SSD Parvex DIGIVEX Little Drive Servoamplifier User And Commissioning Manual

SSD Parvex SAS

8, avenue du Lac - B.P. 249
F-21007 Dijon Cedex
www.SSDdrives.com

DIGIVEX Little Drive

DIGITAL SERVOAMPLIFIER

User and commissioning manual

PVD 3530 GB – 01/2005

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PRODUCT RANGE

1 - « BRUSHLESS » SERVODRIVES

TORQUE OR POWER

RANGES

• BRUSHLESS SERVOMOTORS, LOW INERTIA, WITH RESOLVER
Very high torque/inertia ratio (high dynamic performance machinery):

⇒ NX -HX - HXA

1 to 320 N.m

⇒ NX - LX

0,45 to 64 N.m

High rotor inertia for better inertia load matching:

⇒ HS - LS

3,3 to 31 N.m

Varied geometrical choice :

⇒ short motors range HS - LS

3,3 to 31 N.m

⇒ or small diameter motors : HD, LD

9 to 100 N.m

Voltages to suit different mains supplies :

⇒ 230V three-phase for «série L - NX»

⇒ 400V, 460V three-phase for «série H -

NX»

• "DIGIVEX DRIVE" DIGITAL SERVOAMPLIFIERS
⇒ SINGLE-AXIS DSD
⇒ COMPACT SINGLE -AXIS DµD, DLD
⇒ POWER SINGLE-AXIS DPD
⇒ MULTIPLE-AXIS DMD

• "PARVEX MOTION EXPLORER" ADJUSTING SOFTWARE

2 - SPINDLE DRIVES

• SPINDLE SYNCHRONOUS MOTORS
⇒ "HV" COMPACT SERIES

From 5 to 110 kW

⇒ "HW" ELECTROSPINDLE,frameless, water-cooled motor

up to 60,000 rpm

• "DIGIVEX" DIGITAL SERVOAMPLIFIERS

3 - DC SERVODRIVES

• "AXEM", "RS" SERIES SERVOMOTORS

0.08 to 13 N.m

• "RTS" SERVOAMPLIFIERS

• "RTE" SERVOAMPLIFIERS for DC motors + resolver giving position

measurement

4 - SPECIAL ADAPTATION SERVODRIVES

• "EX" SERVOMOTORS for explosive atmosphere

• "AXL" COMPACT SERIES SERVOREDUCERS

5 to 700 N.m

5 - POSITIONING SYSTEMS

• Numerical Controls « CYBER 4000 » 1 to 4 axes

• "CYBER 2000" NC 1 to 2 axes

• VARIABLE SPEED DRIVE - POSITIONER
⇒ SINGLE-AXIS DSM
⇒ POWER SINGLE-AXIS DPM
⇒ MULTIPLE-AXIS DMM

• ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER

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CONTENTS

SAFETY INSTRUCTIONS ……………………………………………………………………………5

PRODUCT RANGE 2

1. GENERAL 7

1.1 Digital Servodrive 7

1.2 General Characteristics 7

1.3 Operating Principle 8

1.3.1 Block diagram 8

1.3.2 Power supply functions 10

1.3.3 Servomotor control functions 10

1.3.3.1 Presentation 10

1.3.3.2 Functions and block diagram 10

1.3.3.3 Forcing logic inputs 12

1.3.3.4 Stimuli / oscilloscope functions 12

1.3.3.5 Speed ramp function 12

1.3.3.6 logic outputs 14

1.3.3.7 Brake action 14

1.3.3.8 Monitoring reasons for stoppage 15

1.3.3.9 General characteristics of the DIGIVEX Little Drive 15

1.4 Compliance with Standards 16

2. ENERGY DISSIPATION 17

2.1 Braking Energy Dissipation 17

2.1.1 Calculating the power to be dissipated in the braking resistor 17

2.1.2 Braking energy dissipation 17

2.1.3 Braking capacity and module losses. 18

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2.2

DLD paralleling 19

3. DIMENSIONS, ASSEMBLY, MASS, LABELLING,
CODING 20

3.1 Dimensions, Assembly and Mass 20

3.2 Labelling and Coding 22

4. ELECTRICAL CONNECTIONS 23

4.1 General Wiring Requirements 23

4.1.1 Appliance handling 23

4.1.2 Electromagnetic compatibility 23

4.1.3 DIGIVEX Little Drive Sub-D connectors 24

4.2 Standard Connection Diagram 24

4.3 Description of Terminal Blocks and Sub-D Connector 29

4.3.1 Terminal blocks B1, B2, B3, B4 30

4.3.2 Sub-D connectors X1, X2, X3, X4 30

4.3.2.1 Sub-D connector table 30

4.3.2.2 Sub-D connector X1:"Resolver" 31

4.3.2.3 Sub-D connector X2: Inputs / Outputs 33

4.3.2.4 Sub-D connector X3: encoder emulation 36

4.3.2.5 Encoder emulation cable 36

4.3.2.6 Sub-D connector X4 : RS232 38

4.4 Connection Details 38

4.4.1 Main supply characteristics 38

4.4.2 Power component dimensions 39

4.4.3 Auxiliary power supply 39

4.4.4 Terminal block B1: brake supply 40

4.4.5 Earth connection to the chassis 40

4.4.6 Short-circuit capacity (UL 508 C certification) 40

4.4.7 Fuse specifications (UL 508 C certification ) 40

4.5 Connecting Servomotors 41

4.5.1 Power cable definition 41

4.5.2 Motor end connection 47

4.5.3 Resolver connection 49

4.5.4 Automatic control Input / Output connection 50

4.6 Accessories and Tools 50

4.6.1 Cables 50

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5. AUTOMATIC CONTROL INPUT / OUTPUT
FUNCTIONS AND CHARACTERISTICS 51

5.1 Input / Output Characteristics 51

5.1.1 Logic inputs 51

5.1.2 Logic outputs 51

5.1.3 Speed set point input 52

5.1.4 Current limitation input 53

5.1.5 Analog outputs 53

5.1.6 Encoder emulation 54

5.2 RESET and Contactor Control 56

5.3 Initilialization Sequence 57

5.4 Stop Sequence 57

5.4.1 Normal stoppage 57

5.4.2 Stoppage due to a fault 57

6. SERVO-CONTROL PARAMETER FUNCTION AND
SETTING 58

6.1 Servocontrol Parameter Functions 58

6.1.1 List of parameters 58

6.1.2 Regulation selection: current, proportional, PI, PI² 58

6.1.3 Integration stoppage 61

6.1.4 Speed scaling 61

6.1.5 Filtering frequency 61

6.1.6 Predictors 62

6.2 Inputting Parameters 64

6.3 Setting with DIGIVEX PC Software 64

6.3.1 Outline 64

6.3.2 internal variables 65

6.3.3 Entering parameters via DIGIVEX PC software 66

6.3.4 Setting loop parameters for speed regulation 66

6.3.5 Setting predictors 70

6.3.6 Setting current regulation parameters 74

6.3.7 Other characterization parameters 74

7. COMMISSIONING - SERVO-CONTROL PARAMETER
SETTING - DETECTING REASONS FOR STOPPAGE 75

7.1 Start-up Sequence 75

7.1.1 Preliminary checks 75

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7.1.2

Commissioning with DIGIVEX PC software 75

7.2 Detecting Reasons for Stoppage 76

7.2.1 Fault display - drive function 76

7.2.1.1 Handling operational malfunctions 77

7.2.1.2 Current monitoring 77

7.2.1.3 Temperature monitoring 78

7.2.1.4 Monitoring the DC Bus voltage 78

7.2.1.5 Other monitoring 78

7.2.1.6 7-segment display 79

7.2.1.7 Corrective actions 80

7.3 Defaults description 81

8. APPENDIX 83

Characteristics and dimensions subject to change without notice.

SSD Parvex SAS

8 Avenue du Lac / B.P 249 / F-21007 Dijon Cedex

Tél. : [phone] / Fax : [phone]

www.SSDdrives.com

YOUR LOCAL CORRESPONDENT

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SAFETY

Servodrives present two main types of hazard :

- Electrical hazard

Servoamplifiers may contain non-insulated live AC or DC
components. Users are advised to guard against access to live
parts before installing the equipment.

Even after the electrical panel is de-energized, voltages may be
present for more than a minute, until the power capacitors have
had time to discharge.

Specific features of the installation need to be studied to prevent
any accidental contact with live components :

- Connector lug protection ;

- Correctly fitted protection and earthing features ;

- Workplace insulation
(enclosure insulation humidity, etc.).

General recommendations :

• Check the bonding circuit;

• Lock the electrical cabinets;

• Use standardised equipment.

- Mechanical hazard

Servomotors can accelerate in milliseconds. Moving parts must be
screened off to prevent operators coming into contact with them.
The working procedure must allow the operator to keep well clear
of the danger area.

All assembly and commissioning work must be done by qualified
personnel who are familiar with the safety regulations (e.g. VDE
0105 or accreditation C18510).

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Upon delivery

All servoamplifiers are thoroughly inspected during manufacture and tested at length before
shipment.

• Unpack the servoamplifier carefully and check it is in good condition.

• Also check that data on the manufacturer's plate complies with the data on the order

acknowledgement.

If equipment has been damaged during transport, the addressee must file a complaint with the
carrier by recorded delivery mail within 24 hours

.

Caution

:

The packaging may contain essential documents or accessories, in particular :

• User Manual,

• Connectors.

Storage

Until installed, the servoamplifier must be stored in a dry place safe from sudden temperature
changes so condensation cannot form.

Special instructions for setting up the equipment

CAUTION

For this equipment to work correctly and safely it must be
transported, stored, installed and assembled in accordance with
this manual and must receive thorough care and attention.

Failure to comply with these safety instructions may lead to
serious injury or damage.

The cards contain components that are sensitive to electrostatic
discharges. Before touching a card you must get rid of the static
electricity on your body. The simplest way to do this is to touch a
conductive object that is connected to earth (e.g. bare metal
parts of equipment cabinets or earth pins of plugs).

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1. GENERAL

1.1 Digital Servodrive

All of the drives comprise:

Brushless servomotors with permanent magnets, sine-wave e.m.f. and resolver-based position
measurement (NX, LX, LS, LD range servomotors)
A box-type electronic control system including:
A power supply function for (depending on the model):

- 230 V single-phase mains supply or 230 V three-phase mains
supply

A control function corresponding to the servomotor (power and resolver) for spindle drive motor
control.
This module also controls energy discharge via internal.

Two connection options are available for these servomotors:

Terminal box + resolver connector.
Power connector + resolver connector.

1.2 General Characteristics

Input voltage rating: 230V (see § 4.4.1)

TYPE

MAINS

SUPPLY

CONTROLLABLE

POWER

SINE PEAK

PERMANENT

CURRENT

PEAK

MAXIMUM

CURRENT

REF. PARVEX

DLD 2/4

230 V –

single-

phase

50/60 Hz

375 W 2 A 4 A DLD13M02R

DLD 4/8

230 V –

single-

phase

50/60 Hz

750 W 4 A 8 A DLD13M04R

DLD 2/4

230 V –

three­phase

50/60 Hz

375W 2 A 4 A DLD13002R

DLD 4/8

230 V –

three­phase

50/60 Hz

750W 4 A 8 A DLD13004R

DLD 7.5/15

230 V –

three­phase

50/60 Hz

1,5kW 7.5 A 15 A DLD13007R

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1.3 Operating Principle

1.3.1 Block diagram

The block diagram shows two parts:

A power supply section providing dc voltage to the power bridge and auxiliary power supplies
(regulation, fans).
one part for axis control and monitoring control.

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MOTOR

POWER

PROTECTIONS
MANAGEMENT

CHOPPED

SUPPLY

A

UXILIARIES

POWER OK

BUS VOLTAGE

RESET

+/- 15V

5V

AXE

OK

INIT

C = 0

DRIVE

REGULATION

FANS

RESOLVER

THERMAL
PROTECTION

MOTOR

24V BRAKE
SUPPLY

24V

BRAKE

L1/L

L2/N

L3

U

V

W

SUB-D

SUB-D I/O AND

SET POINT

POWER

MONITORING BRAKE

VOLTAGE

DRV OK

CTN

AUX 1

AUX 2

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1.3.2 Power supply functions

Receives the 230 V mains supply through terminal block B3 and converts it into a 325V dc
voltage.
Receives the 230V monophase mains supply through the same B3 terminal block for powering
the auxiliary power supplies (+/-15V, 5V) required by safety regulations.
May receive a 24 V supply via terminal block B1 for powering the motor brake.

1.3.3 Servomotor control functions

1.3.3.1 Presentation

The DIGIVEX Little Drive (DLD) servo-amplifier is a 4-quadrant, transistor control module for
controlling (brushless) synchronous motors with resolvers.

NX, LX, LS, LD spindle drive motors. See separate documentation (PVD3407 and PVD3535).

The customization of the motor - resolver unit and the setting of the servocontrol parameters are
carried out using a PC with DIGIVEX software (PME software, DIGIVEX module), under
Windows.

These parameters are stored in an EEPROM permanent memory.

1.3.3.2 Functions and block diagram

See next page. The diagram shows the main drive functions and the setting parameters.

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On the right of the diagram, the motor - resolver - power section.

Parameters can be set for:

⇒ the choice of motor, which dictates the drive rating.
⇒ the general characteristics of the resolver.

The choice of the motor - drive combination determines a number of parameters: current
limitation, I

2

= f(t) protection, standard servo-control parameters.

Ahead of current control.

♦ Second order filter for reducing the effect of high-frequency resonance
♦ External reduction of current limitation

Resolver numerical processing (non parametric) and the encoder emulation function (number of
lines adjustable from 1 to 16384).
Choice of type of regulation: torque or speed.
In speed loop. Parameters can be set for :

⇒ maximum speed for the application (limited by the maximum motor speed).
⇒ scaling (1 V = N rpm).
⇒ choice of corrector type: proportional, proportional and integral, proportional and

double integration.

Predictive actions associated with speed control.

These actions, acting outside the speed loop, directly affect torque. As they are external they
have little effect on loop stability. However, they allow anticipated actions, without waiting for the
speed loop reaction.

The predictive actions (or predictors) are:

Gravity: compensation for vertical masses.

Dry friction: a friction force value is fixed. The corresponding torque set point is applied, its sign
being that of the speed set point.

Viscous friction: compensation for friction forces that are proportional to speed (hydraulic or
electrical system drive).

Acceleration: changes in the speed set point (drift) are monitored and direct action is taken on
the torque set point via a coefficient K, the inertia image.

The analog input speed reference (13 bits + sign), non parametric.

On the left of the block diagram, the set of logic and analog inputs / outputs.

The parameter setting software is used:

for allocating some of these Inputs / Outputs.

for forcing them to a logic status. The inputs are then disconnected from the outside.

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1.3.3.3 Forcing logic inputs

The software allows the logic input to be forced to a value. Consequently, via the software, the
SPEED RANGE, CW, CCW, TORQUE inputs are able to:

"disconnect" them from the physical input.
force them by software to 0 or 1.

1.3.3.4 Stimuli / oscilloscope functions

Certain functions integrated in the drive allow the speed set point to be excited: dc voltage,
square (response at one scale), sine.

These stimuli are activated by a PC. Their result, stored in the amplifier, can be seen on the PC
screen by using the oscilloscope function (a maximum of 4 variables can be displayed
simultaneously via the PME DIGIVEX software).

1.3.3.5 Speed ramp function

A ramp function is integrated into the drive unit for versions of software above AP516V07, running
with PME version 4.04 or above. This function is used to create time dependent linear speed
ramps. Parameters can be set in “Servo-control settings” under the “ramp” tab:

- Times t1, t2, t3, and t4 can be programmed from 0 to 1000s.

- Speeds Vp and Vn can be programmed from 0 to 50,000 rpm.

Comment:
Vp and Vn are points on the ramp; they can be defined outside of maximum motor speed.
However, servo-controls will limit the motor speed to the maximum authorized speed.

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How the ramp operates:

The ramp input can either be the analog input instruction or the stimuli generator as shown below:

In the event that the input is analog, scaling is carried out by the input instruction product (V) * speed
range for 1V, the speed range for 1 volt can be found in the servo-control dialogue box.

Ramp activation is validated by the information “TORQUE=1” (enable torque activated).
Therefore, the ramp operates as soon as the zero torque information is unlocked and an operating
direction (CW or CCW) selected. When CW or CCW is deactivated, the motor decelerates in
accordance with the pre-set ramp which means that CW or CCW cannot be selected as
mechanical stops.

Important remarks:

- When “TORQUE” is successively deactivated and reactivated, the speed is reduced to
zero prior to following the progression of the ramp.

- The ramp function must be deactivated

when a DLD with digital control is used to carry

out a check on the axis position.

Scaling

Input
instruction

Stimuli
generator

Speed
ramp

To speed
servo-controls

ON/OFF stimuli

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1.3.3.6 logic outputs

Speed detection

The OUT1 output status acts in the following manner:

Criterion OUT1

Speed < Threshold (OUT1)

1

Speed > Threshold (OUT1)

0

NB

: 19 rpm ≤ threshold (OUT1) ≤ 100,000 rpm

Speed reached

OUT2 output changes to 1 status when the motor speed is within the range given by + or ­the Threshold (OUT2) value:

(input instruction – threshold (OUT2) < actual speed < input instruction + threshold (OUT2)

NB

: 48 rpm ≤ threshold (OUT2) ≤ 5252 rpm

1.3.3.7 Brake action

The drive can be declared in the parameters with a brake function.

The 24 V brake supply (terminal block B1) is monitored by the drive.

24 V present: Axis under torque. Removal of limitation of 90% of rated motor current.
24 V absent: Axis at reduced torque with 90% of rated motor current.

The brake engage or release order is in no event given by the drive but by the external control.
The control can monitor the drive outputs indicating zero speed to decide whether or not to apply
the brake.

± Limit (OUT2)

± Limit (OUT2)

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1.3.3.8 Monitoring reasons for stoppage

This monitoring may, through strategic choice, entail either stoppage or reduced performance for
certain faults related to current.

Variables monitored :

Mean drive current.
Output current (short-circuit).
Dissipater temperature.
Motor temperature.
Ambient temperature.
Overspeed.
No resolver.
Maximum and minimum dc bus voltages.

1.3.3.9 General characteristics of the DIGIVEX Little Drive

Power reduction with altitude

A

bove 1000 m, service power falls by 1% for every 100 m up

to a maximum altitude of 4000 m

Operating temperature

relative humidity

Normal use: 0 - 40°C

A

bove 40°C, service power falls by 20% for every 10°C up to
a maximum temperature of 60°C.
The variable speed drive stops when the ambient temperature
exceeds 60°C.
85% (without condensation)

Storage temperature -30°C to +85°C
Chopping frequency 8 kHz
Current bandwidth 600Hz to -3dB
Speed bandwidth Up to 200Hz
Minimum speed Minimum speed 0.05 rpm or 1/8000th of maximum speed
Maximum speed Driven by DIGIVEX : 100 000 rpm
Speed static precision for load

variation from 0 to In and for
rated voltage of DIGIVEX Little
Drive

With analog set point: 1% whatever the speed

Electrical protection

Electrical isolation of power bridge
Mean current protection depending on drive rating
Pulse current protection of drive and motor
rms current protection of motor
Protection against short circuits at bridge output

Mechanical protection IP20 under IEC 529

Pollution degree

UL : 2
To rise in a surrounding wall

Other monitoring

Motor temperature
Drive temperature
Resolver power supply
Brake supply

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1.4 Compliance with Standards

DIGIVEX Little Drive

CE Marking

DIGIVEX Little Drive products have the CE marking under the European Directive 89/336/EEC as
amended by Directive 93/68/EEC on electromagnetic compatibility as well as under the Electrical
Safety Directive or Low Voltage Directive 73/23/EEC amended by Directive no. 93/68/EEC.
The Directive concerning electromagnetic compatibility invokes the harmonized generic standards
EN 50081-2 of December 1993 (Electromagnetic Compatibility – Emission Generic Standard –
Industrial Environment) and EN 50082-2 of June 1995 (Electromagnetic Compatibility – Immunity
Generic Standard – Industrial Environment). These two harmonized generic standards are based
on the following reference standards:

• EN 55011 of July 1991: Radiated and line conducted emissions.

• ENV 50140 of August 1993 and ENV 50204: Immunity to radiated electromagnetic fields.

• EN 61000-4-8 of February 1994: Power frequency magnetic fields.

• EN 61000-4-2 of June 1995: Electrostatic discharge.

• ENV 50141 of August 1993: Disturbances induced in cables.

• EN 61000-4-4 of June 1995: Rapid transients.

The Low Voltage Directive groups all the electrical safety standards together including the EN
60204-1 Standard which covers electrical fittings on industrial machinery.

Compliance with the reference standards above implies observance of the wiring instructions and
diagrams provided in this technical documentation which accompanies all equipment.

Incorporation in a machine

The design of this equipment allows it to be used in a machine subject to Directive 98/37/EC of
22/06/98 (Machinery Directive), provided that its integration (or incorporation and/or assembly) is
done in accordance with trade practices by the machine manufacturer and in accordance with the
instructions in this booklet.

UL Certification

DIGIVEX Little Drive products are covered by UL and cUL certificate (see section 8).

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2. ENERGY DISSIPATION

The energy a module has to dissipate is broken down into:

Energy generated by braking.
Energy from rectifier and power bridge losses.

2.1 Braking Energy Dissipation

2.1.1 Calculating the power to be dissipated in the braking resistor

The permanent and pulse power levels given in the table below are limited by the characteristics
of the "breaking" resistors.
When the application includes intensive cycles or long-duration decelerations, the mean power to
be dissipated by each axis must be calculated.

P in Watts =

J2N

9.55

2

⎛
⎝

⎜

⎞
⎠

⎟

.f

J : Moment of inertia of the servomotor and the related load in kgm².
N : Angular speed of motor shaft at start of braking, in rpm.

f : repeat frequency of braking cycles in s

-1

.

This formula is for the least favourable case. For a mechanism with substantial friction or with low
reverse output, the power to be dissipated may be greatly reduced.

.

The power to be dissipated by the axis must not exceed the permanent power admissible by the
resistor. Duration and repetition must not exceed the ratings in table § 2.1.3.

2.1.2 Braking energy dissipation

Dissipation of breaking energy is carried out through a resistor (or 2 resistors depending on the
calibre) situated in the module.

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2.1.3 Braking capacity and module losses.

230 V single-phase or three-phase modules.

MODULE RATING

2/4 4/8 7.5/15

Resistor value

Maximum current

Pulse power

Permanent power

Maximum non repetitive duration

Repetition

Losses from modules (at
maximum power)

Low level consumption

Ω

A

kW

W

s

%

W

W

100

3.8

1.2
20

0,2
1,6

15

10

100

3.8

1.2
30

0,2
2,5

25

10

50

7.6

2.4
40

0,2
1,6

50

10

Definitions

Maximum power: Maximum power drawn, resistance connecting is carried out at 360V, hence,
the power drawn has a maximum resistance value equal to 360.

Pulse power: maximum power dissipated by the resistor, this power can only be drawn for a
short time and in compliance with a certain cycle.

Permanent power (to 25°C) : mean power that can be dissipated on a permanent basis by the
resistor.

Maximum duration: maximum duration, in seconds, for which the pulse power can be required
(starting from cold); the resistor must be allowed to cool down before braking again.

Module losses: losses specific to the module, the value shown in the table is that obtained when
the module is used at maximum power.

Low-level consumption: consumption of the low-level power supplies in Watts.

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2.2 DLD paralleling

The braking capacity of applications requiring the use of several DLD, placed in the same
electrical control cabinet, can be increased

(1) (2)

. It is only a question of linking the DC buses from
all the DLD using the B4 connector provided for this purpose. The operation quite simply
comprises of combining the braking capacities of all the appliances.

(1) If cycle simultaneity does not exist between the axes:

There is no synchronization between the braking axes

(2) It is possible to use the axes’ synchronism according to the following cycles:

Braking of one axis whilst another axis is accelerating.
(the braking energy is used to accelerate the other axis).

Connections:

Connector Contact Function

B4 1 DC+
B4 2 DC-

Connections are carried out from DC+ to DC+, DC- to DC-.

Maximum number of parallel axes: 6.

Connecting cover cables section: 1mm² minimum (cable reference: UL 1015 AWG16)

Maximum length of connection: 300mm of connecting cable (connection to be kept as short as
possible).

Every axis must remain connected to the electric mains supply (it is absolutely forbidden to
connect 1 axis to the mains and then use the DC bus link as a power supply for the axes
connected via this connection).

Follow the electrical connection plans on pages 25 and 26, especially with regard to all axis and
line fuses.

The axes linked together by the DC buses must be connected to the same electric mains supply.

A clear 10mm must be spaced between each axis.

Plan of dimensions: see page 19

Electrical connection plans: see pages 25 and 26.

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3. DIMENSIONS, ASSEMBLY, MASS,
LABELLING, CODING

3.1 Dimensions, Assembly and Mass

See the following pages, drawing numbers - FELX 306455

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3.2 Labelling and Coding

Physical identification by labels:

On DLD :

∗ One label plate fixed to the appliance as in the model below:

The customization of the resolver is stored in a EEPROM memory. The parameters can be read
by the software

Codification

CODE

FUNCTION

DLD13M02R

DIGIVEX Little Drive monoaxe Ue 230V 2/4A single-phase

DLD13M04R

DIGIVEX Little Drive monoaxe Ue 230V 4/8A single-phase

DLD13002R

DIGIVEX Little Drive monoaxe Ue 230V 2/4A three-phase

DLD13004R

DIGIVEX Little Drive monoaxe Ue 230V 4/8A three-phase

DLD13007R

DIGIVEX Little Drive monoaxe Ue 230V 7,5/15A three-phase

Meaning of label indications:

• AC SERVO : Alternating current converter

• DLD - - - - - : DLD servo-amplifier code

• Serial Nr : servoamplifier serial number

• Date : date of manufacture

• Input : Input current

• Output : Output current

• Voltage : Voltage mean value

• Phase : Phase number

• Current : Current peak value

• Freq.: Frequency in Hz

• Motor : Motor power in W and in HP

• Class : Service class under NF standard

EN60146, 1= permanent

• IP20 Protection indice acording to

NF EN 60529 standard

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4. ELECTRICAL CONNECTIONS

4.1 General Wiring Requirements

4.1.1 Appliance handling

Please refer to the safety instructions given at the beginning of this booklet. It is strongly
recommended that personnel wait for the 7-segment display, situated on the front panel, to go off
before undertaking any intervention of the servoamplifier or servomotor.

4.1.2 Electromagnetic compatibility

EARTHING

Comply with all local safety regulations concerning earthing.
Utilize a metal surface as an earth reference plane (e.g. cabinet wall or assembly grid). This
conducting surface is termed the potential reference plate. All the equipment of an electrical
drive system is connected up to this potential reference plate by a low impedance (or short
distance) link. Ensure the connections provide good electrical conduction by scraping off any
surface paint and using fan washers. The drive will then be earthed via a low impedance link
between the potential reference plate and the earth screw at the back of the DIGIVEX Little
Drive. If this link exceeds 30 cm, a flat braid should be used instead of a conventional lead.

CONNECTIONS

Do not run low-level cables (resolver, inputs/outputs, NC or PC links) alongside what are termed
power cables (power supply or motor). Do not run the power supply cable and the motor cables
alongside one another otherwise mains filter attenuation will be lost. These cables should be
spaced at least 10 cm apart and should never cross, or only at right-angles.
Except for the resolver signals, all low-level signals will be shielded with the shielding connected
at both ends. At the DIGIVEX Little Drive end, the shielding is made continuous by the Sub-D
connector mechanism.
The motor cables are limited to the minimum functional length. The yellow and green motor
cable lead must be connected to the box or front panel terminal block with the shortest possible
link.
This usually means shielded motor cable is not required. Chokes may also be inserted into the
motor phase leads.

OTHER MEASURES

Self-inducting components must be protected against interference: brakes, contactor or relay
coils, fans, electro-magnets, etc.

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4.1.3 DIGIVEX Little Drive Sub-D connectors

In order to ensure the system is free from disturbances, it is essential for the rack to be properly
connected to the earth plane of the electrical cabinet and for the covers of the Sub-D connectors
to be EMI/RFI shielded (metal with shielding braid connection).
Make sure the Sub-D connectors and their covers are properly connected (lock screws fully
tight).

4.2 Standard Connection Diagram

See the drawings on the following pages

- FELX 306198

- FELX 306199

- FELX 306460

- FELX 306461

Solder between the braid and the
green and yellow lead.

Fold the shielding braid over the
cable sheath

GROUND CONNECTION

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4.3 Description of Terminal Blocks and Sub-D
Connector

All the input/outputs required for operation are arranged on the front panel in the form of:

- B1 brake power supply terminal.

- B2 motor terminal.

- B3 power supply and auxiliary power terminal.

- B4 DC Bus

- X1 RESOLVER connector.

- X2 INPUTS / OUTPUTS connector.

- X3 ENCODER connector

- X4 RS232 connector.

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4.3.1 Terminal blocks B1, B2, B3, B4

ITEM

REF.

TERMINAL

Front Panel

Marking

FUNCTION

TERMINAL

BLOCK

TYPE

TERMINAL
CAPACITY

B1/1
B1/2

BS+

BS-

B1

24V input for
brake supply

Unpluggable

screw-type

Min 0,2 mm²
Max 2,5 mm²
flexible and rigid
lead

B2/1
B2/2
B2/3

U
V

W

B2 Motor connection

B2/4
B2/5

TH+

TH-

B2

Motor thermal

protection
B2/6
B2/7

BR+

BR-

B2 Motor brake

B2/8

B2 EARTH

Unpluggable

screw-type

Min 0,2 mm²
Max 2,5 mm²
flexible and rigid
lead

B3/1
B3/2

Aux1
Aux1

B3

Low-level

supply

Unpluggable

screw-type

Min 2,5 mm²
flexible and rigid
lead

B3/3
B3/4
B3/5

L1/L

L2/N

L3

B3

Mains connection

For single-

p

hase mains

only B3/3 and B3/4 are

to be connected

B3/6

B3 EARTH

Unpluggable

screw-type

Min 0,2 mm²
Max 2,5 mm²
flexible and rigid
lead

B4/1 DC+ B4 DC+ BUS

B4/2 DC- B4 DC- BUS

unpluggable

screw type

Min 0.2 mm²
Max 2.5 mm²
flexible and rigid
lead

4.3.2 Sub-D connectors X1, X2, X3, X4

4.3.2.1 Sub-D connector table

Connectors with metal-plated or metallic covers.

ITEM REF.

CONNECTOR TYPE

(cable end)

FUNCTION

MAX. CONDUCTOR

CROSS-SECTION

X1

RESOLVER

9-pin plug for

soldering

Resolver link

max. 0.5 mm² on
soldering barrel

X2

INPUTS/

OUTPUTS

25-pin plug for

soldering

Logic and

analog

inputs / output

max. 0.5 mm² on
soldering barrel

X3

ENCODER

9-pin socket for

soldering

Encoder emulation

output

max. 0.5 mm² on
soldering barrel

X4

RS232

9-pin plug for

soldering

PC link

max. 0.5 mm² on
soldering barrel

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4.3.2.2 Sub-D connector X1:"Resolver"

DIGIVEX end connections, Sub-D 9 pin connector item ref. X1.

Maximum conductor cross-section: 0.5 mm²

CONTACT TYPE FUNCTION

1
2
3
4
5
6
7
8
9

Input
Input
Input
Input

Output

Output

Cosine S1
Sine S2
Cosine S3
Sine S4
Excitation R1

Excite R2/R3

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4.3.2.3 Sub-D connector X2: Inputs / Outputs

CONTACT TYPE FUNCTION CHARACTERISTICS

1

14

EA1 +

EA1 -

Speed or current set point ±10V,
+ point

Speed or current set point ±10V,

- point

Analog conversion:
13 bits + sign
Differential input

2

15

EA2 +

EA2 -

Analog input ±10V, + point

Analog input ±10V, - point
Input assigned to external
current limitation. +/-10V = max.
current

Analog conversion:
9 bits + sign
Differential input

3

16

SA1

0V

Analog output ±10V, + point
ANA1

0V of analog output
Output assigned to speed
measurement
10V = maximum speed

Analog conversion:

Max. voltage = 10V
Max. current = 10 mA
Protected against short
circuits.

4

17

SA2

0V

Analog output ±10V, + point

ANA2

0V of analog output
Output assigned to current
measurement
10V = maximum current

Analog conversion:

Max. voltage = 10V
Max. current = 10 mA
Protected against short
circuits.

9

EL1 +

SPEED RANGE

Speed range choice

Type-1, optocoupled 24V
logic inputs to IEC 1131-2.

10

EL2 +

CW: enables clockwise rotation if
input is active (level 1)

(see characteristics on
following pages)

11

EL3 +

CCW: enables counter-clockwise
rotation if input is active (level 1)

These inputs must have a 24V
supply to have level 1.

EA = analog input, EL = logic input, SA = analog output, SL = logic output

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"Inputs / Outputs" Sub-D connector (continued)

CONTACT TYPE FUNCTION CHARACTERISTICS

12

EL4 +

TORQUE: enables torque if
input is at 1

Optocoupled 24V type 1 logic
inputs under ICE 1131-2

5 EL+ RESET

Optocoupled 24V type 1 logic
inputs under ICE 1131-2

21

22

23

24

Logic 0V

Logic inputs OV
For EL1+, EL2+, EL3+, EL4+
and RESET

The logic inputs are common
via the 0V logic

6

18

SL1

0V
Logic

DRV OK

Max. 50 mA, optocoupled
PNP 24V output

7

19

SL2

0V
Logic

OUT1 speed detection Max. 50 mA, optocoupled

PNP 24V output

8

20

SL3

0V
Logic

OUT2 speed detection Max. 50 mA, optocoupled

PNP 24V output

13

25

+24V Logic
0V
Logic

+24V power supply input
0V power supply input

Max. voltage: 35V
Max. current = 160mA

EA = analog input, EL = logic input, SA = analog output, SL = logic output

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4.3.2.4 Sub-D connector X3: encoder emulation

Sub-D 9-pin plug. Maximum conductor cross-section: 0.5 mm².

CONTACT TYPE FUNCTION

1 .

2 Output

Top

0

3 Output

A

4 Output

B

5

6 Output Top 0

7 Output A

8 Output B

9 Input 0V

4.3.2.5 Encoder emulation cable

Cable formed from three twisted pairs of 0.14 mm

2

, of one twisted pair of 0.5 mm2 for 5 V supply

and general shielding.

Cable reference recommend by PARVEX S.A., CB08307.

Cables equipped with Sub-D connectors can be supplied, see drawing FELX 304554.

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4.3.2.6 Sub-D connector X4 : RS232

Maximum conductor cross-section: 0.5 mm²

Serial link configuration :

♦ 9600 bauds
♦ 8 data bits
♦ 1 start bit, 1 stop bit
♦ no parity
♦ no electrical isolation
♦ use an extension cable of 5 m maximum

SUB-D 9pts DIGIVEX SUB-D 9pts PC

NC 1

1

TD (TXD) 2

2 RD (RXD)

RD (RXD) 3

3 TD (TXD)

NC 4

4

0V 5

5 0V

NC 6

6

NC 7

7

NC 8

8

NC 9

9

NC= Not Connected

This input is for linking with a computer (PC) for parameter loading and setting via the DIGIVEX
PC software.

4.4 Connection Details

4.4.1 Main supply characteristics

230 V single-phase or three-phase modules

PARAMETER VALUE

Frequency
Minimum voltage

Maximum voltage
Rated voltage
Dc voltage achieved

47 - 63 Hz
92 V rms
253V rms
230V rms *
140 - 340V

* To guarantee mechanical power

- single or three-phase for 2/4 and 4/8 caliber

- Three-phase only for caliber 7,5/15

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4.4.2 Power component dimensions

one single drive

Applicable to components ahead of the DLD (fuses, cables, contactors, etc.), these dimensions
are dependent on:
Permanent current Î

0

(sine wave peak) at slow motor speed, as given in the characteristics.

Electrical power of mains supply ≅ 1.1 U rms Î

0

Eff.I power source =

3eff.U

eff.mainsP

x

0.65

1

in single-phase

Eff.I power source =

3eff.U

eff.mainsP

x

0.8

1

in three-phase

4.4.3 Auxiliary power supply

The power supplies required for the controls (+/- 15V, 5V, ventilators) are taken from an
intermediate direct-current voltage which can be:

Either obtained via a single-phase power source coming from the mains, bled off between 2
phases upstream from the main contactor (B3 terminal block input).

- please remember that the internal wiring is as follows:

THREE-PHASE SINGLE-PHASE

- The auxiliary power source input must be taken between two phases (L1,L2), (L2,L3) or (L1,L3)
in the case of three-phase and between (L,N) in the case of single-phase, upstream from the
main contactor (please refer to the relevant connection diagrams: FELX 306198 for single phase
and FELX 306199 for three-phase).

- Or obtained via an independent single-phase power source, and connected to the B3 terminal
block. In this case, this power source must be isolated from the mains via a transformer
(secondary 230 +/-10% 100VA).

- Or obtained from the intermediary mains voltage, through diodes (B3 is not
connected). In this option (not recommended), the cutting-off of the mains power
source leads to the loss of the low level power sources and, in particular, the pulses
generated by the "encoder emulation" option.

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Clarification:

1) Connection of the auxiliary power source is not compulsory because it is fed internally by
the direct bus. Connection proves necessary if we want to save the position and the state
through the encoder output (emulation) when for safety reasons, the mains power is turned
off.

2) If the auxiliary power source is used, it is essential for it to be connected to the same
phases (2 out of 3 for three-phase) as the mains power supply (see recommended
diagram- FELX 306198 for single phase and FELX 306199 for three-phase.), to avoid
damage to the appliance.

If this is not possible, this auxiliary power source can possibly originate from another circuit, but it
must, imperatively, be isolated from the system using a transformer whose secondary will not be
earthed. The voltage of the transformer secondary must be identical to the mains voltage (230V
for mono appliances or three-phase 230V).

4.4.4 Terminal block B1: brake supply

This terminal block is also able to receive a 24V power source voltage for the brake fitted to the
motor. It is supplied to the B2 motor terminal.

The customer is responsible for supplying an isolated, regulated, and filtered 24VDC voltage.
Protection against overvoltage by 1 Joule varistor, this protection is effective from 30V.
A 4A UL fuse must be used (UL recommendation) for +24V

DC

voltage.

4.4.5 Earth connection to the chassis

Chassis earth:

The cable cross-section must usually be identical to that of the mains connection in order to
comply with standards in force.

4.4.6 Short-circuit capacity (UL 508 C certification)

“Suitable For Use on a circuit capable of delivering not more than 5000 rms symmetrical amperes
230 volts maximum”

4.4.7 Fuse specifications (UL 508 C certification )

The auxiliary input must be protectected by the fuses F2 type : ATDR2, 2A, 600V class cc
made by Ferraz SHAWMUT.

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4.5 Connecting Servomotors

4.5.1 Power cable definition

Attention! Only use copper core cables

The motor / drive power connection cables will have as a minimum:

three isolated conductors connected to phases U, V, W. Cross-sections as in the table on the
next page.
1 earth conductor (green and yellow).
2 twisted and shielded pairs for connection of the motor thermal protection. Cross-section in the
order of 1mm².
2 twisted and shielded pairs for connection of the holding brake (if present). Cross-section in the
order of 1mm².

Power cable cross-section

The cross-sections given are for copper conductors.
The cable cross-sections given in the table below take account of:

The rated drive current.
The motor / drive distance, service voltage loss = RI.
The ambient temperature, cable Joule losses = RI².
the standardized increase in cable sections.

The cable section to be used is given in the table below

Distance Î 0m 50m 50m 120m

DIGIVEX rating

Copper cable cross-section in

mm²

Copper cable cross-section in

mm²

2/4 and 4/8 0.5 1

7.5/15 1 2

Use for standard lengths

Normal

L ≤ 20 m 20 < L ≤ 30m 30 < L ≤ 50m L > 50m

Copper

cable

length

Shielded

L ≤ 15 m 15 < L ≤ 20 m 20 < L ≤ 50 m

L > 50m

2/4 – 4/8 - DSF01 DSF01

See table

below

7.5/15 - - DSF01

See table

below

• DSF01: three inductances of 50 mH weakened to rise on rail DIN

• For lengths superior to 50 m, consult us.

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In the case of long lengths

In the case of long cable lengths, there is a special function in the DLD variable speed drive for
versions of software above or equal to AP516V07, running with PME version 4.04 or above. This
function is used to adapt the variable speed drive switching mode according to the length of the
cable. Parameters can be set with PME in “Servo-control settings” under the hardware tab.

There are three possibilities:

- Default values (8kHz) + PWM mode 1

- 4kHz + PWM mode 1

- 4kHz + PWM mode 2

The parameters to be applied are as follows:

Cable length
(shielded and non-shielded)

L< 50m 50m < L < 80m 80m < L < 120m

Settings Default

value+DSF01

4kHz
PWM mode1+DSF01

4kHz
PWM mode 2+DSF01

Only modify the parameters in these specific cases. Follow any modification by shutting
down and restarting the variable speed drive.

Connection by connector

The power connection on the motor by connector is available as an option. The mating part of
the connector (plug) can be supplied on request.

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4.5.2 Motor end connection

Power connection

There are two possibilities for connection:

Terminal block + resolver connector.
Power connector + resolver connector.

Terminal block connection

For the terminal block, the clamping nuts and washer come in a bag
Take care when fitting the lugs not to loosen the connecting leads between the motor and the
terminal block.

The power connection lugs are to be inserted between
the striated washer and the flat washer.

Digpl3.D

Motor direction of rotation: by wiring as recommended, a positive set point applied to the drive
entails clockwise rotation (viewed from the power shaft end).

cable ≥ 1mm²

cable ≥ 1mm²

W

V

U

1

2

3

4

A

LIMENTATION/SUPPLY/SPEISUNG

FREIN/BRAKE
BREMSE

U Phase U

V Phase V

W Phase W

1 Optional brake

+24 V

2 Optional brake

0 V

3 Thermal sensor

4 Thermal sensor

Thermal
sensor

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PLUG 220065R1610/1611

CABLE CROSS-SECTION FOR PLUGS

PLUG 220065R1610 : power & earth: 0.14 - 1.5 mm². Brake & thermal: 0.14 - 1 mm²
PLUG 220065R1611 : power & earth: 0.75 - 2.5 mm². Brake & thermal: 0.14 - 1 mm²

PLUG PINS

FUNCTION 220065R1610/R1611 220065R3610/R3611 CABLE COLOR

BRAKE +
BRAKE -

A
B

+

-

Green-red

Green-blue
THERMAL
PROTECTION
THERMAL
PROTECTION

C
D

1
2

Orange

Yellow

EARTH 2

Yellow-Green

U2
V2
W2

1
4
3

U
V

W

Black
White

Red

Holding brake connection

Brushless motors can be equipped with a specially sized brake to maintain the axis immobilized.
If
24 V ±10% dc voltage is applied across the brake terminals, the brake disc is free and the motor
can rotate.

The 24 V dc supply used for brake control must be regulated and filtered. The brake is to be
connected to terminals B2/6 and B2/7.

Thermal protection connection

The two terminals of the thermal sensor located in the motor terminal box are to be connected to
B2/4 and B2/5.

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4.5.3 Resolver connection

The resolver is a high-precision sensor (±10 angular minutes as standard) which must be wired
carefully:

Separate power cable routing.
Cable twisted and shielded in pairs (no general shielding). The shielding must be linked to the
metal SUB-D plug cover. The shielding must not be linked to the motor side.

PARVEX SAS. can supply this cable in either of two forms:

Separate cable, in this case wire as in the drawing below.
Cable fitted with Sub-D plug at the drive end and connector at motor end. This solution is highly
recommended as the cable is ready for use.

Maximum distance between the resolver and the DIGIVEX Little Drive: 50 m (Please ask about
greater distances).

Maximum permissible cross-section:

by the Sub-D connector: 0.5mm².
by the connector removable plug: 0.14 - 1 mm² (solder- or crimp-fit contacts)

Viewed from F

RESOLVER CONNECTOR REMOVABLE PLUG (motor end connector)

220065R4621 (solder-fit contacts - standard)

220065R1621 (crimp-fit contacts)

For XD motors :
Connect by Sub-D connector under rear cover (cable routed through special cable gland).

Please ask for details.

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4.5.4 Automatic control Input / Output connection

See functions and characteristics of these inputs / outputs in Section 5.

Sub-D X2 : use the cable as in drawing FELX 304553 (see § 4.3.2.3).
Sub-D X3 : Encoder emulation cable reference (see § 4.3.2.5).
Sub-D X4 : RS232 link with PC: use a standard 9-pin - RS232 cable - extension (see § 4.3.2.6).

4.6 Accessories and Tools

4.6.1 Cables

Plain cables.

♦ Resolver cable: 6537P0001
♦ Input / Output cable : CB 08304
♦ Emulation cable: CB 08307

Complete cables (equipped with connectors and/or Sub-D connectors).

♦ Resolver cable: 220049R61-- (-- = length in meters) 5m/10m/15m/25m/50m.
♦ Input / Output cable: DIG 04544R --- (code 1 or 2 and length in meters

3m/5m/10m/15m/20m).

♦ Encoder emulation cable: DIG 04546R --(-- = length in meters)

3m/5m/10m/15m/20m.

For the RS232 cable (Sub-D X4), see commercially available cables with 9-pin Sub-D extension.
Power cable (supplied unequipped or equipped with connector plug).
See § 4.5.3. connection by connector.

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5. AUTOMATIC CONTROL INPUT / OUTPUT

FUNCTIONS AND CHARACTERISTICS

5.1 Input / Output Characteristics

5.1.1 Logic inputs

24 V dc optocoupled inputs (isolation voltage 100 V)
type 1 inputs under IEC 1131-2
these inputs may be connected directly to PNP type outputs (no external load resistor required)

MINI TYPICAL MAXI
Level 0 input voltage - 0V 5V
Level 1 input voltage 15V 24V 30V
Level 0 input current - 0mA 0.5mA
Level 1 input current 1.7mA 2.8mA 3.6mA
Ton response time (0 to 1) - 1 ms ­Toff response time (1 to 0) - 1 ms -

5.1.2 Logic outputs

The outputs are fed by an external 24V (24V terminal 13 and 0V terminal 25). The three 0V
outputs are linked to terminal 25.

Maximum authorised output current (level 1) : 50 mA
Residual current (level 0) : Negligible
Response time : 1 ms
Voltage drop : 2 V

1 K

8.25 K

LOGIC INPUTS

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Opto-isolated output (opto-mos), PNP type, the load being for connection to the 0V logic (i.e.
between the two contacts allocated to this output).

5.1.3 Speed set point input

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5.1.4 Current limitation input

5.1.5 Analog outputs

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5.1.6 Encoder emulation

Electrical characteristics

The electrical output interface meets standard RS422 for differential serial links. The circuit used
is a "LINE DRIVER" of the MC26C31D type. The electrical characteristics are therefore closely
related to the use of this component.

Short-circuit capability

A single output may be short-circuited at 0 V at any given time

Signal form

Signal levels:

U high ≥ 2.5V for I high ≥ -20mA
U low ≤ 0.5V for I low ≤ 20mA

Switching time:

Rise or fall time defined from 10% to 90% of the magnitude in question, without cable and without
load.

tr = tf = 4ns (typical value)

Time delay between direct and complemented channels

Time delay defined at 50% of magnitudes in question without cable and without load.

-6ns ≤ ta ≤ 6ns (maximum)

Time delay between channels A, B and the zero mark

Time delay defined at 50% of magnitudes in question without cable and without load.

-6ns ≤ td ≤ 6ns (maximum)

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Encoder Emulation

The resolver is above all a position sensor. It is used to measure the position of the rotor relative
to the stator.

This function allows the transformation of the signal from the resolver into a series of pulses
identical to those from an incremental encoder: A, B, 0 and their complement.

Programming resolution and zero mark position

This is done with the DIGIVEX PC software.

Resolution

Adjustable between 1 and 16384, either by +/- keys, or be entering the number directly (OFF
LINE only).

Zero Mark Setting

Setting by teaching, with the PC working "on line".

When the operator judges the position is suitable, he confirms by acknowledging the zero mark.

MC

2631

ENCODER

INTERFACE

0V

CONNECTION

DIGIVEX

NUMERICAL

CONTROL

A, B, Top0

9

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5.2 RESET and Contactor Control

- X2/5 Reset +

- X2/21 to X2/24 Reset -

A rising 24V front applied to X2/5 as compared to X2/21 induces the reset after a fault.

Its worth noting that the reset can also be carried out by turning off the power supply completely
(mains and auxiliaries).
This control has no effect during normal operation. The system must be "reset" after any active
fault.

- X2/6 DRV OK+

- X2/18 DRV OK-

• This logic output is at level 0 if:

• the amplifier has neither low levels or neither power on the amplifier

• the amplifier has low levels without power.

• This logic output is at level 1 if:

• The dc bus voltage is present and the amplifier does not display a fault

• This logic output shifts from level 0 to level 1 on the setting up of a power bus, due to the

closing of the main contactor (KM power contactor)
This output must, through an interface, authorise the self-support of the main contactor.
This logic output shifts from level 1 to level 0 in the folowing cases:

• On normal stoppage, obtained by voluntary opening of the main contactor, when the dc

bus voltage shifts to the minimum value of authorised bus voltage.

• On amplifier fault requiring amplifier stoppage.

Caution: The shift to 0 of this logic output during running must imperatively induce the

opening of the main contactor, with a maximum delay of 100ms.

N contacts in
series of n DLD's
(n ≤ 6)

KM : Main power contactor
MA : On
At : Off
AP : Anti-interference
C1 to Cn : dry relay contact (outside of the

DLD) driven by the DRV OK logic
output (24V, 50 mA max)
Interruption capacity 250 V, 1

A

max (interface between logic
output and relay by automaton)
Logic output level 0, Relay open

Logic output level 1, Relay

closed

Fuses +
Fault monitoring

Link of the DC buses from n DLDs case

Automatic system supply

230V ± 10 %

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5.3 Initilialization Sequence

After auxiliary power has built up: (approx. 300 ms)
To ⇐ Mains supply present
To + 1s ⇒ Motor operational

5.4 Stop Sequence

5.4.1 Normal stoppage

Normal stoppage is achieved by deliberately opening the main contactor.

To ⇐ contactor opened

To + delay ⇒ The "DRV OK" output of the X2 plug shifts to 0 for minimum Bus

voltage.
This off-load time depends on the activity of the amplifier during
this phase.
The motor continues to be driven until the output switchover, then,
0 is displayed.

5.4.2 Stoppage due to a fault

To ⇐ Fault detection

To + 20ms ⇒ Fault type displayed.

The external automatic system must then open the main contactor
at the latest 100ms after the transition of the X2 plug from 0 to the
"DRV OK" output.
The motor can no longer be driven.

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6. SERVO-CONTROL PARAMETER
FUNCTION AND SETTING

6.1 Servocontrol Parameter Functions

6.1.1 List of parameters

Choice of regulation type:

Speed Proportional: P

⇒ Proportional integral: PI
⇒ Proportional double integral: PI

2

Current regulation

In all cases Minimum value Maximum value

• Filtering frequency 20 Hz 800 Hz

• Offset - 3,4% V max. 3,4% V max.

• Current limitation 0 A I pulse - drive

For speed regulation (P, PI, PI²)

• Maximum speed 100 rpm/min 100 000 rpm /min

• Speed for 1 V 10 rpm /min 14150 rpm /min

• Proportional gain I pulse - drive /156 I pulse - drive x 210

• Integration stop 0,1 Hz 100 Hz

• Predictors (gravity, dry or dynamic friction, acceleration).

6.1.2 Regulation selection: current, proportional, PI, PI²

Current regulation

Choosing "current" means current can be controlled directly (therefore the motor torque through
the torque coefficient Kt). This then gives 10 V = pulse peak current of the drive selected
beforehand.

In this mode, PI/PI

2

settings and predictors are neutralized. The only functions operative are:
Current limitation (often reduced below the permanent drive current, so as not to trip in mean or
rms values.
The second order low pass filter (filtering frequency), for reducing the effect of any resonance.

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Choosing P

The drive is used in a speed loop with purely proportional gain. This gain is the ratio between the
output current and the speed error. It is expressed in mA / rpm.

For the same current I, if the gain increases, the error ε is reduced, the rapidity of the system
increases as does its bandwidth.

An increase in gain may lead to instability because of the other components in the loop
(resonances, second order filter).

The use of proportional action P alone has the drawback of giving zero rigidity because there is
no integration ahead of the current section.

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Choosing PI (proportional and integral action)

Compared with P action alone, PI provides the following two modifications:

The gain (open loop) at zero frequency is infinite. If there is a torque surge, there will be an
angular discrepancy of the motor shaft compared with the state at rest. This angle will be
proportional to the torque applied and there will not be any permanent speed drift. The system
can be said to be "rigid". This rigidity is strictly proportional to the integration stop frequency.

The proportional gain P sets the bandwidth f

0

(system rapidity). The integral action entails -90°
phase shift, which creates instability. This phase shift is not troublesome at low frequencies, but
may make the system unstable at higher frequencies. It is therefore best to adjust the "integral
stop frequency" correctly (0.2 - 0.3 times the bandwidth f

0

).

Choosing PI

2

action (proportional and double integration)

Compared with P action alone, PI

2

provides the following two modifications:
Rigidity when stopped is infinite. When motor torque surges and after a transient period, the
motor shaft returns to the position it was in at rest (there is no longer any permanent position
discrepancy).
The double integral action entails a -180° phase shift at low frequencies. Poor adjustment of the
integral stop frequency may entail instability in the system. Restrict to 0.1 to 0.2 times the
bandwidth f

0

.

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6.1.3 Integration stoppage

See the previous paragraph for the function of this parameter. Below is its definition after the
Bode graphs only (gain / frequency and phase / frequency).

6.1.4 Speed scaling

The choice of motor - drive combination determines the maximum possible speed. The
"Maximum" speed parameter can be used to reduce this maximum speed for the application. This
parameter is external to the speed loop and modifying it does not modify gain.
The "Speed for 1 Volt" parameter determines the speed "gradient" (e.g. maximum speed can be
obtained for 10 V, 9 V or 7 V, depending on the positioning control).

6.1.5 Filtering frequency

Resonance phenomenon

Many systems have one or more resonance frequencies related most of the time to mechanical
phenomena: inertia or mass, associated with the rigidity of the mechanical components (belts,
screws, reducing gear, frames, etc.).

In a zone of reduced frequency around the resonance frequency, there occurs:
Marked variations in loop gain.
Marked variations in the closed loop phase.

This leads to instabilities or "squeaking", with more or less violent oscillation.

Gradient-2

Gradient-1

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Second order filter

This phenomenon cannot be dealt with by P/PI/PI2 adjustment. If the resonance cannot be dealt
with mechanically, the frequencies concerned must be eliminated. This is the function of the
second order low pass filter.

Diggb17.D/pl35.W

6.1.6 Predictors

Purpose of predictors

Four physical phenomena:

Vertical mass.
Dry friction
Friction proportional to speed.
Acceleration.

Are direct and calculable causes of modification of motor torque.

The purpose of the predictors is, by calculation, to act directly on the current set point, without
recourse to the speed loop and without waiting for the speed error produced by these
phenomena (see block diagram).

The principle of predictor setting and work is to minimize the current set point part from the P, PI,
PI

2

branch and therefore to reduce the speed error.

As these predictors are outside the speed loop (which must be adjusted first), they do not affect
stability. They provide an appreciable improvement on response time.

The acceleration predictor improves stability and allows gain to be increased in any position loop
superimposed on the speed loop.

However, it should be noticed that many speed servocontrols do not require the use of these
predictors.

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General characteristics of each predictor

Mass or gravity compensation (vertical axis)

The current value, in amps, required by the motor to move the mass at constant speed (average
between up and down) is introduced directly into the parameter.

Dry or "static" friction

The friction force is fixed, whatever the speed. Its direction is opposed to motion, the sign
therefore depends on the speed set point sign.

In this case too, the values are entered directly in amps, for the required motor current to
overcome friction.

The "threshold" expressed in rpm defines a speed "band" within which this compensation is zero.

The threshold is of the order of 1/1000th of maximum speed. This zone allows torque oscillation
to be reduced during rapid and repeated changes of the speed sign. This is the case, in
particular, at rest when there is a position loop.

"Dynamic" friction compensation

Friction proportional to speed, encountered on some mechanical components using fluids.

Value to enter: coefficient in amps / rpm.

Acceleration prediction

Depending on the total inertia (load and motor rotor) and on the desired acceleration, the torque
necessary is equal to: C = ΣJ . dω / dt.

The set point is monitored therefore in order to send a set point that is proportional to inertia
(fixed) and to acceleration to the current control. This is one of the limits of the system; there is
no point in having a variation in the speed set point that is greater than the maximum possible
acceleration of the motor, given by dω / dt = peak torque / ΣJ. Acceleration prediction is only
useful if there is a ramp on the speed reference.

The parameter used is tpr, prediction time, in milliseconds; tpr can vary between:
0 ms (no prediction)

t = td, start up time from 0 to maximum speed, with full drive current. There is then 100%
correction.

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6.2 Inputting Parameters

Customization parameters for the motor - amplifier unit are entered on start-up, using a PC with
the PME software, under WINDOWS.

The transition of this customization to a different calibre amplifier leads to the generation of a
fault. The parameters contained in the EEPROM are saved.

6.3 Setting with DIGIVEX PC Software

6.3.1 Outline

SELECT MOTOR/DRIVE COMBINATION

SELECT TYPE OF REGULATION

CURRENT SPEED (P/PI/PI=)

CURRENT LIMITATION,

SECOND ORDER FILTER, fc

POSSIBLE SETTINGS

Max. Speed, Current limitation,

Speed for 1 Volt

NO PREDICTOR

FILTER fc & PROPORTIONAL GAIN P

ADJUSTMENT

(suppress resonance)

ENTER PI OR PI=

Set integral stop frequency

GRAVITY AND DRY FRICTION

PREDICTORS

DYNAMIC FRICTION AND

ACCELERATION PREDICTORS

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6.3.2 internal variables

Accessible internal variables (via DIGIVEX PC software)

The following internal variables may be selected:

1

2

10

3

4

11

5

12

8

7

6

9

Reference

♦ 1 Input set point in rpm
♦ 2 Speed measurement in rpm

♦ 3 P, PI, PI

2

output in Amps

♦ 4 Sum in Amps
♦ 5 Current set point in Amps
♦ 6 Acceleration in ms
♦ 7 Viscous friction in Amps
♦ 8 Dry friction in Amps
♦ 9 Pesenteur in Amps
♦ 10 Position in degrees
♦ 11 Phase current U in Amps
♦ 12 Phase current W in Amps

The 4 selected variables are chosen from the list of variables.

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Access via the name of the variable, this is valid for the 16 above plus the following variables:

• Temperature in °C

• Bus voltage in Volts

• Active I in Amps

• Reactive I in Amps

• Id current in Amps

• Iq current in Amps

• Ud voltage in Volts

• Uq voltage in Volts

• Auxiliary input in Volts

LF generator
Position – filtered in degrees
Speed – filtered
DLD thermal load
Motor thermal load
Recovery thermal load

It should be noticed that these variables can be assigned to the two analog outputs, which
means a separate oscilloscope can be used.

6.3.3 Entering parameters via DIGIVEX PC software

See DIGIVEX PC software instructions:

Choice of rating
Choice of motor (standard or special)
Choice of resolver
Entering servo-control parameters (global transfer)
Assigning inputs / outputs and variables
Use of the oscilloscope function
Use of stimuli function

6.3.4 Setting loop parameters for speed regulation

This can be done by using the "Setting Assistant" menu or directly with the stimuli and
oscilloscope.

Speed for 1 V and maximum speed

The maximum possible speed is set when the motor - drive choice is made.

It can be reduced only here:

Choose a "dc" stimulus of, say, 1 volt.
Check the value obtained for the "measure speed in rpm" variable using the variable observation
or oscilloscope functions.

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Proportional gain adjustment

Initial status

Switch to proportional gain P alone.
Filtering frequency fc to maximum (800 Hz) and low gain.
System ready to run, no predictor.

Proportional gain and filter frequency are adjusted simultaneously. If, by increasing proportional
gain, the system starts to resonate, the resonance must be eliminated by reducing the filter
frequency, then increasing P, etc. until a compromise is found.

Maximum recommended for P.

There is a maximum advisable proportional gain, depending on the drive rating, and
corresponding to maximum current oscillation.

RATING P In mA/ rpm

4/8 75

7,5/15 150

N.B. This gain may be exceeded under certain circumstances. Please ask for details.

Generate a speed set point scale (0.5 to 1 V).

Use the oscilloscope function to display

Channel 1 ⇒ the input set point
Channel 2 ⇒ the speed measurement
Trigger on channel 1 at 5 or 10 percent of N max, leading edge.

Increase gain P

The stimulus is excited on line. The response is collected at one scale of speed set point.

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There are three possibilities :

Non oscillating response

A response must be obtained without overshooting and oscillation. For example, increase gain
until oscillations gradually appear, then reduce it by 20 to 30%.

If the maximum value shown in the table is reached with P gain, without reducing the filtering
frequency, then:

Stop increasing P
Reduce the filtering frequency until the limit of oscillation

Filtering frequency setting

Oscillations may appear on the response obtained above (even when speed is increasing).

Response with pseudo-oscillation

This gives frequency resonance (probably mechanical origin) fr = 1/T, greater than 100 Hz.

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Then reduce the filtering frequency until the oscillation disappears almost completely. If that
cannot be done, the maximum gain is reached.

If possible, gain can be increased again until a response is obtained without oscillation.
Oscillation may reappear. Reduce the filtering frequency a little more.

Notice that it is essentially P and filtering frequency that determine the bandwidth.

If the resonance frequency is too low, adjust the filter frequency to a high value.

PI/PI2 - integral stop frequency setting

Initial status

P gain alone. P and filtering frequency setting completed.
Integration stop frequency = 0.
Still no integration.
System ready to run.

♦ Select PI or PI².
♦ Use the same stimulus as before (index analysis).
♦ "On line", increase the integration stop frequency until overshoot is obtained in

the order of:

+ 25 - 30% in PI
+ 15 - 20% in PI²

Without oscillation.

If the frequency is too high, fairly low frequency oscillations occur (< 50 Hz). Frequency must
then be reduced (never readjust P gain).

Dipl43gb.D/45W

Speed

measurement

fi too high

pseudo-period

Time

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Dipl43gb.D/46W

Do not change PI to PI

2

without setting the integral frequency to 0.

6.3.5 Setting predictors

Initial conditions

All loop parameters (P, integral and filtering frequency, max. speed, current limitation) are set
(without predictors).
The system is ready to run.

Setting the Gravity and Static Friction predictors

Notice that the gravity factor is zero for a horizontal axis.

Take a square stimulus, offset = 0, peak to peak value = 3 to 5% of maximum speed in rpm,
frequency 0.2 to 1 Hz.
Using the oscilloscope function, display:

♦ The input set point,
♦ The current set point.

Speed

measurement

fi too high

pseudo-period

Time

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Diggb43.D/47W

N.B. I+ and I- are to be taken with their sign. In general I- is negative.
In principle:

Gravity =

II

2

+−

+

in Amps (horizontal motion, gravity = 0).

Static friction =

II

2

+-

−

in Amps.

Enter these values into the parameters.
Enter the threshold value (e.g. threshold = max. speed / 1000).
After introducing the values, the result obtained can be checked with the same stimulus.
Check the input set point on one channel and the P, PI, PI

2

output on the other channel. This

should give a result close to:

P, PI, PI≤
Output

Time

Current

reference

Input

reference

Time

Time

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Setting the dynamic friction and acceleration parameters. (It is assumed that the dry friction
and gravity predictors have been set).

Use a sine stimulus, offset 0, peak to peak value 10 to 20% of maximum speed, frequency 0.2 to
1 Hz.
Using the oscilloscope function, display:

♦ The input set point on one channel.
♦ P, PI, PI² output on the other channel.

Acceleration predictor setting. Increase the predictor until P, PI, PI2 output is minimized. Too
high a value increases P, PI, PI2 with a phase change

Input
reference

Time

Time

P, PI, PI=
Output

DIGPL43.D/49.W

Predictor too weak or

zero

Maximum positive
acceleration

Predictor correctly
adjusted

Predictor
too high

Very marked difference between optimum setting and no predictor

The correct setting corresponds to minimum amplitude P, PI, PI

2

output. The predictor must allow

the P, PI, PI

2

output to be reduced in a ratio of at least 5 to 10.

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Remember that the value of tpr (prediction time) (in ms) is close to td (start up time) with:

td =

torqueMax

max . inertia) motor + inertia (Load

ω

td is the acceleration time from 0 to maximum speed with maximum torque,

td in seconds, inertia in kgm2, max. ω in rd/s, torque in Nm

Setting the dynamic friction predictor. Once all the other predictors have been adjusted, increase
the dynamic predictor to minimize the P, PI, PI² output signal.

When the setting is correct, this output should be minimum and in phase with the input set point.

Input
reference

Time

Time

Minimum value

P, PI, PI=
Output

DIGPL43.D/50.W

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6.3.6 Setting current regulation parameters

If the "current" option has been chosen, the only adjustments needed are:

Current limitation; take care in this type of application that it does not trip with mean or rms
current monitoring. Current limitation is often equal to permanent current.
Second order filter frequency. This can only be done with the "superior" regulation loop giving the
current set point.

6.3.7 Other characterization parameters

Logic and analog inputs / outputs

Access via:
I/O, servo-control parameter adjustment function.

This means that it is possible to:

assign one of the internal variables to each of the two 10 V analog outputs.
assign a constant value (up to -12V and +12V) to the analog outputs
force the logic inputs to 0 or 1.

The logic inputs / outputs are assigned permanently.

Encoder emulation

Choice of number of marks between 1 and 16384 per turn (off line).
Validating by teaching of zero mark position (on line).

Miscellaneous choices

Choice of processing strategy for monitoring of mean or rms currents: current reduction or power
opening.
Choice of brake strategy: current reduction or not in the event of brake closure.
Choice of user strategy for thermal protection of motor (with or without thermal protection).

(See PME MODULE DIGIVEX Little Drive PVD 3536 manual)

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7. COMMISSIONING - SERVO-CONTROL PARAMETER
SETTING - DETECTING REASONS FOR STOPPAGE

7.1 Start-up Sequence

7.1.1 Preliminary checks

Wiring check

Power and auxiliary connections to DLD.
Reset wiring.
External 24 V supply for brake.
Check the resolver connections.

♦ Motor end
♦ DLD end

Check the power, brake and thermal connections.

♦ Motor end
♦ DLD end

Supply type check

Power: 50/60 Hz, 230 V single or three-phase
Auxiliaries: single-phase 50/60 Hz, 230 V.
Brake supply: 24 V dc ±10% (including oscillation).

Caution: Before doing any work on the system, make sure the power bus is at 0 V. Wait at least
three minutes after the motors have come to a complete stop before starting work. Wait for the

7-segment display to go off.

7.1.2 Commissioning with DIGIVEX PC software

Connect the PC via the RS232 serial link.
Energize the auxiliary parts (low levels) alone; 0 is displayed
Go "On line" via the PC, with the PC in interactive mode. Parameter adjustment functions'
connection. If this connection is not carried out:

♦ Check the compatibility of the serial link configuration (PORT, BAUD RATE, etc.)
♦ Check the serial link cable.
♦ Check that you are using the correct interface (DIGIVEX, DLD).

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Once "on line" all the parameters in the DIGIVEX Little Drive can be read.

Using the PC help functions, check the fault analysis for the lack of faults.
Check the SPEED, RANGE, CW, CCW, TORQUE input status.
Then configure the amplifier. This can be done "off line" in a file and then transferred or modified
"on line".

♦ Choice of motor.
♦ Choice of servo-control parameters (without the power part, their validity cannot

be checked).

♦ Ancillary checks: validate brakes, analog outputs, safety strategy, etc...

Use the software to force the drive to zero torque.
Power up. 1 is displayed.

Remove "zero torque" locking using the software or via hardware contact (set "TORQUE" input
at 24V)
Carry out system adjustment using stimuli.

♦ "dc" stimuli (square with peak-to-peak = 0). Check max. N.
♦ "Square" stimuli or setting procedure for adjusting servo-control parameters.
♦ DIGIVEX PC software for setting the predictors if necessary.

Check the driven mechanism can operate freely.

7.2 Detecting Reasons for Stoppage

7.2.1 Fault display - drive function

Incidents with drive operation can be displayed in two ways.

• On the 7-segment display situated on the front panel of the amplifier

• Via the software which indicates in uncoded language the nature of the problem and

gives advice on corrective action.

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7.2.1.1 Handling operational malfunctions

There are 2 kinds of malfunction:

• Malfunctions that require stoppage of the system

These malfunctions must lead to:

♦ The opening of the main contactor and disconnection of the power supply

(controlled by the DRV OK X2/6, X2/18 logic output) (See § 5.2)

♦ The fault is stored in the axis and the data is displayed on the front panel.

Malfunction leading to a reduction in the system's dynamic characteristics.

♦ For excessive DLD dissipater temperature.
♦ For excessive mean drive current or excessive rms motor current, if the drive

parameter setting allows operation to continue. The choice of continuing
operation with reduced current or stopping is made by the "current protection"
strategy in the "servo-control" window of the parameter setting software.

These malfunctions lead to:

♦ A reduction in the motor current
♦ The data being displayed on the front panel (7-segment display flashes).

7.2.1.2 Current monitoring

Mean drive current

To prevent the motor thermal tripping by the thermal sensor, the drive monitors the rms
current [I

2

= f(t)].

The rms current is compared to the permanent permissible current at slow rotation by the
motor Î

0

(after first order filtering following motor time constant). This data, which is
characteristic of the motor, is known to the drive when the choice of motor - drive is
made.

As before there is a choice between two strategies:

♦ Strategy 1: Stoppage due to the "DRV OK" output shifting to logic 0 which must

induce the opening of the main contactor

♦ Strategy 2: Reduction of the pulse current at 0.9 Î

0

motor. The 7-segment display

flashes.

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Drive output current

There are two forms of monitoring:

♦ Short-circuit protection: monitoring of current drift.
♦ Excessive output current (maximum current). Check whether the current as

measured exceeds the drive pulse current by 30%.

In both cases, there is stoppage due to the "DRV OK" output shifting to logic 0 which
must induce the opening of the main contactor.

7.2.1.3 Temperature monitoring

DIGIVEX Little Drive dissipater temperature

♦ If the temperature is less than 85°C at the dissipater, nothing happens.
♦ Between 85 and 109°C, there is a reduction in the pulse current which can

release the ("7-segment" display flashes at low frequency).

♦ At 110°C, stoppage of the amplifier

Servo-motor winding temperature

Each motor has a thermal sensor. When customizing the drive, this sensor can be
taken into account or ignored. If it is taken into account (usual case), excessive motor
temperature causes a fault.

Ambient temperature

This is measured between the electronic boards and operations are stopped when it
exceeds 60°C.

7.2.1.4 Monitoring the DC Bus voltage

Recovery fault:

Motion controller electrical breaking capacity needs updating, cycle too restricting.

Bus overvoltage

Motion controller breaking capacity much too low with regard to the application.

7.2.1.5 Other monitoring

No resolver

Resolver fault or wiring fault.

Overspeed

Speed > 1.15 times the maximum motor - drive setting.

These two cases entail a fault with:

Data displayed on the 7-segment display

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7.2.1.6 7-segment display

Function: to provide information on DLD status discriminating between faults.

Description :

Display Description

0 Drive live, no power present
1 Drive OK, power present
2 Resolver fault
3 Excessive ambient temperature or dissipater temperature

3 Flashing Excessive dissipater temperature / current reduction

4 Excessive speed
6 Maximum drive current reached
7 Excessive mean current or excessive rms current

7 Flashing Excessive mean current or excessive rms current: Reduction

8 Bus overvoltage
9 Excessive motor temperature

. (dot) CPU fault

F Back-up error

r Recovery fault

PC SOFTWARE FAULT-

FINDING

COMMENTS

Max. drive current reached Output or earth short circuit

Excessive mean current Too much current asked of drive

Excessive rms current Too much current asked of drive. Cycle too demanding.

Excessive motor temperature Cycle too demanding or no motor fan cooling

Excessive dissipater

temperature

Excessive ambient temperature

Fan cooling stopped or excessive cabinet temperature

Resolver fault Problem with resolver or wiring

Excessive speed Speed reference > 10 V +15%

or speed parameter setting error

CPU fault

Bus overvoltage Regenerative braking impossible.

Disconnected from mains supply.

Motor not connected Motor wrongly connected

Liaison impossible No power supply

Excessive mean

current

Current reduction.

I mean > drive rating

Excessive rms

Current

Current reduction.

Drive RMS current > Îo motor

Excessive dissipater

temperature

Max. current reduced depending on temperature

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7.2.1.7 Corrective actions

The incidents that may arise (from wiring errors or mishandling) are as follows:

Resolver fault

♦ Check the resolver connection.

Overcurrent

♦ poor motor connection (motor phase missing)
♦ programmed motor does not correspond to connected motor

Overspeed

♦ Nmax. incorrectly set
♦ Accidental transition to torque regulation

Motor fails to run and remains without torque

♦ System is set to zero torque (hardware or software input TORQUE =0). The

torque has been forced to zero during a global transfer. Reset system torque
(see software).

♦ The motor is not connected.

Motor fails to run, but torque present

♦ CW and CCW inputs set to zero (hardware or software). Check with software.

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7.3 Defaults description

DEFAULT TYPE ACTION

2

Resolver fault

Detection of S1,S2, S3 and S4 signal absence.
Loss of resolver excitation: Veff rated value = 7V, Frequency = 8012 Hz on R1, R2/R3.
Loss of sin (S2 S4) or cos (S1 S3) signals or too low resolver transformation ration.
Bad contact (check connectors).

3

Excessive
ambient

or

dissipater
temperature

Ambient: this is measured between the electronic boards and operations are stopped when
the temperature exceeds 60°C
Dissipater:
If the temperature is less than 85°C: nothing happens
85°C < T< 109°C: there is a progressive reduction of current authorized by the motion
controller.
110°C < T: operations stop.
Can be linked to large braking cycles.
Check:

• Electrical control cabinet ventilation

• Good circulation around the motion controller

4

Excessive
speed

Rotation speed measured at more than 15% above the maximum application speed
Check:

• Motion controller customization inappropriate to the motor and/or the application

• Speed instruction more than 15% above the maximum authorized value.

• Driving load

6

Maximum motion
controller current
reached

The measured current exceeds the motion controller’s pulse current by 30%.
Check:

• Long length of cable

• Use of shielded cable with large capacity per unit length

• The motor programmed in the motion controller does not correspond to the

connected motor

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DEFAULT TYPE ACTION

7

Excessive mean

or

rms
current

Mean current: measurement of the mean current supplied by the motion controller
Rms current: calculation of the rms current supplied by the motion controller
Causes:

• Oversized operating cycle

• Mechanical binding spot

8

Bus overvoltage

Braking recovery impossible
Causes:

• Oversized operating cycle

• Motion controller braking capacity much too low with regard to the application

9

Excessive
motor
temperature

Causes:

• Check connections

• The motor is confined and cannot cool down

• Motor does not have a temperature sensor: this sensor was not acknowledged during

customization.

r

Recovery fault

Causes:

• Cycle too restricting

• Axis recovery capacity exceeded.

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8. APPENDIX

UL CERTIFICATE

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