Divisione S.B.C.
LVD
( LVD1, LVD2, LVD5,
LVD10, LVD15 )
User’s Manual
Rev. 1.7
November 2002
(Software Rel. 55)
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
2
DIGITAL-LOCK
VARIABLE RATIO
POSITIONER
STEP MOTOR
SIMULATION
EASY
MAINTENANCE
TORQUE CONTROL
ACCELERATION
CONTROL
SPINDLE ORIENTATION
FOR TOOL CHANGING
SOFTWARE TOOLS
AVAILABLE
RS-485 or RS-422 SERIAL LINK
BUILT-IN P.L.C.
CanBus interface
ELECTRONIC
CAM
LVD :
everywhere
for any
application.
Parker Hannifin S.p.A. Divisione S.B.C.
20092 Cinisello Balsamo (Milano) - Italy
Via Gounod, 1
tel. +39-02-66012478
fax +39-02-66012808
e-mail: drivesbc@parker.com
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
3
DANGER
HIGH VOLTAGE !
Internal circuits of the LVD drive carry high voltages that can cause serious injury or kill.
Do not open the drive or attempt to access internal parts while it is connected to the
power supply.
If you need to access internal parts, wait at least 15 minutes after power down before
proceeding to allow the condensers to discharge. The User is responsible for ensuring that the
drive is installed in compliance with established work health and safety regulations.
For the purposes of applicable regulations, note that the drive is classified as a component and
not a machine.
All tampering or unauthorised work performed on the drive will automatically invalidate the
warranty. Warranty cover is otherwise provided for 1 (one) year.
This user manual is applicable to the standard version of the drive.
Parker Hannifin S.p.A. Divisione S.B.C. declines all liability for any whatsoever form of
damage deriving from improper use of the drive.
Training courses can be supplied by Parker Hannifin S.p.A. Divisione S.B.C. on request.
ISBN 0204161530
Installation and maintenance of the drive and connected equipment
must be performed exclusively by qualified and trained personnel
with basic skills in electronics.
Commissioning of the drive must be performed exclusively by
qualified and trained personnel with advanced skills in electronics
and drive technology.
The quoted performance of the LVD drive is guaranteed only when
used with series MB synchronous permanent magnet motors
manufactured by Parker Hannifin S.p.A Divisione S.B.C.
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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TABLE OF CONTENTS
1 INTRODUCTION......................................................................................................................6
1.1 General information.......................................................................................................6
1.2 Product description........................................................................................................ 6
1.3 Identification .................................................................................................................. 7
1.4 The right hand side of LVD drives bears an identification label showing all the most
important identification data. ................................................................................................. 7
1.5 Main hardware specifications......................................................................................... 8
1.6 Main software specifications.......................................................................................... 9
1.7 Compliance with EMC standards................................................................................... 9
1.8 Safety.............................................................................................................................. 9
2 INSTALLATION.....................................................................................................................10
2.1 Safety instructions........................................................................................................10
2.2 Tips for interference suppression.................................................................................11
2.3 Mains filter installation instructions............................................................................. 12
2.4 Connector layout .......................................................................................................... 13
2.5 Power connections........................................................................................................16
2.6 Power connection diagrams..........................................................................................17
2.7 Signal cable connections..............................................................................................21
2.8 Signal cable connection diagram.................................................................................. 21
2.9 Frequency input connection ......................................................................................... 21
2.10 Simulated encoder output.............................................................................................23
2.11 Serial line connection................................................................................................... 23
2.12 Backup.......................................................................................................................... 24
2.13 Status LEDs..................................................................................................................24
3 PARAMETERS AND PROGRAMMING .............................................................................. 25
3.1 Using the optional keypad............................................................................................ 26
3.2 Commissioning the LVD Drive ................................................................................... 27
3.3 Basic parameters...........................................................................................................30
3.4 Basic commands........................................................................................................... 35
3.5 Speed control loop calibration......................................................................................36
3.6 Operating modes ..........................................................................................................42
3.7 Torque control.............................................................................................................. 42
3.8 Acceleration control.....................................................................................................42
3.9 Maintenance and commissioning mode.......................................................................43
3.10 Positioner...................................................................................................................... 44
3.11 Digital locking..............................................................................................................46
3.12 Stepper motor simulation.............................................................................................47
3.13 Spindle orientation ....................................................................................................... 48
3.14 Digital locking + Positioner ......................................................................................... 48
3.15 Position control with CanBus or electronic Cam......................................................... 49
3.16 Block diagrams............................................................................................................. 51
3.17 Other useful functions..................................................................................................59
4 Programming digital inputs and outputs .................................................................................. 62
4.1 The “pico-PLC”............................................................................................................ 62
4.2 Examples and applications........................................................................................... 66
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4.3 Programming with PC2LVD........................................................................................74
5 SERIAL INTERFACE.............................................................................................................75
5.1 Communications protocol............................................................................................75
5.2 Serial addresses and parameter lengths........................................................................ 79
6 CAN BUS................................................................................................................................. 82
6.1 Description of fields in real time mode........................................................................ 83
6.2 Description of fields in communication mode.............................................................87
Appendix A : LVD mechanical dimensions.................................................................................89
Appendix B : MB series motor connectors...................................................................................90
Appendix C : hardware characteristics ......................................................................................... 91
Appendix D : conventions ............................................................................................................92
Appendix E : software timer intervals .......................................................................................... 92
Appendix F : pico-PLC default program ......................................................................................93
Appendix G : flash information....................................................................................................94
Appendix H : troubleshooting....................................................................................................... 95
Appendix I (accessoires) : “IOBOX”...........................................................................................97
Revision history............................................................................................................................99
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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1 INTRODUCTION
1.1 General information
This manual describes the procedure for installing and commissioning the LVD frequency
converter for brushless motors. Read all the chapters and the revision history thoroughly
before using the equipment.
1.2 Product description
The LVD is a digital frequency converter for driving brushless motors. The adoption of a
parametric Operator Interface makes drive configuration procedures faster and more
repeatable. The large number of different configuration possibilities makes the drive suitable
for a broad range of applications.
A high power 16 bit micro-controller allows speed control with the characteristics required
of a servo controller, plus a range of auxiliary functions that can help reduce the presence of
control electronics in the application and thus permit considerable economic savings.
In addition to the positioner functions with trapezoidal profile, digital locking, spindle
orientation, stepper motor simulation, torque control and acceleration control, the LVD drive
also has an internal PLC. The drive PLC adopts the most diffused industrial programming
standards and offers considerable freedom for use of inputs and outputs. It also enables users
to develop a range of additional functions that are not among the basic features of the drive,
such as: electronic cams, adaptation of loop gains in relation to speed or space, torque
monitoring for controlling tool wear, etc..
The LVD drive is complete with an RS422/RS485 serial interface which can be used for
configuration, monitoring and simultaneous transmission of commands to a multiple system
comprising up to 32 LVD units. The drive is also compatible with standard operator panels
that support the S.B.C. protocol.
The drive is also equipped with a CanBus interface in communication mode and in real
time mode. Using the CanBus interface makes it possible to obtain a high bandwidth digital
link, t thereby simplifying system wiring requirements. With the CanBus interface LVD's I/Os
can be used as remote master I/Os.
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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1.3 Identification
LVD drives are available in five models: LVD1, LVD2, LVD5, LVD10 and LVD15,
where the number stands for rated current (in amperes).
The right hand side of LVD drives bears an identification label showing all the most important
identification data.
Please make a note of the information on this label before requesting technical
information from Parker Hannifin S.p.A. Divisione S.B.C..
An example of the identification label is shown in the following figure:
POWER INPUT
3XAC230V 4.6A
50..60 Hz
POWER OUTPUT
3XAC230 5A
0..500 Hz
READ INSTALLATION
INSTRUCTION MANUAL
BEFORE INSTALLING
USE COPPER WIRE
RATED 60/75°C
LVD 5 S/N 980001
Parker Hannifin S.p.A.
VIA GOUNOD 1 - 20092 CINISELLO B.
(MILANO) - ITALY
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1.4 Main hardware specifications
Parameter U.M. Value
Power circuit power supply V~ 230 ± 10%
Control circuit power supply V= 24 ± 10% - 1.5A
Models
LVD1 LVD2 LVD5 LVD10 LVD15
Rated output current A 1.25 2.5 5 10 15
Peak output current (4 s) A 2.5 5 10 20 30
Output power at motor shaft kW .345 .700 1.5 3 4.5
Dissipation from control electronics W 18
Dissipation from power stage W 18 28 45 87 120
Ambient temperature
o
C 45
Internal braking resistor dissipation W 120
Feedback resolver (speed 1)
Power stage switching frequency kHz 16
Maximum basic output frequency Hz 450
Protection category IP 20
24V digital inputs = No 8
24V digital outputs = / 100mA / PNP No 6
Voltage free contact digital outputs No 1
Encoder simulation RS-422
steps/rev
128..4096
Frequency / sign or encoder input kHz 800 / 200
Analog reference V ±10 diff 15 bit
Auxiliary analog input V ±10 diff 10 bit
Auxiliary analog output V ±10 - 8 bit
Tacho generator emulation output V ±10 V
Serial line RS-422 / RS-485
Field bus CanBus
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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1.5 Main software specifications
The following functionalities are implemented in the basic software supplied with the LVD
drive:
• Speed control
• Advanced torque limits manager
• Speed windows management
• Positioning with trapezoidal speed profile
• Digital locking functions with variable transmission ratios and phase shifting
• Spindle orientation
• Stepper motor simulation
• Torque control with superimposed speed control
• Acceleration ramp control with superimposed speed control
• Simplified maintenance and start-up mode
• Built-in PLC for advanced input/output programming functions
1.6 Compliance with EMC standards
Immunity:
EN50082-1* / EN50082-2 Basic immunity specifications
IEC1000-4-2 (ex IEC 801-2) level 3 Electrostatic discharge immunity
IEC1000-4-3 (ex IEC 801-3) level 3 Electromagnetic field immunity
IEC1000-4-4 (ex IEC 801-4) level 4 Fast transient burst conducted immunity
Compatibility:
EN50081-1* / EN50081-2 Basic radio interference specifications
EN55011 group 1, class A Measurement limits for radio interference
EN55011 group 1, class B* Measurement limits for radio interference
1.7 Safety
Safety standard EN60065, EN50178
Low voltage directive 73/23/EEC amended by 93/68/EEC
Applied standard EN60204-1
* Conformity for use in domestic or industrial surroundings depends on the nature of the installation.
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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2 INSTALLATION
• The LVD drive must be installed in a vertical position (with the power terminal board at
the top).
• Leave at least 190 mm (7.5”) clearance above and below the drive.
2.1 Safety instructions
• Make sure the drive is appropriately sized for the motor you intend to connect. Compare
rated voltage and current values.
• Wire up the electrical panel/drive/motor in accordance with the instructions in this section
of the manual, taking into consideration EMC requirements and established safety
regulations.
• The User is responsible for installing fuses on the drive AC power supply line.
• Power conductors and control circuits must be kept apart (by at least 200mm - 8” -) and,
when they must cross, intersections must be at right angles. Motor conductors and mains
power conductors must never be parallel.
• All power wires must be sufficiently sized (refer to the table in heading 2.7; compliance
with IEC227-2 must be guaranteed in all cases).
• Wires connected to the drive by means of the terminal strip must not be soldered
(EN60065, art.15.3.5).
• Make sure drive and motor are properly earthed.
• Make sure that the maximum voltage on terminals L1, L2, L3 does not exceed t he rated
voltage by more than 10% in the worst possible case (see EN60204-1, section 4.3.1).
Excessively high mains feeding voltage can damage the drive.
• Do not detach electrical connections when the drive is connected to the power supply.
• Follow all the installation instructions in this manual step by step. If you are in doubt,
contact S.B.C. Customer Service.
• Dangerous voltages may still be present for up to 60 seconds following mains
disconnection and system power-down; do not touch power cables during this time
interval.
• Do not open the drive casing. This action is potentially dangerous and will automatically
invalidate the warranty.
Installation and wiring must be carried out with the entire electrical
panel disconnected from the power supply. Make sure that the drive
enable command is disconnected from the emergency circuit.
Qualified technical personnel must preside when the power panel is
powered up for the first time.
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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2.2 Tips for interference suppression
Because of the high speed voltage wavefronts in PWM, high levels of stray current may
sometimes flow through capacitive couplings and earth systems.
Stray currents of this type can affect other functional units.
Therefore, in relation to the geometrical dimensions of the system (drive, motor cables, motor),
it is advisable to calculate a certain amount of spurious energy.
Spurious energy generates EM radiation that can interfere with the operation of nearby systems
Existing standards do not impose limits for this type of radiation.
Preventive measures:
Basic methods of preventing spurious emissions are: decoupling of the drive from its
surroundings, a properly executed conductor system to neutralise voltages (earthing) and
adequate shielding.
Screens, filters and drives must have a large contact area to achieve the maximum possible
decoupling and hence optimum noise suppression; attention must be paid, however, to the entire
installation as this is one of the most important precautions for obtaining efficient noise
suppression.
High frequency interference takes the form of radiation, especially from motor lines. This
effect can be reduced with appropriate shielding.
Another essential counter-measure for noise suppression is the use of filters.
The use of filters is aimed at reducing conducted interference on wiring and the return of
conducted interference to source (Drive) through routes offering the lowest impedance.
This method provides effective protection for other systems connected to the same electrical
line, also protecting the drive from interference originating from other systems.
When installing filters consider the mains input and motor feeding output.
There are various ways of connecting the power supply to the LVD drive; by using a
transformer with an electrostatic screen between primary and secondary windings it is possible
to dispense with the installation of EMC filters; on the contrary, EMC filters are required if you
use an autotransformer, a transformer without an electrostatic screen or a direct mains
connection.
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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2.3 Mains filter installation instructions
To obtain electromagnetic compatibility in compliance with established standards, EMC
requirements are of critical importance when designing control panel configuration. To get the
best results from the filters, follow the instructions in this chapter carefully, because
Avoid:
- routing noise emitting cables in parallel with "clean" cables
- parallel cables, especially in the vicinity of the filter (ensure physical separation)
- cable loops (keep cables as short as possible and close to the common potential).
Additional measures:
- With the exception of mains cables to the filter, all power and control wiring must be
screened and, wherever possible, kept segregated (minimum distance 20 cm). If control and
power cables must cross, the intersection must be at a right angle.
- Shielded cables must be installed on a copper bar by means of a high conductivity wire
clamp. The area of contact must be as large as possible and the shield must be unbroken. In
general the shield should be connected at each extremity. In certain circumstances, however,
control cable shields may be connected only at one end to eliminate mains hum that could
interfere with the control signal. Decide case by case as numerous factors must be considered.
Adopt the following general approach: if the screen is solely for shielding, connect at both ends.
If current flowing in the shield interferes with the shielded signals, connect at one end only.
- The incoming cable must be connected to an earth terminal by means of a screw to ensure
proper contact between screen and earth.
- RF interference suppression filters must be installed as close as possible to the drive and
must have a large area of contact with the power panel or the mounting plate. Remove all paint.
The filter earth terminal must be connected to the earth bar along the shortest possible route. It is
the installer's responsibility to protect the filter terminals.
- As far as possible keep the power side (drive) and control side (PLC or NC) physically
separated by separating the metal mounting plates. Do not route any cables through the
mounting plates.
even a complex and expensive filter is ineffective unless it is
installed taking EMC aspects into consideration!
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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2.4 Connector layout
+24V
status
X1
X3
X5
X7
X2
X4
X6
X9
X8
M +
-
X10
1
STUD
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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Terminal Board
X10 “Power”
DB9 female
X1 “Keypad”
1 LIVE 1 1
2 LIVE 2 2
Programming
3 LIVE 3 3
4 MOTOR PHASE U 4
keypad
5 MOTOR PHASE V 5
6 MOTOR PHASE W 6
connector
7
8
9
DB9 male
X2 “CanBus”
DB9 female
X3 “Serial Link”
1 NC 1 TX
2 CANBUS L 2 RX
3 0 V 3 /TX
4 4 /RX
5 0 V 5
6 0 V 6 + BR
7 CANBUS H 7 - BR
8 8 0 V
9 9 0 V
DB9 male
X4 “Encoder Out”
DB9 female
X5 “Encoder In”
1 PHA 1 A
2 /PHA 2 /A
3 PHB 3 B
4 /PHB 4 /B
5 PHC 5 -BRA
6 /PHC 6 +BRB
7 0V 7 0 V
8 8 -BRB
9 9 +BRA
DB15 female
DB15 male
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X6 “Outputs” X7 “Inputs”
1 DIGITAL OUTPUT 0 1 ENABLE
2 DIGITAL OUTPUT 2 2 DIGITAL INPUT 2
3 DIGITAL OUTPUT 4 3 DIGITAL INPUT 4
4 DIGITAL OUTPUT 6 A 4 DIGITAL INPUT 6
5 0 V 5 +24V= OUT / 200mA MAX
6 0 V 6 AUX. ANALOG INPUT +
7 AUX ANALOG OUTPUT 7 0 V
8 TACHO OUTPUT 8 ANALOG REFERENCE 9 DIGITAL OUTPUT 1 9 DIGITAL INPUT 1
10 DIGITAL OUTPUT 3 10 DIGITAL INPUT 3
11 DIGITAL OUTPUT 5 11 DIGITAL INPUT 5
12 DIGITAL OUTPUT 6 B 12 DIGITAL INPUT 7
13 +10V / 10mA MAX 13 0 V
14 -10V / 10mA MAX 14 AUX. ANALOG INPUT 15 0 V 15 ANALOG REFERENCE +
terminal board
X8 “power supply”
DB9 female
X9 “resolver”
1 +24V= / 1.5A 1 N.U.
2 0 V 2 0 V
3 0 V 3 Ecc 4 Sin 5 Cos 6 N.U.
7 Ecc +
8 Sin +
9 Cos +
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2.5 Power connections
For the motor cable
Choose between a cable for fixed or floating installation. The cable must be shielded and
suitably sized in terms of insulation and wire sections. Reticulated polypropylene is the
preferred insulation material. Length (max. 35 m); note that conductor-conductor capacitance
must not exceed 8 nF. Minimum wire size is 1.5 mm2 for LVD1, LVD2 and LVD5, 2.5 mm2
for LVD10 and 4 mm2 for LVD15
For the mains power cable
Power cables must not be screened. Minimum wire size is 1.5 mm2 for LVD1, LVD2 and
LVD5, 2.5 mm2 for LVD10 and 4 mm2 for LVD15. Input fuses must be rated as follows:
MODEL slo-blo fuses (A)
LVD1
6
LVD2
6
LVD5
10
LVD10
16
LVD15
20
The fuses can be replaced with a thermal-magnetic circuit breaker selected in relation to the
power cables utilised.
Resolver cable
The cable must be composed of 3 twisted pairs with individual screens and one common
screen. Conductor-conductor capacitance for the length of cable utilised must not exceed 10
nF; wire section must be at least 0.35 mm2. Maximum permissible length is 35 m.
24V Power supply
It must deliver at least 2A for each drive connected, with 1Vpp max ripple voltage.
It must be reserved to the drive supply only. In fact, the condivision with e.g. brakes, relais
etc. may generate electrical noises and or malfunctions.
Connection of an EMI filter (if required)
If the 230V mains connection is direct, the length of the wire connecting LVD and filter
must be no more than 50 cm to obtain the maximum efficiency.
If an autotransformer is utilised, the filter can be installed either up- or down-line; in this
latter case the cable utilised for the connection between autotransformer and LVD must be
screened.
Earth connections
The length of individual wires connected to earth must be kept as short as possible; it is
therefore advisable to use an earth busbar located as near as possible to the drive.
Parker Hannifin S.p.A. - Divisione S.B.C. LVD User’s Manual
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The earth busbar must be made of
copper to ensure low inductance and
it must be mounted on insulated
supports. The minimum dimensions
of the bar in relation to the length are
shown in the adjacent table.
2.6 Power connection diagrams
∆ transformer with electrostatic shield between primary and secondary
windings
MAINS
L1
L2
L3
PE
1
2
3
4
5
6
A
B
C
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
b
f
e
d
c
g
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A
*
*
Only if the Power Supply output
is unprotected
Earthing Bar
Length (m)
width (mm) thickness
(mm)
0.5 20 6
1 40 6
1.5 50 6
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Y transformer with electrostatic shield between primary and secondary
windings
MAINS
L1
L2
L3
PE
1
2
3
4
5
6
A
B
C
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
b
f
e
d
c
g
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A
*
*
Only if the Power Supply output
is unprotected
Earthing Bar
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Autotransformer
MAINS
L1
L2
L3
PE
1
2
3
4
5
6
A
B
C
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
b
f
e
d
c
g
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A
*
*
Only if the Power Supply output
is unprotected
emc
filter
Earthing Bar
Note: The EMC filter can be connected up- or down-line of the
autotransformer;
if connected up-line, it may prove necessary to use a screened cable
between autotransformer and LVD; if connected down-line, the cable
between filter and LVD must be as short as possible and, in any
event, no longer than 50 cm.
Use the following formula when sizing the system:
( )
Pt Paz
n
= ⋅ + ⋅
+
17 80
173
2
.
.
where: Pt is transformer power in VA; Paz is the sum of motor rated power in W; n is the
number of drives to be powered.
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Direct connection to 230V ∼ mains supply
MAINS
L1
L2
L3
PE
1
2
3
4
5
6
A
B
C
D
MOTOR
E
M
X9
Stud
1
5
6
9
a
b
f
e
d
c
g
connector
resolver
X10
1
2
3
X8
Power Supply
24 V = 1.5A
3.15A
*
*
Only if the Power Supply output
is unprotected
emc
filter
fuse
Earthing Bar
Note: The cable between filter and LVD must be as short as possible and,
in any event, no longer than 50 cm.
In the case of single phase connections, the power available from the
LVD drive is derated: the maximum power output of the LVD with a
single phase supply is given by the formula:
Pmax = 27⋅10-3 Vmains2 [watt].
When using a direct mains connection, take into consideration that
current up to 100A may be required for a period of less than 3ms at
the time of start-up. For this reason use fuses instead of thermal
magnetic circuit breaker and if several units are to be installed in
parallel, a sequential power feeding procedure is strongly
recommended.
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2.7 Signal cable connections
A twisted and screened pair must be employed for the analogue reference.
The cable for simulated encoder signals must comprise three twisted pairs with a common
screen.
Screened cables are recommended also for digital inputs and outputs.
Minimum size of all signal wires is 0.35 mm
2
2.8 Signal cable connection diagram
CONTROL
LVD
REF+
REF-
A
/A
B
/B
C
/C
87X7 - Reference in
15
1
2
3
4
5
6
7
X4 - Encoder out
24Vdc
x
1
5
X7 - Inputs
1
X6 - Outputs
TO EARTH BUSBAR
4
AXIS
Encoder in
Enable
Input
Reference
Output with
contact
12
voltage free contact output
( drive ok )
2.9 Frequency input connection
The RS422 type frequency input can be software-configured in two modes: the first
(default) to accept quadrature signals from encoders, the second is frequency/direction mode
(refer to the chapter Fundamental parameters bit b42.5).
In the former case follow this connection diagram:
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7
1
0V
2
3
4
X5
8
6
5
9
LVD
A
A
B
B
In the case of parallel connections to more than one LVD, connections to pins 9, 5, 6, and
8, must be made only on the last drive in the group.
If the frequency/direction mode is adopted, channel A is dedicated to frequency while
channel B is dedicated to direction. A 24V= interface is often more convenient than the RS-
422. If the CLOCK and DIR signals are push-pull type, the interface between the two
standards can be performed easily directly on the external connector using the configuration
shown in the following diagram:
1
2
3
4
5
6
7
8
9
+24V=
X5
DIR
CLOCK
3K9
3K9
470 470
2K2
2K2
Connecting the LVD drive in digital locking mode
1
2
3
4
7
X5 (LVD)X5 (LVD)master
A
A
B
B
GND
1
2
3
4
7
X4 (LVD)
See text for line end (burden) resistor values
The above example shows the connection between two LVDs in digital lock with a master,
although it can be easily extended to several drives provided series connection is adopted. On
the final drive in the series connect the burden resistors by jumpering pin 1 with pin 9, pin 2
with pin 5, pin 3 with pin 6 and pin 4 with pin 8 on connector X5. The master can be an
externally fed encoder or the simulated encoder output on another drive.
The signal from the master encoder must be differential type 5V RS422; it is therefore
possible to connect a maximum of 10 slave LVDs. If the master is an LVD drive, then up to 32
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23
units can be connected in digital lock mode using the same simulated encoder signal (RS422
standard).
For programming of the LVD, consult the Digital locking chapter in this manual.
2.10 Simulated encoder output
Connector X4 carries the simulated encoder signals phase A, phase B and phase C (zero
signal). The signals are RS-422 format. TO program the number of pulses per revolution refer
to the chapter Fundamental parameters bits b42.0, b42.1 and b42.2; the default setting is 1024
pulses/rev.
2.11 Serial line connection
The LVD drive serial line can be configured as RS422 or RS485 depending on the
connection. Burden resistors (150 Ω) are required in both cases. If there is more than one
drive connected on the same line, the last node must be terminated as shown below. The two
connection types are illustrated in the following figures.
TX
RX
/TX
/RX
+BR
-BR
0 V
0 V
MASTER
RS-485
X3 X3 X3
NODE 1 NODE " n" FINAL NODE
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TX
RX
/TX
/RX
+BR
-BR
0 V
0 V
RS-422
MASTER X3 X3 X3
NODE 1
NODE "n"
FINAL NODE
2.12 Backup
When you need to keep the drive electronics powered up during mains losses, for example
to preserve the simulated encoder function, it is sufficient to maintain power on terminals 1
and 2 of connector X8.
If bit b99.8 is set to one, the undervoltage alarm will be reset automatically when power is
restored.
2.13 Status LEDs
When the programming keypad is not connected, there are two LEDs visible on the drive
panel; the first indicates the presence of the electronics power supply, the second
communicates the following drive status information.
LED OFF - Drive disabled with no active alarms.
LED ON - Drive enabled.
LED flashing at high frequency (10Hz) - Drive enabled, no active alarms, but control of I2t
is active.
LED flashing slowly with pause between 2 sets of flashes - Drive disabled with active
alarm; you can identify the type of alarm by counting the number of LED flashes between the
pauses.
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3 PARAMETERS AND PROGRAMMING
The functions of torque, speed, acceleration and position control are performed by a digital
electronic system. This chapter describes how to enter the data, the meaning of each
programming parameter, the functional block diagram and the relative description of
advanced level functions. When designing the system attention was paid to promoting the
maximum ease of use without detracting from the flexibility of the drive.
The following figure shows the general block diagram of the parametrisable section of the
drive.
The Block diagrams chapter contains a more detailed description of the general block diagram
and the block diagrams illustrating specific functions (operating modes). The chapter Pico-
PLC describes how to associate inputs/outputs with the parametric functions of the drive.
Parameters can be divided on the basis of their functions, as follows:
REFERENCE
CONTROL
LIMIT SWITCH
&
STOP
SPEED CON-
TROL LOOP
OPERATING
MODE
TORQUE
LIMITS
MANAGEMENT
TORQUE
analog
digital
internal
SPEED
WINDOWS
TORQUE
CONTROL
ACCEL.
CONTROL
WIRING
TEST
POSITION
CONTROL
DIGITAL
LOCK
STEPPER
MOTOR
SPINDLE
ORIENT.
CAN
ALARMS
MANAGEMENT
b40.2
Pr31
DEMAND
CAM
from Pr0 to Pr49 basic parameters
from Pr50 to Pr70 operating mode parameters
from Pr71 to Pr99 pico-PLC parameters
from In0 to In127 pico-PLC instructions
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The units of measurement and main resolutions of the parameters are as follows:
3.1 Using the optional keypad
The keypad-display module is designed to provide an intuitive operator interface. It can be
used to program operating data, monitor system status and enter commands. The module has
only three keys, located at the top of the front panel just below the display. The keys are
marked: [M], [+] and [-].
[M] is used to change the display mode and consequently also the function of [+] and [-].
There are two display modes: parameter mode and parameter value mode. When the unit is
powered up the message "IdLE" (drive disabled) or "run" (drive enabled) is displayed
provided there are no active alarms; this is also the position of parameter Pr0.
Press [+] or [-] to scroll through the parameters.
If you want to check a parameter value, press [M]; when the value is shown it can be
updated using [+] and [-]. To return to parameter mode press [M] again.
Data can be displayed in various forms, depending on the parameter in question.
If you need to increase (or decrease) a parameter value quickly, press [M] while the up key
[+] (or down key [-] ) is pressed.
M
Pr. 01
Pb. 40
+
-
+
-
Pr. 02
+
-
In. 00
In. XX
+
-
M
XXXXX
M
M
XXXXX
+
-
+ 1
+ 9
M
- 1
- 9
M
M
M
XXXXX
+
-
+ 1
+ 9
M
- 1
- 9
M
M
M
b40.XX
+
-
1
0
M
M
XX
+
done
M
PLC inst.
M
+
-
1st oper.
M
+
-
2nd oper.
M
+
-
3rd oper.
M
+
-
LVD keypad
Pb. 99
M
XX
+
-
b99.XX
M
+
-
IDLE
Parameter Type Unit Resolution
speed Rpm 1
acceleration seconds / 1000 rpm. 0.001
position 4096 steps / revolution 1/4096 of a revolution
current Drive peak current percentage 0.1
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In addition to the parameter values and the pico-PLC instructions, the display may show the
following messages:
r. xx At the time of power-up this message indicates the software version installed.
IdLE At power-up and in correspondence with Pr0 this message shows that no alarms are
present and the system is disabled.
run At the time of power-up and in correspondence with Pr0 this message indicates that
no alarms are present and the drive is enabled; the motor shaft may be spinning.
Er. xx In correspondence with Pr0 this message indicates that the drive has detected an
alarm (xx indicates the alarm code) and has therefore been disabled. When an alarm
is detected the display automatically switches to parameter Pr0 and shows the alarm
code.
Pr. xx Indication of parameter xx, whose value can be displayed by pressing [M].
Pb. xx Indication of bit parameter xx.
bxx.yy Indication of bit yy of parameter xx; press [M] to display bit status.
In. xx Indication of instruction xx of PLC program.
donE Displayed for approximately 1 second each time a command is entered.
rESet Displayed for approximately 1 second each time an alarm reset command is entered
(b99.10).
tESt Displayed during wiring test (b70.3).
3.2 Commissioning the LVD Drive
The steps described in this section must be followed carefully when the drive is started up
for the first time.
1) Connect the motor to the drive in compliance with the wiring diagrams in the manual.
2) Make sure the drive is disabled (connector X7 pin 1 open).
3) Power up the drive.
4) The message “IdLE” appears on the display.
5) Setting basic parameters:
Pr33 evaluation (rated current)
where: InM is rated motor current at zero rpm in Ampere
InD is rated drive current in Ampere
The maximum value of Pr33 is 50.0
Pr19 evaluation (peak current)
The maximum value must be no higher than three times the value of Pr33.
Pr33 =
InM
InD
2
100
⋅
⋅
Pr19 = Pr33 3
MAX
⋅
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Pr29 evaluation (number of poles)
Use the following table for MB series motors
Flange (mm) Pr29
56, 70 4
105, 145, 205 8
Pr32 evaluation (rated speed)
Pr32
=
Vmax
1.12
⋅
Vmax is the maximum effective motor speed.
Evaluation of Pr16 and Pr17 (speed control loop gain)
The default values of Pr16 and Pr17 have been chosen considering identical motor and
drive rated currents; if this is not the case correct the values of parameters Pr16 and Pr17
with the ratio of the motor rated current/drive rated current. This compensation will
eliminate the risk of motor vibration at the first start-up.
6) Set the analog reference signal to 0 V (pins 15, 8 of connector X7), and enable the drive
(24 V on pin 1 of connector X7).
7) The motor shaft must be stationary; when the analog reference voltage is changed, motor
speed should change proportionally. If this does not occur, check your wiring.
8) Save your settings with b99.15.
The drive is factory set with default values designed to meet the requirements of the
majority of applications. In default conditions the built-in pico-PLC runs the program
described in Appendix F so t he following functions will be present on the input and output
connectors:
The functions on pins 9, 2 and 10 of connector X7 must be enabled by setting bit b90.10 to
one. This requires access to the extended parameters menu.
The default PLC program controls parameter Pr5 in addition to timer 1 (Pr92) and bits
b40.0, b40.4, b40.5, b40.6, b40.12 so in this case the above bit parameters and switches
cannot be utilised unless the pico-PLC is disabled (b99.13=0) or the basic program is
modified.
X6 X7
1 real speed > Pr13 1 enable drive
9 motor speed = reference (+/- 20 rpm) 9 left-hand stroke end (n. c.)
2 real speed = 0 2 right-hand stroke end (n. c.)
10 real speed > 0 10 emergency stop (n. c.)
3 motor thermal image active (i2t) 3 clockwise / anti-clockwise
rotation
11 11 start / stop
4 terminal A drive ready 4
12 terminal B (n. c. contact) 12
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Short and extended menus
When the LVD drive is in default status, only a limited number of parameters are
displayed. These parameters are the only ones required for applications in which the LVD is
employed as a straightforward frequency converter, i.e. you are not using the advanced
functions of the drive (e.g. using LVD with a Numerical Control or an intelligent axis control
card). Switch between short and extended menus using b99.6: short menu with status 0,
extended menu with status 1.
Short menu parameters are:
Pr0 Real speed of motor shaft in rpm.
Pr1 Main analog reference offset.
Pr2 Analog reference full scale: speed value in rpm corresponding to 10V reference signal.
Pr8 Acceleration/deceleration ramp values in seconds per 1000 rpm with millisecond
resolution. If the acceleration and deceleration ramps required different settings, use
parameters Pr9, Pr10 and Pr11, which are available only in the extended menu.
Pr16 Integral gain of speed control loop.
Pr17 Speed control loop damping.
Pr19 Peak current delivered to drive expressed as a percentage of the peak rated value of the
drive.
Pr29 Number of motor poles.
Pr32 Rated speed (rpm).
Pr33 Rated current that can be delivered by the drive (can be maintained indefinitely)
expressed as a percentage of the rated peak current of the drive.
Pr35 Instantaneous current requested by the motor expressed as a percentage of drive rated
peak current.
Pb99 Bit parameter for basic commands.
In addition to the previous parameters, the extended menu provides access to all the other
parameters and the pico-PLC instructions.
Restoring default parameter values
If you wish to set up the drive using the manufacturer's factory default values, proceed as
follows:
- disable the drive via hardware (connector X7 pin 1 open)
- power up the drive
- the display will show the message “IdLE”
- set b99.7 and b99.13 to zero
- enter command b99.12
- save the settings with b99.14 and b99.15.
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30
3.3 Basic parameters
To access all the following parameters open the extended menu by setting b99.6 to one. For
this procedure, b99.7 must be set to zero.
DECIMAL PARAMETERS
Pr0 Motor speed: this is a read-only parameter expressed in rpm; the message Pr0 never
appears on the display. In its place a message corresponding to drive status is shown.
Pr1 Analog reference offset. This is expressed in input A/D converter counts.
Programming limits are -10000 and +10000 while the range of the A/D converter is
from -16384 to +16383 in the scale ± 10 V.
Pr2 First full scale of analog reference. Unit=rpm, range=±10000, default=3000. If
b40.0=0 and b40.12=0, Pr7 will be equal to:
Vin ⋅ Pr2 / 9.76 where Vin is the voltage on the analog input.
Pr3 Second full scale of analog reference. Unit=rpm, range=±10000, default=-3000. If
b40.0=1 and b40.12=0, Pr7 will be equal to:
Vin ⋅ Pr3 / 9.76 where Vin is the voltage on the analog input.
When Pb94.3 is 1, Pr3 becomes the speed of the virtual axis.
Pr4 Frequency reference full scale (connector X5). Unit=rpm, range=±32767,
default=3000. If b40.12=1 and b40.13=1, Pr7 will have the following value:
if b42.5=0 Pr7 = Fin ⋅ Pr4 / 2000000 (frequency/sign signals)
if b42.5=1 Pr7 = Fin ⋅ Pr4 / 500000 (quadrature signals)
where Fin is the encoder input frequency.
Pr5 Internal reference. Unit=rpm, range=±9000, default=0. If b40.12=1 and b40.13=0
Pr7 will be identical to Pr5.
Pr6 Reserved read-only speed reference. Unit=rpm, range=±9000. If b40.2=1 Pr6 is
only utilised as a speed reference for the control loop. The active operating mode will
enter its speed request in parameter Pr6.
Pr7 Main reference (read-only parameter). Unit=rpm, range=±9000. If b40.2=0 Pr7 is
utilised as a reference for the speed control loop. In some operating modes Pr7 can be
used as a reference for other factors (torque/acceleration). In these cases Pr7 is
expressed in the most suitable unit.
Pr8 Positive speed acceleration ramp. Unit=s/krpm, range=0.002...65.535,
resolution=0.001 s, default=0.002 s. Acceleration for positive speeds required of the
motor by way of the speed reference is internally limited so that a speed change of
1000 rpm takes Pr8 seconds.
Pr9 Positive speed deceleration ramp. Unit=s/krpm, range=0.002...65.535,
resolution=0.001 s, default=0.002 s. Deceleration for positive speeds required of the
motor by way of the speed reference is internally limited so that a speed change of
1000 rpm takes Pr9 seconds.
Pr10 Negative speed acceleration ramp. Unit=s/krpm, range=0.002...65.535,
resolution=0.001 s, default=0.002 s. Acceleration for negative speeds required of the
motor by way of the speed reference is internally limited so that a speed change of
1000 rpm takes Pr10 seconds.
Pr11 Negative speed deceleration ramp. Unit=s/krpm, range=0.002...65.535,
resolution=0.001 s, default=0.002 s. Deceleration for negative speeds requested of
the motor by way of the speed reference is internally limited so that a speed change
of 1000 rpm takes Pr11 seconds.
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