Rockwell Automation 8510-AC User Manual
8510 AC Spindle
Drive System
Programming Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. “Safety Guidelines for the Application,
Installation and Maintenance of Solid State Controls” (Publication SGI-1.1
available from your local Allen-Bradley Sales Office or online at http://
www.ab.com/manuals/gi) describes some important differences between
solid stateequipmentand hard-wired electromechanical devices.Because of
this difference, and also because of the wide variety of uses for solid state
equipment, all persons responsible for applying this equipment must satisfy
themselves that each intended application of this equipment is acceptable.
In no event will the Allen-Bradley Company be responsible or liable for
indirect or consequential damages resulting from the use or application of
this equipment.
The examples and diagrams in this manual are included solely for
illustrative purposes. Because of the many variables and requirements
associated with any particular installation, the Allen-Bradley Company
cannot assume responsibility or liability for actual use based on the
examples and diagrams.
No patent liability is assumed by Allen-Bradley Company with respect to
use of information, circuits, equipment, or software described in this
manual.
Reproduction of the contents of this manual, in whole or in part, without
written permission of the Allen-Bradley Company is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations.
ATTENTION: Identifies information about practices or
circumstances that can lead to personal injury or death, property
!
damage, or economic loss.
Attentions help you:
• identify a hazard
• avoid the hazard
• recognize the consequences
Important:Identifiesinformation that is especially important for successful
application and understanding of the product.
Shock Hazard labels may be located on or inside the drive to
alert people that dangerous voltage may be present.
SCANport is a trademark of Rockwell Automation.
PLC is a registered trademark of Rockwell Automation.
COLOR-KEYED is a registered trademark of Thomas & Betts Corporation.
IBM is a registered trademark of International Business Machines Corporation.
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Introduction Chapter 1
Chapter Objectives 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Menu Format and Conventions 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming Capabilities 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Description 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keypad Description and Operation 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing the DRIVE SETUP Menu 1-7. . . . . . . . . . . . . . . . . . . . . . . . . .
Programming Key Combinations 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Remote Programming 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming Chapter 2
Chapter Objectives 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DRIVE SETUP Menu 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GEAR RANGES Menu 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MOTOR SELECT Menu 2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PARAMETER SET Menu 2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DRIVE TUNING Menu 2-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ORIENT SETUP Menu 2-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ANALOG OUTPUT Menu 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents
8510 Programming Manual
Drive Tuning Chapter 3
Chapter Objectives 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tuning Introduction 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tuning Requirements 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle/Servo Mode Tuning 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
“Per Unit” System Description 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle Orient Mode Tuning 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Record Appendix A
i
Chapter
1
Introduction
Chapter Objectives This chapter explains the programming/setup system of the 8510. Included
is an explanation of the display, control features and general programming
to help you use and understand the 8510 programming system.
Introduction In addition to the standard metering and diagnostic functions explained in
the 8510 User Manual, the keypad and display are also used for programming all of the drive setup parameters through the DRIVE SETUP menu.
Menu Format and Conventions The menu system is based on the 16 character by 2 line display used in the
8510. The menu is arranged in a tree format to allow easy access to any
item. Menu items will be shown on the display two different ways:
1) UPPER CASE letters (capitals) indicate the item is a menu heading
with a group of sub-menus or parameter names below it.
2) Initial Capital letters indicate the item is the name of a parameter.
To help differentiate input/output names, programmable parameters and
programmable values printed in this manual, the following conventions
will be used.
Input and Output Names will appear in Initial Capital Letters
Programming Display Text will appear in italics
Menu Names will appear with ALL CAPITALS
Parameter Names will appear with Initial Capital Letters
Programmable Parameter Values will appear in “quotes”
Programming Capabilities The DRIVE SETUP menu is used to define the electrical configuration and
tune the dynamic performance of the 8510. The drive can be programmed
to provide optimum machine response for a variety of mechanical system
configurations and application requirements. The following paragraphs
explain some of the capabilities.
1. When used with a multi-speed spindle gearbox, a unique set of all
programmable parameter values can be set for each gear range. Up to
four gear ranges can be used. During drive operation, two discrete
inputs are used to select the appropriate gear range parameter set.
Tip: In applications that do not use gear boxes, the gear range data sets
can be used to optimize drive performance under widely varying load
conditions, to change the drive configuration for different operations, or
to increase the number of parameter setpoints that are available.
1-1
Chapter 1
Introduction
2. When two speed, wide constant power range motors (1327AD series)
are used, unique parameter sets are used for the low speed and high
speed windings. The two speed motors can be combined with up to a
three speed gearbox for a total of six unique sets of programmable
parameters. During drive operation, a single discrete input will select
the appropriate motor speed range and speed range parameter set.
3. Within each gear range/motor winding data set, discrete inputs can
select one of three primary operating modes; spindle, servo or torque.
For each of these modes there are independent sets of parameter data
values to control the velocity command source and scaling along with
the system dynamics. Also, within servo mode, two different velocity
scaling ranges can be selected.
Gear Range Data Sets
A Gear Range Data Set is a grouping of parameters that define a gear
range/motor winding configuration. A typical gear range data set consists
of the following:
Data Set for Standard Motor or Low Speed Winding on a Dual Winding Motor
- Overall System Configuration
- Standard Motor or Low Speed Motor Winding Parameter Set
- Spindle Mode Configuration and Tuning
- Servo Mode Configuration and Speed Range Select
High Range Tuning
Low Range Tuning
- Torque Mode Configuration and Tuning
- Spindle Orient Configuration and Tuning
Data Set for High Speed Winding on a Dual Winding Motor
- Overall System Configuration
- High Speed Motor Winding Parameter Set
- Spindle Mode Configuration and Tuning
- Servo Mode Configuration and Speed Range Select
High Range Tuning
Low Range Tuning
- Torque Mode Configuration and Tuning
- Spindle Orient Configuration and Tuning
Tip: To simplify initial drive setup, a Copy Data command is available
(GEAR RANGES menu). After programming a complete gear range/motor
winding data set, this command can copy the data set to any other gear
range/motor winding data set. The programmer then makes changes as
required to the copied data set.
1-2
Refer to GEAR RANGES Menu in Chapter 2 for further information.
Chapter 1
Introduction
Display Description The 8510 display which is used for programming, as well as status and
diagnostic messages consists of a 16 character, 2 line, LCD (Liquid
Crystal) display. The display is divided into several different sections as
shown in Figure 1.1.
Figure 1.1
LCD Display
Motor Winding
Selected by Digital
Gear Range
Selected by Digital
Inputs
Line 1, Character 1
Line 2, Character 1
Inputs
Menu Level
Indicator
Menu Information
Gear Range
Selected for
Programming
(when applicable)
Menu Level
Indicator (when
applicable)
Motor Winding
Selected for Program-
ming
(when applicable)
Menu Information
Line 1, characters 1 & 2 – are used to display the gear range and motor
winding data set that is currently selected by the digital inputs and is being
used for drive operation. Character 1 will show the selected gear range
(1-4) and if a 2 speed motor is used, character 2 will show the motor
winding (H = high speed winding, L = low speed winding).
Line 1, character 3 – is a variable length bar (moving from the bottom up)
that represents the current depth (level) in the menu system.
Line 1, characters 4-16 – are used to display the name of the current menu
level or selected parameter. The menu options or parameter value
associated with the item displayed on line 1 will be displayed on line 2.
Line 2, characters 1 & 2 – are used to display the gear range and motor
winding data set that is currently selected for programming. Character 1
will show the selected gear range (1-4) and with 2 speed motors, character
2 will show the motor winding (L or H).
Line 2, character 3 – a variable length bar (moving from the bottom up)
that represents the current depth (level) in the menu system that has been
selected. For each level the user moves down, another bar is added to the
display.
Line 2, characters 4-16 – used to display the options that are available at
the current menu level or the value of the parameter that has been selected.
1-3
Chapter 1
Introduction
Keypad Description and Operation When programming in the DRIVE SETUP menu, the 8510 keypad will
have expanded functions not found in the DISPLAY TYPE menu.
Figure 1.2
8510 Keypad and Display
Display
Keypad
Pressing this key will cause the display to change to the
previous menu level within the DRIVE SETUP menu section.
If the top item of the menu (see Figure 2.2) is shown, the
Mode key will have no effect. If a parameter name and value
are displayed, pressing this key will cause the system to exit
that parameter without saving the displayed value. This key
effectively aborts a selection.
Pressing this key once will cause the parameter or sub-menu
names shown on line 2 of the display to increment to the
next possible choice for the menu listed on line 1. If this key
is pressed and held, the display will continuously index
through the possible selections until the key is released.
When scrolling through a list of sub-menu or parameter
names and the end of the menu list is reached, it will roll
over to the beginning and continue to increment. When
scrolling through parameter value selections, the
incrementing will stop at the end of the list and will not roll
over.
If line 2 is displaying the numerical value of a parameter, a
cursor will be displayed under the least significant digit.
When the Scroll + key is pressed, the value of this digit will
be increased. Pressing and holding this key will cause the
value to increment continuously until the maximum limit for
this parameter value is reached. The scrolling stops at the
maximum limit. The value will not roll over.
1-4
continued
Chapter 1
Introduction
Scroll +
(continued)
To simplify programming large values, the cursor can be
moved one digit to the left by simultaneously pressing the
Scroll + and Scroll – keys. Pressing and holding both keys
will cause the cursor to continue indexing to the left. After
reaching the most significant digit position, it will roll over
to the least significant digit position.
Tip: The quickest method to program large values is to scroll
the first digit to the correct value, index the cursor one digit
to the left and scroll to set the value of the second digit, and
repeat the process for the other digits. Scrolling the value of
a specific digit will only change the value of digits at or to
the left of the cursor.
The function of this key is identical to the Scroll+ key except
that it causes the display to decrement rather than increment.
If a menu name is shown on line 1, pressing this key will
cause the sub-menu or parameter shown on line 2 of the
display to become the active menu or parameter. This
sub-menu or parameter name will move to line 1 and the new
menu choices or parameter value will be shown on line 2.
If a parameter name is shown on line 1 and the parameter
value is on line 2, pressing Select will cause the displayed
parameter value to be stored in RAM. This value is also used
as the current operating parameter value. After the parameter
value has been stored in RAM, the display will return to the
previous menu display with the parameter name on line 2 of
the display.
If the Mode key is used to return the display to the previous
menu display, any parameter value changes will not be stored
in RAM.
Important: All parameter value changes are initially stored
in RAM. To save the data to EEPROM it is necessary to exit
the DRIVE SETUP menu and return to the DISPLAY TYPE
menu. Upon exiting DRIVE SETUP, all parameter changes
are automatically stored into EEPROM. If power is removed
from the drive or the drive is reset before the changes have
been stored in EEPROM, these changes will be lost. When
data is being written to the EEPROM, the “←” symbol will
momentarily show as character 3 on line 2 of the display.
continued
1-5
Chapter 1
Introduction
Select
(continued)
Any time a parameter name is selected, the parameter value
that is initially shown on line 2 is the value that is currently
stored in RAM as the operating parameter value.
To speed system setup, it is possible to change the value of
any parameter while the drive is operating. When a parameter value is changed and the Select key is pushed, there is a
time delay of about 0.75-1.0 second before the value is used
in drive operation. Changes to the specified motor or drive
type or to the analog output definition will only become effective when the value changes are actually stored in EEPROM the next time the Enable input is energized.
Important: When trying to change parameters while the
drive is operating and then observe the resultant operation,
verify that the actual operating gear range and motor winding
selected by the drive inputs (and shown in characters 1 & 2
of line 1 of the display) matches the programming gear range
and motor winding shown by characters 1 & 2 of line 2. If
they do not match, any parameter changes will be made to a
different gear range data set, resulting in no effect on current
drive operation and possible erratic operation when the other
data set is used.
ATTENTION: Changing certain parameter values can result in
!
significantly different drive operation characteristics, such as
reversing direction of rotation or changing the motor speed for a
specific input command level. If parameters are changed while
the drive is operating, the user is responsible for assuring that
the changes in operating characteristics that result from these
changes will not result in unsafe machine operating conditions
1-6
Chapter 1
Introduction
Accessing the DRIVE SETUP Menu To help guard against access to the drive setup programming parameters by
untrained personnel, a special key combination is required to access the
DRIVE SETUP menu. To access this menu, simultaneously press and hold
the Mode, Scroll + and Scroll – keys for about 3 seconds. The DRIVE
SETUP menu and a second bar at character 3 of line 1 will be displayed.
This menu allows access to all of the drive setup parameters that are
needed to integrate the motor and drive to the machine. The programmer
will be able to:
- Select and define gear ranges
- Select the motor
- Select the drive and set basic configuration parameters
- Dynamically tune the drive
- Setup spindle orient
- Configure the analog outputs
Exiting the DRIVE SETUP Menu
Upon completion of setup, pressing and holding the Mode and Scroll –
keys will return the display to the DISPLAY TYPE menu.
Important: Exiting DRIVE SETUP and returning to the DISPLAY TYPE
menu is the only
way to cause all parameter value changes to be written to
EEPROM for permanent storage.
Default Data
When the drive is shipped from the factory, default values are programmed
for most of the drive configuration data. The values that are chosen will
result in relatively low performance operation up to about half speed with
most types of systems.
Important: There are three parameters that have no default value assigned.
Two of these parameters must be programmed by the user before trying to
enable the drive or the drive will fault. These parameters are l) MOTOR
SELECT– Catalog Num and 2) PARAMETER SET – ELECT CONFIG –
Drive Cat Num. The third parameter, ORIENT SETUP – FEEDBACK
DEFN – Encoder Lines, must be programmed before attempting to use the
drive to perform spindle orient.
1-7
Chapter 1
Introduction
Programming Key Combinations Several functions are implemented through the use of specific
combinations of multiple keys.
n Access to the DRIVE SETUP menu is accomplished by simultaneously
pressing and holding the Mode, Scroll +, and Scroll – keys for about 3
seconds.
n Pressing Mode and Scroll – simultaneously will cause the system to
change to the first display screen in the DRIVE SETUP menu. Pressing
these keys again will exit the DRIVE SETUP menu and return the
display to the DISPLAY TYPE menu.
Important: Exiting DRIVE SETUP and returning to the DISPLAY TYPE
menu is the only
way to cause all parameter value changes to be written
to EEPROM for permanent storage.
n When programming numerical values for a programmable parameter, the
cursor can be indexed one digit to the left by simultaneously pressing
Scroll + and Scroll –.
Remote Programming Program Upload/Download
Initially, during normal drive integration, the drive is programmed using
the integral keypad and display and all programmed data is stored in the
EEPROM on the I/O Board. The I/O board contains an RS-232 port that
allows offline software to access this EEPROM data.
A file transfer utility, Catalog Number 8510SA-SFTU, that runs on a DOS
based, IBM
compatible personal computer, will allow the contents of the
EEPROM to be uploaded through the RS-232 port and stored in a file in
the computer. This same utility can download this data file to the EEPROM
of another drive to duplicate the original drive setup. This allows rapid
setup of machines that are in series production by simply downloading the
drive setup from a master file. Also, a user can maintain files for each drive
in the facility and quickly duplicate the original drive setup in case the
setup is accidentally changed.
Offline Programming
A spindle drive configuration software package, Catalog Number
8510SA-SSDC, allows complete offline configuration programming of the
8510 drive. This software runs as part of the Allen-Bradley Offline
Development System (ODS) software that is used to configure the 9/Series
CNC and IMC motion controller hardware. It also requires a DOS based,
IBM compatible personal computer. Rather than using the integral keypad
and display on the drive, a full screen display and complete keyboard can
be used to enter all drive configuration data. The data file is then
downloaded via the RS-232 port into the 8510 drive. To make the final
adjustment of the analog input calibration and the drive gains, it may be
necessary to use the integral drive programming keypad.
1-8
Chapter
2
Programming
Chapter Objectives Chapter 2 provides a detailed look at the programming associated with the
DRIVE SETUP menu found in the 8510. Included are complete
descriptions of the various parameters that can be programmed during
drive setup.
DRIVE SETUP Menu The DRIVE SETUP menu (see Figure 2.1) is the top level of the setup
parameters. The menu is accessed by simultaneously pressing and holding
the Mode, Scroll +, and Scroll – keys for about 3 seconds.
An overall view of the complete DRIVE SETUP menu is shown in
Figure 2.2.
The remaining sections in this chapter provide detailed parameter
descriptions used when programming. After most descriptions, a data
format will be provided. This indicates the entry format expected by the
programming system or the scroll choices that are available. Refer the page
numbers provided in Figure 2.1 to help locate specific programming
information.
Figure 2.1
Drive Setup Menu Tree
DRIVE SETUP
GEAR RANGES
MOTOR SELECT
PARAMETER SET
DRIVE TUNING
ORIENT SETUP
ANALOG OUTPUT
See Page 2-12
See Page 2-14
See Page 2-14
See Page 2-18
See Page 2-29
See Page 2-32
2-9
Chapter 2
Programming
DRIVE SETUP
GEAR RANGES
MOTOR SELECT
Figure 2.2
DRIVE SETUP Menu Tree
PARAMETER SET
DRIVE TUNING
ORIENT SETUP
ANALOG OUTPUT
ANALOG OUTPUT
Output #1
Output #2
DRIVE TUNING
SPINDLE MODE
SERVO MODE
TORQUE MODE
PARAMETER SET
ELECT CONFIG
SPINDL PRESET
SPINDL PRESET
Overspd Trip
Acc Rate #1
Acc Rate #2
Low Torq Lmt
At–Set–Speed
Speed Detect
Load Detect
TORQUE MODE
Torque Enable
2-10
ORIENT SETUP
FEEDBACK DEFN
ORIENT TUNE
ORIENT TUNE
Position Data
Preset Angle
Orient Speed
Orient Start
In-Position
Dir From Stop
Hold Position
Max Speed
ANALOG CAL
A
FEEDBACK DEFN
Encoder Type
Encoder Lines
Encdr Phasing
Chapter 2
Programming
GEAR RANGES
ELECT CONFIG
Drive Cat Num
Motor Phasing
Cmnd Phase #1
Cmnd Phase #2
Enable Torque
SERVO MODE
Analog In #
A/D Conv Type
MOTOR SELECT
Catalog Num
Select Range
SET RATIOS
Copy Data
Default Data
SET RATIOS
Spindle Revs
Motor Revs
SPINDLE MODE
Cmnd Source
ANALOG CAL
Max Cmnd Spd
A
ANALOG CAL
HI SPD RANGE
LO SPD RANGE
A
ANALOG CAL
MEASURE INPUT
PROGRAM VALUE
A
LO SPD RANGE
Max Cmnd Spd
Servo P Gain
Servo I Gain
Droop In Run
Speed Cal
HI SPD RANGE
Max Cmnd Spd
Servo P Gain
Servo I Gain
Droop In Run
Droop In Hold
Speed Cal
PROGRAM VALUE
Zero Volt In
Max +Volt In
Spindl P Gain
Spindl I Gain
Speed Cal
MEASURE INPUT
Zero Volt In
Max +Volt In
2-11
Chapter 2
Programming
GEAR RANGES Menu This menu allows the gear ranges to be defined and selected for
programming. Refer to Figure 2.3 for an example of the GEAR RANGES
menu and the paragraphs that follow for parameter explanations.
Figure 2.3
GEAR RANGES Menu Tree
GEAR RANGES
Select Range
SET RATIOS
Copy Data
Default Data
SET RATIOS
Spindle Revs
Motor Revs
The two Gear Range Active inputs define which gear range data set is
currently being used for motor control. However, these inputs do not select
the gear range data set that can currently be programmed. The GEAR
RANGES menu is used to select the gear range data set to program.
• The first character of the first line of the display shows the gear range
data set that is selected as the operating
data set.
• The first character of the second line of the display shows the gear range
data set that has been selected for programming
.
Select Range
This parameter allows selection of the gear range data set that is to be
programmed. The programming gear range has two parts - the physical
gear range and the motor winding. If dual winding motors are used, the
parameters must be programmed for both the low and high speed windings
in each gear range.
2-12
The physical gear range is shown in character 1, line 2 of the display, with
the motor winding (dual winding motors only) shown in character 2. Dual
winding motors use an L or an H to designate the Low and High speed
windings. The second position will be blank if a motor is not selected or a
single speed motor is being used. A scroll sequence is used to select the
low speed and high speed motor windings for a particular gear range before
advancing to the next gear (i.e. 1L, 1H, 2L, 2H, etc.). With dual winding
motors, only three physical gear ranges can be used since only 6 data sets
are stored.
Possible Choices: 1, 2, 3, 4, 1L, 1H, 2L, 2H, 3L, 3H
Default Value 1
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