GB
BU 0510 Positioning control POSICON for NORD frequency inverters, SK 530E and above
POSICON position control for NORD frequency inverters, SK 530E and above
Safety information
N O R D Frequency inverters
Safety and operating instructions for drive power converters (as per: Low Voltage Directive 2006/95/EEC ) 1. General During operation, drive power converters may, depending on their protection class, have live, bare, moving or rotating parts or hot surfaces. Unauthorised removal of covers, improper use, incorrect installation or operation causes a risk of serious personal injury or material damage. Further information can be found in this documentation.
The drive power converter must be protected against impermissible loads. Especially during transport and handling, components must not be deformed and/or insulation distances must not be changed. Touching of electronic components and contacts must be avoided. Drive power converters have electrostatically sensitive components, which can be easily damaged by incorrect handling. Electrical components must not be mechanically damaged or destroyed (this may cause a health hazard!).
All transportation, installation, initialisation and maintenance work must be carried out by qualified personnel (compliant with IEC 364, CENELEC HD 384, DIN VDE 0100, IEC 664 or DIN VDE 0110, and national accident prevention regulations).
5. Electrical connection
For the purposes of these basic safety instructions, qualified personnel are persons who are familiar with the assembly, installation, commissioning and operation of this product and who have the relevant qualifications for their work.
The electrical installation must be implemented according to the applicable regulations (e.g. cable cross-section, fuses, ground lead connections). Further instructions can be found in the documentation.
2. Proper use in Europe
Information about EMC-compliant installation – such as shielding, earthing, location of filters and installation of cables can be found in the drive power converter documentation. These instructions must be complied with even with CE marked drive power converters. Compliance with the limiting values specified in the EMC regulations is the responsibility of the manufacturer of the system or machine.
Drive power converters are components intended for installation in electrical systems or machines. When installed in machines, the drive power converter cannot be commissioned (i.e. commencement of the proper use) until it has been ensured that the machine meets the provisions of the EC Directive 2006/42/EEC (machine directive); EN 60204 must also be complied with. Commissioning (i.e. implementation of the proper use) is only permitted when the EMC directive (2004/108/EEC) is complied with. CE-labelled drive power converters meet the requirements of the Low Voltage Directive 2006/95/EEC. The harmonised standards for drive power converters listed in the declaration of conformity are used. Technical data and information for connection conditions can be found on the rating plate and in the documentation, and must be complied with. The drive power converters may only be used for safety functions which are described and explicitly approved.
When working on live drive power converters, the applicable national accident prevention regulations must be complied with (e.g. VBG A3, formerly VBG 4).
6. operation Where necessary, systems where drive power converters are installed must be equipped with additional monitoring and protective equipment according to the applicable safety requirements, e.g. legislation concerning technical equipment, accident prevention regulations, etc. The parameterisation and configuration of the drive power converter must be selected so that no hazards can occur. All covers must be kept closed during operation. 7. Maintenance and repairs
Information regarding transport, storage and correct handling must be complied with.
After the drive power converter is disconnected from the power supply, live equipment components and power connections should not be touched immediately, because of possible charged capacitors. Observe the applicable information signs located on the drive power converter.
4. Installation
Further information can be found in this documentation.
3. Transport, storage
The installation and cooling of the equipment must be implemented according to the regulations in the corresponding documentation.
These safety instructions must be kept in a safe place!
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BU 0510 GB-3911
POSICON position control for NORD frequency inverters, SK 530E and above
About this document
Documentation Designation:
BU 0510 GB
Part No.:
607 51 01
Device series:
SK 53xE, SK 54xE
Version list Designation of previous versions BU 0510 DE, June 2007
Software Version
Comments
V 1.6 R0
First issue
V 2.0 R0
Implementation of the SK 54xE series with universal encoder interface for SIN/COS, Hiperface, Endat 2.1, SSI and BISS encoders,
"Flying Saw" technology function,
extension of static positions from 15 to 63 (for SK 54xE →4x63 positions, depending on parameter set)
various corrections
Part No. 607 5101 / 2307 BU 0510 DE, September 2011 Part No. 607 5101 / 3911
Publisher Getriebebau NORD GmbH & Co. KG Rudolf- Diesel- Str. 1 D-22941 Bargteheide Germany http://www.nord.com/ Tel.: +49 (0) 45 32 / 401-0 Fax +49 (0) 45 32 / 401-555
NOTE This supplementary operating manual is only valid in conjunction with the operating manual supplied for the respective frequency inverter (Manual BU0500).
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POSICON position control for NORD frequency inverters, SK 530E and above
About this document
Intended use of the frequency inverter The compliance with the operating instructions is necessary for fault-free operation and the acceptance of possible warranty claims. These operating instructions must be read before working with the device! These operating instructions contain important information about servicing. They must therefore be kept close to the device. SK 500E series frequency inverters are devices for industrial and commercial systems used for the operation of three-phase asynchronous motors with squirrel-cage rotors and Permanent Magnet Synchronous Motors - PMSM (SK 54xE and above). These motors must be suitable for operation with frequency inverters. Other loads must not be connected to the devices. Series SK 500E frequency inverters are devices for stationary installation in control cabinets. All details regarding technical data and permissible conditions at the installation site must be complied with. Commissioning (implementation of the intended use) is not permitted until it has been ensured that the machine complies with the EMC directive 204/108/EEC and that the conformity of the end product meets the machine directive 2006/42/EEC (note EN 60204). Getriebebau NORD GmbH & Co. KG, 2011
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Contents
1 GENERAL INFORMATION ......................................................................................................7 2 ENCODER CONNECTIONS .....................................................................................................8 2.1 Terminal blocks ....................................................................................................8 2.1.1 Terminal blocks SK 53xE Size 1 – 4 ......................................................................... 8 2.1.2 Terminal blocks SK 54xE Size 1 – 4 ......................................................................... 9 2.1.3 Terminal blocks, SK 535E Size 5 and above .......................................................... 10
2.2 Colour and contact assignments for encoders ...................................................11 2.2.1 Incremental encoders.............................................................................................. 12 2.2.2 Sine encoders (SIN/COS encoders) ....................................................................... 13 2.2.3 Hiperface encoders ................................................................................................. 14 2.2.4 Endat encoders ....................................................................................................... 15 2.2.5 SSI encoders .......................................................................................................... 16 2.2.6 BISS encoders ........................................................................................................ 17
2.3 CANopen absolute encoders .............................................................................17 2.3.1 Approved CANopen absolute encoders .................................................................. 18 2.3.2 RJ45 WAGO adapter module ................................................................................. 18 2.3.3 Assignment of the CAN interface on the frequency inverter.................................... 19
3 FUNCTION DESCRIPTION ....................................................................................................20 3.1 Introduction .........................................................................................................20 3.2 Position detection ...............................................................................................20 3.2.1 Position detection with incremental encoders ......................................................... 20 3.2.2 Position detection with absolute encoders .............................................................. 22 3.2.3 Encoder monitoring ................................................................................................. 26 3.2.4 Positioning with absolute / incremental encoders in absolute mode ....................... 27
3.3 Specifying the setpoint .......................................................................................30 3.3.1 Position array – absolute setpoint position via digital inputs or BUS I/O In Bits ...... 30 3.3.2 Position increment array– relative setpoint position via digital inputs or BUS I/O In Bits ........................................................................................................ 31 3.3.3 Bus setpoints .......................................................................................................... 31
3.4 Teach-In function via digital inputs or Bus I/O In Bits.........................................32 3.5 Conversion ratio of the setpoint and actual values (P607 and P608) ................32 3.6 Position control functions (P600) ........................................................................33 3.7 Position control ...................................................................................................34 3.8 Output messages ...............................................................................................35 3.8.1 Relays (P434, 441) and digital outputs (P450, P455) ............................................. 35 3.8.2 Output messages via BUS I/O Out Bits (P481) ....................................................... 35
4 PARAMETER SETTINGS .......................................................................................................36 4.1 Operating display................................................................................................36 4.2 Speed control .....................................................................................................37 4.3 Control clamps....................................................................................................38 4.4 Extra functions ....................................................................................................47 4.5 Positioning ..........................................................................................................50 4.6 Information ..........................................................................................................58 5 COMMISSIONING...................................................................................................................60
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POSICON position control for NORD frequency inverters, SK 530E and above
6 SYNCHRONOUS CONTROL ................................................................................................ 62 6.1 General information ........................................................................................... 62 6.2 Communication settings .................................................................................... 62 6.3 Settings for slave ramp time and maximum frequency ..................................... 63 6.4 Setting the speed and position controls ............................................................ 64 6.5 Taking a speed ratio between master and slave into account .......................... 64 6.6 Monitoring functions .......................................................................................... 64 6.6.1 Achievable precision / Position monitoring ............................................................. 64 6.6.2 Master switch-off on slave error or position slip error ............................................. 65 6.6.3 Slip error monitoring on the slave ........................................................................... 66
6.7 Notes on reference point runs with synchronous operation .............................. 66 6.8 Offset switching in synchronous operation ........................................................ 66 6.9 Flying Saw (extended synchronous operation function) ................................... 67 6.9.1 Determination of acceleration path and initiator position ........................................ 68 6.9.2 Diagonal saw .......................................................................................................... 69 6.9.3 Offset switching in synchronous operation ............................................................. 69
7 TROUBLESHOOTING ........................................................................................................... 70 7.1 Error messages ................................................................................................. 70 7.2 Troubleshooting table ........................................................................................ 72 7.2.1 Sources of faults in servo mode operation (without position control) ...................... 72 7.2.2 General sources of error with positioning control enabled ...................................... 72 7.2.3 Sources of error with incremental position detection (without absolute encoders).. 73 7.2.4 Sources of faults for position detection with absolute encoders.............................. 73 7.2.5 Miscellaneous encoder faults (universal encoder interface) ................................... 74
8 SERVICE INFORMATION / REPAIRS .................................................................................. 75 9 LISTS / INDEX ....................................................................................................................... 76 9.1 Keyword Index ................................................................................................... 76 9.2 Abbreviations: .................................................................................................... 77 9.3 Figures ............................................................................................................... 78 9.4 Tables ................................................................................................................ 78 9.5 Key words .......................................................................................................... 79
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1 General
1
General information SK 53xE and SK 54xE frequency inverters are intermediate voltage circuit converters with fully digital microprocessor technology for controlling the speed of 3-phase motors. In combination with an incremental encoder or an absolute encoder the standard components form a highprecision positioning drive:
The SK53xE provides 63 programmable absolute positions. The SK54xE provides 252 programmable absolute positions. By means of the position control, the position is maintained even with large load fluctuations. Time-optimised and safe travel up to the target position by means of path calculation. In addition to travelling to absolute positions, up to 4 step lengths (so-called position increments) can be stored in the frequency inverter. Required positions can also be transferred via a field bus interface. The positioning function is available as a function extension for the SK 530E and above.
The parameters (P6xx) required for positioning are inserted into the existing inverter menu structure as an additional menu group (Positioning). The specified setpoint position can be input via the existing digital inputs, the Bus IO In Bits, or via the USS protocol or other field bus system. A switchover from speed control to position control (Positioning) can be achieved by switching over the parameters. Synchronous operation functionality between a master and one or more slave drives is possible via the integrated CAN bus or RS485 interface. In addition, as an extension to the synchronous operation functionality, the "Flying Saw" enables the slave to be deliberately and independently synchronised to or uncoupled from the master. A round axis function (Modulo axes) is also available for rotating platforms and similar applications. This controls an endless axis with optimisation of travel. According to the required position, the drive rotates clockwise or anticlockwise.
NOTE
This description (BU 0510) only contains a selection of the functions and parameters which are specific and relevant for the positioning function. All standard functions and parameters can be found in the manual (BU 0500). Due to software updates the parameters described here may differ from those of your device. Therefore care should be taken that both the current NORD CON version and the version of your ParameterBox have the latest software version. In case of doubt, please contact your local NORD agency. The latest version of all descriptions can be found on the Getriebebau NORD GmbH & Co. KG Internet page (www.nord.com).
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POSICON position control for NORD frequency inverters, SK 530E and above
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Encoder connections The internal zero point of the inverter can be adjusted by specifying an offset value. A possible reduction ratio between the position measurement system (encoder) and the motor can be taken into account by the use of transformation and reduction ratios. The motor and the position measurement system (encoder) do not need to have the same direction of rotation. A negative ratio must be set if the direction of rotation is different.
2.1 Terminal blocks The terminal blocks for the control connections and for the encoder differ between the versions and sizes of the frequency inverter.
2.1.1 Terminal blocks SK 53xE Size 1 – 4 X9/X10: 2x RJ45 socket to connect the CAN/CANopen interface
X11: 1x RJ12 socket to connect the RS232 or RS485 interface
X9
X10
X11
X4: analog inputs and outputs
X7: additional digital inputs and outputs
+10V max. 5mA
0...10V or 0/4...20mA
DIP switch: Switching from analog inputs AIN2/AIN1 current/voltage setpoint
Analog output: 0 … 10V X5: digital inputs and voltage supply
I = current 0/4...20mA V = voltage 0...10V
Ri DIN approx. 4.5k
NOTE: AIN2 – upper DIP Switch AIN1 – lower DIP Switch
with SK 530E Terminal 42internal
+15V max. 150mA +5V max. 250mA with SK 535E Terminal 44external
X8: VI_S 24V, pulse block input VO_S 15/24V, output for commissioning without safety switching device
+18-30V min. 800mA
X6: Incremental encoder input Encoder, e.g.: TTL, 10-30V, RS422, 2048 impulses/rotation
only for SK 53xE and not with 115VAC devices
further details in handbook BU 0530
Note: 5V encoders should not be used.
Fig. 1: Terminal blocks, SK 53xE Size 1 - 4
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2.1.2 Terminal blocks SK 54xE Size 1 – 4
X9/X10: 2x RJ45 socket to connect the CAN/CANopen interface
X11:1x RJ12 socket to connect the RS232 or RS485 interface
X4: analog inputs and outputs +10V max. 5mA 0...10V or 0/4...20mA
X7: additional digital inputs and outputs
Analog output: 0 … 10V
X5: digital inputs and voltage supply
DIP switch: Switching from analog inputs AIN2/AIN1 current/voltage setpoint
Ri DIN approx. 4.5k with SK 540ETerminal 42 internal +15V max. 150mA +5V max. 250mA
I = current 0/4...20mA V = voltage 0...10V NOTE:
AIN2 – upper DIP Switch AIN1 – lower DIP Switch
with SK 545ETerminal 44 external +18-30V min. 800mA
X14:Universal encoder interface
X6: Incremental encoder input
X8: VI_S 24V, input of the pulse lock VO_S 15/24V, output for starting up without safety switching unit
Incremental encoder, e.g.: 10-30V, TTL, RS422 2048 Imp./Rpm.
not with 115VAC devices further details in handbook BU 0530
Note: 5V encoders should not be used. .
Fig. 2: Terminal blocks, SK 54xE Size 1 - 4
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POSICON position control for NORD frequency inverters, SK 530E and above
2.1.3 Terminal blocks, SK 535E Size 5 and above
X9/X10: 2x RJ45 socket to connect the CAN/CANopen interface
X11:1x RJ12 socket to connect the RS232 or RS485 interface
X4: analog inputs and outputs ±10V max. 5mA -10V … +10V or 0...10V or 0/4...20mA Analog output: 0 … 10V
X7: additional digital inputs and outputs
DIP switch: left = ON / right = OFF S4: AIN2: S3: AIN1: S2: AIN2: S1: AIN1:
ON OFF ON OFF I V I V
= 10 Volt = 0 … 10 Volt = 10 Volt = 0 … 10 Volt = ON = current 0/4...20mA = OFF = voltage = ON = current 0/4...20mA = OFF = voltage
X6: Incremental encoder input
Ri DIN approx. 4.5k Incremental encoder, e.g.: 10-30V, TTL, RS422 2048 Imp./Rpm.
Note: If S2 is set to ON (AIN2 = Current input), S4 must be set to OFF.
Note: 5V encoders should not be used. .
If S1 is set to ON (AIN1 = Current input), S3 must be set to OFF.
X5: digital inputs and voltage supply*
Terminal 44internal +24V max. 200mA
*no supply!
Fig. 3: Terminal blocks, SK 535E Size 5 and above
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2 Encoder connection
2.2 Colour and contact assignments for encoders The incremental encoder connection is an input for a type with two tracks and TTL-compatible signals for EIA RS 422-compliant drivers. The maximum current consumption of incremental encoders must not exceed 150 mA. The supply voltage for the rotary encoder is 10-30V. The pulse number per rotation can be between 500 and 8192 increments. This is set with the normal scaling via parameter P301 "Incremental encoder pulse number" in the menu group "Control parameters". For cable -1 lengths > 20 m and motor speeds above 1500 min the encoder should not have more than 2048 pulses/rotation. For longer cable lengths the cable cross-section must be selected large enough so that the voltage drop in the cable is not too great. This particularly affects the supply cable, in which the cross-section can be increased by connecting several conductors in parallel. Unlike incremental encoders, for sine encoders or SIN/COS encoders the signals are not in the form of pulses, but rather in the form of sine signals (shifted by 90°).
ATTENTION The rotation of the incremental encoder must correspond to that of the motor. Therefore, depending on the rotation direction of the encoder to the motor (possibly reversed), a negative number must be set in parameter P301.
NOTE The voltage difference between tracks A and B can be measured with the aid of parameter P709 [-09] and [-10]. If the incremental encoder is rotated, the value of both tracks must jump between -0.8V and 0.8V. If the voltage only jumps between 0 and 0.8V the relevant rack is faulty. The position can no longer be determined via the incremental encoder. We recommend to replace the encoder!
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POSICON position control for NORD frequency inverters, SK 530E and above
2.2.1 Incremental encoders According to the resolution (pulse number), incremental encoders generate a defined number of pulses for each rotation of the encoder shaft (Track A / Track A inverse) With this, the precise speed of the encoder or motor can be measured by the frequency inverter. By the use of a second track (B / B inverse) shifted by 90° (¼ period), the direction of rotation can also be determined. In turn, the "zero track" (0 / 0 inverse) provides exactly one pulse per rotation and can therefore be used as a referencing signal for positioning systems. The voltage source can be an external source or the internal voltage (according to the frequency inverter version: 12V /15V /24V). Cable colours, for incremental encoder
Assignment for SK 53xE
Assignment for SK 54xE*
10-30V supply
brown / green
X5:42(/44) 15V (/24V)
X5:42( /X5:44 /X6:49) 15V ( /24V /12V)
0V supply
white / green
X6:40 GND/0V
X5:40 GND/0V
Track A
brown
X6:51 ENC A+
X6:51 ENC A+
Track A inverse
green
X6:52 ENC A-
X6:52 ENC A-
Track B
grey
X6:53 ENC B+
X6:53 ENC B+
Track B inverse
pink
X6:54 ENC B+
X6:54 ENC B+
Track 0
red
--
X14:63 CLK +
Track 0 inverse
black
--
X14:64 CLK-
+ 5V Sense
blue
--
X14:65 DAT +
0V Sense
white
--
X14:66 DAT -
Function
Cable shield
connected to a large area of the frequency inverter housing or shielding angle
*Zero track not necessary for speed feedback or operation of asynchronous machines.
Table 1: Connection assignments for incremental encoders
Evaluation of the zero track and the Sense signal is necessary for the operation of PMSM (Permanent Magnet Synchronous Motors). The zero impulse is then used for synchronisation of the rotor position. The offset between the zero pulse and the actual "zero" rotor position is set in parameter P334 "Encoder offset". If the Sense cable (+5V Sense and 0V Sense) is not connected, there is no synchronisation to the zero pulse. The zero track is not required for asynchronous machines. Alternative to the commutation of the position, Hiperface, BISS, Endat or SSI encoders with additional Sin/Cos or incremental tracks may be used.
NOTE If there are deviations from the standard equipment (Type 5820.0H40, 10-30V encoder, TTL/RS422) for the motors, please note the accompanying data sheet or consult your supplier.
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2.2.2 Sine encoders (SIN/COS encoders) (SK 540E and above) The use or function of sine encoders is comparable with that for incremental encoders. However, the encoder provides sine wave signals instead of digital pulses. The voltage source can be an external source or the internal voltage (according to the frequency inverter version: 12V /15V /24V). Function
Cable colours for Sin/Cos encoders*
Assignment for SK 54xE
10-30V supply
brown
X5:42( /X5:44 /X6:49) 15V ( /24V /12V)
0V supply
white
X5:40 GND/0V
Track A
green
X6:51 ENC A+
Track A inverse
yellow
X6:52 ENC A-
Track B
grey
X6:53 ENC B+
Track B inverse
pink
X6:54 ENC B+
Track 0
blue
X14:63 CLK +
Track 0 inverse
red
X14:64 CLK-
+ V Sense**
brown
X14:65 DAT +
0V Sense**
white
X14:66 DAT -
Cable shield
connected to a large area of the frequency inverter housing or shielding angle
* E.g. Kübler 5824 ** The Sense cables are internally bridged to the voltage supply of the encoder.
Table 2: Connection assignment for SIN/COS encoders
Function
Signal designation
Signal voltage
Sine signal
Sin
max. 5V Uss
Cosine signal
Cos
max. 5V Uss
Table 3: Signal details for SIN/COS encoders
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POSICON position control for NORD frequency inverters, SK 530E and above
2.2.3 Hiperface encoders (SK 540E and above) Hiperface is a mixture of incremental encoder and absolute encoder and combines the advantages of both encoder types. The absolute value is initially only formed when the device is switched on and is communicated by the RS485 specification bus parameter interface to the external counter in the controller, which then continues counting incrementally from this absolute value using the analog sine/cosine signal. During operation the counted position is continuously compared with the measured absolute position of the encoder. Hiperface encoders are suitable for positioning in combination with servo mode. The requirements for the analog signal are shown in the following table. It must be noted that the tolerances in the voltages affect the precision of the determined position. The supply voltage for the encoder is 7-12V. An external source or the internal 12V voltage can be used as the voltage supply.
Function
Signal designation
Signal voltage
Sine reference voltage
Sin Ref
2,5V Um
Cosine reference voltage
Cos Ref
2,5V Um
Sine signal
Sin
1V Uss
Cosine signal
Cos
1V Uss
Table 4: Signal details for Hiperface encoders
Uss
Um
Fig. 4: Signals for Hiperface encoders
NOTE The voltage difference between the SIN and COS tracks can be measured with the aid of parameter P709 [-09] and [-10]. If the Hiperface encoder is rotated, the voltage difference should range between approx. -0.5V and 0.5V.
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Function
Cable colours, for Hiperface encoders
Assignment for SK 540E
7-12V supply
red
X6:49 VO 12V
0V supply
blue
X5:40 GND/0V
+ SIN
white
X6:51 ENC A+
REFSIN
brown
X6:52 ENC A-
+COS
pink
X6:53 ENC B+
REFCOS
black
X6:54 ENC B+
Data + (RS485)
grey or yellow
X14:65 DAT +
Data - (RS485)
green or violet
X14:66 DAT-
Cable shield
connected to a large area of the frequency inverter housing or shielding angle
Table 5: Connection assignment for Hiperface encoders
2.2.4 Endat encoders (SK 540E and above) Endat encoders function in a similar manner to SSI encoders with 2 RS485 channels, whereby the data channel is bi-directional. The communication frequency of the inverter is 200kHz. Endat encoders are also available with an integrated incremental track. The settings for the incremental track correspond to those of a conventional incremental encoder. The supply voltage for the encoder is 3.6-14V. An external source (recommended: >5V) or the internal 12V can be used as the voltage supply.
Function
Cable colours for Endat encoders
Assignment for SK 54xE
brown / green
X6:49 VO 12V
Sensor UB
blue
X6:49 VO 12V
0V supply
white / green
X5:40 GND/0V
Sensor 0V
white
X5:40 GND/0V
Track A
green/black
X6:51 ENC A+
Track A inverse
yellow/black
X6:52 ENC A-
Track B
blue/black
X6:53 ENC B+
Track B inverse
red/black
X6:54 ENC B+
Clock +
violet
X14:63 CLK +
Clock -
yellow
X14:64 CLK-
Data + (RS485)
grey
X14:65 DAT +
Data - (RS485)
pink
X14:66 DAT -
3.6-14V supply
Cable shield
connected to a large area of the frequency inverter housing or shielding angle
Table 6: Connection assignment for Endat encoders
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POSICON position control for NORD frequency inverters, SK 530E and above
2.2.5 SSI encoders (SK 540E and above) SSI encoders whose signals are TTL-compatible according to EIA RS 422 can be used. The zero point of the absolute encoder is determined by the position of the absolute encoder and should therefore be adjusted by installation. The clock frequency is 200kHz. With this clock frequency, cable lengths of up to 80m are possible. The cables should be twisted in pairs and screened. The supply voltage for the encoder is 10-30V. The voltage source can be an external source or the internal voltage (according to the frequency inverter version: 12V /15V /24V). Function
Cable colours for SSI encoders*
Assignment for SK 54xE
brown
X5:42( /X5:44 /X6:49) 15V ( /24V /12V)
Sensor UB
red
X5:42( /X5:44 /X6:49) 15V ( /24V /12V)
0V supply
white
X5:40 GND/0V
Sensor 0V
blue
X5:40 GND/0V
Clock +
green
X14:63 CLK +
Clock -
yellow
X14:64 CLK-
Data + (RS485)
grey
X14:65 DAT +
Data - (RS485)
pink
X14:66 DAT -
10-30V supply
Cable shield
connected to a large area of the frequency inverter housing or shielding angle
* E.g. Kübler 3670
Table 7: Connection assignment for SSI encoders
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2.2.6 BISS encoders (SK 540E and above) BISS is a further development of the SSI interface, which also operates with 2 RS485 channels. With BISS encoders, the position is communicated together with a checksum. This provides more reliable communication than SSI. The encoders are also available with an integrated incremental track. The supply voltage for the encoder is 10-30V. The voltage source can be an external source or the internal voltage (according to the frequency inverter version: 12V /15V /24V). Function
Cable colours for BISS encoders*
Assignment for SK 54xE
10-30V supply
brown
X5:42( /X5:44 /X6:49) 15V ( /24V /12V)
0V supply
white
X5:40 GND/0V
Track A
black
X6:51 ENC A+
Track A inverse
violet
X6:52 ENC A-
Track B
grey/pink
X6:53 ENC B+
Track B inverse
red/blue
X6:54 ENC B+
Clock +
green
X14:63 CLK +
Clock -
yellow
X14:64 CLK-
Data + (RS485)
grey
X14:65 DAT +
Data - (RS485)
pink
X14:66 DAT -
Cable shield
connected to a large area of the frequency inverter housing or shielding angle
* E.g. Kübler 5883
Table 8: Connection assignment for BISS encoders
2.3 CANopen absolute encoders The connection of an absolute encoder to the SK 53xE / SK 54xE is carried out via the internal CANopen interface. As a minimum requirement, the absolute encoder to be connected must have a CAN Bus interface with CANopen protocol. The internal CAN Bus with CANopen protocol can be used for simultaneous control and parameterisation as well as the readout of the absolute encoder position. The SK 53xE / SK 54xE supports CANopen absolute encoders with the communication profile DS 406. If an absolute encoder supplied by Getriebebau Nord GmbH & Co. KG is used, automatic parameterisation of the absolute encoder via the frequency inverter is possible. Only the CAN address and the baud rate of the encoder still need to be set with the rotary or dip switches on the encoder. All other necessary parameters are set by the frequency inverter via the CAN Bus in the encoder.
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17
POSICON position control for NORD frequency inverters, SK 530E and above
2.3.1 Approved CANopen absolute encoders The following CANopen encoders (with bus cover) are approved:
Manufacturer
Single-turn encoder
Multiple-turn encoder
Opto-mechanical encoders
Opto-mechanical encoders
Fritz Kübler
Type:
Type:
www.kuebler.com
Sendix 8.5878.XX2X.XXXX.XXXXX
Sendix 8.5888.XX2X.XXXX.XXXXX 10-30V DC Opto-mechanical encoders
FRABA Posital
No approval at present.
www.posital.de
Please request if required
Type: OCD-C2X1B-XXXX-XXXX-0CC 10-30V DC, 25Bit 8192 Inc/rev, 4096 rev Magnetic encoders Type: Multivo GOMMH.X205P32
Baumer IVO www.baumer.com
No approval at present. Please request if required
10-30V DC, 29Bit Default setting: Node ID 1, 50KBd Can be parameterised
Table 9: CANopen encoders approved by NORD
2.3.2 RJ45 WAGO adapter module This adapter module can be used for the simple wiring of functions of the RJ45 connection (24V supply voltage, CANopen absolute encoder, CANbus) with normal cables. Pre-assembled RJ45 patch cables are connected to the spring-loaded terminals (1-8 + S) with this adapter (for terminal assignments see the following section). The shield clamp should be used in order to ensure the correct connection and relief of tension on the shield.
Fig. 5: RJ45 WAGO connection module
Supplier
Name
WAGO Kontakttechnik GmbH
Ethernet connection module with CAGE CLAMP connection RJ45 transfer module
WAGO Kontakttechnik GmbH
Accessories: WAGO shield clamp
Alternative, complete connection module and shield clamp Getriebebau NORD GmbH & Co.KG
Adapter module RJ45/terminal
Part no. 289-175 790-108 Part No. 278910300
Table 10: Overview of RJ45 WAGO connection module
18
Subject to technical alterations
BU 0510 GB-3911
2 Encoder connection
2.3.3 Assignment of the CAN interface on the frequency inverter The 24V supply for the absolute encoder and the CAN Bus/CANopen interface must be provided via an external supply. For the assignment of the terminals, please refer to the encoder manufacturer´s operating instructions.
SK 520E or higher: CAN interface, two RJ45 sockets, the bus termination resistor can be switched in.
DIP switch and 2xRJ45 terminal block, CAN Bus (SK 520E/530E only)
3
CAN_GND
41
40
42
25
24
nc
23
5
max. baud rate ...500kBaud
CAN-Bus GND 22
nc
21
14
4
16
13
12
11
CAN Bus signal
4
CAN_L
3
2
2
CAN_H
1
1
(Load capacity at least 30mA)
DIP switch 2 for CAN Bus termination resistor R=120
RJ45: Pin No. 1 … 8
Table 11: Contact assignment for the RJ45 interface
NOTE Recommendation: To provide strain relief, the CAN cable can be connected to the screening angle of the EMC Kit (option). Details of the EMC Kit can be found in the BU0500 manual.
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19
GN D
RS4 8 5 _B
RS4 8 5 _A
CAN _2 4 V
CAN _G N D
CAN _SH LD
nc
nc
CAN _G N D
CAN _L
CAN _H
CAN _2 4 V
CAN _G N D
CAN _SH LD
External 24VDC +/- 25% voltage supply
nc
CAN_24V
nc
8
CAN _G N D
GND / 0V
CAN _L
CAN_GND
2 ON
CAN _H
7
1
REL 2 .2
Cable shield
REL 2 .1
CAN_SHD
REL1 .2
6
REL 1 .1
DIG IN 1 DIG IN 2 DIG IN 3 DIG IN 4 DIG IN 5 VO + 15V DGN D 0V VO + 5V
V REF 1 0 V AG N D 0 V AI N 1 + AI N 2 + AO U T 1
No function
POSICON position control for NORD frequency inverters, SK 530E and above
3
Function description
3.1 Introduction A wide range of positioning and position control tasks can be performed with the positioning function. In order to facilitate the decision as to which configuration provides the optimum solution for the task, the various processes for the setting of setpoints and recording of the actual values are described in the following sections. The setpoint can be specified as either an absolute or a relative position. An absolute position is recommended for applications with fixed positions, for example with travelling trolleys, lifts, shelf access devices etc. A relative position is advisable primarily for all axes which operate in steps, especially for endless axes such as rotating platforms and pulsed compartmentalised conveyor belts.Specification of setpoints is also possible via the bus (e.g. Profibus, CAN-Bus, …). Here the position can be specified as a value or combination of bits as a position number or increment. If switching between positioning and speed specifications is required, this can be realised by switching between parameter sets. A position regulation in parameter P600 "Positioning" is parameterised to "ON" in one parameter set and to "OFF" in another parameter set. Switching between the parameter sets can take place at any time, i.e. even during operation.
3.2 Position detection 3.2.1 Position detection with incremental encoders For an absolute actual position, a reference point is needed, with the aid of which the zero position of the axis is determined. The position detection operates as long as the frequency inverter is supplied with power. The pulses of the incremental encoder are counted in the inverter and added to the actual position. The resolution or pulse number of the incremental encoder is set in parameter P301 "Incremental Encoder Pulse Number". By setting negative pulse numbers, the direction of rotation can be adapted to the installation orientation of the rotary encoder. After switching on the inverter supply voltage, the actual position = 0 (P604"Encoder Type" without the option "Save Position") or it is at the value which was present on shut-down (P604 "Encoder Type" with the option "Save Position").
NOTE With SK 5x5E devices the frequency inverter control unit must be supplied with power for a further 5 minutes after the last position change in order to permanently save the data.
The recording of the position functions independently of the enabling signal of the inverter and parameter P600 "Positioning". The inverter determines the actual position for as long as it is supplied with power. Changes in position which are carried out with the inverter switched off do not cause a change in the actual position. Therefore a reference point run is therefore normally necessary after each "Mains switch-on" of the frequency inverter. If the inverter is not operated in Servo- Mode P300 "Servo Mode" the incremental encoder can also be mounted at another position than on the motor shaft. In this case, the speed ratio of the motor to the incremental encoder must be parameterised. Rotations of the incremental encoder are converted to motor revolutions by the inverter with the aid of parameter P607 "Speed Ratio" and P608 "Reduction Ratio". nM: Motor rotations nM = nG * Üb / Un nG:: Incremental encoder rotations Üb: Speed Ratio (P607[-01]) Un: Reduction Ratio (P608[-01])
Example: The incremental encoder is installed on the output side of the gear unit. The gear unit has a ratio of i = 26.3. The following values are parameterised. P607 Speed ratio: 263; 20
P608 Reduction ratio: 10
Subject to technical alterations
BU 0510 GB-3911
3 Description of function
NOTE The direction of rotation of the incremental encoder must comply with the direction of rotation of the motor. With a positive output frequency (clockwise rotation) the actual position value must increase. If the direction of rotation is not correct, this can be adjusted with a negative value in P607 "Speed Ratio".
With the aid of a value which can be parameterised in parameter P609 [-01] "Offset Position" the zero point can be set to a different position to that which is determined by the reference point. The offset is applied after conversion of the encoder rotations to motor rotations. After changes to the speed ratio/reduction ratio P607 [-01] and P608 [-01] the offset position value must be entered again.
3.2.1.1
Reference point run via digital inputs or BUS I/O In bits
The Reference point run is started via one of the digital inputs or one of the Bus IO In bits. For this a digital input must be programmed for the appropriate function (P420-P425 or P470 "Function Digital Input", setting 22). For the Bus IO In Bits the corresponding Bit / Array (P480 "Bus IO In Bits", setting 22) must be parameterised. The direction of the reference point search is specified via the signals "Enable Left/Right". The current setpoint frequency determines the speed of the reference point run. Via one of the digital inputs the reference point is also read in. For this a digital input must be programmed for the appropriate function (P420-P425 or P470 "Function Digital Input", setting 23). For the Bus IO In Bits the corresponding Bit / Array (P480 "Bus IO In Bits", setting 23) must be parameterised. In order to also realise the function "Reference Point Run" via a serial interface or via the Bus IO In bits, one of the "Bus Setpoint Values" (P546, P547 and P548) must be set to the setting "Bus IO In Bits 0...7" and under P480 "Function Bus I/O IN Bits" the function setting 22 must be assigned to the corresponding bit. Sequence of the reference point run: With the reference point run enabled, the drive unit moves in the direction of its setpoint value (Enable Right/Left, +/- Setpoint). On reaching the reference point switch, the signal at the digital input or Bus IO In Bit "Reference Point" reverses the direction of travel. Therefore the drive unit moves away from the reference switch again. If the drive unit is already at the switch at the start of the reference point run, the reference point run is immediately started with the inverse direction of rotation. After leaving the switch, the actual position is set to the value which is set in parameter P609 "Offset Position". If the value in parameter P609 "Offset Position" is not "0" then the drive immediately moves to its new zero position and remains at this position until the "Reference Point Run" signal is removed. In the setpoint mode P610 "Position Increment Array" = 1 (relative positioning) the setpoint position is simultaneously set to 0. With appropriate parameterisation of one of the parameters "Digital Output Function" (P434, P441, P450, P455, setting 20 - reference point), the frequency inverter reports the end of the reference point run with corresponding adoption of the reference point. The feedback for the end of the reference point run can also be reported via the Bus IO OUT bits (P481, "Bus IO Out Bits", setting 20). If an incremental encoder without the function "Save Position" is used (See P604 "Encoder Type") the actual position in parameter P601 "Current Position" is set to "0" when the frequency inverter is switched on. For parameterisation with the function "Save Position" the last saved value is taken as the actual position. The relay or output message "Reference Point" shows that a valid reference point is available. The relay or outputs are switched off when a reference point run is started and are switched on again after completion of the reference point run. If the option "Save Position" (P604 "Encoder Type") is not selected (factory setting) the relay or the output are switched off when the inverter is switched on. If the option "Save Position" is selected the relay or the output are switched on immediately after the inverter is switched on. Control via one of the Bus IO Bits is correspondingly identical.
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POSICON position control for NORD frequency inverters, SK 530E and above
The reference point run can be cancelled by removing the "Enable" signal or by "Emergency Stop" or "Block Voltage".
NOTE In this case the frequency inverter does not generate an error message.
For further details of the possible functionality settings, please refer to the relevant parameter description in Section 4 Parameter settings. 3.2.1.2
Reset position via digital inputs or BUS I/O In Bits
tAs an alternative to a reference point run, one of the digital inputs can be programmed to the setting "Reset Position" (P420-P425 or P470, setting 61). Control via one of the Bus IO Bits is correspondingly identical. In contrast to the reference point function, the input or the Bus IO Bit is always effective and when the signal changes immediately sets the actual position from 0 → 1 to 0. If an offset has been parameterised in parameter P609 "Offset Position", the axis will be displaced by this value. Resetting of the position is carried out independently from the setting of the "Positioning" in parameter P600. In "Position Setpoint Mode" the setpoint position (in parameter P610, 1 = Position increment array) is set to 0. The precision of reproducibility of the referencing via Reset Position is not as good as with the reference point run - as it depends on the tolerance of the reference point switch and the speed with which the switch is approached. However, the precision achieved is sufficient for many applications. In addition, referencing can be performed without interrupting the positioning. The function "Reset Position" can also be realised via a serial interface or the Bus IO In Bits. For this, one of the bus setpoint values (P546, P547 and P548) must be set to 17 "Bus IO In bits 0...7" and under P480 "Function Bus I/O In Bits" the function setting 61 must be assigned to the corresponding bit. For further details of the possible functionality settings, please refer to the relevant parameter description in Section 4.
3.2.2 Position detection with absolute encoders The absolute encoder transfers the actual position value to the frequency inverter in digital form. The position is always completely available in the absolute encoder and is also correct after displacement of the axis when the inverter is switched off. A reference point run is therefore not necessary. If an absolute encoder is connected, the parameter P604 "Encoder Type" must be parameterised to one of the absolute functions (Setting 1 or 5-15) of the relevant absolute encoder. The resolution of the encoder is set in parameter P605. Parameter
Meaning
P605[-01] Multi-turn
Number of bits of rotations
P605[-02] Single-turn
Number of bits per one revolution
P605[-03] Sin/Cos periods, Hiperface
Number of bits for Sin/Cos periods per rotation
Table 12: Parameter P605 - Selection of encoder resolution for absolute encoders
22
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BU 0510 GB-3911
3 Description of function
If the absolute encoder is not mounted on the motor shaft the gear ratio between the motor and the absolute encoder must be parameterised. Rotations of the absolute encoder are converted to motor revolutions by the inverter with the aid of parameter P607 "Speed Ratio" and P608 "Reduction Ratio".
nM = nG * Üb / Un
Example:
nM:
Motor rotations
nG::
Absolute encoder rotations
Üb:
Speed Ratio (P607[-02])
Un:
Reduction Ratio (P608[-02])
The absolute encoder is installed on the output side of the gear unit. The gear unit has a ratio of i = 26.3. The following values are parameterised. Speed ratio: 263; Reduction ratio: 10
The direction of rotation of the absolute encoder must comply with the direction of rotation of the motor. With a positive output frequency (clockwise rotation) the actual position value must increase. If the direction of rotation is not correct, this can be adjusted with a negative value in P607 "Speed Ratio". The zero point of the axis can be adjusted with the aid of value which can be parameterised in parameter P609 [-02] "Offset Position". The offset is applied after the calculation. After changes to the Speed Ratio/Reduction Ratio P607 [-02] and P608 [-02] the value in parameter P609 "Offset Position" must be entered again. If the absolute encoder is not mounted on the motor shaft the gear ratio between the motor and the absolute encoder must be parameterised. Rotations of the absolute encoder are converted to motor revolutions by the inverter with the aid of parameter P607 "Speed Ratio" and P608 "Reduction Ratio".
nM = nG * Üb / Un
Example:
nM:
Motor rotations
nG::
Absolute encoder rotations
Üb:
Speed Ratio (P607[-02])
Un:
Reduction Ratio (P608[-02])
The absolute encoder is installed on the output side of the gear unit. The gear unit has a ratio of i = 26.3. The following values are parameterised. Speed ratio: 263; Reduction ratio: 10
The direction of rotation of the absolute encoder must comply with the direction of rotation of the motor. With a positive output frequency (clockwise rotation) the actual position value must increase. If the direction of rotation is not correct, this can be adjusted with a negative value in P607 "Speed Ratio". The zero point of the axis can be adjusted with the aid of value which can be parameterised in parameter P609 [-02] "Offset Position". The offset is applied after the calculation. After changes to the Speed Ratio/Reduction Ratio P607 [-02] and P608 [-02] the value in parameter P609 "Offset Position" must be entered again.
NOTE
BU 0510 GB-3911
The maximum possible position in parameter P615 "Maximum Position" results from the resolution of the encoder and the Speed Ratio/Reduction Ratio (P607 and P608). Under no circumstances can the maximum value exceed +/- 65535 (16Bit) rotations. Circulation is not permissible. Endless items, which mainly run in a single direction must be realised with an incremental encoder (See Section 3.2.1). Position setpoints should be internally limited to the maximum possible value range.
Subject to technical alterations
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POSICON position control for NORD frequency inverters, SK 530E and above
3.2.2.1
Supplementary settings - SSI absolute encoders
Protocol settings for SSI encoders are made in parameter P617. In detail, this defines:
3.2.2.2
the format in which the positions are transferred (binary / Gray code),
whether a loss of voltage to the encoder is communicated to the FI ("Power Fail Bit") and
whether the encoder supports the communication version "Multiply Transmit" for which the position is communicated a second time in a mirrored form in order to improve the reliability of the transfer. Supplementary settings - CANopen absolute encoders
The baud rate and the CAN address must be set on the encoder. For the assignment of the switches on the encoder, please refer to the manufacturer´s operating instructions. The CAN address for the absolute encoder should be set in parameter P515 "CAN Address" according to the following formula: Encoder CAN address = Inverter CAN address (P515[-01] ) + 1 The CAN baud rate set in the encoder must be identical to the parameter P514 "CAN Baud Rate" and all other participants in the bus system. If parameterisation of the encoder is carried out via the frequency inverter, the transmission cycle for the absolute encoder position is simultaneously set via the baud rate. For the operation of several CANopen absolute encoders on a bus system, e.g. for synchronous operation, different transmission cycle times can be set for the CAN master and the CANopen absolute encoders. With the parameter P552 "CAN Cycle Time" the cycle time for the system bus master mode can be parameterised in Array [-01 and for the CANopen absolute encoder in Array [-02]. Care must be taken that the parameterised values are not lower than the values in the column for the minimum values of the actual cycle time. This value depends on the baud rate set in parameter P514 "CAN Baud Rate".
P514
P552 [-01]
P552 [-02]
P552 [-02]
Baud rate
Default CAN
Default CANopen
[kBaud]
Master
Absolute encoder
Minimum value for actual cycle time
[ms]
[ms]
[ms]
10
50
20
10
42.5
20
25
20
10
21.2
50
10
10
5
17.0
100
5
5
2
17.0
125
5
5
2
13.6
250
5
2
1
17.0
500
5
2
1
8.5
5
2
1
4.25
1
1000
Bus load caused by an encoder [%]
Table 13: Encoder cycle time dependent on the baud rate
The possible bus load in the system always depends on the real-time specific to the system. Very good results are achieved with a bus load less than 40%. Under no circumstances should a bus load greater than 80% be selected. For the estimation of the bus load, the other possible bus traffic (setpoint and actual values for the FIs and other bus participants) should also be taken into account. Additional explanations about the CAN interface can be obtained from Manual BU 0060.
1
24
Only for testing purposes. Reliable operation is not guaranteed. Subject to technical alterations
BU 0510 GB-3911
3 Description of function
3.2.2.3
Resetting absolute encoders
With the exception of SSI encoders, absolute encoders can be set to the value "0" or to the value set in P609 [02] "Offset Position" via the functions "Reference Point Run"(see 3.2.1.1). However, the precision of resetting the encoder position greatly depends on the actual speed of movement, the bus load, the baud rate (CANopen encoders) and the type of encoder. Therefore it is urgently recommended that absolute encoders are only reset when they are at a standstill. With an SSI encoder the position can only be changed via a position offset P609 [-03]. Resetting ("Reset position" / "Reference Point Run") is not possible. If both an incremental encoder and an absolute encoder are connected to the frequency inverter, both encoders are reset by performing the functions "Reference Point Run" or "Reset Position". 3.2.2.4
Parameterisation on the frequency inverter
Communication settings If a CANopen absolute encoder is used for position detection, the CAN baud rate (P514) and the CAN address (P515) must be parameterised on both the encoder and the frequency inverter.
NOTE If an IO extension (e.g. SK TU4-IOE) is also used, it must be noted that the addresses 10 … 13 and 20 … 23 are reserved for this module (For details see Manual BU0200).
After this, the CAN Bus must be supplied with 24V in order to activate communication between all the connected participants. For all other absolute encoders such as Endat, SSI, … (SK 540E and above), no communication settings are required between the frequency inverter and the associated encoder. Encoder data settings The resolution of the absolute encoder is set via the parameter P605 "Absolute Encoder": Parameter
Meaning
Availability
Setting example
P605 [-01]
Multi-turn resolution in bits
SK 530E and above
12
4096 Encoder rotations
P605 [-02]
Single-turn resolution in bits
SK 530E and above
13
8192 Steps per rotation
P605 [-03]
Sin/Cos periods per rotation (Hiperface)
SK 540E and above
25Bit encoder
Table 14: Parameter P605 - Setting of encoder resolution for absolute encoders The relevant settings should be obtained from the data sheet for the absolute encoder. The absolute encoder is activated via parameter P604 "Encoder Type". Here, a differentiation is made between normal measurement (for "linear" systems) and "path optimised" measurement (for circulating systems) (see Section 3.2.4).
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POSICON position control for NORD frequency inverters, SK 530E and above
3.2.2.5
Manual commissioning of the CANopen absolute encoder
In addition to "automatic" configuration (Auto) a "manual" setting (Manual) of the encoder is also possible. With "Auto" the parameterisation is carried out by the frequency inverter. With manual commissioning, a CAN Bus master is required in addition to the frequency inverter and the encoder. This must switch the encoder into the bus status "Operational" and set the following parameters. -
Parameters 0x6001 and 0x6002: resolution, according to the settings in P605 "Absolute Encoder".
-
Parameter 0x62000: cycle time. The parameterisation of a value ≤ 20ms is recommended. The selected cycle time influences the reaction speed of the positioning control in the frequency encoder.
3.2.3 Encoder monitoring If an absolute encoder is parameterised in the frequency inverter and the positioning control is enabled in parameter P600 "Positioning Control", the function of the encoder is permanently monitored. Although the encoder position is displayed when "Positioning Control" P600 is not enabled, no error messages are generated in case of problems. Therefore emergency or manual operation is always possible. In case of encoder error, the last valid position is retained in the frequency inverter. If an absolute and an incremental encoder are present, the positioning difference between the two encoders can be monitored with parameter P631 "Slip Error Abs/Inc". The maximum permissible deviation between the absolute and the incremental encoder is specified by the value set in this parameter. With the value "0" slip error monitoring is disabled. If the maximum permissible deviation is exceeded the error message "E013 (E14.6)" is activated. The gear ratio or the positions where the two encoders are installed may differ. For each of the two encoders a parameter value for P607 "Speed Ratio", P608 "Reduction Ratio" and P609 "Offset Position" can be set. If there is no second, redundant encoder for position monitoring a slip error for the position can be specified via the parameter P630 "Pos. Slip Error". In this case the current position is compared with the change in position calculated from the current speed. On reaching a target position, the estimated position is set to the actual position value of the encoder in order to prevent addition of errors over time. If the positioning difference exceeds the slip error value set in P630 "Pos. Slip Error", the error message "Error E013 (E14.5)" is activated. For larger travel paths larger values are necessary in P630. The necessary value is best determined by experiment. With the value "0" slip error monitoring is disabled. The permissible operating range can be restricted with the parameters P616 "Minimum Position" and P615 "Maximum Position". If the drive unit departs from the permissible range, the error message "Error E013 (E14.7) maximum position exceeded" or "Error E013 (E14.8) minimum position undershot" is activated. With a set value of "0" the relevant position monitoring is disabled. In parameter P604 "Encoder Type", setting 3, 4, 5 or 7 the position monitoring is also not enabled.
NOTE Position setpoint values which are greater than the set value for "Minimum Position" in parameter P616 and "Maximum Position" in parameter P615 will be internally limited to these set values in the inverter.
26
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BU 0510 GB-3911
3 Description of function
3.2.4 Positioning with absolute / incremental encoders in absolute mode The encoder used for positioning is activated via parameter P604 "Encoder Type". Here, a differentiation is made between normal measurement (for "linear" systems) and "path optimised" measurement (for circulating systems).
IG
Encoder type
Standard distance measurement
Path optimised measurement
Incremental
0
3
Incremental + save position
2
4
CANopen absolute (with automatic configuration)*
1
5
AG
CANopen absolute, manual (with manual configuration)
6
7
SSI
SK 540E and above
8
9
BISS
SK 540E and above
10
11
Hiperface
SK 540E and above
12
13
Endat 2.1
SK 540E and above
14
15
* Only CANopen encoders approved by NORD may be used with automatic configuration
Table 15: - P604 Selection of encoder type
In the function "Optimum Path" the multi-turn resolution of the encoder can be additionally limited for the overflow point via parameter P615 "Maximum Position". The multiturn resolution in rotations (1 rotation = 1,000 rev) is entered in parameter P615. It is also possible to enter a non-integer value of rotations (for example see Section 3.2.4.2). After the setting or selection of the encoder type in parameter P604 "Distance measuring system" the function of the encoder can be tested via parameter P601 "Actual Position".
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POSICON position control for NORD frequency inverters, SK 530E and above
3.2.4.1
Optimised path positioning with a single rotation of the encoder
Rotating platform applications in which the individual positions are distributed around the circumference require a path optimised positioning function for optimum operation. However, with a standard positioning, with a change of the setpoint position from -0.375 to + 0.375 the drive unit would select the long movement path "around the outside" (See Fig. 6 / a). In contrast, positioning with path optimisation automatically selects the shortest path and therefore independently decides on the direction of rotation of the drive unit. Here, the drive 2 unit passes over the overflow point of the relevant rotary encoder (See Fig. 6 / b). Positioning with path optimisation can be set with all encoders (see table above). The zero point of a single-turn absolute encoder is determined by where it is mounted and can be varied via the parameter P609 [-02] "Offset Position". If an incremental encoder is used, either a "Reference Point Run" or a "Reset Position" function must be performed in order to determine the zero position. The zero position can also be varied by means of an entry in parameter P609 [-01] "Offset Position". The following example is for a speed ratio or reduction ratio of "1". The maximum value of the position or the overflow point is calculated as follows: nmax: Maximum value of motor rotation nmax = 0,5 * Üb / Un
Üb:
Speed Ratio (P607[-02])
Un:
Reduction ratio (P608[-02])
Example: The absolute encoder or incremental encoder is installed on the output side of the gear unit. The gear unit has a ratio of i=26.3. nmax =0.5 * 263 / 10= 13.15 rotations
0.5 / -0.5 0.375
0.5 / -0.5 -0.375
-0.25
0.25
0.125
0.375
-0.375
-0.25
0.25
0.125
-0.125 0
-0.125 0
a) normal path
b) optimised path
Fig. 6: Standard a) and path optimised b) movement with a single-turn application
2
28
The overflow point corresponds to 1/2 of an encoder revolution Subject to technical alterations
BU 0510 GB-3911
3 Description of function
3.2.4.2
Optimised path positioning with arbitrary rotation of the encoder 3
If more than one rotation of the encoder is required for the entire travel path, the overflow point must be determined. This results from half of the entire travel path. This value must be entered in parameter P615 "Maximum Position". Here it should be noted that the precision of the value may have a maximum of three decimal places. A deviant error causes an additional error with each overflow. NOTE:
If an addition of the errors is to be avoided, the system must be referenced again after each rotation.
50.5 / -50.5 37.875
50.5 / -50.5 -37.875
37.875
-25.25
25.25
12.625
-37.875
-25.25
25.25
-12.625
12.625
0
-12.625 0
a)normal path
b) optimised path
Fig. 7: Standard a) and optimised b) movement with a multi-turn application
Example: The total travel path is 101 rotations of the encoder, then the "Maximum Position" in P615 = 0.5 * 101 rotations = 50.5 rotations must be entered. The above example is for a speed ratio or reduction ratio of "1". The maximum value of the position or the overflow point is calculated as follows: nmax: Maximum value of motor rotation nmax = 0.5 * UD * Üb / Un
Üb:
Speed Ratio (P607[-01])
Un:
Reduction Ratio (P608[-01])
UD
Rotations of rotary encoder
Example: The incremental encoder is installed on the output side of the gear unit. The gear unit has a ratio of i = 26.3. nmax =0.5 * 101 rotations * 263 / 10 = 1328.15 rotations.
3
The overflow point corresponds to 1/2 of an encoder revolution
BU 0510 GB-3911
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POSICON position control for NORD frequency inverters, SK 530E and above
P605* Resolution of CANopen absolute encoder
P615 Maximum position
Number of rotary encoder rotations
P604 Encoder type
Single-turn – absolute encoder
1
5, 7, 9, 11, 13 or 15
Multi-turn – absolute encoder
≥1
5, 7, 9, 11, 13 or 15
Incremental encoder
1
3 or 4
-
0
Incremental encoder
>1
3 or 4
-
0.5 * Total rotations
Array [-01] = 0 Array [-02] = Pulse number Array [-01] = Number Array [-02] = Pulse number
0 0.5 * Total rotations
* Array [-01] = Multi-turn resolution - number of possible encoder rotations Array [-02] = Single-turn resolution - resolution per encoder rotation
Table 16: Overview of incremental and absolute encoder parameter settings
NOTE A multi-turn absolute encoder can also be used as a single-turn absolute encoder. For this, the multi-turn resolution must be set to "0" (see Table 16).
3.3 Specifying the setpoint Three different procedures are available for specifying the setpoint. The specification of the setpoint can be made via: digital inputs or Bus IO In Bits as absolute position by means of the position array digital inputs or Bus IO In Bits as relative position by means of the position increment array Bus setpoint value For the specification of the setpoint value it does not matter how the actual position is obtained. Absolute, relative and bus setpoint values can be specified, regardless of whether an absolute encoder or incremental encoder are used to detect the position.
3.3.1 Position array – absolute setpoint position via digital inputs or BUS I/O In Bits In parameter P610 "Setpoint Mode", up to 63 positions stored in parameter P613 can be selected via the digital inputs of the frequency inverter or Bus IO In Bits using Function 0 = "Position Array". With SK 540E and above, as many as 4 x 63 = 252 positions can be selected via the dependency of parameter P613 on the parameter sets. The position numbers result from the binary value. A position setpoint value (P613) can be parameterised for each position number. The position setpoint value can either be entered via a control panel (Control Technology Unit or Parameter Technology Unit) or with a PC by means of the "NORD CON" parameterisation software (read out and adopt current position), or via "Teach-in" by travelling to the positions. With the setting "62" "Sync for Position Array Pointer" for the digital inputs or BUS I/O In Bits it is possible to control the start of travel to the setpoint position. If one of the inputs or bus IO In bits is parameterised to "62" "Sync for Position Array Pointer", by means of further digital inputs or Bus I/O In Bits, the position or the position array can be preselected as binary code. The position value is adopted as the setpoint position as soon as the input "Sync for Position Array Pointer" is set to "1".
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3 Description of function
If the absolute setpoint position is specified via Bus IO In Bits, the position number results from bits 0…5 of the serial interface. For this, a bus setpoint value (P546, P547 and P548 "Function Bus - Setpoints") must be set in the setting "Bus IO In Bits 0...7" and the functions assigned to the corresponding bits under P480 "Function Bus I/O In Bits". For further details of the possible functionality settings, please refer to the relevant parameter description in Section 4 Parameter settings.
3.3.2 Position increment array– relative setpoint position via digital inputs or BUS I/O In Bits The position setpoint value "Position Increment Array" is especially advisable for endless axes. For this, the function 1 = "Position Increment Array" must be parameterised in parameter P610 "Setpoint Mode". Up to 6 digital inputs or Bus IO Bits can each be assigned an input signal for one of the 6 position increment array elements (P613 [-01]…[-06]). With SK 540E and above, as many as 4 x 6 = 24 positions can be selected via the dependency of parameter P613 on the parameter sets. If the input signal changes from "0" to "1" the value of the element is added to the setpoint position. The values can be positive or negative, so that a return to the starting position is also possible. The addition is carried out on each positive signal flank, regardless of whether or not the inverter is enabled. A multiple of the parameterised increment can be specified with several consecutive pulses to the allocated input. The pulse width and the width of the pauses between pulses must be at least 10 ms. If the relative setpoint position is specified via Bus IO Bits, bits 0...5 of the serial interface are each assigned to the position increment array. For this, a bus setpoint value (P546, P547 and P548 "Function Bus - Setpoints") must be set in the setting "Bus IO In Bits 0...7" and the functions assigned to the corresponding bits under P480 "Function Bus I/O In Bits". For further details of the possible functionality settings, please refer to the relevant parameter description in Section 4 Parameter settings.
3.3.3 Bus setpoints The transfer of the setpoint can be carried out via various field bus systems. The position can be specified in terms of rotations or increments. A rotation of the motor then corresponds to a resolution of 1/1000 rotation or 32768 increments. The source of the bus setpoint must be selected in parameter P510 "Setpoint Source" in the menu group "Additional Functions". The position setpoints to be transferred via the bus must be set in parameters P546 – P548 "Function Bus Setpoints". The High and Low words should be used in order to utilise the entire positioning range. With this, a 32 bit position setpoint can be specified via a control unit. Example: One motor rotation (See value P602) = 1.000 revolutions = Bus setpoint 1000 dec. For details of the bus setpoints, please refer to the relevant BUS operating instructions.
3.3.3.1
Bus - Specification of absolute setpoint via field bus
If the "Bus" setting (3) is parameterised in parameter P610 "Setpoint Mode", the absolute position setpoint specification is exclusively made via a field bus system. The setting of the field bus system is parameterised in parameter P509 "Interface". For the "Bus" setting, the functions of the digital inputs and the Bus IO In Bits for the specification of the position from parameter P631 "Position" / position array element are not enabled.
3.3.3.2
Bus increments – specification of relative setpoint via field bus
If the "Bus Increment" setting (4) is parameterised in parameter P610 "Setpoint Mode", the relative position setpoint specification is made via a field bus system. The setting of the field bus system is parameterised in parameter P509 "Interface". BU 0510 GB-3911
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POSICON position control for NORD frequency inverters, SK 530E and above
3.4 Teach-In function via digital inputs or Bus I/O In Bits As an alternative to the direct input, the parameterisation of the absolute setpoint position (position array) can also be carried out via the function "Teach-In". Two inputs are required for "Teach-In" via digital inputs or Bus IO In Bits. One input, or one of the parameters P420 – P425, 470 or 480 must be parameterised to function (24) "Teach-In" and a further input must be parameterised to function (25) "Quit Teach-In". "Teach-In" is started with the "1" signal to the relevant input and remains enabled until the signal is cancelled again. On a change from 0 to 1 of the signal "Quit Teach-In", the current position setpoint is saved in parameter P613 "Position". The position number or the position array element or the position increment array element is specified via the position specification (bit 0 to 5 position (increment) array) of the digital inputs or Bus IO In Bits in parameter P420 – P425, 470 or 480 with one of the functions (55 to 60) "Bit 0-5 for Position (Increment) Array". If no input is accessed (corresponds to position 0) the position number is generated via an internal counter. The counter is increased after the adoption of each position. At the start of the "Teach-In" with specified position 0 the counter is at 1. On adoption of the value with "Quit Teach-In" the counter is increased. As soon as a position is addressed via the digital inputs, the counter is set to this position. As long as the "Teach-In" is enabled, the frequency inverter can be controlled with enable signals and frequency setpoints (identical to parameter P600 "Position Control" = "Off"). The function "Teach-In" can also be implemented via a serial interface or the Bus IO In Bits. For this, one of the bus setpoint values (P546, P547 and P548 "Function Bus - Setpoints") must be set to "Bus IO In Bits 0...7" and the functions assigned to the corresponding bits under P480 "Function Bus I/O In Bits". For further details of the possible functionality settings, please refer to the relevant parameter description in Section 4 Parameter settings.
3.5 Conversion ratio of the setpoint and actual values (P607 and P608) The position values are based on the number of rotations of the motor. If a different reference value is required, with the aid of parameter P607 [-03] the "Speed Ratio" and P608 [-03] the "Reduction Ratio" can be converted into a different unit. No values after the decimal point can be entered in the parameters "Speed Ratio" and "Reduction Ratio". In order to achieve greater precision, the two values should each be multiplied by the same factor, which should be as large as possible. The product must not exceed the value 6500, i.e. the factor must not be too large. Example: Lifting gear Unit in [cm] Gear unit: i = 26.3 Drum diameter: d = 50.5 cm Multiplier: 100 selected
P608[3]Reduction ratio 50,5cm 158,65 100 15865 6 cm Rev. P607[3]Ratio 26,3 26,3 100 2630 NOTE:
32
The required unit can be selected in parameter P640 "Unit Pos. Value". Accordingly, in this example, parameter P640 must be parameterised to the function 4 = cm.
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3.6 Position control functions (P600) Four different positioning variants are possible. Linear ramp with maximum frequency (setting (1)) The acceleration is linear. The speed of constant travel is always carried out with the "Maximum Frequency" set under parameter P105. Linear ramp with setpoint frequency (setting (2)) The acceleration is linear. The speed of constant travel is specified via the setpoint frequency. This can be changed via the analog input or via a bus setpoint value. S ramp with maximum frequency (setting (3)) The speed of constant travel is always carried out with the "Maximum Frequency" set under parameter P105. However, in positioning operation the frequency ramps can be operated as S ramps. Compared with conventional linear frequency increases (or decreases), according to the start-up time (or braking time) a gentle rounding (without jerking) is performed to change from a static state to acceleration or braking. Also, when the final speed is attained, the acceleration or deceleration is slowly reduced. The S ramp always corresponds to a rounding of 100% and only applies, when positioning is also being performed. The effective ramp time is doubled by S ramping. The S ramp function is disabled during a reference point run. S ramp with setpoint frequency (setting (4)) The speed of constant travel is specified via the setpoint frequency. However, in positioning operation the frequency ramps are operated as S ramps. For further details, please refer to the previous paragraph. The setpoint frequency can be changed via the analog input or via a bus setpoint value. The S ramp function is disabled during a reference point run.
NOTE The parameter P106 "Ramp Smoothing" must still be set to "0" for positioning. If the enabling is removed or a reference point run is carried out, the rounding is not effective.
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POSICON position control for NORD frequency inverters, SK 530E and above
3.7 Position control The position control functions as a P- feedback loop. The setpoint position and the actual position are continuously compared with each other. The setpoint frequency is formed by the multiplication of this difference with the parameter P611 "Position Control P". This value is then limited to the "Maximum Frequency" parameterised in parameter P105.
A path distance is calculated from the "Braking Time" parameterised in parameter P103 and the current speed. Without taking the distance calculation into account by means of the braking time, the speed would normally be reduced too late. Exceptions to this are highly dynamic applications with extremely short braking and starting times and applications in which only very small path increments are specified. As a further parameter, a starting point for slow travel can be set in parameter P612 "Size of Target Window". Within the target window the setpoint frequency is limited to the frequency set in parameter P104 "Minimum Frequency". This frequency can not fall below 2 Hz. For applications with greatly fluctuating loads and without speed regulation, a creep path can be parameterised by means of this parameter. The parameter P612 "Size of Target Window" does not have an effect on the relay/output message "Position Reached".
Overview of position control:
Frequency Max. P position control Run with min. frequency
Min.
Time Start-up time
Run with max. frequency
Braking time
(*)
(*) Time determined by "Pos. window"
Fig. 8: Overview of position control
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3.8 Output messages 3.8.1 Relays (P434, 441) and digital outputs (P450, P455) The frequency inverter has two relays and at least two digital outputs, for which of each a function can be parameterised. The possible messages for the positioning function, which are alsoavailable when the positioning function is disabled(P600 = "Off"), are summarised in Table . Message function (setting)
Description
Reference (20)
The digital output indicates that there is a valid reference point. The relay or output indicates that there is a valid reference point. The relay or output is switched off if a reference point run is started. The relay or output switches on as soon as the reference point has been found. The status after switching on the inverter supply voltage depends on the setting in P604 "Encoder Type". With the setting for absolute encoders (1, 5, 6-15) and for incremental encoders with position memory (3 and 5) the relay or output is switched on after the inverter is switched on. With other settings it is switched off.
Position reached (21)
With this function the inverter reports that the setpoint position has been reached. The relay or output switches on if the difference between the setpoint and the actual position is smaller than the value set in parameter P625 "Output Hysteresis" and the current frequency is lower than the frequency parameterised in parameter P104 "Minimum Frequency" + 2Hz. For synchronous operation the frequency parameterised in (P104) does not apply. In this case the frequency setpoint is the condition.
Comparative position (22)
The relay or output switches on if the actual position is greater than or equal to parameter P626 "Comparative Position Output". The relay or output switches off again if the actual position is smaller than the "Comparative Position Output" - "Output Hysteresis". The sign of the value is taken into account. [Relay or output switches on if pist ≥ pvergl and switches off if pist < pvergl – physt]
Comparative position value (23)
The function "Comparative Position Value" corresponds to the function "Comparative Position" with the difference that the position is processed as an absolute value (without sign). The relay or output is switched on if the actual position exceeds the value parameterised in P626 "Comparative Position Output" or undershoots the same negative value. [Relay or output switches on if |pist ≥ |pvergl and switches off if pist| < |pvergl| – physt]
Position array value (24)
The relay or output always switches on if a position parameterised in parameter P613 "Position" is reached or passed over. This function is also available if the position setpoint mode in parameter P610 "Setpoint Mode" is not set to "Position Array" i.e. the function is available for all functions which can be set.
Comparative position reached (25)
Comparative position reached The relay or output switches on if the difference between the actual position and the value parameterised in P626 "Comparative Position Output" is less than the value set in parameter P625 "Output Hysteresis". [Relay/output switches on if |(pvergl - pist)| < physt]
Comparative position value reached (26)
Comparative position value reached. The relay or output switches on if the difference between the actual position value and the value parameterised in P626 "Comparative Position Output" is less than the value set in parameter P625 "Output Hysteresis". [Relay/output switches on if |(|pvergl| - |pist|)| < physt]
Table 17: Digital output messages for positioning function
3.8.2 Output messages via BUS I/O Out Bits (P481) All relay/output messages can also be read out via the serial interface by means of the Bus I/O Out Bits. For this, one of the actual bus values (P543, P544 and P545) "Function Bus - Actual Value") must be parameterised to the setting "Bus Out Bits 0...7" and the functions assigned to the corresponding bits under P481 "Function Bus I/O In Bits".
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POSICON position control for NORD frequency inverters, SK 530E and above
4
Parameter settings For a detailed overview of all available parameters, please refer to the frequency inverter manual BU0500. The following only lists selected parameters and parameters specific to the function of POSICON.
NOTE:
The structure of individual parameters for SK 53xE frequency inverters differs from those for the SK 54xE version. Because of this, the relevant parameters descriptions are listed twice.
Abbreviations used:
FI = Frequency inverter SW = Software version stored in P707. S = Supervisor parameters are visible or hidden dependent on P003.
4.1 Operating display Parameter {factory setting}
P001 0 ... 65 {0}
Setting value / Description / Note
Device
Supervisor
Parameter set
Select of disp. value (Selection of display value) Selection of the operating display for a ControlBox /SimpleBox. (Illustration of functions relevant to POSICON) 16 = Position setpoint Actual setpoint (setpoint position) 17 = Actual position: Actual position 50 = Actual position, incremental: Actual position value of incremental encoder 51 = Actual position, absolute or Actual position, CANopen: Actual position value of CANopen absolute encoder 52 = Actual position difference Actual difference between setpoint and actual position 53 = Actual position difference, absolute/incremental: Actual position difference (see also P631) between absolute encoder and incremental encoder 54 = Actual position difference, calculated/measured: Actual position difference (see also P630) between the calculated and measured difference of an encoder 55 = Actual position value, universal encoder: Actual position value of universal encoder (absolute encoders except CANopen) (SK540E and above)
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4.2 Speed control Parameter {factory setting}
P300 0 ... 1 {0}
Setting value / Description / Note
Servo Mode
Device SK 520E or higher
(Servo Mode)
Supervisor
Parameter set P
This parameter activates speed control with speed measurement via an incremental encoder. This leads to a very stable speed behaviour up to motor standstill. 0 = Off 1 = On NOTE:
P301
For correct function, an incremental encoder must be connected (see Section 2.2) and the correct pulse number must be entered in parameter P301.
Incremental encoder (Incremental encoder resolution)
SK 520E or higher
0 ... 17
Input of the pulse-count per rotation of the connected encoder.
{6}
If the encoder rotation direction is not the same as the FI, (depending on installation and wiring), this can be compensated for by selecting the corresponding negative pulse numbers 8...16. 0 = 500 pulses
8 = -500 pulses
1 = 512 pulses
9 = -512 pulses
2 = 1000 pulses
10 = -1000 pulses
3 = 1024 pulses
11 = -1024 pulses
4 = 2000 pulses
12 = -2000 pulses
5 = 2048 pulses
13 = -2048 pulses
6 = 4096 pulses
14 = -4096 pulses
7 = 5000 pulses
15 = -5000 pulses
17 = + 8192 pulses NOTE:
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16 = -8192 pulses
P301 is also significant for position control via incremental encoders for SK 530E and above. The pulse number is set here if an incremental encoder is used for positioning (P604=1).
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POSICON position control for NORD frequency inverters, SK 530E and above
4.3 Control clamps Parameter {factory setting}
P400
Setting value / Description / Note
Device
Analog input 1 function
up to SK 535E
(Analog input 1 function)
0 ... 82
Supervisor
Parameter set P
The analog input of the FI (SK 500E up to SK 535E) can be used for various functions. Setting of an analog or digital function is possible, whereby the selection of the function type is made in parameter P400.
{1}
The possible functions are listed in the following tables.
P400
[-01] ... [-08]
Analog input function (Analog input function)
SK 540E and above
P
0 ... 82
[-01] = Analog input 1: Analog input 1, integrated into the FI
{ [-01] = 1 }
[-02] = Analog input 2: Analog input 2, integrated into the FI
all other { 0 }
[-03] = External Analog input 1, "External analog input 1“: Analog input 1 of the first IO extension (SK xU4-IOE) [-04] = External Analog input 2, "External analog input 2“: Analog input 2 of the first IO extension (SK xU4-IOE) [-05] = External Analog input1, 2nd IOE, "External analog input 1 of the 2nd IOE": Analog input 1 of the second IO extension (SK xU4-IOE) [-06] = External analog input 2, 2nd IOE, "External analog input 2 of the 2nd IOE": Analog input 2 of the second IO extension (SK xU4-IOE) [-07] = Analog function, Dig2, "Analog function of digital input 2": Analog function of the digital input 2 integrated into the FI. With this setting the digital input DIN2 is set to evaluate impulse signals. This pulses are then evaluated as an analog signal according to the function which is set here. [-08] = Analog function, Dig3, "Analog function of digital input 3": Analog function of the digital input 3 integrated into the FI. With this setting the digital input DIN3 is set to evaluate impulse signals. This pulses are then evaluated as an analog signal according to the function which is set here.
In addition to the internal analog inputs SK 540E and SK545E can also process analog functions from the digital inputs DIN 2 and DIN 3 or the analog inputs of optional IO extension modules (SK CU4-IOE, SK TU4-IOE). Assignment of the analog functions is carried out in the relevant array of parameter P400. The possible analog functions can be found in the following table. Assignment of digital functions to the analog inputs 1 and 2 of the frequency inverter is carried out in parameter P420 [-08] or [-09]. The functions which can be set correspond to those of the digital inputs (see table after P420). The possible functions are listed in the following tables.
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List of possible analog functions for the analog inputs P400 (or P405) (only POSICON functions) Value Function
Description
47
Gearing ratio
Gearing ratio. Setting of the gearing ratio between the master and the slave (see Section 6.5).
58
Setpoint position
Within the limits of P615 and P616, the setpoint position can be specified via the analog input. In this case, monitoring of the position for minimum and maximum position is not performed.
List of possible digital functions for the analog inputs P400 (or P405) (only POSICON functions) The analog inputs of the frequency inverter can also be parameterised to process digital signals. SK 500E … SK 535E The digital functions are set in the parameter of the relevant analog input (P400 or P404) according to the following assignment. Value
Function
Value
Function
42
Reference point run
75
Bit 0 PosArr / Inc
43
Reference point
76
Bit 1 PosArr / Inc
44
Teach – In
77
Bit 2 PosArr / Inc
45
Quit – Teach – In
78
Bit 3 PosArr / Inc
81
Reset position
82
Sync. position array
SK 540E und SK545E The digital functions are set in parameter P420 [-08] or [-09]. If a digital function is assigned to an analog input, the analog function of the relevant input must be set to {0} "Off" in order to prevent misinterpretation of the signals. A detailed description of the digital functions can be found after parameters P420 … P425. The functions of the digital inputs are identical to the digital functions of the analog inputs. Permissible voltage when using digital functions: 7.5...30V. NOTE:
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The analog inputs with digital functions do not comply with EN61131-2 (Type 1 digital inputs), because the idling currents are too low.
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POSICON position control for NORD frequency inverters, SK 530E and above
Parameter {factory setting}
Device
Analog input 2 function
up to SK 535E
P
up to SK 535E
P
P405
(Analog input 2 function)
0 ... 82
Supervisor
Parameter set
Setting value / Description / Note
This parameter is identical to P400.
{0}
Analog output 1 function
P418
(Analog output 1 function)
0 ... 52
Analog functions (max. load: 5mA analog, 20mA digital):
{0}
An analog voltage (0 ... +10 Volt) can be taken from the control terminals (max. 5mA). Various functions are available, whereby: 0 Volt analog voltage always corresponds to 0% of the selected value. 10 V always corresponds to the motor nominal values (unless otherwise stated) multiplied by the P419 standardisation factor, e.g.: 10Volt Motor nominalvalue P419
100%
The possible functions are listed in the following tables.
P418
[-01] ... [-03]
Analog output func. (Analog output function)
SK 540E and above
P
0 ... 52
[-01] = Analog output: analog output integrated into the FI
{ all 0 }
[-02] = First IOE, "External analog output of first IOE": Analog output 1 of thefirst IO extension (SK xU4-IOE) [-03] = Second IOE, "External analog output of second IOE": Analog output of thesecond IO extension (SK xU4-IOE) Analog functions (max. load: 5mA analog, 20mA digital): An analog voltage (0 ... +10 Volt) can be taken from the control terminals (max. 5mA). Various functions are available, whereby: 0 Volt analog voltage always corresponds to 0% of the selected value. 10 V always corresponds to the motor nominal values (unless otherwise stated) multiplied by the P419 standardisation factor, e.g.: 10Volt Motor nominalvalue P419 100%
The possible functions are listed in the following tables.
List of possible analog functions for the analog outputs P418 (only POSICON functions) Value Function 29
40
Actual position
Description Within the limits of P615 and P616 the analog output indicates the actual position.
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List of possible digital functions for the analog outputs P418 (only POSICON functions) All relay functions described in Parameter >Function Relay 1< P434 can also be transferred via the analog output. If a condition has been fulfilled, then there will be 10V at the output terminals. Negation of the function can be set in parameter >Analog output standardisation< P419.
Value
Function
Value
Function
34
Reference point
38
Position array value
35
Position reached
39
Comparative position reached
36
Comparative position
40
Comparative position value reached
37
Comparative position value
Parameter {factory setting}
Setting value / Description / Note
Digital input 1
P420
Device
Supervisor
up to SK 535E
(Digital input 1)
0 ... 74
Enable right as factory setting, control terminal 21 (DIN1)
{1}
Various functions can be programmed. These can be seen in the following table.
P420
0 ... 80 { [-01] = 1 }
[-01] ... [-10]
Parameter set
Digit inputs
SK 540E and above
(Digital inputs)
Up to 10 inputs which can be freely programmed with digital functions are available in the SK 54xE. Of these inputs, analog inputs 1 and 2 of the frequency inverter do not comply with EN61131-2 (Type 1 digital inputs).
{ [-02] = 2 }
[-01] = Digital input 1 (DIN1): Enable right, (default),
Terminal 21
{ [-03] = 8 }
[-02] = Digital input 2 (DIN2): Enable left, (default),
Terminal 22
{ [-04] = 4 }
[-03] = Digital input 3 (DIN3): Parameter switching, (default),
Terminal 23
all others { 0 }
[-04] = Digital input 4 (DIN4): Fixed frequency 1 (P429), (default),
Terminal 24
[-05] = Digital input 5 (DIN5): No function, (default),
Terminal 25
[-06] = Digital input 6 (DIN6): No function, (default),
Terminal 26
[-07] = Digital input 7 (DIN7): No function, (default),
Terminal 27
[-08] = Digital function Analog1 (AIN1), "Digital function of analog input 1":
Terminal 14
[-09] = Digital function Analog2 (AIN2), "Digital function of analog input 2":
Terminal 16
[-10] = Digital input 8 (DIN8): No function, (default),
Terminal 7
P421
Digital input 2
4
5 6 c
b
up to SK 535E
(Digital input 2)
4
Up to and including Size 4, digital input 5 is not available. In place of this a potential-free isolated thermistor input is implemented, whose function cannot be disabled. If no thermistor is present the two terminals TF- and TF+ must be bridged. Parameterisation of this input does not have any effect. 5
Digital input 7 (DIN7) can also be used as digital output 3 (DOUT3 / Binary output 5). It is recommended that either an input function (P420 [-07] or an output function (P434 [-05]) is parameterised. However, if and input function and an output function are parameterised, a High signal from the output function will result in the activation of the input function. This IO-exclusion is hence used as a kind of "flag". This also applies for digital input 8 (DIN8) and digital output 2 (DOUT2 / binary output 4). 6
The analog inputs 1 and 2 (AIN1 / 2) can also process digital functions. Care must be taken that either an analog function (P400 [-01]/[-02]) or a digital function (P420 [-08]/[-09]) is parameterised in order to prevent misinterpretation of the signals.
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Parameter {factory setting}
Setting value / Description / Note
0 ... 74
Enable left as factory setting, control terminal 22 (DIN2)
{2}
Various functions can be programmed. These can be seen in the following table.
Device
Digital input 3
P422
Supervisor
up to SK 535E
(Digital input 3)
0 ... 74
Parameter set switching Bit 0 as factory setting, control terminal 23 (DIN3)
{8}
Various functions can be programmed. These can be seen in the following table.
Digital input 4
P423
up to SK 535E
(Digital input 4)
0 ... 74
Fixed frequency 1 (P429) as factory setting, control terminal 24 (DIN4)
{4}
Various functions can be programmed. These can be taken from the following table.
Digital input 5
P424
up to SK 535E
(Digital input 5)
0 ... 74
No function as factory setting, control terminal 25 (DIN5)
{0}
Various functions can be programmed. These can be seen in the following table. From SK 520E to SK 535E
Digital input 6
P425
Parameter set
(Digital input 6)
0 ... 74
No function as factory setting, control terminal 26 (DIN6)
{0}
Various functions can be programmed. These can be seen in the following table.
(SK 520/53xE) Function of digital input 7 = P470 , Control terminal 27 (DIN7) For a description of functions, see the following table(s).
List of the possible functions of digital inputs P420 ... P425, P470 (only POSICON functions) Value Function
42
Description
Signal
22
Approach reference point Start of reference point run (see Section 3.2.1.1)
High
23
Reference point
Reference point reached (see Section 3.2.1.1)
10 Flank
24
Teach – In
Start of Teach-in function (see Section 3.4)
High
25
Quit Teach – In
Save actual position (see Section 3.4)
01 Flank
55
Bit 0 PosArr / Inc
Bit 0 position array / position increment array (see Section 3.3)
High
56
Bit 1 PosArr / Inc
Bit 1 position array / position increment array (see Section 3.3)
High
57
Bit 2 PosArr / Inc
Bit 2 position array / position increment array (see Section 3.3)
High
58
Bit 3 PosArr / Inc
Bit 3 position array / position increment array (see Section 3.3)
High
59
Bit 4 PosArr / Inc
Bit 4 position array / position increment array (see Section 3.3)
High
60
Bit 5 PosArr / Inc
Bit 5 position array / position increment array (see Section 3.3)
High
61
Reset position
Reset actual position (see Section 3.2.1.2)
01 Flank
62
Sync. position array
Adoptation of a preselected position (see Section 3.3.1 )
01 Flank
63
Synchronous operation OFF
With function P610 = 2 "Synchronous operation", synchronous operation is interrupted, however the drive unit remains in position control mode. With the 01 flank the position setpoint (P602) from the master drive is reset and the drive unit returns to position "0" or to the position saved in the position offset (P609) and remains there.
High
Subject to technical alterations
BU 0510 GB-3911
4 Parameter settings
Value Function
Description
Signal
With function P610 = 5 "Flying Saw", the slave returns to its starting position and remains there until the next "Start Flying Saw" command. A new start command is only accepted if the slave has reached its starting position. The position setpoint (P602) of the master drive is reset with the 01 flank.
01 Flank
64
Start Flying Saw
Start command for synchronisation of the slave drive with the master.
01 Flank
77
Stop Flying Saw
The "Flying Saw" function is interrupted. The slave drive stops and remains in its present position, however it can be re-synchronised to the master at any time with the command "Start Flying Saw".
01 Flank
Parameter {factory setting}
Setting value / Description / Note
Relay 1 function
P434
(Function of output 1 (Relay 1 – MFR1))
Device
Supervisor
Parameter set
up to SK 535E
P
Control terminals 1/2: The settings 3 to 5 and 11 work with a 10% hysteresis, i.e. the relay contact closes (Function 11 opens) when the limit value is reached and opens (function 11 closes) when a 10% smaller value is undershot. This behaviour can be inverted with a negative value in P435.
0 ... 39 {1}
Various functions can be programmed. These can be seen in the following table.
P434
0 ... 39
[-01] ... [-05]
Digital out function (Function of digital outputs)
SK 540E and above
P
Up to 5 outputs (2 of which are relays), which can be freely programmed with digital functions are available in the SK 54xE. These can be seen in the following table.
{ [-01] = 1 } { [-02] = 7 } all other { 0 }
[-01] = Output 1 / MFR1, relay output 1: external brake, (default), Terminals 1/2 [-02] = Output 2 / MFR2, relay output 2: Fault, (default),
Terminals 3/4
[-03] = Output 3 / DOUT1, digital output 1: No function, (default), Terminal 5 7
[-04] = Output 4 / DOUT2, digital output 2: No function, (default), Terminal 7
[-05] = Output 5 / DOUT3, digital output 3: No function, (default), Terminal 27
NOTE
7
The standardisation assigned to output 1 by parameter P435 is deactivated with POSICONrelevant functions (20 - 26). The hysteresis assigned to output 1 by parameter P436 is deactivated with POSICON-relevant functions (20 - 26). Parameterisation of the hysteresis can be jointly parameterised with regard to POSICON-relevant functions for all outputs by means of parameter P625. This also applies accordingly for the other digital and relay outputs of the inverter.
List of possible functions for the relays and digital outputs P434, P441, P450, P455 (only POSICON functions) Details: see Section 3.8
7
Digital input 7 (DIN7) can also be used as digital output 3 (DOUT3 / Binary output 5). It is recommended that either an input function (P420 [-07] or an output function (P434 [-05]) is parameterised. However, if and input function and an output function are parameterised, a High signal from the output function will result in the activation of the input function. This IO-exclusion is hence used as a kind of "flag". This also applies for digital input 8 (DIN8) and digital output 2 (DOUT2 / binary output 4).
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43
POSICON position control for NORD frequency inverters, SK 530E and above
Value Function
Description
Signal*
20
Referenz
Reference point is available / has been saved
High
21
Position reached
Setpoint position has been reached
High
22
Comparative position
Position value in P626 has been reached
High
23
Comparative position value
Position value in P262 without consideration of sign has been reached
High
24
Position array value
A value set in P613 has been reached or exceeded.
High
25
Comparative position reached
Comparative position has been reached, as for 22 with consideration of P625
High
26
Comparative position value reached
Comparative position value has been reached, as for 23 with consideration of P625
High
27
Drive in synchronous operation
The slave drive has completed the start phase of the "Flying Saw" function and is now synchronised with the master axis.
High
* For relay contacts (High = "Contact closed", Low = "Contact open")
Parameter {factory setting}
P441 0 ... 39
Setting value / Description / Note
Relay 2 function (Function of output 2 (Relay 2 – MFR1))
Device
Supervisor
Parameter set
up to SK 535E
P
Control terminals 3/4: Functions are identical to P434!
{7}
P450 0 ... 39 {0}
P455 0 ... 39 {0}
44
Relay 3 function (Function of output 3 (DOUT1) )
From SK 520E to SK 535E
P
Control terminals 5/40: Functions are identical to P434! Digital output, 15V against DGND (for SK 5x5E devices, deviations of the signal level are possible (see BU0500)).
Relay 4 function (Function of output 4 (DOUT2))
From SK 520E to SK 535E
P
Functions are identical to P434! Digital output, 15V against DGND (for SK 5x5E devices, deviations of the signal level are possible (see BU0500)).
Subject to technical alterations
BU 0510 GB-3911
4 Parameter settings
Parameter {factory setting}
P461 0 ... 5 {0} SW 1.7 or higher and hardware status CAA
Setting value / Description / Note
Device
Supervisor
Parameter set
Function of 2nd encoder (Function of 2nd encoder) The actual speed list value supplied to the FI by an HTL incremental encoder can be used for various functions in the FI. (The settings are identical to (P325)). The HTL encoder is connected via digital inputs 2 and 4. The parameters (P421) and (P423) must be set accordingly to functions 43 "Track A" and 44 "Track B". Due to the frequency limit (max. 10kHz) these only restricted encoder solutions (P462) are possible with these digital inputs. The mounting location (motor shaft or output side) of the encoders is taken into account by the parameterisation of an appropriate speed ratio (P463). 0 = Speed measurement Servo mode: The actual motor speed list value is used for the FI servo mode. In this function the ISD control cannot be disabled. Position control is also available as of software version 2.0. 1 = PID actual frequency value: The speed list value of a system is used for speed control. This function can also be used for controlling a motor with a linear characteristic curve. Here P413 and P414 determine the P and I component of the control. 2 = Frequency addition: The determined speed is added to the actual setpoint value. 3 = Frequency subtraction: The determined speed is subtracted from the actual setpoint. 4 = Maximum frequency: The maximum possible output frequency / speed is limited by the speed of the encoder. 5 = Actual position value: The HTL encoder is used for position control but not for speed control. (SW 2.0 and above)
P462
Pulse number 2nd encoder (Pulse number of 2nd encoder)
16 ... 8192
Input of the pulse-count per rotation (16 - 8192) of the connected HTL incremental encoder.
{ 1024 }
If the direction of rotation of the encoder is not the same as that of the FI, (depending on installation and wiring), it can be compensated for by selecting the corresponding negative pulse numbers.
SW1.7 and above
P463 0.01 ... 100.0 { 1.00 }
2nd encoder ratio (2nd encoder ratio) If the incremental encoder is not mounted directly onto the motor shaft, then the respectively correct transformation ratio of the motor speed to the encoder speed must be set.
P463
SW1.7 and above
motor speed encoder speed
Only if P461 = 1, 2, 3 4 or 5, therefore not in Servo mode (motor speed control)
P470
Digital input 7
From SK 520E to SK 535E
(Digital input 7) 0 ... 74
No function as factory setting, control terminal 27 (DIN7)
{0}
Various functions can be programmed. These can be taken from tables for P420…P425.
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45
POSICON position control for NORD frequency inverters, SK 530E and above
Parameter {factory setting}
P480
Setting value / Description / Note [-01] ... [-12]
0 ... 74
Funct. BusIO In Bits (Bus I/O In Bits function)
Device
Supervisor
Parameter set
S
The Bus I/O In Bits are perceived as digital inputs. They can be set to the same functions (P420...425).
{ all 0 }
In association with the IO extension modules (e.g. SK TU4-IOE) with the SK 54xE these I/O bits can also process their input signals. [-01] = Bus I/O In Bit 0 (or SK54xE and above: + DI1 of the second SK xU4-IOE) [-02] = Bus I/O In Bit 1 (or SK54xE and above: + DI2 of the second SK xU4-IOE) [-03] = Bus I/O In Bit 2 (or SK54xE and above: + DI3 of the second SK xU4-IOE) [-04] = Bus I/O In Bit 3 (or SK54xE and above: + DI4 of the second SK xU4-IOE) [-05] = Bus I/O In Bit 4 (or SK54xE and above: + DI1 of the first SK xU4-IOE) [-06] = Bus I/O In Bit 5 (or SK54xE and above: + DI2 of the first SK xU4-IOE) [-07] = Bus I/O In Bit 6 (or SK54xE and above: + DI3 of the first SK xU4-IOE) [-08] = Bus I/O In Bit 7 (or SK54xE and above: + DI4 of the first SK xU4-IOE) [-09] = Flag 1 [-10] = Flag 2 [-11] = Bit 8 BUS control word [-12] = Bit 9 BUS control word
The possible functions for the Bus In Bits can be found in the table of functions for the digital inputs P420...425.
P481
0 ... 39 { all 0 }
[-01] ... [-10]
Funct. BusIO Out Bits (Function of Bus I/O Out Bits)
S
The bus I/O Out bits are perceived as multi-function relay outputs. They can be set to the same functions (P434; P441; P450; P455). In association with the IO extension modules (e.g. SK TU4-IOE) with the SK 54xE these I/O bits can also control their digital outputs. [-01] = Bus I/O Out Bit 0 [-02] = Bus I/O Out Bit 1 [-03] = Bus I/O Out Bit 2 [-04] = Bus I/O Out Bit 3 [-05] = Bus I/O Out Bit 4 (or SK54xE and above: + DO1 of the first SK xU4-IOE) [-06] = Bus I/O Out Bit 5 (or SK54xE and above: + DO2 of the first SK xU4-IOE) [-07] = Bus I/O Out Bit 6 / Flag 1 (or SK54xE and above: + DO1 of the second SK xU4-IOE) [-08] = Bus I/O Out Bit 7 / Flag 2 (or SK54xE and above: + DO2 of the second SK xU4-IOE) [-09] = Bit 10 BUS status word [-10] = Bit 13 BUS status word
The possible functions for the Bus Out Bits can be found in the table of functions for the digital outputs or the relays P434.
46
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BU 0510 GB-3911
4 Parameter settings
4.4 Extra functions Parameter {factory setting}
P502
0 ... 57 { all 0 }
Setting value / Description / Note [-01] ... [-05]
Device
Value Masterfunction (Value Masterfunction)
Supervisor
Parameter set
S
P
Selection of master values (up to SK 535E: max. 3 master values, SK 540 and above: max. 5 master values: [-01] = Master value 1
[-02] = Master value 2
[-03] = Master value 3
SK 540E and above:
[-04] = Master value 4
[-05] = Master value 5
Selection of possible setting values for the master values (illustration of POSICON-relevant functions): 6 = Actual position Low word 7 = Setpoint position Low word 10 = Actual position, increment Low word
12 = BusIO Out Bits 0-7 13 = Actual position High word 14 = Setpoint position High word
15 = Actual position, increment High word 16 = Setpoint position, increment High word
11 = Setpoint position, increment Low word
P503 0 ... 5 {0}
P514 0 ... 7 {4}
leading func. output
S
(leading func. output)
For master-slave applications this parameter specifies on which bus system the master transmits the control word and the master values (P502) for the slave. On the slave, parameters (P509), (P510), (P546 )(… (P548)) define the source from which the slave obtains the control word and the master values from the master and how these are to be processed by the slave. 0 = Off,
no output of control word and master values.
1 = USS,
Output of control words and master values to USS.
2 = CAN,
Output of control words and master values to CAN (up to 250kBaud).
3 = CANopen,
Output of control words and master values to CANopen.
4 = System bus active,
no output of control word and master values, however via the ParameterBox or NORD CON, all participants which are set to System bus active are visible.
5 = CANopen+System bus active
Output of control word and master values on CAN open via the ParameterBox or NORD CON, all participants which are set on the System bus active are visible.
CAN bus baud rate (CAN baud rate) Used to set the transfer rate (transfer speed) via the CANbus interface. All bus participants must have the same baud rate setting. Additional information is contained in the manual BU 0060 CAN/CANopen. 0 = 10kBaud
3 = 100kBaud
6 = 500kBaud
1 = 20kBaud
4 = 125kBaud
2 = 50kBaud
5 = 250kBaud
7 = 1MBaud * (test purposes only) *) Reliable operation cannot be guaranteed
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POSICON position control for NORD frequency inverters, SK 530E and above
Parameter {factory setting}
P515
Setting value / Description / Note [-01] ... [-03]
Device
Supervisor
Parameter set
CAN bus address (CAN address)
0 ... 255
Setting for the CANbus address.
{ all 50 }
From software version 1.6 and above, this can be set in three levels: [-01] = Slave address, Receipt address for CAN and CANopen (as before) [-02] = Broadcast slave address, Broadcast – receipt address for CANopen (Slave) [-03] = Master address, Broadcast – Transmission address for CANopen (Master)
Bus – Actual value 1
P543
up to SK 535E
(Bus – Actual value 1)
0 ... 24
The return value 1 can be selected for bus actuation in this parameter.
{1}
The possible analog functions can be found in the following table. NOTE:
P543
[-01] ... [-05]
S
P
Further details can be found in the respective BUS operating instructions or in the description of P418.
Bus actual value
SK 540E and above
(Bus – Actual value)
0 ... 57
In this parameter the return value for bus actuation can be selected.
{ [-01] = 1 } { [-02] = 4 } { [-03] = 9 } { [-04] = 0 } { [-05] = 0 }
NOTE:
S
P
The actual values 4 and 5 must be supported by the relevant bus module. Further details can be found in the respective BUS operating instructions or in the description of P418.
[-01] =
Actual bus value 1
[-02] = Actual bus value 2
[-04] =
Actual bus value 4
[-05] = Actual bus value 5
[-03] = Actual bus value 3
(Illustration of functions relevant to POSICON) 6 = Actual position Low word
13 = Actual position High word
7 = Setpoint position Low word
14 = Setpoint position High word
10 = Actual position, increment Low word
15 = Actual position, increment High word
11 = Setpoint position, increment Low word
16 = Setpoint position, increment High word
12 = BusIO Out Bits 0-7
P544
Bus – Actual value 2 (Bus – Actual value 2)
up to SK 535E
S
P
up to SK 535E
S
P
up to SK 535E
S
P
0 ... 24 {0}
This parameter is identical to P543. Condition is PPO 2 or PPO 4 type (P507).
P545
Bus – Actual value 3 (Bus – Actual value 3)
0 ... 24 {0}
This parameter is identical to P543. Condition is PPO 2 or PPO 4 type (P507).
P546
Func. Bus-setpoint 1 (Function of bus setpoint 1)
0 ... 55
In this parameter, a function is allocated to the output setpoint 1 during bus actuation.
{1}
The possible analog functions can be found in the following table. NOTE:
48
For further details please refer to the relevant BUS operating instructions or the description of P400.
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BU 0510 GB-3911
4 Parameter settings
Parameter {factory setting}
P546
Setting value / Description / Note [-01] ... [-05]
Func. Bus-setpoint (Function of bus setpoint)
Device
Supervisor
Parameter set
SK 540E and above
S
P
0 ... 57
In this parameter, during bus actuation a function is allocated to the setpoint provided.
{ [-01] = 1 }
NOTE:
alle anderen { 0 }
The setpoints 4 and 5 must be supported by the relevant bus module. Further details can be found in the respective BUS operating instructions or in the description of P400.
[-01] =
Bus setpoint 1
[-02] = Bus setpoint 2
[-04] =
Bus setpoint 4
[-05] = Bus setpoint 5
[-03] = Bus setpoint 3
(Illustration of functions relevant to POSICON) 17 = BusIO In Bits 0-7
23 = Setpoint position, increment Low word
21 = Setpoint position Low word
24 = Setpoint position, increment High word
22 = Setpoint position High word
(Function of bus setpoint 2)
0 ... 55
57 = Braking time* ( *SK 540E and above)
up to SK 535E
S
P
up to SK 535E
S
P
This parameter is identical to P546.
{0}
Function Bus setpoint 3
P548
(Function of bus setpoint 3)
0 ... 55
This parameter is identical to P546.
{0}
P552
56 = Acceleration time*
47 = Gearing ratio
Function Bus setpoint 2
P547
49 = Ramp time*
[-01] [-02]
0 … 100 ms { all 0 } SW1.6 and above
CAN master circle
S
(CAN Master cycle time)
In this parameter, the cycle time for the CAN/CANopen master mode and the CANopen encoder is set (see P503/514/515): [-01] = CAN Master function, cycle time for CAN/CANopen Master functionality [-02] = CANopen absolute encoder, cycle time of CANopen absolute encoder (SK 53xE) According to the Baud rate set, there are different minimum values for the actual cycle time: Baud rate
Minimum value tZ
Default CAN Master
Default CANopen Abs.
10kBaud
10ms
50ms
20ms
20kBaud
10ms
25ms
20ms
50kBaud
5ms
10ms
10ms
100kBaud
2ms
5ms
5ms
125kBaud
2ms
5ms
5ms
250kBaud
1ms
5ms
2ms
500kBaud
1ms
5ms
2ms
1000kBaud:
1ms
5ms
2ms
The range of values which can be set is between 0 and 100ms. With the setting 0 “Auto” the default value (see table) is used. The monitoring function for the CANopen absolute value encoder no longer triggers at 50ms, but rather at 150ms.
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49
POSICON position control for NORD frequency inverters, SK 530E and above
4.5 Positioning
Parameter {factory setting}
P600 0 ... 4 {0}
P601 - 50000,000 … 50000,000 rev.
P602 - 50000,000 … 50000,000 rev.
P603 - 50000,000 … 50000,000 rev.
50
Setting value / Description / Note
Position Control (Position control)
Device
Supervisor
Parameter set
SK 530E and above
S
P
Activation of positioning control (see also Section 3.6). 0=
Off, positioning control is disabled
1=
Linear ramp (Max. freq.),
positioning control using linear ramp with maximum frequency
2=
Linear ramp (setpoint freq.),
positioning control using linear ramp with setpoint frequency
3=
S-Ramp (Max. freq.),
positioning control using S-ramp with maximum frequency
4=
S-Ramp (Setpoint freq.),
positioning control using S-ramp with setpoint frequency
Actual position (Actual position)
SK 530E and above
Shows the actual position.
Act. Ref. position (Actual setpoint position)
SK 530E and above
Shows the actual setpoint position.
Curr. position diff. (Actual position difference)
SK 530E and above
S
Shows the actual difference between the setpoint and actual position.
Subject to technical alterations
BU 0510 GB-3911
4 Parameter settings
Parameter {factory setting}
P604 0 ... 15
Setting value / Description / Note
Encoder type (Encoder type)
Device
Supervisor
SK 530E and above
S
Parameter set
Type of actual position determination or type of rotary encoder used.
{0} 0=
Incremental,
Incremental encoder
1=
CANopen absolute,
CANopen absolute encoder (with automatic configuration, see also Section 3.2.2.4)
2=
Incr. + Save pos.,
incremental encoder with saving of position
3=
Incremental absolute,
Incremental encoder with emulation of a single-turn absolute encoder for path optimised positioning
4=
Incr. abs. +Save pos.,
as for 3 with saving of position
5=
CANopen path optimised,
CANopen absolute encoder with path optimisation (with automatic configuration, see also Section 3.2.2.4)
6=
CANopen absolute, manual,
CANopen absolute encoder (with manual configuration, see also Section 3.2.2.5)
7=
CANopen path opt. man.,
CANopen absolute encoder with path optimisation (with manual configuration, see also Section 3.2.2.5)
8=
SSI,
SSI encoder (SK 540E and above)
9=
SSI path optimised,
SSI encoder, path optimised (SK 540E and above)
10 =
BISS,
BISS encoder (SK 540E and above)
11 =
BISS path optimised,
BISS encoder, path optimised (SK 540E and above)
12 =
Hiperface,
Hiperface encoder (SK 540E and above)
13 =
Path-optimises Hiperface,
Hiperface encoder, path optimised (SK 540E and above)
14 =
EnDat 2.1,
EnDat 2.1 encoder (SK 540E and above)
15 =
EnDat 2.1 path optimised,
EnDat 2.1 encoder, path optimised (SK 540E and above)
NOTE:
Further information for the selection of the encoder type can be found in Section 3.2.4. Further information about the functions "absolute" and "save" is provided in Section 3.2.4.2 and 3.2.1. With SK 5x5 E devices the frequency inverter control unit must be supplied with power for a further 5 minutes after the last position change in order to permanently save the data.
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POSICON position control for NORD frequency inverters, SK 530E and above
Parameter {factory setting}
P605
0 ... 24 Bit { all 10 }
Setting value / Description / Note [-01] ... [-03]
Absolute encoder (Absolute encoder)
Device
Supervisor
SK 530E and above
S
Parameter set
Resolution setting of the absolute encoder. [-01] = Multi-turn resolution
number of possible encoder rotations
[-02] = Single-turn resolution,
resolution per encoder rotation
[-03] = Sin/Cos periods
Sin/Cos periods per encoder rotation (Hiperface encoders) (SK 540E and above)
The array [-01] describes the number of possible rotations (specific to the encoder, the so-called multi-turn resolution. Array [02] describes the resolution of a singe rotation, the so-called singleturn resolution. Both resolutions are stated in bits. NOTE:
If a single-turn encoder is used, a 0 must be parameterised in Array [-01] for multiturn resolution.
Resolution
Resolution
Resolution (SK540E and above)
[dec]
[Bit]
[dec]
[Bit]
[dec]
[Bit]
1
1
512
9
131.072
17
4
2
1.024
10
262.144
18
8
3
2.048
11
524.288
19
16
4
4.096
12
1.048.576
20
32
5
8.192
13
2.097.152
21
64
6
16.384
14
4.194.304
22
128
7
32.768
15
8.388.608
23
256
8
65.536
16
16.777.216
24
Example: Resolution = 2^12[Bit] = 4096 For a single-turn encoder with 12 bit resolution the following parameterisation must be carried out: Array [-01] = 0
52
Subject to technical alterations
Array [-02] = 12
BU 0510 GB-3911
4 Parameter settings
Parameter {factory setting}
P607
Setting value / Description / Note [-01] ... [-05]
Ratio (Ratio)
-65000 ... 65000
[-01] = Incremental encoder
{ all 1 }
[-02] = Absolute encoder
Device
Supervisor
SK 530E and above
S
Parameter set
[-03] = Setpoint and actual values [-04] = Universal encoder [-05] = Synchronous operation
The speed ratio is set for incremental and absolute encoders. This is also effective for synchronous control (Master- Slave, P610).
nM nG
Speed Ratio Reduction ratio
NOTE: For further information please refer to section 3.5.
P608
[-01] ... [-05]
Reduction Ratio
SK 530E and above
(Reduction Ratio)
1 ... 65000
[-01] = Incremental encoder
{ all 1 }
[-02] = Absolute encoder
S
P
[-03] = Setpoint and actual values [-04] = Universal encoder [-05] = Synchronous operation
The speed reduction ratio is set for incremental and absolute encoders. This is also effective for synchronous control (Master- Slave, P610).
nM nG
Speed Ratio Reduction ratio
NOTE: For further information please refer to Section 3.5.
P609
[-01] ... [-03]
- 50000,000 … 50000,000 rev. { all 0 }
Offset Position (Offset position)
SK 530E and above
S
[-01] = Incremental encoder [-02] = Absolute encoder (CANopen [-03] = Universal encoder
Here, an independent offset value for absolute and relative position specifications can be set for all encoder systems used.
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53
POSICON position control for NORD frequency inverters, SK 530E and above
Parameter {factory setting}
Setting value / Description / Note
Setpoint mode
P610
(Setpoint mode)
0 ... 6
Device
Supervisor
SK 530E and above
S
Parameter set
Various methods are available for the specification of the setpoint position. The position can be specified either as an absolute or a relative position.
{0}
8
0=
Position Array,
Position array - specification of absolute position
1=
Pos. Inc. Array,
Position increment array - specification of the relative 8 position
2=
Synchronous operation,
Specification of position by master drive unit (note P509)
3=
Bus,
specification of absolute position via bus (note P509)
4=
Bus Increment,
Specification of relative position via bus, adoption with synchronisation command (note P509)
5=
Flying Saw,
as for synchronous operation, however with additional 9 "Flying Saw" functionality
6=
Auxiliary setpoint source,
specification of absolute position within the limits of P615 and P616 via analog signal (P400 or P405 setting "58")
9
NOTE: For further information please refer to Sections 3.3 and 6.
P Pos. Control
P611
(Position controller P)
0,1...100,0 %
SK 530E and above
S
The P amplification of the positioning control can be adjusted. Values which are too large cause overshooting. Values which are too low cause imprecise positioning. The rigidity of the axis when at a standstill increases with increasing values of P.
{ 5,0 }
Lg. positioning window
P612
(Size position window)
0.0..0.1000.0 rev { 0,0 }
SK 530E and above
S
Slow travel at the end of the positioning process can be enabled by the size of the positioning window. The positioning window corresponds to the start of slow travel. In the positioning window or with slow travel, the speed of movement is determined by parameter P104 (minimum frequency) and not by the maximum or setpoint frequency.
P613
[-01] ... [-63]
- 50000,000 … 50000,000 rev. { all 0 }
Position
SK 530E and above
(Position)
S
P (SK 540E and above)
Position array elements [-01] to [-63] (depending on parameter set for SK 540E and above) Position increment array elements [-01] to [-06] (depending on parameter set for SK 540E and above) Arrays for up to 63 (SK 540E and above, up to 4 * 63 = 252) different setpoint values, which can be selected via the digital inputs or a field bus. With the position setpoint mode "Position Array" these values correspond to the absolute setpoint positions. With the position setpoint mode "Position Increment Array" only arrays [01] – [06] are used. These values correspond to the position increments. With each change of signal from "0" to "1" at the relevant digital input, the value allocated to the digital input is added to the position setpoint value. This also applies to control via the bus.
54
8
Any setpoint from the Bus (if 509, 546, 547,548 are programmed accordingly) is added!
9
Any programmed position increment via the digital inputs or Bus IO Bits is added! Subject to technical alterations
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Parameter {factory setting}
P615 - 50000,000 … 50000,000 rev. { 0,000 }
Setting value / Description / Note
Max. Position (Maximum position)
Device
Supervisor
SK 530E and above
S
Parameter set
The setpoint values are limited to the value set here. If the actual position value exceeds the set value, the error message "E14.7 maximum position exceeded" is triggered. Position monitoring is disabled if the value is set to "0". Positioning with incremental encoders: The position monitoring function with switch-off in case of error is only active with referenced incremental encoders, i.e.: in parameter P604 (encoder type), setting {0} or {3} a "reference point run" or "reset position" is required every time the frequency inverter is switched on. In contrast, with setting {2} and {4} initial referencing after commissioning is sufficient to activate the function. Switching the inverter off does not automatically disable the monitoring functionality. Special case for round axes (modulo axes): If the functions "Absolute Increment", "Absolute Increment with Saving" or "Path Optimised" are selected in parameter p604 (encoder type) the value of the overflow point must be set in this parameter.
P616 - 50000,000 … 50000,000 rev. { 0,000 }
P617 000 ... 111 binär { 010 } bin
P625 0,00 ... 99,99 rev. { 1,00 }
Min. Position (Minimum position)
SK 530E and above
S
The setpoint values are limited to the value set here. If the actual position value undershoots the set value, the error message "E14.8 minimum position exceeded" is triggered. The position monitoring is disabled if the value is set to "0". Positioning with incremental encoders: The position monitoring function with switch-off in case of error is only active with referenced incremental encoders, i.e.: in parameter P604 (encoder type), setting {0} or {3} a "reference point run" or "reset position" is required every time the frequency inverter is switched on. In contrast, with setting {2} and {4} initial referencing after commissioning is sufficient to activate the function. Switching the inverter off does not automatically disable the monitoring functionality.
Type SSI - Encoder (Type SSI absolute encoder)
SK 540E and above
S
Protocol settings for SSI encoders Bit 0 Power Fail Bit. Error message E025 / 25.4, if loss of voltage to encoder Bit 1 Gray=1/Binary=0, setting of the data format for communication of position Bit 2 Multiply Transmit, the encoder supports the communication variant "Multiple Transmit", which is used to increase the reliability of communication by transmitting the data twice in mirrored form.
Hysteresis relais (Hysteresis relay)
SK 530E and above
S
Difference between switch-on and switch-off point to prevent oscillation of the output signal. Relevant for functions 20 - 26 of relays 1 and 2 or outputs DOUT 1 to DOUT 2 as well as the Bus IO Out Bits. NOTE:
The standardisation parameters (P435, (P442, P451, P456) and P482) and hysteresis parameters (P436, (P443, P452, P457) and P483) assigned to the relays or outputs as well as the BusIO Out Bits are not active for POSICON-relevant functions (20 - 26, see parameterisation function of output P434, (P441, P450, P455) and P481. For further information please refer to Sections 3.8.1 and 3.8.2
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POSICON position control for NORD frequency inverters, SK 530E and above
Parameter {factory setting}
P626
Setting value / Description / Note
Relais Position (Relay Position)
Device
Supervisor
SK 530E and above
S
Parameter set
- 50000,000 … 50000,000 rev.
Comparative position for the settings 22, 23 and 25, 26 of relays 1 and 2 or outputs DOUT 1 and DOUT 2, as well as for the Bus IO Out Bits.
{ 0,000 }
NOTE:
P630 0,00 ... 99,99 rev. { 0,00 }
For further information please refer to Sections 3.8.1 and 3.8.2
Position slip error (Position slip error)
SK 530E and above
S
The permissible deviation between the estimated and the actual position can be adjusted. As soon as a target position is reached, the estimated position is set to the current actual position. If a value which is too low is selected, the error message "E14.5" "Position change and speed do not match" can occur with slip error monitoring. With a setting of "0" the slip error monitoring is disabled.
P631 0,00 ... 99,99 rev. { 0,00 }
Abs/Inc slip error (Slip error absolute/incremental encoder)
SK 530E and above
S
The permissible deviation /slip error between the absolute encoder and the incremental encoder can be adjusted. If a value which is too low is selected, the error message "E14.6" position change for absolute and incremental encoder does not match" can occur for the slip error monitoring. With a setting of "0" the slip error monitoring is disabled.
P640 0,00 ... 99,99 rev. { 0,00 }
Unit of position value (Unit of position value)
SK 530E and above
S
Setting the measurement units: 0: Rev (Rotations) 1: ° (Degrees) 2: rad (Radians) 3: mm (Millimetres) 4: cm (Centimetres) 5: dm (Decimetres) 6: m (Metres) 7: in (Inch) 8: ft (Feet) 9: (no unit) NOTE: For further details please refer to Section 3.5
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Parameter {factory setting}
P650
Setting value / Description / Note [-01] ... [-03]
- 32768 …32768 { all 0 }
Universal encoder status (Status of universal encoder interface)
Device
Supervisor
SK 540E and above
S
Parameter set
Universal encoder status [-01] = Universal encoder error [-02] = Universal encoder warning [-03] = Universal encoder signal quality If the connected encoder (Hiperface or Endat) sends an error (Array [-01]) or a warning code (Array [-02]), then this information status can be seen here. The cause of the message can be found in the documentation for the encoder. Biss encoders cannot differentiate between the causes of errors or warnings and simply give the error code "1". The signal quality describes the number of communication errors which have occurred since the last initialisation. A communication error can for example be caused by a poorly screened cable or a cable which is too long. A communication error does not necessarily result in a fault. An fault is only triggered if several errors occur consecutively.
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4.6 Information
Parameter
Setting value / Description / Note
Voltage analog input 1
P709
(Voltage analog input 1)
0.00 ... 10.00 V
P709
Device
Supervisor
Parameter set
up to SK 535E
Displays the measured analog input value 1.
[-01] ... [-10]
0.00 ... 10.00 V
Analog input voltage (Analog input voltage)
SK 540E and above
Displays the measured analog input value. [-01] = Analog input 1: Analog input 1, integrated into the FI [-02] = Analog input 2: Analog input 2, integrated into the FI [-03] = External analog input 1, "External analog input 1": Analog input 1 of the first IO extension (SK xU4-IOE) [-04] = External analog input 2, "External analog input 2": Analog input 2 of the first IO extension (SK xU4-IOE) [-05] = External Analog input 1 2nd IOE, "External analog input 1 of the 2nd IOE": Analog input 1 of the second IO extension (SK xU4-IOE) [-06] = External analog input 2 2nd IOE, "External analog input 2 of the 2nd IOE": Analog input 2 of the second IO extension (SK xU4-IOE) [-07] = Analog function, Dig2, "Analog function of digital input 2": Analog function of digital input 2 integrated into the FI. [-08] = Analog function, Dig3, "Analog function of digital input 3": Analog function of digital input 3 integrated into the FI. [-09] = Encoder track A: Monitoring of the input signal of track A of an incremental encoder (Terminal X6:51/52) [-10] = Encoder track B Monitoring of the input signal of track B of an incremental encoder (Terminal X6:53/54) NOTE:
P744 0000 ... FFFF (hex)
The voltage difference between tracks A and B can be measured with the aid of parameter P709 [-09] and [-10]. If the incremental encoder is rotated the value of both tracks must jump between -0.8V and 0.8V. For Hiperface encoders the voltage ranges from -0.5V...0.5V. If the voltage only jumps between 0 and 0.8V the relevant rack is faulty. It may be possible to determine the position with the incremental encoder, but the interface is considerably more susceptible to faults. We recommend that the encoder is replaced!
Configuration (Configuration level) This parameter displays the devices integrated in the FI. Display is in hexadecimal code (SimpleBox, ControlBox, Bus system). The display is in plain text when the ParameterBox is used.
58
SK 500E … 515E
= 0000
SK 530E … 535E
= 0201
SK 520E
= 0101
SK 540E … 545E
= 0301
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Parameter
P748
Setting value / Description / Note [-01] ... [-03]
0000 ... FFFF (hex)
Status CANopen (CANopen status) [-01] = CANbus/CANopen Status
Device
Supervisor
SK 520E or higher
S
[-02] = reserved
Parameter set
[-03] = reserved
Bit 0 = 24V bus voltage supply Bit 1 = CANbus in "Bus Warning" status Bit 2 = CANbus in "Bus Off" status Bit 3 ... 5 = vacant Bit 6 = Protocol of CAN module is 0 CAN or 1 CANopen Bit 7 = vacant Bit 8 = "Bootsup Message" sent Bit 9 = CANopen NMT status Bit 10 = CANopen NMT status Bit 11 = vacant Bit 12 ... 14 = reserved Bit 15 = vacant
CANopen NMT State Stopped = Pre-Operational = Operational =
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Bit 9
0 0 1
0 1 0
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5
Commissioning When commissioning the POSICON applications, it is recommended that a specific sequence is adhered to. The individual steps are described in the following. Information concerning individual error symptoms can also be found in Section 7. 1. Step: commissioning the axis without control After the input of all parameters the axis should first be commissioned without control of the position or speed. For this the position control in the parameter group "Positioning" under parameter P600 "Position Control" and the Servo mode in the parameter group "Speed control" under parameter P300 "Servo Mode" are switched off.
CAUTION! Ensure that the Emergency Stop and safety circuits are functional!
NOTE The voltage difference between tracks A and B can be measured with the aid of parameter P709 [-09] and [-10]. If the incremental encoder is rotated, the value of both tracks must jump between -0.8V and 0.8V. If the voltage only jumps between 0 and 0.8V the relevant rack is faulty. The position can no longer be determined via the incremental encoder. We recommend that the encoder is replaced!
For lifting gear, prior to switching on for the first time measures must be taken to prevent the load from falling. For lifting gear applications, when lifting loads with speed control, the parameter P107 "Brake Application Time" and P114 "Brake Release Time" should be optimised after setting the speed control. 2. Step: Commissioning the speed control If no speed control is required or an incremental encoder is not available, this step can be skipped. Otherwise the Servo Mode is switched on. For operation in Servo Mode, the exact motor data (parameter P200 and following) and the correct encoder resolution / pulse number of the incremental encoder (parameter P301, "Incremental Encoder Pulse Number") must be parameterised. If the motor only runs at a slow speed with a high current consumption after the Servo Mode is switched on, there is usually an error in the wiring or the parameterisation of the incremental encoder connection. The most frequent cause is an incorrect assignment of the direction of rotation of the motor to the counting direction of the encoder. The optimisation of the speed control is optimised after commissioning of the position control, as the behaviour of the position control circuit can be influenced by changes to the speed control parameters. 3. Step: Commissioning the position control After setting parameter P604 "Encoder Type" and P605 "Absolute Encoder" it must be checked whether the actual position is correctly detected. The actual position is shown in parameter P601 "Actual Position". The value must be stable and become larger if the motor is switched on with rotation to the right enabled. If the value does not change when the axis is moved, the parameterisation and the encoder connection must be checked. The same applies if the displayed value for the actual position jumps although the axis has not moved.
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After this a setpoint position in the vicinity of the actual position should be parameterised. If after being enabled, the axis moves away form the position instead of towards it, the assignment between the direction of rotation of the motor and the direction of rotation os the encoder is incorrect. The sign for the speed ratio should then be changed. If the detection of the actual position operates correctly, the position control can be optimised. In principle, with an increase of the P amplification the axis becomes "harder", i.e. the deviation from the setpoint position becomes smaller than with smaller amplifications. The size of the P amplification which is set in P310 of the position control depends on the dynamic characteristics of the system as a whole. In principle: the greater the masses and the smaller the friction if the system, the greater is the tendency of the system to oscillate and the smaller is the maximum possible P amplification. To determine the critical value, the amplification is increased until the drive unit oscillates about the position (leaves the position and then approaches it again). The amplification should then be set to 0.5x to 0.7x this value. For positioning applications with a subordinate speed control (P300 "Servo Mode"), for applications involving large masses a setting which deviates from the standard setting of the speed control is usually to be recommended. To parameterise the speed control - I - amplification in parameter P311, a value between 3% and 5% has proved effective. In parameter P310 a speed control P amplification value of between 100% and 150% can be selected.
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6
Synchronous control
6.1 General information The implementation of synchronous positioning with the SK 530E is possible by coupling the devices via the CAN Bus. The master device transmits its "Actual Position" and its "Actual Setpoint Speed After the Frequency Ramp" to the slave device(s). The slave devices use the speed as specified and compensate the remainder via the position control. The transmission time for the actual speed and position from the master to the slave devices generates an angular or positional deviation which is proportional to the speed of travel. ΔP = n[rpm] / 60 * Tzyklus[ms] / 1000 With 1500 rpm and a transmission time of approx. 5ms, a deviation of 0.125 rotations or 45° results. This deviation is to some extent adjusted for by an appropriate compensation by the slave. However, there is still a jitter of approx. 1ms in the cycle time, which cannot be compensated for. In the case selected, there remains an angular error of approx 9°. This only applies if a CAN connection with a baud rate of at least 100kBaud is used to couple the two drive units. For couplings via RS485 or lower CAN baud rates, the deviation can be considerably greater. NOTE:
A coupling with lower baud rates or USS is therefore not advisable.
Implementation of synchronisation is also possible with a CANopen coupling. This also enables operation with CANopen absolute encoders and the simultaneous coupling of several drive units. For large numbers or slave inverters, it should be noted that the maximum number of inverters should not exceed 5, in order that the bus load remains below 50% and therefore a deterministic behaviour is ensured.
6.2 Communication settings In order to set up communication between the master and the slave via the CAN bus the following settings are necessary. Master device settings: P502[-01] = P502[-02] = P502[-03] = P503 = P505 = P514 = P515[-01] =
20 15 10 2 0 5 0
Setpoint frequency after the frequency ramp Actual position in incremental High word Actual position in incremental Low word CAN 0.0 Hz 250 kBaud (at least 100 kBaud should be set) Address 0 (see monitoring)
Slave device settings: P510 [-01] = P510 [-02] = P505 = P514 = P515[-01] = P546 = P547 = P548 = P600 =
9 9 0 5 128 4 24 23 1, 2
P610
2
Main setpoint value of CAN - Broadcast Subsidiary setpoint value of CAN - Broadcast 0.0 Hz 250 kBaud (at least 100 kBaud should be set) Address 128 (see monitoring) Frequency addition Setpoint position in incremental High word Setpoint position in incremental Low word Position control ON with maximum frequency or ON with setpoint 11 frequency Synchronous operation
=
10
10
If the enable signal is not also transferred from the master to the slave device, i.e. the slave is only enabled in one direction but the master rotates in both directions, the function "Actual frequency without slip master value"“ „21“ must be used instead of "Setpoint frequency after frequency ramp" "20". 11 Both variants are possible, as with synchronous operation the maximum positioning speed is always Fmax. 62
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In order to set up communication between the master and the slave via the CANopen bus the following settings are necessary. Master device settings: P502[-01] = P502[-02] = P502[-03] = P503 = P505 = P514 = P515[-03] =
20 15 10 3 0 5 P515Slave[-02]
Setpoint frequency after the frequency ramp Actual position in incremental High word Actual position in incremental Low word CANopen 0.0 Hz 250 kBaud (at least 100 kBaud should be set) Broadcast – Master – Address
Slave device settings: P510 [-01] = P510 [-02] = P505 = P514 = P515[-02] = P546 = P547 = P548 = P600 =
10 10 0 5 P515Master[-03] 4 24 23 1, 2
P610
2
Main setpoint value of CANopen - Broadcast Subsidiary setpoint value of CANopen - Broadcast 0.0 Hz 250 kBaud (at least 100 kBaud should be set) Broadcast - Slave – Address Frequency addition Setpoint position in incremental High word Setpoint position in incremental Low word Position control ON with maximum frequency or ON with setpoint 12 frequency Synchronous operation
=
NOTE The actual position of the master must always be transmitted to the slave in the setting "In Increments" and be evaluated by the slave, as otherwise an additional transmission time error would be created.
6.3 Settings for slave ramp time and maximum frequency In order for the slave to be able to perform the control, the ramp times should be selected somewhat smaller than for the master and the maximum frequency should be selected somewhat higher. Slave device settings: P102Slave = 0,5 ... 0,95 * P102Master P103Slave = 0,5 ... 0,95 * P103Master P105Slave = 1,05 ... 1.5 * P102Master P410Slave = 0 P411Slave = P105Master For the slave, frequency addition (instead of setpoint frequency) is set in parameter P546 "Function Bus Setpoint Value 1". Otherwise the problem would occur that the for the slave the maximum frequency could only be set slightly higher than for the master in order prevent the specification from being falsified too much. However, this removes the possibility for the slave drive to "catch up" at speeds close to the maximum frequency.
12
Both variants are possible, as with synchronous operation the maximum positioning speed is always F max.
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POSICON position control for NORD frequency inverters, SK 530E and above
6.4 Setting the speed and position controls The speed and position controls are set as would be the case if there was no synchronous operation. Therefore, if possible, the speed control should first be set in parameter P300 "Servo Mode", then the position control in parameter P600 "Position Control" and then the synchronisation control should be commissioned. The dynamic results are improved, the more sharply the controls can be set. From experience however, the position control functions better if the I component in the speed control is not too large. The speed control should therefore be set for a slight overshoot. This results in a P component which is as high as possible (until noises occur at low speeds), and a rather moderate I component. The setting of the torque limits and the selected ramps must be made so that the drive can always follow the ramp.
6.5 Taking a speed ratio between master and slave into account A speed ratio between the master and the slave can be taken into account via the parameters P607 "Speed Ratio" and P608 "Reduction Ratio". For SK 53xE devices the entries are made in the arrays of the encoder type which is not used. For SK 54xE devices an appropriate Array [-05] is available for the entries. NSlave P105Slave P410Slave P411Slave
= P607 [-xx] / P608 [-xx] * NMaster = P607 [-xx] / P608 [-xx] * P105Master* 1,05 ... 1,5 =0 = P105Master
There is also the possibility of changing the speed ratio between the master and the slave via an analog input. The ratio can be continuously varied between -200% and a maximum of 200% of the master speed. The analog input can be scaled via the parameters P402/P404 and P403/P408 (see Manual BU 0500) according to requirements. For negative values there is a change of direction of rotation. The function of the analog inputs (P400, P405) should be set to Function 47 = Speed ratio factor. It is possible to adjust the speed ratio "online", however, it should be noted that the "Position slip error" in parameter P630 "Position Slip Error" can take on considerably larger values than for normal synchronous operation during the adjustment, as acceleration or braking to the new speed must be performed.
6.6 Monitoring functions 6.6.1 Achievable precision / Position monitoring The achievable precision, i.e. the deviation of the master and slave drives depends on several factors. Here, in addition to the settings of the speed control and the position control, the path, i.e. the drive or the mechanics of the system, play a decisive role. The minimum value of the achievable precision is however determined by the type of transmission. A deviation of at least 0.1 rotations should be expected. In practice, a value of more than 0.25 motor rotations should be planned for. The deviation between the master and the slave can be monitored by the relay function "Position Reached" with the slave. The relay switches off if the set value in P625 "Output Hysteresis" is exceeded or the difference between the specified and the actual speed 2Hz + the set value in P104 "Minimum Frequency" is exceeded. The minimum frequency for the slave can be calculated with the following formula: P104 = 0.25 ... 1,0 * (P625 [Rotation] * 4,0Hz * P611 [%]) – 2Hz
For a permissible deviation of one rotation and a position control P of 5% this results in a speed component for the position control of 20Hz. If P104 "Minimum Frequency" is set to a considerably lower value, the relay message is determined by the exceeding of the speed by the slave and not by the maximum deviation in position. This especially applies, the shorter the ramp times are set for the slave.
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6.6.2 Master switch-off on slave error or position slip error With a master – slave coupling errors in the master are automatically dealt with by communication of the position to the slave. Therefore, if the master stops in case of a fault or cannot follow its ramp, the slave also moves to this position. However, if the slave cannot follow the specified position, or the slave has a fault, a reaction by the master is necessary. This can be either via a higher level control unit or by implementing a second communication channel between the slave and the master. For this, the slave inverter sends a "Position reached" bit and/or "Error" as BUS IO Bit to the master, which perceives these as an emergency stop or customer error. According to the programming, the master either stops (emergency stop) or changes to "Error" status and switches off. Example:
If the slave device changes to the operating status "Error" the master also immediately changes to the operating status "Error".
The master device stops if the slip error limit is exceeded. The master can only be re-enabled if the slave device is within the specified tolerance.
The following setting are required in order to set up the second communication channel: Master device settings: P426 = P103 Master P460 = 0 P480[-01] = 18 P480[-02] = 11 P510[-02] = 09 10 P546 = 17
braking time on slave error Watchdog time = 0 => "Customer error" Watchdog Emergency stop CAN broadcast or CANopen broadcast Bus - IO In Bits 0-7
Slave device settings: P481[-01] = 7 P481[-02] = 21 P502[-01] = 12 P502[-02] = 15 P502[-03] = 10
Fault Position reached BusIO Out Bits 0-7 Actual position, increment High word 13 Actual position, increment Low word
In order for a second communication channel to be set up between the master and the slave, the CAN addresses of the devices must be selected so that transmission is not on the same identifier. The identifier on which the CAN master function is transmitted depends on the CAN addresses which are set (P515[-01]). P515 [-01] CAN address
Broadcast identifier
Accessed slave device
0 … 127
1032
0 – 255
128, 136, 144, 152, …, 240, 248
1024
0 – 31
129, 137, 145, 153, …, 241, 249
1025
32 – 63
130, 138, 146, 154, …, 242, 250
1026
64 – 95
131, 139, 147, 155, …, 243, 251
1027
96 – 127
132, 140, 148, 156, …, 244, 252
1028
128 – 159
133, 141, 149, 157, …, 245, 253
1029
160 – 191
134, 142, 150, 158, …, 246, 254
1030
192 – 223
135, 143, 151, 159, …, 247, 255
1031
224 – 255
Table 18: Master / Slave communication: assignment of addresses Possible variants : P515Master = 0; P515Slave = 128;
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The communication channel between the master and the slave and vice versa should be monitored with a timeout time (P513). For software version1.6 and higher, the broadcast transmission and reception address can be separately set via the array parameter P515 for coupling via CANopen P515Master[-03] P515Master[-02]
= =
P515Slave[-02] P515Slave[-03]
Broadcast slave address Broadcast master address
6.6.3 Slip error monitoring on the slave Alternatively, the slip error monitoring P630 "Slip Error Pos" can also be enabled for the slave device. If the synchronous control is enabled, the error between the position estimated from the speed and the actual position will not be compared, but rather the difference between the setpoint position and the actual position as long as synchronous operation is enabled. The monitoring is only valid if the device is enabled and the position control is activated. If the slave is not enabled, the position of the master may deviate from the position of the slave.
6.7 Notes on reference point runs with synchronous operation If the slave axis is to be referenced independently from the master axis, the following must be noted: In synchronised mode, the slave receives its setpoint speed as a specification from the master. If the master is not running, the slave does not have a setpoint value for the reference point run. Therefor the slave must use its own parameter set for the reference point run, in which the speed during the reference point run is specified by Fmin (P104) and Fmax (P105) [Fmin = Fmax = Fref]. The frequency addition in P546 "Function Bus Setpoint" should be switched off. The slave must always be referenced after the master. For synchronous systems, where the master and the slave cannot be operated separately, a different strategy must be developed in case of deviation. With incremental position detection the actual position cannot be used in order to detect a deviation. If there is no deviation, the entire system is referenced, i.e. the slave in synchronous operation. The reference point run should therefor be performed via the external control unit according to the following sequence (all steps with a minimum time difference of 20ms): 1. Move entire system to reference point 2. Remove enablement for the master 3. Remove enablement for the slave 4. Perform "Reset Position" for the master (P601Master = 0, P602Slave jumps by P601old-P601new) 5. Perform "Reset Position" for the slave (P602Slave = 0, P601Slave = 0) For position detection with an absolute measuring system a reference point run is not necessary. Absolute position detection should be always given preference for systems, e.g. portal lifting gear, in which no deviation may occur.
6.8 Offset switching in synchronous operation In addition to the position setpoint, which can be transmitted from the master to the slave device via the CAN bus, a relative position offset can be applied to the slave device via the "increment array". With each 0 1 flank at the relevant input, the position setpoint value can be offset by the value set in parameter P613 "Position" [-01]...[-06]. The offset cannot be transmitted via a field bus using a "Process Data Word". Control can only be performed via one of the digital inputs or the Bus IO In Bits.
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6.9 Flying Saw (extended synchronous operation function) A special case of synchronous control is the "Flying Saw" mode (P610 = 4) which is available from software version 2.0 upwards (see (P707). In addition to the actual synchronous control, the ("slave") drive must be capable of synchronising itself to an axis which is already running. The belt drive (Master) must also be driven by an inverter, as CAN is used for coupling, as in the case of synchronous operation. NOTE Use of an encoder as the master encoder is not possible! A suitable frequency inverter must always be used as the master.
The technology function "Flying Saw" is controlled at the slave by means of 3 digital functions (P420 ( … P425, P470 or. P480)). The drive unit must be enabled for this. Digital In function "64" "Start Flying Saw" If the drive unit is in the standby position, the "Saw process" is started with a 01 flank at the "Start flying saw" input. The input "Disable synchronous operation" must not be set. An "Enable" must be present. The drive unit now accelerates to the position set in parameter P613[-63]. The acceleration time is calculated so that the reference speed of the master drive (belt drive) is attained when the target position is reached. The acceleration path remains constant regardless of the speed of the master, so that the point at which synchronous movement begins is always at the same position. This is where synchronous operation starts. Synchronous operation is signaled by the message "Drive synchronised" (P434, (P441, P450, P455) or P481 = "27"). This signal can be used directly, for example to lower the saw or to start the sawing process. Digital In function "63" "Disable synchronous operation" Synchronous operation is maintained until a 01 flank is detected at the "Disable synchronous operation" input. The sawing process is complete and the saw drive returns to position "0". The reference point can be specified at will by means on an offset (P609). The next process can only be started when the "zero position" has been reached. The position setpoint (P602) from the master drive is reset with the 01 flank of "Disable synchronous operation". Digital In function "77" "Stop Flying Saw" Synchronous operation is maintained until a 01 flank is detected at the "Stop flying saw" input. The sawing process is complete however, the saw drive does not return to position "0" but rather stops. After a new flank at input "64" "Start flying saw" the slave drive once again starts to synchronise to the master.
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INI – Position = 2 x P613[-63]
Slave standby position
Starting point point of sawing of sawing process process
Slave drive Initiator: "Start Flying Saw"
Initiator: Initiator: "Disable synchronous operation" "Disable synchronous operation"
P613[-63] Master drive
"Start Flying Saw" input “ "Disable synchronous operation" input "Drive synchronised" output nSlave= nMaster Acceleration starts Brake and return to starting position
nSlave=0
P Fig. 9: Flying Saw
6.9.1 Determination of acceleration path and initiator position The distance of the initiator from the point at which the sawing process is to begin corresponds to double the value of the acceleration path for the saw drive. During the acceleration process the belt drive travels back for double the distance of the saw drive. For the calculation of the initiator position the corresponding speed ratios between the drive units and gearing factors must be taken into account. The minimum acceleration path which is entered in (P613[-63] is calculated as follows: P613[-63] TAcceleration[s] nSlave_max P608[-xx]/P607[-xx] ∆PINI
13
>
0.5 * nSlave_max[rev/s] * TAcceleration[s]
with
= =
P102[s] * FSlave_max / P105 FSlave_max / Number of pole pairs
and
=
(ÜGear Slave * DMaster) / (ÜGear Master * DSlave)
=
2 * P613[-63][rev] *π *Dslave / ÜGear Slave
(n = Speed, T=Time, F=Frequency, Ü=Speed ratio D=Diameter of gear unit output, ∆PINI=Minimum distance from initiator)
If the set acceleration path is smaller than that which is necessary, the error message E13.5 "Flying saw acceleration" is triggered. A check is also made as to whether the sign of the acceleration path matches the sign of the master speed. If this is not the case, the error message E13.6 "Flying saw value false" is triggered after the start command is activated.
13
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The speed ratio is entered into the parameter of the encoder which is not used, or for SK 540E and above, into Array [-05] Subject to technical alterations
BU 0510 GB-3911
6 Synchronous control
6.9.2 Diagonal saw The diagonal saw is a special case of the "flying saw". Here, no differentiation is made between the slave and the processing axis. The axis to be synchronised moves at a defined angle (e.g. 20° or 30°) transversely to the direction of the material. The movement therefore comprises the vectors of a longitudinal and a transverse direction. Because of this, the angle must also be taken into account for the speed ratio between the master and the slave.
Master drive
V Vy = Vslave * sin(30°)
s l
e.g. 30° a v e
Vx = Vslave * cos(30°)
Slave drive
Fig. 10: Flying saw - Diagonal saw
The speed ratio for the diagonal saw is therefore calculated as: P608[-xx] / P607[-xx]
= (ÜGear Slave * DMaster) / (ÜGear Master * DSlave) * cos(x°)
For the diagonal saw, the advance movement of the saw is therefore proportional to the belt speed. Therefore, the advance movement of the saw and the belt speed cannot selected independently (as long as the angle is kept constant). For the "normal" flying saw, the advance movement of the saw is controlled via a separate axis, independently from the speed of the belt or travel. Regardless of the setting in parameter P600, the technology function "flying saw" is always executed with linear ramps and a speed of movement with maximum frequency. Therefore: the return movement of the saw is always performed with the set maximum frequency, which in general also corresponds to the maximum speed during synchronous movement.
6.9.3 Offset switching in synchronous operation In addition to the position setpoint, which can be transmitted from the master to the slave device via the CAN bus, a relative position offset can be applied to the slave device via the "Increment array". With each 0 1 flank at the relevant input, the position setpoint value can be offset by the value set in the setpoint array P613[-01]...[-06]. The "Offset" cannot be transmitted directly via a field bus using a "Process Data Word". Control can be via a digital input or Bus IO.
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POSICON position control for NORD frequency inverters, SK 530E and above
7
Troubleshooting
7.1 Error messages The majority of frequency inverter functions and operating data are continuously monitored and simultaneously compared with limiting values. If a deviation is detected, the inverter reacts with a warning or an error message. For basic information on this topic please refer to the operating instructions BU0500. The following table shows all the faults which are attributable to the POSICON function. In the operating display of the optional "ControlBox" only error E013 is displayed. A finer categorisation of errors can be obtained from the information parameters P700 "Actual Faults" or P701 "Last Fault 1...5". Display in the ControlBox
Cause
Fault
Group
Text in the ParameterBox Details in P700 / P701
E013
13.0
13.1
Remedy
No signal from encoder
Encoder error
Check 5V sensor if available.
Check supply voltage of encoder.
The slip speed error limit was reached.
Speed slip error
13.2
E014
Switch-off monitoring (slip error)
The slip error monitoring was triggered; the motor could not follow the setpoint.
Check motor data P201-P209! This data is very important for the current control
Check motor circuit.
If necessary, check the encoder setting P3xx in Servo mode.
Increase setting value for torque limit in P112.
Increase setting value for current limit in P536.
Check braking time P103 and extend if necessary
13.5
Flying Saw acceleration
The set acceleration path (P613[-63]) is too small.
13.6
Flying Saw value false
The prefix of the acceleration path (P613[-63]) does not match the prefix of the master speed
14.2
Reference point error
The reference point run was cancelled without a reference point being found.
14.4
70
Increase setting in P327.
Absolute encoder error
Check the reference point switch and the control unit
Absolute encoder defective or connection faulty (Error message is only possible with positioning enabled)
Check absolute encoder and wiring
Check the parameterisation in the frequency inverter
Five seconds after switching on the frequency inverter there is no contact with the encoder
The encoder does not respond to an SDO command from the frequency inverter
The parameters set in the frequency inverter do not correspond to the possibilities for the encoder (e.g. resolution in parameter P605)
The frequency inverter does not receive a position value over a period of 50ms
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BU 0510 GB-3911
7 Troubleshooting
Display in the ControlBox
Cause
Fault
Text in the ParameterBox Details in P700 / P701
Group
14.5
Remedy
Change of position and speed do not match
Pos. diff. Speed
14.6
14.7
Diff. between Abs. and Inc.
Max. Pos. Exceeded
Difference between absolute and incremental encoders
Check the position detection and the control setting in P631
Position change for the absolute and incremental encoders do not match
Maximum position exceeded
14.8
Min. Pos. Undershot
25.0
25.1
25.2
Hiper. abs./inc. error
Universal encoder communication
No corresp. universal encoder
Check the specified setpoint and the control setting in P615
Minimum position undershot
E025
Check the position detection and the control setting in P630
Check the specified setpoint and the control setting in P615
Hiperface encoder monitoring detects an error during comparison of data between the incremental and absolute signals. (absolute position deviates from that which is calculated incrementally)
Poor cable shielding
The Sin/Cos signals are not connected or are defective. Check with P709[-09] and [-10]
Communication error for the universal encoder interface (CRC checksum error)
Poor cable shielding
Encoder triggering incorrectly set. (BISS, SSI)
SSI does not support Multiply Transmit
No connection to selected universal encoder
Encoder not connected or data cable not connected correctly
No voltage supply to encoder
Incorrect encoder type set
25.3
Universal encoder resolution
The set universal encoder resolution does not match that which is transmitted by the encoder.
25.4
Universal encoder error
The universal encoder reports an internal error to the the FI
NOTE
Restart encoder
Parameter P650[-03] counts the communication errors to the universal encoder since switchon. If this parameter has a high value, this may indicate a poorly shielded encoder cable. This may also be the cause of the error. A communication error does not necessarily result in a fault. An error is only triggered if several consecutive communications have failed.
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POSICON position control for NORD frequency inverters, SK 530E and above
7.2 Troubleshooting table The following table contains the most frequent sources of faults and the associated symptoms. It is recommended that the same sequence as for commissioning is used for troubleshooting. I.e. first check if the axis runs without control and then test the speed and position controls.
7.2.1 Sources of faults in servo mode operation (without position control) Symptom
Additional test
Possible cause
Motor only runs slowly, motor vibrates
Change sign in P301
incorrect assignment of motor direction to the incremental encoder direction
Incorrect incremental encoder type (no RS422 outputs)
Encoder cable broken (Voltage difference between track A and B cannot be checked with P709)
Encoder voltage supply missing
Incorrect pulse number parameterised
Incorrect motor parameters
Encoder track missing
Motor rotates correctly, but vibrates Problem disappears when at low speeds the servo mode is switched off Switch-off of overcurrent at higher speeds
Incremental encoder incorrectly mounted
Interference in encoder signals
Overcurrent switch-off when braking
For field weakening operation in servo mode, the torque limit must not exceed 200%
Motor in field weakening operation
7.2.2 General sources of error with positioning control enabled Symptom Position exceeded
Additional test
Possible cause
Position control P amplification considerably too large Speed control (servo mode) not optimally adjusted (Set I-amp. to approx. 3%/ms, P-amp. to approx. 120%)
72
Drive oscillates at the position
Position control P amplification considerably too large
Drive moves in the wrong direction (away from the setpoint position)
The direction of rotation of the absolute encoder does not match the direction of rotation of the motor => parameterise an negative value for the speed ratio (P607)
Drive unit sags away after enabling is removed (lifting gear)
Setpoint delay missing (control parameter)
for servo mode = "OFF" the control must be locked immediately by the event "End Point Reached"
Subject to technical alterations
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7 Troubleshooting
7.2.3 Sources of error with incremental position detection (without absolute encoders) Symptom
Additional test
Possible cause
Position drifts away
Interference pulse in the encoder cable
No reproducible precision when even at low speeds approaching the position, (n < 1000 1/min))
Interference pulse in the encoder cable
Pulse number in combination with the encoder cable length / Cable type too large (Pulse frequency too large)
Loose encoder / Installation fault
only at high speed (n > 1000 1/min)
7.2.4 Sources of faults for position detection with absolute encoders Symptom
Additional test
Possible cause
Actual position value always runs to the same value and then no longer changes
Encoder connection faulty
Position not always found at the Mechanical unevenness? same place, axis sometimes jumps backwards and forwards.
Axis stiff, axis jams etc.
Loose encoder / Installation fault
if the position value does not match Check absolute encoder the encoder rotation or jumps (remove, set parameter speed and reduction ratio to 1, rotate encoder manually: the displayed position must match the rotations of the encoder)
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Subject to technical alterations
Encoder defective
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POSICON position control for NORD frequency inverters, SK 530E and above
7.2.5 Miscellaneous encoder faults (universal encoder interface) Symptom
Additional test
Possible cause
The Sin/Cos signals are not connected correctly. The voltage signal can be checked with P709.
Multiply Transmit (OFF), PBF (OFF). coding is in binary.
The resolution is set too low.
Multiply Transmit (OFF), PBF (OFF).
The position coding (Gray, binary) is not set correctly.
The resolution is not set correctly, especially with Gray coding.
The resolution is set too high.
Encoder does not support Multiply Transmit
Resolution set incorrectly
Resolution set incorrectly
Resolution set incorrectly
If the encoder reports an internal error the cause of the error must be determined from the reason entered in parameter P650[-01] on the basis of the documentation from the encoder manufacturer.
A BISS encoder only reports a 1 as the cause of the fault. This message means that a fault has occurred since the last initialisation. If the fault does not disappear of its own accord, the encoder voltage supply must be disconnected for 1 minute in order to reset the fault.
If the fault occurs after a long period of fault-free operation this indicates that the encoder will soon fail.
The encoder reports and internal error P650[-01] or an internal warning P650[-02]. However, the fault is not critical for positioning.
A BISS encoder only reports a 1 as the cause of the warning. This message means that a warning has occurred since the last initialisation. If the warning does not disappear of its own accord, the encoder voltage supply must be disconnected for 1 minute in order to reset the message.
If the warning occurs after a long period of faultfree operation this indicates that the encoder will soon fail.
Hiperface encoders: Motor has error E25.0 after starting SSI encoders: The position jumps back to 0 too early. SSI encoders: The position jumps instead of counting up or down evenly. SSI encoders: The position jumps with a power of 2. SSI encoders:
Multiply Transmit (OFF), PBF (OFF). coding is in binary.
Continuous Multiply Transmit error BISS encoder: Communication error although the encoder is connected. BISS encoder: Communication error after enabling BISS encoder: Ratio present, although none has been set. Encoder reports an internal error.
Universal encoder warning
74
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9 Lists / Index
8
Service information / Repairs
See Manual BU0500.
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POSICON position control for NORD frequency inverters, SK 530E and above
9
Lists / Index
9.1 Keyword Index Absolute (rotary) encoder, single-turn
Rotary encoder, which outputs coded information for each measurement step within a rotation. The data is retained even after a power failure. The data continues to be recorded even without power.
Absolute (rotary) encoder, multi-turn
Rotary encoder, as for absolute single-turn (rotary) encoder, however, the number of rotations are additionally recorded.
Resolution
For single-turn rotary encoders, the resolution indicates the number of measurement steps per rotation. For multi-turn rotary encoders the resolution indicates the number of measurement steps per rotation multiplied by the number of rotations.
Baud rate
The transmission rate for serial interfaces in bits per second
Binary code
The designation for a code in which messages are communicated by "0" and "1" signals.
Bit / Byte
A bit (binary digit) is the smallest unit of information in the binary system. A byte has 8 bits.
Broadcast
In a network, all slave participants are addressed simultaneously by the master.
CAN Bus
(Controller Area Network) designates a multi-master bus system with twin conductor wiring. Operation is orientated to events and messages. At present standardised CAN protocols are specified under CANopen.
CANopen
Designates a communications protocol based on CAN
Encoders
Electrical or opto-mechanical device for detecting rotary movements. A differentiation is made between absolute (rotary) encoders and incremental (rotary) encoders
Precision
Deviation between the actual and the measured position.
Total resolution
For single-turn rotary encoders, the resolution indicates the number of measurement steps per rotation. For multi-turn rotary encoders the resolution indicates the number of measurement steps per rotation multiplied by the number of rotations.
76
Incremental (rotary) encoder
Encoders which output an electrical pulse (High/Low) for each measurement step.
Jitter
Designates a slight fluctuation in precision in the transmission pulse, or the variation in the transmission time of data packages.
Multi-turn (rotary) encoder
See "Absolute (rotary) encoder, multi-turn"
Reset position
Function for setting a zero point (or offset) at any position of the resolution range of an encoder without mechanical adjustment.
Single-turn (rotary) encoder
See "Absolute (rotary) encoder, single-turn"
Pulse number
A number of light/dark segments are applied to a glass pulse disk. These segments are scanned by a light beam in the encoder and therefore determine the possible resolution of a rotary encoder.
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BU 0510 GB-3911
9 Lists / Index
9.2 Abbreviations: Abs.
Absolute
DIN
Digital IN
DOUT
Digital OUT
FI
Frequency inverters
GND
Earth
Inc
Incremental
IO
IN / OUT
P
In Section 4: parameter which depends on a parameter set
Pos.
Position
S
Supervisor parameter
SW
Software
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POSICON position control for NORD frequency inverters, SK 530E and above
9.3 Figures Fig. 1: Terminal blocks, SK 53xE Size 1 - 4 ............................................................................................................ 8 Fig. 2: Terminal blocks, SK 54xE Size 1 - 4 ............................................................................................................ 9 Fig. 3: Terminal blocks, SK 535E Size 5 and above ............................................................................................. 10 Fig. 4: Signals for Hiperface encoders................................................................................................................... 14 Fig. 5: RJ45 WAGO connection module ................................................................................................................ 18 Fig. 6: Standard a) and path optimised b) movement with a single-turn application ............................................. 28 Fig. 7: Standard a) and optimised b) movement with a multi-turn application ...................................................... 29 Fig. 8: Overview of position control ........................................................................................................................ 34 Fig. 9: Flying Saw .................................................................................................................................................. 68 Fig. 10: Flying saw - Diagonal saw ........................................................................................................................ 69
9.4 Tables Table 1: Connection assignments for incremental encoders ................................................................................ 12 Table 2: Connection assignment for SIN/COS encoders ...................................................................................... 13 Table 3: Signal details for SIN/COS encoders ...................................................................................................... 13 Table 4: Signal details for Hiperface encoders ...................................................................................................... 14 Table 5: Connection assignment for Hiperface encoders ..................................................................................... 15 Table 6: Connection assignment for Endat encoders............................................................................................ 15 Table 7: Connection assignment for SSI encoders ............................................................................................... 16 Table 8: Connection assignment for BISS encoders ............................................................................................. 17 Table 9: CANopen encoders approved by NORD ................................................................................................. 18 Table 10: Overview of RJ45 WAGO connection module....................................................................................... 18 Table 11: Contact assignment for the RJ45 interface ........................................................................................... 19 Table 12: Parameter P605 - Selection of encoder resolution for absolute encoders ............................................ 22 Table 13: Encoder cycle time dependent on the baud rate ................................................................................... 24 Table 14: Parameter P605 - Setting of encoder resolution for absolute encoders ............................................... 25 Table 15: - P604 Selection of encoder type .......................................................................................................... 27 Table 16: Overview of incremental and absolute encoder parameter settings ..................................................... 30 Table 17: Digital output messages for positioning function ................................................................................... 35 Table 18: Master / Slave communication: assignment of addresses .................................................................... 65
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9 Lists / Index
9.5 Key words
2 2. encoder ratio (P463)............... 45
A Absolute encoder (P605)............ 52 Absolute rotation encoder Absolute encoder ................... 22 Absolute rotation encoder Absolute encoder ................... 17 Actual Pos. diff. (P603)............... 50 Actual position (P601) ................ 50 Actual position detection Position detection ................... 22
B
D
Baud rate .............................. 17, 24
Digital functions .......................... 42
BISS encoders ........................... 17
Digital input 1 (P420) .................. 41
Broadcast ................................... 61
Digital input 2 (P421) .................. 41
Bus
Digital input 3 (P422) .................. 42
Actual value 1 (P543) ............. 48
Digital input 4 (P423) .................. 42
Actual value 2 (P544) ............. 48
Digital input 5 (P424) .................. 42
Actual value 3 (P545) ............. 48
Digital input 6 (P425) .................. 42
Setpoint (P546)....................... 49
Digital input 7 (P470) .................. 45
Setpoint 1 (P546).................... 48
Digital inputs (P420) ................... 41
Setpoint 2 (P547).................... 49
Digital output
Setpoint 3 (P548).................... 49
function (P434) ....................... 43
Bus actual value (P543) ............. 48
Digitalfunktionen ......................... 41
Position detection ................... 20 Actual setpoint position (P602)... 50
C
E
Adapter module .......................... 18
CAN adapter module .................. 18
Encoder type (P604) ................... 51
Address ...................................... 74
CAN address (P515) .................. 48
Encoders .................................... 11
Analog functions................... 39, 40
CAN baud rate (P514) ................ 47
Endat encoders........................... 15
Analog input 1 function (P400) ... 38
CAN master cycle (P552) ........... 49
Error message ............................ 69
Analog input 2 function (P405) ... 40
CANbus ...................................... 19
Extra functions ............................ 47
Analog input function (P400) ...... 38
CANopen .............................. 19, 22
Analog input voltage (P709) ....... 57
CANopen status (P748).............. 58
Analog output 1 function (P418) . 40
Commissioning ........................... 59
Analog output function (P418) .... 40
Configuration level (P744) .......... 57
Analogue inputs ................... 39, 40
Connection ................................. 17
F Function of 2nd encoder (P461) . 45 Function of Bus IO In Bits (P480) 46 Function of BusIO Out Bits (P481) ................................................ 46
Control clamps ........................... 38
H Hiperface Geber ......................... 14 HTL encoder ............................... 45 Hysteresis output (P625) ............ 55
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POSICON position control for NORD frequency inverters, SK 530E and above
I
P
S
Incremental encoder (P301) ....... 37
P amplification ............................ 54
Safety information ........................ 2
Incremental encoders ................. 12
Parameter settings ............... 31, 36
Selection display (P001) ............. 36
Information ..................................57
Position (P613)........................... 54
Service ....................................... 74
Position array ............................. 30
Servo .................................... 20, 59
Position control..................... 34, 65
Servo Mode (P300) .................... 37
Position control (P600) ............... 50
Setpoint mode (P610) ................ 54
Position controller P (P611)........ 54
SIN/COS encoder ....................... 13
Position monitoring............... 55, 63
Sine / Cosine encoder ................ 13
Position slip error (P630) ............ 56
Sine encoder .............................. 13
Maintenance ............................... 74
Positioning............................ 28, 50
Slave .................................... 61, 63
Master ...................................24, 61
Pulse number ............................. 11
Slip error ..................................... 26
Master function ........................... 47
Pulse number of 2nd encoder (P462) .................................... 45
Slip error. Abs/Inc (P631) ........... 56
L leading func. output (P503) ......... 47 Lg. positioning window (P612) ....54 Low Voltage Directive ...................2
M
Master-Slave ............................... 47 Maximum position (P615) ........... 55 Minimum position (P616) ............ 55
O Offset .......................................... 65 Offset position (P609) ................. 53 Operating displays ...................... 36 Output functions .......................... 44 Overflow point ................. 27, 28, 55
Speed control ............................. 37 Speed ratio ................................. 20
R Ramp time .................................. 62
Speed ratio (P607) ..................... 53
Reduction ratio ..................... 20, 23
Speed reduction (P608).............. 53
Reference point .................... 22, 35
SSI encoders .............................. 16
Reference point run.............. 21, 65
Sync ........................................... 30
Relais Position (P626)................ 55
Synchronous control ................... 61
Relay 1 function (P434) ....................... 43 Relay 2
T TTL encoders ............................. 12 Type SSI encoder (P617) ........... 55
function (P441) ....................... 44 Relay 3 function (P450) ....................... 44 Relay 4
U Unit of pos. value (P640) ............ 56 Universal encoder status(P650) . 56
function (P455) ....................... 44 Relay functions........................... 44 Relay/output messages .............. 35 Repairs ....................................... 74 Rotary encoder connection ........ 11
V Value Masterfunction (P502) ...... 47 Voltage analog input 1 (P709) .... 57
W WAGO adapter module .............. 18
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9 Lists / Index
