instruction manual212.113.105.12/library/keb_cd/manuals/drivepos/00f4rebk... · 3/2003...

3/2003

00.F

4.R

EB

-K30

0

KEB COMBIVERT F4-F DrivePos Material Handling

Version 3.0

INSTRUCTION MANUAL

DangerWarningCaution

Attention,observe atall costs

The pictographs used in this manual mean:

This manual– is valid for frequency inverter KEB COMBIVERT F4-F DrivePos– must be made available to every user

3

Table of Contents

1 Operating Specifications ..................................................... 5

1.1 Application ............................................................................................... 5

1.2 Moving or Rotating Parts ........................................................................ 5

1.3 High Operating Temperatures ................................................................. 5

1.4 Connection Instructions .......................................................................... 6

1.5 Operating Instructions ............................................................................ 6

1.6 Interference Protection of Electric Systems .......................................... 7

1.7 Interference Protection of the Frequency Inverter ................................. 7

2 Installation and Connection ................................................ 9

2.1 Summary .................................................................................................. 9

2.2 Control Terminal Strip X2 ..................................................................... 102.2.1 Wiring of Digital In-/Outputs ..................................................................... 112.2.2 Wiring of Analog In-/Outputs ................................................................... 11

2.3 Description of the Encoder Interface .................................................... 122.3.1 Encoder 1 Interface ................................................................................. 122.3.2 Encoder Specifications ............................................................................ 132.3.3 Encoder 2 SSI Interface .......................................................................... 14

2.4 Digital-/Interface-Operator ..................................................................... 152.4.1 Digital-Operator ........................................................................................ 152.4.2 Interface-Operator .................................................................................... 15

3 Parameter Application Software Material Handling ........ 17

3.1 Storage Control (SC) Parameter ........................................................... 17

3.2 Storage Handling (SH) Parameter......................................................... 45

4 Start up Instructions .......................................................... 71

4.1 Electrical Connection ............................................................................ 714.1.1 Electrical Connection Power Circuit ......................................................... 714.1.2 Electrical Connection Control Circuit ....................................................... 71

4

Table of Contents

4.2 General Inverter Parameterization ........................................................ 724.2.1 Input of the Motor Parameter ................................................................... 724.2.2 Input of the System Data ......................................................................... 724.2.3 Input of the Operating Data for Closing-Loop Operation ........................... 734.2.4 Input of the Nominal Data for the Brake Handling .................................... 734.2.5 Allocation Motor to System Feedback ..................................................... 744.2.5.1 Check of the Allocation Motor/Motor Encoder ......................................... 744.2.5.2 Define the Position Reference ................................................................. 754.2.5.3 Check of the Allocation Motor/Position Encoder ...................................... 764.2.6 Using of the Rotary Axis Function ........................................................... 774.2.6.1 Digital Inputs for the Rotary Axis ............................................................. 774.2.6.2 Definition of the Range of Values of the Rotary Axis ............................... 784.2.6.3 Reference Point Search ........................................................................... 794.2.6.4 Rotary Axis Reference ............................................................................. 804.2.7 Define the Coordinate System ................................................................. 814.2.7.1 Actual Position Initialization ..................................................................... 814.2.7.2 Adjustment of Software Limit Switches ................................................... 81

4.3 Adjustment of the Controller ................................................................ 824.3.1 Adjustment of Speed Controller ............................................................... 824.3.2 Adjustment of Position Controller ............................................................. 834.3.3 Optimization for Load Transfer ................................................................. 84

4.4 Supplementory Parameterizations for the Positioning ....................... 844.4.1 ‘Position reached’ Message ..................................................................... 844.4.2 Monitoring Functions for Positioning ........................................................ 85

5 Functional Description ...................................................... 86

5.1 Position Teach Function ....................................................................... 86

5.2 Flying Referencing................................................................................ 87

5.3 Fine Positioning with Digital Inputs .................................................... 88

5.4 Emergency Operation with Digital Inputs ........................................... 89

5.5 Position-dependent Speed Changing ................................................. 90

5.6 Position Override .................................................................................. 91

5.7 Travelling without Position Information / Position Restart ............... 91

5.8 Incremental Encoder as Position Encoder.......................................... 92

5.9 Torque Control ....................................................................................... 92

6 Error Correction ................................................................. 93

7 Additional Parameter ......................................................... 97

5

The frequency inverter KEB COMBIVERT F4F DrivePos is a drive component, whichis especially intended for rack serving units. The frequency inverter is exclusively forstepless speed control/regulation of three-phase asynchronous motors. The operationof other electrical consumers is not permitted and can lead to the destruction of theunit.

1.1 Application

This manual is valid for frequency inverter KEB COMBIVERT F4-F DrivePos.

Bevore working with this unit you must familiarize yourself with it. Pay special attentionto the safety and warning guides.Make sure to read:

– Part 1 · Safety and warning guides that must be adhered to00.00.EMV-K000 · EMC-confirm installation

· Explanation of the EG-directives/CE-logo· Labels to fasten on the frequency inverter

– Part 2 · Technical data /dimensions of the power circuits inOL.F4.00B-K000 frequency inverters KEB-COMBIVERT F4-S, F4-C and F4-F

· Connection and installation instructions· Information about accessories (filters, braking resistors)

1 OperatingSpecifications

1.2 Moving or Rotating Parts – Motor shaft– Feed axis and parts connected to it

Prior to any work on the machine (e.g. exchange of tools), disconnectit and secure against unintended restart!

Safely secure movement range of machine during operation! Dan-ger of injury!

1.3 High OperatingTemperatures

Motor housing and braking resistor can attain very high temperatures!Danger of injury!

– Housing of the motor– Braking resistors

°C

100

0

Operating Specifications

6

1.4 Connection Instructions A trouble-free and safe operation of the frequency inverter is only guaranteed whenthe following connection instructions are observed.When deviated from, malfunctions and damages may occur in isolated cases.

– The frequency inverter KEB COMBIVERT is only designed for a stationaryconnection.

– Do not interchange power cables and motor lines.– Install control and power lines separately (min. 10 cm distance).- Only connect

control lines to switching elements and setting devices (relay, switch, potentiometer),that are suitable for extra-low voltages.

– Use shielded/twisted control lines. Connect the shield only single-sided to PE ofthe frequency inverter.

– Use shielded motor cables. Connect shield to the PE and extensively connect tomotor housing.

– Earth frequency inverter very well: star-shaped earthing, avoid earth loops, shortestconnection to main earthing terminal.

The connections on the terminal strip and encoder inputs aresafely isolated in accordance with VDE 0100. The person whoinstalls the system / machine must make sure that the existingor newly wired circuit meets the VDE requirements.

1.5 Operating Instructions


– Install an isolating switch between the voltage supply and inverter, so that KEBCOMBIVERT can shut off independently.

– Frequent switching between mains and inverter is not permitted!– Switching between motor and inverter during operation is prohibited!– The KEB COMBIVERT is to be operated under suitable conditions (see Ambient

Conditions in Part 2).– When changing the programming of a frequency inverter (deviation from factory

setting) check it once more before start up. !Wrong setting can lead to unintendedbehaviour of the drive!

– Should a malfunction or a defect occur on the KEB COMBIVERT, in spite of keepingto the connection and operating instructions, it can lead to undefined operatingconditions. Consequently the actuation of software-type proctective measures likee.g. limit switch, the correct performance of a brake or the correct reaction to setpointvalue settings is not guaranteed.

– The protection of a plant only through software protective functions is not sufficient,it is absolutety necessary to install external protective measures that are indepen-dent from the KEB COMBIVERT.

To avoid damages to the inverter as well as material damages andinjuries to persons, oberserve the following instructions:

7


The control and power inputs of the frequency inverter are protectedagainst interferences.For more operational reliability and additional protection againstmalfunctions following these measures:

1.7 Interference Protectionof the Frequency Inverter

– Use of mains filter, when the mains voltage is affected by the connection of largeconsumers (reactive-power compensation equipment, HF-furnaces etc.)

– Protective wiring of inductive consumers (solenoid valves, relays, electromagnets)with RC elements or similar devices to absorb the energy released when the unit isswitched off.

– Install wires, as described in the connection directions, to avoid inductive andcapacitive coupling of interference pulses.Paired-twisted cables protect against inductive parasitic voltages, shielding providesprotection against capacitive parasitic voltages. Optimal protection is achieved withtwisted and shielded cables when signal and power lines are installed separately.

1.6 Interference Protection ofElectric Systems

The frequency inverter KEB COMBIVERT transmits waves of high frequency. To reducearising interference pulses, that may effect electric systems in the vicinity of thefrequency inverter, do the following:

– Install the frequency inverter in metal housing.– Shield motor cables.

The shield must be connected to PE of the frequency inverter and to the housing ofthe motor (connect extensive shield). The shielding shall not be used as protectiveearthing. Only an uninterrupted shield beginning as close as possible to thefrequency inverter or motor ensures a safe function of the shielding.

– Good earthing (metal-powder tape or 10 mm2 earth lead)– Use radio interference suppression filters.

9

2.1 Summary

2 Installation andConnection

Installation and Connection

STARTSTOP

ENTERF/R

FUNC.SPEED

STARTSTOP

ENTERF/R

FUNC.SPEED

Housing Sizes G - L

Housing Sizes D - E

Observe the maximalwidth of connectors forX4 and X5.

Observe the maximalwidth of connectors forX4 and X5.

Optional Operatorwith 9-pole Sub-D Socket

Parameter Interface

X415-pole Sub-D Socket

connection Incremental Encoder


OPTION

X2Terminal connection

Control Terminal


connection Incremental Encoder


OPTION

X2Terminal connection

Control Terminals

Optional Operatorwith 9-pole Sub-D Socket

Parameter Interface

10

20 22 231 2 3 4 21

16 17 185 6 7 8 9 10 11 12 13 14 15 191 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23

2.2 Control TerminalStrip X2


for housing size D and Efrom housing size G upwards

Ter. Name1 ST2 I4

3 I5

4 I6

5 I1

6 I2

7 I3

8 D1

9 D2

10 Uout11 0 V

12 CRF13 COM

14 REF 1 +15 REF 1 -16 REF 2 +17 REF 2 -

18 A1

19 A2

20 RLA21 RLB22 RLC

23 Ext.Voltage

FunctionControl releaseProgrammable input(no function *1)Programmable input(no function *1)Programmable input(no function *1)Programmable input(V2-limit switch forward *1)Programmable input(V2-limit switch reverse *1)Emergency-Stop

Digital output 1 (Out 1)(general off) *1

Digital output 2 (Out 2)(error output) *1

Voltage outputMass for Uout anddigital in-/outputs

+10 V reference voltageAnalog mass

Analog setpoint entryno function is programmedProg. analog inputno function is programmed

Analog output 1

Analog output 2

Output relay(Out 3)Braking control *1

External voltage supplyUext = 24V ... 30 V DCprotect with fine-wire fuse1,25 A, alert

Digital Inputsnoise immunity: 2kVlogic 1: ± (12...30V)internal input resistor: approx. 2 kΩlogic: PNP/NPN (prog. with di.1 )

Software protective function: maynot work if the unit is defective

programmable PNP-transistor outputs 14…30 V / max. 20 mA peroutput (see chapter 6.3 „Digital In- and Outputs“)

Voltage output: supply voltage provided by the inverter for digitalin- and outputs

Voltage: depending on power circuit and load 16…30 V max.60 mAwith external power supply: Uext 1 A

Voltage output: +10V (+/-3%); max. 4 mAMass for analog in-/outputs

Differential voltage input±10 V / resolution: 12 Bit / Ri = 24 kΩ / 40 kΩ (see next page)Current inputs can only be realized by external switch mode withload resistance (see chapter 6.2 F4-F Appl. Man.). Scan time: 2ms

Analog outputsVoltage range: 0...±10V / internal resistance: 100 ΩResolution: 10 bit (see chapter 6.2 F4-F Appl. Man.)Scan time: 2ms

Max load:30 VDC / 1A

External voltage input: Ground 0V (X2.11) External voltage supply.This voltage supply is absolutely necessary for operating with theinverter. Without Uext the control card does not have a function.

Potential isolation between terminals for digital signals(X2.1 - X2.11, X2.23) and terminals for analog signals(X2.12 - X2.19).

*1 Factory setting, other functions can be assignedto the terminals (see chapter 6.3 F4-F Appl. Ma-nual)

11


........

+

12 13 14 15 16 17 18 19CRF COM REF1 REF1 REF2 REF2 A1 A2

+ – + –

1) 20 21 22RLA RLB RLC

2.2.1 Wiring of Digital In-/Outputs

2.2.2 Wiring of Analog In-/Out-puts

-10V…+10Vprogramm-able analog

input

Output Relay

Ri = 40 kW (REF1 / REF2)real differential input

1) differential input with internal ground (COM)Ri = 24 kW (REF1 / REF2)

Isolation between terminals for digital signals (X2.1- X2.11, X2.23) and terminals for analog signals(X2.12 - X2.19).

internalvoltage supply

1 2 3 4 5 6 7 8 9 10 11 23ST RST F R I1 I2 I3 D1 D2 Uout 0 V Ext.

Volt.

PNP-Logic

The earth-fault terminal isfound in the power circuit!(see instruction manualpart 2).

Isolation between terminals for digitalsignals (X2.1 - X2.11, X2.23) and terminalsfor analog signals (X2.12 - X2.19).

external voltage supply

1,25 A alert

-10V…+10Vprogramm-able analog

input

12

2.3 Description of theEncoder Interface

12345

6789

5 4 3 2 19 8 7 6

15 14 13 12 11

10

Encoder 1 (X4) Encoder 2 (X5)

Current Load Capacity of the Voltage Supplies:Max. 300mA voltage supply at X4 and X5 is possible for +5V. The loadof Uvar at X4 and X5 is limited with max. current of 1A at terminal X2.23.

Encoder 1 Interface is the connection for the speed feedback, which is absolutelynecessary for the entire feedback control (even the current controller).All incremental encoders that meet the following specifications can be used:

2.3.1 Encoder 1 Interface

Signal PIN No.

Uvar

1) 11+5V 12GND 13A + 8A - 3B + 9B - 4N + 15N - 14

shield housing

1) Uvar is the voltage Uext whichis supplied via X2.23. Voltage:24...30 V at housing D, E.Uvar = 15 V at housing from G.

5 4 3 2 19 8 7 6

15 14 13 12 11

10

The plug may only be connected/disconnected when inverter andsupply voltage are disconnected!


13

Output Signals

2...5 V

0 V

U0 + 0,5 V (+/-20 %)

U0 - 0,5 V (+/-20 %)U0 ⇒ ca. 2,5 V

B+

B-

A+

A-

B+

B-

A+

A-

Rectangular Signals:

Two square-wave pulses that are electrically out of phase by 90° and their inverse signals(TTL-push-pull signals)

Sinusoidal 1 Vss-Signals:

Two sinusoidal incremental signals that are electrically out of phase by 90° and theirinverse signals

2.3.2 Encoder Specifications

UoutInverter = + 5,2 V (+/-5 %)Voltage Supply

Iencoder * line resistance + Uminencoder < UoutInverter

Increments

Cable Length

256 - 10000 inc. (recommended: 2500 inc. when usingmax. speed < 4500 rpm)Cut-off frequency of the interface: 200 kHz

Observe the cut-off frequency of the encoder:

increments • nmaxflimit > Hz60


14

As standard the encoder 2 interface is supplied as SSI encoder input. It is used as inputfor the position feedback of the positioning process.Due to the external voltage supply absolute value encoder (rotary encoder) and alsolaser-distance measuring systems with SSI interface can be connected.

2.3.3 Encoder 2 SSI Interface

Signal PIN-Nr.

Uvar

1) 55V 1) 4

GND 1) 9Clock + 1Clock - 6Data + 2Data - 7n.c. 3n.c. 8

shield housing

The plug may only be connected/disconnected when inverter and supplyvoltage are disconnected!

12345

6789

Clock frequency: 156,2 kHz, 326,5 kHzData format : 24 Bit SSI, Gray or binary-coded, with or without Error-BitSignals : RS422 / Data and clock


1) Uvar is the voltage Uext whichis supplied via X2.23. Voltage:24...30 V.

15

12345

6789

Operator Panel

Operation/error displayNormal "LED on"Error "LED blinks"

Interface controlLED blinks, as soon asthe inverter sends data

An operator is a necessary accessory for local operation of the inverter COMBIVERTF4. To prevent maloperation, the inverter must be brought into the nOP status (controlrelease terminal X2.1) before it is connected/disconnected. The display has only 5digits. The last digit can not be displayed when the negative values are higherthan 9999.The operator is available in several versions:

2.4 Digital-/Interface-Operator

2.4.1 Digital-OperatorArt.-No. 00.F4.010-2009

5 digit LED display

An isolated RS232/RS485 interface is additionally integrated in the interface operator.2.4.2 Interface-OperatorArt.-No. 00.F4.010-1009

RS232/RS485PE-Connection

PIN RS485 Signal Description1 – – Reserved2 – TxD Transmission data/RS2323 – RxD Receiving data/RS2324 A' RxD-A Receiving data A/RS4855 B' RxD-B Receiving data B/RS4856 – VP Supply voltage plus +5V (Imax = 10 mA)7 C/C' DGND Data ground8 A TxD-A Transmission data A/RS4859 B TxD-B Transmission data B/RS485

Information about other operators from KEB!

START

STOP

FUNC.

SPEED

ENTER

F/R


17

SC - Parameter Address min .. max default [?]SC 0 Rated motor power 3A00 0.01 ....... 90.00 *) 0.01 kWSC 1 Rated motor speed 3A01 100 ......... 9999 *) 1 rpmSC 2 Rated motor current 3A02 0.1 ............... *) *) 0.1 ASC 3 Rated motor frequency 3A03 20 ............. 300 *) 1 HzSC 4 Rated motor power factor cos (Phi) 3A04 0.05 ......... 1.00 *) 0.01 ---SC 5 Rated motor torque 3A05 - - --- ............... --- *) 0.01 NmSC 6 Max. torque 3A06 - - --- ............... --- *) 0.01 NmSC 7 Rated motor voltage 3A07 100 ........... 500 *) 1 VSC 8 Corner speed for max. torque 3A08 0.0 ....... 9999.5 *) 0.5 rpmSC 9 Corner speed field weakening 3A09 200.0 ... 9999.5 *) 0.5 rpmSC 10 Max. torque at field weakening 3A0A 0.1 ............... *) *) 0.1 NmSC 11 Encoder 1 (inc/rev.) 3A0B 256 ....... 10000 2500 1 IncSC 12 Change encoder 1 rotation 3A0C 0 ................... 1 0 1 ---SC 13 Encoder 2 (inc/rev.) 3A0D 256 ....... 10000 4096 1 IncSC 14 Multiturn resolution encoder 2 3A0E 12 ............... 12 12 1 BitSC 15 Encoder 2 data code 3A0F 0 ................... 3 3 1 ---SC 16 Counter direction adaption encoder 2 3A10 0 ................... 3 0 1 ---SC 17 Encoder 2 filter 3A11 0 ............... 127 0 1 msSC 18 Encoder mode for positioning 3A12 0 ................... 1 1 1 ---SC 19 Sample rate for speed 3A13 0 ................... 5 3 1 ---SC 20 Load motor dependent parameter 3A14 0 ................... 2 0 1 ---SC 21 Voltage stabilization 3A15 180 ........... 501 501 (Off) 1 VSC 22 Boost 3A16 0.0 ........... 25.5 *) 0.1 %SC 23 Verfahrweise 3A17 - 0 ................... 6 0 1 ---SC 24 Teach position encoder adaption 3A18 0 ................... 2 0 1 ---SC 25 Controller activation 3A19 0 ................... 5 0 (Off) 1 ---SC 26 Control mode posi 3A1A 0 ................... 1 1 (On) 1 ---SC 27 KP speed 3A1B 0 ........... 32767 400 1 ---SC 28 KI speed 3A1C 0 ........... 65635 200 1 ---SC 29 Max. KI increase 3A1D - 0 ........... 65535 0 1 ---SC 30 Max. speed for max. KI 3A1E - 0 .......... 6000.0 10.0 0.5 rpmSC 31 Min. speed standard KI 3A1F - 0 .......... 6000.0 500.0 0.5 rpmSC 32 KP active current 3A20 1 ........... 65535 1500 1 ---SC 33 KI active current 3A21 1 ........... 65535 500 1 ---SC 35 KP position 3A23 0 ........... 65535 30 1 ---SC 36 KP position faktor 3A24 0 ................. 15 7 1 ---SC 37 Limit for KP position 3A25 0.0 ......... 500.0 100.0 0.5 rpmSC 38 Actual position initialization 3A26 0 ................... 1 0 (Off) 1 ---SC 39 Stator resistance 3A27 0 ........... 65535 *) 1 mΩSC 40 Leakage inductivity 3A28 0.00 ..... 655.35 *) 0.01 mHSC 41 Motor connection 3A29 0 ................... 1 1 (delta) 1 ---SC 42 Adaption activation 3A2A 0 ........... 65535 0 (Off) 1 ---SC 43 Voltage limiting 392B 0 ........... 65535 0 (Off) 1 ---

Writeable- Readable only

Active after „Enter“- Active immediately

Value range Unit

Default value

Resolution

3 ParameterApplicationSoftwareMaterial Handling

3.1 Storage Control(SC) Parameter

SC-Parameter

18

SC - Parameter Address min ... max default [?]SC 44 Overmodulation ON/OFF 3A2C 0 ................... 1 1 (On) 1 ---SC 46 Referenzpunktmodus 3A2E - 0 ................... 7 1 1 ---SC 47 Referenzgeschwindigkeit 3A2F - -15,000 15,000 0,000 0,001 m/sSC 48 Filter Referenzpunktschalter 3A30 - 0,0 ........... 20,0 0 0,1 msSC 49 Response to position override-Restart 3A31 0 ................... 3 1 1 ---SC 50 Absolute value encoder initial value High 3A32 0 ........... 65535 0 1 216 IncSC 51 Absolute value encoder initial value Low 3A33 0 ........... 65535 0 1 InkSC 59 Baud rate 3A3B 0 ................... 6 3 1 ---SC 60 Inverter state 3A3C - - --- ................ --- --- Table ---SC 61 Actual speed display 3A3D - - --- ................ --- --- 0.5 rpmSC 62 Set speed display 3A3E - - --- ................ --- --- 0.5 rpmSC 63 Speed REF display 3A3F - - --- ................ --- --- 0.5 rpmSC 64 Actual torque display 3A40 - - --- ................ --- --- 0.1 NmSC 65 Aktual inverter utilization 3A41 - - --- ................ --- --- 1 %SC 66 Peak inverter utilization 3A42 0 ................... 0 --- 1 %SC 67 Apparent current 3A43 - - --- ................ --- --- 0.1 ASC 68 Apparent current/peak value 3A44 - 0 ................... 0 --- 0.1 ASC 69 Active current 3A45 - - --- ................ --- --- 0.1 ASC 70 OL counter display 3A46 - - --- ................ --- --- 1 %SC 71 Actual DC voltage 3A47 - - --- ................ --- --- 1 VSC 72 DC voltage/peak value 3A48 0 ................... 0 --- 1 VSC 73 Input terminal state 3A49 - - --- ................ --- --- Table ---SC 74 Output terminal state 3A4A - - --- ................ --- --- Table ---SC 75 Internal input state 3A4B - - --- ................ --- --- Table ---SC 76 Internal output state 3A4C - - --- ................ --- --- Table ---SC 77 Heat sinc temperature 3A4D - - --- ................ --- --- 1 °CSC 78 Power ON counter 3A4E - - 0 ........... 65535 --- 1 hSC 79 Modulation ON counter 3A4F - - 0 ........... 65535 --- 1 hSC 80 Actual speed encoder 2 3A50 - - --- ................ --- --- 0.5 rpmSC 81 Angular deviation 3A51 - - --- ................ --- --- 1 °SC 82 Actual position sign 3A52 - - --- ................ --- --- 1 ---SC 83 Actual position high 3A53 - - --- ................ --- --- 1 216 IncSC 84 Actual position low 3A54 - - --- ................ --- --- 1 IncSC 85 Set position sign 3A55 - - --- ................ --- --- 1 ---SC 86 Set position high 3A56 - - --- ................ --- --- 1 216 IncSC 87 Set position low 3A57 - - --- ................ --- --- 1 IncSC 88 Set position high input 3A58 - 0 ........... 32767 0 1 216 IncSC 89 Set position low input 3A59 - 0 ........... 65635 0 1 IncSC 90 Gear faktor motor/posi. encoder dis. 3A5A - - 0.00 ..... 327.67 --- 0.01 ---SC 95 Last Error (t-4) 3A5F - - --- ................ --- 0 Table ---SC 96 Last Error (t-3) 3A60 - - --- ................ --- 0 Table ---SC 97 Last Error (t-2) 3A61 - - --- ................ --- 0 Table ---SC 98 Last Error (t-1) 3A62 - - --- ................ --- 0 Table ---SC 99 Last Error 3A63 - - --- ................ --- 0 Table ---

SC-Parameter

*) depending on size

19

Rated Motor Power

Value range: 0,01...90,00 kWResolution: 0,00 kWDefault value: depending on size kWCustomer setting: _______ kW

Input of rated motor power from the name plate of the used motor.

Rated Motor Speed

Rated Motor Current

Rated Motor Frequency

Rated Motor Power Factor(COS ϕϕϕϕϕ)

Rated Motor Torque

Input of rated motor speed from the name plate of the used motor.

Input of rated motor current from the name plate of the used motor.Pay attention to the motor connection (star or delta).To ensure a safe operation of the drive, the max. input of the motor current is limited torated inverter current * 1,4.

Input of rated motor frequency from the name plate of the used motor.

Input of rated motor power factor from the name plate of the used motor.

Display of rated torque calculated from the motor name plate data.

Value range: 100...9999 rpmResolution: 1 rpmDefault value: depending on size rpmCustomer setting: _______ rpm

Value range: 0,1...depending on size AResolution: 0,1 ADefault value: depending on size ACustomer setting: _______ A

Value range: 20...300 HzResolution: 1 HzDefault value: depending on size HzCustomer setting: _______ Hz

Value range: 0,05...1,00Resolution: 0,01Default value: depending on sizeCustomer setting: _______

Resolution: 0,01 Nm

SC-Parameter

20

Rated Motor Voltage

Max. Torque

Corner Speed ForMax. Torque

Corner Speed AtField Weakening

Max. Torque At FieldWeakening

Display of the max. torque, which can be reached in the base speed range. It isdependent on the inverter and limited by the hardware current limiting.

Input of rated motor voltage from the name plate of the used motor.Pay attention to the switching connection of the motor (star or delta)!

Input of max. speed until the max. torque (SC.6) shall be available.Parameter SC.8 defines the torque cut-off characteristic of the motor torque.In relation to motor and inverter data the basic setting is determined by activation ofSC.20 (motor adaption).SC.8 always must be adjusted < than SC.9.

Input of corner speed until the max. torque (SC.6), beginning at corner speed (SC.8),should be decreased to the max. moment at field weakening (SC.10).This parameter defines the max. torque characteristic of the motor.In relation to motor and inverter data the basic setting is determined by activation ofSC.20 (motor adaption).

Input of max. torque at field weakening (see Fig.).This parameter defines the max. torque characteristic of the motor.In relation to motor and inverter data the basic setting is determined by activation ofSC.20 (motor adaption).

Resolution: 0,01 Nm

Value range: 100...500 VResolution: 1 VDefault value: depending on size VCustomer setting: _______ V

Value range: 0,0...9999,5 rpmResolution: 0,5 rpmDefault value: depending on size rpmCustomer setting: _______ rpm

Value range: 200,0...9999,5 rpmResolution: 0,5 rpmDefault value: depending on size rpmCustomer setting: _______ rpm

Value range: 0,1...depending on size NmResolution: 0,1 NmDefault value: depending on size NmCustomer setting: _______ Nm

SC-Parameter

21

Encoder 1 (Inc/r.)

Change Encoder 1 Rotation

Encoder 2 (Inc/r.)

Input of encoder 1 increments.Encoder 1 is used for speed feedback.The speed feedback system has to be anincremental encoder with sinusoidal or square wave output pulses.

Input for a change of the counting direction of encoder 1.

If during open-loop operation the set/actual speed have different signs, the incrementalencoder is probably not adjusted correctly. This should be corrected. If this is too timeconsuming, use SC.12 to change the direction of rotation of encoder 1. The parameterhas the same effect as when encoder’s tracks A and B are exchanged per hardware orthe rotating field of the motor is changed.

Input of encoder 2 increments.Encoder 2 can be used as position feedback. Dependent on the used encoder interface,the feedback unit has to be an absolute-value encoder with SSI-interface or incrementalencoder with square wave output pulses.Pay attention to cut-off frequency!

Value range: 256...10000 IncResolution: 1 IncDefault value: 2500 IncCustomer setting: _______ Inc

Value range: 0...1Resolution: 1Default value: 0Customer setting: _______


SC-Parameter

Max. torque (SC. 6)

Max. torque at fieldweakening (SC.10)

Corner speed formax. torque (SC. 8)

Corner speed atfieldweakening (SC. 9)

Speed

Torque

22

When using an absolute-value encoder for encoder 2 as position feedback, the resolutionof the multiturn ratio of the position information must be adjusted here.

When using an absolute-value encoder with SSI-interface as encoder 2 the data formatof the position information must be adjusted here.

SC.15 Data code0 Binary code1 Gray code2 Binary code + error bit3 Gray code + error bit

When using encoder 2 as position feedback, parameter SC.16 adjusts the directionand counting of rotation of the position encoder to the counting direction of the systemfeedback (encoder 1).

Multiturn ResolutionEncoder 2

Encoder 2 Data code

Counter Direction AdaptionEncoder 2

Value range: 12...12 BitResolution: 1 BitDefault value: 12 BitCustomer setting: _______ Bit



Selected Sign actual Direction of Required SC.16direction of speed rotation counting

rotation encoder 1 encoder 2 directionencoder 2

Forward + + + 0Forward + - - 1Forward + + - 2Forward + - + 3Reverse - - - 0Reverse - + + 1Reverse - - + 2Reverse - + - 3

SC-Parameter

23

Encoder 2 Filter

Encoder Mode ForPositioning

Sample Rate for Speed

Filter for delay balancing time of the position information registration by laser lengthmeasuring systems.

Selection of the channels for the position feedback at positioning operation.

If encoder 2 is used as position feedback, all position inputs refer to this encoder.65536 increments at position input are correspond to 1 revolution of this encoder 2.

SC.18 Position feedback0 Position feedback via encoder 11 Position feedback via encoder 2

Value range: 0...127 msResolution: 1 msDefault value: 0 msCustomer setting: _______ ms


This parameter specifies the time the average-value is determined.Therefore the resolution of the speed measurement is defined simultaneously:

SC.19 Averaging Speed resolution when using antime incremental encoder with 2500 increments

0 0,5 ms 12 rpm1 1 ms 6 rpm2 2 ms 3 rpm3 4 ms 1,5 rpm (default value)4 8 ms 0,75 rpm5 16 ms 0,375 rpm

It can be possible that the system starts to oscillate at times > 4ms


SC-Parameter

24

Load Motor DependentParameter

Voltage Stabilization

After input of the name plate data of a new motor SC.20 has to be activated once(inverter status noP). This makes a default setting of the controller parameters which issufficient for most applications.

Preset as follows:1. open control release (Status nOP)2. adjust motor name plate data in the respective parameter (SC.0...7).3. set SC.20 = 1 or 2 ⇒ parameters SC.6, 8...10, and SC.32 and SC.33 are preset by

default parameters4. Based on these fundamental settings a fine adjustment can be done, if required.

SC.20 Significance1 Presetting of the motor dependent controller-parameter.

The adjusted voltage stabilization value or the voltage class of the inverteris assumed as input voltage value.

2 Presetting of the motor dependent controller-parameter.The measured DC-voltage / √2 during activation of SC.20 is assumed asinput voltage value.

With SC.20=2 the inverter stores automatically the basic value of the input voltagewhich is required for calculation. The adaption does not occur with every start, but onlyone time by triggering SC.20, as otherwise, fine adjustments would be overwritten. I.e.if the parameterization of the inverter occurs e.g. with a mains input voltage of 400V, butlater the drive should work at 460V mains, the parameter SC.20 = 2 must be writttenonce more after the final installation.


This parameter adjusts the DC-voltage. To maintain an optimum torque limit curveduring closed-loop operation, adjust the value of SC.21 = inverter input voltage. If thestabilization is switched off, the limit curve is calculated for the nominal input voltage.During open-loop operation load-denpendent DC-voltage fluctuations can becompensated with the output voltage stabilization, as long as the max. output voltageis not reached.

Value range: 180...501 (off) VResolution: 1 VDefault value: 501 (off) VCustomer setting: _______ V

SC-Parameter

25

SC-Parameter

Boost The boost specifies the output voltage at an output frequency of 0Hz. The entry is in %relating to the value of the dc-voltage compensation (SC.21).Only active when SC.25 = ‘off’

SC.23 Mode of Positioning Meaning

0 absolute The set position (SH.94, SH.95) relates to a defined zero point.

1 relative The set position (SH.94, SH.95) must be interpreted as distance (based on the last targetposition) After ‘modulation off’ (control release open, brake handling, error) or change ofthe operating mode, the start value corresponds to the actual position.

2 Rotary axis function Rotary axis function is active.absolute with position the set position (SH.94, SH.95) relates to a defined zero point.

optimization At position optimization the drive (based on the actual position) determines the shortestdistance to the target and moves in that direction the target is reached fast.

3 Rotary axis function Rotary axis function is active.absolute without the set position (SH.94, SH.95) relates to a defined zero point. The direction of rotation

position optimization, of the drive is determined via bits 4 and 5 of the MH-control word (SH.96).position direction via Bit 4 = 1 positioning in direction ascending position values,

MH-control word Bit 5 = 1 positioning in direction descending position values.Bit 4 has priority.If with start positioning (SH.96 Bit1 = 1) no preferred direction is selected, positioning ofthe drive is dependent on the actual position in a range of 0 to the target value (SH.54,SH.56) in direction of the ascending/descending position values.

Mode of Positioning This parameter determines the mode of positioning in the operating mode ‘positioning’

Value range: 0,0...25,5 %Resolution: 0,1 %Default value: dependent on the size

(see next table)Customer setting: _______ %

Recommended Allocation of Rated Motor Power to Boost

SC.00 SC.22 Rated Motor Power Boost

Motor in Y-Connection Motor in ∆-Connection

. . . 4 kW 15 % 7 % 4 kW . . . 7,5 kW 15 % . . . 10 % 7 % . . . 5 % 7,5 kW . . . 11 kW 10 % . . . 7 % 5 % . . . 3 %11 kW . . . 30 kW 7 % . . . 4 % 3 % . . . 2 %30 kW . . . 75 kW 4 % . . . 2 % 2 % . . . 1 %

26

4 Rotary axis function Rotary axis function is active.relative, The set position (SH.94, SH.95) must be interpreted as distance (based on the last target

position direction via position). After ‘modulation off’ (control release open, brake handling, error) or change ofMH-control word the operating mode the start value corresponds to the actual position.The direction of

rotation of the drive is determined via Bits 4 and 5 of the MH-control word (SH.96).Bit 4 = 1 positioning in direction ascending position values.Bit 5 = 1 positioning in directiong descending position values.Bit 4 has priority.If with start positioning (SH.96 Bit1 = 1) no preferred direction is selected, positioning ofthe drive in direction of ascending position values.

5 Rotary axis function Rotary axis function is active.absolute without The set position (SH.94, SH.95) related to a defined zero point. The direction of rotation

position optimization, of the drive is determined via the MSB of the set position High (SH.94, SH.85 or SC.88).position direction via MSB = 0 positioning in direction of ascending position values.

MSB set position High MSB = 1 positioning in direction of descending position values.The set position is transmitted as amount and only the MSB of the High position ismasked with 1 or 0 in accordance to the required drive direction.Example:Input via parameter SH.94, SH.95Distance: 550,0 mmInput for the process to ascending position valuesSH.94 = 0 ⇒ 0H ; SH.95 = 550,0 ⇒ 157CHInput for the process to descending position valuesSH.94 = 32768 ⇒ 8000H ; SH.95 = 550,0 ⇒ 157CH

6 Rotary axis function Rotary axis function is active.relative, The set position (SH.94, SH.95) must be interpreted as distance (based on the last target

position direction via position. After ‘modulation off’ (control release open, brake handling, error) or change ofMSB set position High the operating mode the start value is the actual position. The direction of rotation of the

drive is determined via the MSB of the set position High (SH.94, SH.85 or SC.88).MSB = 0 positioning in direction of ascending position values.MSB = 1 positioning in direction of descending position values.The set position is transmitted as amount and only the MSB of the High position ismasked with 1 or 0 in accordance to the required drive direction.Example:Input via SH.94, SH.95Distance: 180005,0 mmInput for the process to ascending position valuesSH.94 = 18 ⇒ 12H ; SH.95 = 5,0 ⇒ 32HInput for the process to descending position valuesSH.94 = 32786 ⇒ 8012H ; SH.95 = 5,0 ⇒ 32H

SC-Parameter


At a change of the mode of the positioning from standard positioning(SC.23 = 0 or 1) to rotary axis positioning (SC.23 = 2 ... 6) or reverse,some adjustments and parameter functions change automatically (seethe following table).

27

SC-Parameter

Teach Position EncoderAdaption

Mostly the reference of the position information in increments to the driven way in mmis difficult to determine for a position mode with rotary encoder system. The same isvalid for the determined value ranges for one revolution when using the rotary axisfunction.With parameter SC.24 a ‘teaching’ of the reference or the value range is possible.Teaching in operating mode 3 (positioning) is not possible.

SC.24 Function0 Teach ‘OFF’1 Teach ‘ON’2 ‘STORE’

Value range: 0...2Resolution: 1Default value: 0 (off)Customer setting: _______

This parameter is dependent on the mode of positioning (SC.23) of different functions.

Example:Select operating mode 1 (control) or 2 (Setup).SC.24 = 1 (active),SH.01...SH.03 and SH.77 and SC.90 are set at 0.The drive should be moved with low speed.In parameter SH.01 the moved distance is displayed and in parameters SH.02, SH.03the corresponding information in increments is shown. If a way is moved longer than3276,7 mm the displayed values in parameters SH.01...SH.03 are divided by 2 due tothe restricted range of values. The determined value can be stored with parameterSC.24 = 2. At the same time the gear factor between motor and position encoder iscalculated and displayed in parameter SC.90. SH.77 is set to 0. Teaching can be stoppedwith parameter SC.24 = 0. SH.01...SH.03, and SH.77 and SC.90 are reset to the oldvalues again.

Example:Select operationg mode 1 (control) or 2 (setup).SC.24 = 1 (active),SH.54, SH.55 are set at 0.The drive should be moved with low speed. With every initialisation of the referencepoint switch the actud value is updated. The reference point must be reched two times.The determined value can be stored with parameter SC.24 = 2. Teaching can be steppedwith parameter SC.24 = 0. SH.54, SH.55 are reset to the old values again.

Parameter / Function Standard Positioning Rotary Axis Positioning

Digital input I1 (X2.5) V2- limit switch forward Reference limit switch

Digital input I2 (X2.6) V2- limit switch forward Start reference point search

SH.54, SH.55 Limit switch 1 Limit switch rotary axis value range

SH.57, SH.58 Limit switch 2 Reference point window

SC.24 Teach position encoder adaption Teach rotary axis value range

SC.46 Start of the reference via Start of the reference viadigital input digital input

Stop at reference point Stop at reference point

SC.23 = 0 or 1(mode of positioning

‘absolute’ or ‘relative’):

SC.23 = 2 ... 6(Rotary axis function is active)

28

Controller Activation

Control Mode Posi

Speed and current controller are switched off/on.

The following limitations and changes must be observed during controlled operation.In comparison to closed-loop operation increased oscillating torques occur.The active current and the torque are internally set at 0. This means in SC.64 andSC.69 the value 0 is shown. The outputs which are dependent on the torque switchrespectively.No torque limitations are active.Only SC.21 and SC.22 have a function.The hardware current control is switched off in controlled operation to increase thesafety during commissioning, e.g. of hoisting gear. On reaching the current limit (max.adjustable drive torque) the inverter trips to error OC and the safety circuit activates theholding brake.SC.25 = 3 : This setting is identical to the setting SC.25 = 1. But with activated adaptionthe parameters for leakage inductance and stator resistance (revised adaption) are hereweighted differently as compared to SC.25 = 1. Value 3 was introduced to ensure thecompatibility to older software versions.With SC.25 = 4 the speed controller operates as with value 3. Value 4 eliminates „wrong“E.PRD messages through erroneous measurements of laser measuring systems atstandstill.SC.25 = 5 : Function like SC.25 = 4 but the E.PRD monitoring tests onto a window thatcorresponds to 2 * SH.64.


Parameter SC.26 changes the inverter between standard and posi mode.

SC.26 Function0 : off Standard mode active1 : on Positioning mode active


The inverter does a restart when this parameter is changed. During this change theinverter is not ready for operation for a short-time.The change must be done in ‘noP’state.

SC-Parameter

SC.25 Function0 : off U/f curve; speed and current controller are switched off.

The hardware current control is deactivated.1 : on field orientated speed torque control.2 : on Speed / current control enabled.

The hardware current control is deactivated.E.Enc in operating mode ‘Positioning’ active.

3 : on Speed / current control enabled. Modified adaption.4 : on Speed / current control enabled. Modified adaption.

E.PRD monitoring relating to the motor encoder.5 : on Speed / current control enabled. Modified adaption. E.PRD monitoring-

relating to the motor encoder. Monitoring window 2 * SH.64.

29

SC-Parameter

KI Speed Value range: 1...65535Resolution: 1Default value: 200Customer setting: _______

Max. KI Increase

Max. Speed For Max. KI

Min. Speed Standard KI


Value range: 0,0...6000,0 rpmResolution: 0,5 rpmDefault value: 10,0 rpmCustomer setting: _______ rpm

These parameters adjust the integral factor of the speed controller.

For better motor performance at lower speeds the KI speed can be increased dependenton the actual motor speed (SC.30, SC.31).SC.28 forms the basic value.The maximum KI value is : SC.28 + SC.29The corner frequencies SC.30 and SC.31 specify in which speed range the KI valuecan be changed.


Ki speed factor calculation

actual speed

Ki speed factor

corner speedmax. Ki (SC.30)

corner speedstandard Ki (SC.31)

Ki speed(SC.28)

Max. Kiincrease(SC.29)

KP Speed This parameter adjusts the proportional factor of the speed controller.


30

SC-Parameter

KP Active Current

KI Active Current

KP Position Factor

KP Position

This parameter adjusts the proportional factor for the current regulators.





This parameter adjusts the integral factor of the current regulators.

This parameter adjusts the proportional factor of the position controller.

For different applications the KP position (SC.35) can be weighted too strong orgraduated too coarse.Parameter SC.36 realizes a shift factor which allows a decrease of the KP position(SC.35) and so the resolution can be increased.

SC.36 0 1 2 3 4 5 6 7Divisor 1 2 4 8 16 32 128 256SC.36 8 9 10 11 12 13 14 15Divisor 512 1024 2048 4096 8192 16384 32768 65536

Example: KP Position (SC.35) = 1000SC.36 = 0 effective KP position = 1000SC.36 = 1 effective KP position = 1000 / 2 = 500,0 (resolution 0,5)SC.36 = 4 effective KP position = 1000 / 16 = 62,5000 (resolution 0,0625)

31

SC-Parameter

Limit For KP Position

Actual Position Initialization

Stator Resistance

Leakage Inductance

Motor Connection

The speed difference which the position controller shall add on the profile of the speedprecontrol is preset in parameter SC.37.

If SC.38 is written at 1 (initialize actual position) the actual position is set to the fixedvalues in parameters SH.7 and SH.8.These function should only be triggered when the drive has a standstill (state ‘noP’).

The primary resistor of the motor in mW is preset in parameter SC.39.This parameter is only required when the adaption (SC.42 <> 0) is active.

The leakage inductivity of the motor in mH is preset in SC.40.This parameter is only required when the adaption (SC.42 <> 0) is active.

The type of connection of the asynchronous motor is adjusted in parameter SC.41.


Value range: 0...1Resolution: 1Default value: 0 (Aus)Customer setting: _______

Value range: 0...65535 mΩResolution: 1 mΩDefault value: depending on size mΩCustomer setting: _______ mΩ

Value range: 0,0...655,35 mHResolution: 0,01 mHDefault value: depending on size mHCustomer setting: _______ mH


SC.41 Function0 Star connection1 Delta connection

This parameter is only required when the adaption (SC.42 <> 0) is active.

32

SC-Parameter

Dependent on the respective operating conditions with SC.42 an online adaption isrealized which corrects the calculated motor rating data for the motor type.The value of SC.42 determines the inverse amplification factor of the adaption.At SC.42 = 0 adaption off.

Adaption Activation

Voltage Limiting

Overmodulation ON/OFF

This parameter decreases the sensitivity of the current control against error adjustmentsof parameters which determine the torque limits.At SC.43 = 0 the voltage limiting is not active.

Parameter SC.44 determines if the overmodulation is permissible or not.

SC.44 Function0 Overmodulation ‘OFF’1 Overmodulation ‘ON’

Value range: 0 (off)...65535Resolution: 1Default value: 0 (off)Customer setting: _______

Value range: 0 (off)...65535Resolution: 1Default value: 0 (off)Customer setting: _______

Value range: 0...1Resolution: 1Default value: 1 (on)Customer setting: _______

Reference Point Mode This parameter defines the start and the realization fo the reference point search. Thisparameter is bitcoded.

Bit 0 (value = 1) Start of the reference with the first start posiThe reference point search starts first with a positioning after Power-ON, loading ofdefault parameters (Fr.1 = -2) or loading of the motor dependent parameter SC.20 = 1or 2. The reference point search can be started via a digital input.

33

SC-Parameter

Bit 1 (value = 2) Stop at the reference point switchThe drive operates to the reference point switch in the selected preferred direction,goes reverse and stopps after the reference point switch was clear. The referencevalue (SH.7, SH.8) is accepted with the falling edge of the reference point switch.Is Bit 1 = 0, the drive operates to the zero point of the position encoder after clearing ofthe reference point switch (only active when the position encoder is an incrementalencoder).

Bit 2 (value = 4) Rotary axis reference active.With every overshoot of the reference point switch during normal operation the referencevalue (SH.7, SH.8) is accepted, when rotary axis positioning is selected (SH.23 >1)and the difference between actual position and reference value<= with the value in SH.57, SH.58.

SC.46 Bit Function2 1 0

0 0 0 0 Start of the reference via a digital input or SH.97.Stop at encoder zero signal to reference point.

1 0 0 1 Start of the reference with the first start posi or via a digital inputor SH.97.Stop at encoder zero signal to reference point.

2 0 1 0 Start of the reference via a digital input.Stop at reference point.

3 0 1 1 Start of the reference with the first start posi or via a digital inputor SH.97.Stop at reference point.

4 1 0 0 Start of the reference via a digital input or SH.97.Stop at encoder zero signal after reference pointRotary axis reference.

5 1 0 1 Start of the reference with the first start posi or via a digitalinoput or SH.97.Stop at encoder zero signal after reference pointRotary axis reference.

6 1 1 0 Start of the reference via a digital input.Stop at reference point or SH.97Rotary axis reference.

7 1 1 1 Start of the reference with the first start posi or via a digital inputor SH.97.Stop at reference pointRotary axis reference.


34

SC-Parameter

This parameter determines the rated motor speed for the reference point search. Thesign of parameter SC.47 determines the preferred direction the reference point shall bereached, positive value = clockwise rotating motor, negative value = anti-clockwiserotating motor. After activation of the reference point search the drive starts with theadjusted reference speed and direction of rotation in parameter SC.47.

Reference Speed

Value range: -15,000...15,000 m/sResolution: 0,001 m/sDefault value: 0,000 m/sCustomer setting: _______ m/s

Filter Reference Point Switch The digital filter for the digital input X2.5 can be adjusted with parameter SC.48. Thisfilter is only effective, when the rotary axis function is active and I1 as reference pointswitch is adjusted. The max. time for the digital filter is 20 ms. The input status for theadjusted time must be constant only than it is valid. The software analyzes the inputstatus every 128 µs.

Value range: 0,0...20,0 msResolution: 0,1 msDefault value: 0,0 msCustomer setting: _______ ms

Response to PositionOverride / Restart

This parameter determines the response of the drive to a position override and/or positionrestart.


SC.49 Function0 OFF, no position override / restart possible. Should in the MH-control word

SH.96 via bit 3 a position override or via bit 6 a ride without position informationand subsequent position restart be activated, the error E.CnA is triggered, thedrive is decelerated to speed 0 with its Emergency-Stop ramp and engagesthe brake .

1 Active, Position override / restart possible. A new target position is acceptedafter proper input and activation over the MH-control word (SH.96 bit 3 or bit 6),if the drive can approach it with its programmed ramps and must not reverse. Ifthat is not possible, the error E.CnA is triggered, the drive decelerates with itsEmergency-Stop ramp and engages the brake. In addition to that a feedbacksignal to the MH-status word 2 (SH.99) bit 2 is generated.

2 Active, Position override / restart possible. A new target position is acceptedafter proper input and activation over the MH-control word (SH.96 bit 3 or bit 6),if the drive can approach it with its programmed ramp and must not reverse. Ifthat is not possible, the drive aborts the positioning and decelerates with itscurrent ramps to speed 0 and engages the brake. In addition to that a feedbacksignal over the MH-status word 2 (SH.99) bit 2 is generated.

3 Active, Position override / restart possible. A new target position is acceptedafter proper input and activation over the MH-control word (SH.96 bit 3 or bit 6),if the drive can approach it with its programmed ramps and must not reverse. Ifthat is not possible, the drive approaches the original target position. In additionto that a feedback signal over the MH-status word 2 (SH.99) bit 2 is generated.

35

SC-Parameter

Baud Rate Communication via bus is possible only as long as master and inverter are adjusted tothe same baud rate.

SC.59 Baud Rate0 1200 Baud1 2400 Baud2 4800 Baud3 9600 Baud4 19200 Baud5 38400 Baud6 57600 Baud

Default value = 38400 Baud

This parameter is not changed when loading‘Default-Parameter’

Value range: 0...6Resolution: 1Default value: 5 (38400 Baud)Customer setting: _______

The actual position can be initialized over the reference point approach or parameterSC.38 to the value in SH.07, SH.08.Based on this value all position to be approached are accepted.The absolute position value of the absolute value encoder in increments is saved internallyfor this origin.This initial value is write-/readable through the parameters SC.50, SC.51.

Absolute value encoderinitial value High


Absolute value encoderinitial value Low

Application:

1. Exchanging the inverter or resetting the inverter by loading the Default-parametersor through software update.The current parameter list of the application must be saved (reading of the entireparameter list). After changing the inverter respectively the software or loading ofthe Default-parameters, the parameter list with the absolute value encoder initialvalue is written to the inverter. Since the absolute value encoder did not change itsabsolute value based on the origin, the relation to the number of strings defined bySH.07, SH.08 is reestablished by writing the initial value.

2. Warehouse with curve drives or transfer cars and laser measuring systems.It is to be assumed that the laser is mounted on the traversing cabin or thestorage/retrieval machine and the reflectors are mounted in the respective aisles.Due to mounting contingent inaccuracies, the actual position is initialized foreach aisle. Based on this initial position the position-codes are recorded. Themaster control reads the respective initial values SC.50, SC.51 and saves these.When changing to another aisle the appropriate initial value is written to the inverterbefore entering the aisle thus establishing the exact position reference for thecorresponing aisle, without the dynamic error of a flying referencing.

36

SC-Parameter

Display Value Meaning

E.OP 1 Over Potential, intermediate circuit voltage too high.Failure, modulation immediately switched off. Restart only possible after reset.

E.UP 2 Under Potential, intermediate circuit voltage too low.Failure, modulation immediately switched off. Restart only possible after reset.

E.OC 4 Over Current, output voltage too high.Failure, modulation immediately switched off. Restart only possible after reset.

E.OH 8 Over Heat, temperature monitoring of the inverter has triggered.Failure, modulation immediately switched off. Restart only possible after reset.

E.dOH 9 Drive Over Heat, temperature monitoring of the drive has triggerred and the prewarning time Pn.16is over. Failure, modulation immediately switched off. Restart only possible after reset.

E.nOH 36 No Over Heat, no overtemperature failure (E.OH) is no longer present, error can be reset.E.OL 16 Overload, overload monitoring of the inverter has triggered.

Failure, modulation immediately switched off. Restart only possible after reset.E.OL2 53 Overload 2, overload protection in a lower frequency range (< 3Hz).

Failure, modulation immediately switched off. Restart only possible after reset.E.nOL 17 No Overload, cooling time in accordance with E.OL/E.OL2 is over.E.buS 18 Error Bus, time monitoring for serial communication has triggered.

Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.E.LSF 15 Error Load Shunt Fault, after switching on the unit the voltage stays under the UP-threshold / for

some unit sizes monitoring of the load shunt-relay, too.E.EF 31 External Fault, error message by an external unit.

Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.E.EnC 32 Error in feedback unit. Only active in closed-loop operation.

The error is triggered if the speed controller, because of an encoder fault, operates in low limiting.Failure, modulation immediately switched off. Restart only possible after reset.

E.SEt 39 Set Selection Error. Failure, modulation immediately switched off. Restart only possible after reset.E.PrF 46 Error Limit Switch: at set direction forward (or reverse) the terminal F (or R) was not active.E.Prr 47 Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.

E.dSP 51 CPU-Error.Error occurs only in the initialization phase. No modulation, no reset possible.

E.hyb 52 No defined encoder interface is recognized.Error occurs only in the initialization phase. No modulation, no reset possible.

E.PuC 49 No defined power circuit is recognized. Error occurs only in the initialization phase.No modulation, no reset possible.

E.0S 105 ‘Overspeed’ monitoring. This error is triggered if the setpoint speed exceeds in the operating mode‘Control’ or ‘Setting’ the value SH.70. Malfunction that causes an immediate switch off of the modulation.Restart possible only after reset.

E.PrS 106 ‘Position Reached’ time monitoring.This error is triggered if the drive is not in the target position SH.64 after finishing the positioning setprofile and the adjusted time in SH.63. Failure, which stops the drive at the EMERGENCY-STOPramp. Restart only possible after reset.

Inverter State Parameter ‘inverter state’ displays the operating state of the inverter.

Table of error messages:

SC-Parameter

Display Value Meaning

E.Prd 107 ‘Position Reached’ window monitoring.If the drive has ‘position reached’ recognized and if than the target position is left without an action(drive slips through) this error is triggered.Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.

E.SSF 108 Speed monitoring forward or reverse: the input signal of the respective restricted area is active andthe V2-speed (SH59) is exceeded.

E.SSr 109 Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.E.SLF 110 Software limit switch forward or reverse: a set position out of the permitted range is selected by the

positioning.E.SLr 111 Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.E.trS 112 Contouring error monitoring standstill.

Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.E.trr 113 Contouring error monitoring drive.

Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.E.PFb 114 Power Fail Bit Error.

Error bit in the SSI protocol of the position encoder is triggerred(cable interruption, voltage supply interrupted, failures during data transfer).Failure, which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.

E.InI 126 InItiator Error.When rotary axis function (SC.23 > 2) and rotary axis reference (SC.46 > 3) are active, no referencepoint signal is recognized after 8 revolutions (Disconnection of cable and voltage supply). Failure,

E.CnA

noPLS

FAcc

FdECFconrACCrdECrConrFP

P ASrAStoPS.nC

nPFA

37

which stops the drive at the EMERGENCY-STOP ramp. Restart only possible after reset.135 Command not Accepted error. The error is triggered if a position override / restart was initiated, which is

not permitted or cannot be executed. Malfunction that results in the stopping of the drive along theEMERGENCY-STOP ramp. Restart possible only after reset.

0 No Operation: no control release, modulation switched off, output voltage = 0, drive uncontrolled.70 Low Speed, rotation presetting missing, moldulation switched off.64 Forward Acceleration: acceleration ramp forward (dependent on the ramp generator / not at

positioning or synchronous operation).65 Forward Deceleration: Drive decelerates in rotational direction clockwise.66 Forward Constant: Drive runs with constant speed in rotational direction clockwise.67 Reverse Acceleration: Drive accelerates in rotational direction counter-clockwise.68 Reverse Deceleration: Drive decelerates in rotational direction counter-clockwise.69 Reverse Constant: Drive runs with constant speed in rotational direction counter-clockwise.79 ready for positioning: Positioning can be started. Message is set after enabling the positioning and after

covering the pilot control profile: no indication that the setpoint position is really reached.

80 positioning active: Positioning active (position profile is travelled).82 search for reference active: Reference point approach active.100 The digital input, programmed to ‘Emergency-Stop’, is not active.103 The brake handling is active. In order to release the brake at least 10 % of the rated motor current must

flow. This current is measured at the start of each ride. The status is displayed until the threshold valueof the current is exceeded.

134 no position feedback active: The drive runs in operating mode ‘Positioning’ with the positioning speedwithout evaluation of the position feedback (curve ride).

38

SC-Parameter

Actual Speed Display Display of the actual motor speed.Conditions: the correct number of increments is set in parameter SC.11 and the encoderis connected properly to interface 1 (X4). Forward (clockwise) rotation is displayedwith a positive value / reverse (counter-clockwise) rotation with a negative value.

Resolution: 0,5 rpm

Set Speed Display The set speed value is displayed at the output of the ramp generator. If the modulationis switched off, then the actual setpoint 0 rpm is shown. This parameter is necessaryfor the visualization with inverter scope.

Resolution: 0,5 rpm

Speed Reference Display In SC.63 the set speed at the input of the ramp generator is shown. As long as nofunction with a higher priority is activated the inverter works at this speed. Functionswith higher priority are e.g.: ‘noP’ or ‘Positioning active’. This parameter checks thepreset setpoint before startup.

Resolution: 0,1 rpm

Actual Torque Display Displays actual motor torque (calculated from motor parameters and motor current).

Resolution: 0,1 Nm

Actual Inverter Utilization SC.65 shows the actual utilization in %. 100% means the amount of the output currentis equal to the rated current of the inverter.

Resolution: 1 %

Peak Inverter Utilization SC.66 makes it possible to detect the peak utilization within an operating cycle. Inaddition the highest value that occurs in SC.65 is stored in SC.66.The peak memory can be deleted by pressing the ‘UP’ or ‘DOWN’ key or by Bus inwriting any value into SC.66.By switching off the inverter the memory is cleared.

Resolution: 1 %

39

SC-Parameter

Apparent Current

Peak Apparent Current

Display of the actual apparent current.

Resolution: 0,1 A

SC.68 makes it possible to detect the peak utilization within an operating cycle. Inaddition the highest value that occurs in SC.67 is stored in SC.68.The peak memory can be deleted by pressing the ‘UP’ or ‘DOWN’ key or by Bus inwriting any value into SC.68.By switching off the inverter the memory is deleted.

Resolution: 0,1 A

Active Current Display of the actual active current.positive active current : forward motorized or reverse regenerativenegative active current : reverse motorized or forward regenerativeDuring controlled operation (SC.25 = 0) the display is always 0,0 A.

Resolution: 0,1 A

OL Counter Display

Actual DC Voltage

Actual DC Voltage / PeakValue

The OL counter is increased in the case of an overload. When the counter reaches100% error OL is triggered.The overload situation of the inverter can be evaluated by this parameter, in order toprevent the occurance of OL.

Resolution: 1 %

Display of the actual DC-bus voltage.

Resolution: 1 V

Display of the maximum measured DC-bus voltage. In addition the highest value whichoccurs in SC.71 is stored in SC.72. (Reset of peak storage: see SC.66).

Resolution: 1 V

40

SC-Parameter

Input Terminal State In SC.73 the physical status of the input terminals X2.1...X2.7 is displayed. Internallogical interconnections, strobe or edge evalution are not taken into consideration. Theinput status is displayed binary coded, meaning every input corresponds to a value of1 (ST) to 64 (I3).If several inputs are triggered, then the sum of their values is shown.

Decimal value Input Terminal1 ST (control release) X2.12 I4 (prog. input 4) X2.24 I5 (prog. input 5) X2.38 I6 (prog. input 6) X2.416 I1 (prog. input 1) X2.532 I2 (prog. input 2) X2.664 I3 (prog. input 3) X2.7

Resolution: 1

Output Terminal State SC.74 makes is possible to control the digital outputs. The inverter supports a total of7 digital outputs: – Open Collector outputs D1 and D2,

– output relay RLA, RLB, RLC,– 4 internal software outputs

The internal software outputs have a direct internal connection to the software internalinputs IA, IB, IC and ID. For every active output the corresponding decimal value from1 (Open Collector output D1) to 128 (software output D) is displayed.

Resolution: 1

Decimal value Output Terminal1 D1 (transistor) X2.82 D2 (transistor) X2.94 output relay X2.20, X2.21, X2.228 no function16 OUT A (internal output A) none32 OUT B (internal output B) none64 OUT C (internal output C) none128 OUT D (internal output D) none

41

SC-Parameter

Resolution: 1

Decimal value Input Terminal1 ST (control release) X2.12 I4 (prog. input 4) X2.24 I5 (prog. input 5) X2.38 I6 (prog. input 6) X2.416 I1 (prog. input 1) X2.532 I2 (prog. input 2) X2.664 I3 (prog. input 3) X2.7128 no function256 IA (internal input A) none512 IB (internal input B) none1024 IC (internal input C) none2048 ID (internal input D) none

Binary coded status of: - the terminal input signals after the strobe, triggering, negation and logical interconnections unit.- the 4 software input signals.

These inputs are internally connected to the software outputs OUT A, OUT B, OUT Cand OUT D.

SC.76 shows the results of the output function tables (do.1 - do. 8). If an output conditionis met, then the corresponding decimal value is displayed. If several output conditionsare met, then the sum of the decimal values is displayed.

Internal Output State

Decimal value Switching Condition1 1 (do. 1) is met2 2 (do. 2) is met4 3 (do. 3) is met8 4 (do. 4) is met16 5 (do. 5) is met32 6 (do. 6) is met64 7 (do. 7) is met128 8 (do. 8) is met

Resolution: 1

Heat Sink Temperature SC.77 shows the actual heat sink temperature in °C. noF is displayed below 20°C.

Resolution: 1 °C

Internal Input State

42

SC-Parameter

Power ON Counter 1

Power ON Counter 2

Actual Speed Encoder 2

Angular Deviation

SC.78 shows the time that the inverter was supplied with power.

SC.79 shows how long the inverter was active. (modulation active, run-state).

SC.80 shows the speed of Encoder 2.Condition: parameter SC.80 must be correctly set and the encoder must be connectedto the correct interface. This parameter is only displayed when SC.26 = 0 (off).

If the posi mode is active (SC.26 = 1) the contouring error (deviation of the actualposition from set drive profile) is displayed.

Resolution: 1 h

Resolution: 1 h

Resolution: 0,5 rpm

Resolution: 0,1 °

Actual Position Sign Display of the sign from the actual position

Resolution: 1

SC.82 Sign0 + positive position1 - negative position

Actual Position High Display of the actual position in increments.The actual position in increments is a 32 bit value.SC.83 shows the High-Word of the position. Due to the internal standard the HighWord displays simultaneously the revolutions (for rotary encoders).

Resolution: 1 216 Inc

43

SC-Parameter

Display of the actual position in increments.The actual position in increments is a 32 bit value.SC.84 shows the Low-Word of the position. Due to the internal standard the Low Worddisplays simultaneously the increments of a revolution (for rotary encoders).This display is independent from SC.11 or SC.13. The number of inc/rev. is alwaysextended to 16 bit (1rev. = 65536 inc.).

Resolution: 1 Inc

Actual Position Low

Set Position Sign

Set Position High

Set Position Low

Display of the sign from the set position

Resolution: 1

SC.85 Sign0 + positive position1 - negative position

Display of the last activated set position in increments.The set position in increments is a 32 bit value.SC.86 shows the High-Word of the position. Due to the internal standard the HighWord displays simultaneously the revolutions (for rotary encoders).This display is independent from SC.11 or SC.13. The number of inc/rev. is alwaysextended to 16 bit. (1 rev. = 65536 inc.)

Resolution: 1 216 Inc

Display of the last activated set position in increments.The set position in increments is a 32 Bit value.SC.87 shows the Low-Word of the position. Due to the internal standard the Low Worddisplays simultaneously the increments of a revolution (for rotary encoders).This display is independent from SC.11 or SC.13. The number of inc/rev. is alwaysextended to 16 bit (1Umdr. = 65536 Inc.).

Resolution: 1 Inc

Input of the set position in increments.The set position in increments is a 32 Bit value.SC.88 shows the High-Word of the position. Due to the internal standard the HighWord displays simultaneously the revolutions (for rotary encoders).When using absolute value encoder the input range of the used encoder is limited tothe multiturn-part.

Set Position High Input

Value range: 0...32767 216 IncResolution: 1 216 IncDefault value: 0 216 IncCustomer setting: _______ 216 Inc

44

SC-Parameter

Set Position Low Input


Input of the set position in increments.The set position in increments is a 32 Bit value.SC.89 shows the Low-Word of the position. Due to the internal standard the Low Worddisplays simultaneously the increments of a revolution (for rotary encoders).This display is independent from SC.11 or SC.13. The number of inc/rev.is alwaysextended to 16 bit (1rev. = 65536 inc.).

Parameter SC.90 shows the gear factor between motor and position encoder.This factor is calculated from parameters SH.01...SH.03, determined via the teachfunction SC.24 or displays the value in parameter SH.77 if this value is <>0.

Gear Factor Motor/Position Encoder Display

Resolution: 0,01

Last Error (T-4)

Last Error (T-3)

Last Error (T-2)

Last Error (T-1)

Last Error

Parameter SC.95 ... SC.99 display the last 5 inverter error.SC.99 displays the actual error, SC.95 the last error.(Display of the values see SC.60).

45

SH-Parameter

SH - Parameter Address min ... max default [?]SH 0 Password input 3900 0......... 9999 --- 1 ---SH 1 Position feedback scale 1 3901 0,1 ..... 3276,7 409,6 0,1 mmSH 2 Position feedback scale 2 high 3902 0......... 1024 1 1 rot.SH 3 Position feedback scale 2 low 3903 1........ 65535 0 1 IncSH 4 Traction sheave diameter 3904 30,0 .... 2000,0 500,0 0,1 mmSH 5 Gear reduction ratio 3905 1,00 .... 150,00 1,00 0,01 ---SH 6 Rope ratio 3906 1............ 8 1 1 ---SH 7 Position feedback adaption high 3907 0.......... 999 1 1 mSH 8 Position feedback adaption low 3908 0,0 ...... 999,9 0,0 0,1 mmSH 9 Max. system speed 3909 0,000 ... 15,000 0,000 0,001 m/sSH 10 Deceleration ‘emergency-stop’ 390A 0,10 ...... 9,99 2,00 0,01 m/s2

SH 11 Stopping jerk ‘emergency-stop’ 390B 0,10 ..... 39,99 9,99 0,01 m/s3

SH 12 Deceleration ‘stop’ 390C 0,10 ...... 9,99 2,00 0,01 m/s2

SH 13 Stopping jerk ‘stop’ 390D 0,10 ..... 39,99 9,99 0,01 m/s3

SH 14 Acceleration ‘control’ 390E 0,10 ...... 9,99 2,00 0,01 m/s2

SH 15 Starting jerk ‘control’ 390F 0,10 ..... 39,99 9,99 0,01 m/s3

SH 16 Deceleration ‘control’ 3910 0,10 ...... 9,99 2,00 0,01 m/s2

SH 17 Stopping jerk ‘control’ 3911 0,10 ..... 39,99 9,99 0,01 m/s3

SH 18 Max. speed ‘control’ 3912 0,000 ... 15,000 0,000 0,001 m/sSH 19 Acceleration ‘setup’ 3913 0,10 ...... 9,99 2,00 0,01 m/s2

SH 20 Starting jerk ‘setup’ 3914 0,10 ..... 39,99 9,99 0,01 m/s3

SH 21 Deceleration ‘setup’ 3915 0,10 ...... 9,99 2,00 0,01 m/s2

SH 22 Stopping jerk ‘setup’ 3916 0,10 ..... 39,99 9,99 0,01 m/s3

SH 23 Max. speed ‘setup’ 3917 0,000 ... 15,000 0,000 0,001 m/sSH 24 Acceleration ‘positioning’ 3918 0,10 ...... 9,99 1,00 0,01 m/s2

SH 25 Starting jerk ‘positioning’ 3919 0,10 ...... 39,99 0,10 0,01 m/s3

SH 26 Deceleration Operating mode ‘Positioning’ 391A 0,09(off) ...9,99 0,09(off) 0,01 m/s2

SH 27 Deceleration jerk operating mode ‘Positioning’ 391B 0,09(off) ..39,99 0,09(off) 0,01 m/s3

SH 28 Max. speed ‘positioning’ 391C 0,000 .... 15,000 0,000 0,001 m/sSH 29 Percent set speed 0 391D 0.......... 100 100 1 %SH 30 Percent set speed 1 391E 0.......... 100 100 1 %SH 31 Percent set speed 2 391F 0.......... 100 100 1 %SH 32 Percent set speed 3 3920 0.......... 100 100 1 %SH 33 Percent set speed 4 3921 0.......... 100 100 1 %SH 34 Percent set speed 5 3922 0.......... 100 100 1 %SH 35 Percent set speed 6 3923 0.......... 100 100 1 %SH 36 Percent set speed 7 3924 0.......... 100 100 1 %SH 37 Percent acc./dec. 0 3925 1.......... 100 100 1 %SH 38 Percent acc./dec. 1 3926 1.......... 100 100 1 %SH 39 Percent acc./dec. 2 3927 1.......... 100 100 1 %SH 40 Percent acc./dec. 3 3928 1.......... 100 100 1 %SH 41 Percent acc./dec. 4 3929 1.......... 100 100 1 %SH 42 Percent acc./dec. 5 392A 1.......... 100 100 1 %

3.2 Storage Handling(SH) Parameter

writeable- readable only

active after „Enter“- active immediately

value range Unit

default value

resolution

46

SH-Parameter

SH - Parameter Adresse min ... max default [?]SH 43 Percent acc./dec. 6 392B 1.......... 100 100 1 %SH 44 Percent acc./dec. 7 392C 1.......... 100 100 1 %SH 45 Position-dep. speed setting in percent 392D 1.......... 100 100 1 %SH 46 Activated position-dep. speed reduction 392E 1............ 3 0 (off) 1 ---SH 47 Window 1 high 392F 0.......... 999 0 1 mSH 48 Window 1 low 3930 0,0 ....... 999,9 0,0 0,1 mmSH 49 Window 2 high 3931 0.......... 999 0 1 mSH 50 Window 2 low 3932 0,0 ....... 999,9 0,0 0,1 mmSH 51 Window 3 high 3933 0.......... 999 0 1 mSH 52 Window 3 low 3934 0,0 ....... 999,9 0,0 0,1 mmSH 54 Limit switch 1 high 3936 0.......... 999 999 1 mSH 55 Limit switch 1 low 3937 0,0 ....... 999,9 999,9 0,1 mmSH 57 Limit switch 2 high 3939 0.......... 999 0 1 mSH 58 Limit switch 2 low 393A 0,0 ....... 999,9 0,0 0,1 mmSH 59 V2 speed limit 393B 0,000 .... 15,000 15,000 0,001 m/sSH 60 Brake release time 393C 0......... 5000 100 1 msSH 61 Brake delay time 393D 0........ 65535 0 1 msSH 62 Brake closing time 393E 0......... 5000 100 1 msSH 63 PEH time delay 393F 0,000 ..... 9.999 1.000 0,001 secSH 64 PEH target window 3940 0,0 ...... 3276,7 5.0 0,1 mmSH 65 Position hold time 3941 0,000 ..... 9.999 0.300 0,001 secSH 66 Delay time position reached 3942 0........ 65535 0 1 msSH 67 Contouring error stop 3943 0,0 ...... 3276,7 3276,7 0,1 mmSH 68 Contouring error move 3944 0,0 ...... 3276,7 3276,7 0,1 mmSH 69 Position-dep. absolute speed setting 3945 0,000 .... 15,000 0,000 0,001 m/sSH 70 Limit traversing speed operat.mode ‘control’, ‘setup’ 3946 0,000 .... 15,000 15,000 0,001 m/sSH 76 System adaption 394C 0........ 65535 0 1 ---SH 77 Position encoder adaption input 394D 0,00 ..... 327,67 0 0,01 ---SH 78 Actual postion high synchronization 394E - - --- .......... --- --- 1 mSH 79 Actual postion low synchronization 394F - - --- .......... --- --- 0.1 mmSH 80 Actual pos. incremental high synchronization 3950 - - --- .......... --- --- 1 IncSH 81 Actual pos. incremental low synchronization 3951 - - --- .......... --- --- 1 IncSH 82 Actual position long high 3952 - - --- .......... --- --- 1 ---SH 83 Actual position long low 3953 - - --- .......... --- --- 1 0,1mmSH 85 Set position long high 3955 0.......... 152 0 1 ---SH 86 Set position long low 3956 0........ 65535 0 1 0,1mmSH 87 Inverter state 3957 - - --- .......... --- --- Table ---SH 88 Actual speed display 3958 - - --- .......... --- --- 0.001 m/sSH 89 Set speed display 3959 - - --- .......... --- --- 0.001 m/sSH 91 Actual position high 395B - - --- .......... --- --- 1 mSH 92 Actual position low 395C - - --- .......... --- --- 0.1 mmSH 94 Set position high 395E 0.......... 999 0 1 mSH 95 Set position low 395F 0.0 ....... 999.9 0.0 0.1 mmSH 96 MH control word 3960 --- .......... --- 0 Table ---SH 97 MH control word 2 3961 0........ 65535 0 Table ---SH 98 MH status word 3962 - - --- .......... --- --- Table ---SH 99 MH status word 2 3963 - - --- .......... --- --- Table ---

47

SH-Parameter

Password Input

Position Feedback Scale 1

Position Feedback Scale 2High

Position Feedback Scale 2Low

By entering the equivalent password the customer can change to different password/operation levels.

Password Password level Function440 application password All parameter visible and changeable.

Value range: 0...9999Resolution: 1

Parameter SH.1 serves for adaption of the position encoder to the driven way, to realizean input and display of the position values in mm with a resolution of 0,1 mm.In parameter SH.1 the distance is preset in mm (resolution 0,1 mm).(e.g. 2000,0mm).

Value range: 0,1...3276,7 mmResolution: 0,1 mmDefault value: 409,6 mmCustomer setting: _______ mm

In Parameter SH.2 and SH.3 the value in increments for the driven way is set (SH.1).The value can be determined when the distance SH.1 was operated with the displaysat parameter SC.83, SC.84 (difference of start and target value) or with SC.24 (positionencoder adaption) teachen.The actual factor is a 32 bit value.SH.2 shows the High Word of the value. Due to the internal standard the High Worddisplays simultaneously the number of revolutions (for rotary encoders).SH.3 shows the Low Word of the value. Due to the internal standard the Low Wordshows simultaneously increments of a revolution (for rotary encoders). 1 Revolutioncorresponds to 65536 (216) increments.

Value range: 0...1024 rot.Resolution: 1 rot.Default value: 1 rot.Customer setting: _______ rot.


48

SH-Parameter

Traction Sheave Diameter

Gear Reduction Ratio

Rope Ratio

The driving gear or the traction sheave diameter is adjusted in parameter SH.4.This Parameter is necessary in connection with SH.5 and SH.6, to realize the input ofspeed, acceleration, delay and jerk values in SI units m/s, m/s2 and m/s3.The rotary movement of the motor is simultaneously displayed to a translatorymovement.

Value range: 30,0 mmResolution: 0,0 mmDefault value: 500,0 mmCustomer setting: _______ mm

The gear reduction ratio between motor and drive or traction sheave is adjusted inparameter SH.5.This parameter is necessary in connection with SH.4 and SH.6, to realize the input ofthe speed, acceleration, delay and jerk values in SI units m/s, m/s2 and m/s3.The rotary movement of the motor is simultaneously displayed to a translatorymovement.

Value range: 1,00...150,00Resolution: 0,01Default value: 1,00Customer setting: _______

Offset of the driving sheave, e.g. at a hoist drive is adjusted in parameter SH.6.If the rotary motion is directly transmitted (driving sheave) value 1 must be adjustedhere.This parameter is necessary in connection with SH.4 and SH.5, to realize the input ofthe speed,acceleration, delay and jerk values in SI units m/s, m/s2 and m/s3.The rotary movement of the motor is simultaneously displayed to a translatorymovement.

Value range: 1 (1:1)...8 (8:1)Resolution: 1Default value: 1 (1:1)Customer setting: _______

49

SH-Parameter

Position Feedback AdaptionHigh

With parameter SH.7 and SH.8 the system can be initialized to a defined referenceposition (in mm).SH.7 shows the m, SH.8 mm.The adjustments in SH.7/8 have two different effects:1. Only parameter SH.7/8 are adjusted .

The input has the consequence that the position value in SH.7/8 is aligned to thezero point of the connected absolute value encoder (offset function).

2. After input SH.7/8 parameter SC.38 is activated.These has the consequence that the value of SH.7/8 is alligned to the actualposition value of the connected absolute value encoder (initial function).

Value range: 0...999 mResolution: 1 mDefault value: 1 mCustomer setting: _______ m


Position Feedback AdaptionLow

In Parameter SH.9 the max. system speed should be adjusted.The set value of the inverter (reference value + controller variable) is limited to this value.If there are higher set values due to system deviation these are clipped. SH.09 shouldbe min. 10 % higher than the max. positioning speeds in SH.18, SH.23 and SH.28 toreceive a sufficient control range.

Max. System Speed

Deceleration‘Emergency-Stop’

Parameter SH.10 determines the delay for the emergency-stop-ramp.Emergency-stop is triggered for different errors (see SC.60) or active if terminal X2.7is not be switched.The delay must be set that the inverter does not triggers fault ‘overvoltage’ (OP).

Value range: 0,000...15,000 m/sResolution: 0,001 m/sDefault value: 0,000 m/sCustomer setting: _______ m/s

Value range: 0,10...9,99 m/s2

Resolution: 0,01 m/s2

Default value: 2,00 m/s2

Customer setting: _______ m/s2

50

SH-Parameter

Stopping Jerk‘Emergency-Stop’

Parameter SH.11 determines the delay jerk for the emergency-stop ramp:Emergency-stop is triggered for different errors (see SC.60) or active if terminal X2.7is not activated.





Parameter SH.12 determines the max. deceleration for operating mode ‘stop’.This operating mode is active if in the MH-control word the bits for the operating mode(Bit 8, 9) is 0 or terminal X2.1 (ST, control release) is not active.If the operating mode via the MH-control word is set to 0 (stop), the drive decelerateswith the values adjusted in SH.12, SH.13 from the actual speed to 0.

Deceleration‘Stop’













Parameter SH.13 determines the stopping jerk for the operating mode ‘stop’.Stopping Jerk‘Stop’





Acceleration‘Control’

Parameter SH.14 determines the max. acceleration for the operating mode ‘control’.This operating mode is active if in the MH-control word the bits for the operating mode(Bit 8, 9) is 1 (Bit 8 is set) and the terminal X2.1 (ST, control release) is active.

Parameter SH.15 determines the acceleration jerk for the operating mode ‘control’.Starting Jerk‘Control’

51

SH-Parameter

Deceleration‘Control’


















Stopping Jerk‘Control’

Max. Speed‘Control’

Acceleration‘Setup’

Starting Jerk‘Setup’

Parameter SH.16 determines the max. deceleration for the operating mode ‘control’.

Parameter SH.17 determines the stopping jerk for the operation mode ‘control’.

Parameter SH.18 determines the max. speed for the operation mode ‘control’.

Parameter SH.19 determines the max. speed for the operation mode ‘setting-up’.These operation mode is active if in the MH-control word the bits for the operationmode (Bit 8, 9) is 2 (Bit 9 is set) and the terminal X2.1 (ST, control release) is beswitched.

Parameter SH.20 determines the acceleration jerk for the operation mode ‘setup’.

Deceleration‘Setup’

Parameter SH.21 determines the max. deceleration for the operation mode ‘setup’.





52

SH-Parameter

Stopping Jerk‘Setup’

Max. Speed‘Setup’

Acceleration‘Positioning’

Jerk‘Positioning’

Parameter SH.22 determines the stopping jerk for the operation mode ‘setup’.






Parameter SH.23 determines the max. speed for the operation mode ‘setup’.

Parameter SH.24 determines the max. acceleration / deceleration for the operationmode ‘positioning’.This operation mode is active if in the MH-control word the bits for the operation mode(Bit 8, 9) is 3 (Bit 8 and 9 are set) and the terminal X2.1 (ST, control release) is active.





Parameter SH.25 determines the acceleration/deceleration jerk for the operation mode‘positioning’.





Deceleration Operating Mode‘Positioning’

Parameter SH.26 determines the maximum deceleration for the operating mode‘Positioning’. If the parameter is ‘Off’ the value of SH.24 is accepted for the deceleration.

Value range: 0,09(Off)...9,99 m/s2


Default value: 0,09(Off) m/s2


53

SH-Parameter

Max. Speed‘Positioning’

Parameter SH.28 determines the max. speed for the operation mode ‘positioning’.


Percent Set Speed 0...7 With parameters SH.29 ... SH.36 the max. speed of the operation mode ‘contol’ (SH.18),‘setting-up’ (SH.23) and positioning ‘(SH.28) can be changed.The speed can be changed in a range of 0 ... 100 % of the respective max. speed.

Value range: 0...100 %Resolution: 1 %Default value: 100 %Customer setting: _______ %

Bit in MH-control wordBit 10 0 1 0 1 0 1 0 1Bit 11 0 0 1 1 0 0 1 1Bit 12 0 0 0 0 1 1 1 1

Preselected SH.29 SH.30 SH.31 SH.32 SH.33 SH.34 SH.35 SH.36percent speed

Bit in MH-status wordBit 10 0 1 0 1 0 1 0 1Bit 11 0 0 1 1 0 0 1 1Bit 12 0 0 0 0 1 1 1 1

The respective percent values are selected via MH-control word (Bit 10 ... 12) and theyhave immediate influence on the speed set value.The active percent speed is displayed in the MH-status word (Bit 10 ... 12).The speed reference (100 %) is the max. speed of the active operating mode.The new set speeds are started with acceleration or deceleration values of the activeoperating mode.

Deceleration Jerk OepratingMode ‘Positioning’

Parameter SH.27 determines the deceleration jerk for the operating mode ‘Positioning’.If the parameter is ‘Off’ the value of SH.25 is accepted for the deceleration.

Value range: 0,09(Off)...39,99 m/s3


Default value: 0,09(Off) m/s3


54

SH-Parameter

Percent Acceleration/Deceleration 0...7

With parameters SH.37...SH.44 the max. acceleration/deceleration of the operatingmodes ‘stop’ (SH.12), ‘control’ (SH.14/16), ‘setup’ (SH.19/21) and ‘positioning’ (SH.24)can be changed.The acceleration/deceleration can be changed in a range of 1...100 % of the respectivemax. acceleration/deceleration.


Bit in MH-control wordBit 13 0 1 0 1 0 1 0 1Bit 14 0 0 1 1 0 0 1 1Bit 15 0 0 0 0 1 1 1 1

Preselected SH.37 SH.38 SH.39 SH.40 SH.41 SH.42 SH.43 SH.44percent speed

Bit in MH-status wordBit 13 0 1 0 1 0 1 0 1Bit 14 0 0 1 1 0 0 1 1Bit 15 0 0 0 0 1 1 1 1

The respective percent values are selected via MH-control word (Bit 13 ... 15) and theyhave immediate influence on the acceleration/deceleration. (Exeption: operating mode‘positioning’). The selected percent acceleration/deceleration is displayed in the MH-status word (Bit 13...15).In the operating mode ‘positioning’ a new acceleration/deceleration takes not effectiveduring positioning. It can be activated only directly before starting the positioning.The acceleration-/deceleration reference (100 %) are the max. acceleration-/decele-ration values of the active operating mode.

Position-dependent SpeedSetting in Percent

If SH.46 is <> 0 and SH.69 = 0, the maximum traversing speed of operating mode‘Positioning’ (SH.28) can be varied by parameter SH.45. The traversing speed can bechanged from 1 ... 100 % of the maximum speed. The parameter acts additionally to thespeed setting in percent of the parameters SH.29 ... SH.36, that can be selected via theMH-control word (Bit 10 ... 12).

The parameter becomes active dependent on SH.46 (mode), SH.60 (position-dependentabsolute speed setting) and on the position windows SH.47, 48 and SH.49, 50. If theparameter is active, it has an immediate effect on the setpoint speed. The new setpointspeed is approached with the acceleration or deceleration values of the operating mode‘Positioning’. Only active in operating mode ‘Positioning’.


55

SH-Parameter

Activation position-dependent speed change

The parameter activates / deactivates the position-dependent speed change. Only activein operating mode ‘Positioning’.

SH.46 Function

0 : OFF Parameter SH.45 and/or SH.69 has no effect.

1 : ON, The position-dependent speed change is active.relative SH.45active:position Parameter SH.47, 48 define the difference to the target position, from

reference which it is reduced to the speed value specified by SH.45.SH.69 active:Parameters SH.47, 48 define the difference to the target position, atwhich the speed value, defined by SH.69, is reached.Parameters SH.49, 50 define the difference to the start position, upto which the speed value, defined by SH.45 or SH.69, is active.

2 : ON, The position-dependent speed change is active.absolute SH.45active:position Parameters SH.47, 48 define the absolute position, from which it is

reference reduced to the speed value specified by SH.45.zero point Drive runs in direction of descending position values.

SH.69 active:Parameters SH.47, 48 define the absolute position, at which the speedvalue, defined by SH.69, is reached. The drive runs in direction ofdescending position values.Parameters SH.49, 50 define the absolute position, up to which thespeed value, defined by SH.45 or SH.69, is active. The drive runs indirection of ascending position values.

3 : ON, The position-dependent speed change is active.absolute SH.45 active:position Parameters SH.47, 48 define the absolute position, from which it is

reference reduced to the speed value specified by SH.45. The drive runs in directionmax. value of ascending position values.

SH.69 active:Parameters SH.47, 48 define the absolute position, at which the speedvalue, defined by SH.69, is reached. The drive runs in direction ofascending position values.Parameters SH.49, 50 define the absolute position, up to which thespeed value, defined by SH.45 or SH.69, is active. The drive runs indirection of descending position values.

If SH.46 has a value of <> 0 then the parameters SH.47, 48 and/or SH.49, 50 no longerhave an effect on the bits 6 and 7 in the MH-Status word SH.98 (position-dependentwindow).

Value range: 0...3Resolution: 1Default value: 0 (aus)Customer setting: _______

56

SH-Parameter

Position Window 1...3 High

Position Window 1...3 Low

SH.47 / SH.49 / SH.51Value range: 0...999 mResolution: 1 mDefault value: 0 mCustomer setting: _______ m

SH.48 / SH.50 / SH.52Value range: 0,0...999,9 mmResolution: 0,1 mmDefault value: 0,0 mmCustomer setting: _______ mm

Via position windows 1...3 the last determined position is compared with the actualvalue of the position. The respective Bit (Bit 6, 7) is set in the MH-status word if thedrive is inside a position window in the near of the target position.Usually the positions should be programmed that position level 1 has the biggest andposition level 3 the smallest target window.SH.47, 49, 51 is displayed in m, SH.48, 50, 52 is displayed in mm.

Bit in MH-control wordBit 6 0 1 0 1Bit 7 0 0 1 1Drive in no SH.47 SH.49 SH.51position level position SH.48 SH.50 SH.52

57

SH-Parameter

Limit Switch 1-2 high

Limit Switch 1-2 high

SH.54 / SH.57Value range: 0...999 mResolution: 1 mSH.54 Default value: 999 mSH.57 Default value: 0 mCustomer setting: _______ m

SH.55 / SH.58Value range: 0,0...999,9 mmResolution: 0,1 mmSH.55 Default value: 999,9 mmSH.58 Default value: 0,0 mmCustomer setting: _______ mm

These parameters have different functions dependent on the mode of positioning (SC.23)

SC.23 = 0 or 1 (mode of positioning ‘absolute’ or ‘relative’):Parameters SH.54...SH.58 define the range in which the drive should be operated.SH.54, 57 display the m, SH.55, 58 display the mm.The software limit switch is only active in the operating mode ‘set-up’ and ‘positioning’.Error E.SLF (software limit switch forward, rising actual position value) or error E.SLr(software limit switch reverse, decreasing actual position value) is triggered, when inthe operating mode ‘setup’ the drive moves over the limit switch or in ‘positioning’ theposition try to move out of the limit switch.For a correct function of the software limit switch a correct parameterization ofparameters SH.1, 2, 3, 7, 8 and initialization of the actual position with parameterSC.38 is necessary.

SC.23 = 2 ... 6 (rotary axis function active):Parameters SH.54, SH.55 define the range (rotary axis range) the drive shall operateThe adjusted way describes the size of the rotary axis.The value can be calculated and entered in parameter SH.54 and SH55 or teached withparameter SC.24.SH.54 displays the m, SH.55 the mm.The software limit switch function is only active in the operating mode ‘positioning’.Parameters SH.57, SH.58 define the max. difference between actual position andreference value SH.07, SH.08 as reference point window.If in parameter SC.46 ‘reference point mode’ value >= 4 is adjusted (rotary axis referenceactive) the adjustment of the system is new with every overtravel of the reference pointswitch. A longtime drift can be compensated with input of parameters SH.54, SH.55.If the difference between actual position and reference value (SH.07, SH.08) is higherthan the reference point window the reference signal is ignored to avoid error references.In this case output D1 is set.SH.57 displays the m, SH.58 the mm.

58

SH-Parameter

V2 Speed Limit With parameter SH.59 the level for the V2 speed limit of the drive can be adjusted.Including the digital inputs X2.5 and X2.6 the V2 speed limit is realized as follows:Error E.SSF (V2 speed limit positive) is triggered when input X2.5 is not active, theactual speed SH.88 is positive and > than the value in SH.59.Error E.SSr (V2 speed limit) is triggered when input X2.6 is not active, the actualspeed SH.88 is negative and > than the value in SH.59.


Brake Release Time

Brake Delay Time

Brake Closing Time

PEH Time Delay



Parameters SH.60 ... SH.62 define the times for the brake handling.The brake release time can be adjusted in parameter SH.60. The used brake needs thistime for a safe release.The brake closing time is adjusted in parameter SH.62. The used brake needs thistime for a safe closing, i.e. set up the braking torque. Parameter SH.61 determines thedelay time for closing the brake after speed 0 and the target window (SH.64) is reached.


Parameter SH.63 determines the max.time difference of the drive between set profileand actual profile to reach the PEH accuracy window (SH.64).Error E.PrS (‘position reached’ time monitoring) is triggered when the time is overranged.

Value range: 0,000...9,999 secResolution: 0,001 secDefault value: 1,000 secCustomer setting: _______ sec

59

SH-Parameter

PEH Target Window

Position Hold Time

Delay Time‘Position Reached’

Contouring Error ‘Stop’

Contouring Error ‘Move’

Parameter SH.64 determines the accuracy the drive needs to reach the target positionso that ‘position reached’ is recognized.If SC.46 is adjusted to <= 4, flying position correction active, and SC.23 traversingmode = 0 (relative) or 1 (absolute), then SH.64 determines the reference point window.The reference value (SH.7, SH.8) is accepted at every override of the reference pointswitch during normal operation, provided the difference between actual position andreference value is <= the value of SH.64.

To receive the safety signal ‘position reached’ for oscillating systems a filter time canbe adjusted in parameter SH.65.‘Position reached’ is only recognized when the drive is permanently inside the targetwindow (SH.64) during the time adjusted in parameter SH.65.

The output of the Bit ‘position reached’ in the MH status word (Bit 2) can be delayed forthe adjusted time in parameter SH.66, after the target window was reached and afterthe filter time is finished (SH.65).

The following error monitoring is only active in the operating mode ‘positioning’. Para-meter SH.67 determines the max. permissible contouring error in a standstill, i.e. at setspeed 0 (load transfer) or modulation off (brake off).

The following error monitoring is only active in the operating mode ‘positioning’.Parameter SH.67 determines the max. permissible contouring error during the process(positioning) of the drive, i.e. at set speed <> 0.


Value range: 0,000...9,999 secResolution: 0,001 secDefault value: 0,300 secCustomer setting: _______ sec




60

SH-Parameter

Position-dependent absolutespeed setting

Limited traversing speedoperating mode ‘Control’,

‘Setup’

If SH.46 and SH.69 are <> 0, then parameter SH.69 determines the speed with whichthe drive traverses within the range of position-dependent speed change, defined by theposition windows SH.47, 48 and SH.49, 50.Only active in operation mode ‘Positioning’.If the maximal traversing speed in the operatin mode ‘Positioning’ (SH.28) is smallerthan SH.69, it is proceeded with this value.The speed settings in percent of parameters SH.29 ... SH.36, that can be selected overMH-control word (bit 10 ... 12), effect the crawl speed only, if the percentage of SH.28 is< the value of SH.69.

The parameter limits the setpoint speed in SH.18 and SH.23 to the value adjusted here.

Application:The operating modes ‘Setup’ and ‘Control’ are also used at commissioning and forservice/maintenance.Thereby the parameters SH.18 or SH.23 may possibly changed.To ward off wrong inputs and to ensure operator protection, SH.70 limits the setpointspeed in SH.18 and SH.23 to the maximum value adjusted here.If the speed of the drive exceeds the value adjusted in SH.70, the error 105 (E.OS ErrorOverspeed) is additionally triggered.



61

SH-Parameter

System Adaption

Position Encoder AdaptionInput

Actual Position HighSynchronization

Actual Position LowSynchronization

The input of speed, acceleration/deceleration and jerk is done in m/s, m/s2 or m/s3.Standardly the adaption of the system to this units is done with parametersSH.04...SH.06 and the motor data in the SC-parameters.With this parameter the input of parameters SH.04...SH.06 can be compensated. IfSH.76 <> 0 the inputs in SH.04...SH.06 do not have consequences.This parameter is calculated as follows:

SH.76 = 2048 * π *traction sheave diameter / (60 * catenary suspension * igear) orSH.76 = 107,233 * Treibrad (catenary suspension * i)

Traction sheave diameter in mm


The adaption of the position encoder system to the driven distance can be done bythree possibilities.When laser measuring systems or rope-rotary encoders are used the adaption of thedriven distance should be done via SH.01...SH.03. If the relation of the positioninformation in increments to the driven distance in mm is not known, the adaption canbe teached in SC.24.Direct input of the gear factor between motor and position encoder in SH.77 is a furt-her possibility. This only serves for correction of the value determined in SC.24, whichcan be read in SC.90.

Value range: 0,0...3276,7Resolution: 0,1Default value: 0,0Customer setting: _______

Parameters SH.78, 79 show the actual position of the drive in metric scaling and enablethe time synchronous detection of the actual position.SH.78 shows the m, SH.79 the mm.The actual position as total value (high and low) is more than 16 bit. Inverter data canbe read from the inverter via bus; but only in two read cycles as 16 bit word.To read the actual position as total value the following sequence must be observed byreading parameters SH.78, 79:1. Reading of parameter SH.78. The actual position value is accepted and stored in

parameters SH.78, 79.2. Reading of parameter SH.79.Update of the actual position display with parameters SH.78, 79 by exclusively readingof parameter SH.78 again.

SH.78 Resolution: 1 m

SH.79 Resolution: 0,1 mm

62

SH-Parameter

Actual Position IncrementalHigh Synchronization

Actual Position IncrementalLow Synchronization

Parameters SH.80, 81 show the actual position value in increments and enable thetime synchronous detection of the actual value.SH.80 shows the MSW and SH.81 the LSW.Due to the internal standard the High Word displays the number of revolutions (forrotary encoders) and the Low Word the increments of a revolution (for rotary encoders).This display is independent from SC.11 or SC.13. The number of inc/rev. is alwaysextended to 16 bit. (1rev. = 65536 inc.).The actual position as total value (high and low)is higher than 16 bit. Inverter data can be read from the inverter via bus; but only in tworead cycles as 16 bit word.To read the actual position time-connected as total value the following sequence mustbe observed by reading parameters SH.80, SH.81:1. Reading of parameter SH.80. The actual position value is accepted and stored in

paramters SH.80, 81.2. Reading of parameter SH.81.Update of the actual position display with parameters SH.80,81 by exclusively readingof parameter SH.80 again.

Resolution: 1 Inc

Actual Position Long High

Actual Position Long Low

Parameters SH.82, 83 show the actual position value in a resolution of 0.1 mm aslonginteger and enable the time synchronous detection of the actual position.SH.82 displays the MSW and SH.83 the LSW.The position can be detected in metric scaling of a PLC directly by successive readingof parameters SH.83 and SH.82 as 32 Bit value. The actual position as total value(high and low) is higher than 16 bit. Inverter data can be read from the inverter via bus;but only in two read cycles as 16 bit word.To read the actual position as total value the following sequence must be observed byreading parameters SH.82,83:1. Reading of parameter SH.82. The actual position value is accepted and frozen in

parameters SH.82,83.2. Reading of parameter SH.83.Update of the actual position display with parameters SH.82,83 by exclusively readingof parameter SH.82 again.

Resolution: 1 0,1mm

63

SH-Parameter

Set Position Long High

Set Position Long Low

Parameters SH.85, 86 enable the input of the position set value in a resolution of0,1mm as longinteger.SH.85 is the MSW and SH.86 the LSW.The position can be preset in metric scaling of a PLC directly by successive writing ofparameters SH.86 and SH.85 as 32 Bit value.

SH.85 Value range: 0...152SH.86 Value range: 0...65535Resolution: 1 0,1mmDefault value: 0 0,1mmCustomer setting: _______ 0,1mm

See SC.60Inverter State

Resolution: 1

Resolution: 0,001 m/s

SH.91 Resolution: 1 m

Actual Speed Display

Set Speed Display

Actual Position High

SH.92 Resolution: 0,1 mm

Parameters SH.91, 92 display the actual position of the drive in metric scaling.SH.91 shows the m, SH.92 the mm.

Actual Position Low

0,1mm

Display of the actual speed

The set speed value is displayed at the output of the ramp generator. If the modulationis switched off, then the actual setpoint 0 rpm is shown. This parameter is necessaryfor the visualization with inverter scope.

Resolution: 0,5 m/s

64

SH-Parameter

SH.94Value range: 0...999 mResolution: 1 mDefault value: 0 mCustomer setting: _______ m

SH.95Value range: 0,0...999,9 mmResolution: 0,1 mmDefault value: 0,0 mmCustomer setting: _______ mm

Set Position High

Set Position Low

Parameters SH.94, 95 enable the input of the set position, the drive should positioningin metric scaling.Input of m in parameter SH.94 and input of mm in parameter SH.95.

MH-Control Word With the MH control word the drive can be operated via a parameter.I.e. activation of different operating modes and those part functions and the number ofdifferent drive speeds and acceleration / deceleration values is possible via the controlword.

Bit Function0 Control release (with terminal X2.1 AND-connected)1 Start positioning2 Brake handling off3 Position override4 Direction of rotation +5 Direction of rotation -6 Ride without position information (curve run)7 Reserve8 Selection operating mode Bit 09 Selection operating mode Bit 1

10 Percent speed input Bit 011 Percent speed input Bit 112 Percent speed input Bit 213 Percent acceleration / deceleration input Bit 014 Percent acceleration / deceleration input Bit 115 Percent acceleration / deceleration input Bit 2

MH-control word:

65

SH-Parameter

MH-Control Word

Bit Function

0 Control Release The control release is additional realized here as software (sw) -function and AND-connected with terminal X2.1 (ST)Bit 0 = 0 --> Inverter in ‘nOP’ stateBit 0 = 1 --> (sw) control release is triggered

1 Start positioning Setting Bit 1 at „1“ starts a positioning process in the operating mode ‘POSITIONING’Bit 1 = 0 --> not activeBit 1 = 1 --> Start positioning

2 Brake handling off With setting Bit 2 at “1” the brake handling is switched off. The brake is not active afterpositioning, or operating of the drive in another operating mode, after speed „0“ is reached.If there is a failure or if the control release is active the brake is immediately active.Bit 2 = 0 --> Brake handling activeBit 2 = 1 --> Brake handling not active

3 Position override Setting bit 3 to „1“ causes the change of the original target position of an active positioningprocess to a new target position. The position is approached, provided it lies in the sametraversing direction and can be reached with the adjusted ramps. Otherwise it is respondedto as parameterized in SC.49.Bit 3 = 0 --> no actionBit 3 = 1 --> Position override

4 Set direction of rotation + The set direction of rotation is determined in the operating modes ‘CONTROL’ and5 Set direction of rotation - ‘SETUP’ via Bits 4 and 5 of the control word.

Bit 5 Bit 4 Set direction0 0 no direction0 1 Positive set direction (ascending position values)1 0 Negative set direction (descending position values)1 1 Positive set direction (ascending position values)

6 Ride without position Setting bit 6 to „1“ causes the drive to continue to run with the selected speed settinginformation (SH.45 or SH.69) without position control. The E.PFb detection is not active. The change(curve run) from 1 to 0 causes a dynamic initialization onto the current position value and the position-

controlled run into the active target position. The position is approached, provided it lies inthe same traversing direction and can be reached with the adjusted ramps. Otherwise it isresponded to as parameterized in SC.49. The function is active in the operating mode‘Positioning’ only.Bit 6 = 0 --> curve run inactiveBit 6 = 1 --> curve run active

7 Reserve

8 Selection op. mode Bit 0 The required operating mode is selected via Bits 8 and 9 of the control word.9 Selection op. mode Bit 1 Bit 9 Bit 8 Operating mode

0 0 No operating mode (STOP)0 1 Operating mode CONTROL1 0 Operating mode SETUP1 1 Operating mode POSITIONING

66

SH-Parameter

MH-Control Word

Bit Function

10 Perc. speed input Bit 0 The preset perc. speeds in SH.29 ... SH.36 are selected via Bits 10, 11, 12 of the controlword. The percent values relate to the respective max. speed which are assigned to eachoperating mode ‘CONTROL’ (SH.18), ‘SETUP’ (SH.23) and ‘POSITIONING’. The perc.speed setpoint values are immediately valid in all operating modes.

11 Perc. speed input Bit 112 Perc. speed input Bit 2 Bit 12 Bit 11 Bit 10 Perc. speed input

0 0 0 Perc. speed input 0 (SH.29)0 0 1 Perc. speed input 1 (SH.30)0 1 0 Perc. speed input 2 (SH.31)0 1 1 Perc. speed input 3 (SH.32)1 0 0 Perc. speed input 4 (SH.33)1 0 1 Perc. speed input 5 (SH.34)1 1 0 Perc. speed input 6 (SH.35)1 1 1 Perc. speed input 7 (SH.36)

13 Perc. acceleration / The preset perc. acceleration/deceleration inputs in SH.37...SH.44 are selected via Bitsdeceleration input Bit 0 13, 14, 15 of the control word. The percent values relate to the respective acceleration/

14 Perc. acceleration / deceleration values which are assigned to each operating mode ‘STOP’ (SH.12), ‘CONTROL’deceleration input Bit 1 (SH.14,SH.16), ‘SETUP’ (SH.19,SH.21) and ‘POSITIONING’ (SH.24).The perc.

15 Perc. acceleration / acceleration/deceleration inputs are immediately valid in the operating modes ‘STOP’,deceleration input Bit 2 ‘CONTROL’ and ‘SETUP’. In the operating mode ‘POSITIONING’ the selection is only

valid after starting of a positioning.

Bit 15 Bit 14 Bit 13 Perc. acceleration / deceleration input0 0 0 Perc. acceleration / deceleration input 0 (SH.37)0 0 1 Perc. acceleration / deceleration input 1 (SH.38)0 1 0 Perc. acceleration / deceleration input 2 (SH.39)0 1 1 Perc. acceleration / deceleration input 3 (SH.40)1 0 0 Perc. acceleration / deceleration input 4 (SH.41)1 0 1 Perc. acceleration / deceleration input 5 (SH.42)1 1 0 Perc. acceleration / deceleration input 6 (SH.43)1 1 1 Perc. acceleration / deceleration input 7 (SH.44)

67

SH-Parameter

MH-Status Word The MH status word serves the user as feedback message for processes which aretriggered by the MH control word or which results from the operator process.

Bit Feedback0 Error1 Positioning allowed2 Position reached3 Processing on / inverter modulation4 Active+ / motor speed positive5 Active- / motor speed negative6 Position dependent window Bit 07 Position dependent window Bit 18 Display of operating mode Bit 09 Display of operating mode Bit 110 Active percent speed Bit 011 Active percent speed Bit 112 Active percent speed Bit 213 Active percent acceleration / deceleration Bit 014 Active percent acceleration / deceleration Bit 115 Active percent acceleration / deceleration Bit 2

MH status word:

MH-Control Word 2 The MH-control word 2 is the extention of the MH-control word (SH.96). Through thisextension more functions of the inverter can be used with as little expenditure regardingthe parameters to be operated as possible.


MH-control word 2Bit Function0 Start With setting of Bit 0 to ”1” a reference point search is triggered in the operating mode

Ref.point search ‘positioning’.Bit 0 = 0 --> no actionBit 0 = 1 --> start reference point search

1 Activation With activated flying position correction SC.46 >= 4 the setting of bit 1 triggers the flyingflying referencing. Bit 0 in the MH-control word 2 is reset.

referencing Bit 1 = 0 --> no actionBit 1 = 1 --> triggers flying referencing

2 Activation Bit 2 activates the position teach function. If an edge is detected at the digital input I1,position teach function the current position value is frozen in SH.91, 92 and bit 1 is set in the MH-control word

2.Bit 2 = 0 --> no actionBit 2 = 1 --> position teach function active

3 E.Prd detection Bit 3 deactivates the E.Prd-detection in the operating mode ‘Positioning’.OFF Bit 2 = 0 --> no action

Bit 2 = 1 --> E.Prd-dectection deactive4-15 reserved

68

SH-Parameter

MH-Status word

Bit Feedback

0 Error Bit 0 of the status word serves as feedback for accrued errors.Bit 0 = 0 --> no errorBit 0 = 1 --> error

1 Positioning allowed Bit 1 of the status word is set if the operating mode ‘positioning’ is active and a new targetposition is written in the sequence ‘target position high’ and ‘target position low’.Bit 1 isset reverse when there is a change of the operating mode, clearing of the control release,occuring of an error, activation of the emergency stop and writing of the target positionHigh again.Bit 1 = 0 --> Positioning not allowedBit 1 = 1 --> Positioning allowed

2 Position reached Bit 2 of the status word is set if the operating mode ‘positioning’ is active, a positioning isregular closed, the drive is inside the PEH-window SH.64, the recovery time SH.65 andthe delay time ‘position reached’ SH.66 is over and Bit 1 (start positioning) is set in thestatus word.Bit 2 is set reverse when there is a change of the operating mode, clearing ofthe control release, occuring of an error, activation of the emergency stop, reset of Bit 1of the control word (start positioning) or starting of a new positioning.Bit 2 = 0 --> Position not reachedBit 2 = 1 --> Position reached.

3 Processing runs / Bit 3 is set during the modulation in runningInverter module

4 Active + / The actual direction is displayed via bits 4 and 5 of the status wordpositive position change Bit 5 Bit 4 Actual direction

0 0 no direction (speed 0)5 Active - / 0 1 Positive actual direction (ascending position values)

negative position change 1 0 Negative actual direction (descending position values)

6 Position dependent Bits 6 ,7 of the status word display the range of the drive in the near of the target position.window Bit 0 The window relates to last reached target position.The three position windows are defined

in parameters SH.47, 48, SH.49, 50 and SH.51, 52.7 Position dependent Bit 7 Bit 6 Active position window

window Bit 1 0 0 Drive out of the position window0 1 Drive inside the position window 1 (SH.47, 48)1 0 Drive inside the position window 2 (SH.49, 50)1 1 Drive inside the position window 3 (SH.51, 52)

8 Active operating mode The active operating mode is displayed via bits 8 and 9 of the status word Bit 0 Bit 9 Bit 8 Operating mode

9 Active operating mode 0 0 no operating mode (STOP) Bit 1 0 1 Operating mode CONTROL

1 0 Operating mode SETUP1 1 Operating mode POSITIONING

69

SH-Parameter

MH-Status word

Bit Feedback

10 Active perc. Which of the percentage speed inputs (SH.29...SH.36) are active is displayed via Bitsspeed input Bit 0 10, 11, 12 of the status word. The percent values relate to the respective max. speeds

11 Active perc. which are assigned to each operating mode ‘CONTROL’ (SH.18), ‘SETUP’ (SH.23) and speed input Bit 1 ‘POSITIONING’. (SH.28).

12 Active perc. Bit 12 Bit 11 Bit 10 Active percentage speed input speed input Bit 2 0 0 0 Perc. speed input 0 (SH.29)

0 0 1 Perc. speed input 1 (SH.30)0 1 0 Perc. speed input 2 (SH.31)0 1 1 Perc. speed input 3 (SH.32)1 0 0 Perc. speed input 4 (SH.33)1 0 1 Perc. speed input 5 (SH.34)1 1 0 Perc. speed input 6 (SH.35)1 1 1 Perc. speed input 7 (SH.36)

13 Active perc. acceleration/ Which of the percentage acceleration / deceleration inputs (SH.37 ... SH.44) are active is deceleration input Bit 0 displayed via Bits 13, 14, 15 of the status word.The percent values relate to the respective

acceleration / deceleration values which are assigned to each operating mode ‘STOP’14 Active perc. acceleration/ (SH.12), ‘CONTROL’ (SH.14, SH.16), ‘SETUP’ (SH.19,SH.21) And ‘POSITIONING’ (SH.24).

deceleration input Bit 1 Bit 15 Bit 14 Bit 13 Active perc. acceleration / deceleration input0 0 0 Perc. acceleration / deceleration input 0 (SH.37)

15 Active perc. acceleration/ 0 0 1 Perc. acceleration / deceleration input 1 (SH.38) deceleration input Bit 2 0 1 0 Perc. acceleration / deceleration input 2 (SH.39)

0 1 1 Perc. acceleration / deceleration input 3 (SH.40)1 0 0 Perc. acceleration / deceleration input 4 (SH.41)1 0 1 Perc. acceleration / deceleration input 5 (SH.42)1 1 0 Perc. acceleration / deceleration input 6 (SH.43)1 1 1 Perc. acceleration / deceleration input 7 (SH.44)

70

SH-Parameter

MH-Status Word 2 The MH status word 2 is an extention of the MH status word (SH.98) and serves theuser as feedback for actions which are triggered by the MH-control words (SH.96) orthe MH-control word 2 (SH.97) or which results of the operating sequence.

MH-status word 2Bit Function0 Ref.point search Display if a valid reference was executed for the system.

The bit is reset if a new reference is done, additionally for systems with an incrementalencoder mode after every Power-On or if a flying referencing is activated over bit 1 in theMH-control word 2.With parameterization of SH.01 ... SH.08, SH.76 and the change of SC.23 of values < 2to values >= 2 and reverse the bit is also set at 0.Bit 1 = 0 --> no valid reference point searchBit 1 = 1 --> reference point search correct finished

1 New position teach After activating the position teach function over bit 2 in the MH-control word 2, it isvalue available displayed here, whether a new position has been recorded. The reading of SH.94 and

SH.95 resets the bit again.Bit 1 = 0 --> no new position recordedBit 1 = 1 --> new position recorded

2 Position override After activating a position override with bit 3 or a position restart with bit 6 in the MH-/ restart denied control word, it is displayed here, whether the action has been carried out or not.

Bit 2 = 0 --> no position override / restartBit 2 = 1 --> Position override / restart activated

3-15 reserved

71

........

+

4 Start up Instructions Instructions for a startup of a F4-F-Drive pos system are described in this chapter.

4.1 Electrical Connection

4.1.1 Electrical ConnectionPower Circuit

Connection of mains and motor cable must be done in accordance with the connectionpictures and inputs of the instruction manual part 1 (00.00.EMV-Kxxx) and part 2(0L.F4.00B-Kxxx).To ensure the correct direction of the motor (set direction ‘forward’ equal to clockwiserotation of the motor) pay special attention to the cabling of the motor. Connect U, V, Wof the inverter (inv.) 1:1 with U, V, W of the motor.

4.1.2 Electrical ConnectionControl Circuit

Before working with the inverter the following wiring must be done at the terminal strip.

Digital inputs:– Connection of external voltage supply (24 ... 30V DC) . X2.23 Uext, X2.11 GND.– Connection of emergency-stop (X2.7).

The emergency-stop function is 0-active, i.e. without 1-signal (24 ... 30V) at X2.7the drive cannot be moved.

Digital outputs, relay:– Error message (X2.9). Digital output X2.9 is used for the error message.

Output is 0-active, i.e. if there is no inverter fault, approx. Uext are on X2.9.

– Braking control (X2.20, X2.21, X2,22) The relay of the control card serves for abraking control at the drive (X2.20 – make contact, X2.21 – break contact, X2.22-root). Observe maximum values of current and voltage !

Start up Instructions

Minimum switching of Digital In-/Outputs

+

Output Relay

max. 30 V DC

20RLA

21RLB

22RLC

internalvoltage supply

1ST

2I4

3I5

4I6

5I1

6I2

7NOT

STOP

8D1

9Error

10UOUT

110V

PNP-Logic

23ext.vol.

1,25 A / alert

external voltagesupply 24...30 V

The earth-fault terminal isfound in the power circuit! (seeinstruction manual part 2).

ConplingRelay-Brake

72

Adjustment of the motor parameter is necessary for the adaption of the inverter to theconnected motor. Activation of the motor adaption (SC.20) defines the limit curve ofthe motor torque and the parameter of the current controller are set to standard values.By that the drive is adjusted to most operating cases that further optimization of thecurrent controller is not necessary. Input of the motor parameter is done in the SCparameters.

4.2.1 Input of the MotorParameter

SC.00 Rated motor power see name plate dataSC.01 Rated motor speed see name plate dataSC.02 Rated motor current see name plate data

Observe switching method of the motor!Input of rated current for star or delta operation

SC.03 Rated motor frequency see name plate dataSC.04 Rated motor power faktor see name plate dataSC.07 Rated motor voltage see name plate data

Observe switching method of the motor!Input of rated motor voltage for star or deltaoperation

SC.11 Encoder 1 (inc/r) Input of encoder incrementsSC.20 Motor adaption Activate parameter

SC.20 = 1 adapts the sytem in relation to therespective standard 400V mains (European).SC.20 = 2 adapts the sytem in relation to therespective supply voltage (e.g. 460V in UnitedStates)

The following parametrizations are necessary to calibrate the system to this pysicalunit, because the input of speed, acceleration and jerk occurs in m/s, m/s2 and m/s3

The input is made in the SH parameters. Parametrization can be done with the followingtwo methods.

4.2.2 Input of the System Data

SH.04 Traction sheave diameter Input of the effective diameter of the drive orsprocket wheels which shows the direction of themotor on the way.

SH.05 Gear ratio Input of the gear ratio between motor and driveor sprocket wheel

SH.06 Rope ratio If for e.g. a hoist drive an additional catenarysuspension is installed, the default value 1 hasto be changed accordingly.

1.) Input of mechanic unit data


The following parameterization steps are based on the default parameters, i.e. theoriginal parameterization is correspond to the delivery state of the inverter.If parameters should be changed this adjustment can be restarted again with writingof ‘-2’ on parameter FR.01 (load default-parameter).The following adjustments are necessary to receive a correct system reference. Theinput of the position, speed, acceleration and jerk must be done in mm, m/s, m/s2 andm/s3. Please pay special attention to this adjustments.

4.2 General InverterParameterization

73

Parameter Input of system data in ...SH.09 Max. speed m/sSH.10 Delay emergency-stop m/s2

SH.11 Delay jerk emergency-stop m/s3

SH.12 Delay Operating mode ‘Stop’ m/s2

SH.13 Delay jerk Operating mode ‘Stop’ m/s3

SH.14 Accleration Operating mode ‘Control’ m/s2

SH.15 Acceleration jerk Operating mode. ‘Control’ m/s3

SH.16 Delay Operating mode ‘Control’ m/s2

SH.17 Delay jerk Operating mode ‘Control’ m/s3

SH.18 Max. speed Operating mode ‘Control’ m/sSH.19 Acceleration Operating mode ‘Setup’ m/s2

SH.20 Acceleration jerk Operating mode. ‘Setup’ m/s3

SH.21 Delay Operating mode ‘Setup’ m/s2

SH.22 Delay jerk Operating mode. ‘Setup’ m/s3

SH.23 Max. speed Operating mode ‘Setup’ m/sSH.24 Acceleration/deceleration

Operating mode ‘Positioning’ m/s2

SH.25 Acceleration/delay jerkOperating mode ‘Positioning’ m/s3

SH.26 Deceleration m/s2

Operating mode ‘Positioning’SH.27 Acceleration jerk m/s3

Operating mode ‘Positioning’SH.28 Max. Speed Operating mode ‘Positioning’ m/s

SH.60 Input of brake release time Input of the brake opening time(observe brake data sheet)

SH.62 Input of brake closing time Input of the time the brake needs to set upthe braking torque(observe brake data sheet)

2.) Input of the value determined on the mechanic unit data.

SH.76 System adaption Adaption factor calculated of the values ofSH.04...SH.06.

2048 * π * traction sheave diameterSH.76 =

60 * catenary suspension * igear

or

traction sheave diameterSH.76 = 107,233 *

catenary suspension * igear

traction sheave diameter in mm

The data for speed, acceleration, deceleration, jerk in different operating modes areparametrized here.

4.2.3 Input of the Operating Datafor Closing-Loop Operation

To ensure a safe load transfer with low rate of wear operation the operating times ofthe holding brake must be adjusted here because the inverter manages the brakehandling themselves.

4.2.4 Input of the Nominal Datafor the Brake Handling


74

4.2.5 Allocation Motor toSystem Feedback

To ensure that speed / current and position controller work correctly the direction ofrotation or the counting direction of the system feedback for speed and position mustbe adjusted to the direction of motor rotation.

The following instructions are usefully for a check of the allocation of the motor to themotor encoder:

4.2.5.1 Check of the AllocationMotor/Motor Encoder

1. Set SH.96 MH-control word = 0⇒ Inverter in nOP state

2. Input of necessary Boost⇒ Parameter SC.22 (value see table)

3. Preset set speed⇒ Parameter SH.18,

Input of set speed for a startup

4. Preset positive set direction⇒ Preset SH.96 = 111H

Operating mode ‘control’Attention! Various safety functions are not active in this operating mode.

5. Check positive sign of the actual speed⇒ Reed out SC.61

If the value is negative:a.) Check correct cabling of the motor; eventually change motor phasesb.) Check correct cabling of the motor encoderc.) If neither encoder nor motor cabling shall be changed the sign of the actual

speed must be adjusted by setting SC.12 = 1.

6. Preset positive set direction⇒ Preset SH.96 = 111H Operating mode ‘control’

7. Actual speed (SC.61)⇒ Actual speed (SC.61) » set speed (SC.62) - slip ?⇒ If the deviation is too high:

a.) Check encoder increments SC.11 and eventually correctionb.) Check motor encoder (defect?). When the motor encoder is defect exchange

it.c.) Check encoder shielding (EMC-problems?)

8. Adaption of the system feedback for the speed detection is made correctly!


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4.2.5.2 Define the PositionReference

The input of the target positions is done in mm, for this reason a reference betweenposition information in increments and distance in mm must be done.

Parametrization can be done as follows:

SH.01 Act. value weighting factor 1 Input of the distance in mm.SH.02 Act. value weighting factor 2 The value in increments for the distance (SH.1)SH.03 High, Low is entered in parameter SH.2 and SH.3. The

value can be determined by the displays ofparameters SC.83, SC.84 as differencebetween start and target value.

1.) Input of single data

Teaching is prefered against the input via parameters SH.01...SH.02 because thelearning drive can detect inaccuracy in the system data.

2.) Teaching of the reference



3. Preset set speed⇒ Parameter SH.18, Input of set speed for the startup

4. Set SC.24 = 1⇒ Release teaching of the position reference

5. Preset set speed⇒ Parameter SH.18,

Input of set speed for the startup

6. Preset direction of setpoint⇒ Set SH.96 = 111H or 121H

Operating mode 'control'

7. Move drive⇒ Move drive 1...2 m

If this is not possible due to the max. permitted distance the drive should bemoved so far as possible.

8. Stop the drive⇒ Set SH.96 = 101H

Operating mode 'control', no direction of rotation

9. Set SC.24 = 2⇒ Store reference way.

The determined data are stored in parameters SH.01...SH.03

10.Adaption of the reference distance for the position detection is made correct!

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To generate the set profile correctly for the positioning the direction of the motor andthe counting direction of the position encoder must be set to each other.

4.2.5.3 Check of the AllocationMotor/Position Encoder

1. SH.96 MH-Control word = set 0⇒ Inverter in nOP state


3. Preset set speed⇒ Parameter SH.18, Input of the set speed for the start-up

4. Preset direction of setpoint⇒ SH.96 = 111H (direction of rotation positive) or SH.96 = 121H (direction of rotation

negative) preset operating mode ‘control’Attention! Various safety functions are not active in this operating mode.

5. Adaption of the counting direction of the actual position⇒ read out SH.92, Adjustment dependent on the display of SC.16

a.) Ascending position value and positive set direction of rotation SC.16 = 0(Default) or SC.16 =2 (Counting direction of the position detection is inverted).

b.) Descending position value and positive set direction of rotation, adaption ofthe set profile for the positioning via SC.16 = 1 (inverted precontrol profile)orSC.16 = 3 (inverted precontrol profile, counting direction of the positiondetection is inverted)

c.) Descending position value and negative set direction of rotation, SC.16 = 0(Default) or SC.16 =2 (counting direction of the position detection is inverted).

d.) Ascending position value and negative set direction of rotation, adaption ofthe set profile for the positioning via SC.16 = 1 (inverted precontrol profile) orSC.16 = 3 (inverted precontrol profile, counting direction of the positiondetection is inverted)

Attention! SC.16 has influence to the set direction of rotation input via the controlword SH.96. The reference is the counting direction of the position encoder.

Ascending position ⇒ positive set direction of rotationDescending position ⇒ negative set direction of rotation

77


Simultaneously to the standard positioning the system supports also the positioning ofthe rotary axis. To activate the rotary axis function the value >= 2 must be adjusted inparameter SC.23.For the rotary axis function the following steps should be observed during the start-up.When using the standard positioning (SC.23 <= 1) please continue with chapter 4.2.7.

4.2.6 Using of the RotaryAxis Function

Varying to the default adjustment other functions are automatically assigned to thedigital inputs I1 (X2.5) and I2 (X2.6) by activation of the rotary axis function.

I1 (X2.5): Reference point searchI2 (X2.6): Start reference point search

Input I1 serves as reference of the system, teaching of the range of values(circumference) and for a cyclic calibaration of the system to compensate roundingerrors or slip.Use a bounce-free switch as reference point switch and one operating cam perrevolution of the rotary axis to ensure this function.With I2 a reference point search can be triggered (SH.7, SH.8).

4.2.6.1 Digital Inputs forthe Rotary Axis

78


2) Teaching of the range of valuesTeaching shall be preferred against the input via parameters SH.54, SH.55, becausethe learning drive can measure inaccuracies in the system data.

1. Rotary axis must have a reference point label

2. Connection of reference point switch (debounced) to I1 (X2.5)

3. Parameterization of SC.23 with a value > 1 (rotary axis function active)

4. SH.96 MH-control word = set 0⇒ Frequency inverter in nOP state

5. Input of required boost⇒ Parameter SC.22 (value see table)

6. Preset set speed⇒ Parameter SH.18, input of set speed for the start-up

7. SC.24 = set 1⇒ Release teaching of the value range

8. Preset set direction⇒ Preset SH.96 = 111H or 121H; operating mode ‘control’

9. Mode of positioning⇒ Drive must be move until the reference point switch has reached two times

10.Stop drive⇒ Preset SH.96 = 101H; operating mode ‘control’, no direction

11.SC.24 = Set 2⇒ Range of values must be stored.

The determined data are stored in parameters SH.54, SH.55.

12. Determination of the range of values of the rotary axis is correctly done!

For the rotary axis function the way for a revolution of the rotary axis must be defined.The range of values limited the set position input parameters SH.94, SH.95, so noabsolut position or distance can be started, which is higher than the range of values ofthe rotary axis.The range of values of the rotary axis can be adjusted as follows.

4.2.6.2 Definition of the Range ofValues of the Rotary Axis

1) Direct input of the range of valuesInput of the range of values in SH.54 and SH.55 (limit switch1)

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4.2.6.3 Reference Point Search A reference point must also be defined for the rotary axis.

1. Rotary axis must have one reference point indication

2. Connection of the reference point switch (debounced) to I1 (X2.5)

3. Set SH.96 MH-control word = 0⇒ Inverter in noP state

4. Selection of operating mode ‘positioning’⇒ Preset SH.96 = 301H; operating mode ‘positioning’ and control release

Inverter in rFP state

5. Preset parameter SC.46⇒ Define reference speed and preferred direction of rotation

The sign of SC.46 determines the preferred direction,(+) motor forward, (-) motor reverse,SH.19 ... SH.22 define the acceleration and deceleration ramps.

6. Set SH.97 MH-control word 2 = 1⇒ Start of reference point search, Inverter in SrA state

7. After the reference point search the inverter changes into status rFP.The actual position is set to the value in SH.7, SH.8 (position feedback adaption).

SH.99 MH-control word 2 Bit 0 is set.

8. Reference point search is done !

80


The position value of the rotary axis is set at 0 or to a max. value after exceeding therange of values (SH.54, SH.55).The rotary axis reference serves against a long-term drift, if errors between physicalposition and detected actual positon arise by rounding errors or not precise input of therange of values.Rotary axis reference is active if in parameter SC.46 reference point mode a value >=4.With every reaching of the reference point switch the value of the actual position is setto the value of the position feedback adaption (SH.7, SH.8).To avoid noise pulse at the rotary axis reference the following parameters must betaken into consideration:

SH.57, SH.58 Limit Switch 2These parameters have the function of a reference point window when the rotary axisfunction is active (SC.23 > 1).If the difference between the value of the position feedback adaption and detectedactual position is higher than the reference point window, the signal of the referencepoint switch is ignored.The value of the reference point window should be adjusted like the PEH-target window(SH.64).

SC.48 Filter Reference Point SwitchThis parameter adjusts a filter time for the input terminal I1 (reference point switch) tosuppress a switching bounce.Input I1 is scanned with 128 µs (SC.48 = 0) to reach a good accuracy of the rotary axisreference also at high speeds.Dependent on the max. speed and the width of the reference signal the filter time mustbe set, that detection of the reference point is guaranteed.

==> Go on with point 4.3.

4.2.6.4 Rotary Axis Reference

81

The position value of the position encoder must be assigned to a clear position in thecoordinate system to define the distance ruler.

4.2.7.1 Actual PositionInitialization



3. Preset set speed⇒ Parameter SH.18, Input of set speed for the startup

4. Move drive to the defined position (initial position)⇒ SH.96 = 111H Preset (pos. direction of rotation) or SH.96 = 121H (neg. direction

of rotation). Drive (Operating mode 'control') and drive in requested position.Attention ! Various safety functions are not active in this operating mode.

5. Input of the initial value for the drive⇒ SH.07 Adjustment of position encoder High and SH.08 Low with the position

value for the initial position

6. Initialization of the actual position⇒ Activate initialization of the actual position with parameter SC.38 = 1

The values of SH.07 and SH.08 are accepted as actual position

7. Actual position initialization finished !

In the operating modes ‘setup’ and ‘positioning’ the limit switches are monitored by theinverter to avoid an overrun of the mechanic limit switch of the system.

4.2.7.2 Adjustment of SoftwareLimit Switches

1. Define limit switch⇒ SH.54, Parameterization of limit switch 1 high and SH.55, limit switch low 1 to

the value 1

2. Define limit switch⇒ SH.57, Parameterization of limit switch 2 high and SH.58, limit switch 2 low to

the value 2

Positioning can only occur inside a fixed coordinate system. The following adjustmentsmust be done for a defination of the positioning range.

4.2.7 Define the CoordinateSystem


82

The following adjustments for a closed-loop operation must be done after startup:4.3.1 Adjustment ofSpeed Controller

1. Switch off control release (terminal X2.1) or control word SH.96 = 0⇒ Inverter in „noP” state

2. Select closed-loop operation⇒ Parameter SC.25 = 1 (ON)

3. Drive process⇒ The drive must be moved in the operating mode ‘positioning’ so that the drive

reached the constant run. Preset set position in a valid positioning range andstart the positioning with e.g. SH.96 = 303H.

4. Adapt speed controller⇒ Proceeding on the basic settings

Increase KP-speed (SC.27) unti the drive oscillates.Decrease SC.27 until the drive moves steady.Increase KI-speed (SC.28) until the drive oscillates.Decrease SC.28 until the drive moves steady.Also see the following solutions:

5. Check adjustment with different speeds.

Problem: Very long transient process butstabilization during constant run

Solution: Increase P-fraction (SC.27);eventually reduce I-fraction (SC.28)

Problem: Speed overshoot too highSolution: Increase P-fraction (SC.27);

evtentually reduce I-fraction (SC.28)


Principal operation for the adjustment of speed and position controller are describedas follows.

4.3 Adjustment ofthe Controller

83

Problem: Sustained oscillation with hight amplitudeSolution: Reduce I-fraction (SC.28)

Problem: Sustained oscillation during constant runSolution: Decrease P-fraction (SC.27)

Problem: Transient too slow/remaining systemdeviation

Solution: Increase I-fraction (SC.28)

Problem: Overshoot too longSolution: Increase I-fraction (SC.28)

With the position controller the positioning behaviour into the target position and thebehaviour at the load transfer (deviation) is determined.

4.3.2 Adjustment ofPosition Controller

1. Move drive⇒ Move the drive in the operating mode ‘positioning’ that the constant run is reached.

Preset set position in a valid positioning range (SH.94, SH.95) and e.g start thepositioning with SH.96 = 303H.

2. Adapt position controller⇒ Starting with the basic settings, increase KP position (SC.35) until a clear reaching

of the target position and a good load transfer behaviour is given. Decreasespeed controller parameter SC.27, SC.28 until the drive runs stable if the driveoscillates during constant run.

3. Check adjustment with different speeds.


84

Excessive sinking of the load during load transfer can occur by easy hoisting gear.The transient Ki increase with SC.29 is effective against this. SC.29 works adding tothe Ki speed (SC.28) in a defined speed range of SC.30 and SC.31.

4.3.3 Optimization forLoad Transfer

The speed range must be selected that the increased Ki speed does not starts tooscillate the system.

Description of parameter assignments which define the accuracy of the positioningand adjustment of monitoring functions.

4.4 SupplementoryParameterizationsfor the Positioning

The following adjustments have influence to the generation of the ‘position reached’message.

4.4.1 ‘Position reached’Message

1. Define positioning accuracy⇒ Parameter SH.64 PEH accuracy window determines the accuracy the drive has

to reach the target position that ‘position reached’ is recognized. Input of thevalue (+/-) near the target position in mm.

2. Adjust filter for the ‘position reached’ message⇒ A filter time is adjusted in parameter SH.65 to receive a clear ‘position reached’

signal at ascillatory systems.‘Position reached’ is only recognized if the drive for the adjusted time in SH.65 isuninterrupted in the target window (SH.64).

3. Preset time response ‘position reached’⇒ The output of bit ‘position reached’ in the MH status word (Bit 2) can be delayed

with parameter SH.18 for the adjusted time in parameter SH.66, after reachingthe target window (SH.64) and closing the filter time (SH.65).


Ki speed factor calculation

actual speed

Ki speed factor

corner speedmax. Ki (SC.30)

corner speedstandard Ki (SC.31)

Ki speed(SC.28)

Max. Kiincrease(SC.29)

85

1. Time monitoring⇒ To monitore if the drive oscillates unpermissible in the near of the target position

or if mechanical resistances does prevent reaching the target window (SH.64),the PEH time monitoring (SH.63) is working. This parameter determines themax. time the drive needs to reach the PEH accuracy window (SH.64) afterfinishing the set profile of a positioning.If the time is overranged error E.PrS‘position reached’ time monitoring is displayed.

2. Monitor contouring error ‘standstill’⇒ This functionis only active in operating mode ‘positioning active’. Parameter SH.67

determines the maximum permissible contouring error at a standstill, i.e. at setspeed 0 (load transfer) or modulation off (closing delay brake). This functionserves for monitoring if the drive can make available the required torque at loadtransfer and for monitoring of the holding brake wear. Error E.trS is triggered ifthe adjusted value is overranged.

3. Monitor contouring error ‘drive’⇒ This function is only active in the operating mode ‘positioning’. Parameter SH.67

determines the maximum permissible contouring error during the process(positioning) of the drive, i.e. at set speed <>0. This function serves for monitoringif the drive can follow the set profile of a positioning (adaption of acc./dec. ramp?drive blocked?)Error E.trr is triggered if the adjusted value is overranged.

There are different monitoring functions available for the operating mode ‘positioning’.The functions are descibed as follows:

4.4.2 Monitoring Functionsfor Positioning


86

Functional Description

To support the determination of a target position, e.g. a shelf, the system provides aminimal teach function by means of fast digital input and initiator.

Position Teach Function

The position teach function is activated over the MH-control word 2 SH.97 by setting ofbit 2 to ‘1’.The drive can then travers in the operating modes ‘Control’ and ‘Setup’. If in case oftravelling in direction of ascending position values a descending edge (1 after 0) ortravelling in direction of descending position values an ascending edge (0 after 1) isdetected at the digital input I!, the actual position value in SH.94, SH.95 is frozen and bit1 in the MH-control word 2 is set. The actual position value is updated at every newedge.By reading SH.94 ‘Actual position value High’ and SH.95 ‘Actual position value Low’,bit 1 in the MH-status word 2 SH.99 is reset again.The resetting also occurs at Power-On, at switch-off of the position teach function (bit 2in MH-control word 2 = 0). If the position teach function is activated, the functionprogrammed onto digital input I1, is not active.

Expanded Position Teach Function

In special caces it is necessary, to record the position with every edge. For this specialcase the digital input I1 must be parameterized with the function di.03 = 25 (objectteach).With activated position teach function (MH-control word 2 SH.97 bit 2 = ’1’), the actualposition is frozen in SH.94, SH.95 upon every edge at the digital input I1 and bit 1 in theMH-status word 2 is set. The actual position value is updated at every new edge. Byreading SH.94 ‘Actual position value High’ and SH.95 ‘Actual position value Low’, bit 1in the MH-status word 2 SH.99 is reset again.The resetting also occurs at Power-On, at switch-off of the position teach function (bit 2in the MH-control word 2 =0) or on changing the operating mode to ‘Positioning’.

5 FunctionalDescription

5.1 Position Teach Function

87


For automatic warehouses with curve drives and transfer cars the necessity exits, toreinitialize the position origin of the storage/retrieval machine for the respective aisleupon entering into a new aisle.

For the flying referencing the parameter SC.46 (reference point mode) must be adjustedto a value >= 4 (flying position correction active). With that the fast digital input I1 (X2.7)and the functionality of the flying reference correction can be used.For the flying referencing it is necessary, that it can take place at any actual position.In order to ensure that (reference point window is not effective) and to secure the referencepoint input against missing pulses, the flying referencing is only activated by setting bit1 in the MH-control wordWith the setting of bit 1 in the MH-control word the bit 0 (reference point run completed)in the MH-status word 2 is written to 0.If the flying referencing is active and if, on travelling in direction of ascending positionvalues a sloping edge (1 after 0) or on travelling in direction of descending positionvalues a rising edge (0 after 1) is detected, an initialization of the actual position ontothe value adjusted in SH.07, SH.08 takes place. In addition to that bit 0 in the MH-status word 2 is set to 1.

5.2 Flying Referencing

88


For this function digital inputs must be programmed.

di.03 ... di12 = 13 achieved:Jog FP Forward (Jogging fine positioning ascending position values). The ramps andthe setpoint speed of the active operating mode are effective.

di.03 ... di12 = 14 achieved:Jog FP Reverse (Jogging fine positioning descending position values). The ramps andthe setpoint speed of the active operating mode are effective.

Function:The operating mode ‘Control’ and ‘Setup’ must be active and the control release effective.The digital inputs affect the bits 4 (setpoint direction of rotation +) and 5 (setpointdirection of rotation -) in the MH-control word.

Evaluation of the inputs:

Digital Inputs Bit 4 in the Bit 5 in the Functioncontrol word control word

Input Jogg FP 1 0 Drive runs in direction ofForward active ascending position values

Input Jogg FP 0 1 Drive runs in direction ofRevers active descending position values

Both inputs are active 0 0 No direction of rotation,effect just as if no inputis active (EXOR-function)

Application examples:

The position value of a storage shelf has changed because of temperature or mechanicalinfluences.For that reason the drive positions e.g. below the target.The sensor FP-forward detects the lower edge of the shelf. The sensor FP-reverse is notdampened.The changeover to BA ‘Setup’ occurs, the drive moves with the speed from SH.23 upwardsuntil the sensor FP-reverse and the sensor FP-forward are dampened simultaneously.The drive decelerates down to speed 0, the brakes engages and the drive is now inposition.

5.3 Fine Positioning withDigital Inputs(only starting with

software version V. 3.2B)

89


For this function digital inputs must be programmed.

di.03 ... di12 = 4 achieved:Emergency Operation Forward (travelling to ascending position values)

di.03 ... di12 = 5 achieved:Emergency Operation Reverse (travelling to descending position values)

Function:Control release ST (X2.1) must be wired.The digital inputs affect bit 4 (setpoint direction of rotation +) and bit 5 (setpoint directionof rotation -) in the MH-control word. At the same time bit 0 (control release) is set andthe operating mode ‘Control’ selected.Activating an emergency operation input interrupts all active actions of the drive andaccelerates respectively decelerates to the speed in SH.18 (max. speed BA ‘Control’).If the inputs are deactivated, the drive decelerates with the ramps from the operatingmode ‘Control’ to speed 0.After the brake engages the control word is set to ‘0’.

Evaluation of the Inputs:

Digital Inputs Bit 4 in Bit 5 in Functioncontrol word control word

Input Emergency 1 0 Drive runs in direction ofOperat.Forward active ascending position values

Input Emergency 0 1 Drive runs in direction ofOperat.Reverse active descending position values

Both inputs are active 1 0 Drive runs in direction ofascending position values

Application example:The Bus system broke down, different axles must still be moved out of danger.With the emergency operation function this can be accomplished without buscommunication with digital inputs only (possibly secured by means of key switches).

5.4 Emergeny Operationwith Digital Inputs(only starting with


90


The position-dependent speed changing serves following purpuse:

• To travel from the start position, after starting the positoning, a defined distance withreduced speed.

• To reduce the traversing speed starting at a defined distance before the target positionor to position into the target with reduced traversing speed starting at a defineddistance to the target position.

• To travel within a defined range up to an absolute positon with a reduced speed,travelling direction ascending position values.

• To travel within a defined ranges up to an absolute position with a reduced speed,travelling direction descending position values.

• To travel with reduced speed within a defined range up to an absolute position and/or to decelerate onto a reduced speed, travelling direction ascending position values.

• To travel with reduced speed within a defined range up to an absolute position and/or to decelerate onto a reduced speed, travelling direction descending position values.

The function is effective in operating mode ‘Positioning’ only.

The speed, with which the drive starts respectively reaches the target, is defined bySH.45 or SH.69. If SH.69 is <> 0, this parameter determines the speed value for theposition-dependent speed changing.

If SH.46 is <> 0 and SH.69 = 0, the maximum traversing speed of the operating mode‘Positioning’ (SH.28) can be varied with the parameter SH.45. The traversing speed canbe changed within 1 ... 100 % of the maximum speed. The parameter acts additionallyto the speed setting in percent of the parameters SH.29 ... SH.36, selectable over theMH-control word (bit 10 ... 12).

If SH.46 and SH.69 are <> 0, the parameter SH.69 determines the speed, with whichthe drive traverses within the ranges of position-dependent speed reduction. If themaximum traversing speed of operating mode ‘Positioning’ (SH.28) is smaller thanSH.69, it is traveled with this value. The speed setting in percent of the parametersSH.29 ... SH.36, selectable over the MH-control word (bit 10 ... 12), affect the creepingspeed only, if the percentage of SH.28 is < than the value in SH.69.

Parameters SH.47, 48 define the absolute position or the difference to the target, fromwhich the reduction onto the speed value defined by SH.45 takes place or at whichthe speed value defned by SH.69 is reached.

The parameters SH.49, 50 define the absolute position or the difference to the startpostion, up to which the speed value defined by SH.45 or SH.69 is effective.

5.5 Posi t ion-dependentSpeed Changing

91


With the function position override it is possible to preset and start a new target positionduring a running positioning process.

If SC.49 is <> 0, the positioning onto a new position value is initialized by the setting ofbit 3 in the MH-control word.

The position is approached, provided no change of the rotation direction is necessaryand if the drive can approach the new target with the deceleration ramps parameteriredfor the operating mode ‘Positioning’.

If the new target cannot be approached, then bit 2 is set in the MH-status word.

Further reactions of the inverter are defined by the parameter SC.49.

5.6 Position Override(only starting with


This function allows the interruption of a running positioning in such a way that the drivecontinues with the positioning speed, but without position feedback. The action is triggeredby the setting of bit 6 in the MH-control word.

Only one target position and, if necessary, a new initial value of absolute value encodercan be preset.

At a desired position it is changed back into the normal positioning mode by resettingbit 6 in the MH-control word. The drive approaches the new target position.

The position is approached, if SC.45 is <> 0, no change of rotation direction is necessary,if the drive can still approach the new target with the ramps parameterized for the operatingmode ‘Positioning’.

If the new target cannot be approached, then bit 2 is set in the MH-status word 2.

Further reactions of the inverter are defined by the parameter SC.49.

Application:Curve drives and materials-handling cars that run long distances speed-controlled andmust only be positioned exactly at the transfer point.

5.7 Travelling without Posi-tion Information / Positi-on Restart(only starting with


92


By using an incremental encoder interface on encoder channel 2(X5) the position encoderat the output can also be used as incremental encoder instead of SSI-encoder.

System restrictions only result from the disadvantages, which an incremental encoderhas compared to an absolute value encoder, like referencing after Power On or Reboot.

5.8 Incremental Encoder asPosition Encoder

The torque control has the same properties as the standard software F4-F Version 1.3.

Parameterizing:

• SC.26 positioning module activation = 0No position-controlled operation possible, the operating modes ‘Control’ and/or‘Setup’ can still be activated. Queries and protective functions, that refer to theposition information, are ineffective.

• An.13 AUX input function = 6 (torque control)The presetting of the torque setpoint value is done over analog input REF1, thespeed setpoint value is defined by REF2.+/- 10 V on REF1 correspond to the value in CS.06, torque limit.+/- 10 V on REF2 correspond to 2 * synchronous speed of the connected motor(reference 50 Hz).

• SH.96 MH-control word = 1 (bit 0), setting of control release.

5.9 Torque Control

93

Possible malfunctioning, error messages of the inverter and their possible causes aredescribed as follows.

6 Error Correction

Error Correction

Table of the error messages:

Error Display Value Reason Fault ClearingAn error occurs duringdeceleration of the drive and themessage E.OP is displayed.Error LED blinks.

1

E.OP

Over Potential,DC-bus voltage too high. Failure,modulation immediately switched off.Restart only possible after reset.

Decrease deceleration time, decreasedeceleration jerk, install brake chopper,check connection, function and value of thebrake chopper.

An error occurs after reachingthe constant run of the drive andthe message E.OP is displayed.Error LED blinks.

1E.OP

Over Potential Optimize adjustment of the speedcontroller (overshoot of the actual speed).

An error occurs in the standstill ofthe drive and the message E.OPis displayed. Error LED blinks.

1E.OP

Over Potential Mains voltage too high? Voltage peaks atsupply voltage (install mains filter).

An error occurs and the messageE.UP is displayed. Error LEDblinks.

2E.UP

Under Potential,DC-bus voltage too small.Failure, modulation immediatelyswitched off. Restart only possibleafter reset.

Mains voltage too small, check mainscontactor and input fuses.

An error occurs duringacceleration and the messageE.OC is displayed. Error LEDblinks.

4E.OC

Over Current,Output current too high.Failure, modulation immediatelyswitched off. Restart only possibleafter reset.

Decrease acceleration time, ecreaseacceleration jerk, upply voltage too small,check mains contactor and input fuses.

An error occurs during themodulation and the messageE.OC is displayed. Error LEDblinks.

4E.OC

Over Current, Earth fault, short circuit, check motor andmotor cables against earth fault and shortcircuit.

An error occurs duringdeceleration an the messageE.OC is displayed. Error LEDblinks.

4E.OC

Over Current, Extremly regenerative operation, ecreasedeceleration time, ecrease decelerationjerk, nstall brake chopper, checkconnection, funktion and value of the brakechopper.

An error occurs and the messageE.OH is displayed. Error LEDblinks.

8E.OH

Over Heat,Temperature monitoring of theinverter is triggered.Failure, modulation immediatelyswitched off. Restart only possibleafter message E.nOH and reset.

Ambient temperature too high, checkcontrol cabinet ventilation, check mountingposition and distances.

An error occurs and the messageE.dOH is displayed. Error LEDblinks.

9E.dOH

drive Over Heat,Temperature monitoring of the motoron and the prewarning time Pn.16 isexceeded. Failure, modulationimmediately switched off. Restartonly possible after reset.

Motor-PTC has triggered, otor overload,heck motor cooling, check wiring of thePTC if the motor-PTC is not connected,check bridge at OH-terminals of theinverter.

Message E.nOH is displayedError LED blinks.

36E.nOH

no Over Heat, No over heat error(E.OH), error can be reset.

The inverter is cooled down after E.OH andready for operation again after reset .

94

Error Correction

Error Display Value Reason Fault ClearingAn error occurs during operationand the message E.OL isdisplayed. Error LED blinks.

16E.OL

Overload, Overload monitoring ofthe inverter is working.Failure, modulation immediatelyswitched off. Restart only possibleafter message E.nOL and reset.

Overload of the inverter, check cycle time,load, drive components (sluggishness),check rating.

An error occurs during operationand the message E.OL2 isdisplayed. Error LED blinks.

53E.OL2

Overload 2, Overload protection in alower frequency range (< 3Hz)Failure, modulation immediatelyswitched off. Restart only possibleafter message E.nOL and reset.

Overload of the inverter in a frequencyrange <= 3 Hz, check cycle times, load,drive components (sluggishness) andrating.

Error E.nOL is displayed. ErrorLED blinks.

17E.nOL

no Overload,Cooling time E.OL/E.OL2 is over.

The inverter is cooled down after E.OL orE.OL2 and ready for operation again afterreset.

An error occurs and the messageE.buS is displayed. Error LEDblinks.

18E.buS

Error buS, time monitoring for serialcommunication is running.Failure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

The serial communication is interrupted,check cabling and bus-Master (PC, SPS).

An error occurs after voltagesupply connection and themessage E.LSF is displayed.Error LED blinks.

15

E.LSF

Error Load Shunt Fault, afterswitching on the unit the voltagestays under the UP-threshold /

Mains voltage too small, check mainscontactor and input fuses.

An error occurs during operationand the message E.EF isdisplayed. Error LED blinks.

31E.EF

External Fault, error message by anexternal unit.Failure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

Via a digital input of the inverter an error istriggered by an external unit. Removecause of the error message.

An error occurs during operationand the message E.EnC isdisplayed. Error LED blinks.

32E.EnC

Error EnCoderError in feedback unit or driveadaption. Only active in closed-loopoperation. Failure, modulationimmediately switched off. Restartonly possible after reset.

The speed controller is in the limit due toan encoder fault. Check encoder, cablingand interface of system and positionfeedback. The speed controller is in thelimit due to fault adjustments of the motorand system data, check parameterization.The speed controller is in the limit due tonon-optimum controller adjustments andsystem data, optimize parameterization.System can not follow the dynamicdemands, check rating.

An error occurs during operationand the message E.PrF or, E.Prris displayed. Error LED blinks.

46E.PrF

47E.Prr

Error Limit Switch: at increasing setdirection forward (or reverse) theterminal F (or R) is not active.Failure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

A limit switch is recognized via a digitalinput for the respective direction of rotation.Drive runs in opposite direction. Checkcabling (signal is 0-active).

An error occurs after Power On(connection of the 24V- supply)and the message E.dSP isdisplayed. Error LED blinks.

51E.dSP

CPU-ErrorError occurs only in the initializationphase, no modulation, no resetpossible.

Control card defectiveexchange component.

95

Error Correction

Error Display Value Reason Fault ClearingAn error occurs after Power On(connection of the 24V-supply)and message E.hyb is displayed.Error LED blinks.

52E.hyb

No defined encoder interfacerecognized. Error occurs only in theinitialization phase, no modulation,no reset possible.

An invalid interface for the system orposition feedback is recognized. Exchangeinverter.

An error occurs after Power On(connection of the 24V- supply)and the message E.PuC isdisplayed. Error LED blinks.

49E.PuC

No defined power circuit isrecognized. Error occurs only in theinitialization phase, no modulation,no reset possible.

An invalid power circuit is recognized. Ifafter repeated Power On no valid interfaceis identified, exchange the inverter.

During a ride in operating mode‘Control’ or ‘Setup’ an erroroccurs and the message E.OS isdisplayed. Error-LED is blinking.

105E.OS

‚Overspeed‘ Monitoring. If thesetpoint value exceeds the limitvalue adjusted in SH.70 in theoperating mode ‘Control’ or ‘Setup’,this error is triggered. Failure,resulting in an immediate switch offof the modulation. Restart onlypossible after Reset.

The maximum speed adjusted in theparameters SH.18 or SH.23 is too large.Reduce the value. Problems with the speedfeedback. Check position encoder, cabling,interface

An error occurs duringpositioning and the messageE.PrS is displayed. Error LEDblinks.

106E.PrS

‘Position reached’ time monitoring.This error is triggered if the drive isnot in the target position SH.64 afterfinishing the positioning set profileand the adjusted time in SH.65.Failure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

Drive can not follow the set profile, checkramps and rating. Change controlleradjustment if the adjustment is notoptimized, blocked drive, check mechanicalsystem. Position feedback is disturbed,check position encoder, cabling andinterface.

An error occurs after thepositioning has finished and themessage E.Prd is displayed.Error LED blinks.

107E.Prd

‘Position reached’ windowmonitoring. If the drive has 'positionreached' recognized and if the targetposition is left without an action(drive slips through) this error istriggered. Failure, which stops thedrive at the EMERGENCY-STOPramp. Restart only possible afterreset.

Drive slips through, check holding brake.Motor does not supply the required torque,check motor cabling, max. load and rating.Position feedback is disturbed, checkposition encoder, cabling and interface.EMC-problems (position encoder isdisturbed), check cables and shielding.

An error occurs while the drive ismoving and the message E.SSFor E.SSr is displayed. Error LEDblinks.

108E.SSF

109E.SSr

Speed monitoring forward orreverse: the input signal of therespective security area is active andthe V2-speed (SH.59) is exceeded.Failure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

Adaption of the speed or ramps for thedrive in the security area. Increase V2-speed.

After starting a positioning orwhile the drive is moving an erroroccurs and the message E.SLFor E.SLr is displayed. Error LEDblinks.

110E.SLF

111E.SLr

Software limit switch forward orreverse: a set position out of thepermitted range is selected by thepositioning (see chapter 5.15 Pc-Parameter)Failure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

The drive shall drive to a position out of thelimit switch, input of a valid value,correction of the limit switches.The drive was driven to a position out ofthe limit switches, drive reverses in a validarea, correction of the limit switches.Position feedback is disturbed, checkposition encoder, cabling, interface.EMC-problems (position encoderdistrubed), check cables and shielding.New initialization of the actual positionafter encoder change.

96

Error Correction

Error Display Value Reason Fault C learingAn error occurs after starting thepositioning and the messageE.trS is displayed. Error LEDblinks.

112E.trS

Contouring error monitoring standstillFailure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

The drive moves down at load transfer.Check motor cabling (motor w ithouttorque), check max. load. EMC-problems(position encoder is disturbed), checkcables and shielding.

An error occurs during thepositioning and the messageE.trr is displayed. Error LEDblinks.

113E.trr

Contouring error monitoring driveFailure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

Drive can not fo llow the dynamicrequirements, correction of the ramps,optim ize controller adjustments, checkmechanic (sluggishness) and rating.position feedback is interrupted, checkposition encoder, cabling and interface.EMC-problems (position encoder isdisturbed), check cables and shielding.

An error occurs during thepositioning and the messageE.PFb is displayed. Error LEDblinks.

114E.PFb

Power Fail B it ErrorFailure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

Error-B it in the SSI protocol of the positionencoder is set, cable interruption,interruption of voltage supply. EMC-problems (failure during data transfer),check cables and shielding. Positionfeedback is disturbed, check positionencoder, cabling, interface.

An error occurs during thepositioning and the messageE.InI is displayed. Error LEDblinks.

126E.InI

InItiator ErrorFailure, which stops the drive at theEMERGENCY-STOP ramp. Restartonly possible after reset.

W hen rotary axis function and rotary axisreference is active, no reference pointsignal for the automatic reference isrecognized for m in. 8 revolutions. Cableand voltage supply disconnection ispossible. EMC-problems, check cables andshielding. Check digita l input.

An error occurs during thepositioning and the messageE.CnA is displayed. Error-LED isblinking.

135E.CnA

Error during position override.Failure, resulting in the shutdown ofthe drive along the EMERGENCY-STOP ramp. Restart only possibleafter reset.

Error Command not Accepted. The error istriggered, when a position override / restartis in itiated, even so it is not allowed or cannot be executed. SC.49 = 0 positionoverride / restart not perm itted. The newtarget position could not be approachedbased on the adjusted ramps or wouldhave involved a reversing.

Inverter is dark (no display) or nocommunication w ith the inverter.

No 24V- supply of the inverter. Checkcabling and power supply unit, inverterdefective, exchange

97

7 AdditionalParameter

Parameter Addr. min max default [?] see Page(s)ru 0 inverter state 2000 - - - 0 111 table –– –– 6.1.5, 6.12.4ru 18 actual parameter set 2012 - - - 0 7 1 –– –– 6.1.12ru 23 REF 2 display 2017 - - - -100,0 100,0 0,1 –– % 6.1.12ru 28 speed deviation 201C - - - -9999,5 9999,5 0,5 –– rpm 6.1.13

SP 8 absolute maximum speed forward 3008 - - - –– –– 0,5 –– rpm 6.4.7SP 9 absolute maximum speed reverse 3009 - - - –– –– 0,5 –– rpm 6.4.7

Pn 0 automatic retry UP 2200 - - 0 1 1 1 –– 6.6.6Pn 1 automatic retry OP 2201 - - 0 1 1 0 –– 6.6.6Pn 16 E.dOH delay time 2210 - - 0 120 1 0 sec 6.3.10, 6.6.3, 6.6.4Pn 20 extern fault stopping condition 2214 - 0 6 1 0 –– 6.6.4Pn 23 E.bus stopping condition 2217 - 0 6 1 0 ––Pn 24 prohibited rotation stopping condition 2218 - 0 6 1 6 ––Pn 25 warning dOH stopping condition 2219 - 0 6 1 0 –– 6.6.3Pn 26 warning OH stopping condition 221A - 0 6 1 0 –– 6.6.3

dr 20 field weakening curve 2414 - 0,10 2,00 0,01 1,20 –– 6.5.12dr 21 flux adaption factor 2415 - 25 250 1 100 % 6.5.12dr 28 encoder 1 counter mode 241C - 0 1 1 0 –– 6.9.8dr 39 encoder 2 mode 2427 - 0 1 1 1 –– 6.9.6

CS 6 torque limit forward positive 2D06 - 0,0 5 x dr.9 0,1 dr.10 Nm 6.5.11CS 7 torque limit reverse positive 2D07 - -0,1 : off 5 x dr.9 0,1 -0,1 : off Nm 6.5.11CS 8 torque limit forward negative 2D08 - -0,1 : off 5 x dr.9 0,1 -0,1 : off Nm 6.5.11CS 9 torque limit reverse negative 2D09 - -0,1 : off 5 x dr.9 0,1 -0,1 : off Nm 6.5.11CS 14 standstill position control 2D0E - - 0 65535 1 0 –– 6.5.10CS 19 KP flux 2D13 - - 0 : off 65535 1 0 : off –– 6.5.12CS 20 KI flux 2D14 - - 1 65535 1 1 –– 6.5.12CS 21 magn. current limit 2D15 - - 0,0 In.1 0,1 0,0 A 6.5.12

ds 5 KP I magnetizing 2F05 - - 0 65535 1 -1 : off –– 6.5.9ds 6 KI I magnetizing 2F06 - - 0 65535 1 -1 : off –– 6.5.9ds 9 no load voltage 2F09 - - 0,0 100,0 0,1 75,0 % 6.5.9ds 12 modulation depth 2F0C - - - 0 100 1 % 6.5.8ds 13 carrier frequency 2F0D - 0 1 1 0 –– 6.5.8

ud 0 key password input 2600 - 0 9999 1 cp_on –– 4.4.3ud 1 bus password input 2601 - - -32767 32767 1 cp_on –– 6.12.5ud 2 start parameter group 2602 - - 1 : ru 16 : Pd 1 1 : ru –– 6.12.4ud 3 start parameter number 2603 - - 0 255 1 1 –– 6.12.4ud 6 inverter address 2606 - 0 239 1 1 –– 11.2.3ud 7 baud rate 2607 - 1200 57600 table 9600 Baud 11.2.3ud 8 watchdog time 2608 - 0,00 : off 10,00 0,01 0,0 : off sec 11.2.3

Fr 1 copy parameter set (Bus) 2701 - - -2 : init 0 1 0 ––Fr 9 bus parameter set 2709 - - -1 7 1 0 –– 6.7.3, 6.7.4

Parameter: writable- readable only

Parameter: set programmable- not programmable

Enter parameter: active after „enter“ - active immediately

Value rangelower limit / upper limit

See page ... in the F4-FApplication ManualUnit

Default value

Resolutions, increments

Parameter address

Additional to the SC and SH parameters, which are described in this instruction manual,also parameters of the standard F4-F software can be adjusted and read. A detaileddescription of these parameters can be read in the F4-F application manual (Part No.00.F4.FDA-K130) The following parameters are accepted from the standard softwareto the DrivePos software:

Additional Parameter

98

Parameter Addr. min max default [?] see Page(s)An 1 noise filter REF 2801 - - 0 10 1 3 ( 1ms) –– 6.2.6An 8 zero clamp REF 2 2808 - - 0,0 10,0 0,1 0,2 % 6.2.9An 9 REF 2 gain 2809 - - -20,00 20,00 0,01 1,00 –– 6.2.6An 10 REF 2 offset X 280A - - -100,0 100,0 0,1 0,0 % 6.2.6An 11 REF 2 offset Y 280B - - -100,0 100,0 0,1 0,0 % 6.2.6An 13 AUX function 280D 0 5 1 0 –– 6.4.5, 6.4.9, 6.8.9An 14 analog out1 function 280E 0 6 1 2 –– 6.2.10An 15 analog out1 gain 280F - -20 20 0,01 1,00 –– 6.2.11An 16 analog out1 offset X 2810 - -100,0 100,0 0,1 0,0 % 6.2.11An 18 analog out2 function 2812 0 6 1 0 –– 6.2.10An 19 analog out2 gain 2813 - -20,00 20,00 0,01 1,00 –– 6.2.11An 20 analog out2 offset X 2814 - -100,0 100,0 0,1 0,0 % 6.2.11

di 0 noise filter digital 2900 - - 0,0 20,0 0,1 0,5 ms 6.3.5di 1 NPN/PNP selection 2901 - 0 : pnp 1 : npn 1 0 : pnp –– 6.3.3di 2 input logic 2902 - 0 127 1 112 –– 6.3.5di 3 input function I1 2903 - 0 24 1 23 –– 6.3.7, 6.1.4, 6.11.10di 4 input function I2 2904 - 0 24 1 24 –– 6.3.7, 6.1.4, 6.11.10di 5 input function I3 2905 - 0 24 1 2 –– 6.3.7, 6.1.4, 6.11.10di 6 input function I4 2906 - 0 24 1 0 –– 6.3.7, 6.1.4, 6.11.10di 7 input function IA 2907 - 0 24 1 0 –– 6.3.7di 8 input function IB 2908 - 0 24 1 0 –– 6.3.7di 9 input function IC 2909 - 0 24 1 0 –– 6.3.7di 11 input function I5 290B - 0 24 1 0 –– 6.10.4, 6.11.10di 12 input function I6 290C - 0 24 1 0 –– 6.10.4, 6.11.10di 15 select signal source 290F - 0 127 1 1 –– 6.3.5di 16 digital input setting 2910 - 0 127 1 0 –– 6.3.5di 17 input strobe dependance 2911 - 0 4095 1 0 –– 6.3.6di 18 select strobe source 2912 - 0 4095 1 0 –– 6.3.6di 19 select strobe mode 2913 - 0 1 1 0 –– 6.3.6

do 0 output logic 2A00 0 255 1 2 –– 6.3.15do 1 output condition 1 2A01 0 35 1 0 –– 6.3.10do 2 output condition 2 2A02 0 35 1 5 –– 6.3.10do 3 output condition 3 2A03 0 35 1 32 –– 6.3.10do 4 output condition 4 2A04 0 35 1 0 –– 6.3.10do 5 output condition 5 2A05 0 35 1 0 –– 6.3.10do 6 output condition 6 2A06 0 35 1 0 –– 6.3.10do 7 output condition 7 2A07 0 35 1 0 –– 6.3.10do 9 select out 1 condition 2A09 0 255 1 1 –– 6.3.14do 10 select out 2 condition 2A0A 0 255 1 2 –– 6.3.14do 11 select out 3 condition 2A0B 0 255 1 4 –– 6.3.14do 13 select out A condition 2A0D 0 255 1 0 –– 6.3.14do 14 select out B condition 2A0E 0 255 1 0 –– 6.3.14do 15 select out C condition 2A0F 0 255 1 0 –– 6.3.14do 17 out 1 condition logic 2A11 0 255 1 0 –– 6.3.14do 18 out 2 condition logic 2A12 0 255 1 0 –– 6.3.14do 19 out 3 condition logic 2A13 0 255 1 0 –– 6.3.14do 21 out A condition logic 2A15 0 255 1 0 –– 6.3.14do 22 out B condition logic 2A16 0 255 1 0 –– 6.3.14do 23 out C condition logic 2A17 0 255 1 0 –– 6.3.14do 25 output condition connection 2A19 0 255 1 0 –– 6.3.14do 26 output filter 1 mode 2A1A 0 2 1 2 –– 6.3.12do 27 output filter 2 mode 2A1B 0 2 1 0 –– 6.3.12do 29 output filter 2 time 2A1D 0 488 1 0 ms 6.3.12do 31 filter 2 condition connection 2A1F 0 8 1 0 –– 6.3.12

LE 4 speed level 1 2B04 - 0,0 9999,5 0,5 0,0 rpm 6.3.11LE 5 speed level 2 2B05 - 0,0 9999,5 0,5 0,0 rpm 6.3.11LE 6 speed level 3 2B06 - 0,0 9999,5 0,5 0,0 rpm 6.3.11LE 7 speed level 4 2B07 - 0,0 9999,5 0,5 0,0 rpm 6.3.11LE 8 load level 1 2B08 - 0 200 1 0 % 6.3.11LE 9 load level 2 2B09 - 0 200 1 0 % 6.3.11LE 10 load level 3 2B0A - 0 200 1 0 % 6.3.11LE 11 load level 4 2B0B - 0 200 1 0 % 6.3.11LE 12 apparent current level 1 2B0C - 0,0 500,0 0,1 0,0 A 6.3.11LE 13 apparent current level 2 2B0D - 0,0 500,0 0,1 0,0 A 6.3.11LE 14 apparent current level 3 2B0E - 0,0 500,0 0,1 0,0 A 6.3.11LE 15 apparent current level 4 2B0F - 0,0 500,0 0,1 0,0 A 6.3.11LE 20 torque level 1 2B14 - 0,0 2000,0 0,1 0,0 Nm 6.3.11LE 21 torque level 2 2B15 - 0,0 2000,0 0,1 0,0 Nm 6.3.11LE 22 torque level 3 2B16 - 0,0 2000,0 0,1 0,0 Nm 6.3.11LE 23 torque level 4 2B17 - 0,0 2000,0 0,1 0,0 Nm 6.3.11LE 28 angular level 1 2B1C - 0,0 2800,0 0,1 0,0 ° 6.3.11LE 29 angular level 2 2B1D - 0,0 2800,0 0,1 0,0 ° 6.3.11


99


Parameter Addr. min max default [?] see Page(s)LE 30 angular level 3 2B1E - 0,0 2800,0 0,1 0,0 ° 6.3.11LE 31 angular level 4 2B1F - 0,0 2800,0 0,1 0,0 ° 6.3.11LE 37 speed hysteresis 2B25 - - 0,0 9999,5 0,5 10,0 rpm 6.3.11, 6.8.4LE 38 current hysteresis 2B26 - - 0,0 50,0 0,1 0,2 A 6.3.11LE 39 angular hysteresis 2B27 - - 0,0 2800,0 0,1 1,0 ° 6.3.11LE 40 torque hysteresis 2B28 - - 0,0 1000,0 0,1 0,2 Nm 6.3.11LE 48 position hysteresis 2B30 - 0 28000 1 0 inc 6.3.11LE 50 position level 1 sign 2B32 - 0 2 1 0 –– 6.3.11LE 51 position level 1 high 2B33 - 0 65535 1 0 inc 6.3.11LE 52 position level 1 low 2B34 - 0 65535 1 0 inc 6.3.11LE 53 position level 2 sign 2B35 - 0 2 1 0 –– 6.3.11LE 54 position level 2 high 2B36 - 0 65535 1 0 inc 6.3.11LE 55 position level 2 low 2B37 - 0 65535 1 0 inc 6.3.11LE 56 position level 3 sign 2B38 - 0 2 1 0 — 6.3.11LE 57 position level 3 high 2B39 - 0 65535 1 0 inc 6.3.11LE 58 position level 3 low 2B3A - 0 65535 1 0 inc 6.3.11LE 59 position level 4 sign 2B3B - 0 2 1 0 –– 6.3.11LE 60 position level 4 high 2B3C - 0 65535 1 0 inc 6.3.11LE 61 position level 4 low 2B3D - 0 65535 1 0 inc 6.3.11

In 0 inverter Type 2C00 - - - table rating plate –– 6.1.16In 1 rated inverter current 2C01 - - - 0 370 0,1 LTK A 6.1.16In 4 software version 2C04 - - - 1 –– 6.1.16In 5 software date 2C05 - - - 0,1 –– 6.1.17In 6 configfile no. 2C06 - - - 0 255 1 52 –– 6.1.17In 7 serial no. (date) 2C07 - - - 0 65535 1 0 –– 6.1.17In 8 serial no. (counter) 2C08 - - - 0 65535 1 0 –– 6.1.17In 9 serial no. (AB-no. high) 2C09 - - - 0 65535 1 0 –– 6.1.17In 10 serial no. (AB-no. low) 2C0A - - - 0 65535 1 0 –– 6.1.17In 11 cust. no. (high) 2C0B - - - 0 65535 1 0 –– 6.1.17, 6.9.5In 12 cust. no. (low) 2C0C - - - 0 65535 1 0 –– 6.1.17In 41 error counter OC 2C29 - - - 0 255 1 0 –– 6.1.18In 42 error counter OL 2C2A - - - 0 255 1 0 –– 6.1.18In 43 error counter OP 2C2B - - - 0 255 1 0 –– 6.1.18In 44 error counter OH 2C2C - - - 0 255 1 0 –– 6.1.18In 45 error counter watchdog 2C2D - - - 0 255 1 0 –– 6.1.18In 54 software version DSP 2C36 - - - 0,1 –– 6.1.18In 55 software date DSP 2C37 - - - 0,1 –– 6.1.18In 56 feedback-system channel1 2C38 - - - 0 7 1 –– 6.1.18In 57 feedback-system channel2 2C39 - - - 0 7 1 –– 6.1.18, 6.9.5

AA 0 graph 1 parameter selection 3200 - - 0 65535 1 2001 –– 6.8.7AA 1 graph 2 parameter selection 3201 - - 0 65535 1 -1 : off –– 6.8.7AA 2 graph 3 parameter selection 3202 - - 0 65535 1 -1 : off –– 6.8.7AA 3 graph 4 parameter selection 3203 - - 0 65535 1 -1 : off –– 6.8.7AA 4 time base 3204 - - 0,001 32,000 0,001 0,001 sec 6.8.7AA 5 trigger source 3205 - - 0 4095 1 6 –– 6.8.7AA 6 trigger position 3206 - - 0 100 1 50 –– 6.8.7AA 7 syncronisation 3207 - - -32767 32767 1 0 –– 6.8.8AA 8 trigger status 3208 - - 0 2 1 0 –– 6.8.8AA 9 select graph address 3209 - - 0 1999 1 0 –– 6.8.8AA 10 read graph 1 320A - - - 0 1 –– 6.8.8AA 11 read graph 2 320B - - - 0 1 –– 6.8.8AA 12 read graph 3 320C - - - 0 1 –– 6.8.8AA 13 read graph 4 320D - - - 0 1 –– 6.8.8

Karl E. Brinkmann GmbHFörsterweg 36 - 38 • D - 32683 Barntrup

Telefon 00 49 / 52 63 / 4 01 - 0 • Fax 00 49 / 52 63 / 4 01 - 1 16Internet: www.keb.de • E-mail: [email protected]

KEB Antriebstechnik GmbH & Co. KGWildbacher Str. 5 • D - 08289 Schneeberg

Telefon 0049 / 37 72 / 67 - 0 • Telefax 0049 / 37 72 /67 - 2 81E-mail: [email protected]

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Tel.: 00420 / 38 / 731 92 23 • FAX: 00420 / 38 / 733 06 97E-mail: [email protected]

KEB AntriebstechnikHerenveld 2 • B - 9500 Geraadsbergen

Tel.: 0032 / 5443 / 7860 • FAX: 0032 / 5443 / 7898E-mail: [email protected]

KEB ChinaXianxia Road 299 • CHN - 200051 Shanghai

Tel.: 0086 / 21 / 62350922 • FAX: 0086 / 21 / 62350015Internet: www.keb-cn.com • E-mail: [email protected]

Société Française KEBZ.I. de la Croix St. Nicolas • 14, rue Gustave Eiffel

F - 94510 LA QUEUE EN BRIETél.: 0033 / 1 / 49620101 • FAX: 0033 / 1 / 45767495

E-mail: [email protected]

KEB (UK) Ltd.6 Chieftain Buisiness Park, Morris Close

Park Farm, Wellingborough, GB - Northants, NN8 6 XFTel.: 0044 / 1933 / 402220 • FAX: 0044 / 1933 / 400724

Internet: www.keb-uk.co.uk • E-mail: [email protected]

KEB Italia S.r.l.Via Newton, 2 • I - 20019 Settimo Milanese (Milano)

Tel.: 0039 / 02 / 33500782 • FAX: 0039 / 02 / 33500790Internet: www.keb.it • E-mail: [email protected]

KEB - YAMAKYU Ltd.15 – 16, 2 – Chome, Takanawa Minato-ku

J – Tokyo 108 -0074Tel.: 0081 / 33 / 445-8515 • FAX: 0081 / 33 / 445-8215


KEB PortugalLugar de Salgueiros – Pavilhao A, Mouquim

P - 4760 V. N. de FamalicaoTel.: 00351 / 252 / 371 318 • FAX: 00351 / 252 / 371 320


KEB Taiwan Ltd.1F, No.19-5, Shi Chou Rd., Tounan Town

R.O.C. - Yin-Lin Hsian / TaiwanTel.: 00886 / 5 / 5964242 • FAX: 00886 / 5 / 5964240


KEBCO Inc.1335 Mendota Heights Road

USA - Mendota Heights, MN 55120Tel.: 001 / 651 / 4546162 • FAX: 001 / 651 / 4546198Internet: www.kebco.com • E-mail: [email protected] ©

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instruction manual212.113.105.12/library/keb_cd/manuals/drivepos/00f4rebk... · 3/2003...

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