Parameters

5.1 General

5.1.1 Control of an Axis or Spindle by QVN Card

A QVN card can be used to control one or more QVN axes and spindles.
The possible sensor configurations include:

- Axis or spindle measured with the motor sensor,

- Axis or spindle measured with an additional position sensor.
The configuration with unmeasured QVN axis or spindle is excluded, since there is always a sensor (motor sensor).
The additional position sensor can be connected to:

- The QVN card to which the speed sensor is connected,

- A different QVN card from the one to which the speed sensor is connected,

- An analogue axis card.

5.1.2 Declaring a QVN Axis

A QVN axis is declared in parameters:

- P2 for the general axis declaration,

- P3 for the slaved axis declaration,

- P70 for the speed (or speed and position) sensors and any additional position sensors included in the configuration,

- P71 to associate a speed sensor with a position sensor.

5.1.3 Declaring a QVN Spindle

A QVN spindle is declared in parameters:

- P6 for the general spindle declaration,

- P70 for the speed (or speed and position) sensors and any additional position sensors included in the configuration,

- P71 (words N24 to N27) to associate a speed sensor with a position sensor.

REMARK A spindle sensor can also be declared in P2 in order to continuously monitor its

presence.

5.1.4 Speed Loop Parameters

The parameters for setting the speed loop apply to the QVN axes (and also to the QVN spindles for software at index
K or above):

- P72 defines the direction of rotation of the motor,

- P73 defines the maximum motor rpm,

- P74 sets the proportional action coefficient of the speed loop corrector,

- P75 sets the integral action cut-off pulse of the speed loop corrector,

- P76 averages the speed measurement,

- P77 filters the speed measurement,

- P78 filters the torque reference.

5

Contrary to a QVN axis, for a QVN spindle, the word number identifying the location of a parameter for the speed loop
is determined by the spindle position sensor address instead of the speed sensor address:

- For parameter P72, spindle addresses 24 to 27 correspond to bits 0 to 3 of word N01,

- For parameters P73, P74, P75, P76, P77, P78, spindle addresses 24 to 27 correspond to words N32 to N35
respectively.

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5.1.5 Associating a Switchable QVN Spindle and Axis

QVN spindle/QVN axis switching is possible with CNC software index K and above.

5.1.5.1 General

The purpose is to use the same assembly including {current servo-drive - motor - motor sensor} alternately as QVN
spindle and as QVN axis.

The principle consists of associating a QVN axis with a QVN spindle.
The QVN spindle/QVN axis association is specified by a parameter. It is recognised and determined at initialisation

and cannot be modified during operation.
There are at most 4 possible associations (as many as there are QVN spindles). Only one QVN axis can be associated

with a QVN spindle.
The configuration after initialisation is the QVN spindle configuration.
The switch from the QVN spindle configuration to QVN axis configuration and vice versa is made during operation by

an external parameter.

5.1.5.2 Associating a QVN Axis with a QVN Spindle

There are 4 possible configurations for a QVN spindle/QVN axis association:

- QVN spindle and QVN axis whose speed and position are measured by the same motor sensor. In this case, the
axis sensor is physically the same as the spindle sensor, but must be declared at a separate address (fictitious
sensor) in word N8 of parameter P70,

- QVN spindle whose speed and position are measured by the motor sensor and QVN axis whose position is
measured by an additional sensor,

- QVN spindle whose speed is measured by the motor sensor and whose position is measured by an additional
sensor and QVN axis whose speed and position are measured by the motor sensor,

- QVN spindle and QVN axis whose speed is measured by the motor sensor and whose position is measured by
additional sensors.

5.1.5.3 Speed Loop Operational Parameters

Two parameter tables are available in the QVN card, one for operation as QVN spindle and the other for operation
as QVN axis.

For a QVN spindle/QVN axis association, a switch in the operating configuration causes a switch of the parameter table
used.

5.1.5.4 QVN Spindle/QVN Axis Switching

The switch is made by programming external parameter E942xx = yy: position sensor @yy is switched to servo-drive
@xx.

REMARK In the case of a QVN spindle and QVN axis whose speed and position are

measured by the same motor sensor, for the switch to the QVN axis, @xx is the
address of the fictitious axis sensor (in this case only, the speed sensor address
is different from the servo-drive address).

5 - 4 en-938907/3

Machine Parameters

Examples

QVN spindle and QVN axis whose speed and position are measured by the same motor sensor
Spindle speed sensor @24, spindle position sensor @24
Current servo-drive @24
Axis speed sensor @00, axis position sensor @00 (fictitious sensor)
Switch from QVN spindle to QVN axis: E94200 = 00
Switch from QVN axis to QVN spindle: E94224 = 24

QVN spindle and QVN axis whose speed is measured by the motor sensor and whose position is measured by
additional sensors

Speed sensor @01
Current servo-drive @01
Spindle position sensor @24
Axis position sensor @00
Switch from QVN spindle to QVN axis: E94201 = 00
Switch from QVN axis to QVN spindle: E94201 = 24

Homing

The switch to a configuration without additional position sensor causes a loss of homing:

- For a QVN spindle, the homing request is activated automatically,

- For a QVN axis, homing must be requested.

The switch to a configuration with additional position sensor causes a feedback reset request to ensure operation in
trapezoid mode. For a configuration with additional sensor, it is mandatory to leave the origin switch open to allow
detection of the sensor zero pulse and thereby always enable reset, when required, of the rotor position measurement.

5

en-938907/3 5 - 5

5.1.6 Torque Master/Slave Function

5.1.6.1 General

This function is available for a QVN axis or for a non-switchable QVN spindle with the CNC software at index K or above.
The principle consists of associating one or more torque slaves with a master QVN application. Torque control of the

slaves is provided by the torque reference of the master QVN application.
The characteristics are as follows:

- The master is a QVN axis or a non-switchable QVN spindle,

- The master and the associated slaves are all processed by the same QVN card (speed sensors and servo-drives
connected to the same QVN card),

- A maximum number of three slaves can be associated with a master QVN application.

5.1.6.2 Declaring a Torque Slave QVN Application

Where i is the slave QVN application to be declared (i: speed sensor number):

- Sensor i is not declared in P2 nor in P71,

- Sensor i is declared in P70,

- The current servo-drive address is i,

- The application is associated with a master QVN application j (j: speed sensor number) in P85.

5.1.6.3 Parameters

The parameters associated with torque slave QVN application i (i: speed sensor number) are:

- Direction of rotation of the slave with respect to that of the master (parameter P86),

- Maximum motor speed (P73, word Ni),

- Static current limiting (P79, word Ni).

The maximum motor speed and static current limiting can be set independently for each of the master and slave QVN
applications.

5.1.6.4 Precaution

The speed sensor of a torque slave is managed as an independent speed sensor. For feedback, the switch from
trapezoidal operation to sinusoidal operation is made on detection of the first zero pulse after one motor revolution at
most, if the origin switch is open.

This means that the origin switch must always be left open for a slave QVN application.

5.1.7 Anti-Pitching

This function is a special case of the torque master/slave function.
It is not available unless the following conditions are satisfied:

- The master QVN application is a QVN axis,

- Only one QVN slave application is associated with the master QVN application,

- The slave QVN application is slaved in the positive direction.

The principle consists of adding a preload current of the same magnitude for the master and slave but of opposite signs
for the master and slave to the master and slave current reference.

The preloading current is defined in parameter P87.

5 - 6 en-938907/3

Machine Parameters

5.1.8 Static Current Limiting

The maximum current of each QVN application (axis, spindle, torque slave) can be set by P79.

5.1.9 Sensor Fault Monitoring

For the position and spindle sensors, the poor signal and channel complementarity fault monitoring is determined by
parameters P25 and P26 (see "Parameter Manual").

For the speed measurement or speed and position measurement sensors, poor signal and channel complementarity
fault monitoring is always forced at initialisation of the CNC independently of parameters P25 and P26.

5.1.9.1 Monitoring a QVN Motor Sensor

With the software in version K or above, word 1 of parameter P25 (see Sec. 5.4) enables or inhibits monitoring of a QVN
motor sensor.

5.1.9.2 Consequences of Inhibiting Monitoring of a QVN Motor Sensor

Operation of a QVN application is not enabled unless monitoring of the motor sensor is enabled. That means that when
monitoring of the QVN motor sensor is inhibited, the torque on the corresponding QVN application is also inhibited.

In the case of a switchable QVN spindle/QVN axis configuration, inhibiting monitoring of the motor sensor inhibits the
torque in both the axis configuration and the spindle configuration. In the particular case where the motor sensor is
used as speed and position sensor (in both the axis configuration and spindle configuration), it is the bit defined by
the spindle sensor number in P25 N1 that determines whether motor sensor monitoring is enabled or inhibited.

In the case of a torque master/slave configuration:

- Inhibiting motor sensor monitoring on the master QVN application inhibits the torque only on the master QVN
application,

- Inhibiting motor sensor monitoring on a slave QVN application inhibits the torque only on the slave QVN application.

5.1.9.3 Modifying Sensor Monitoring During Operation

Monitoring of a sensor can be inhibited or enabled during operation by modifying parameter P25 by a DNC1000
request.

The sensors concerned include:

- Incremental type and rule type position sensors with coded references (mixed and SSI position sensors are
excluded),

- Motor sensors for QVN,

- Handwheels.

Modification has the following effects on a motor sensor for QVN:

- Inhibiting sensor monitoring inhibits torque on the QVN application (as defined above),

- Enabling sensor monitoring cancels forced torque inhibiting,

- Inhibiting or enabling sensor monitoring during operation forces trapezoidal mode for feedback.

5

5.1.9.4 Precaution for Modifying Monitoring of a Position Sensor

For an axis or spindle position sensor, homing on the axis or spindle is required after connecting the sensor.

en-938907/3 5 - 7

5.1.9.5 Precaution for Modifying Monitoring of a QVN Motor Sensor

For a motor sensor used for speed measurement, the switch from trapezoidal mode to sinusoidal mode is made after
one motor revolution at most after enabling sensor monitoring (in the same way as after initialisation).

For a motor sensor used for speed measurement and for position measurement, homing is required after enabling
monitoring to allow the switch from trapezoidal mode to sinusoidal mode (in the same way as after initialisation).

5.2 Miscellaneous Parameters

5.2.1 QVN Sampling period

The QVN sampling period is set in word N1 of parameter P50 (see Sec. 5.4).

5.2.2 Measured, Servo-Controlled and Interpolated Axes

Parameters P2 and P3 include only the list of position measurement or speed and position measurement sensors. For
axes controlled by the QDD card with two separate sensors, only the position sensor is declared in P2 and P3 (see
Parameter Manual).

5 - 8 en-938907/3

Machine Parameters

5.3 Servo-Control Loop Gain Coefficient P21

Category Servo-control

Type 5 Unsigned decimal

No. of words 32

Description

Defines the coefficient used by the CNC to calculate the reference supplied to the servo-drive according to the following
error.

Principle

Each word corresponds to the physical address of an axis:

- The value in word N0 is assigned to the axis with physical address 0,

- The value in word N1 is assigned to the axis with physical address 1,

- The value in word N2 is assigned to the axis with physical address 2,

- etc.

5

The value of each word gives the proportional action coefficient of the servo-drive for the corresponding axis.

KVAR Calculation

For Vmax, we have:

Max. speed reference = KVAR x εp max.

The speed reference for a QVN axis is expressed on 18 signed bits, giving the equation for KVAR as a function of the
time constant Τ = 1/Gain:

KVAR = (131071 / (Vmax x Τ)) x k

where:

- Τ : position servo-loop time constant (s),

-V

- k : internal measurement coefficient.

Internal measurement Coefficient k
1/10 mm 100
1/100 mm 10
µm 1
1/10 µm or 1/10000° 0.1
1/100 µm 0.01

: maximum axis speed (mm/s or deg/s),

max

en-938907/3 5 - 9

5.4 Noisy Signal and Encoder Channel Complementarity P25

Monitoring Declaration

Category Measurements

Type 6 32-bit hexadecimal

No. of words 1 (2 for index K and above)

Description

Declaration of the axes that can be included in the noisy signal and encoder channel complementarity monitoring as
well as the fault filtering value.

Declaration of the QVN motor sensors that can be included in noisy signal and channel complementarity monitoring.
Word N0 is described in the Parameter Manual.

Word N1

Word N1 is available with software index K and above.
The noisy signal and/or QVN motor sensor complementarity monitoring are enabled or inhibited in this word.
The default value of this word is $FFFFFFFF (monitoring of all the QVN motor sensors).
The bit position corresponds to the physical address of the axis.
Monitoring on the QVN motor sensor concerned is inhibited when the bit is a 0 and enabled when the bit is a 1.

Example

Monitoring enabled on the axes with addresses 2, 3 and 7.

00110001

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

Word N0 0000008C

0000000000000000

Word N1 of P25 = $0000008C

00000000

5 - 10 en-938907/3

Machine Parameters

5.5 Sampling Period P50

Category Miscellaneous

Type 5 Unsigned decimal

No. of words 2

Description

Defines the CNC sampling period and the QVN card sampling period.
Word N0 is described in the Parameter Manual.

Word N1

Defines the sampling period for all the QVN cards present in the CNC rack.

Restrictions

The range of authorised values is from 400 µs to 1000 µs in steps of 50 µs. Any value outside this range is limited to 400
µs or 1000 µs.

The ratio between the CNC sampling period (N0) and QVN sampling period (N1) must be an integer.
Failure to comply with one these requirements results in display of one of the following error messages at initialisation

and inhibiting of a change of mode:
Sampling period outside the range or step

SAMPLING PERIOD QVN MUST
BE BETWEEN 0.4 ms and 1 ms
BY STEPS OF 0.05 ms

Ratio not an integer
SAMPLING PERIOD MUST BE A

MULTIPLE OF PERIOD QVN AND EQUAL
AT LEAST AT 2 ms FOR AXIS QVN

5

en-938907/3 5 - 11

5.6 Card Mapping P70

(

)

Category QVN

Type 6 32-bit hexadecimal

No. of words 8 (9 for index K and above)

Description

Specifies the physical addresses of the sensors (speed, position, spindles or handwheel) connected to the QVN cards.

Principle

The word position corresponds to that card number in the rack.
From right to left in the rack:

- Word N0 is assigned to the first card encountered,

- Word N1 is assigned to the second card encountered,

- etc.

Card 2, connector 3

Card 2, connector 2

Card 2, connector 1
Card 2, connector 0

Card No.

in rack

Card 1, connector 3

Card 1, connector 2

Card 1, connector 1
Card 1, connector 0

QVN card numbering direction

0 and 1 on 1060 series 2 rack or 0 to 7 on 1060 series 1 rack

List of
words

Word N0Card 1

Word N1Card 2

"""
"""

Declaration of

fictitious sensors

5 - 12 en-938907/3

Word N7Card 8

Word N8

At index K and above

Machine Parameters

Word Format

Each byte of a word is loaded with a hexadecimal value corresponding to the physical address of the sensor wired to
the card connector. The value FF indicates no sensor.

sensor 0 addresssensor 1 addresssensor 2 addresssensor 3 address

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

Switchable QVN Spindle/QVN Axis (CNC Software at Index K or above)

In the case where a switchable QVN spindle and QVN axis have the same speed and position sensor (motor sensor),
it is necessary to declare a fictitious sensor for the axis. The address of the fictitious axis sensor is associated with
the physical address of the corresponding spindle in word N8:

axis @ associated

with spindle @27

axis @ associated

with spindle @26

axis @ associated

with spindle @25

The value FF is used when no fictitious axis sensor is associated with a spindle address.

Example

On the third QVN card encountered in a rack:

- Connector 0 is wired to the sensor with address 4,

- Connector 1 is wired to the sensor with address 5,

- Connector 2 is not wired,

- Connector 3 is wired to the sensor with address 20.

Word N2 is loaded with the value:

20FF0504

Word N2 20FF0504

axis @ associated

with spindle @24

45FF20

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

5

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

en-938907/3 5 - 13

5.7 Axes Controlled by QVN P71

Category QVN

Type 0 8-bit hexadecimal

No. of words 32

Description

Defines the sensor configurations for the axes controlled by a QVN card. For each axis, it specifies the speed sensor
(motor sensor) associated with the position sensor.

Principle

The word position corresponds to the physical address of the position sensor (axis address).

Values:

- FF if the axis is not controlled by a QVN card.

- FF if the axis is a torque slave.

- FF if the position sensor of a non-DISC, a spindle sensor

position sensor

physical address

- or a handwheel is connected to the QVN card

- (declared in P70)

- Address of the sensor built into the motor (speed sensor)

- if the axis is controlled by QVN

N0

l
l

N1

l
l
l

N31

Bit 7

Bit 0

5 - 14 en-938907/3

Assigning values

Machine Parameters

Word Nxx

Nxx = Nxx + 1

Position

sensor

present

Yes

DISC axis

Yes

Load Nxx with speed

sensor address

No

No

5

Load Nxx with $FF

en-938907/3 5 - 15

Example

System equipped with three axes and one handwheel

C
A
P

1

T
3

C
A
P
T
2

2

C
A
P
T

@2

1

5
4
3

@0

2
1

+

-

ON

@3
Wired

3

C
A
P
T

@1C

0

E

M

I

V

4

A
R

R
E
C

QVN

Axes

ON

5
4
3

@1

2

1

5 - 16 en-938907/3

Parameter declaration

Parameters relative to position sensors

Machine Parameters

0000000000000000

00000000

P2 = $0000000E

0000000000000000

00000000

P3 = $0000000E

P9 P14 P21, P30, P22, P57 ...

N0 = $FF N0 = $01 N0 = not significant
N1 = $00 N1 = value
N2 = $01 N2 = value
N3 = $02 N3 = value
N4 = $FF N4 = not significant
etc... etc...

QVN configuration parameters

01110000

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

01110000

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

5

P70 P71

N0 = $0100021C N0 = $FF
N1 = $FFFFFFFF N1 = $01

N2 = $00
N3 = $FF
etc...

Parameters relative to speed sensors

P73, P74, P75

N0 = value
N1 = value
N2 = not significant
N3 = not significant
etc...

en-938907/3 5 - 17

5.8 Motor Direction of Rotation P72

Category QVN

Type 6 32-bit hexadecimal

No. of words 1 (2 for index K or above)

Description

Specifies the direction of rotation of the motor for a positive speed reference. The direction of rotation is seen facing
the motor shaft.

Word N0

The bit position in word N0 corresponds to the physical address of the speed sensor.

N0

Speed sensor 31

Speed sensor 0

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

If the bit is a 0, the motor shaft rotates clockwise.
If the bit is a 1, the motor shaft rotates counterclockwise.
This parameter is irrelevant for the general case of an axis with position feedback.

Example

Out of the 7 sensors in this configuration, the sensors at addresses 0, 3 and 4 rotate counterclockwise.

Sensor address 0 123456
Direction of rotation CCW CW CW CCW CCW CW C W

0000000000000000

00000000

10011000

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

Word N0 of P72 = $00000019

Word N0 00000019

5 - 18 en-938907/3

Machine Parameters

Word N1 (CNC software at index K or above)

Word N1 is used to declare the direction of rotation of the spindle motors using the address of their position sensor.
Spindle addresses 24 to 27 correspond to bits 0 to 3 of word N1 respectively. The rotation direction is defined in the
same way as for the axis motors.

N1

Spindle 24 position sensor

Spindle 25 position sensor

Spindle 26 position sensor

Spindle 27 position sensor

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

5

en-938907/3 5 - 19

5.9 Maximum Motor Speed P73

Category QVN

Type 5 Unsigned decimal

No. of words 32 (36 for index K or above)

Description

Defines the maximum motor speeds corresponding to the maximum speed on the axis declared in parameter P30.

Principle

The speeds are expressed in rpm. The values must be between 1 and 4000 rpm.
If the value specified is outside these limits, the default speed used by the system is 1000 rpm.
The bit position corresponds to the physical address of the speed sensor.

Speed sensor
physical @ or

spindle @

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

List

of words

Word N0@ 0

Word N1@ 1

"""
"""

Word N31@ 31

Word N32Spindle @ 24

"""
"""

Word N35Spindle @ 27

At index K or above

5 - 20 en-938907/3

5.10 Block Diagram of the Speed Loop

Machine Parameters

Section of the block diagram corresponding to K

p

(SET TOOL)

Integrator

60

2 π

N

ref

internal

speed

unit

V

max

131071

-

N

ref

2 π

60

60

131071

2 π

rpm n

V

max

internal

speed

unit

K
10

pv

6

internal
current

unit

I

c

F 16383

n

K

2

A Nm rad/s2rpm/s rpmrad/srpmn

1

c

J

Description of the variables

N

: motor reference speed

ref

V

: motor speed corresponding to the maximum numerical value of the speed measurement (P73: see Sec. 5.9)

max

Kpv: proportional action coefficient (P74: see Sec. 5.11)
F: integral action cut-off frequency (Hz, P75: see Sec. 5.12)
Ic: servo-drive peak current
Kc: torque coefficient in Nm/A rms
J: total inertia on the motor shaft

1

N

P

5

N: measured motor speed

Gain to be introduced in SETTool

Kp (A/rad/s) =

K

p

(A/rad/s) = 7.64 x 10-5 x

60
2π

131071

x

V

xx

max

K

pv x Ic

V

max

K
10

pv

I

c

6

16383

en-938907/3 5 - 21

5.1 1 Speed Servo-Loop Proportional Action Coefficient P74

Category QVN

Type 2 Unsigned decimal

No. of words 32 (36 for index K or above)

Description

Defines the proportional action coefficient of an axis or spindle speed servo-loop. This coefficient is expressed in
internal current unit divided by the internal speed unit (millionths).

The values can be between 0 and 31999996. If the value specified is outside these limits, the default coefficient used
by the system is 100000.

Principle

The word position corresponds to the physical address of the speed sensor.

Speed sensor
physical @ or

spindle @

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

List

of words

Word N0@ 0

Word N1@ 1

"""
"""

Word N31@ 31

Word N32Spindle @ 24

"""
"""

Word N35Spindle @ 27

At index K or above

5 - 22 en-938907/3

Machine Parameters

Calculation of the Proportional Action Coefficient

The speed reference is expressed in the internal unit on 18 signed bits (131071 corresponds to the maximum operating
speed).

The current reference is expressed in the internal unit on 15 signed bits (16383 corresponds to the peak current
reference).

Kprop = (Peak current ref./Maximum speed error) x 10

Where:

- Internal current unit (16383 corresponds to the peak current reference),

- Internal speed unit (131071 corresponds to the maximum operating speed).

Example

Set a bandwidth of 40 Hz for the speed servo-loop (on the axis with address 0), i.e. a speed gain of
with a motor used at a maximum speed of 3000 rpm.

For the peak current, the measured acceleration is equal to 15.000 rad/s2.
Calculate the maximum speed error

Max. speed error = Max. acceleration/Speed gain = 15.000/251 = 59.8 rad/s.
Conversion to internal speed units

Max. speed error = 59.8 rad/s = (131071 / (3000 / 60 x 2π )) x 59.8 = 24942 internal speed units.
Calculate the proportional action coefficient

Kpv = 16383 / 24942 x 106 = 656843

Word N0 656843

6

40 x 2π = 251 s

-1

5

en-938907/3 5 - 23

5.12 Speed Servo-Loop Integral Action Cut-off Pulse P75

Category QVN

Type 2 Unsigned decimal

No. of words 32 (36 for index K or above)

Description

This parameter specifies the cutoff pulse of the speed servo-loop integral action coefficient expressed in millionths of
radians per sampling period (the sampling period is set in word N1 of parameter P50).

The values can be between 0 and 1000000. If the value specified is outside these limits, the default coefficient used
by the system is 10000.

Principle

The word position corresponds to the physical address of the speed sensor.

Speed sensor
physical @ or

spindle @

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

Calculation of the Integral Action Cut-off Pulse

List

of words

Word N0@ 0

Word N1@ 1

"""
"""

Word N31@ 31

Word N32Spindle @ 24

"""
"""

Word N35Spindle @ 27

Ki (0.000001 rad/smp) = 2π x 106 x F (Hz) / Fe (Hz)

At index K or above

where F is the integral action cut-off frequency and Fe is the speed servo-loop sampling frequency.

Example

Where F = 7 Hz and Fe = 1000 Hz: Ki (0.000001 rad/smp) = 7 x 2π x 103 = 43982

5 - 24 en-938907/3

Machine Parameters

5.13 Speed Sensor Measurement Increment A verage P76

(Motor Sensor)

Category QVN

Type 0 Signed decimal

No. of words 32 (36 for index K or above)

Description

The motor speed measurement can be generated by averaging the motor sensor measurement increments instead
of from the instantaneous measurement increments.

Principle

Parameter P76 sets the number (n) of past increments to be used to compute the motor speed. The possible values
for n are 0, 1, 2 or 3.

n < 0 The system inhibits calculation of the average (same as n = 0)
n > 3 The system limits n to 3.
The word number corresponds to the physical address of the speed sensor.

Speed sensor
physical @ or

spindle @

List

of words

Word N0@ 0

Word N1@ 1

"""
"""

Word N31@ 31

Word N32Spindle @ 24

"""
"""

Word N35Spindle @ 27

At index K or above

5

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

en-938907/3 5 - 25

5.14 Speed Measurement Filter P77

Category QVN

Type 5 Unsigned decimal

No. of words 32 (36 for index K or above)

Description

After computation of the increment average, the speed measurement can be filtered by a first-order low-pass filter.
Parameter P77 specifies the filter cutoff frequency in Hz.

Minimum value: 20 Hz (any lower value inhibits action of the filter).
Maximum value: 2π / (QVN sampling period x 4): the system limits any higher value to this value.

Principle

The word number corresponds to the physical address of the speed sensor.

Speed sensor
physical @ or

spindle @

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

List

of words

Word N0@ 0

Word N1@ 1

"""
"""

Word N31@ 31

Word N32Spindle @ 24

"""
"""

Word N35Spindle @ 27

At index K or above

5 - 26 en-938907/3

Machine Parameters

5.15 Torque Reference Filter P78

Category QVN

Type 5 Unsigned decimal

No. of words 32 (36 for index K or above)

Description

The torque reference can be filtered by a first-order low-pass filter. Parameter P78 specifies the filter cutoff frequency
in Hz.

Minimum value: 20 Hz (any lower value inhibits action of the filter).
Maximum value: 2π/(QVN sampling period x 4): the system limits any higher value to this value.

Principle

The word number corresponds to the physical address of the speed sensor.

Speed sensor
physical @ or

spindle @

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

List

of words

Word N0@ 0

Word N1@ 1

"""
"""

Word N31@ 31

Word N32Spindle @ 24

"""
"""

Word N35Spindle @ 27

At index K or above

5

en-938907/3 5 - 27

5.16 Static Current Limiting P79

Category QVN

Type 1 16-bit decimal

No. of words 36

Description

Parameter P79 is available with software index K or above.
Parameter P79 defines the maximum current for a QVN application.

Principle

For QVN application i (i: speed sensor number), the maximum current is expressed in word Ni in tenths of an ampere.
Possible cases according to the value entered in word Ni and the maximum current of the servo-drive at address i:

- Negative value in word Ni: the maximum current is that of the servo-drive (default value -1)

- Value in word Ni < maximum current of the servo-drive at address i: the maximum current is limited to the value
defined in word Ni,

- Value in word Ni ≥ maximum current of the servo-drive at address i: the maximum current is that of the servo-drive.

Where I

- The nominal current is always defined by I

- The torque fault detection threshold is always defined for operation with current I

, is the maximum current considering the limiting:

maximum

nominal

=

2

x I

3

maximum

,

for 2 seconds.

maximum

With a switchable QVN spindle/QVN axis configuration, the maximum current defined for the spindle applies to both
the spindle and axis.

The word position corresponds to the physical address of the speed sensor.

Speed sensor

physical @ or

List

of words

spindle @

Word N0@ 0

Word N1@ 1

"""
"""

Word N31@ 31

Word N32Spindle @ 24

"""
"""

5 - 28 en-938907/3

Word N35Spindle @ 27

Machine Parameters

5.17 Association of a T orque Slave with a Master P85

Category QVN

Type 0 8-bit hexadecimal

No. of words 32

Description

Parameter P85 is available with the software at index K or above.
Parameter P85 associates a master application with a slave application.

Principle

For slave application i (i: speed sensor number) associated with master application j (j: speed sensor number), word
Ni takes on value j.

The default value for each of the words is $FF (no master).

5

en-938907/3 5 - 29

5.18 Direction of Rotation of a Torque Slave Application P86

Category QVN

Type 6 32-bit hexadecimal

No. of words 1

Description

Parameter P86 is available with the software at index K or above.
For a torque slave application, P86 specifies whether the slave rotates in the same direction or opposite direction from

the master.

Principle

The bit position in word N0 corresponds to the physical address of the speed sensor:

N0

Speed sensor 31

The bit is a 0 when the torque slave rotates in the same direction as the master.
The bit is a 1 when the torque slave rotates in the opposite direction from the master.
This parameter is meaningless for axes that are not torque slaves.

Example

If torque slave application 2, 3 and 7 rotate in the opposite direction from their master application:

0000000000000000

00000000

P86 = $0000008C

Word N0 0000008C

Speed sensor 0

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

00110001

Bit 0Bit 7Bit 8Bit 15Bit 16Bit 23Bit 24Bit 31

5 - 30 en-938907/3

Machine Parameters

5

en-938907/3 5 - 31

5 - 32 en-938907/3

PLC Variables

6 PLC Variables

6.1 Torque Enable 6-3

6.2 Speed Reference Enable

6.3 Programming Recommendations

6.4 Dynamic Current Limiting

6.5 Exchange Area 6-4

6-3
6-3
6-4

6

en-938907/3 6 - 1

6 - 2 en-938907/3

6.1 Torque Enable

The bits of %W34.L are set to 0.
Variable Mnemonic Description

%W34.7 DISC_TRQ31 Torque enable on QVN axes 31 to 24
to to Set to enable torque.
%W34.0 DISC_TRQ24 Reset to inhibit torque.

%W35.7 DISC_TRQ23 Torque enable on QVN axes 23 to 16
to to Set to enable torque.
%W35.0 DISC_TRQ16 Reset to inhibit torque.

%W36.7 DISC_TRQ15 Torque enable on QVN axes 15 to 8
to to Set to enable torque.
%W36.0 DISC_TRQ8 Reset to inhibit torque.

%W37.7 DISC_TRQ7 Torque enable on QVN axes 7 to 0
to to Set to enable torque.
%W37.0 DISC_TRQ0 Reset to inhibit torque.

PLC Variables

There are no equivalent bits in assembler programming or with PLCUT7. The torque is always enabled.

6.2 Speed Reference Enable

Variable Mnemonic Description
%W38.0 DISC_SPD QVN axis speed reference enable

Set to enable normal operation of the QVN axes.
Reset to force the QVN axes speed reference low and cause braking at

maximum torque.
If the speed references are inhibited, they are forced low.
At power on, the speed references are inhibited.
If a CNC error causing reset of E_CNPRET is detected, the speed reference is inhibited for the QDD axes. When the

error is cancelled by a reset, the speed references are again enabled or inhibited the PLC function.
In assembler programming and with PLCUT7, bit A.113 operates in the same way.

6.3 Programming Recommendations

On an emergency stop, it is recommended to:

- Inhibits the speed reference (DISC_SPD = 0),

- Activate a feed stop so as not to generate too high a following error.

6

en-938907/3 6 - 3

6.4 Dynamic Current Limiting

It is possible to dynamically limit the maximum current by the PLC selectively for each QVN application (torque slave
excluded).

Variable Mnemonic Description
%WE00.B RDUC_TRQ00 Dynamic current limiting of QVN applications 00 to 31

to to
%WE1F.B RDUC_TRQ31

Where Imaximum is the maximum current taking into account the static limitation and α is the contents of the byte:

- If α is negative or zero ($00, $80 to $FF), there is no dynamic current limiting,

- If α is positive ($01 to $7F), the maximum permissible current is equal to Imaximum x [(127 - α)/127].
Dynamic current limiting applied to a master QVN application is also applied to the associated slave QVN applications.
When operating in anti-pitching mode, dynamic current limiting applied to a master QVN application has no effect on

the master and slave preload currents.
When operating with a switchable QVN spindle/QVN axis configuration, the dynamic current limiting signal sent to the

QVN application is switched when switching from one configuration to the other.

6.5 Exchange Area

DISC_

TRQ31

%W34.7 %W34.6 %W34.5 %W34.4 %W34.3 %W34.2 %W34.1 %W34.0

DISC_

TRQ23

%W35.7 %W35.6 %W35.5 %W35.4 %W35.3 %W35.2 %W35.1 %W35.0

DISC_

TRQ15

%W36.7 %W36.6 %W36.5 %W36.4 %W36.3 %W36.2 %W36.1 %W36.0

DISC_

TRQ7

%W37.7 %W37.6 %W37.5 %W37.4 %W37.3 %W37.2 %W37.1 %W37.0

%W38.7 %W38.6 %W38.5 %W38.4 %W38.3 %W38.2 %W38.1 %W38.0

DISC_

TRQ30

DISC_

TRQ22

DISC_

TRQ14

DISC_

TRQ6

DISC_
TRQ29

DISC_
TRQ21

DISC_
TRQ13

DISC_

TRQ5

DISC_

TRQ28

DISC_

TRQ20

DISC_

TRQ12

DISC_

TRQ4

RDUC_TRQ00

RDUC_TRQ31

DISC_

TRQ27

DISC_

TRQ19

DISC_

TRQ11

DISC_

TRQ3

DISC_

TRQ26

DISC_

TRQ18

DISC_

TRQ10

DISC_

TRQ2

DISC_

TRQ25

DISC_

TRQ17

DISC_

TRQ9

DISC_

TRQ1

DISC_

TRQ24

DISC_

TRQ16

DISC_

TRQ8

DISC_

TRQ0

DISC_

SPD

%W34.B

%W35.B

%W36.B

%W37.B

%W38.B

%WE00.B

%WE1F.B

%W34.L Torque enable

Speed reference enable

Dynamic current limiting

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