K4-Manual VDC-3-4915 ECI-63xx EN

VDC-3-49.15-K4
ECI-63.XX-K4
Operating manual
Imprint
Dated 2015-02
Copyright
ebm-papst
St. Georgen GmbH & Co. KG
Hermann-Papst-Straße 1
78112 St. Georgen
Germany
Disclaimer
Contents of the operating manual
This operating manual has been compiled with the greatest possible care. Nonetheless, ebm-papst does not provide any guarantee for the
up-to-dateness, correctness, completeness or quality of the information provided. Liability claims against ebm-papst, which relate to
material or non-material damage or losses, and which were caused by use or non-use of the information provided or by use of incorrect and
incomplete information, are excluded, provided ebm-papst is not verifiably culpable of deliberate or grossly negligent act.
Copyright and trademark law
ebm-papst remains the sole holder of the copyright. Reproduction or use without the express consent of the author is not permitted.
Use
The safety regulations must be noted and followed when using the motors. Read through this operating manual carefully, before you start
working on the drive system. Please note and follow the hazard signs and warnings to avoid personal risk and malfunctions.
This operating manual is to be treated as part of the drive system.
If the drive system is sold or passed on the operating manual must be handed over with it.
Copies can be made of the safety, assembly and installation instructions and passed on for the purpose of informing about potential hazards
and their prevention.
Subject to change without notice.
2015-02
The respective current version of this operating manual is available on the ebm-papst internet site: www.ebmpapst.com
2
Contents
2
1.1Foreword
8
1.2
Target group
8
1.3
Notation used in this document
8
1.4
Warnings and notes
9
1.5
Picture symbols
9
Safety Instructions
2.1
10
10
2.3
Standards, guidelines and directives
10
2.4
Personnel qualifications
10
2.5
Personal safety
10
2.6
Electrical / electromagnetic safety
11
2.7
Mechanical safety
11
2.8
Intended use
11
2.8.1 Type-related exclusion
11
Maintenance / repair
12
2.10Cleaning
12
2.11 Transport / storage
12
2.12Disposal
12
2.13 Liability and warranty
12
Product Description
13
3.1
Description VDC-3-49.15-K4
13
3.2
Description of the ECI-63.XX modular system K4
13
3.3
Description of the electronic classes 13
3.3.1 Functional scope of “K classes 1, 4 and 5”
13
Rating plate
14
3.4.1 Rating plate ECI-63.XX-K4
14
3.4.2 Rating plate VDC-3-49.15-K4
14
Basic configuration
15
Technical Specifications
16
4.1ECI-63.20-K4
16
4.2ECI-63.40-K4
17
4.3ECI-63.60-K4
18
4.4VDC-3-49.15-K4
19
4.5
20
3.4
3.5
4
General safety instructions
10
2.2Documentation
2.9
3
8
Electronic properties
3
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1Introduction
Contents
5Installation
22
5.1Notes
22
5.2
Installing the drive
22
5.2.1 Determine screw length
22
5.2.1 Technische Zeichnungen
22
Electrical connection
24
5.3.1 Safety check
24
5.3.1 Pin assignment of the connector and Litz wire version
25
5.3.1 Connector type
26
5.3.2 Wire interface
26
5.4
Braking chopper K4
27
5.5
Functional ground connection
27
5.6
RS485 interface
27
5.7
USB-CAN-RS485 adapter
27
5.8
Connection to the USB-CAN-RS485 adapter
28
5.9
Circuit diagram
29
5.3
5.10 Schematic layout: parameterisation, commissioning (startup) and automatic operation
5.10.1 Parameterisation and commissioning
30
5.10.2 Automatic operation
30
5.10.3 Connecting connector at the motor
30
6Parameterisation
6.1
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7
4
30
31
Memory management
31
6.1.1 “RAM” memory area
31
6.1.2 “custom” memory area
31
6.1.3 “default” memory area
32
6.2Parameter
33
Parameterisation of the Operating Modes
36
7.1
Application example
36
7.2
Parameterisation of the speed regulation characteristic
38
7.3
Parameterisation of the maximum current characteristic
39
7.4
Operating mode 11: Speed setpoint N1, N2, N3; Analog IN 1
41
7.5
Operating mode 12: Speed setpoints N1, A1; dynamic current limitation via A1
42
7.6
Operating mode 13: Speed setpoints A1, N1; distance
43
7.7
Operating mode 16: Speed setpoints A1, N1; rotational direction
44
7.8
Operating mode 17: Speed setpoints A1, N1; dynamic current limit via A2
45
7.9
Operating mode 18: Speed setpoints A1, N1; brake
46
7.10 Operating mode 21: dynamic current limit via A1; speed setpoints A1, N2
47
7.11 Operating mode 23: dynamic current limit via A1; distance
48
8
7.12 Operating mode 26: dynamic current limit via A1; rotational direction
49
7.13 Operating mode 28: dynamic current limit via A1; brake
50
7.14 Operating mode 31: Distance; speed setpoints A1, N2
51
7.15 Operating mode 32: Distance; dynamic current limit via A1
52
7.16 Operating mode 34: Distance; teach
53
7.17 Operating mode 36: Distance; rotational direction
54
7.18 Operating mode 37: Distance; dynamic current limit A2
55
7.19 Operating mode 38: Distance; brake
56
7.20 Operating mode 43: Teach; distance
57
7.21 Operating mode 55: IN A / B logic via IN 1, IN 2; IN A / IN B as release (enable)
58
7.22 Operating mode 61: Rotational direction; speed setpoints A1, N2
59
7.23 Operating mode 62: Rotational direction; dynamic current limit via A1
60
7.24 Operating mode 63: Rotational direction; distance
61
7.25 Operating mode 67: Rotational direction; dynamic current limit via A2
62
7.26 Operating mode 68: Rotational direction; brake
63
7.27 Operating mode 71: Speed setpoint PWM, N2
64
7.28 Operating mode 72: Speed setpoint PWM; dynamic current limitation via PWM
65
7.29 Operating mode 73: Speed setpoint PWM, distance
66
7.30 Operating mode 76: Speed setpoint PWM; rotational direction
67
7.31 Operating mode 77: Speed setpoint PWM; dynamic current limit via A2
68
7.32 Operating mode 78: Speed setpoint PWM; brake
69
7.33 Operating mode 81: Speed setpoint frequency, N2
70
7.34 Operating mode 82: Speed setpoint frequency; dynamic current limitation via frequency
71
7.35 Operating mode 83: Speed setpoint frequency, distance
72
7.36 Operating mode 86: Speed setpoint frequency, rotational direction
73
7.37 Operating mode 87: Speed setpoint frequency; dynamic current limit via A2
74
7.38 Operating mode 88: Speed setpoint frequency, brake
75
7.39 Operating mode 91: Operation via RS485; distance / speed
76
7.40 Operating mode 98: Operation via RS485; distance / speed; brake
77
Inputs and Outputs
78
8.1
Input circuit
78
8.1.1 IN A / IN B control inputs
78
8.1.2 Input IN 1 and Input IN 2
79
8.1.3 Analog IN A1
80
Output circuit
80
8.2.1 Output OUT 1 / Output OUT 2 / Output OUT 3
80
8.2
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Contents
Contents
9
RS485 Communication
9.1
Communication method
82
9.2
Cycle time
82
9.3Commands
82
9.3.2 Answer commands (TX)
83
9.4
Status byte
83
9.5
Motor status byte
84
9.6
Checksum 84
9.7
“Speed” run command
84
9.7.1Requirements
84
9.7.2Answer
85
“Position” run command
85
9.8.1Requirements
85
9.8.2Answer
86
Save parameters
86
9.9.1Request
86
9.9.2Answer
86
9.9.3 Error flags
87
9.9
9.10 Write parameter
87
9.10.1Request
87
9.10.2Answer
87
9.10.3 Error flags
88
9.11 Read parameter
88
9.11.1Request
88
9.11.2Answer
88
9.11.3 Error flags
89
9.12 Read status word
89
9.12.1Request
89
9.12.2Answer
89
9.13 Load “Parameter default values”
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82
9.3.1 Commands (RX)
9.8
6
82
89
9.13.1Request
89
9.13.2Answer
90
9.13.3 Error flags 90
9.14 Read software ID
90
9.14.1Request
90
9.14.2 Response (without / with bootloader)
91
Contents
91
9.15.1Request
91
9.15.2Answer
91
9.16 Full write access to parameters
92
9.16.1Request
92
9.16.2Answer
92
9.16.3 Error flags
92
9.17 Request jump back to bootloader
92
9.17.1Request
92
9.17.2Answer
93
9.17.3 Error flags
93
9.18 Reset customer password
93
9.18.1Request
93
9.18.2Answer
93
9.18.3 Error flags
94
9.19 Undefined telegrams
10 Parameter Description
10.1 Safety functions
11Troubleshooting
94
95
108
109
11.1 Error handling
109
11.2Operation
110
11.3 Parameterisation 111
7
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9.15 Read bootloader ID
1 Introduction
1.1 Foreword
This operating manual describes the possible uses, the assembly and/or installation, operation and programming of the products listed on
the front page.
All the safety instructions listed under Chapter 2 must be followed at all times during the installation and operation of the drive system;
outside of Germany the relevant laws, directives, guidelines and regulations of the respective country also apply.
Read through this operating manual carefully before starting any work on the drive system. Note and follow the following warnings in order
to avoid personal risk or product malfunctions.
This operating manual is to be thought of and handled as part of the drive system and must be handed over with the drive system if it is sold
or passed on.
The safety instructions can be copied and passed on to provide information about potential hazards and their prevention.
Depending on the version or revision status of the products, differences may exist compared to this operating manual. The user must check
this before using the manual and take into account any such differences.
1.2 Target group
This operating manual is solely directed at qualified and trained skilled personnel with knowledge of electronics and mechanics.
1.3 Notation used in this document
In this operating manual the significance of texts is denoted by different presentation forms.
Descriptive text is presented without preceding symbol.
• Text with a preceding dot (•) indicates a list which is introduced by a heading.
–– Text with a preceding dash (–) is on a lower level below the list with a dot.
Underlined blue text denotes a cross-reference, which can be clicked in the PDF document. The part of the document named in the text is
then displayed.
Text in Courier font
2015-02
is used to represent command sequences in software programs.
8
1 Introduction
1.4 Warnings and notes
Warnings and notices are always positioned before the instruction, implementation of which can result in a hazard or property damage.
The following warnings are used in this document:
Hazard.
This notice denotes a hazard with high risk, which will result in imminent fatality or serious physical injuries if it is not
Danger
avoided.
ff This arrow indicates the appropriate precaution to take to avert the hazard.
Hazard.
This notice denotes a hazard with moderate risk, which can possibly result in fatality or serious physical injuries if it is not
WARNING avoided.
ff This arrow indicates the appropriate precaution to take to avert the hazard.
Hazard.
This notice denotes a hazard with low risk, which can result in minor or moderate physical injuries or property to damage
Caution
if it is not avoided.
ff This arrow indicates the appropriate precaution to take to avert the hazard.
Notices contain information, which are particularly important in the corresponding position or which facilitate the described operating steps,
are highlighted as follows:
This notice gives you use recommendations and helpful tips.
Note
1.5 Picture symbols
General warning.
High voltage sign (Electric shock).
Hot surface warning sign.
Crushing hazard / hand injury warning sign.
9
2015-02
The following pictograms, where applicable in combination, are used on the ebm-papst products and packagings as hazard warnings.
2 Safety Instructions
The VDC-3-49.15-K4 and ECI-63.XX-K4 drive systems have been developed to the latest electronic and electrical engineering standards as
well as recognised guidelines for the safety and protection of users.
The drive systems may only be operated and serviced by authorised skilled personnel, who have read through and understood the complete
operating manual. The drive systems must be used with the necessary care, in compliance with all safety instructions described in this
operating manual and the local company-specific regulations.
Read all safety information and instructions and keep notices and the operating manual in the same place as the drive systems.
2.1 General safety instructions
• Before starting work, disconnect the drive system or the design application using suitable devices provided and secure it against being
switched back on again.
• Before opening the units or entering the danger zone, safely bring all drives to a standstill and secure them against being switched back
on again.
• Do not make any changes, add attachments or make modifications to the drive system without ebm-papst's approval.
• If the motor is subjected to unapproved loads, check it for damage and if necessary repair or replace it.
• Do not commission or start up the design application until it has been fully checked for compliance with all relevant legal requirements,
directives and guidelines and the safety provisions relevant for its intended use (e.g. accident prevention regulations and technical
standards).
• Re-assess any safety risks caused by the drive system after it has been installed in the design application.
2.2 Documentation
In addition to this operating manual, the “Kickstart” PC software is required for making settings and parameterisation (configuration) of the
motors. The “ebm-papst Kickstart” software manual describes how it functions.
2.3 Standards, guidelines and directives
• The product does not fall under the Low Voltage Directive 2006/95/EC, as the nominal operating voltage is not within the voltage range
from 75 V DC and 1500 V DC.
• The Machinery Directive MD is applicable, as the product is “partly completed machinery” in accordance with Article 2, paragraph g),
MD 2006/42/EC. A “CE” marking does not have to be provided on the rating plate. However, a Declaration of Incorporation must be drawn
up in accordance with Annex II, Part 1, Section B, MD 2006/42/EC.
2.4 Personnel qualifications
• Only qualified electricians may install the drive system and carry out the trial run and work on the electrical system.
• The drive system may only be transported, unpacked, operated and serviced by instructed and authorised skilled personnel.
2.5 Personal safety
• Provide adequate safeguards / contact protection.
• Wear suitable clothing.
• Do not wear loose clothing or jewellery.
• Keep hair, clothing and gloves away from rotating components.
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• Wear personal protective equipment (hearing protection, thermal protection gloves).
10
2 Safety Instructions
2.6 Electrical / electromagnetic safety
• Check the electrical equipment of the drive system regularly.
• Only use cables and connectors approved by ebm-papst.
• Remove defective cables and loose connections immediately.
• Take suitable measures to avoid impermissible electromagnetic interference emissions.
• Take suitable measures against high-frequency EMC radiation.
• Ensure EMC capability in the terminal device / installation state.
• Use control devices to control the electromagnetic radiation.
2.7 Mechanical safety
• Only carry out work when the system / machine is at a standstill.
• Provide adequate cooling of the drive.
• Remove protective devices and guards on the drive system and design application only for the purpose of carrying out repair and
assembly work.
2.8 Intended use
• The drives of the VDC-3-49.15-K4 and ECI-63.XX-K4 series are intended for installation in stationary industrial design applications and
machines and may only be operated electrically when installed!
• Commissioning or starting up is therefore prohibited until it has been established that the drive system together with the design
application, in which the drive is installed, satisfy the safety and protection requirements of the Machinery Directive.
• This product is not intended for consumers! Use in a home environment is not planned, without further testing and deployment of
appropriately adapted EMC protection measures!
• The electronic module is an installation product. It is only intended for use within other equipment or units and has no independent
function. It is not intended for passing on to end users or consumers.
• All motor - electronic combinations must be qualified by the end manufacturer within their intended application and validated for overload
and blocking safety. The application manufacturer is responsible for the end product and must ensure that adequate safety precautions
are taken.
2.8.1 Type-related exclusion
Due to its type or design, the drive system must not be used in the following areas of use; this could result in and hazards and equipment
damage:
• In case of special fail-safe requirements.
• In aircraft and space vehicles.
• In rail and motor vehicles.
• In boats and ships.
• In potentially explosive atmospheres (EX protection area).
• For operation near flammable materials or components.
11
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• For use as a safety component or for carrying out safety-relevant functions.
2 Safety Instructions
2.9 Maintenance / repair
• The control electronics are maintenance-free for the period of the planned life.
• Repairs on the product may only be made by qualified personnel or ebm-papst.
2.10 Cleaning
Damage or malfunction if the unit is cleaned by
• cleaning with a water spray or high-pressure (jet) cleaner.
• Use of acids, alkalis and solvent-based cleaning agents.
• Use of pointed and sharp-edged objects.
2.11 Transport / storage
• Transport the motor only in its original packaging.
• Secure the transport goods.
• Do not exceed the vibration values, temperature and climate ranges during the whole transport (refer to technical data from page 16).
• Store the drive system, dry and protected in its original packaging, in a clean environment.
• Do not store the drive system for longer than 1 year.
• Keep to the specified ambient temperature range (refer to technical data from page 16).
2.12 Disposal
On disposing of the product, note and follow all legal and local regulations and requirements applicable in your country.
2.13 Liability and warranty
ebm-papst GmbH & Co. KG does not accept any liability or provide any warranty whatsoever for incidents due to
• Failure to follow this operating manual.
• Incorrect handling and use of the drive system.
• Improper handling.
• Incorrect storage.
• Unsecured transport.
• Use of accessories and spare parts of other manufacturers without the express and written approval of ebm-papst GmbH & Co. KG.
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• Changes to the drive system without the express and written approval of ebm-papst GmbH & Co. KG.
12
3 Product Description
3.1 Description VDC-3-49.15-K4
The VDC-3-49.15-K4 motor is a 3-phase EC drive with a multi-pole magnetised neodymium magnet. The electronically commuted externalrotor motor has an astonishingly high power density and a compact design. Excellent control action is achieved due to the field-orientated
control with sinus commutation. The VDC-3-49.15-K4 has fully integrated control electronics with high-performance DSP and extensive
interfaces. This enables particularly flexible control of the drive and the drive can therefore be adapted to different applications. The
integrated temperature cut-out provides reliable protection against overload.
Rated wattages from 100 to 150 watt are available to choose from.
3.2 Description of the ECI-63.XX modular system K4
The ECI-63.20-K4, 63.40-K4 and 63.60-K4 motors are EC drives. The Series ECI electronically commutated internal rotor motors excel with
large power density and dynamic performance. The ECI-63.XX modular system K4 has fully integrated class 4 control electronics with several
analog and digital interfaces. These can be parameterised via an RS485 interface. This enables particularly flexible control of the drive and
the drive can therefore be adapted to different applications.
Nominal outputs from 150 to 400 W with corresponding packet lengths from 20 to 60 mm are available to choose from.
3.3 Description of the electronic classes
ebm-papst uses the designation “K class” to describe the functional scope of an ebm-papst motor system. The higher the digit the greater
the functional scope. Of the planned classes 1 – 6, to date classes K1, K4 and K5 are in use.
Intelligence
16-bit DSP
8-bit processor
No processor
Functions
Overview of the electronic classes
Class
Motor type
Commutation
Function
K1
Motor with rotor position encoder
external
Detection of the rotor position
K4
Motor with enhanced motor control basic
features
Sinus commutation with field-orientated
control up to n = 0
K5
Motor with enhanced motor control
Sinus commutation with field-orientated
control up to n = 0
Speed controller
Current controller
Position controller
Speed controller
Current controller
Position controller
Enhanced safety functions
Bus system, e.g. CANopen, parameterisable
Firmware download, etc.
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3.3.1 Functional scope of “K classes 1, 4 and 5”
3 Product Description
3.4 Rating plate
The rating plate with the respective features of the ECI-63.XX-K4 and VDC-3-49.15-K4 motors is attached to the housing.
3.4.1 Rating plate ECI-63.XX-K4
Company logo
Motor type, ECI = Electronically Commutated Internal Rotor Motor
Diameter of motor housing = 63 mm
Overall length
Electronic class
Nominal torque
Nominal speed
ECI 63.20-K4
9326320400
24 VDC
425 mNm
IP 54
E
Product No.
Nominal voltage
Class of protection
US-Pat. 7230359B2
ebm- papst St. Georgen
4000 U/min
8,5 A
04/13
DE (S)
xx
Power consumption
Thermal class
US patent No.
Production date MM/YY
Serial number
Production plant
Country code
3.4.2 Rating plate VDC-3-49.15-K4
Company logo
Product number
24 VDC
04/2014
937 4915 400
2465 5497
Serial number
Production date MM/YY
2015-02
Nominal voltage
14
3 Product Description
3.5 Basic configuration
In the VDC-49.15-K4 drive system the control electronics (3) is attached on the motor output end (1). The connection cable is preinstalled in
the control electronics (3) in the factory. The motor housing on the output shaft (2) is formed as a flange with various drillholes for fixing and
attaching the transmission.
In the drive systems of the ECI-63.XX modular system K4 series, the motor housing and control electronics (3) are configured with same
diameter. All necessary electrical connections (4) are integrated in the control electronics (3). The motor housing is formed as a flange at the
output shaft (2) with various drillholes for fixing and attaching the transmission.
VDC-49.15-K4
1
ECI-63.XX-K4
2
1
2
3
4
3
4
1 Motor output side with fixing option or transmission attachment
2 Output shaft
3 Integrated power and control electronics
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4 Power, signal and RS485 link
4 Technical Specifications
This chapter contains the nominal technical data of the following motors:
• ECI-63.20-K4 / ECI-63.40-K4 / ECI-63.60-K4 and
• VDC-3-49.15-K4
and extended technical data for all sizes (see page 20).
4.1 ECI-63.20-K4
Nominal data
Type
Unit
ECI-63.20-K4-B00
ECI-63.20-K4-D00
Nominal voltage (UN)
V DC
24
48
Allowable supply voltage range (UZK)
V DC
20 … 28
40 … 53
Nominal speed (nN)
rpm
4000
4000
Nominal torque (MN)
mNm
425
450
Nominal current (IN)
A
8.5
5.4
Nominal output power (PN)
W
178
188
Free-running speed (nL) (no-load speed)
rpm
5600
6000
Free-running current (IL) (no-load current)
A
0.50
0.30
Max. reverse voltage
V DC
35
58
Setpoint input
–
Analog / PWM / Frequency / Digital
Analog / PWM / Frequency / Digital
Recommended speed control range
rpm
0 … 5000
0 … 5000
Locked rotor protection
–
thermal
thermal
Protection on overload
–
yes
yes
Starting torque
mNm
1250
1800
Rotor moment of inertia (JR)
kgm2 × 10-6
19
19
Thermal resistance (Rth)
K / W
3.6
3.6
Allowable ambient temperature range (TU)
°C
0 … +40
0 … +40
Motor mass (m)
kg
0.85
0.85
Order No. (IP 40)
Stranded (litz) wire type
932 6320 403
932 6320 405
Order No. (IP 54)*
Connector type
932 6320 400
932 6320 402
Subject to change without notice
* The degree of protection (IP 54) given refers to the connector type and the installed condition with
seal on the flange side.
Faxial
Fradial
Fradial
Faxial
150 N
150 N
L1
Allowable shaft load at nominal speed and life expectancy L10 about
20000 h**
20 mm
L1
ECI-6320.400-K4 BOO, 24V (at 25°C)
Mmax
26
24
5500
22
5000
30
5000
20
4500
27
4500
4000
Operating point
3500
24
1)
21
Speed [min–1]
33
I [A]; η*10 [%]
Speed [min–1]
Mn
5500
3500
12
10
2000
8
15
2000
12
1500
9
1500
6
1000
3
500
0
0
0
100
200
300
n = Speed, f (M)
Nominal data, see table above
400
500
600
700
800
Torque [mNm]
I = Current, f (M)
900
1000
1100
6
Continous
operation
0
1200
1)
4
2
Short-time operation
0
100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700
n = Speed, f (M)
η = Efficiency, f (M)
14
2500
2500
Short-time operation
16
3000
18
Continous
operation
18
Operating
point 1)
4000
3000
0
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6500
6000
500
16
Mmax
36
1000
1)
ECI-6320.402-K4 DOO, 48V (at 25°C)
Mn
6000
Nominal data, see table above
Torque [mNm]
I = Current, f (M)
η = Efficiency, f (M)
I [A]; η*10 [%]
6500
4 Technical Specifications
4.2 ECI-63.40-K4
Nominal data
Type
Unit
ECI-63.40-K4-B00
ECI-63.40-K4-D00
Nominal voltage (UN)
V DC
24
48
Allowable supply voltage range (UZK)
V DC
20 … 28
40 … 53
Nominal speed (nN)
rpm
4000
4000
Nominal torque (MN)
mNm
600
750
Nominal current (IN)
A
12.3
7.2
Nominal output power (PN)
W
251
314
Free-running speed (nL) (no-load speed)
rpm
5600
5400
Free-running current (IL) (no-load current)
A
0.90
0.46
Max. reverse voltage
V DC
35
58
Analog / PWM / Frequency / Digital
Analog / PWM / Frequency / Digital
Setpoint input
Recommended speed control range
rpm
0 … 5000
0 … 5000
Locked rotor protection
–
thermal
thermal
Protection on overload
–
yes
yes
Starting torque
mNm
1300
2700
Rotor moment of inertia (JR)
kgm2 × 10-6
38
38
Thermal resistance (Rth)
K / W
2.9
2.9
Allowable ambient temperature range (TU)
°C
0 … +40
0 … +40
Motor mass (m)
kg
1.15
1.15
Order No. (IP 40)
Stranded (litz) wire type
932 6340 403
932 6340 405
Order No. (IP 54)*
Connector type
932 6340 400
932 6340 402
Subject to change without notice
Fradial
Faxial
* The degree of protection (IP 54) given refers to the connector type and the installed condition with
seal on the flange side.
Faxial
Fradial
150 N
150 N
L1
Allowable shaft load at nominal speed and life expectancy L10 about
20000 h**
20 mm
L1
ECI-6340.400-K4 BOO, 24V (at 25°C)
6500
Mn
Mmax
36
6000
38,5
5500
33
5000
35
5000
30
4500
31,5
4500
27
28
Operating
point 1)
3500
3000
24,5
21
4000
3000
2500
17,5
2000
14
1500
10,5
1500
1000
7
1000
Continous
operation
500
0
0
100
200
300
n = Speed, f (M)
Nominal data, see table above
400
500
Short-time operation
600
700
800
Torque [mNm]
I = Current, f (M)
900
1000
1100
1200
1300
15
12
9
6
Continous
operation
0
η = Efficiency, f (M)
200
400
3
Short-time operation
600
n = Speed, f (M)
1)
18
2000
0
0
21
2500
500
3,5
24
Operating
point
3500
800
1000
1200
1400
1600
Torque [mNm]
I = Current, f (M)
1800
0
2000
2200
2400
2600
η = Efficiency, f (M)
Nominal data, see table above
17
2015-02
4000
Speed [min–1]
42
I [A]; η*10 [%]
Speed [min–1]
Mmax
5500
6000
1)
ECI-6340.402-K4 DOO, 48V (at 25°C)
Mn
I [A]; η*10 [%]
6500
4 Technical Specifications
4.3 ECI-63.60-K4
Nominal data
Type
Unit
ECI-63.60-K4-D00
Nominal voltage (UN)
V DC
48
Allowable supply voltage range (UZK)
V DC
40 … 53
Nominal speed (nN)
rpm
4000
Nominal torque (MN)
mNm
850
Nominal current (IN)
A
8.6
Nominal output power (PN)
W
356
Free-running speed (nL) (no-load speed)
rpm
5800
Free-running current (IL) (no-load current)
A
0.60
Max. reverse voltage
V DC
58
Setpoint input
Analog / PWM / Frequency / Digital
Recommended speed control range
rpm
0 … 5000
Locked rotor protection
–
thermal
Protection on overload
–
yes
Starting torque
mNm
2600
Rotor moment of inertia (JR)
kgm2 × 10-6
57
Thermal resistance (Rth)
K / W
2.5
Allowable ambient temperature range (TU)
°C
0 … +40
Motor mass (m)
kg
1.5
Order No. (IP 40)
Stranded (litz) wire type
932 6360 405
Order No. (IP 54)*
Connector type
932 6360 402
Subject to change without notice
* The degree of protection (IP 54) given refers to the connector type and the installed condition with
seal on the flange side.
Faxial
Fradial
Fradial
Faxial
150 N
150 N
L1
Allowable shaft load at nominal speed and life expectancy L10 about
20000 h**
20 mm
L1
ECI-6360.402-K4 DOO, 48V (at 25°C)
6500
30
5500
27,5
5000
25
22,5
4500
4000
20
Operating point 1)
3500
17,5
3000
15
2500
12,5
2000
10
1500
7,5
1000
Continous
operation
500
0
0
200
400
600
800
I [A]; η*10 [%]
Speed [min–1]
Mmax
Mn
6000
5
2,5
Short-time operation
1000
1200
1400
1600
1800
0
2000
2200
2400
2600
Torque [mNm]
n = Speed, f (M)
1)
I = Current, f (M)
η = Efficiency, f (M)
Nominal data, see table above
Extended technical data is available on request.
2015-02
Note
18
4 Technical Specifications
4.4 VDC-3-49.15-K4
Nenndaten
Typ
Unit
VDC-3-49.15-K4 B00
VDC-3-49.15-K4 D00
Nominal voltage (UN)
V DC
24
48
Allowable supply voltage range (UZK)
V DC
20 … 28
40 … 53
Nominal speed (nN)
rpm
4000
4000
Nominal torque (MN)
mNm
235
300
Nominal current (IN)
A
5
3,2
Nominal output power (PN)
W
100
125
Free-running speed (nL)
rpm
5000
5000
Free-running current (IL)
A
1.0
0.6
Max. reverse voltage
V DC
35
58
Analog / PWM / Frequency / Digital
Analog / PWM / Frequency / Digital
0 … 4500
0 … 4500
Function for motor protection at stall
thermal
thermal
Overload protection
yes
yes
Set value input
Recommended speed control range
rpm
Starting torque
mNm
850
1500
Rotor moment of inertia (JR)
kgm2 × 10-6
108
108
Ambient temperature range (TU)
°C / °F
0 … +40 / -22 … +104
0 … +40 / -22 … +104
Motor mass (m)
kg
0.56
0.56
Order No. (IP 54)*
937 4915 400
937 4915 402
Subject to change without notice
* Classification of protection class refers to installed state with sealing on the flange side.
Faxial
Fradial
Fradial
Faxial
20 N
60 N
L1
Allowable shaft load at nominal speed and life expectancy L10 about
20000 h**
10 mm
L1
VDC-3-49.15-K4 BOO, 24V (at 25°C)
4500
18
4500
4000
16
4000
14
10
2000
8
1500
6
2000
8
1500
6
1000
4
1000
2
500
0
0
0
50
100
150
200 235
n = Speed, f (M)
Nominal data, see table above
300
350
400
450
500
550
Torque [mNm]
I = Current, f (M)
600
650
700
750
800
850
14
12
10
Short-time operation
16
Operating
point 1)
2500
2500
0
4
Continous
operation
0
100
200
300
1)
2
Short-time operation
400
n = Speed, f (M)
h = Efficiency, f (M)
20
3000
12
Continous
operation
22
18
3500
3000
500
Mmax
500
600
700
800
900
0
1000 1100 1200 1300 1400 1500
Torque [mNm]
I = Current, f (M)
h = Efficiency, f (M)
Nominal data, see table above
19
2015-02
Speed [min–1]
Operating
point 1)
3500
Mn
I [A]; h x10 [%]
5000
Speed [min–1]
20
Mmax
I [A]; h x10 [%]
5500
Mn
5000
1)
VDC-3-49.15-K4 DOO, 48V (at 25°C)
22
5500
4 Technical Specifications
4.5 Electronic properties
Inputs IN A, IN B
Properties
Unit
Value / Comment
Input level
–
PLC level
Low level
V
<5
High level
V
> 15
Protection against polarity reversal and voltages
V
≤ 30
if case of cable break
–
Logic level “0”
Input impedance
kΩ
5.4
Input frequency
kHz
≤ 10
Input dynamic (Tau)
ms
≤ 0.1
Applied logic level
–
IN A = B = 0 = output stage switched off, FK 5
IN A or B = 1 = output stage switched on
Properties
Unit
Value / Comment
Input level
–
PLC level
Low level
V
<5
High level
V
> 15
Protection against polarity reversal and voltages
V
≤ 30
if case of cable break
–
Logic level “0”
Input impedance
kΩ
5.4
Maximum input frequency for command source via PWM / frequency
kHz
15
Input dynamic (Tau)
ms
≤ 0.1
Subject to change without notice
Inputs IN 1, IN 2
Subject to change without notice
Outputs (PNP)
Properties
Unit
Value / Comment
Output level
–
High side driver dependent on ULogic
(logic supply)
Low level
V
Open source
High level
V
> ULogic - 2
Protection against polarity reversal and voltages
V
≤ 30
Output current / channel
mA
≤ 100
Peak output current / channel
A
approx. 600 mA (thermally dependent)
Short-circuit proof
–
yes
Polarity reversal protection
–
no
Overload protected
–
yes (automatic thermal cut-out)
Output frequency @ Iout = 100 mA
kHz
≤1
2015-02
Subject to change without notice
20
4 Technical Specifications
Analog inputs “Analog IN 1…2” (signal connector, differential to GNDAnalog)
Properties
Unit
Value / Comment
Input voltage range (analog IN)
V
0 to 10
GND reference (differential measurement)
–
Analog GND
Input frequency
kHz
≤1
Internal resistance
kΩ
8
Signal resolution
bit
10
Measuring tolerance (relative to the end value 10 V)
%
≤2
Protection against polarity reversal and voltages
V
≤ 28
Properties
Unit
Value / Comment
Functional scope
–
–
Baud rate
kbit/s
115
Dielectric strength
V
-8 V to +13 V
Internal bus termination
ohm
12k
Subject to change without notice
RS485 bus interface
Subject to change without notice
Safety and monitoring functions
Properties
Unit
Value / Comment
Functional scope
–
Temperature cut-out point output stage (PC software)
(Hysteresis: 10 K),
Error must be acknowledged again by means of software
UZK overvoltage cut-out
(Hardware, hysteresis: 1V)
°C
• Temperature monitoring of the output stage
• Under and overvoltage monitoring of the
system voltages incl. UB overcurrent
limitation
• Overload protection through I²t
120
V
63
UZK undervoltage auto restart
(software, cut-off ULogic at 16V),
The error must be acknowledged.
V
18
Overload protection I²t (software)
–
yes
Hardware overcurrent protection circuit as max. current per winding
limitation
A
45 for VDC-3-49.15-K4
53 for ECI-63.XX-K4
Resolution of single turn absolute encoder
Bit / revolution
10 (accuracy approx. 3°)
21
2015-02
Subject to change without notice
5 Installation
This chapter describes the mechanical and electrical connection of the drive systems.
5.1 Notes
The drives must be checked for visible damage before installation. Damaged drive system must not be installed.
The drives must be fixed onto a flat surface with at least 4 screws. The screws must be secured with suitable measures against loosening.
Use thread-forming screws to DIN 7500 for the fixing.
5.2 Installing the drive
Risk of damage!
Caution
When the drives are installed in the motor housing it can be damaged by high radial loads, if the tightening torque applied
to the fixing screws is too high or if the fixing screws are too long.
ff Do not load the motor shaft, either radially or axially, with more than 150 N (ECI-63.XX-K4).
ff Do not load the motor shaft radially with more than 60 N and axially with more than 20 N (VDC-49.15-K4).
ff Tighten fixing screws M4 with 3±0.2 Nm maximum, M5 with 4±0.2 Nm maximum.
ff Do not exceed the specified maximum length of the fixing screws (see Chapter “5.2.1 Determine screw length”).
Risk of damage to electronic components!
Caution
The discharge of static charge during installation of the drives can damage the electronic component.
ff Use ESD protective equipment during installation.
5.2.1 Determine screw length
X
A minimum screw length Smin is required for safe and reliable fixing of the motors.
Emax
Emin
The maximum allowable screw length Smax prevents damage to the motor.
Minimum screw length Smin=
Minimum depth of engagement Emin 6.5 mm + material thickness X of the mounting plate.
Maximum screw length Smax = Smin
Maximum depth of engagement Emin 8.0 mm + material thickness X of the mounting plate.
Smax
5.2.1 Technische Zeichnungen
Only use the drillholes on the output side of the motors housing to fix the drive. To this end, transfer the necessary
Note
drillholes for the pitch circle and size of the fixing holes onto the mounting plate and drill (see sketch).
ECI-63.20-K4
Connector type (M16)
Stranded (litz) wire type
(Cable harness must be ordered separately)
8xØ3,7 H10 ( 10 deep )
4xØ4,65 H10 ( 10 deep )
16,3
118,5±0,3
20 ±0,3
500 10
4x
90
°
30°
Ø40
2015-02
Ø49
22
5,8
* Ø8 mm and Ø10 mm possible
Ø63
Ø6* g5
+0,1
-0,3
Ø63,5
4x90°
Ø36
18,4
5 Installation
ECI-63.40-K4
Connector type (M16)
Stranded (litz) wire type
(Cable harness must be ordered separately)
8xØ3,7 H10 ( 10 deep )
4xØ4,65 H10 ( 10 deep )
16,3
138,5±0,3
20 ±0,3
500 10
18,4
4x
90
°
30°
5,8
Ø63
Ø6* g5
+0,1
-0,3
Ø63,5
4x90°
Ø36
* Ø8 mm and Ø10 mm possible
Ø40
Ø49
ECI-63.60-K4
Connector type (M16)
Stranded (litz) wire type
(Cable harness must be ordered separately)
8xØ3,7 H10 ( 10 deep )
4xØ4,65 H10 ( 10 deep )
16,3
158,5±0,3
20 ±0,3
500 10
18,4
4x
90
°
30°
Ø63
Ø10 g5
+0,1
-0,3
Ø63,5
4x90°
Ø36
5,8
Ø40
Ø49
VDC-3-49.15-K4
23
2015-02
Tapped blind holes for thread-forming screws in
accordance to DIN 7500.
max. screw depth 9,5 mm
max. screw-in torque 3 Nm
Protective cap in aluminium natural.
5 Installation
5.3 Electrical connection
The connection cable for the VDC-3-49.15-K4 drive system is attached to the motor in the factory, no additional plugs are required for the
electrical connection and parameter setting.
The following is required for the electrical connection and parameter setting of the ECI-63.XX-K4 drive system:
1 Connection cable with 15 pin connector M16 (not for the Litz wire (stranded wire) variant of the ECI-63.XX-K4.
1 ebm-papst USB-CAN-RS485 adapter (screw terminal adapter board to the D-SUB 9 connection, USB connection cable to the PC).
1 ebm-papst “Kickstart” PC software.
Health hazard!
The drive systems are installed in design applications in which electrical and electromagnetic components are used.
Danger
These can affect pacemakers, metallic implants or hearing aids and cause severe personal harm.
ff Avoid the immediate vicinity, especially areas identified by the warning symbol
, if you have a pacemaker, metal
implants or wear a hearing aid.
• The drive systems are built-in parts and do not have any electrical disconnecting switches.
Note
• Connect the product to suitable electrical circuits only. Please note that the power supply units must have suitable
protection against regenerative voltage generated on the secondary side.
• When working on the drive system the system / machine must always be disconnected from the power supply and
secured against being switched back on again.
5.3.1 Safety check
Before connecting the drive system, check:
• Supply voltage and product voltage identical?
• Does the rating plate data match the connection data of the power supply unit?
2015-02
• Connection cable suitable for the current intensity and the ambient conditions and area of use?
24
5 Installation
5.3.1 Pin assignment of the connector and Litz wire version
• The connection cable of the VDC-3-49.15-K4 motors is pre-installed on the motor in the factory.
• The connection cable with connector is available for the ECI-63.XX-K4 only. The ECI-63.XX-K4 motors have a 15 pin
Note
connector M16 (12+3) on the motor. This is used for the connection of a connector variant connector cable or for the
separately supplied cable harness of the Litz wire variant.
A standard cable with classification CF-C11Y (3 x 1.5 mm² / 12 x 0.34 mm²) and connector M16 is required for connection of the motor.
1 m and 3 m cable lengths are available for the connection.
Connector interface ECI-63.XX-K4
(socket on motor)
B
A
1
2
3
10
9
4
8
5
7
Signal
C
12
11
6
B
A
C
12
1
3
10
B
12
9
11
8
10
7
1
42
3
5
8
7
C
A
1
Cable connection VDC-3-49.15-K4
2
11
(mounted)
3
Power
AWG 16
3 x 1,5 mm²4
8
IN A
NPN 24 V
IN B
NPN 24 V
IN 1
NPN 24 V
IN 2
NPN 24 V / analog 0…10 V / brake
OUT 1
PNP 24 V
OUT 2
PNP 24 V
OUT 3*
PNP 24 V
Analag IN 1
0…10 V (differential)
Analag GND
GND for analog IN 1 (differential)
RS485 A (+)
Progr.-Bus
RS485 B (–)
Progr.-Bus
ULogik
Logic power supply + (24 V)
Ballast
Ballast resistor
UZK
Power supply
GND
Power- / Signal GND
AWG
24
16
* Output (OUT 3) is only available on ECI-63.XX-K4
6
B
9
1
2
3
4
5
6
7
8
9
10
11
12
A
B
C
Function
Cable: CF-C11Y (3 x 1,5 mm² / 12 x 0,34 mm²)
Shielding: Complete shield
5
10
white
brown
green
yellow
grey
pink
blue
red
black
violet
grey-pink
red-blue
grey
brown
black
Configuration
6
4
12
Pin
L
L = 1 000 mm ±30
3 000 mm ±30
Crimp insert series M16
15-pin (12 + 3)
Cable plug-in connector M16
for cable Ø 8 – 11 mm
5
7
Signal
AWG624
12 x 0,34 mm²
25
2015-02
9
A
C
Power
Wire interface ECI-63.XX-K4 2
11 on motor)
(socket
Wire
45°
5 Installation
5.3.1 Connector type
Connection type for ECI-63.XX-K4
Connector interface – straight connector
Connector interface – angled connector
L
L
Length L
Order No.
Length L
Order No.
1 000 ±30
992 0160 034
1 000 ±30
992 0160 036
3 000 ±30
992 0160 035
3 000 ±30
992 0160 037
Other cable types available on request.
Note
5.3.2 Wire interface
Power
AWG 16
3 x 1,5 mm²
L
Length L
Order No.
500 ±5 992 040 0001
Other cable types available on request.
2015-02
Note
26
Signal
AWG 24
12 x 0,34 mm²
5 Installation
5.4 Braking chopper K4
The task of the braking chopper is to convert the energy not required in case of fast speed changes. If the set voltage threshold is exceeded
the external resistor is switched on.
Chopper current
max. 10 A
Recommended braking resistor
24 V systems: >= 3.75 ohm
48 V systems: >= 5.6 ohm
Braking resistor not included in the scope of supply.
Note
The braking resistor must be tested and designed according to the use of the drive.
(Note maximum power loss!)
5.5 Functional ground connection
A functional ground connection must be provided for equipotential
bonding.
Functional ground connection
M5 x 5mm
on the ECI-63.XX-K4 drive
5.6 RS485 interface
The RS485 interface is used as the parameterisation and diagnostic interface. The “Kickstart” PC software can be used for operation of the
interface. A PC and the ebm-papst USB-CAN-RS485 adapter are required for this.
The “Kickstart” PC software only operates correctly with the ebm-papst USB-CAN-RS485 adapter.
Note
If you use another USB-CAN-RS485 adapter, you will need the relevant software.
The bus interfaces are wired by the user. Depending on the topology, the line termination (resistors) must be realised by
Note
the user.
5.7 USB-CAN-RS485 adapter
The USB-CAN-RS485 adapter is required as an accessory for the ebm-papst “Kickstart” software, in order to connect the PC with the K4
drive. The adapter can be ordered under Material No. 914 0000 400.
LED name
Data
Error
microSD
Colour
Function assignment
red
• No assignment.
• Active data transfer via the USB CAN-RS485
adapter.
• No response following request to K4.
• Receipt of a faulty data package.
• Received data is ok.
• No assignment.
• Access to the memory card.
green
red
green
red
green
27
2015-02
Functional description of the LED displays
5 Installation
Pin assignment (D-SUB pin 9 pole):
Adapter electrically isolated
Pin
2
Connection
n. c.
optional – CAN L bus cable
3
4
GND
RS485 +
1
5
n. c.
6
GND
7
optional – CAN H bus cable
8
RS485 –
9
n. c.
USB device drivers of the type “FTDI USB Serial Converter” are required for operation of the USB-CAN-RS485 adapter. In many cases these
are already available on the PC or can be installed using the files provided in the subdirectory of the “Kickstart PC-Software\USB-CAN-basicdriver-files”. Detailed installation instructions (in English) for the operating systems Windows 7, Windows Vista and Windows XP are provided
as PDF files in the installation directory of the “Kickstart” PC software.
Scope of supply:
1 USB-CAN-RS485 adapter (incl. microSD memory card)
1 Screw terminal adapter board to the D-SUB 9 connection
1 USB connection cable to the PC.
5.8 Connection to the USB-CAN-RS485 adapter
• Connect the cable at Pin 10 (violet) with connection 4 (RS485 +) of the USB-CAN-RS485 adapter.
• Connect the cable at Pin 11 (grey/pink) with connection 8 (RS485 –) of the USB-CAN-RS485 adapter.
• Switch on the “Logic” voltage at the power supply unit.
• Start the “Kickstart” tool at the PC for parameterisation.
2015-02
• Load an existing project (*.kickzip or *.kicktpl) or create a new project: *.kickpro.
28
5 Installation
5.9 Circuit diagram
ebmpapst
RS485-Controller
Ballast
RS485 -
RS485 +
Motor VDC-3-49.15-K4
Motor ECI-63.XX-K4
Ballast - Resistor
µC
UZK
Powerstage
Laptop
GND
Power Supply
„Power“
(+24 V / +48 V DC)
+
GND
Enable
or
ULogic
Control
LogicSMPS
Power Supply
„Logic“
(+24 V DC)
+
GND
Analog IN 2
OUT 1
OUT 2
24 V (SPS)
Analog GND
Analog IN 1
OUT 3*
IN 2
IN 1
IN B
IN A
IN 2
0…10 V
* The OUT 3 connection is only available for the ECI-63.XX-K4 drive systems.
The user is responsible for external fusing of the power supply.
29
2015-02
Note
5 Installation
5.10 Schematic layout: parameterisation, commissioning (startup) and automatic operation
5.10.1 Parameterisation and commissioning
5.10.2 Automatic operation
Automatic operation with stored parameters and integrated control
RT
TA
KS
KIC
Control
Power supply
Control
S
SP
S
Power supply
PC with “Kickstart”
SP
D
or
S
m
ic
E
ro
rr
D
ata
eb
m
p
ap
st
U
S
B
-K
4
software
US
B
mi
cro
SD
Adapter
ECI-63.XX-K4 drive
ECI-63.XX-K4 drive
5.10.3 Connecting connector at the motor
Risk of damage.
When plugging in the connector to the connection on the motor ECI-63.XX-K4, ensure that the company logo on the
Caution
connector is facing upwards towards the housing edge of the motor.
When connecting the Litz wires of the VDC-3-49.15-K4 motor variant, ensure that the pin assignment is precisely as
specified and not incorrectly assigned, as this causes irreparable damage to the motor electronics.
2015-02
VDC-3-49.15-K4
30
ECI-63.XX-K4
6 Parameterisation
82 parameters are available for parameterising the VDC-3-49.15-K4 and ECI-63.XX-K4 drive systems (from page 33). These are managed
via the electronic class K4 and are set using the ebm-papst “Kickstart” PC software.
A detailed parameter description see Chapter “10 Parameter Description”, page 95.
6.1 Memory management
The K4 has a management function for the “RAM”, “custom” and “default” memory areas.
To edit the values you will need the password “custom access key”. This is set to 0 on delivery. If you change it, please ensure that it is not
lost.
6.1.1 “RAM” memory area
The motor operates with the values in the RAM area.
The memory class “appl func” can be changed (written) if the motor is at a standstill (IN A and IN B input to LOW). If the inputs are not set to
zero you will receive an error message in the status display.
The memory class “appl value” can be changed (written) while the motor is in operation and therefore directly affects the motor's performance.
All values can be read out during operation or while the motor is at a standstill.
Parameters that are written in the “RAM” memory area with the “write” command are no longer available if the power supply fails or is
switched off.
6.1.2 “custom” memory area
To ensure that the data is available permanently, it must be located in the “custom” memory area. The data from the “RAM” area is not
written in the “custom” area unless the “store” command is used; after it has been moved the data is then permanently available. On
31
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switching on the voltage, the data from the “custom” area is transferred into the “RAM” area.
6 Parameterisation
6.1.3 “default” memory area
The default values loaded in the factory are stored in the “default” memory area. The operating data can be reset to the as-delivered
condition by using the “reload” command. The data is written in the “custom” and “RAM” areas.
Access to parameterisation with “customer access key”(password).
“Kickstart”
Drive memory area
RS485
external
RAM
custom
default
reload
Parameter
(application
function)
write
Parameter
(application
function)
read
store
power up
Parameter
(application
function)
Parameter
(application
function)
reload
reload
Parameter
(application
value)
write
Parameter
(application
value)
power up
Parameter
(HW set val)
power up
Parameter
(HW set val)
Parameter
(HW set val)
Parameter
(Offset single
sensor)
power up
Parameter
(Offset single
sensor)
Parameter
(Offset single
sensor)
Blue arrow = Command is executed in the operational status (clockwise, counterclockwise, braking / positioning)
Black arrow = Command is executed in the state unlock (motor in freewheel)
With the command „Save“, the „user access key“ is reseted.
2015-02
Note
32
Parameter
(application
value)
Parameter
(application
value)
read
Parameter
(HW set val)
store
The “store” command is used to reset the “customer access key”.
reload
6 Parameterisation
6.2 Parameter
The following parameters are available in the K4:
For a detailed parameter description, see Chapter “10 Parameter Description”, page 95.
• The data in the “No. [dec]” column is relevant for the parameter descriptions, refer to Chapter “10 Parameter
Note
Description”, from page 95.
• The data in the “No. [hex]” column is relevant for the “Kickstart” PC software.
• The data in column No. [hex] is the address of the parameter.
• The guide values for the parameters represent the so-called default parameters in the respective drive system.
Parameter Overview
Parameter
Name
Units
min.
max.
Memory class
0x1
Mode 1
1
9
appl func
0x2
Mode 2
1
8
appl func
0x3
O1
0
7
appl func
0x4
O2
0
7
appl func
0x5
O3
0
7
appl func
0x6
Restart
0
1
appl func
0x7
intentionally left blank
0
65535
0x8
intentionally left blank
0
65535
0x9
intentionally left blank
0
65535
0xA
intentionally left blank
0
65535
0xB
FE_Speed_X1
Digits
0
1023
appl func
0xC
FE_Speed_X2
Digits
0
1023
appl func
0xD
FE_Speed_X3
Digits
0
1023
appl func
0xE
FE_Speed_X4
rpm
–30000
29999
appl func
0xF
FE_Speed_Y1
rpm
–30000
29999
appl func
0x10
FE_Speed_Y2
rpm
–30000
29999
appl func
0x11
FE_Speed_Y3
rpm
–30000
29999
appl func
0x12
FE_Speed_Y4
rpm
–30000
29999
appl func
0x13
Speed_X1_Hyst
Digits
0
1023
appl func
0x14
Speed_X2_Hyst
Digits
0
1023
appl func
0x15
Speed_X3_Hyst
Digits
0
1023
appl func
0x16
Speed error
rpm
–30000
29999
appl func
0x17
Fixed speed N1
rpm
–30000
29999
appl value
0x18
Fixed speed N2
rpm
–30000
29999
appl value
0x19
Fixed speed N3
rpm
–30000
29999
appl value
0x1A
t ramp-up cw
ms für 1000 rpm
0
65535
appl value
0x1B
t ramp-down cw
ms für 1000 rpm
0
65535
appl value
0x1C
t ramp-up ccw
ms für 1000 rpm
0
65535
appl value
0x1D
t ram-down ccw
ms für 1000 rpm
0
65535
appl value
0x1E
Speed controller KP
0
65535
appl value
0x1F
Speed controller KI
0
65535
appl value
33
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Parameter
No. [hex]
6 Parameterisation
Parameter Overview
2015-02
Parameter
No. [hex]
34
Parameter
Name
Units
min.
0x20
Speed controller KD (currently unused)
0x21
K_ff
0x22
Actual speed averaging
0x23
Resolution of the actual outputs
0x24
Speed signal threshold
0x25
Speed signal delta hysteresis
0x26
FE_Current_X1
Digits
0x27
FE_Current_X2
0x28
FE_Current_X3
max.
Memory class
0
65535
appl value
1/255
0
65535
appl func
2^x [ms]
0
15
appl value
Pulse/mech.revolution
0
100
appl value
rpm
0
29999
appl value
0
29999
appl value
0
1023
appl func
Digits
0
1023
appl func
Digits
0
1023
appl func
0x29
FE_Current_Y0
%
0
100
appl func
0x2A
FE_Current_Y1
%
0
100
appl func
0x2B
FE_Current_Y2
%
0
100
appl func
0x2C
FE_Current_Y3
%
0
100
appl func
0x2D
FE_Current_Y4
%
0
100
appl func
0x2E
Current_X1_Hyst
Digits
0
1023
appl func
0x2F
Current_X2_Hyst
Digits
0
1023
appl func
0x30
Current_X3_Hyst
Digits
0
1023
appl func
0x31
Current error
%
0
100
appl func
0x32
Current signal threshold
10 mA
0
32767
appl value
0x33
Current signal delta hysteresis
10 mA
0
65535
appl value
0x34
Current time constant
ms
1
5000
appl value
0x35
Current gating time
ms
0
5000
appl value
0x36
Reversing threshold
0x37
Reversing threshold delta hysteresis
0x38
0
29999
appl value
rpm
0
29999
appl value
I_Max_driving_Rechts
10 mA
0
65535
appl value
0x39
I_Max_driving_Links
10 mA
0
65535
appl value
0x3A
I_Max_braking_Rechts
10 mA
0
65535
appl value
0x3B
I_Max_braking_Links
10 mA
0
65535
appl value
0x3C
Hold gain KP_H
1/256
0
65535
appl value
0x3D
PWM/Freq: Lower frequency limit
Hz
25
15000
appl func
0x3E
PWM/Freq: Upper frequency limit
Hz
25
15000
appl func
0x3F
Max. positioning speed
0x40
Coasting, cw
rpm
0
29999
appl value
1/65535 revolutions
0
65535
appl value
0x41
Coasting, cw
revolutions
–32768
32767
appl value
0x42
Coasting ccw
1/65535 revolutions
0
65535
appl value
0x43
Coasting ccw
revolutions
0–32768
32767
appl value
0x44
Distance
1/65535 revolutions
0
65535
appl value
0x45
Distance
revolutions
–32768
32767
appl value
6 Parameterisation
Parameter Overview
Parameter
Name
0x46
Positive positioning window*
0x47
0x48
Units
min.
max.
Memory class
1/65535 revolutions
0
65535
appl value
Positive positioning window*
revolutions
0
65535
appl value
Negative positioning window*
1/65535 revolutions
0
65535
appl value
0x49
Negative positioning window*
revolutions
0
65535
appl value
0x4A
UZK overvoltage threshold
10 mV
0
65535
appl value
0x4B
UZK undervoltage threshold
10 mV
0
65535
appl value
0x4C
UZK voltage hysteresis
10 mV
0
65535
appl value
0x4D
Ballast chopper switching on threshold
10 mV
0
65535
appl value
0x4E
Ballast chopper– switching off threshold
10 mV
0
65535
appl value
0x4F
Temperature signal threshold
°C
0
110
appl value
0x50
Temperature signal delta hysteresis
°C
0x51
Transmission ratio
0x52
Bus address
0
110
appl value
1
65535
appl value
1
127
appl value
0x8001
Current actual speed
rpm
appl value
0x8002
current electrical current, winding
0x8003
current actual position LoByte
10 mA
appl value
1/65535 revolutions
appl value
0x8004
current actual position HiByte
revolutions
appl value
0x8005
current actual temperature LP
°C
appl value
0x8006
current electrical current Id
10 mA
appl value
0x8007
current electrical current Iq
10 mA
appl value
0x8008
Output status
digital
appl value
digital
appl value
0x8009
Status of inputs: IN A, IN B, IN 1, IN
0x800A
not used
0x800B
not used
0x800C
not used
0x800D
Analog IN 1
digits
appl value
0x800E
Analog IN 2
digits
appl value
Analog internal NTC
digits
appl value
0x800F
*
Parameter 46 + 47 (positive) = 1000
Parameter 48 + 49 (negativ) = 500
Target position = 50000
Here “Position reached” = ACTIVE should be set, if
Actual position > 49500 and actual position < 51000
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Parameter
No. [hex]
7 Parameterisation of the Operating Modes
The parameterisation of the operating modes is described in this chapter. 38 operating modes are available to choose from for the electronic
class K4. The operating modes are selected using parameters Mode 1 and Mode 2. The descriptions are laid out as follows:
7.1 Application example
Task:
The motor should reach a fixed speed via a defined acceleration / braking ramp. If the speed has been reached a
­corresponding display should appear.
Setpoint values:Target speed n = 3500 rpm, acceleration time = 730 ms.
Basic conditions:
After switching off: Brake motor / transition in free-wheeling? The motor should switch to free-wheeling.
Acceleration direction of rotation? Direction of rotation cw
Signal from a higher-level control? Yes. = 1 output (On / Off), 1 input (target speed reached signal).
Procedure:
Connect the electrical system (see Chapter 5.2 Installing the drive, page 22).
Start the “Kickstart” PC software at the PC.
1 Open project file
(File type .kicktpl / .kickzip)
2 Enter user password
(Access Key “Customer” = “0”)
2015-02
and confirm with “Set”.
36
7 Parameterisation of the Operating Modes
3 • Operating mode selection:
Parameter O1h = 1, Parameter O2h = 1
• Speed signal O2 (OUT 2):
Parameter O4h = 2
4 • Fixed speed parameterisation:
Parameter 17h = 3500
• Parameterisation of
acceleration / braking (deceleration)
ramp:
Parameter 1ah, 1bh, 1ch, 1dh = 209 *
• Set speed signalling threshold: Parameter
24h = 3490
• Set signalling threshold hysteresis:
Parameter 25h = 40
* Determination of the acceleration value in ms
for 1000 rpm
Speed input: 3500 rpm, acceleration time: 730
ms
Acceleration value = acceleration
time / speed difference x 1000
730 / 3500 x 1000 = 208.57 ~ 209
5 Write parameters: Mark (select) the set
parameters and write in the RAM memory
37
2015-02
area with the “Write” command.
7 Parameterisation of the Operating Modes
6 Save parameters: Save the parameters
written with the “store” command in the
“custom” memory area.
Commissioning (startup)
The following connections must be set up for the commissioning:
UZK = supply voltage
GND = ground / earth
IN A= On / Off (see IN A / B logic table, see Chapter 8 Inputs and Outputs, page 78)
here: Switch from free-wheeling to rotational direction cw (speed control)
IN 1 = +24V (see logic table - fixed speeds)
here: Selection of N1
ULogic = supply voltage +24V
7.2 Parameterisation of the speed regulation characteristic
The speed regulation characteristic can be defined via three interpolation points. A hysteresis can be set for each interpolation point. In
addition, an error speed can be parameterised, which is used if an invalid X axis value results.
2015-02
The speed regulation characteristic is defined using the following parameters:
P11 – FE_Speed_X1
P15 – FE_Speed_Y1
P19 – Speed_X1_Hyst
P12 – FE_Speed_X2
P16 – FE_Speed_Y2
P20 – Speed_X2_Hyst
P13 – FE_Speed_X3
P17 – FE_Speed_Y3
P21 – Speed_X3_Hyst
P14 – FE_Speed_Y0
P18 – FE_Speed_Y4
P22 – Error_Speed
38
7 Parameterisation of the Operating Modes
The characteristic curve can then take on this shape:
Target velocity
Hysteresis 1
Hysteresis 2
Hysteresis 3
X1
X2
X3
Y0
Y3
Y4
Y1 Y2
Normalised X axis
The speed values Y0…Y4 are given in rpm.
X values: Target value analog IN A1: 0 – 10 V corresponds 0 – 1023.
Target value PWM IN 1: 0 – 100 % corresponds X value 0 – 100.
Target value frequency IN 1: lower cut-off frequency (Parameter 0x3D) corresponds X value 0.
Target value frequency IN 1: upper cut-off frequency (Paramete r 0x3E) corresponds X value 1023.
7.3 Parameterisation of the maximum current characteristic
The maximum current characteristic can be defined via three interpolation points. A hysteresis can be set for each interpolation point. In
addition, an error current can be parameterised, which is used if an invalid X axis value results.
The maximum current characteristic is defined using the following parameters:
P11 – FE_Current_X1
P15 – FE_Current_Y1
P19 – Current_X1_Hyst
P12 – FE_Current_X2
P16 – FE_Current_Y2
P20 – Current_X2_Hyst
P13 – FE_Current_X3
P17 – FE_Current_Y3
P21 – Current_X3_Hyst
P14 – FE_Current_Y0
P18 – FE_Current_Y4
P22 – Error_Current
The characteristic curve can then take on this shape:
Target current
Hysteresis 1
Hysteresis 2
Hysteresis 3
X2
X3
Y0
Y3
Y4
X1
Normalised X axis
39
2015-02
Y1 Y2
7 Parameterisation of the Operating Modes
The current limitation is defined via parameters 0x38 - 0x3B. The values of the parameters 0x38 - 0x3B must be the
Note
same if the maximum current characteristic is used. If the operational quadrants are changed there are no jumps in the
current limitation.
The speed values Y0…Y4 are given in %.
X values: Target value analog IN A1: 0 – 10 V corresponds 0 – 1023.
Target value PWM IN 1: 0 – 100 % corresponds X value 0 – 100.
Target value frequency IN 1: lower cut-off frequency (Parameter 0x3D) corresponds X value 0.
Target value frequency IN 1: upper cut-off frequency (Paramete r 0x3E) corresponds X value 1023.
These are defined via:
P 38 – I_Max_driving_rh
P 39 – I_Max_driving_lh
P 3A – I_Max_braking_rh
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P 3B – I_Max_braking_lh
40
7 Parameterisation of the Operating Modes
7.4 Operating mode 11: Speed setpoint N1, N2, N3; Analog IN 1
The following example is used to describe operating mode 11 in greater detail.
In order for the parameter to function, KP_H must be > 0.
Note
Parameter No.1 (Mode 1) has value = 1
Parameter No.2 (Mode 2) has value = 1
With input circuit IN A = 0 and IN B = 0 the motor is in free-wheeling (free running) state and the inputs IN 1 and IN 2 have no effect.
With input circuit IN A = 1 and IN B = 0 the motor rotates in a positive (clockwise - cw) direction. If the inputs are IN 1 = 0 and IN 2 = 0, the
analog value of analog IN 1 is used and the speed depends on this value.
With input circuit IN A = 1 and IN B = 0 the motor rotates in a positive (clockwise - cw) direction. If the inputs are IN 1 = 1 and IN 2 = 0, the
speed is controlled to the value that given in N1.
Function IN 1:
Selection of the speed setpoint source analog / parameter.
Function IN 2:
Selection of the speed setpoint source analog / parameter.
Speed
IN A
IN B
IN 1
IN 2
0
0
x
x
Direction
-
Current limit
Value
0
Type
-
Value
Function
-
Free-wheeling
1
0
0
0
pos
A1
S
P
N control
1
0
1
0
pos
N1
S
P
N control
1
0
0
1
pos
N2
S
P
N control
1
0
1
1
pos
N3
S
P
N control
0
1
0
0
neg
A1
S
P
N control
0
1
1
0
neg
N1
S
P
N control
0
1
0
1
neg
N2
S
P
N control
0
1
1
1
neg
N3
S
P
N control
Comment
No braking, no current feed
1
1
0
0
-
0
S
P
Stop
Braking and stopping
1
1
1
0
-
0
S
P
Stop
Braking and stopping
1
1
0
1
-
0
S
P
Stop
Braking and stopping
1
1
1
1
-
0
S
P
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
41
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.5 Operating mode 12: Speed setpoints N1, A1; dynamic current limitation via A1
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of the speed setpoint source analog A1 / parameter N1.
Function IN 2:
selection of static / dynamic current limitation.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Type
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
0
0
pos
D
A1
F
A1
N control
1
0
1
0
pos
P
N1
F
A1
N control
1
0
0
1
pos
F
A1
D
A1
N control
1
0
1
1
pos
P
N1
D
A1
N control
0
1
0
0
neg
D
A1
F
A1
N control
0
1
1
0
neg
P
N1
F
A1
N control
0
1
0
1
neg
F
A1
D
A1
N control
P
Comment
No braking, no current feed
0
1
1
1
neg
N1
D
A1
N control
1
1
0
0
-
0
F
A1
Stop
Braking and stopping
1
1
1
0
-
0
F
A1
Stop
Braking and stopping
1
1
0
1
-
0
D
A1
Stop
Braking and stopping
1
1
1
1
-
0
D
A1
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint =
0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 2 the current level is frozen (Saved) at A1)
D = Dynamic
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x = Arbitrary value
42
7 Parameterisation of the Operating Modes
7.6 Operating mode 13: Speed setpoints A1, N1; distance
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of the speed setpoint source analog A1 / parameter N1.
Function IN 2:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
0
x
pos
A1
S
P
N control
No braking, no current feed
1
0
1
x
pos
N1
S
P
N control
1
0
0
x
pos
A1
S
P
N control
1
0
1
x
pos
N1
S
P
N control
0
1
0
x
neg
A1
S
P
N control
0
1
1
x
neg
N1
S
P
N control
0
1
0
x
neg
A1
S
P
N control
0
1
1
x
neg
N1
S
P
N control
1
1
0
0
-
0
S
P
Stop
Stopping
1
1
1
0
-
0
S
P
Stop
Stopping
1
1
0
0 -> 1
-
A1
S
P
Distance
Positioning
1
1
1
0 -> 1
-
N1
S
P
Distance
Positioning
Distance =
Parameter 44 + 45; relative distance with plus / minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
43
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.7 Operating mode 16: Speed setpoints A1, N1; rotational direction
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of the speed setpoint source analog A1 / parameter N1.
Function IN 2:
Selecting the rotational direction.
Speed
IN A
IN B
IN 2
Direction
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
0
0
pos
A1
S
P
N control
1
0
1
0
pos
N1
S
P
N control
1
0
0
1
neg
A1
S
P
N control
1
0
1
1
neg
N1
S
P
N control
0
1
0
0
neg
A1
S
P
N control
0
1
1
0
neg
N1
S
P
N control
0
1
0
1
pos
A1
S
P
N control
0
1
1
1
pos
N1
S
P
N control
Comment
No braking, no current feed
1
1
0
0
-
0
S
P
Stop
Braking and stopping
1
1
1
0
-
0
S
P
Stop
Braking and stopping
1
1
0
1
-
0
S
P
Stop
Braking and stopping
1
1
1
1
-
0
S
P
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 1
Current limit
44
7 Parameterisation of the Operating Modes
7.8 Operating mode 17: Speed setpoints A1, N1; dynamic current limit via A2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of the speed setpoint source analog A1 / parameter N1.
Function IN 2:
Analog A2 dynamic current limitation.
Speed
IN A
IN B
0
1
Direction
Current limit
IN 1
IN 2
Value
Type
Value
Function
0
x
A2
-
0
-
-
Free-wheeling
0
0
A2
pos
A1
D
A2
N control
1
0
1
A2
pos
N1
D
A2
N control
1
0
0
A2
pos
A1
D
A2
N control
1
0
1
A2
pos
N1
D
A2
N control
0
1
0
A2
neg
A1
D
A2
N control
0
1
1
A2
neg
N1
D
A2
N control
0
1
0
A2
neg
A1
D
A2
N control
0
1
1
A2
neg
N1
D
A2
N control
Comment
No braking, no current feed
1
1
0
A2
-
0
D
A2
Stop
Braking and stopping
1
1
1
A2
-
0
D
A2
Stop
Braking and stopping
1
1
0
A2
-
0
D
A2
Stop
Braking and stopping
1
1
1
A2
-
0
D
A2
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
45
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.9 Operating mode 18: Speed setpoints A1, N1; brake
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of the speed setpoint source analog A1 / parameter N1.
Function IN 2:
Input for braking voltage; motor only runs if brake released.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
0
0
-
0
S
P
Free-wheeling
1
0
1
0
-
0
S
P
Free-wheeling
1
0
0
1
pos
A1
S
P
N control
1
0
1
1
pos
N1
S
P
N control
0
1
0
0
-
0
S
P
Free-wheeling
0
1
1
0
-
0
S
P
Free-wheeling
0
1
0
1
neg
A1
S
P
N control
0
1
1
1
neg
N1
S
P
N control
Comment
No current feed
1
1
0
0
-
0
S
P
Free-wheeling
1
1
1
0
-
0
S
P
Free-wheeling
1
1
0
1
-
0
S
P
Stop
Stopping
1
1
1
1
-
0
S
P
Stop
Stopping
IN 2 = 0; brake closed
Note
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 2 = 1; brake open
46
7 Parameterisation of the Operating Modes
7.10 Operating mode 21: dynamic current limit via A1; speed setpoints A1, N2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of static / dynamic current limitation.
Function IN 2:
Selection of the speed setpoint source analog A1 / parameter N2.
Speed
IN A
IN B
IN 1
IN 2
Direction
0
0
x
x
-
1
0
0
0
pos
Current limit
Type
D
Value
Type
Value
Function
0
-
-
Free-wheeling
A1
F
A1
N control
1
0
1
0
pos
F
A1
D
A1
N control
1
0
0
1
pos
P
N2
F
A1
N control
1
0
1
1
pos
P
N2
D
A1
N control
0
1
0
0
neg
D
A1
F
A1
N control
0
1
1
0
neg
F
A1
D
A1
N control
0
1
0
1
neg
P
N2
F
A1
N control
P
Comment
No braking, no current feed
0
1
1
1
neg
N2
D
A1
N control
1
1
0
0
-
0
F
A1
Stop
Braking and stopping
1
1
1
0
-
0
D
A1
Stop
Braking and stopping
1
1
0
1
-
0
F
A1
Stop
Braking and stopping
1
1
1
1
-
0
D
A1
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 1 the current level is frozen (saved) at A1.
D = Dynamic
47
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.11 Operating mode 23: dynamic current limit via A1; distance
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of static / dynamic current limitation.
Function IN 2:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Speed
IN A
IN B
IN 1
IN 2
Direction
0
0
x
x
-
1
0
0
x
pos
Current limit
Type
D
Value
Type
Value
Function
0
-
-
Free-wheeling
A1
F
A1
N control
1
0
1
x
pos
F
A1
D
A1
N control
1
0
0
x
pos
D
A1
F
A1
N control
1
0
1
x
pos
F
A1
D
A1
N control
0
1
0
x
neg
D
A1
F
A1
N control
0
1
1
x
neg
F
A1
D
A1
N control
0
1
0
x
neg
D
A1
F
A1
N control
F
Comment
No braking, no current feed
0
1
1
x
neg
A1
D
A1
N control
1
1
0
0
-
0
F
A1
Stop
Stopping
1
1
1
0
-
0
D
A1
Stop
Stopping
1
1
0
0 -> 1
-
D
A1
F
A1
Distance
Positioning
1
1
1
0 -> 1
-
F
A1
D
A1
Distance
Positioning
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a
clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 1 the current level is frozen (saved) at A1.
D = Dynamic
2015-02
x = Arbitrary value
48
7 Parameterisation of the Operating Modes
7.12 Operating mode 26: dynamic current limit via A1; rotational direction
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of static / dynamic current limitation.
Function IN 2:
Selecting the rotational direction.
Speed
IN A
IN B
IN 1
IN 2
Direction
0
0
x
x
-
1
0
0
0
pos
Current limit
Type
D
Value
Type
Value
Function
0
-
-
Free-wheeling
A1
F
A1
N control
1
0
1
0
pos
F
A1
D
A1
N control
1
0
0
1
neg
D
A1
F
A1
N control
1
0
1
1
neg
F
A1
D
A1
N control
0
1
0
0
neg
D
A1
F
A1
N control
0
1
1
0
neg
F
A1
D
A1
N control
0
1
0
1
pos
D
A1
F
A1
N control
F
Comment
No braking, no current feed
0
1
1
1
pos
A1
D
A1
N control
1
1
0
0
-
0
F
A1
Stop
Braking and stopping
1
1
1
0
-
0
D
A1
Stop
Braking and stopping
1
1
0
1
-
0
F
A1
Stop
Braking and stopping
1
1
1
1
-
0
D
A1
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 1 the current level is frozen (saved) at A1.
D = Dynamic
49
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.13 Operating mode 28: dynamic current limit via A1; brake
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selection of static / dynamic current limitation.
Function IN 2:
Input for braking voltage; motor only runs if brake released.
Speed
IN A
IN B
IN 1
IN 2
Direction
0
0
x
x
-
1
0
0
0
-
1
0
1
0
1
0
0
1
Current limit
Type
Value
Type
Value
Function
0
-
-
Free-wheeling
D
A1
F
A1
Free-wheeling
-
F
A1
D
A1
Free-wheeling
pos
D
A1
F
A1
N control
1
0
1
1
pos
F
A1
D
A1
N control
0
1
0
0
-
D
A1
F
A1
Free-wheeling
0
1
1
0
-
F
A1
D
A1
Free-wheeling
0
1
0
1
neg
D
A1
F
A1
N control
F
0
1
1
1
neg
A1
D
A1
N control
1
1
0
0
-
0
F
A1
Free-wheeling
1
1
1
0
-
0
D
A1
Free-wheeling
Comment
No current feed
1
1
0
1
-
0
F
A1
Stop
Stopping
1
1
1
1
-
0
D
A1
Stop
Stopping
IN 2 = 0; Brake closed
Note
IN 2 = 1; Brake open
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
S = Static
P = Parameter
F = Freeze; on level changeover to IN 1 the current level is frozen (saved) at A1.
D = Dynamic
2015-02
x = Arbitrary value
50
7 Parameterisation of the Operating Modes
7.14 Operating mode 31: Distance; speed setpoints A1, N2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Function IN 2:
Selection of the speed setpoint source analog A1 / parameter N2.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
x
0
pos
A1
S
P
N control
1
0
x
0
pos
A1
S
P
N control
1
0
x
1
pos
N2
S
P
N control
1
0
x
1
pos
N2
S
P
N control
0
1
x
0
neg
A1
S
P
N control
0
1
x
0
neg
A1
S
P
N control
0
1
x
1
neg
N2
S
P
N control
0
1
x
1
neg
N2
S
P
N control
1
1
0
0
-
0
S
P
Stop
1
1
0 -> 1
0
-
A1
S
P
Distance
1
1
0
1
-
0
S
P
Stop
1
1
0 -> 1
1
-
N2
S
P
Distance
Comment
No braking, no current feed
Stopping
Positioning
Stopping
Positioning
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
51
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.15 Operating mode 32: Distance; dynamic current limit via A1
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Function IN 2:
Selection of static / dynamic current limitation.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Type
0
0
x
x
-
1
0
x
0
pos
D
Value
Type
Value
Function
0
-
-
Free-wheeling
A1
F
A1
N control
1
0
x
0
pos
D
A1
F
A1
N control
1
0
x
1
pos
F
A1
D
A1
N control
1
0
x
1
pos
F
A1
D
A1
N control
0
1
x
0
neg
D
A1
F
A1
N control
0
1
x
0
neg
D
A1
F
A1
N control
0
1
x
1
neg
F
A1
D
A1
N control
F
A1
D
A1
N control
0
F
A1
Stop
D
A1
F
A1
Distance
0
D
A1
Stop
F
A1
D
A1
Distance
0
1
x
1
neg
1
1
0
0
-
1
1
0 -> 1
0
-
1
1
0
1
-
1
1
0 -> 1
1
-
Distance =
Comment
No braking, no current feed
Stopping
Positioning
Stopping
Positioning
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a
clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 2 the current level is frozen (Saved) at A1.
D = Dynamic
2015-02
x = Arbitrary value
52
7 Parameterisation of the Operating Modes
7.16 Operating mode 34: Distance; teach
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Function IN 2:
Learn a displacement; difference in position between teach start and each stop;
Save in distance = parameter 68 + 69.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
Comment
No braking, no current feed,
Teach stop
No braking, no current feed,
Teach start
0
0
x
0
-
0
-
-
Free-wheeling
0
0
x
1
-
0
-
-
Free-wheeling
1
0
x
0
pos
A1
S
P
N control
Teach stop
1
0
x
1
pos
A1
S
P
N control
Teach start
1
0
x
0
pos
A1
S
P
N control
Teach stop
1
0
x
1
pos
A1
S
P
N control
Teach start
0
1
x
0
neg
A1
S
P
N control
Teach stop
0
1
x
1
neg
A1
S
P
N control
Teach start
0
1
x
0
neg
A1
S
P
N control
Teach stop
0
1
x
1
neg
A1
S
P
N control
Teach start
1
1
0
0
-
0
S
P
Stop
1
1
0 -> 1
0
-
A1
S
P
Distance
1
1
0
1
-
0
S
P
Stop
1
1
0 -> 1
1
-
A1
S
P
Distance
Stopping
Positioning
Stopping
Positioning
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
53
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.17 Operating mode 36: Distance; rotational direction
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Function IN 2:
Selecting the rotational direction.
Speed
IN A
IN B
IN 2
Direction
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
x
0
pos
A1
S
P
N control
1
0
x
0
pos
A1
S
P
N control
1
0
x
1
neg
A1
S
P
N control
1
0
x
1
neg
A1
S
P
N control
0
1
x
0
neg
A1
S
P
N control
0
1
x
0
neg
A1
S
P
N control
0
1
x
1
pos
A1
S
P
N control
0
1
x
1
pos
A1
S
P
N control
1
1
0
0
-
0
S
P
Stop
1
1
0 -> 1
0
-
A1
S
P
Distance
1
1
0
1
-
0
S
P
Stop
1
1
0 -> 1
1
-
A1
S
P
Distance
Positioning
1
1
0 -> 1
1
-
A1
S
P
Distance
Positioning
No braking, no current feed
Stopping
Positioning
Stopping
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 1
Current limit
54
7 Parameterisation of the Operating Modes
7.18 Operating mode 37: Distance; dynamic current limit A2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Function IN 2:
Analog A2 dynamic current limitation.
Speed
Direction
Current limit
IN A
IN B
IN 1
IN 2
Value
Type
Value
Function
0
0
x
A2
-
0
-
-
Free-wheeling
1
0
x
A2
pos
A1
D
A2
N control
1
0
x
A2
pos
A1
D
A2
N control
1
0
x
A2
pos
A1
D
A2
N control
1
0
x
A2
pos
A1
D
A2
N control
0
1
x
A2
neg
A1
D
A2
N control
0
1
x
A2
neg
A1
D
A2
N control
0
1
x
A2
neg
A1
D
A2
N control
0
1
x
A2
neg
A1
D
A2
N control
1
1
0
A2
-
0
D
A2
Stop
1
1
0 -> 1
A2
-
A1
D
A2
Distance
1
1
0
A2
-
0
D
A2
Stop
1
1
0 -> 1
A2
-
A1
D
A2
Distance
Comment
No braking, no current feed
Stopping
Positioning
Stopping
Positioning
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
55
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.19 Operating mode 38: Distance; brake
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Function IN 2:
Input for braking voltage; motor only runs if brake released.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
x
0
-
0
S
P
Free-wheeling
1
0
x
0
-
0
S
P
Free-wheeling
1
0
x
1
pos
A1
S
P
N control
1
0
x
1
pos
A1
S
P
N control
0
1
x
0
-
0
S
P
Free-wheeling
0
1
x
0
-
0
S
P
Free-wheeling
0
1
x
1
neg
A1
S
P
N control
0
1
x
1
neg
A1
S
P
N control
1
1
0
0
-
0
S
P
Free-wheeling
1
1
0 -> 1
0
-
0
S
P
Free-wheeling
1
1
0
1
-
0
S
P
Stop
1
1
0 -> 1
1
-
A1
S
P
Distance
Comment
No current feed
Stopping
Positioning
IN 2 = 0; brake closed
Note
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 2 = 1; brake open
56
7 Parameterisation of the Operating Modes
7.20 Operating mode 43: Teach; distance
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Learn a displacement; difference in position between teach start and each stop;
Save in distance = parameter 68 + 69.
Function IN 2:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
Comment
No braking, no current feed,
teach stop
No braking, no current feed,
teach start
0
0
0
x
-
0
-
-
Free-wheeling
0
0
1
x
-
0
-
-
Free-wheeling
1
0
0
x
pos
A1
S
P
N control
Teach stop
1
0
1
x
pos
A1
S
P
N control
Teach start
1
0
0
x
pos
A1
S
P
N control
Teach stop
1
0
1
x
pos
A1
S
P
N control
Teach start
0
1
0
x
neg
A1
S
P
N control
Teach stop
0
1
1
x
neg
A1
S
P
N control
Teach start
0
1
0
x
neg
A1
S
P
N control
Teach stop
0
1
1
x
neg
A1
S
P
N control
Teach start
1
1
0
0
-
0
S
P
Stop
Stopping
1
1
1
0
-
0
S
P
Stop
Stopping
1
1
0
0 -> 1
-
A1
S
P
Distance
Positioning
1
1
1
0 -> 1
-
A1
S
P
Distance
Positioning
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
57
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.21 Operating mode 55: IN A / B logic via IN 1, IN 2; IN A / IN B as release (enable)
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Emulation IN A.
Function IN 2:
Emulation IN B.
Speed
IN A
IN B
IN 2
Direction
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
No braking, no current feed
1
0
0
0
-
0
S
P
Free-wheeling
No braking, no current feed
1
0
1
0
pos
A1
S
P
N control
1
0
0
1
neg
A1
S
P
N control
1
0
1
1
-
0
S
P
Stop
0
1
0
0
-
0
S
P
Free-wheeling
0
1
1
0
pos
A1
S
P
N control
0
1
0
1
neg
A1
S
P
N control
0
1
1
1
-
0
S
P
Stop
1
1
0
0
-
0
S
P
Free-wheeling
1
1
1
0
pos
A1
S
P
N control
1
1
0
1
neg
A1
S
P
N control
1
1
1
1
-
0
S
P
Stop
Braking and stopping
No braking, no current feed
Braking and stopping
No braking, no current feed
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 1
Current limit
58
7 Parameterisation of the Operating Modes
7.22 Operating mode 61: Rotational direction; speed setpoints A1, N2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selecting the rotational direction.
Function IN 2:
Selection of the speed setpoint source analog A1 / parameter N2.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
0
0
pos
A1
S
P
N control
1
0
1
0
neg
A1
S
P
N control
1
0
0
1
pos
N2
S
P
N control
1
0
1
1
neg
N2
S
P
N control
0
1
0
0
neg
A1
S
P
N control
0
1
1
0
pos
A1
S
P
N control
0
1
0
1
neg
N2
S
P
N control
0
1
1
1
pos
N2
S
P
N control
Comment
No braking, no current feed
1
1
0
0
-
0
S
P
Stop
Braking and stopping
1
1
1
0
-
0
S
P
Stop
Braking and stopping
1
1
0
1
-
0
S
P
Stop
Braking and stopping
1
1
1
1
-
0
S
P
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
59
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.23 Operating mode 62: Rotational direction; dynamic current limit via A1
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selecting the rotational direction.
Function IN 2:
Selection of static / dynamic current limitation.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Type
0
0
x
x
-
1
0
0
0
pos
D
Value
Type
Value
Function
0
-
-
Free-wheeling
A1
F
A1
N control
1
0
1
0
neg
D
A1
F
A1
N control
1
0
0
1
pos
F
A1
D
A1
N control
1
0
1
1
neg
F
A1
D
A1
N control
0
1
0
0
neg
D
A1
F
A1
N control
0
1
1
0
pos
D
A1
F
A1
N control
0
1
0
1
neg
F
A1
D
A1
N control
F
Comment
No braking, no current feed
0
1
1
1
pos
A1
D
A1
N control
1
1
0
0
-
0
F
A1
Stop
Braking and stopping
1
1
1
0
-
0
F
A1
Stop
Braking and stopping
1
1
0
1
-
0
D
A1
Stop
Braking and stopping
1
1
1
1
-
0
D
A1
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 2 the current level is frozen (Saved) at A1
D = Dynamic
2015-02
x = Arbitrary value
60
7 Parameterisation of the Operating Modes
7.24 Operating mode 63: Rotational direction; distance
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selecting the rotational direction.
Function IN 2:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
0
x
pos
A1
S
P
N control
No braking, no current feed
1
0
1
x
neg
A1
S
P
N control
1
0
0
x
pos
A1
S
P
N control
1
0
1
x
neg
A1
S
P
N control
0
1
0
x
neg
A1
S
P
N control
0
1
1
x
pos
A1
S
P
N control
0
1
0
x
neg
A1
S
P
N control
0
1
1
x
pos
A1
S
P
N control
1
1
0
0
-
0
S
P
Stop
Stopping
1
1
1
0
-
0
S
P
Stop
Stopping
1
1
0
0 -> 1
-
A1
S
P
Distance
Positioning
1
1
1
0 -> 1
-
A1
S
P
Distance
Positioning
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
61
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.25 Operating mode 67: Rotational direction; dynamic current limit via A2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selecting the rotational direction.
Function IN 2:
Analog A2 dynamic current limitation.
Speed
IN A
IN B
0
1
IN 1
IN 2
0
x
A2
-
0
-
-
Free-wheeling
0
0
A2
pos
A1
D
A2
N control
Value
Type
Value
Function
1
0
1
A2
neg
A1
D
A2
N control
1
0
0
A2
pos
A1
D
A2
N control
1
0
1
A2
neg
A1
D
A2
N control
0
1
0
A2
neg
A1
D
A2
N control
0
1
1
A2
pos
A1
D
A2
N control
0
1
0
A2
neg
A1
D
A2
N control
0
1
1
A2
pos
A1
D
A2
N control
Comment
No braking, no current feed
1
1
0
A2
-
0
D
A2
Stop
Braking and stopping
1
1
1
A2
-
0
D
A2
Stop
Braking and stopping
1
1
0
A2
-
0
D
A2
Stop
Braking and stopping
1
1
1
A2
-
0
D
A2
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
Direction
Current limit
62
7 Parameterisation of the Operating Modes
7.26 Operating mode 68: Rotational direction; brake
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Selecting the rotational direction.
Function IN 2:
Input for braking voltage; motor only runs if brake released.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
0
0
-
0
S
P
Free-wheeling
1
0
1
0
-
0
S
P
Free-wheeling
1
0
0
1
pos
A1
S
P
N control
1
0
1
1
neg
A1
S
P
N control
0
1
0
0
-
0
S
P
Free-wheeling
0
1
1
0
-
0
S
P
Free-wheeling
0
1
0
1
neg
A1
S
P
N control
0
1
1
1
pos
A1
S
P
N control
Comment
No current feed
1
1
0
0
-
0
S
P
Free-wheeling
1
1
1
0
-
0
S
P
Free-wheeling
1
1
0
1
-
0
S
P
Stop
Stopping
1
1
1
1
-
0
S
P
Stop
Stopping
IN 2 = 0; brake closed
Note
IN 2 = 1; brake open
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
63
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.27 Operating mode 71: Speed setpoint PWM, N2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for PWM signal.
Function IN 2:
Selection of the speed setpoint source PWM / parameter.
Speed
IN A
IN B
IN 2
Direction
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
PWM
0
pos
PWM
S
P
N control
1
0
PWM
0
pos
PWM
S
P
N control
1
0
PWM
1
pos
N2
S
P
N control
1
0
PWM
1
pos
N2
S
P
N control
0
1
PWM
0
neg
PWM
S
P
N control
0
1
PWM
0
neg
PWM
S
P
N control
0
1
PWM
1
neg
N2
S
P
N control
0
1
PWM
1
neg
N2
S
P
N control
Comment
No braking, no current feed
1
1
PWM
0
-
0
S
P
Stop
Braking and stopping
1
1
PWM
0
-
0
S
P
Stop
Braking and stopping
1
1
PWM
1
-
0
S
P
Stop
Braking and stopping
1
1
PWM
1
-
0
S
P
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 1
Current limit
64
7 Parameterisation of the Operating Modes
7.28 Operating mode 72: Speed setpoint PWM; dynamic current limitation via PWM
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for PWM signal.
Function IN 2:
Selection of static / dynamic current limitation.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Type
0
0
x
x
-
1
0
PWM
0
pos
D
Value
Type
Value
Function
0
-
-
Free-wheeling
PWM
F
PWM
N control
1
0
PWM
0
pos
D
PWM
F
PWM
N control
1
0
PWM
1
pos
F
PWM
D
PWM
N control
1
0
PWM
1
pos
F
PWM
D
PWM
N control
0
1
PWM
0
neg
D
PWM
F
PWM
N control
0
1
PWM
0
neg
D
PWM
F
PWM
N control
0
1
PWM
1
neg
F
PWM
D
PWM
N control
F
Comment
No braking, no current feed
0
1
PWM
1
neg
PWM
D
PWM
N control
1
1
PWM
0
-
0
F
PWM
Stop
Braking and stopping
1
1
PWM
0
-
0
F
PWM
Stop
Braking and stopping
1
1
PWM
1
-
0
D
PWM
Stop
Braking and stopping
1
1
PWM
1
-
0
D
PWM
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 2 the current setpoint is frozen (saved) at IN 1.
D = Dynamic
65
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.29 Operating mode 73: Speed setpoint PWM, distance
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for PWM signal.
Function IN 2:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Speed
IN A
IN B
IN 2
Direction
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
PWM
x
pos
PWM
S
P
N control
1
0
PWM
x
pos
PWM
S
P
N control
1
0
PWM
x
pos
PWM
S
P
N control
1
0
PWM
x
pos
PWM
S
P
N control
0
1
PWM
x
neg
PWM
S
P
N control
0
1
PWM
x
neg
PWM
S
P
N control
0
1
PWM
x
neg
PWM
S
P
N control
0
1
PWM
x
neg
PWM
S
P
N control
Comment
No braking, no current feed
1
1
PWM
0
-
0
S
P
Stop
Stopping
1
1
PWM
0
-
0
S
P
Stop
Stopping
1
1
PWM
0 -> 1
-
PWM
S
P
Distance
Positioning
1
1
PWM
0 -> 1
-
PWM
S
P
Distance
Positioning
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 1
Current limit
66
7 Parameterisation of the Operating Modes
7.30 Operating mode 76: Speed setpoint PWM; rotational direction
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for PWM signal.
Function IN 2:
Selecting the rotational direction.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
PWM
0
pos
PWM
S
P
N control
1
0
PWM
0
pos
PWM
S
P
N control
1
0
PWM
1
neg
PWM
S
P
N control
1
0
PWM
1
neg
PWM
S
P
N control
0
1
PWM
0
neg
PWM
S
P
N control
0
1
PWM
0
neg
PWM
S
P
N control
0
1
PWM
1
pos
PWM
S
P
N control
0
1
PWM
1
pos
PWM
S
P
N control
Comment
No braking, no current feed
1
1
PWM
0
-
0
S
P
Stop
Braking and stopping
1
1
PWM
0
-
0
S
P
Stop
Braking and stopping
1
1
PWM
1
-
0
S
P
Stop
Braking and stopping
1
1
PWM
1
-
0
S
P
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
67
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.31 Operating mode 77: Speed setpoint PWM; dynamic current limit via A2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for PWM signal.
Function IN 2:
Analog A2 dynamic current limitation.
Speed
IN A
IN B
IN 2
Direction
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
PWM
A2
pos
PWM
D
A2
N control
1
0
PWM
A2
pos
PWM
D
A2
N control
1
0
PWM
A2
pos
PWM
D
A2
N control
1
0
PWM
A2
pos
PWM
D
A2
N control
0
1
PWM
A2
neg
PWM
D
A2
N control
0
1
PWM
A2
neg
PWM
D
A2
N control
0
1
PWM
A2
neg
PWM
D
A2
N control
0
1
PWM
A2
neg
PWM
D
A2
N control
Comment
No braking, no current feed
1
1
PWM
A2
-
0
D
A2
Stop
Braking and stopping
1
1
PWM
A2
-
0
D
A2
Stop
Braking and stopping
1
1
PWM
A2
-
0
D
A2
Stop
Braking and stopping
1
1
PWM
A2
-
0
D
A2
Stop
Braking and stopping
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 1
Current limit
68
7 Parameterisation of the Operating Modes
7.32 Operating mode 78: Speed setpoint PWM; brake
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for PWM signal.
Function IN 2:
Input for braking voltage; motor only runs if brake released.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
PWM
0
-
0
S
P
Free-wheeling
1
0
PWM
0
-
0
S
P
Free-wheeling
1
0
PWM
1
pos
PWM
S
P
N control
1
0
PWM
1
pos
PWM
S
P
N control
0
1
PWM
0
-
0
S
P
Free-wheeling
0
1
PWM
0
-
0
S
P
Free-wheeling
0
1
PWM
1
neg
PWM
S
P
N control
0
1
PWM
1
neg
PWM
S
P
N control
1
1
PWM
0
-
0
S
P
Free-wheeling
1
1
PWM
0
-
0
S
P
Free-wheeling
Comment
No current feed
1
1
PWM
1
-
0
S
P
Stop
Stopping
1
1
PWM
1
-
0
S
P
Stop
Stopping
IN 2 = 0; brake closed
Note
IN 2 = 1; brake open
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
69
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.33 Operating mode 81: Speed setpoint frequency, N2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for frequency signal.
Function IN 2:
Selection of the speed setpoint source frequency / parameter N2.
Speed
IN 1
IN 2
Direction
Current limit
IN A
IN B
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
Frequency
0
pos
Frequency
S
P
N control
1
0
Frequency
0
pos
Frequency
S
P
N control
1
0
Frequency
1
pos
N2
S
P
N control
1
0
Frequency
1
pos
N2
S
P
N control
0
1
Frequency
0
neg
Frequency
S
P
N control
0
1
Frequency
0
neg
Frequency
S
P
N control
0
1
Frequency
1
neg
N2
S
P
N control
0
1
Frequency
1
neg
N2
S
P
N control
1
1
Frequency
0
-
0
S
P
Stop
Stopping
1
1
Frequency
0
-
0
S
P
Stop
Stopping
1
1
Frequency
1
-
0
S
P
Stop
Stopping
1
1
Frequency
1
-
0
S
P
Stop
Stopping
No current feed
IN 2 = 0; brake closed
Note
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 2 = 1; brake open
70
7 Parameterisation of the Operating Modes
7.34 Operating mode 82: Speed setpoint frequency; dynamic current limitation via frequency
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for frequency signal.
Function IN 2:
Selection of static / dynamic current limitation.
Speed
IN 1
IN 2
Direction
Current limit
IN A
IN B
Type
0
0
x
x
-
1
0
Frequency
0
pos
D
Value
Type
Value
Function
0
-
-
Free-wheeling
Frequency
F
Frequency
N control
1
0
Frequency
0
pos
D
Frequency
F
Frequency
N control
1
0
Frequency
1
pos
F
Frequency
D
Frequency
N control
1
0
Frequency
1
pos
F
Frequency
D
Frequency
N control
0
1
Frequency
0
neg
D
Frequency
F
Frequency
N control
0
1
Frequency
0
neg
D
Frequency
F
Frequency
N control
0
1
Frequency
1
neg
F
Frequency
D
Frequency
N control
F
Comment
No current feed
0
1
Frequency
1
neg
Frequency
D
Frequency
N control
1
1
Frequency
0
-
0
F
Frequency
Stop
Stopping
1
1
Frequency
0
-
0
F
Frequency
Stop
Stopping
1
1
Frequency
1
-
0
D
Frequency
Stop
Stopping
1
1
Frequency
1
-
0
D
Frequency
Stop
Stopping
IN 2 = 0; brake closed
Note
IN 2 = 1; brake open
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Initialisation static current limit =
I_max parameter 0x38, 0x39, 0x3A, 0x3B
Initialisation speed setpoint = 0
rh, lh.
S = Static
P = Parameter
F = Freeze; on level changeover to IN 2 the current setpoint is frozen (saved) at IN 1.
D = Dynamic
71
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x = Arbitrary value
7 Parameterisation of the Operating Modes
7.35 Operating mode 83: Speed setpoint frequency, distance
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for frequency signal.
Function IN 2:
Travel distance; the distance increases with each high flank (x); displacement = x*distance.
Speed
IN 1
IN 2
Direction
Current limit
IN A
IN B
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
Frequency
x
pos
Frequency
S
P
N control
1
0
Frequency
x
pos
Frequency
S
P
N control
1
0
Frequency
x
pos
Frequency
S
P
N control
1
0
Frequency
x
pos
Frequency
S
P
N control
0
1
Frequency
x
neg
Frequency
S
P
N control
0
1
Frequency
x
neg
Frequency
S
P
N control
0
1
Frequency
x
neg
Frequency
S
P
N control
0
1
Frequency
x
neg
Frequency
S
P
N control
1
1
Frequency
0
-
0
S
P
Stop
Stopping
1
1
Frequency
0
-
0
S
P
Stop
Stopping
1
1
Frequency
0 -> 1
-
Frequency
S
P
Distance
Positioning
1
1
Frequency
0 -> 1
-
Frequency
S
P
Distance
Positioning
No current feed
IN 2 = 0; brake closed
Note
Distance =
Parameter 44 + 45; relative distance with plus/minus sign. Positive distances are travelled in a clockwise direction.
Travel distance only if KP_H > 0
For further information, see page 34.
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 2 = 1; brake open
72
7 Parameterisation of the Operating Modes
7.36 Operating mode 86: Speed setpoint frequency, rotational direction
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for frequency signal.
Function IN 2:
Selecting the rotational direction.
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
Frequency
0
pos
Frequency
S
P
N control
No current feed
1
0
Frequency
0
pos
Frequency
S
P
N control
1
0
Frequency
1
neg
Frequency
S
P
N control
1
0
Frequency
1
neg
Frequency
S
P
N control
0
1
Frequency
0
neg
Frequency
S
P
N control
0
1
Frequency
0
neg
Frequency
S
P
N control
0
1
Frequency
1
pos
Frequency
S
P
N control
0
1
Frequency
1
pos
Frequency
S
P
N control
1
1
Frequency
0
-
0
S
P
Stop
Stopping
1
1
Frequency
0
-
0
S
P
Stop
Stopping
1
1
Frequency
1
-
0
S
P
Stop
Stopping
1
1
Frequency
1
-
0
S
P
Stop
Stopping
IN 2 = 0; brake closed
Note
IN 2 = 1; brake open
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
73
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.37 Operating mode 87: Speed setpoint frequency; dynamic current limit via A2
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for frequency signal.
Function IN 2:
Analog A2 dynamic current limitation.
Speed
IN 1
IN 2
Direction
Current limit
IN A
IN B
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
Frequency
A2
pos
Frequency
D
A2
N control
1
0
Frequency
A2
pos
Frequency
D
A2
N control
1
0
Frequency
A2
pos
Frequency
D
A2
N control
1
0
Frequency
A2
pos
Frequency
D
A2
N control
0
1
Frequency
A2
neg
Frequency
D
A2
N control
0
1
Frequency
A2
neg
Frequency
D
A2
N control
0
1
Frequency
A2
neg
Frequency
D
A2
N control
0
1
Frequency
A2
neg
Frequency
D
A2
N control
1
1
Frequency
A2
-
0
D
A2
Stop
Stopping
1
1
Frequency
A2
-
0
D
A2
Stop
Stopping
1
1
Frequency
A2
-
0
D
A2
Stop
Stopping
1
1
Frequency
A2
-
0
D
A2
Stop
Stopping
No current feed
IN 2 = 0; brake closed
Note
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
IN 2 = 1; brake open
74
7 Parameterisation of the Operating Modes
7.38 Operating mode 88: Speed setpoint frequency, brake
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
Input for frequency signal.
Function IN 2:
Input for braking voltage; motor only runs if brake released.
Speed
IN 1
IN 2
Direction
Current limit
IN A
IN B
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
Frequency
0
-
0
S
P
Free-wheeling
1
0
Frequency
0
-
0
S
P
Free-wheeling
1
0
Frequency
1
pos
Frequency
S
P
N control
1
0
Frequency
1
pos
Frequency
S
P
N control
0
1
Frequency
0
-
0
S
P
Free-wheeling
0
1
Frequency
0
-
0
S
P
Free-wheeling
0
1
Frequency
1
neg
Frequency
S
P
N control
0
1
Frequency
1
neg
Frequency
S
P
N control
1
1
Frequency
0
-
0
S
P
Free-wheeling
1
1
Frequency
0
-
0
S
P
Free-wheeling
1
1
Frequency
1
-
0
S
P
Stop
Stopping
1
1
Frequency
1
-
0
S
P
Stop
Stopping
No current feed
IN 2 = 0; brake closed
Note
IN 2 = 1; brake open
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
S = Static
P = Parameter
F = Freeze
D = Dynamic
75
2015-02
x = Arbitrary value
7 Parameterisation of the Operating Modes
7.39 Operating mode 91: Operation via RS485; distance / speed
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
none
Function IN 2:
none
IN A or IN B are used as release (enable).
Speed run command
Speed
IN A
IN B
IN 1
IN 2
Direction
Value
Type
Value
Function
Comment
0
0
x
x
-
0
-
-
Free-wheeling
1
0
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
1
0
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
1
0
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
1
0
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
0
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
0
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
0
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
0
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
1
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
1
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
1
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
1
1
x
x
RS485
RS485
S
RS485
N control / distance
Speed / position run command
No braking, no current feed
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Position run command
Distance via RS485
Speed 0x3F; current via the distance see
S = Static
P = Parameter
F = Freeze
D = Dynamic
x = Arbitrary value
2015-02
Current limit
76
7 Parameterisation of the Operating Modes
7.40 Operating mode 98: Operation via RS485; distance / speed; brake
In order for the parameter to function, KP_H must be > 0.
Note
Function IN 1:
none
Function IN 2:
Input for braking voltage; motor only runs if brake released.
IN A or IN B are used as release (enable).
Speed run command
Speed
IN A
IN B
IN 1
IN 2
Direction
Current limit
Value
Type
Value
Function
0
0
x
x
-
0
-
-
Free-wheeling
1
0
x
0
-
-
S
RS485
Free-wheeling
1
0
x
0
-
-
S
RS485
Free-wheeling
1
0
x
1
RS485
RS485
S
RS485
N control / distance
1
0
x
1
RS485
RS485
S
RS485
N control / distance
0
1
x
0
-
-
S
RS485
Free-wheeling
0
1
x
0
RS485-
-
S
RS485
Free-wheeling
0
1
x
1
RS485
RS485
S
RS485
N control / distance
0
1
x
1
RS485
RS485
S
RS485
N control / distance
Comment
No current feed
1
1
x
0
-
-
S
RS485
Free-wheeling
1
1
x
0
-
-
S
RS485
Free-wheeling
1
1
x
1
RS485
RS485
S
RS485
N control / distance
Brake released
1
1
x
1
RS485
RS485
S
RS485
N control / distance
Brake released
IN 2 = 0; brake closed
Note
IN 2 = 1; brake open
Stop control =
If KP_H > 0; brake and stop in the current position on changeover to IN A = IN B = 1 + Coasting rh, lh.
If KP_H = 0; brake and stop on changeover to IN A = IN B = 1, run speed to 0.
Position run command
Distance via RS485
Speed 0x3F; current via the distance, see page 39.
S = Static
P = Parameter
F = Freeze
D = Dynamic
77
2015-02
x = Arbitrary value
8 Inputs and Outputs
8.1 Input circuit
8.1.1 IN A / IN B control inputs
The following logic table applies to the IN A / IN B control inputs:
IN A= 0 AND IN B = 0 => free-wheeling
IN A= 1 AND IN B = 0 => clockwise (positive): Target value, as it comes from the characteristic curve
IN A= 0 AND IN B = 1 => counter-clockwise (negative): Target value multiplied by -1
IN A= 1 AND IN B = 1 => brake / position
The IN A / IN B control inputs are prioritised higher than the position, speed and current target value. If the IN A / IN B control inputs were used
to set “brake”, the software brakes the drive and keeps it at a standstill as long as “brake” is activated.
The control type of the IN A / IN B control inputs can still be changed by the change in rotational direction (this has higher priority).
The “free-wheeling” state has the same meaning as “Motor_Quit” or “Motor_OFF” and is active if IN A AND IN B are set to 0.
If the input parameters Mode 1 and Mode 2 are set to IN A logic and B logic, the drive can be enabled, if the physical IN A / IN B control input
requests = 0 / 0 (= free-wheeling)
OR
the IN 1 / IN 2 inputs request = 0 / 0 (= free-wheeling).
If the input parameters Mode 1 and Mode 2 are set to IN A logic and B logic, and the IN 1 / IN 2 inputs map the IN A / IN B behaviour, the
familiar IN A- / B-Logic can be used:
IN 1 / IN 2 = 0 / 0 = enable
IN 1 / IN 2 = 1 / 0 = clockwise
IN 1 / IN 2 = 0 / 1 = counter-clockwise
2015-02
IN 1 / IN 2 = 1 / 1 = brake / position
78
8 Inputs and Outputs
8.1.2 Input IN 1 and Input IN 2
Parameter 0x1: Mode 1 (for IN 1)
Description: The parameter Mode 1 contains the configuration for the IN 1. This parameter describes how this is to be used and which
control task it undertakes.
Default value: 1: Fixed speed N1 or dyn. target speed
Scaling:
1: Fixed speed N1 or dynamic target speed selectable via IN 1
2: Changeover to dyn. current limitation with A1 via IN 1
3: Travel distance with IN 1
4: Teach with IN 1
5: A-Logic with IN 1
6: Change direction of rotation with IN 1
7: PWM via IN 1
8: Frequency via IN 1
9: RS485 mode without IN 1 and IN 2
Dependencies: Input IN 2 parameter
Parameter 0x2: Mode 2 (for IN 2)
Description: The parameter Mode 2 contains the configuration for the IN 2. This parameter describes how this is to be used and which
control task it undertakes.
Default value: 1: Fixed speed N2
1: Fixed speed N2 or dynamic target speed selectable via IN 2
2: Changeover to dynamic current limitation with dyn. target value via IN 2
3: Travel distance with IN 2
4: Teach with IN 2
5: Teach with IN 2
6: Direction rotation reverse with IN 2
7: Analog input IN 2 as dyn. current limitation
8: Brake to IN 2 (drive may only rotate if brake released)
79
2015-02
Dependencies: Input IN 1 parameter
8 Inputs and Outputs
8.1.3 Analog IN A1
5: Analog (IN A1) (analog input (target speed > default))
Input
Analog IN A1
Analog input (target speed > default)
0…10V (differential)
Analog GND
GND for analog IN 1 (differential)
8.2 Output circuit
8.2.1 Output OUT 1 / Output OUT 2 / Output OUT 3
P03: Use of the output OUT 1
Description: The parameter defines which status output is output at output OUT 1.
Default value: 4 (= drive ready)
Scaling:
0: no function
1: no function (reserved)
2: Speed signal
3: Current signal
4: Ready signal
5: Positioning window reached
6: Temperature signal
7: RS485 controlled
2015-02
Dependencies: with codes 2 – 6 the corresponding threshold values must contain valid values.
80
8 Inputs and Outputs
P04: Use of the output OUT 2
Description: The parameter defines which status output is output at output OUT 2.
Default value: 1
Scaling:
0: no function
1: Increment_1
2: Speed signal
3: Current signal
4: Ready signal
5: Positioning window reached
6: Temperature signal
7: RS485 controlled
Dependencies: with codes 2 – 6 the corresponding threshold values must contain valid values.
P05: Use of the output OUT 3
Description: The parameter defines which status output is output at output OUT 3.
Default value: 1
Scaling:
0: no function
1: Increment_2
2: Speed signal
3: Current signal
4: Ready signal
5: Positioning window reached
6: Temperature signal
7: RS485 controlled
Dependencies: with codes 2 – 6 the corresponding threshold values must contain valid values.
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U logic (common GND)
9 RS485 Communication
9.1 Communication method
Communication between users and the drive software takes place via so-called telegrams. Each program contains specified data, which has
to be received or sent. The drive software ignores telegrams that are not addressed to it.
RS485 communication is possible with the following parameterisation:
Baud rate = 115200
Number of data bits: 8
Number of stop bits: 1
Parity: even
9.2 Cycle time
The telegrams “COM_CRX_FAHRBEFEHL_DREHZAHL” and “COM_CRX_FAHRBEFEHL_POSITION” may only be sent every 10 ms maximum, as
otherwise working through the telegrams uses up too much computing time.
If the telegrams are sent faster (< 10 ms) information is lost. The command is incomplete and is not executed. This does not cause any
damage to the drive.
9.3 Commands
9.3.1 Commands (RX)
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Command
Value
Comment, conditions
UART_CRX_FAHRBEFEHL_DREHZAHL
0x00
FE_SOLLDREHZAHL RS485
UART_CRX_FAHRBEFEHL_POSITION
0x01
FE_SOLLDREHZAHL
UART_CRX_PARAMETER_STORE
0x02
Save parameter from RAM in the EEPROM
UART_CRX_PARAMETER_WR
0x03
Write a parameter in the RAM
UART_CRX_PARAMETER_RD
0x04
Read a parameter from RAM
UART_CRX_STATUS_RD
0x05
Read status
UART_CRX_PARAMETER_RELOAD_DFLT
0x06
Read default parameters from EEPROM into RAM
UART_CRX_SOFTWARE_ID_RD
0x07
Read software ID
UART_CRX_BOOTLOADER_ID_RD
0x08
Read bootloader ID
UART_CRX_CUSTOMER_ACCESS
0x09
Access to parameters
UART_CRX_BACK_TO_BOLO
0x0B
Request jump back to bootloader
UART_CRX_CUSTOMER PASS SET
0x0C
Reset password
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9 RS485 Communication
9.3.2 Answer commands (TX)
In the response (answer) telegram the recommended start byte from the above table is repeated as the start by. The value is increased by
0x80.
Command
Value
Comment, conditions
COM_CTX_FAHRBEFEHL_DREHZAHL
0x80
FE_SOLLDREHZAHL RS485
COM_CTX_FAHRBEFEHL_POSITION
0x81
FE_SOLLDREHZAHL RS485
COM_CTX_PARAMETER_STORE
0x82
COM_CTX_PARAMETER_WR
0x83
COM_CTX_PARAMETER_RD
0x84
COM_CTX_STATUS_RD
0x85
COM_CTX_PARAMETER_RELOAD_DFLT
0x86
COM_CTX_SOFTWARE_ID_RD
0x87
Software-ID
COM_CTX_BOOTLOADER_ID_RD
0x88
Bootloader-ID
COM_CTX_CUSTOMER_ACCESS
0x89
Access to parameters
COM_CTX_BACK_TO_BOLO
0x8B
Jump back into bootloader takes place
COM_CTX_CUSTOMER PASS SET
0x8C
Customer password is reset
If an undefined or incorrect telegram is detected, the telegram “COM_CTX_STATUS_RD” is sent in response.
9.4 Status byte
Unless stated otherwise, the error flags set in the status byte of the answer have the following meaning:
Bit
Meaning
0
Undefined telegram
1
Telegram length too short or checksum incorrect
2
Wrong parameter number
3
Telegram can now not be processed
4
Telegram-dependent
5
Telegram-dependent
6
Telegram-dependent
7
Telegram-dependent
Bit 0 to 3 are identical for all telegrams.
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Bit 4 to 7 are telegram-dependent.
9 RS485 Communication
9.5 Motor status byte
The bits of the motor status byte have the following meaning:
Bit
Meaning
Comment
0
bUebertemperatur
1 = Drive detects overtemperature
1
bMotorAktiv
1 = Drive is active
2
bUeberspannung
1 = drive detects overvoltage
3
bUnterspannung
1 = drive detects undervoltage
4
bHWFehler
1 = drive detects hardware fault
5
bUeberstrom
1 = drive detects overcurrent
6
bQuittErforderlich
1 = drive needs an acknowledgement
7
bDBereit
1 = drive is ready
9.6 Checksum
The checksum is calculated as follows:
• All bytes including the start byte are added together.
–– As, in special cases, the sum can be 0 and an empty telegram would be interpreted as “Run command speed with target speed = 0 and
maximum current = 0”, the sum is disjuncted with 0 x 55. In this way the special case is detected.
Formula: Checksum = (sum (Byte0..last_Byte)) || 0x55
9.7 “Speed” run command
The “speed” run command described here initiates speed-controlled operation, if the setpoint selector of the drive has been used to activate
“RS485 speed input”.
In the case of static operation with a speed, the command must be sent cyclically every 2 sec. at the latest, as otherwise
Note
the drive detects a bus interruption and specifies an error speed (parameter 0x16).
9.7.1 Requirements
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RS485 Char
84
Use
Value / Comment
1
Start byte
COM_CRX_FAHRBEFEHL_DREHZAHL
2
Address byte
Bus address
3
Target speed Hi
rpm, -32768…32767
4
Target speed Lo
5
Maximum current Hi
6
Maximum current Lo
7
Checksum
0-100 %
9 RS485 Communication
9.7.2 Answer
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_FAHRBEFEHL_DREHZAHL
2
Address byte
Bus address
3
Actual speed Hi
rpm, -32768…32767
4
Actual speed Lo
5
Actual current Hi
10mA / Digit
6
Actual current Lo
10mA / Digit
7
Actual position HiHi
Revolution, -32768…32767
8
Actual position HiLo
9
Actual position LoHi
10
Actual position LoLo
11
Motor status byte
12
Status byte
13
Checksum
1/65535 revolutions, 0…65535
9.8 “Position” run command
The “position” run command described here initiates a positioning run, if the setpoint selector of the drive has been used to activate “RS485
position input”.
9.8.1 Requirements
Use
Value / Comment
1
Start byte
COM_CRX_FAHRBEFEHL_POSITION
2
Address byte
Bus address
3
Target position HiHi
Revolutions, -32768…32767
4
Target position HiLo
5
Target position LoHi
6
Target position LoLo
7
Checksum
1/65535 revolutions, 0…65535
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RS485 Char
9 RS485 Communication
9.8.2 Answer
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_FAHRBEFEHL_POSITION
2
Address byte
Bus address
3
Actual speed Hi
rpm, -32768…32767
4
Actual speed Lo
5
Actual current Hi
10mA / Digit
6
Actual current Lo
10mA / Digit
7
Actual position HiHi
Revolutions, -32768…32767
8
Actual position HiLo
9
Actual position LoHi
10
Actual position LoLo
11
Motor status byte
12
Status byte
13
Checksum
1/65535 Revolutions, 0…65535
9.9 Save parameters
Saves all parameters from the RAM in the EEPROM (emulates data flash), provided at least one parameter has been changed since the last
reset or the last successful call of this command.
9.9.1 Request
RS485 Char
1
2
Use
Value / Comment
Start byte
COM_CRX_PARAMETER_STORE
Address byte
Bus address
3…6
Access key
Customer password
7
Checksum
9.9.2 Answer
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RS485 Char
86
Use
Value / Comment
1
Start byte
COM_CTX_PARAMETER_STORE
2
Address byte
Bus address
3
Status byte
4
Checksum
9 RS485 Communication
9.9.3 Error flags
Bit
Meaning
7
Error, parameters are still inconsistent and cannot be saved
6
Errors occur on writing the data flash
5
No parameters changed, no data saved
4
Incorrect access key, no data saved
9.10 Write parameter
Writes a value in the parameter memory.
9.10.1 Request
RS485 Char
Use
Value / Comment
1
Start byte
COM_CRX_PARAMETER_WR
2
Address byte
Bus address
3
Parameter No.
4
Parameter No.
0…65535
5
Parameter Hi
parameter to be written
6
Parameter Lo
7
Checksum
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_PARAMETER_WR
2
Address byte
Bus address
3
Parameter No.
4
Parameter No.
0…65535
5
Parameter Hi
written parameter
6
Parameter Lo
7
Parameter No. Hi
0, if no conflict exists
8
Parameter No. Lo
If conflict exists, No. of the colliding (clashing) parameter
9
Status byte
10
Checksum
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9.10.2 Answer
9 RS485 Communication
9.10.3 Error flags
Bit
Meaning
7
6
5
Save parameter failed
4
Incorrect access key
9.11 Read parameter
Reads a parameter from the parameter memory.
9.11.1 Request
RS485 Char
Use
Value / Comment
1
Start byte
COM_CRX_PARAMETER_RD
2
Address byte
Bus address
3
Parameter No. Hi
4
Parameter No. Lo
5
Checksum
0…65535
9.11.2 Answer
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RS 485 Char
88
Use
Value / Comment
1
Start byte
COM_CTX_PARAMETER_RD
2
Address byte
Bus address
3
Parameter No. Hi
4
Parameter No. Lo
0…65535
5
Parameter Hi
parameter read
6
Parameter Lo
7
Status byte
8
Checksum
9 RS485 Communication
9.11.3 Error flags
Bit
Meaning
7
6
5
Read parameter failed
4
Incorrect access key
9.12 Read status word
9.12.1 Request
RS485 Char
Use
Value / Comment
1
Start byte
COM_CRX_STATUS_RD
2
Address byte
Bus address
3
Checksum
9.12.2 Answer
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_STATUS_RD
2
Address byte
Bus address
3
Motor status byte
4
Status byte
5
Checksum
9.13 Load “Parameter default values”
The command enables the “Parameter default values” to be loaded into the RAM. To save the “Default values” permanently the “Save
parameters” command must be executed (see Chapter 9.9 Save parameters, page 86).
RS485 Char
1
2
Use
Value / Comment
Start byte
COM_CRX_PARAMETER_RESTORE
Address byte
Bus address
3…6
Access key
Customer password
7
Checksum
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9.13.1 Request
9 RS485 Communication
9.13.2 Answer
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_PARAMETER_RESTORE
2
Address byte
Bus address
3
Status byte
4
Checksum
9.13.3 Error flags
Bit
Meaning
7
6
5
4
Incorrect access key
9.14 Read software ID
9.14.1 Request
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RS485 Char
90
Use
Value / Comment
1
Start byte
COM_CRX_SOFTWARE_HEADER_RD
2
Address byte
Bus address
3
Checksum
9 RS485 Communication
9.14.2 Response (without / with bootloader)
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_SOFTWARE_HEADER_RD
2
Address byte
Bus address
3…6
Data 01…04
0 / u32AddrCrcEnd
7…10
Data 05…08
0 / u32AddrCodeStart
11…14
Data 09…12
0 / u32AddrPM_Start
15…18
Data 13…16
0 / u32AddrPM_End
19…22
Data 17…20
Software Version, e.g. 'V' - 1 - 0 - 1
23…26
Data 21…24
32 bit still free
27…30
Data 25…28
32 bit still free
31…34
Data 29…32
32 bit still free
35
Checksum
9.15 Read bootloader ID
9.15.1 Request
RS485 Char
Use
Value / Comment
1
Start byte
COM_CRX_APPLBOLOPAT_RD
2
Address byte
Bus address
3
Checksum
9.15.2 Answer
Use
Value / Comment
1
Start byte
COM_CTX_APPLBOLOPAT_RD
2
Address byte
Bus address
Data 01…19
Bootloader ID
3…22
23
Checksum
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RS485 Char
9 RS485 Communication
9.16 Full write access to parameters
9.16.1 Request
RS485 Char
Use
Value / Comment
1
Start byte
UART_CRX_CUSTOMER_ACCESS
2
Address byte
Bus address
Data 01…04 (AccessKey)
Customer access key
3…6
7
Checksum
9.16.2 Answer
RS485 Char
Use
Value / Comment
1
Start byte
UART_CTX_CUSTOMER_ACCESS
2
Address byte
Bus address
3
Status byte
4
Checksum
9.16.3 Error flags
Bit
Meaning
7
6
5
4
Incorrect access key, access is restricted
9.17 Request jump back to bootloader
The jump back into the bootloader is made after transferring the response.
9.17.1 Request
RS485 Char
1
2
3…6
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7
92
Use
Value / Comment
Start byte
COM_CRX_BACK_TO_BOLO
Address byte
Bus address
Data 01…04 (AccessKey)
Customer access key
Checksum
9 RS485 Communication
9.17.2 Answer
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_BACK_TO_BOLO
2
Address byte
Bus address
3
Status byte
4
Checksum
9.17.3 Error flags
Bit
Meaning
7
6
5
Motor is not in free-wheeling, jump back into the bootloader does not take place
4
Incorrect access key, jump back into the bootloader does not take place
9.18 Reset customer password
9.18.1 Request
RS485 Char
Use
Value / Comment
1
Start byte
COM_CRX_CUSTOMER PASS SET
2
Address byte
Bus address
3
Customer password until now HiHi
4
Customer password until now HiLo
5
Customer password until now LoHi
6
Customer password until now LoLo
7
New customer password HiHi
8
New customer password HiLo
9
New customer password LoHi
10
New customer password LoLo
11
Checksum
RS485 Char
Use
Value / Comment
1
Start byte
COM_CTX_CUST_PASS_SET
2
Address byte
Bus address
3
Status byte
4
Checksum
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9.18.2 Answer
9 RS485 Communication
9.18.3 Error flags
Bit
Meaning
7
6
5
4
Incorrect access key
9.19 Undefined telegrams
Undefined telegrams are not answered. Corresponding error flags are set in the start byte of the response. Use of an already defined
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response should simplify processing on the ho side.
94
10 Parameter Description
This chapter describes the functions of the available parameters.
• For a list of all parameters, see Chapter 6.2 Parameter, page 33. The possible assignable status outputs are listed
Note
page 111.
Parameter memory
The parameter memory can store all the parameters listed in the following as non-volatile memory, if a STORE command is received.
Use the RESTORE command to restore the factory settings.
Parameter 0x1: Mode 1
Description: The parameter Mode 1 contains the configuration for the Input IN 1. This parameter describes how the input IN 1 is to be used and which
control task it undertakes.
Parameter 0x2: Mode 2
Description: The parameter Mode 2 contains the configuration for the Input IN 2. This parameter describes how the input IN 2 is to be used and which
control task it undertakes.
Parameter 0x3: Use the output OUT1
Description: The parameter defines which status output is output at output OUT1.
Parameter 0x4: Use of the output OUT2
Description: The parameter defines which status output is output at output OUT 2.
Parameter 0x5: Use of the output OUT3
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Description: The parameter defines which status output is output at output OUT 3.
10 Parameter Description
Parameter 0x6: Restart
Description: The “restart” parameter is used to configure the behaviour according following safety-critical errors. The drive cannot be operated while
safety-critical errors are queued. If there are no longer any safety-critical errors, the drive can be switched ready for use automatically or manually via an
acknowledgement.
0 = automatic restart
1 = confirmation required
Parameter 0x7, 0x8, 0x9, 0xA: intentionally left blank
Parameter 0xB: FE_DREHZAHL_X1
Description: X1 interpolation point in the target value characteristic curve.
Parameter 0xC: FE_DREHZAHL_X2
Description: X2 interpolation point in the target value characteristic curve.
Parameter 0xD: FE_DREHZAHL_X3
Description: X3 interpolation point in the target value characteristic curve.
Parameter 0xE: FE_DREHZAHL_Y0
Description: Target speed below the first interpolation point.
Parameter 0xF: FE_DREHZAHL_Y1
Description: Target speed value for interpolation point X1.
Parameter 0x10: FE_DREHZAHL_Y2
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Description: Target speed value for interpolation point X2.
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10 Parameter Description
Parameter 0x11: FE_DREHZAHL_Y3
Description: Target speed value for interpolation point X3.
Parameter 0x12: FE_DREHZAHL_Y4
Description: Target speed value above the interpolation point X3.
Parameter 0x13: DREHZAHL_X1_HYSTERESE
Description: Interpolation point hysteresis value for X1. Value is understood as being the width of the hysteresis on the X axis and is used half under and
half above the corresponding interpolation point.
E.g.:
FE_DREHZAHL_X1 = 100,
DREHZAHL_X1_HYSTERESE = 20
If the X axis value moves upwards, from value 110 (= 100 + (20/2)) the characteristic moves to value Y1. If the X axis value moves downwards, from X axis
value 90 (= 100 – (20/2)) the characteristic jumps to Y0.
Parameter 0x14: DREHZAHL_X2_HYSTERESE
Description: Interpolation point hysteresis value for X2. Value is understood as being the width of the hysteresis on the X axis and is used half under and
half above the corresponding interpolation point.
E.g.:
FE_DREHZAHL_X2 = 100,
DREHZAHL_X2_HYSTERESE = 20
If the X axis value moves upwards, from value 110 (= 100 + (20/2)) the characteristic moves to value Y2. If the X axis value moves downwards, from X axis
value 90 (= 100 – (20/2)) the characteristic jumps to Y1.
Parameter 0x15: DREHZAHL_X3_HYSTERESE
Description: Interpolation point hysteresis value for X3. Value is understood as being the width of the hysteresis on the X axis and is used half under and
half above the corresponding interpolation point.
E.g.:
FE_DREHZAHL_X3 = 100,
DREHZAHL_X3_HYSTERESE = 20
If the X axis value moves upwards, from value 110 (= 100 + (20/2)) the characteristic moves to value Y3. If the X axis value moves downwards, from X axis
value 90 (= 100 – (20/2)) the characteristic jumps to Y2.
Parameter 0x16: FEHLER_DREHZAHL
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Description: Speed setpoint in case of setpoint detection errors
10 Parameter Description
Parameter 0x17: Fixed speed N1
Description: Fixed speed value, which is used depending on the setting of the parameter 0x1 and parameter 0x2 and their corresponding inputs IN 1 / IN 2.
Parameter 0x18: Fixed speed N2
Description: Fixed speed value, which is used depending on the setting of the parameter 0x1 and parameter 0x2 and their corresponding inputs IN 1 / IN 2.
Parameter 0x19: Fixed speed N3
Description: Fixed speed value, which is used depending on the setting of the parameter 0x1 and parameter 0x2 and their corresponding inputs IN 1 / IN 2.
Parameter 0x1A: t ramp-up cw
Description: Parameter is to be seen and used as the ramp slope (gradient) for the acceleration process in clockwise rotation (cw). The time given here is
to be implemented for a setpoint jump of 1000 rpm. That is to say, the drive follows the setpoint jump ramped up by 1000 revs in the time set here.
Parameter 0x1B: t ramp-down cw
Description: Parameter is to be seen and used as the ramp slope (gradient) for the braking process in clockwise rotation (cw). The time given here is to be
implemented for a setpoint jump of 1000 rpm. That is to say, the drive follows the setpoint jump ramped up by 1000 revs in the time set here.
Parameter 0x1C: t-ramp-up ccw
Description: Parameter is to be seen and used as the ramp slope (gradient) for the acceleration process in counter-clockwise rotation (ccw). The time given
here is to be implemented for a setpoint jump of 1000 rpm. That is to say, the drive follows the setpoint jump ramped down by 1000 revs in the time set
here.
Parameter 0x1D: t-ramp-down ccw
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Description: Parameter is to be seen and used as the ramp slope (gradient) for the braking process in counter-clockwise rotation (ccw). The time given
here is to be implemented for a setpoint jump of 1000 rpm. That is to say, the drive follows the setpoint jump ramped down by 1000 revs in the time set
here.
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10 Parameter Description
Parameter 0x1E: Speed controller KP
Description: Amplification factor (gain) for the proportional component in the speed controller.
Parameter 0x1F: Speed controller KI
Description: Amplification factor (gain) for the integral component in the speed controller.
Parameter 0x20: Speed controller KD
Description: Amplification factor (gain) for the differential component in the speed controller.
Parameter 0x21: K_ff
Description: The parameter K_ff (speed control input) is a link between the ramp generator target speed output and the setpoint of the speed controller
input.
This parameter can be used to zero the setpoint input of the speed controller or pass the ramp generator input to the speed controller with additional gain.
See also “Parameter 0x1E: Speed controller KP”.
PI controller structure
+
Target speed
KP
+
KI
Actual speed
dyn anti windup
Control structure K4
Target speed
Target speed
Ramp generator
Target speed
K_ff
Current controller
Speed controller
Ramp generator
Position controller
K_p
Actual position
+
Target speed
K_p
K_I
Actual speed
I-Target
K_p
V
K_I
Actual current
Only positioning
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Target position
10 Parameter Description
Parameter 0x22: Actual speed value averaging
Description: The registered actual speed is filtered with a digital filter for the period defined here.
The change in the filter time constant must be taken into account in the controller adjustment.
Note
Parameter 0x23: Resolution of the actual outputs
Description: The resolution of the actual outputs (Pulse / revolution).
Tolerance range of the actual outputs
60
55
50
45
Impulse / revolution
40
35
30
25
Difference up to 5 %
20
Difference up to 10 %
Difference up to 15 %
15
10
5
0
0
1000
2000
3000
4000
5000
Revolution [rpm]
Parameter 0x24: Speed signal threshold
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Description: The speed signal threshold (amount) parameter defined from which speed a speed signal is set at an output.
100
6000
10 Parameter Description
Parameter 0x25: Speed signal delta hysteresis
Description: Parameter is to be understood as being an absolute delta value (amount), which specifies the absolute threshold “speed signal threshold
– hysteresis speed signal delta”.
E.g.:
Speed signal threshold = 1000 rpm
Hysteresis speed signal delta = 150 rpm
Here the lower hysteresis threshold of the speed signal is therefore 850 rpm = (1000 – 150)
Parameter 0x26: FE_STROM_X1
Description: X axis interpolation point value X1.
Parameter 0x27: FE_STROM_X2
Description: X axis interpolation value X2.
Parameter 0x28: FE_STROM_X3
Description: X axis interpolation value X3
Parameter 0x29: FE_STROM_Y0
Description: Maximum current percentage below interpolation point X1.
Parameter 0x2A: FE_STROM_Y1
Description: Maximum current percentage for interpolation point X1.
Parameter 0x2B: FE_STROM_Y2
Description: Maximum current percentage for interpolation point X2.
Parameter 0x2C: FE_STROM_Y3
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Description: Maximum current percentage for interpolation point X3.
10 Parameter Description
Parameter 0x2D: FE_STROM_Y4
Description: Maximum current percentage above the interpolation point X3.
Parameter 0x2E: STROM_X1_HYST
Description: Interpolation point hysteresis value for X1. Value is understood as being the width of the hysteresis on the X axis and is used half under and
half above the corresponding interpolation point.
E.g.:
FE_DREHZAHL_X1 = 100,
DREHZAHL_X1_HYSTERESE = 20
If the X axis value moves upwards, from value 110 (= 100 + (20/2)) the characteristic moves to value Y1. If the X axis value moves downwards, from X axis
value 90 (= 100 – (20/2)) the characteristic jumps to Y0.
Parameter 0x2F: STROM_X2_HYST
Description: Interpolation point hysteresis value for X2. Value is understood as being the width of the hysteresis on the X axis and is used half under and
half above the corresponding interpolation point.
E.g.:
FE_DREHZAHL_X2 = 100,
DREHZAHL_X2_HYSTERESE = 20
If the X axis value moves upwards, from value 110 (= 100 + (20/2)) the characteristic moves to value Y2. If the X axis value moves downwards, from X axis
value 90 (= 100 – (20/2)) the characteristic jumps to Y1.
Parameter 0x30: STROM_X3_HYST
Description: Interpolation point hysteresis value for X3. Value is understood as being the width of the hysteresis on the X axis and is used half under and
half above the corresponding interpolation point.
E.g.:
FE_DREHZAHL_X3 = 100,
DREHZAHL_X3_HYSTERESE = 20
If the X axis value moves upwards, from value 110 (= 100 + (20/2)) the characteristic moves to value Y3. If the X axis value moves downwards, from X axis
value 90 (= 100 – (20/2)) the characteristic jumps to Y2.
Parameter 0x31: Current error
Description: Maximum current percentage in case of fault registration.
Parameter 0x32: Current signal threshold
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Description: The current signal threshold parameter defines from which winding current value the current signal output is activated.
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10 Parameter Description
Parameter 0x33: Current signal delta hysteresis
Description: Parameter is to be understood as being an absolute delta value, which specifies the absolute threshold “current signal threshold – hysteresis
current signal delta”.
E.g.:
Current signal threshold = 7000 mA
Hysteresis current signal delta = 1000 mA
Here the lower hysteresis threshold of the current signal is therefore 6000 mA = (7000 – 1000)
Parameter 0x34: Current time constant
Description: Delay, which must at least have expired in order for a current signal to be output.
Parameter 0x35: Current gating time
Description: Startup delay, which must at least have expired once on starting a drive in order for a current signal to be output.
Parameter 0x36: Reversing threshold
Description: The reversing threshold is a speed threshold. Above this threshold the current limits within the regenerative range are set to 0. If the actual
speed is below this threshold the drive will be able to move into the regenerative range, only then do the Imax limits for regenerative mode apply.
Parameter 0x37: Reversing threshold delta hysteresis
Description: Parameter is to be understood as being an absolute delta value from the reversing threshold, which specifies the absolute threshold “reversing
threshold – hysteresis reversing threshold delta”.
E.g.:
Reversing threshold = 100 rpm
Hysteresis start-stop threshold delta = 25 rpm
Here the lower hysteresis threshold of the reversing threshold is therefore 75 rpm = (100 – 25)
Parameter 0x38: I_Max_treibend_Rechts
Description: Maximum current for the driving clockwise rotation.
Parameter 0x39: I_Max_treibend_Links
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Description: Maximum current for the driving counter-clockwise rotation.
10 Parameter Description
Parameter 0x3A: I_Max_bremsend_Rechts
Description: Maximum current for the braking / regenerative clockwise rotation.
Parameter 0x3B: I_Max_bremsend_Links
Description: Maximum current for the braking / regenerative counter-clockwise rotation.
Parameter 0x3C: Hold gain KP_H
Description: The hold gain KP_H is defined as the gain factor for the P controller of the position controller (= holding torque controller).
See also ”Parameter 0x1E: Speed controller KP” on page 99.
Parameter 0x3D: PWM / Freq: Lower frequency limit
Description: The lower frequency limit indicates the frequency value at which the normalised X axis sets its zero point. As the PWM / freq. registration
module operates from 25 Hz to 15 kHz, the frequency range used by the user very probably lies between. The user can use the lower and upper frequency
limits to trim precisely the normalised X axis of the characteristic to their frequency range.
Parameter 0x3E: PWM / Freq: Upper frequency limit
Description: The upper frequency limit indicates the frequency value at which the normalised X axis sets its maximum point ( = 1023). As the PWM / freq.
registration module operates from 25 Hz to 15 kHz, the frequency range used by the user very probably lies between. The user can use the lower and
upper frequency limits to trim precisely the normalised X axis of the characteristic to their frequency range.
Parameter 0x3F: Max. positioning speed
Description: Maximum speed (as amount), with which the position controller (= holding controller) may operate.
Parameter 0x40 + Parameter 0x41: Coasting, cw
Description: Number of angle digits, which are added to a hold (stopping) point if the drive has to stop.
Parameter 0x42 Parameter 0x43: Coasting ccw
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Description: Number of angle digits, which are added to a hold (stopping) point if the drive has to stop.
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10 Parameter Description
Parameter 0x44 Parameter 0x45: Distance
Description: Relative distance with sign (+/-). Positive distances are travelled in a clockwise direction.
Parameter 0x46 Parameter 0x47: Positive Positioning window
Description: Position digits, which describe the upper end of the positioning window. This value is added to the target position.
Parameter 0x48 Parameter 0x49: Negative Positioning window
Description: Position digits, which describe the lower end of the positioning window. This value is added to the target position.
Parameter 0x4A: UZK overvoltage threshold
Description: UZK voltage threshold, which is used for monitoring.
Parameter 0x4B: UZK undervoltage threshold
Description: UZK voltage threshold, which is used for monitoring.
Parameter 0x4C: UZK voltage hysteresis
Description: UZK voltage threshold hysteresis, which is used for monitoring. This hysteresis is understood to be an absolute delta.
Parameter 0x4D: Ballast chopper switch on threshold
Description: The switch on threshold specifies a UZK voltage value, at which, when exceeded, the ballast output becomes active. The control of the ballast
resistor lowers the UZK once again.
Parameter 0x4E: Ballast chopper switch off threshold
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Description: The switch off threshold specifies a UZK voltage value, at which, when undershot, the ballast output becomes inactive. The control of the ballast
resistor, which lowered the UZK voltage, is switched off.
10 Parameter Description
Parameter 0x4F: Temperature signal threshold
Description: The temperature signal threshold parameter defines from which temperature value the temperature signal output is activated.
Parameter 0x50: Temperature signal delta hysteresis
Description: The parameter is to be understood as being an absolute delta value, which specifies the absolute threshold “temperature signal threshold
– hysteresis temperature signal delta”.
E.g.:
Temperature signal threshold = 70°C
Hysteresis temperature signal delta = 3°C
Here the lower hysteresis threshold of the temperature signal is 67°C = (70 – 3)
Parameter 0x51: Transmission ratio
Description: The transmission ratio factor contains a conversion factor which allows the speed at the transmission output to be deduced.
Parameter 0x52: Bus address
Description: The parameter contains the slave address of the drive. Under this address the drive can be addressed via RS485.
Parameter 0x8001: Current actual speed
Description: The parameter contains the current actual speed. The speed is output in revolutions / minute.
Parameter 0x8002: Current winding current
Description: The parameter contains the current actual current, which is calculated as the vector addition of Iq and Id.
Parameter 0x8003: Current actual position LoByte
Description: The parameter contains the current actual position.
Parameter 0x8004: Current actual position HiByte
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Description: The parameter contains the current actual position.
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10 Parameter Description
Parameter 0x8005: Current actual temperature of the printed circuit board
Description: The parameter contains the current actual temperature of the printed circuit board.
Parameter 0x8006: Current electrical current Id
Description: The parameter contains the current electrical current Id, which is calculated within the Park / Clark transformation.
Parameter 0x8007: Current electrical current Iq
Description: The parameter contains the current electrical current Iq, which is calculated within the Park / Clark transformation.
Parameter 0x8008 Output OUT 1-OUT 3
Description: The parameter contains the statuses of the outputs in bits 0-3. If the outputs are read out, the software replies with the current statuses of the
outputs OUT1-OUT3.
If the output has previously been parameterised to „RS485 controlled“, the software accepts only the output statuses at the respective output, if they are
set.
Parameter 0x8009: Inputs IN A / IN B / IN 1 / IN 2
Description: The current statuses of inputs IN A / IN B / IN 1 and IN 2 can be read.
Parameter 0x800D: Analog input IN A1
Description: The digitised value of the analog input „IN A1“ can be read. Only the digitised voltage value is returned, not the interpreted setpoint or actual
value.
Parameter 0x800E: Analog input IN A2
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Description: The digitised value of the analog input "IN A2" can be read. Only the digitised voltage value is returned, not the interpreted setpoint or actual
value.
10 Parameter Description
Parameter 0x800F Analog input NTC
Description: The digitised value of the analog input „NTC“ can be read. Only the digitised voltage value is returned, not the interpreted setpoint or actual
value.
10.1 Safety functions
Safety functions protect the drive against permanent damage and partially result in the software switching off the drive (= disables).
Acknowledgement via IN A / IN B control inputs
The acknowledgement can be used to switch drive software back on ready for use, if it had to be disabled beforehand.
The acknowledgement via the IN A / IN B control inputs is only required if the corresponding parameter P06 is set to “manual acknowledgement”.
In the case of automatic acknowledgement the drive is ready to operate and run as soon as no error is set.
As soon as an error is detected the drive disables its output stages.
As long as the errors are set the drive remains disabled and no acknowledgement is accepted.
The acknowledgement made manually is achieved if
IN A / IN B = free-wheeling and then
a rising flank is detected at control input IN A
OR
a rising flank is detected at control input IN B.
The manually performed acknowledgement then monitors the IN A / IN B control inputs only if at least one error has occurred.
The manually performed acknowledgement acknowledges all errors that have occurred.
All error categories are defined in the troubleshooting chapter.
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The acknowledgement switches the drive ready for operation 10 ms following a successful acknowledgement at the latest.
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11 Troubleshooting
This chapter describes possible error messages / malfunctions, causes and remedies. If the error / feedback cannot be corrected by the
remedy described, please contact ebm-papst.
For contact details, refer to the back page of this manual.
11.1 Error handling
The error handling should evaluate errors in 5 categories:
1.
Error has no consequences for the drive.
-- Ballast diagnostics error
-- Overcurrent at braking chopper
2.
Error with consequence „emergency run“ with error speed.
-- PWM setpoint detection detects error
-- Freq setpoint detection detects error
-- RS485 timeout
3.
Errors, which lead to short-term shutdown (cycle by cycle) of the power FETs.
-- Absolute Uzk overvoltage error (hardware)
-- Absolute overcurrent (hardware)
4.
Errors, with the consequence „enable drive“, which are optionally acknowledged automatically.
-- UZK overvoltage error (software)
-- UZK undervoltage error (software)
-- Overtemperature error (software)
Errors, with the consequence „enable drive“, which must only be acknowledged manually.
-- Hardware error (fault)
-- Permanent absolute Uzk overvoltage error (hardware)
-- Permanent absolute overcurrent (hardware)
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5.
11 Troubleshooting
11.2 Operation
State
Motor does not respond, not ready
Motor controls to 0,
target speed cannot be specified
Motor is jerky
Cause of error
UZK
Error in detail
Action
Overvoltage
Set
Undervoltage
Set
ULogic
Supply with 24 V
Acknowledgement missing
Acknowledge
Parameter wrong
Correct
For operation via RS485:
Enable missing
Connect enable
Setpoint missing
Specify setpoint
Wrong setpoint selected
Set correctly
Parameter wrong
Correct
Control parameter is unsuitable
Speed controller
Set
Position controller
Set
K_FF unsuitable
Set
UZK fluctuates
Stabilise
Motor is jerky on switching to hold
control
K_FF = 0
Set K_FF
Motor does not position itself
Enable missing
IN A / IN B must be set to 1 / 1
Kp_H missing
Set
Max positioning speed = 0
Set
No distance set
Set or teach mode
Motor overloaded
Buy longer motor
Ramp too flat
Set steeper
Current limitation
Open current limitation
Dynamics too weak
Motor switches to free-wheeling on
braking
Overvoltage
No brake chopper
Use a regenerative feedback-proof
power supply unit
Use brake resistor
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Braking chopper too weak
110
5 IN A must be able to flow.
24 V: 5 ohm
48 V: 10 ohm
11 Troubleshooting
Command
Feedback
Plain text
Action
Set parameter
Status 0x02
Checksum or telegram length
wrong
Calculate checksum correctly, see
manual
Status 0x10
Access key wrong
Use correct access key
Access to provider parameters with
customer PW
As customer, no possibility of
accessing it
Status 0x20
Parameter conflict
Not an error, information!
But must be corrected.
Notification of conflicting
parameters.
Status 0x28
Telegram can now not be
processed.
Motor active on access to
parameters of the memory class
"appl-func"
Remedy: IN A / IN B = 0 / 0
Read Parameter
Status 0x30
Access key wrong
Use correct access key
Store parameters
Status 0x10
Access key wrong
Use correct access key
Status 0x20
No parameters changed since last
save
Not an error, parameters in the
ROM are up-to-date.
Status 0x80
Data is inconsistent
Remove the conflict between the
parameters
0x80 0x00
Ready
Everything is ok
0x82 0x00
Ready and active
Everything is ok
0x00 0x00
Calibration run missing
Perform calibration run
Read status
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11.3 Parameterisation
www.ebmpapst.com
ebm-papst
St. Georgen GmbH & Co. KG
Hermann-Papst-Straße 1
78112 St. Georgen
Germany
Phone +49 7724 81-0
Fax +49 7724 81-1309
[email protected]