technical documentation - berger lahr servis...

Technical Documentation

Intelligent Compact Drive

Field bus stepper motor

IclA IFS

Order no.: 0098 441 113 189

Edition: V1.02, 01.2004

Berger Lahr GmbH & Co. KGBreslauer Str. 7D-77933 Lahr

IclA IFS

Important information

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Berger Lahr drive systems are products intended for general use that conform to the state of the art in technology and are designed to elimi-nate dangers as much as possible. However, drives and drive controllers that are not specifically designed for safety engineering functions are general engineering equipment that is not approved for applications in which the drive functions could endanger persons. Unexpected or un-braked movements can never be completely excluded without additional safety equipment. For this reason no person should be in the danger zone of the drives unless additional suitable safety equipment is in-stalled to prevent danger to persons. This is applicable for the machine in production operation and for all repairs and maintenance work on drives and machine. The machine must be designed to ensure personal safety. Suitable precautions must also be taken to prevent property dam-age.

For more information see the chapter on safety.

We reserve the right to make technical changes.

All information refers to specifications and not to assured properties.

Most product designations are registered trademarks of their propri-etors, even when not specifically noted.

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Table of contents

Important information

Conventions and symbols

1 Introduction

1.1 Unit overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Components and interfaces . . . . . . . . . . . . . . . . . . . . 1-31.2.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31.2.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3 Documentation and literature references . . . . . . . . . . 1-41.3.1 Manuals for compact drives . . . . . . . . . . . . . . . . . . 1-4

1.4 Directives and standards. . . . . . . . . . . . . . . . . . . . . . . 1-4

2 Safety

2.1 Qualifications of personnel . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.3 Hazard categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.4 General safety instructions . . . . . . . . . . . . . . . . . . . . . 2-2

2.5 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

3 Technical Data

4 Installation


4.2 Electromagnetic compatibility, EMC . . . . . . . . . . . . . . 4-1

4.3 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.4.1 System design . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44.4.2 Preparing cables. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64.4.3 Connecting cables for circuit board plug

connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-104.4.4 Preparing cables for industrial plug connectors . . 4-114.4.5 Connecting power supply . . . . . . . . . . . . . . . . . . . 4-124.4.6 Connecting Profibus DP field bus interface . . . . . 4-134.4.7 Connecting CAN field bus interface . . . . . . . . . . . 4-174.4.8 Connecting RS485 field bus interface . . . . . . . . . 4-214.4.9 Connecting 24V signal interface . . . . . . . . . . . . . . 4-24

4.5 Checking wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

5 Commissioning


5.2 Preparing for commissioning. . . . . . . . . . . . . . . . . . . . 5-2

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5.3 Running commissioning . . . . . . . . . . . . . . . . . . . . . . . . 5-25.3.1 The most important settings . . . . . . . . . . . . . . . . . . 5-25.3.2 Commissioning 24V signal interface . . . . . . . . . . . . 5-25.3.3 Setting phase currents . . . . . . . . . . . . . . . . . . . . . . . 5-55.3.4 Testing with relative positioning . . . . . . . . . . . . . . . . 5-55.3.5 Optimising travel behaviour of the motor . . . . . . . . . 5-7

5.4 IclA Easy operating software . . . . . . . . . . . . . . . . . . . . 5-95.4.1 Firmware update over field bus . . . . . . . . . . . . . . . 5-10

6 Operation

6.1 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16.1.1 Default parameter values . . . . . . . . . . . . . . . . . . . . . 6-16.1.2 External monitoring signals . . . . . . . . . . . . . . . . . . . 6-26.1.3 Positioning limits . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46.1.4 Internal monitoring signals. . . . . . . . . . . . . . . . . . . . 6-56.1.5 Operating states and transitions . . . . . . . . . . . . . . . 6-66.1.6 Operating-mode-specific status information . . . . . . 6-76.1.7 Miscellaneous status information. . . . . . . . . . . . . . . 6-8

6.2 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-96.2.1 Speed mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-116.2.2 Point-to-point mode (PTP mode) . . . . . . . . . . . . . . 6-136.2.3 Referencing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15

6.3 Operating functions . . . . . . . . . . . . . . . . . . . . . . . . . . 6-256.3.1 Definition of direction of rotation . . . . . . . . . . . . . . 6-256.3.2 Create travel profile . . . . . . . . . . . . . . . . . . . . . . . . 6-256.3.3 Quick-Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-266.3.4 Fast position capture . . . . . . . . . . . . . . . . . . . . . . . 6-276.3.5 Programmable inputs and outputs . . . . . . . . . . . . . 6-296.3.6 Drives with index pulse . . . . . . . . . . . . . . . . . . . . . 6-33

7 Diagnostics and troubleshooting

7.1 Error display and troubleshooting . . . . . . . . . . . . . . . . . 7-17.1.1 Error display in the IcIA Easy PC commissioning

tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17.1.2 Diagnosis over field bus . . . . . . . . . . . . . . . . . . . . . . 7-17.1.3 Reset error message . . . . . . . . . . . . . . . . . . . . . . . . 7-47.1.4 Error classes and error response. . . . . . . . . . . . . . . 7-47.1.5 Causes of errors and troubleshooting . . . . . . . . . . . 7-4

7.2 Overview of error numbers . . . . . . . . . . . . . . . . . . . . . . 7-6

8 Parameters

8.1 Overview Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

8.2 "CAN“ parameter group . . . . . . . . . . . . . . . . . . . . . . . . 8-1

8.3 "Capture“ parameter group. . . . . . . . . . . . . . . . . . . . . . 8-2

8.4 "Commands“ parameter group . . . . . . . . . . . . . . . . . . . 8-3

8.5 "Config" parameter group . . . . . . . . . . . . . . . . . . . . . . . 8-4

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8.6 Parameter group "ErrMem0“ . . . . . . . . . . . . . . . . . . . . 8-4

8.7 "Homing“ parameter group . . . . . . . . . . . . . . . . . . . . . 8-5

8.8 "I/O“ parameter group . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.9 "Motion“ parameter group . . . . . . . . . . . . . . . . . . . . . . 8-7

8.10 "Profibus“ parameter group . . . . . . . . . . . . . . . . . . . . . 8-7

8.11 "ProgIO0“ parameter group. . . . . . . . . . . . . . . . . . . . . 8-8

8.12 "PTP" parameter group . . . . . . . . . . . . . . . . . . . . . . . . 8-9

8.13 "RS485“ parameter group . . . . . . . . . . . . . . . . . . . . . 8-10

8.14 "Settings“ parameter group . . . . . . . . . . . . . . . . . . . . 8-10

8.15 "Status“ parameter group . . . . . . . . . . . . . . . . . . . . . 8-11

8.16 "VEL" parameter group . . . . . . . . . . . . . . . . . . . . . . . 8-13

9 Accessories and spare parts

10 Service, maintenance and disposal

10.1 Service address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

10.2 Maintenance and warranty . . . . . . . . . . . . . . . . . . . . 10-1

10.3 Shipping, storage, disposal . . . . . . . . . . . . . . . . . . . . 10-1

11 Glossaries

11.1 Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . 11-1

11.2 Product name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

12 Supplement

12.1 Monitoring the limit switches LIMN/LIMP . . . . . . . . . 12-1

Index


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Conventions and symbols

Instructions for use

Introduction to the following steps

This the 1st work step

This is the response to the 1st work step

This is the 2nd work step

This is the response to the 2nd work step

Operating instructions consist of an introduction and the actual opera-tional steps.

Unless otherwise specified, the individual operational steps must be ex-ecuted in the specified sequence.

If there is a significant response to an operational step, this response will be described after the operational step. This enables the correct execu-tion of the operational step to be checked.

List symbol
Note on the content of the list
• 1st list item

• 2nd list item

– 1st list subitem

– 2nd list subitem

• 3rd list item

The actual list, which can consist of one or two levels, follows a note on the content of the list.

The list items are sorted alphanumerically or by priority.

User notes
The user notes contain general information, not safety instructions.
This contains additional information on the current subject.

See the Safety chapter for an explanation of the safety instructions.

Parameter
Parameter are shown as follows:
Group.Name Index:Subindex

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IclA IFS Introduction

1 Introduction


The IFS Intelligent Compact Drives consist of a stepper motor and a po-sitioning controller with a Profibus, CAN or RS485 field bus interface.

The IFS Intelligent Compact Drives are a part of the Berger Lahr "IcIA In-telligent Compact Drives" family of products.

Operating functions Th
e Intelligent Compact Drive operates the stepper motor in accordance with the presets of a field bus master, such as a PLC or an industrial PC.
The following operating modes have been implemented for this compact drive:

• Speed mode

• Point-to-point mode

• Referencing

The compact drive can service up to four different 24V IO signals, to which such items as limit switches or reference switches can be con-nected.

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Introduction IclA IFS

1.1 Unit overview

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Figure 1.1 Components of the compact drive
1 Motor

2 Thermal separation

3 Electronics housing

4 Cable glands with strain relief

5 2I/O signal connector socket

6 Setting options with DIP switches

7 Electronics housing cover, must not be removed

8 Connector housing cover, must be removed for installation

9 Cover with industrial connectors for DC power and IN/OUT field bus connection

10 Electrical terminals


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1.2 Components and interfaces

1.2.1 Components

Motor Six


types of motor are available (maximum torque in parentheses):

• IFS61 (45 Ncm)

• IFS62 (90 Ncm)

• IFS63 (150 Ncm)

• IFS91 (2 Nm)

• IFS92 (4 Nm)

• IFS93 (6 Nm)

Gearbox Th
e compact drives can be optionally ordered with gearbox installed.
Electronics Th
e electronic system comprises the control and power electronics. They have a common power supply and are not electrically isolated.
The compact drive can be configured and controlled over the field bus interfaces.

Four 24-V signals are also available, any one of which can be set up as input and output.

The electronics are thermally separated from the motor by a plastic panel.

1.2.2 Interfaces

Standard interfaces of the Intelligent Compact Drive field bus stepper motor:

Power supply Fu
nctions:
• Power supply for control and power electronics

Thco

e earth connections of all interfaces are electrically nnected, including the power supply. For more

information see chapter 4.4.1 „System design“. Information on reverse voltage protection can also be found there.

Field bus interface Fu
nctions:
• Profibus DP connection

• CAN bus connection

• RS485 bus connection

The field bus interface is used to set parameters and control the com-pact drive. This allows the compact drive to be integrated into a field bus network and, for example, controlled by a PLC.

The drive can be operated through any one of the above interfaces. This requires a PC fitted with a field bus converter (such as USB-CAN, RS323-RS485 or CP551 from Siemens for Profibus). The IclA Easy commissioning software is available for the PC. It supports the various field bus versions (for description see the IclA Easy CD-ROM)

The firmware can be updated through any interface.

1-3


24V signal interface Fu

1-4

nctions:

Four 24V signals are also available, which can be used as both input and output.

The 24V signals are freely accessible to the higher-order controller over the field bus. However, special functions such as connections to limit or reference switches can also be configured. If the 24V signals are to be used as outputs, you must also provide a 24V power supply.

1.3 Documentation and literature references

1.3.1 Manuals for compact drives

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Three types of documentation are required for the Intelligent Compact Drives:

The "IcIA Intelligent Compact Drives" catalogue contains the technical data of the compact drive.

– IclA Intelligent Compact Drives Catalogue Order no. 0059 941 201 002

The controller manualdescribes the installation, commissioning and all operating modes and operating functions

– Technical Documentation IclA IFE Field Bus EC Motor Order no. 0098 441 113 211

– Technical Documentation IclA IFS Field Bus Stepper Motor Order no. 0098 441 113 188

– Technical Documentation IclA IDS Pulse-Direction Interface Stepper Motor Order no. 0098 441 113 190

The field bus manual described the field bus protocol

– Technical Documentation IclA IFx Profibus DP Order no. 0098 441 113 192

– Technical Documentation IclA IFx CANopen DS301 Order no. 0098 441 113 184

– Technical Documentation IclA IFx RS485 Order no. 0098 441 113 186

All documentation is also available on CD-ROM.

• IclA CD-ROM: catalogues, documentation, manuals, CAD data, commissioning programs Order no. 0098 441 113 207

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The EC directives define the minimum requirements - particularly safety requirements - applicable to a product and must be complied with by all


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manufacturers and dealers marketing the product in the member states of the European Union (EU).

The EC directives describe the main requirements for a product. The technical details are laid down in the harmonized standards, which are published in Germany as the DIN EN standards. If there is not yet any EN standard applicable to a particular product area, existing technical standards and regulations will apply.

CE mark W
ith the declaration of conformity and the CE mark on the product the manufacturer certifies that the product complies with the requirements of all relevant EC- directives. The unit can be used anywhere in the world.
Machine Directive Th
e compact drive is not a machine in the sense of the EC Machine Di-rective (89/392/EEC). It has no functional moving parts. The compact drive may however be a component part of a machine or installation.
The manufacturer must certify that the complete system conforms to the machine directive with the CE mark.

EMC directive Th
e EC directive on electromagnetic compatibility (89/336/EEC) applies to units which can cause electromagnetic interference or whose opera-tion can be impaired by such interference.
The compact drive's compliance with the EMC Directive cannot be as-sessed until it has been installed into a machine or installation. The in-structions provided in chapter “Installation” must be complied with to guarantee that the compact drive is EMC-compliant when fitted in the machine or installation and before use of the compact drive is permitted.

Low Voltage Directive Th
e EC Low Voltage Directive (73/23/EEC) is not applicable to the com-pact drive, because it is operated with DC current under 50 V.
Declaration of Conformity Th
e declaration of conformity certifies that the compact drive satisfies the requirements of the EC directive cited.
Standards applicable to safe operation of compact drives

DIRe

N EN 60204-1: 1998-11 Electrical Equipment of Machines, General quirements

DIN VDE 0100 regulations for installation of power systems with volt-ages up to 1000 V

DIN VDE 0106-100: 1983-03 Protection against electrical shock; Loca-tion of actuation elements in the vicinity of operating resources liable to accidental contact

DIN EN 60529: 2000-09 IP degrees of protection

DIN EN 954-1: 1997-03 Safety of machines, Safety of components of control devices, Part 1: General design requirements

Standards applicable to retaining the EMC limit values

DI

DI

N EN 61000-4-1: 2001-06 Measuring and test procedures, overview

N EN 61800-3: 2001-02: Variable-speed electrical drives

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EC Declaration of Conformity Year 2003 BERGER LAHR GmbH & Co.KG Breslauer Str. 7 D-77933 Lahr according to EC Directive on Machinery 98/37/EEC according to EC Directive EMC 89/336/EEC according to EC Directive Low Voltage 73/23/EEC The above mentioned directives have been changed by CE Marking Directive 93/68/EEC We declare that the products listed below meet the requirements of the mentioned EC Directives with respect to design, construction and version distributed by us. This declaration becomes invalid with any modification on the products not authorized by us. Designation: Stepping motor with integrated controller elektronics

Type: IDSxx, IFSxx

Product number: xx66006xxxxxx, xx66106xxxxxx,

Applied harmonized standards especially:

DIN EN 61800-3: 2001-02, second environment, according to BERGER LAHR test conditions DIN EN 50178: 1998-04

Applied national standards and technical specifications especially:

BERGER LAHR test conditions 200.47-01 EN

Company stamp: Date/ Signature: 18.11.2003 Name/ Department: W. Brandstätter/MOM-E

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Figure 1.2 Declaration of conformity to the EC Low Voltage Directive

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IclA IFS Safety

2 Safety

2.1 Qualifications of personnel


Only qualified technicians who are familiar with and understand the con-tents of this manual and other relevant manuals may work on and with this drive system. The technicians must be able to detect potential dan-gers that may arise by setting parameters, changing parameter values and generally from the mechanical, electrical and electronic equipment.

The technicians must also have the technical training, knowledge and experience to be able to assess the work assigned to them.

The technicians must be familiar with current standards, regulations and accident prevention regulations that must be observed when working on the drive system.

2.2 Intended use

Berger Lahr drive systems are products intended for general use that conform to the state of the art in technology and are designed to elimi-nate dangers as much as possible. However, drives and drive controllers that are not specifically designed for safety engineering functions are general engineering equipment that is not approved for applications in which the drive functions could endanger persons. Unexpected or un-braked movements can never be completely excluded without additional safety equipment. For this reason no person should be in the danger zone of the drives unless additional suitable safety equipment is in-stalled to prevent danger to persons. This is applicable for the machine in production operation and for all repairs and maintenance work on drives and machine. The machine must be designed to ensure personal safety. Suitable precautions must also be taken to prevent property dam-age.

In the system configuration described the drive systems must only be in-stalled in an industrial environment with a fixed connection.

The applicable safety regulations and the specified operating condi-tions, such as environmental conditions and specifications, must be ob-served.

The drive systems may be commissioned and operated only after instal-lation in accordance with EMC requirements and the product-specific specifications.

To prevent personal injury and damage to property damaged drive sys-tems must not be installed or operated.

Changes and modifications to the drive systems are not permitted and will render all warranties and liability null and void.

The drive system must be operated only with the specified cables and approved accessories. Use original spare parts whenever possible.

Operation of the drive systems outside the described and specified limit values is not designated use.

2-1

Safety IclA IFS

2.3 Hazard categories

2-2

Safety notes and general information are indicated by hazard messages in the manual. In addition there are symbols and instructions affixed to the product that warn of possible hazards and help to operate the prod-uct safely.

Depending on the seriousness of the hazard, the messages are divided into three hazard categories.

DANGER!

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death, serious injury, or equipment damage.

WARNING!

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

CAUTION!

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

2.4 General safety instructions

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DANGER!

Danger of injury by complex system!

When starting field bus operation the attached controllers are gen-erally out of view of the operator and cannot be directly monitored.

• Only start the system when there are no persons within the actuation zone of the moving system components and the sys-tem can be operated safely.

Failure to follow these instructions will result in death or serious injury.


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WARNING!

Danger of injury and damage to system components by loss of control!

• The system manufacturer must consider the possible errors that could occur with the signals and in particular the critical func-tions to ensure a safe status during and after errors. Critical functions include emergency stop and limiting end positions. Observe the accident prevention regulations

• Consideration of possible errors must include unexpected delay and failure of signals or functions

• Separate redundant controller paths must be provided for criti-cal functions.

Failure to follow these instructions can result in death or serious injury.

2.5 Monitoring functions

The monitoring functions in the drive protect the system and reduce the risk in the event of system malfunction. The monitoring functions are not designed for personal safety. The following faults and limit values can be monitored:

Protective function
Monitoring Task
Stall detection (only for units with index pulse)

Checks the motor movement using the index pulse Function safety

Data connection over field bus

Error reaction on interruption of connection Functional safety and system protection

Limit switch signals Monitoring the allowable traverse range System protection

STOP switch signal Stop drive with Quick-Stop ramp System protection

Motor overload Monitoring for excessively high current in the motor phases Functional safety and device protection

Overvoltage and und-ervoltage

Monitoring for overvoltage and undervoltage of the power supply Functional safety and device protection

Overtemperature Monitor power amplifier for over temperature Device protection

Table 2.1 Monitoring functions

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Safety IclA IFS

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IclA IFS Technical Data

3 Technical Data


The "IcIA Intelligent Compact Drives" catalogue contains the technical data of the compact drive.

• IclA Intelligent Compact Drives Catalogue Order no. 0059 941 201 002

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Technical Data IclA IFS

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IclA IFS Installation

4 Installation



CAUTION!

Danger of injury during removal of the circuit board connector

• Make sure that the connector is unlocked before attempting to remove it.

– Power supply: Unlock by pulling the connector housing

– Other: Unlock by pressing the locking lever

• Always pull the connector by the housing (do not pull the cable).Failure to follow these instructions can result in injury or equipment damage.

4.2 Electromagnetic compatibility, EMC

The drive system and the system are subject to electromagnetic inter-ference. If suitable precautions are not taken, the interference will affect the signals from the control wiring and system parts and adversely affect the operating safety of the system.

Before operation the electromagnetic compatibility of the system must be checked and assured. The drive system conforms to the require-ments of the EC directives on EMC immunity to interference under DIN EN 61800-3: 2001-02 for the second environment where the following actions are taken into account during installation.

WARNING!

Danger of injury from interference with signal or devices

Interference with control signals may cause unpredictable device re-action.

• Connect the drive in accordance with the EMC standards.

• Check achievement of EMC measures for correctness in partic-ular at strong electromagnetically charged environment.


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Installation IclA IFS

Table 4.1 EMC measures

The following cables must be shielded and the shielding must be posi-tioned in the drive:

• Field bus cable

– Profibus DP

– CAN bus

– RS485 bus

The following cables can be unshielded:

• Power supply

• 24-V signal interface

EMC measures Effect

Cables as short as possible, do not form earth loops, caution: Follow earth concept

Prevent capacitive and induc-tive interference

The electronics case is electrically con-nected to the motor. Earthing drive through the motor flange. If this is not possible, provide additional earthing wires connected to the plug cover lid or with a cable clip to the flange.. Note that in this case the drive will not be earthed when the cover is removed.

Reduce emissions, increase interference resis-tance

Install two-way cable shielding Prevent interference

Flat cable shielding, use EMC shielding foil Low shielding effect with non-flat connection, reduce emis-sions

4.3 Mechanical installation

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WARNING!
Electric shock when installing a fully wired drive

If the installation position is difficult to access, it may make sense to install the drive fully wired after the electrical installation is complete

• When installing a fully wired drive make sure that power to all cables is switched off.

CAUTION!

Hot surfaces can cause burns and damage to system compo-nents!

• Avoid contact with the hot drive.

• Do not place flammable or heat-sensitive components in the immediate vicinity of the drive.

• Check the temperature of the drive during the test run.Neglect can result in an accident or damage to the system


0

0

9

8

4

4

1

1

1

3

1

8

9

, V

1

.0

2

, 0

1

.2

0

0

4



CAUTION!

Mechanical damage to the unit

Components must not be pressed on to the shaft, because the shaft of this drive cannot be supported.

• Fasten components to the shaft by cementing, clamping, shrinking or with bolts.

Neglect of this precaution may cause accidents or damage to the system

Heat dissipation Th
e compact drive can become very hot, e. g. if multiple compact drives are poorly arranged.
The exterior temperature of the motor must not exceed 100 °C in con-tinuous operation.

• Ensure that every single compact drive remains below the maxi-mum temperature by positioning them sufficiently far apart and sup-plying adequate ventilation.

• If the compact drive is operated to the limits of its performance, ade-quate heat dissipation via the motor flange is essential

• Check the temperature of the drive during the test run.

Fastening Th
e motor must be fastened with four M5 bolts. Use washers with smaller bolts. Mount the compact drive on a flat surface to prevent trans-mission of mechanical tension to the case.
Installation clearances Th
ere are no minimum clearances required during installation. However, note that the compact drive can become very hot. If multiple compact drives are installed in a non-optimum position, make sure that there is sufficient clearance between them or good ventilation to ensure that the maximum temperature for every compact drive is not exceeded.
Please note the bending radiuses of the cables and the space require-ments of the industrial plug connectors.

Environmental conditions Se
e the approved environmental conditions described in the data sheet.
4.4 Electrical installation

WARNING!

Danger of injury and damage to system components by loss of degree of protection

Foreign bodies, deposits or humidity can cause unexpected device responses.

• Prevent any foreign bodies from entering the terminal unit.

• Do not remove the electronic case cover. Only remove the plug cover.

• Check that seals and cable glands are correctly seated.Failure to follow these instructions can result in death or serious injury.

4-3

4-4


CAUTION!

Damage of system components and loss of control!

A break in the negative connection of the power supply may cause excessively high voltages at the signal terminals.

• Never switch the negative connection of the power supply.

• Check that the connection is correct before switching on.

• Do never plug or unplug the conector plug while the supply volt-age is present.

Failure to follow these instructions can result in injury or equipment damage.

Thmu

e drive has DIP switches in the connector housing. They st be set before connecting the cables. After that they

are difficult to access.

For more information see below in the sections on "Connecting the field bus“.

4.4.1 System design

4.4.1.1 External power supply

WARNING!

The incorrect power supply may cause electric shock

The supply voltage must comply with the requirements of a protec-tive extra-low voltage (PELV).

General Th

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e power supply must be designed for the power requirements of the compact drive. The power consumption can be found in the technical data.

The actual power requirement is often significantly lower, because the maximum possible motor torque is not required to ensure safe operation of a system.

When designing the system note that during the motor acceleration phase the drive may use a higher current compared to constant speed.

Transformer power supplies with sufficient output capacity (e.g. 10,000 µF/"high ripple current") should be used. They are generally available as 24-VDC power supplies. For example, a standard 24VAC transformer can be used to maintain up to 35VDC depending on rectification and filtering.


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Reverse voltage protection If t


he voltage (power circuit) is reversed, the compact drive will short-cir-cuit. The compact drive is resistant to continuous short-circuit up to a maximum short-circuit current of 15A. In a power supply with a trans-former a voltage reversal may cause a momentary flow of several hun-dred amperes. The compact drive is designed for this and will not be damaged.

Fuses: a circuit-breaker (16A, B-characteristic) or a blade-type fuse (FKS, max. 15A) or a fusible link (5 x 20mm, 10A slow-blow).

The power cable size can be from 0.75 mm² to max. 4.0 mm² (with very long cables); the standard size is 1.5 mm².

Energy recovery No
te the following if the compact drive is operated highly dynamically or with large external moments of inertia:
During deceleration (depending on the external moment of inertia and the set deceleration ramp) or in braking mode the compact drive can generate power. The external power supply must be able to accept the generated energy. If it cannot (e.g. output capacitor in power supply too small), an overvoltage condition may occur on the power line. The com-pact drive detects the overvoltage and triggers an overvoltage error from about 47V. Overvoltages resulting from energy recovery are limited to 50V by the compact drive.

If energy recovery is expected in an application, the power supply must be appropriately designed. In many cases the excess voltage can be re-duced during energy recovery by switching higher capacities. The higher loading currents when switching on the power supply must be taken into account.

Switching power supplies are not recommended for this reason. Trans-formers with appropriate rectifier circuits are available on the market and with their high output capacity they provide good results.

CAUTION!

Overvoltage in the power supply may damage the system.

Danger of destruction of external components that are connected in parallel to the compact drive power supply. Energy recovery can in-crease the power supply voltage by up to 50V.

• Always use a separate power supply for the sensors of your system.

• Do not use switching power supplies for the power supply of the compact drive, because the output capacities are generally too low.


4-5


4.4.1.2 Ground design

General: Eq

4-6

uipotential bonding currents can cause significant interference from earth loops, particularly in communication lines with shielded connec-tions at both ends. For this reasons, in larger systems earth potential lines should be laid between the various system components to prevent earth circulating currents. This is not required if there is a direct low-im-pedance earth connection at the various points of the system.

The cross-section of an earth circulating line depends on the distance between the various system components and should be as large as pos-sible, at least 25 mm2.

Special features of compact drives:

Thing

e electrical bonding of all interfaces are electrically connected, includ- the earth for the power supply (the module interfaces with electrical

isolation, such as Profibus, PD1 and PD2, are exceptions).

This gives rise to some points that must be noted when wiring the com-pact drives into a system:

• the voltage drop on the lines for the power supply must be kept as low as possible. Voltage drops of less than one volt are considered small. At higher frame potential differences between different drives the communications and control signals may be affected in some cases.

• At greater distances between the system components decentra-lised power units to supply power near the drives are a better option. However, the individual power supplies must be bonded with largest possible line cross-section.

• if the controller (e.g. PLC, IPC etc.) does not have electrically iso-lated outputs for the compact drives, it is necessary to ensure that the current for the power supply has no path back to the power sup-ply via the controller. The controller earth must therefore be con-nected to the power supply earth at one point only. This is generally the case in the switch cabinet. The earth contacts of the various sig-nal connectors in the compact drive are therefore not connected; there is already a connection via the power supply earth.

• if the controller has, for example, an electrically isolated RS485 interface for communication with the compact drives, the electrically isolated earth of this interface should be connected with the corre-sponding signal earth of the first drive. This connection is not made in the other drives on the bus. The same applies for an electrically isolated CAN connection.

4.4.1.3 Earthing

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Because the compact drive operates only with safety extra low voltage, safety earthing is not required.

However, the compact drive must still be earthed to remain below the limit values for EMC interference resistance and interference radiation. It can be grounded from the motor flange or the electronics housing. In general, bolting the motor to an electrically conductive and grounded machine part provides a sufficient earth for the compact drive.

13 1

89
4.4.2 Preparing cables
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The cable specifications can be found in the chapter describing the con-nections.


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Cut cable sleeve of cable gland

Seis


lect the correct cable cross-section to ensure that the compact drive sealed.

The IP54 degree of protection is only reached with correctly fitted cable bushes.

Preparing cables
Sheath all cables over a length of 70 mm.
If a shielded lead is available, shorten the lead to 10 mm and crimp it.

Fix cable into gland
Release strain relief.
Push the cable though the strain relief.

Glue EMC shielding foil around the shielded lead.

Figure 4.1 Fasten cable in bushing

Pull the cable back to the strain relief.

Fasten the strain relief.

1 Power supply

2 24-V inputs and outputs

3 Field bus IN

4 Field bus OUT

1

2

3

4

Attach connector
CAUTION!
Device damage by incorrect polarity

• Note the correct polarity when making connections.Neglect can result in an accident or damage to the system

4-7

4-8


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Prepare the cable for connection as follows:

Strip the ends of the cable.

Attach terminal ends and crimp contacts.

Slide the terminal ends and crimp contacts in until they click into the plug.

Figure 4.2 Plug, terminal end and crimp contacts

CAUTION!

Use of incorrect tools and incorrect accessories may damage the unit.

• Use the correct crimp contacts for the plug connector.

• Use the correct crimping pliers.

• Insert the crimp contacts straight into the connector housing.

• Note the pin assignment.

Item Description

1 Power supply

2 Field bus IN for CAN or RS 485

3 Field bus OUT for CAN or RS 485

1

2

7

7

3

4

5

6


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The required parts and data for preparation are listed in Table 4.2. For further parts you may see chapter 9 „Accessories and spare parts“. Plug housing and crimp contacts are included in the accessory set.

4 Field bus IN for Profibus

5 Field bus OUT for Profibus

6 24-V inputs and outputs

7 Shielded wire with EMC screening foil

Item Description

- Stripped Crimp contact Crimping Plug Plug
Cable crosssection [mm²] length [mm] manufacturer
no.pliers connector

manufac-turer

connector type

Power supply 0.5 … 1.5 or 2.5 … 4.0

5 ... 6 160773-6 341001-6

654174-1 AMP Positive Lock 1-926 522-1

Multifunction interface/ Field bus Profibus

0.14 … 0.6 / 0.34 … 0.6

2.5 … 3.0 43030-0007 69008-0982 Molex Micro-Fit 3.0 43025-1200

Communication/ Field bus CAN or RS 485

0.25 … 1.0 3.0 … 3.5 39-00-0060 69008-0724 Molex

Mini-Fit Jr. 39-01-2065

24V I/O 0.14 … 0.6 2.5 … 3.0 43030-0007 69008-0982 Molex Micro-Fit 3.0 43025-0600

Table 4.2 Preparing cables

Figure 4.3 shows the pin assignment of the interfaces with the plug cover open.

Figure 4.3 Overview of pin assignment

1 Power supply

2 Field bus interface Profibus DP

3 Field bus interface CAN or RS485

4 24V signal interface

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

LED

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

V

LED1

2 3 4

4-9


4.4.3 Connecting cables for circuit board plug connectors

4-10

WARNING!

Danger of injury and damage to system components by loss of degree of protection

Foreign bodies, deposits or humidity can cause unexpected device responses.

• Prevent any foreign bodies from entering the terminal unit.

• Do not remove the electronic case cover. Only remove the plug cover.

• Check that seals and cable glands are correctly seated.Failure to follow these instructions can result in death or serious injury.

Required Pr
epared and strain-bearing cables with shield installed are required in a cable bushing.
You can order prepared cables with plugs installed from your dealer or prepare the cables yourself.

For more information see chapter 4.4.2 „Preparing cables“.

Procedure

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Unscrew the side plug housing.

Because the DIP switches are difficult to access with the cables connected, it is best to set the DIP switches before connecting the cables in compact drives with DIP switches.

For a description of the DIP switch settings see the relevant sec-tions below on "Connecting field buses“.

Connect the plug on the prepared cable to the matching socket. All plugs cannot be confused and must click into place when plugged in.

Always hold the plug to remove it (not the cable).

Position the cable bushing in one of the two openings provided. The space available in your system will decide which side the cable is led out from. Close the opening that is not used with a blank cover.


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Finally, screw the plug case cover back into place.

Figure 4.4 Inserting cable bushings

4.4.4 Preparing cables for industrial plug connectors

The compact drive is available with circuit board plug connectors or in-dustrial plug connectors, see Figure 1.1. Only plugs that comply with the industry standard are used for the type with industrial plug connectors.

Table 4.3 Table of industrial plug connectors

Because the requirements vary depending on the system configuration, prepared cables specially for field bus connections can be obtained from various suppliers. For recommended suppliers see chapter 9 „Accesso-ries and spare parts“.

For fast commissioning or initial supply plug sets for field buses and I/O signals can also be ordered from Berger Lahr.

Cables for power supplies in various lengths are available from Berger Lahr.

All specifications for the prepared cables, plug sets and recommended suppliers can be found in chapter 9 „Accessories and spare parts“.

Interface terminating plugs used

Power supply Hirschmann STASEI 200

Field bus Profibus in/out Round plug connector M12, 5-pin, B-coded

Field bus CAN in/out Round plug connector M12 , 5-pin, A-coded

24V signal inputs/outputs Round plug connector M8, 3-pin

4-11


4.4.5 Connecting power supply

4-12

CAUTION!

Device damage by incorrect polarity

• Note the correct polarity when making connections.Neglect can result in an accident or damage to the system

Cable specifications Sh
eathed wire 2 x 0.75 ... 4.0 mm²
Unshielded wires can be used for the power supply. Twisted pair is not required.

Connecting cable Se
e the technical data in the data sheet.
Install fuses for the power supply line in accordance with the selected cross section (note the starting currents).

Also notice chapters 4.4.1.2 „Ground design“ and 4.4.1.1 „External power supply“.

4.4.5.1 Circuit board plug connector type

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Figure 4.5 Pin assignment of power supply
Table 4.4 Pin assignment of power supply

You can crimp two leads together to supply multiple compact drives over one DC bus. Two different crimp contacts for different cable cross sec-tions are available. See Table 4.2.

Pin Signal Meaning I/O

1 VDC Power supply 24/ 35 VDC

2 GND GND for power supply, internally con-nected with GND of CAN, RS485 and 24V signal interface

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

1

2 LED

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

+ 24/35

LED


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4.4.5.2 Industrial plug connector type


Figure 4.6 Pin assignment of power supply

Table 4.5 Pin assignment of power supply


1 VDC Power supply 24/ 35 VDC

2 GND GND for power supply, internally con-nected with GND of CAN, RS485 and 24V signal interface

4.4.6 Connecting Profibus DP field bus interface

4.4.6.1 Connection and cable specification

• Shielded cable

• Minimum cross section of signal wires: 0.34 mm²

• Twisted-pair cables

• Two-way earthing of shield

• The maximum length depends on the baud rate and the signal runt-imes. The higher the baud rate, the shorter the bus cable has to be.

Table 4.6 Baud rate and cable length for the Profibus DP

Baud rate [kbaud] max. cable length [m]

9,6 1200

19,2 1200

45,45 1200

93,75 1200

187,5 1000

500 400

1500 200

3000 100

6000 100

12000 100

4-13


4.4.6.2 Terminating resistor

4-14

Both ends of the complete bus system must be terminated. If the com-pact drive is the last device on the network cable, a terminating resistor must be connected parallel to the field bus cables.

With Profibus DP the terminating resistors are integrated into compact drives and they can be activated with a DIP switch.

The illustration below shows the structure of the integrated terminating resistors.

Figure 4.7 Profibus DP terminating resistors

4.4.6.3 Function

The compact drive can be connected as a slave to the following net-works with the Profibus DP interface:

• Profibus

The compact drive receives data and commands from a higher-level de-vice on the bus, a master device. The controller sends status information such as device status and processing status back to the master device as acknowledgement.

4.4.6.4 Field bus mode

Integration of a compact drive into the field bus is described in the rele-vant field bus manual in the chapter on Communications on the field bus.

4.4.6.5 Setting baud rates

4

Every device in the network is identified by a unique node address which can be set as desired. Only addresses 3-126 are allowed for a slave de-vice on a Profibus network. Addresses 0-2 are reserved for master de-vices.

1.20

0
Baud rate Th
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e baud rate is detected automatically with the autobaud function.


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4.4.6.6 Setting the address with DIP switches


Figure 4.8 Assignment of Profibus DP DIP switches

Default settings:

• Address: 126

• Terminating resistor: OFF

Table 4.7 DIP switch settings for Profibus DP

LED Display of Profibus communication on -> Communication OK off -> no communication

S1 Field bus address Assignment see above Valid addresses 3 to 126

S2 Terminating resistor S2.1 = on -> Terminating resistor on S2.1 = off -> Terminating resistor off

ON

OFF

S1

1 2 3 4 5 6 7 8

LED S2

ON

OFF1

Abschluss-widerstand

reserviert(OFF)

Bit7...................Bit0Feldbusadresse

Rean

served DIP switches are reserved for future upgrades d must be set to "OFF".

4-15


4.4.6.7 Circuit board plug connector types

4-16

Figure 4.9 Pin assignment of the Profibus-DP field bus interface

Table 4.8 Pin assignment of the Profibus-DP field bus interface

Pin Assignment Signal type

5 B_LT out data line inverted A

6 A_LT out data line A

7 GND (optional connection only, compare earth concept)

11 B_LT in Profibus data line inverted E

12 A_LT in Profibus data line E

1 2 3

4 5 6

1 2 3

4 5 6

1

2

3

4

5

6

7

8

9

10

11

12

LED

4.4.6.8 Industrial plug connector types

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Figure 4.10 Pin assignment of the Profibus-DP field bus interface in

Table 4.9 Pin assignment of the Profibus-DP field bus interface in


2 A_LT in Profibus data line I

4 B_LT in Profibus data line inverted I

5 SHLD, shielded connection


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Figure 4.11 Pin assignment of the Profibus-DP field bus interface out

Table 4.10 Pin assignment of the Profibus-DP field bus interface out


2 A_LT out Profibus data line O

4 B_LT out Profibus data line inverted O

5 SHLD, shielded connection

4.4.7 Connecting CAN field bus interface


• Shielded cable

• Minimum cross section of signal wires:0.25 mm²

• Twisted-pair cables

• Two-way earthing of shield

• The maximum length depends on the number of network devices, the baud rate and the signal runtimes. The higher the baud rate, the shorter the bus cable has to be.

Table 4.11 Baud rate and cable length for the CAN bus

Baud rate [kbaud] max. cable length [m]

1000 25

800 80

500 100

250 250

100 600

50 1000

20 2500


If the compact drive is the last device on the network cable, a terminating resistor must be connected parallel to the field bus cables.

Terminating resistors are integrated into compact drives with DIP switches and they can be activated with the DIP switch.

4-17

4-18


Table 4.12 CAN terminating resistor

Field bus Terminating resistor

CAN bus 120 Ω between CANH and CANL

4.4.7.3 Function

The compact drive can be connected as a slave to the following net-works with the CAN interface:

• CANopen network in accordance with DS301

The compact drive receives data and commands from a higher-level de-vice on the bus, a master device. The controller sends status information such as device status and processing status back to the master device as acknowledgement.


The integration of a compact drive into the field bus is described in the CANopen DS301 Technical Documentation in Chapter 4, "CANopen Communications.“

4.4.7.5 Baud rate setting

Every device in the network is identified by a unique node address which can be set as desired. In compact drives with DIP switches the address and baud rate are set with the DIP switches. If the compact drive does not have DIP switches, the settings are made with parameters.

4.4.7.6 Address setting without DIP switch

The compact drive must be connected to a master device over the CAN or RS485 interface to set the parameters. If the settings are made after installation, the default field bus settings must be used to access the compact drive from the master device.

Onbe

ly one compact drive with default settings is permitted to active on a network.

Data type Unit R/W/rem.

1 11

3 18

9, V

1.02

, 01.

2004

Group.Name Index:Subindex dec. (hex.)

Meaning Bit assignment Range

dec.Default dec.

Info

CAN.canAddr 23:2 (17:02h)

Address CAN Bus UINT16 1..127

- 127

R/W/rem.

CAN.canBaud 23:3 (17:03h)

Baud rate CAN Bus Following values are allowed: 20 = 20Kbaud 50 = 50Kbaud 100 = 100Kbaud 125 = 125Kbaud 250 = 250Kbaud 500 = 500Kbaud 800 = 800Kbaud 1000 = 1Mbaud

UINT16 20..1000

- 125

R/W/rem.

0098

44

Table 4.13 Parameters for the CAN bus


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Default settings for the CAN interface:

• Address:127

• Baud rate: 125 kbaud

4.4.7.7 Compact drives with DIP switches

ON

OFF

1

ON

OFF

ON

OFF

HEXS1

S2S3

0

8

4C

Field bus addressHigh

CAN terminating resist. (ON=on)

Field bus baud rate

reserved (OFF)

2 3 4

Field bus addressLow

1 2 3 4

1 2 3 4

reserved(OFF) 6 5 4

2 1 03Bit

Hex kBaud0 201 502 1003 1254 2505 5006 8007 10008..F -

Figure 4.12 Assignment of CAN DIP switches

In compact drives with DIP switches the settings for the field bus are de-fined with the DIP switches.

• S1, S2

Setting the field bus address

• HEX

Setting the baud rate

• S3

Connect terminating resistor

Table 4.14 DIP switch settings for CAN bus

DIP switch: S1.1 S1.2 S1.3 S1.4 S2.1 S2.2 S2.3 S2.4

Address bit: - 6 5 4 3 2 1 0

Coding address 127 (default)

- 1 1 1 1 1 1 1

Coding address 25 (example)

- 0 0 1 1 0 0 1

4-19

4-20


Table 4.15 HEX switch settings for CAN bus

Activate CAN terminating resistor: S3.2 = "ON“

HEX switch: 0 1 2 3 4 5 6 7 8..F

Baud rate (kbaud)

20 50 100 125 250 500 800 1000 -

Rean

served DIP switches are reserved for future upgrades d must be set to "OFF".


Figure 4.13 Pin assignment of CAN field bus interface

Table 4.16 Pin assignment of CAN field bus interface

Pin Signal Meaning Signal type

3 CANH CAN interface I/O

6 CANL CAN interface I/O

4 GND positioned internally at power supply GND

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

+ 24/35 V

GND LED

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

LED

5

21


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Figure 4.14 Pin assignment of CAN field bus interface in, connector

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Table 4.17 Pin assignment of CAN field bus interface in


1 CAN_SHLD Shield connection

3 CAN_GND internally positioned at power supply GND



Figure 4.15 Pin assignment of CAN field bus interface out, socket

Table 4.18 Pin assignment of CAN field bus interface out


1 CAN_SHLD Shield connection

3 CAN_GND internally positioned at power supply GND



4.4.8 Connecting RS485 field bus interface


• Shielded cable

• Minimum cross section of signal wires:0.25 mm²

• Twisted-pair wires

• Shield earthed at both ends

• Maximum cable length: 400 m


If the compact drive is the last device on the network cable, a terminating resistor must be connected parallel to the field bus cables.

Terminating resistors are integrated into compact drives with DIP switches and they can be activated with the DIP switch.

4-21

4-22


Table 4.19 Terminating resistance

Field bus Terminating resistor

RS485 bus 120 Ο between +RS485 and –RS485

4.4.8.3 Function

The compact drive can be connected as a slave to the following net-works with the RS485 interface:

• RS485 Berger protocol, compatible to the Twin Line series.

The compact drive receives data and commands from a higher-order device on the bus, a master device. The controller sends status informa-tion such as device status and processing status back to the master de-vice as acknowledgement.


The integration of a compact drive into the field bus is described in the CANopen DS301 Technical Documentation in Chapter 4, "CANopen Communications.“

4.4.8.5 Address and baud rate setting

Every device in the network is identified by a unique node address which can be set as desired. In compact drives with DIP switches the address and baud rate are set with the DIP switches. If the compact drive does not have DIP switches, the settings are made with parameters.

4.4.8.6 Compact drives without DIP switches

The compact drive must be connected to a master device over the RS485 interface to set the parameters. If the settings are made after in-stallation, the default field bus settings must be used to access the com-pact drive from the master device.

Onbe

ly one compact drive with default settings is permitted to active on a network.


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dec.Default dec.

Info

RS485.timeout 1:11 (01:0Bh)

Node Guard Timer connection monitoring, time in milliseconds 0=inactive (default=0) Value returns automatically to 0 after a node guard error.

UINT16 0..10000

ms 0 R/W/-

RS485.serBaud 22:1 (16:01h)

Baud rate Following values are allowed: 9600 19200 38400

UINT16 0..38400

- 9600

R/W/rem.

RS485.serAdr 22:2 (16:02h)

Address 1...31 are allowed

UINT16 1..31

- 1

R/W/rem.


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RS485.serFormat 22:3 (16:03h)

Data format Bit 0: 1=no parity, 0=parity on Bit 1: 1=parity odd, 0=parity even Bit 2: 1=8 data bits, 0=7 data bits Bit 3: 1=2 stop bits, 0=1 stop bit Default is 0 = 7-E-1

UINT16 0..15

- 0

R/W/rem.


Meaning Bit assignment

Data type Range dec.

Unit Default dec.

R/W/rem. Info


Table 4.20 Parameters for the RS485 bus

Default settings for the RS485 interface:

• address:1

• Baud rate: 9600

• Data format: 7 Bit Even Parity 1 Stop Bit

4.4.8.7 Compact drives with DIP switches

Figure 4.16 Assignment of RS485 DIP switches

In compact drives with DIP switches the settings for the field bus are de-fined with the DIP switches.

• S1, S2

Setting the field bus address

• HEX

Setting the baud rate

• S3

ON

OFF

1

ON

OFF

ON

OFF

HEXS1

S2S3

0

8

4C

Feldbus-AdresseHigh

RS485-Abschlusswid. (ON=ein)

Feldbus-Baudrate

reserviert (OFF)

2 3 4

Feldbus-AdresseLow

1 2 3 4

1 2 3 4

4

2 1 03Bit

Hex kBaud0 96001 192002 384003..F -

4-23

4-24


Connect terminating resistor

Table 4.21 DIP switch settings for RS485 bus

Table 4.22 HEX switch settings for RS485 bus

DIP switch: S1.1 S1.2 S1.3 S1.4 S2.1 S2.2 S2.3 S2.4

Address bit: - - - 4 3 2 1 0

HEX switch: 0 1 2 3..F

Baud rate [baud] 9600 19200 38400 -

Activate RS485 terminating resistor: S3.1 = "ON“

Noup

n-defined DIP switches are reserved for future grades and must be set to "OFF".


2004

Figure 4.17 Pin assignment of the RS485 field bus interface

Table 4.23 Pin assignment of the RS485 field bus interface


1 FLASH Release for firmware update I

2 +RS485 Serial RS485 interface I/O

5 –RS485 Serial RS485 interface I/O

4 GND internally positioned at power supply GND

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

+ 24/35 V

GND LED

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

LED

3

6

9, V

1.02

, 01.
4.4.9 Connecting 24V signal interface
4.4.9.1 Cable specification

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• Cross section: 0,2 .. 0.6 mm²


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4.4.9.2 Configuring 24V signals


The 24V signals can be configured as input or output by setting the ap-plicable parameters.

Signal inputs Th
e signal inputs are logical LOW at open input or <= 5 VDC. Logical HIGH is signalled with a voltage >= 15 VDC.
Signal outputs W
hen using the signal outputs pin 24 VDC must be externally powered by direct voltage (24 VDC). The signal outputs are short-circuit resistant and switch to plus with logical HIGH.
See the technical data in the data sheet.

More information on configuration Th
e compact drive absorbs energy when decelerating. The amount of the energy dissipation depends on the following factors:
• Magnitude of external moment of inertia

• Specified deceleration ramp

This can increase the power supply to higher values.

For this reason the power supply must not be bridged to the 24-V signal interface (pin 24 VDC).

Use separate power supplies for the compact drive and the sensors.

4.4.9.3 Function

You can assign specific functions to the 24V signals by setting parame-ters.

(Parameter IO.IO0_def, 34:1 to IO.IO3_def, 34:4)

Table 4.24 Functions of the 24V signals

Function possible for signal

Remarks

Positive limit switch IO0 Level can be configured

Negative limit switch IO1 Level can be configured

STOP switch IO0..3 Level can be configured

Reference switch IO0..3 Level can be configured for refer-ence movement to REFZ

Freely usable input IO0..3 Free access via field bus

Freely available output IO0..3 Free access via field bus

Programmable input IO0..3 see chapter 6.3.5 „Programmable inputs and outputs“

Programmable output IO0..3 see chapter 6.3.5 „Programmable inputs and outputs“

Index pulse output IO0 only in units with index pulse encoder

ThST

e external monitoring signals LIMP, LIMN, REF and OP are enabled via parameters

Settings.SignEnabl, 28:13 .

Set the evaluation to active LOW or HIGH via the parameters Settings.SignLevel, 28:14 .

4-25

4-26


For more information see chapter 5 „Commissioning“.


Figure 4.18 Pin assignment of the 24V signal interface

Table 4.25 Pin assignment of the 24V signal interface


1 24VDC external signal initialisation (24 VDC) I

2 IO2 freely usable input or output I/O


4 GND internally at GND of power supply



7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

+ 24/35 V

GND LED

7 1

8 2

9 3

10 4

11 5

12 6

1 2 3

4 5 6

1 2 3

4 5 6

LED


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Figure 4.19 Pin assignment of the 24V signal interface

4

3 11 +24V3 GND4 Signal IO2

DC

4


DC

4


DC


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4.5 Checking wiring


Check the following items:

• Are all cables and connectors safely installed and connected?

• Are any live cables exposed?

• Are the control lines connected correctly?

4-27

4-28


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IclA IFS Commissioning

5 Commissioning



DANGER!

Danger of injury by complex system!

When starting field bus operation the attached controllers are gen-erally out of view of the operator and cannot be directly monitored.

• Only start the system when there are no persons within the actuation zone of the moving system components and the sys-tem can be operated safely.

Failure to follow these instructions will result in death or serious injury.

WARNING!

Danger of personal injury and damage to system parts by un-controlled system operation!

• Do not write to reserved parameters.

• Do not write to parameters before you have understood the function. For more information see the controller manuals.

• Run the first tests without coupled loads.

• Make sure that the system is free and ready for the movement before changing parameters.

• Check the use of the bits during field bus communication: Bit 0 is far right (least significant). Bit 15 is far left (most significant).

• Check the use of the word sequence during field bus communi-cation:

• Do not establish a field bus connection before you have under-stood the communications principles.

Neglect can result in an accident or damage to the system

WARNING!

Danger of injury and damage to system components by un-braked motor!

Faults that result in switching off the power amplifier mean that the motor is no longer actively braked and may run against a mechani-cal stop at high speed.

• Check the mechanical conditions.

• If necessary, use an absorbent mechanical stop or a suitable brake.

Neglect can result in an accident or damage to the system

5-1

Commissioning IclA IFS

5.2 Preparing for commissioning

5-2

The following tests are required before commissioning:

Wiring and connection of all cables and system components

Function of limit switch, if present

One of the following must be available:

• Field bus master device, e.g. PLC or industrial PC

• IdA Easy PC commissioning program

5.3 Running commissioning

5.3.1 The most important settings

Direction of rotation Th
e parameter Motion.invertDir 28:6 can be used to reverse the direction of rotation. In the default setting the compact drive rotates clockwise at positive speeds. The direction is seen by facing the flange face of the motor shaft.
Th28

e new value of the parameter Motion.invertDir, :6 is only imported when the compact drive is switched

on.

• Save the parameter in the EEPROM.

• Switch off the compact drive and then on again.

If ych

ou activate the reversal of the direction of rotation, eck the limit switch wiring again.

• Connect the positive limit switch IO0 on

• Connect the negative limit switch IO1 on

Thme

e positive limit switch is the switch that is triggered by the chanics of the system when:

• without inversion of the direction of rotation: Motor shaft runs clock-wise

• with inversion of the direction of rotation: Motor shaft runs anticlock-wise

5.3.2 Commissioning 24V signal interface

5.3.2.1 Setting 24V signal functions

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The 24V signals can be configured with the parameter IO.IO0_def 34:1 to IO.IO3_def 34:4 as input or as output and assigning spec-ified functions to the 24V signals.
For more information see chapter 4 „Installation“.


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5.3.2.2 Testing 24V signals


Table 5.1 shows the status of the 24-V signals that can be read and writ-ten over the field bus interface and the possible parameter settings.

Data type Unit R/W/

dec.Default dec.

rem. Info

I/O.IO_act 33:1 (21:01h)

Status of the digital inputs and outputs 24V inputs/outputs: Bit 0: IO0 Bit 1: IO1 Bit 2: IO2 Bit 3: IO3 Read provides status of inputs and outputs. Write only changes the status of the outputs.

UINT16 0..15

- 0

R/W/-

I/O.IO0_def 34:1 (22:01h)

Configuration of IO0 0 = input freely usable 1 = input LIMP (with IO0 only) 2 = input LIMN (with IO1 only) 3 = input STOP 4 = input REF 5 = input programmable 128 = output freely usable 129 = output index pulse (*) (with IO0 only) 130 = output programmable (*) only with drives with index pulse encoder

UINT16 0..255

- 1

R/W/rem.

I/O.IO1_def 34:2 (22:02h)

Configuration of IO1 see parameter IO0_def

UINT16 0..255

- 2

R/W/rem.

I/O.IO2_def 34:3 (22:03h)


UINT16 0..255

- 3

R/W/rem.

I/O.IO3_def 34:4 (22:04h)


UINT16 0..255

- 4

R/W/rem.

Table 5.1 Parameters of the inputs and outputs

Testing signal inputs and limit switches

Pr

oceed as follows for testing:

Stimulate the input by, for example, triggering the limit switch or sen-sor manually.

The corresponding bit in parameter IO.IO_act 33:1 must be 1 so long as the input is HIGH.

Testing freely usable signal outputs Pr
oceed as follows for testing:
Write the parameter IO.IO_act 33:1 with the corresponding value to set the associated output to HIGH.

Measure the voltage at the output or check the response to the con-nected actuator.

5.3.2.3 Testing limit switch function

Th
e STOP input is disabled in its default setting.
5-3


Condition: Th

5-4

e limit switch signals are monitored.

For more information see chapter 5.3.2.2 „Testing 24V signals“.

Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

Settings.SignEnabl 28:13 (1C:0Dh)

Signal release for monitoring inputs bit 0: LIMP (pos. limit switch) Bit 1: LIMN (neg. limit switch) Bit 2: STOP (STOP switch) Bit 3: REF (reference switch) Bit value=0: Monitoring is not active Bit value=1: Monitoring is active Note: Monitoring is only active if the relevant IO port is configured as the corresponding function (parameter I/O.IO0_def to IO3_def).

UINT16 0..15

- 3

R/W/rem.

Settings.SignLevel 28:14 (1C:0Eh)

Signal level for monitoring inputs Set here whether errors are triggered at 0 or at 1 level. Bit 0: LIMP Bit 1: LIMN Bit 2: STOP Bit 3: REF bit value 0: Response at 0 level (wire-break security) Bit value 1: Response at 1 level

UINT16 0..15

- 0

R/W/rem.

Status.Sign_SR 28:15 (1C:0Fh)

Saved signal status external monitoring signals Bit 0: LIMP Bit 1: LIMN Bit 2: STOP Bit 3: REF Bit 7: SW stop 0: not enabled 1: enabled Saved signal states of enabled external monitoring signals

UINT16 0..15

- -

R/-/-

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Table 5.2 Parameters for checking the limit switches

You can modify enabling the external monitoring signals LIMP, LIMN and STOP with the parameter Settings.SignEnabl 28:13 and the evaluation to active LOW or HIGH with the parameter Set-tings.SignLevel 28:14 .

Connect the limit switch that limits the working range at positive direction of rotation with LIMP.

Connect the limit switch that limits the working range at negative direction of rotation with LIMN.

Check the function of the limit switch with the parameter Sta-tus.Sign_SR 28:15.

Enable the power amplifier.

(Parameter Commands.driveCtrl 28:1 Bit 1)

Run a "fault reset".


Then in the parameter Status.Sign_SR 28:15 no bit must be set.


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Briefly actuate the limit switch manually.


Then in the parameter Status.Sign_SR 28:15 the correspond-ing bit must be set.


Then in the parameter Status.Sign_SR 28:15 no bit must be set.

5.3.3 Setting phase currents

Select low motor phase currents for commissioning (10% of rated cur-rent) so the compact drive runs at low torque.

Data type Unit R/W/

(dec.)Default (dec.)

rem. Info S.

Settings.I_still 14:1 (0E:01h)

Motor phase current standstill Current given in percent of nominal current.

UINT16 0..100

% 70

R/W/rem.

Settings.I_acc 14:2 (0E:02h)

Motor phase current acceleration / deceleration Current given in percent of nominal current.

UINT16 0..100

% 100

R/W/rem.

Settings.I_const 14:3 (0E:03h)

Motor phase current constant travel Current given in percent of nominal current.

UINT16 0..100

% 100

R/W/rem.

Settings.I_stop 14:4 (0E:04h)

Motor phase current emergency stop Current given in percent of nominal current.

UINT16 0..100

% 100

R/W/rem.

Table 5.3 Parameters for setting phase currents

5.3.4 Testing with relative positioning

Positioning operation can be tested with a "relative positioning" in "point-to-point mode".

WARNING!


• Note that inputs to these parameters are executed by the drive controller immediately on receipt of the data set.

• Make sure that the system is free and ready for movement before changing these parameters


WARNING!

Danger of injury by unexpected acceleration of the motor

• Run the first test movement with coupled loads.

• If the motor is already installed in a plant, ensure that any unex-pected motor movements will not cause any damage.

5-5

5-6


CAUTION!

Hot surfaces can cause burns and damage to system compo-nents!

• Avoid contact with the hot drive.

• Do not place flammable or heat-sensitive components in the immediate vicinity of the drive.

• Check the temperature of the drive during the test run.Neglect can result in an accident or damage to the system

Tools On
e of the following tools must be available:
• Field bus master device, e.g. PLC or industrial PC

• PC commissioning program

Almo

l speed and position information below is based on the tor drive shaft (without gearbox).

Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

PTP.p_relPTP 35:3 (23:03h)

Path and relative positioning start action object: Write access triggers relative positioning in incre-ments

INT32 IInc -

R/W/-

PTP.v_tarPTP 35:5 (23:05h)

Setpoint speed for PTP positioning Default is v_target0

UINT16 1..3000

rpm 60

R/W/-

Table 5.4 Parameters for "point-to-point mode", "relative positioning"

Running test movement Ru

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n the test movement as follows.

Activate the limit switch.


Set the setpoint speed, e.g. 600 rpm.

(Parameter PTP.v_tarPTP 35:5)

Start the "relative positioning", e.g. by 1000 increments.

(Parameter PTP.v_relPTP 35:3)

Check the limit switch function by moving the compact drive slowly and step-by-step to the limit switch.


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5.3.5 Optimising travel behaviour of the motor

Setting slope of ramp En


ter the slopes of the ramp function into the parameter Motion.acc, 29:26. The following formulas can be used to estimate the values for in-put:

Table 5.5 Description of the quantities

Physical quan-tity/ characteristic

Meaning Unit

MM Available torque of motor Nm

ML Load torque Nm

Jtotal Moment of inertia kgm2

α Angular acceleration rad/sec2

Motion.acc Acceleration parameters rev/(min*sec)

Setpoint speed Ththe

e motor setpoint speed depends on the application requirements. Set setpoint speed with the parameter Motion.v_target0, 29:23

for point-to-point mode.

Torque characteristic of motor Thtor

e available torque of the stepper motor depends on the following fac-s:

• Size

• Speed

5-7

5-8


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• Supply voltage 24 V ... 35 V (Dependency only from a specific speed from which the torque decreases greatly)

The dependence of the torque on the speed is shown as a motor char-acteristic in the datasheet.

Figure 5.1 Typical torque characteristic of a stepper motor

From a specific speed the available torque decreases rapidly as the speed increases. The available acceleration is also correspondingly re-duced.


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5.4 IclA Easy operating software


The IcI Easy operating software includes a graphical user interface and can be used for commissioning, diagnostics and testing.

Functions

IclA Easy offers the following functions

• Input and display of device parameters

• Archiving and duplication of device parameters

• Display of status and device information

• Positioning of the motor with the PC

• Initialisation of reference movements

• Access to all documented parameters

• Diagnosis of operational malfunctions

Requirements and interfaces

IclA Easy runs on a PC under the Microsoft Windows 98/ME/NT/2000 operating system. The program communicates with the compact drives over RS485, CAN or Profibus DP using a field bus converter. The fol-lowing field bus converters are supported:

face Required field bus Supplier
Compact drive interface PC interconverter
RS485 USB NuDAM ND-6530 http://www.acceed.com

5-9


RS485 RS232 NuDAM ND-6520 http://www.acceed.com

CAN USB PCAN-USB, Peak http://www.peak-system.com

CAN parallel PCAN dongle, Peak http://www.peak-system.com

Profibus DP PCMCIA Siemens CP5511/12 http://www.ad.siemens.com

Profibus DP PCI Siemens CP5611/13 http://www.ad.siemens.com

Compact drive interface PC interface Required field bus converter

Supplier

5-10

Reference source

The IclA Easy software is included on the IclA CD-ROM. The latest ver-sion is available for download from the Internet at http://www.berger-lahr.com .

5.4.1 Firmware update over field bus

IclA Flashkit

The IclA Flashkit can be used to update the firmware of the IclA compact drives. The Flashkit supports the same field bus converters as the IcIA Easy software. Please contact your local representative to obtain the Flashkit and for support with using it.

Finding the firmware version

The firmware number and the firmware version of your IclA compact drive can be found with IclA Easy by opening the device information win-dow.

Information on the following parameters can be found over the field bus:


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dec.Default dec.

Info

Config.PrgNo 1:1 (01:01h)

Firmware number High Word: Program number Low Word: Program types Example: PR802.10 High Word:802 Low Word: 10

UINT32 - - R/-/-

Config.PrgVer 1:2 (01:02h)

Firmware version High Word: Program version Low Word: Program revision Example: V1.003 High Word:1 Low Word: 3

UINT32 - - R/-/-

Config.OptPrgNo 13:11 (0D:0Bh)

Firmware number in the option module Identifies the program number of the internal Profibus interface in drives with Profibus.

UINT32 - - R/-/-

Config.OptPrgNo 13:12:00 (0D:0Bh)


UINT32 - - R/-/-


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IclA IFS Operation

6 Operation

6.1 Basics

Allmo


speed and position information below is based on the tor drive shaft (without gearbox).

6.1.1 Default parameter values

The compact drive is supplied with default parameter values, which can be adapted to the requirements of the system.

Adjustable parameter values:

• Accelerations

– Acceleration and deceleration in general

(Parameter Motion.acc, 29:26)

– Deceleration for "Quick-Stop“

(Parameter Motion.dec_Stop, 28:21)

• Definition of direction or rotation

(Parameter Motion.invertDir, 28:6)

• Motor phase currents

– Standstill

(Parameter Settings.I_still, 14:1)

– Acceleration and deceleration

(Parameter Settings.I_acc, 14:2)

– Constant movement

(Parameter Settings.I_const, 14:3)

– Emergency stop

(Parameter Settings.I_stop, 14:4)

• Signal interface

– Definition of I/O signals

(Parameter group I/O)

– Enabling limit switches

(Parameter group I/O)

• User device name

(Parameter Settings.name1, 11:1; Settings.name2, 11:2)

6-1

Operation IclA IFS

6.1.2 External monitoring signals

6-2

You can enable, adjust and monitor the external monitoring signals.

Available external monitoring signals:

• Axis signals

– Positive limit switch "LIMP“

– Negative limit switch "LIMN“

– Stop switch STOP

– Reference switch "REF“

• Software stop "SW-STOP“

6.1.2.1 Axis signals

Configuring axis signals

Bebe

fore you can use the external monitoring signals, the I/O signals must configured for this function (parameter group I/O).


Setting signal level of the axis signals

Afito

ter configuring the IO signals, set the signal level for the various mon-ring inputs.

(Parameter Settings.SignLevel, 28:14)

• Value 0 : Response at 0 level (wire-break security)

• Value 1 : Response at 1-level


Enabling axis signals

Thing

e last step is to enable the external monitoring signals so the incom- signals are evaluated

(Parameter Settings.SignEnable, 28:13).


Reading axis signals

Thbe

e stored signal status of the enabled external monitoring signals can read out at any time.

(Parameter Status_SignSR, 28:15).


Monitoring axis signals

Ex

Th

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ternal monitoring signals LIMN and LIMP

e two limit switches are monitored during operation. If the compact drive traverses into a limit switch range, the compact drive stops the mo-tor with the set Quick-Stop deceleration. (Parameter Motion.dec_Stop, 28:21)

If the compact drive traverses into the limit switch range, the event is saved. (Parameter Status.Sign_SR, 28:15, Bit 0 (LIMP) or Bit 1 (LIMN)

Set up the limit switches so the compact drive cannot traverse beyond the limit switch range. For example, longer actuation lugs can be used.


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IclA IFS Operation

Retraction Th


e compact drive can be traversed out of the limit switch range at any time with a reference movement.

For more information see chapter 6.2.3 „Referencing“.

Apart from using a reference movement, you have the following option for traversing the compact drive out of the limit switch range:

Set the limit switch to "Disable".

(Parameter IO.IO_act, 33:1, Bit 0 ["LIMP“] or Bit 1 ["LIMN“])


(Parameter Commands.driveCtrl, 28:1, Bit 3)

Retract the compact drive with any operating mode.

Set the limit switch to "Enable".

(Parameter IO.IO_act, 33:1, Bit 0 ["LIMP“] or Bit 1 ["LIMN“])

External monitoring signal STOP

The external monitoring signal STOP stops the motor with a "Quick-Stop“. The signal is stored in the parameter Status.Sign_SR, 28:15, Bit 2 .

How to initiate further processing:

Reset the external monitoring signal STOP at the signal input.



Initiate a new movement job.

The external monitoring signal STOP is enabled by the parameterSet-tings.SignEnabl, 28:13, Bit 2 .

The signal level of the external monitoring signal STOP is set by the pa-rameter Settings.SignLevel, 28:14, Bit 2.

External monitoring signal REF

The external monitoring signal REF does not need to be enabled for the reference movement. If the external monitoring signal REF is enabled, the reference switch takes on the function of an additional stop switch.

6.1.2.2 External monitoring signal "software stop“ (SW-STOP)

The external monitoring signal SW-STOP is a field bus command. (Parameter Commands.driveCtrl, 28:1, Bit 2)

The external monitoring signal SW-STOP brings the compact drive to an immediate standstill with the specified Quick-Stop deceleration. (Parameter Motion. dec_Stop, 28:21)

After an external "SW-Stop“ monitoring signal the compact drive switches to the "Quick-Stop“ operating status. Current continues to flow through the motor, but it can no longer be positioned.

Carry out one of the following steps to continue processing:


6-3

6-4

Operation IclA IFS


Note that in the event of a "fault reset" any other errors that have occurred will also be reset!

Run a "Quick-Stop release".


After acknowledgment of the external monitoring signal "SW-Stop“, the compact drive remains in the "operation enable" mode and a new posi-tioning command can be sent.

6.1.3 Positioning limits

You can move the compact drive to any point of the positioning range by entering an absolute position.

The positioning range is –231 to +231 increments (Inc).

The positioning resolution for stepper motor drives is 20,000 increments per revolution based on the motor drive shaft (without gearbox).

Figure 6.1 Positioning range and range overrun

If the motor overruns the positioning limits, the internal monitoring signal for the position overrun (parameter Status.WarnSig, 28:10, Bit 0) is set and the working range is moved by 232 increments.

If the compact drive was referenced previously, the bit ref_ok (Param-eter Status.xMode_act, 28:3, Bit 5) is also reset.

If the motor returns to the valid range, the internal monitoring signal for the compact drive remains set.

Anov

1.20

04

absolute positioning cannot be run after a position errun.

.02,

0
Resetting signal To
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reset the signal, run one of the following modes:

• "Reference movement", see chapter 6.2.3 „Referencing“

• "Dimension setting", see chapter 6.2.3 „Referencing“


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IclA IFS Operation


Operating modes with position overrun

Modes in which the position limits can be overrun:

• "Speed mode“

• "Relative positioning" in "point-to-point mode"

6.1.4 Internal monitoring signals

The internal monitoring signals are for monitoring the compact drive it-self.

The internal monitoring signals are always enabled.

Available internal monitoring signals (parameter Status.WarnSig, 28:10 and Status.FltSig, 28:17):

• Blocking error, only for compact drives with index pulse

• Hardware error

• Internal system error

• Motor phase short circuit

• Field bus nodeguard error

• Profile generator position overrun

• Field bus protocol error

• Overvoltage or undervoltage error

• Overtemperature error

For more information see chapter 7 „Diagnostics and troubleshooting“.

Reading stored internal monitoring signals

Thram

e signal status of the enabled internal monitoring signal is saved. (Pa-eter Status.FltSig, 28:17)

If an internal monitoring error occurs, the corresponding bit in the pa-rameters Status.FltSig, 28:17 andStatus.FltSig_SR, 28:18 is set.

When the cause of the error is rectified, the bit in parameter Sta-tus.FltSig, 28:17 is automatically reset.

The bit in parameter Status.FltSig_SR, 28:18 is only reset by a "fault reset" (parameter Commands.driveCtrl, 28:1, Bit 3). This also allows errors that only occur briefly to be diagnosed.

6-5

Operation IclA IFS

6.1.5 Operating states and transitions

6-6

ating states Operating transitions

9, V

1.02

, 01.

2004

Oper

1 Initialisation of the device electronics and internal self-test 2 The power amplifier is not ready to switch on. The device initialises the parameter 3 Switching on the power amplifier is blocked. The compact drive monitors the power supply and responds if the power rises above the threshold value. 4 The power amplifier is ready to switch on and is set to "Disable“. 6 The power amplifier is set to "Enable“. The motor has current. The compact drive is ready for operation. 7 The "Quick-Stop“ operating function is enabled. 8 Error response 9 Compact drive is in error status

A Automatic transition B If operating status 2 was successful, an auto-matic transition occurs, otherwise no transi-tion. C If the power rises above the threshold value an automatic transition occurs. D The transition is made by writing the parame-ter Commands.driveCtrl, 28:1, Value 2 E The transition is made by writing the parame-ter Commands.driveCtrl, 28:1, Value 1For example, this transition can be used to switch off power to the motor for ser-vice or access to the system. FIf the power falls below the threshold value, an automatic transition occurs. G Causes: • error of error classes 1 or 2 • "Quick-Stop“ by writing the parameter Commands.driveCtrl, 28:1, Value 4 H The motor is released. The cause is an error of error class 2 I The motor is released. The cause is an error of error class 3 or 4. J An error of error class 1 or a "SW-Stop“ were acknowledged by writing the parameter Commands.driveCtrl, 28:1, Value 8 ("Fault Reset“) or Value 16 ("Quick-Stop Release“) K An error or error class 3 or 4 was acknowl-edged by writing the parameter Com-mands.driveCtrl, 28:1, Value 8 (Fault Reset)

^ grey background: power amplifier switched on

2 Not readyto switch on

3 Switch ondisabled

4 Ready toswitch on.

6 Operationenable

7 Quick-Stopactive

8 Fault reactionactive

9 Fault

1 Start

C

J

D

G

E

F

K

A

B

H

I
00
98 4

41 1

13 1

8

Table 6.1 Operating states and transitions


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Reading current operating status

Th(P


e current operating status can be read at any time over the field bus. arameter Status.driveStat, 28:2).

Bit Meaning

0..3 Operating status of controller, bit-coded

For more information see 6.1.5 „Operating states and transitions“

5 Fault message from internal monitoring

The bit is set if at least one bit is set in parameter Status.FltSig_SR, 28:18 .

The cause of the error can be read from the parameter Status.FltSig_SR, 28:18.

6 Fault message from external monitoring

The bit is set if at least one bit is set in parameter Status.Sign_SR, 28:15 .

The cause of the error can be read from the parameter Status.Sign_SR, 28:18.

7 Warning message

The bit is set if at least one bit is set in parameter Status.WarnSig, 28:10 .

The cause of the error can be read from the parameter Status.WarnSig, 28:10 .

12..15 Monitoring the operating status

The bits have a meaning specific to the operating mode.

For more information see chapter 6.2 „Operating modes“

6.1.6 Operating-mode-specific status information

Every mode has one acknowledgment parameter:

• Speed mode

(Parameter VEL.stateVel, 36:2)

• Point-to-point mode

(Parameter PTP.statePTP, 35:2)

• Reference movement

(Parameter Homing.stateHome, 40:2)

Information stored in every acknowledgment parameter:

• Bit 0: "LIMP“ error

6-7

6-8

Operation IclA IFS

Error message by positive limit switch

• Bit 1: "LIMN“ error

Error message by negative limit switch

• Bit 2: Error STOP

Error response with Quick-Stop

• Bit 3: "REF“ error

Error message by reference switch

• Bit 7: "SW-Stop“

• Bit 12: operating-mode-specific

• Bit 13: operating-mode-specific

• Bit 14: xxx_end

Operating mode finished

• Bit 15: xxx_err

Error occurred

Operating-mode-specific status information can be found in chapter 6.2 „Operating modes“.

If an error occurs during operation, only bit 15 xxx_err is set immedi-ately.

In the case of an error of error class 1 or 2 the motor is then brought to a standstill by "Quick-Stop" and then bit 14 xxx_end is set.

In the case of an error of error class 3 the power amplifier is immediately switched off and bit 14 and 15 are set before the motor is released.

6.1.7 Miscellaneous status information

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In addition to the external and internal monitoring signals, there is status information that contains general information on the compact drive.
Other available status information:

• Current operating mode

(Parameter Status.action_st, 28:19; Status.xMode_act, 28:3)

• Speed in rpm

– Speed of the rotor position setpoint value

(Parameter Status.n_pref, 31:45)

– Actual speed 0

(Parameter Status.n_act, 31:9)

– Actual speed of the travel profile generator

(Parameter Status.n_profile, 31:35)

– Setpoint speed of the movement profile generator


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(Parameter Status.n_target, 31:38)

• Speed in Inc/s

– Speed of the rotor position setpoint value

(Parameter Status.v_pref, 31:28)

– Actual speed

(Parameter Status.v_act, 31:2)

– Setpoint speed

(Parameter Status.v_ref, 31:1)

• Position

– Position of rotor position setpoint value

(Parameter Status.p_ref, 31:5)

– Motor position

(Parameter Status.p_act, 31:6)

– Target position of the travel profile generator

(Parameter Status.p_target, 31:30)

– Actual position of the travel profile generator

(Parameter Status.p_profile, 31:31)

• Voltages

– DC link voltage

(Parameter Status.UDC_act, 31:20)

• Temperatures

– Temperature of power amplifier

(Parameter Status.TPA_act, 31:25)

6.2 Operating modes

The compact drive has the following operating modes:

• "Speed mode“

• "Point-to-point mode“

• "Referencing“

The operating modes represent various options for positioning. The pa-rameters of the modes can be set for the requirements of the system.

6-9

Operation IclA IFS

Switching operating mode

Acco

6-10

, 01.

2004

tion commands are used to switch between operating modes. Action mmands are special parameters that trigger an action when they are

written.

A new mode can only be started after the old one has been terminated.

The termination of an operating mode can be read out with the following parameters:

• Operating-mode independent

– (Parameter Status.driveStat, 28:2, Bit 14

• Operating-mode independent

– "Speed mode“

(Parameter Vel.stateVel, 36:2, Bit 14)

– "Point-to-point mode“

(Parameter PTP.statePTP, 35:2, Bit 14)

– "Reference movement“

(Parameter Homing.stateHome, 40:2, Bit 14)

An operating mode is terminated under the following conditions:

• "Speed mode“:drive standstill

• "Point-to-point mode“:drive standstill

• "Reference movement“:drive standstill

• "Dimension setting“:immediately after dimension setting

Parameters for starting a new operating mode:

• "Speed mode“

(Parameter VEL.velocity , 36:1)

• "Point-to-point mode“ : "absolute positioning“

(Parameter PTP.p_absPTP , 35:1)

• "Point-to-point mode“ : "relative positioning“

(Parameter PTP.p_relPTP , 35:3)

• "Reference movement“

(Parameter Homing.startHome, 40:1)

• "Dimension setting“

(Parameter Homing.startSetP, 40:3)

For more information see chapter 6.2 „Operating modes“.

9, V

1.02
Operating-mode independent
setting optionsSe

•

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tting options applicable for all operating modes:

Acceleration and deceleration behaviour with the "ramp setting" function

• Deceleration behaviour with the "Quick-Stop“ function

• Shifting the zero point with the "dimension setting" operating mode


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6.2.1 Speed mode


In speed mode a setpoint speed is specified for the motor, and move-ment is initiated with no defined finishing point.

Events that terminate a movement at setpoint speed:

• Transmission of the setpoint speed = 0 (zero)

• "Quick-Stop“

• Power amplifier set to "disable“

• Error

WARNING!





Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

VEL.velocity 36:1 (24:01h)

Start with setpoint speed in speed-profile mode action object: Write access triggers movement

INT16 -3000..3000

rpm -

R/-/-

VEL.stateVEL 36:2 (24:02h)

Acknowledgement: Speed profile mode Bit15: vel_err Bit14: vel_end Bit13: setpoint speed reached Bit7: SW_STOP Bit3: error REF Bit2: error STOP Bit1: error LIMN Bit0: error LIMP

UINT16 - -

R/-/-

Table 6.2 Parameters of the "speed mode"

Setting options Th
e following setting options are available in speed mode
• Setpoint speed

– Unit: rpm

– Value range: 3000 … 3000 rpm

– Resolution: rpm

Starting speed mode As
soon as a speed value is sent to the compact drive with the param-eter VEL.velocity, 36:1 the compact drive switches to speed mode and accelerates to the setpoint speed.
Write the parameter VEL.velocity, 36:1 with a value not equal to 0 to start the speed mode.

6-11

Operation IclA IFS

Monitoring speed mode Th

6-12

e setpoint speed can be changed at any time during speed mode:

• Setpoint speed

(Parameter VEL.velocity, 36:1)

The parameter VEL.stateVel, 36:2 can be used to read the status of the speed mode:

• Setpoint speed reached

(Bit 13)

• Speed mode ended

(Bit 14: vel_end)

• Error

(Bit 15: vel_err)

Position overrun

In speed mode the compact drive can overrun the position range (32 bit).

This is not an error for the compact drive; speed mode continues unchanged. However, the following monitoring signals, which can be read via the status parameters, are set or reset:

• Parameter Status.WarnSig, 28:10, Bit 0 is set

• Parameter Status.xMode_act, 28:3, Bit 5 is reset

This shows that the compact drive has been referenced.

For more information see chapter 6.2.3 „Referencing“.

Stopping compact drive Th

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e following options are available to stop the compact drive in speed mode over the field bus:

• Set setpoint speed to "0"

(Parameter VEL.velocity, 36:1)

• Quick-Stop via field bus control word

The compact drive comes to a standstill at the "Quick-Stop“ decel-eration.

(Parameter Commands.driveCtrl, 28:1, Setzen von Bit 2)

The compact drive is also stopped in the event of an error. This is shown by parameter VEL.state, 36:2, Bit 15.

The parameter VEL .stateVel, 36:2 shows information on the pro-cessing status.


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6.2.2 Point-to-point mode (PTP mode)


In point-to-point mode the motor is positioned from a point A to a point B with a positioning command.

WARNING!





Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

PTP.p_absPTP 35:1 (23:01h)

Target position and absolute positioning start action object: Write access triggers absolute positioning in incre-ments

INT32 Inc -

R/W/-

PTP.StatePTP 35:2 (23:02h)

Acknowledgment: PTP positioning Bit15: ptp_err Bit14: ptp_end Bit13: Set position reached Bit7: SW_STOP Bit3: error REF Bit2: error STOP Bit1: error LIMN Bit0: error LIMP

UINT16 - -

R/-/-



INT32 IInc -

R/W/-

PTP.continue 35:4 (23:04h)

Continuation of an interrupted positioning The target position is specified with the preceding positioning command. The value transferred here is not relevant for the positioning.

UINT16 - 0

R/W/-



UINT16 1..3000

rpm 60

R/W/-

Table 6.3 Parameters of the "point-to-point mode"

Setting options Th
e positioning path can be entered in two ways:
• Absolute positioning, reference point is the zero point of the axis

6-13

6-14

Operation IclA IFS

• Relative positioning, reference point is the current position of the motor

Figure 6.2 Difference between absolute and relative positioning

Starting point-to-point mode

AsPT

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soon as the positioning in the parameters PTP.p_absPTP, 35:1 or P.p_relPTP, 35:3 is sent, the compact drive switches to PTP

mode and starts the positioning at the setpoint speed stored in param-eter PTP.v_tarPTP, 35:5 .

Starting absolute positioning

An absolute positioning can only be started if the drive is referenced (see Referencing). The field bus status word Bit ref_ok shows whether the drive is referenced.

Procedure for starting an absolute positioning:

set the setpoint speed with the parameter PTP.v_tarPTP, 35:5 .

Start the absolute positioning by sending the absolute position with the parameter PTP.p_absPTP, 35:1.

An absolute positioning cannot be started after a position overrun, be-cause the absolute position reference is lost by the position overrun.

The position overrun is shown in the parameter Status.WarnSig, 28:10, Bit 0 .

The lost absolute position reference is shown by resetting the parameter Status.xMode_act, 28:3, Bit 5 .

Starting relative positioning

A relative positioning can also be run with a drive that has not been ref-erenced.

Procedure for starting a relative positioning:

set the setpoint speed with the parameter PTP.v_tarPTP, 35:5 .

Start the relative positioning by sending the relative position with the parameter PTP.p_relPTP, 35:3.

Continuing PTP mode

If a positioning process is interrupted, e.g. by an external stop signal, processing can be continued and completed by writing to the 'PTP.con-tinue' parameter. The cause of the interruption must be disabled first and a FaultReset must have been run. The value sent with "PTP.continue“ is not evaluated.


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Monitoring point-to-point mode

Thce


e parameters PTP.statePTP, 35:2 can be used to query the pro-ssing status.

• Setpoint position reached and point-to-point mode finished. Not sig-nalled if movement was interrupted.

(Bit 13)

• Point-to-point mode finished

(Bit 14: ptp_end)

• Error

(Bit 15: ptp_err)

Finishing point-to-point mode

Co

•

nditions that finish point-to-point mode:

Target position is reached, motor stopped

(Parameter PTP.statePTP, Bit 14)

• The compact drive is stopped as a result of an error. This is shown by parameter PTP.statePTP, 35:2, Bit 15.

• Field bus command "Quick-Stop"

(Write the value 4 in parameter Commands.driveCtrl, 28:1)

The compact drive comes to a standstill at the "Quick-Stop“ decel-eration.

• Changing the setpoint speed to "0".

(Parameter PTP.v_tarPTP, 35:5)

This allows the compact drive to be stopped at any time at the stan-dard deceleration.

If the setpoint speed is set to "0“, the compact drive is only stopped temporarily! This means that as soon as the setpoint speed is set to a value unequal to "0", the compact drive will start again immedi-ately.

6.2.3 Referencing

WARNING!





6.2.3.1 Overview

In "Referencing" mode, an absolute scale reference of the motor posi-tion at a defined axis position is established.

There are two types of referencing:

• Reference movement

6-15

6-16

Operation IclA IFS

Specification of the scale reference by approaching a limit or refer-ence switch.

• Dimension setting

A defined position on the axis is approached with the reference move-ment. The defined position is specified by a mechanical switch:

• Limit switch

• Reference switch REF

• Index pulse at the shaft (only in compact drives with index pulse)

A scale reference is automatically created when the position has been reached. This makes the position into an absolute user-defined position RefAppPos (generally "0“, i.e. zero position).

Depending on the type of reference movement, the required "LIMN", "LIMP" and "REF" signals must be wired.


Unused monitoring signals must be disabled or connected to 24 V.

A reference movement must be completed for the new reference point to be valid. If a reference movement is interrupted, it must be restarted.

The parameter Homing.RefAppPos, 40:11 can be used to set the user-defined position (= user-defined zero point) to the reference point (= machine zero point).

There are six standard reference movements:

• Movement to negative limit switch "LIMN“

• Movement to positive limit switch "LIMP“

• Movement to reference switch "REF“ with first movement in nega-tive direction of rotation

• Movement to reference switch "REF“ with first movement in positive direction of rotation

• Movement to index pulse with movement in negative direction of rotation (only for compact drives with index pulse)

• Movement to index pulse with movement in positive direction of rotation (only for compact drives with index pulse)

Monitoring reference movement

Thpr

e parameter Homing.stateHome, 40:2 can be used to query the ocessing status.

The Parameter Status.xMode_act, 28:3, Bit 5 is set if the ref-erence movement was successful.

004

Ending reference movement

Co

•

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nditions the end the reference movement:

The compact drive has reached the target position and has stopped.

• Error response

• Quick-Stop via field bus command


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Special features of reference position

Thpro


e parameter Homing.stateHome, 40:2 shows information on the cessing status.

The positioning drive saves the position after being switched off, there-fore it remains permanently referenced. However, the drive loses its ref-erencing in the following cases:

• If it traverses beyond the positioning limits -231 ... +231 in point-to-point relative or speed modes.

• If a running reference movement is interrupted.

• If the drive is rotated when switched off.

Attention: Because of the encoder in use the drive only has a 50% chance of detecting that the motor was rotated when it starts up.

• If the drive is switched off with the motor running and the voltage drops so fast that the microprocessor does not have time to save the position at standstill.

The field bus process data and the parameter Status.xMode_act, 28:3 in bit ref_ok signals whether the drive is referenced.

Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

Homing.startHome 40:1 (28:01h)

Start of referencing mode action object: Write access triggers reference movement from 1: LIMP 2: LIMN 3: REFZ neg. direction of rotation 4: REFZ pos. direction of rotation 5: Index pulse neg. sense of rotation 1) 6: Index pulse pos. sense of rotation 1) 7: Blocking movement neg. sense of rotation 2) 8: Blocking movement pos. sense of rotation 2) Comments: 1) drives with index pulse only 2) drives with EC motor only

UINT16 1..8

- -

R/W/-

Homing.stateHome 40:2 (28:02h)

Acknowledgment: Referencing Bit15: ref_err Bit14: ref_end Bit7: error SW_STOP Bit3: error REF Bit2: error HW_STOP Bit1: error LIMN Bit0: error LIMP

UINT16 - -

R/-/-

Homing.startSetp 40:3 (28:03h)

Dimension setting to dimension setting position action object: Write access triggers dimension setting Only possible with motor at standstill.

INT32 Inc -

R/W/-

Homing.v_Home 40:4 (28:04h)

Setpoint speed for searching for switch UINT16 1..3000

rpm 60

R/W/rem.

Homing.v_outHome 40:5 (28:05h)

Setpoint speed for retraction from switch UINT16 1..3000

rpm 6

R/W/rem.

Homing.p_outHome 40:6 (28:06h)

Max. run-off Default value = 200,000 = 10 revolutions

UINT32 1..4294967295

Inc 200000

R/W/rem.

6-17

Operation IclA IFS

Homing.p_disHome 40:7 (28:07h)

Safety distance After leaving the switch the drive is positioned over a defined path to the working range and this is defined as a reference point.

UINT32 1..4294967295

Inc 200

R/W/rem.

Homing.RefSwMod 40:9 (28:09h)

Processing sequence during reference movement to REF Bit0: direction of movement withdrawal path 0: Withdrawal in positive direction 1: Withdrawal in negative direction Bit1: direction of movement safety distance 0: in positive direction 1: in negative direction

UINT16 0..3

- 0

R/W/rem.

Homing.RefAppPos 40:11 (28:0Bh)

Application position at reference point On completion of reference movement the position value is set at the reference point. This automatically defines the application zero point.

INT32 Inc 0

R/W/rem.

Homing.p_diffind 40:12 (28:0Ch)

Start position distance - index pulse after reference movement Absolute value of the position difference between start position and index pulse. Can be read to check whether reference movement with index pulse processing can be safely reproduced.

UINT16 0..20000

Inc -

R/-/-




Unit Default dec.

R/W/rem. Info

6-18

Table 6.4 Parameters of the "referencing" mode

6.2.3.2 Reference movement to limit switch LIMN/LIMP

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Starting reference movement to positive/negative limit switch

Example:

The principal sequence of a reference movement to a limit switch is ex-plained by a reference movement to the negative limit switch "LIMN" concluding with a movement to the safety distance Figure 6.3.

Figure 6.3 Reference movement towards negative limit switch LIMN con-cluding with movement to safety distance

LIMN LIMP

M

R-

"p_outHome""v_Home""p_disHome"

"v_outHome"


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1 Movement at search speed (parameter Homing.v_Home, 40:4) in direction of negative limit switch "LIMN“. The compact drive stops after detecting the switching edge of the negative limit switch "LIMN“.

2 Moves at retraction speed back to the switching edge of the limit switch (parameter Homing.v_outHome, 40:5)

The maximum travel distance for searching the switching edge can be restricted with the parameter Homing.p_outHome, 40:6. If the switching edge is not found in this distance, the reference movement is interrupted with an error.

3 Movement at retraction speed to safety distance (parameter Hom-ing.p_disHome, 40:7)

Start reference movement to LIMN/LIMP

Pr

ocedure:

Set the search speed. (Parameter Homing.v_Home, 40:4)

Set the retraction speed. (Parameter Homing.v_outHome, 40:5).

Set the safety distance. (Parameter Homing.p_disHome, 40:7).

Start the reference movement to the positive limit switch LIMP. (Parameter Homing.startHome = 1, 40:1)

or to the negative limit switch LIMN. (Parameter Homing.startHome = 2, 40:1)

6.2.3.3 Reference movement to reference switch "REF"

It is not necessary to enable the "REF" reference switch for a reference movement to the "REF" reference switch. The signal level of the refer-ence switch "REF“ can be inverted with the parameter Set-tings.SignLevel,28:14, Bit 3 .

6-19

6-20

Operation IclA IFS

Example

Reference movements to reference switch "REF" with first movement in positive sense of rotation

LIMN LIMPREF

M

Ia

Ib

IIa

IIb

III

IV

12345 x

x

x

x

x

x

x

Figure 6.4 Reference movement to reference switch "REF" with first move-ment in positive sense of rotation

1 Movement at search speed

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2 Position after stop from search speed

3 Movement at retraction speed

4 Target position

5 Reference switching edge


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Figure 6.4 shows six options for a reference movement to the "REF" ref-erence switch with the first movement in the positive direction of rotation.

Table 6.5 Types of reference movements

If a reference movement was started in the wrong direction of rotation, the compact drive meets a limit switch. The reference movement is in-terrupted and must be restarted in the correct direction of rotation.

This can be avoided by running a reference movement to one of the limit switches before a reference movement to the "REF" reference switch.

If all three movements, search movement, retraction path and safety dis-tance are set to the same direction during a reference movement to REF, the drive does not move back in any case. If the safety distance is al-ready overtravelled during the switch search because the speed was set too high, the reference movement stops with an error.

Case Direction: Withdrawal path

Direction: Safety distance

I. negative negative

II. negative positive

III. positive positive

IV. positive negative

Starting reference movement to REF

Pr

ocedure:

Set the search speed (parameter Homing.v_Home, 40:4).

Set the retraction speed (parameter Homing.v_outHome, 40:5)

Set the movement directions for the retraction path and the safety distance Homing.RefSwMod, 40:9, Bit 0 bzw. 1(parameter ).

Set the safety distance (parameter Homing.p_disHome, 40:7)

Start the reference movement to the "REF" reference switch with first movement in negative direction of rotation (parameter Homing.startHome = 3, 40:1)

or with first movement in positive direction of rotation (parameter Homing.startHome = 4, 40:1)

6.2.3.4 Reference movement to index pulse (optional)

The reference movement to index pulse is only available in compact drives with index pulse. The index pulse is a fixed point on the shaft that sends one pulse per revolution at the same angular setting.

A reference movement to index pulse can be used to arrive at an exact absolute reference from an inexact absolute reference (e.g. after a ref-erence movement to a switch that does not respond accurately).

After starting a reference movement to index pulse, the compact drive searches for the index pulse within the next motor revolution and stops exactly on the edge of the index pulse.

6-21

Operation IclA IFS

Reproducibility W

6-22

ith reference to reproducibility ensure that the motor is not in the vicin-ity of the index pulse because of position tolerances. On completion of the reference movement check this as follows:

The distance between the start position and the edge of the index pulse is stored in the parameter Homing.p_diffind, 40:12 .

If the calculated value of Homing.p_diffind, 40:12 is between ca. 2000 and 18000 increments, corresponding to 10% or 90% of a motor revo-lution, the reference movement can be safely reproduced.

Start reference movement to index pulse

Pr

•

ocedure:

Start the reference movement to index pulse

with first movement in the negative direction of rotation

(Parameter Homing.startHome = 5, 40:1)

or with first movement in positive direction of rotation

(Parameter Homing.startHome = 6, 40:1).

6.2.3.5 Dimension setting

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An absolute position reference is defined depending on the current mo-tor position in dimension setting.

The position value is sent in increments in the parameterHoming.startSetP, 40:3 .

Dimension setting can only be carried out when the motor is at a stand-still. Dimension setting can be used to carry out continuous absolute po-sitioning without exceeding the positioning limits.


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Example:

The dimension setting moves the coordinate system, thereby changing all positions equally. In this example the compact drive is at position 25,000 before dimension setting. A dimension setting to position 100,000 is run by assigning the parameter Homing.startSetP, 40:3 to the value 100,000. The position of the compact drive is now 100,000 and the positioning range has been changed from -25,000 … 75,000 to 50,000 … 150,000.

Figure 6.5 Dimension setting

1 Settings before dimension setting

2 Settings after dimension setting: The position of the compact drive (25,000) has been assigned the value 100,000.

25.000-25.000 75.000

(50.000 Inc) (50.000 Inc)

(1) M

100.00050.000 150.000

(50.000 Inc) (50.000 Inc)

(2) M

25.000

100.000

6-23

6-24

Operation IclA IFS

Dimension setting can be used to carry out a continuous motor move-ment without exceeding positioning limits.

Figure 6.6 Positioning by 4000 increments with and without dimension set-ting

This method avoids crossing absolute position limits during a positioning operation because the zero point is continuously tracked.

1 The motor positions 2000 increments with the start on the reference point.

2 After triggering a new movement job at 2,000 Inc the new target position without dimension setting is 4,000 Inc

3 The current position is set in user-defined units at the dimension setting position by calling the referencing by dimension setting.

4 After triggering a new movement order by 2,000 increments the new tar-get position with dimension setting is 2,000 increments.

Parameter

Data type Unit R/W/

004



dec.Default dec.

rem. Info



INT32 Inc -

R/W/-

2, 0

1.2

Table 6.6 Parameters for "dimension setting" mode

189

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Running dimension setting

Pr

0098

441

113

ocedure for dimension setting:

Write the new dimension setting position.

(Parameter Homing.startSetP, 40:3)


0098

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113

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IclA IFS Operation


The command is executed immediately and the "dimension setting" mode is then ended.

Monitoring dimension setting

Thpro

e parameter Homing.stateHome, 40:2 can be used to query the cessing status.

The Parameter Status.xMode_act, 28:3, Bit 5 is set if the di-mension setting was successful.

Ending dimension setting

Thse

e "dimension setting" mode is ended immediately after the dimension tting command has been executed.

6.3 Operating functions

6.3.1 Definition of direction of rotation

The direction of rotation of the compact drive can be reversed.

Thbe

e direction of rotation for the compact drive should only defined once during commissioning. The definition of

direction of rotation is not intended for changing the direction of movement during operation.

Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

Motion.invertDir 28:6 (1C:06h)

Definition of the direction of rotation Value 0: no inversion of direction Value 1: direction reversal active No reversal of direction means: A clockwise direction of rotation is defined as the motor shaft rotat-ing clockwise as the observer faces the end of the protruding shaft. Note: New value only imported when the drive is switched on.

UINT16 0..1

- 0

R/W/rem.

Table 6.7 Parameters of the "definition of direction of rotation" function

6.3.2 Create travel profile

The acceleration and deceleration behaviour of the motor is controlled by creating a travel profile. The travel profile describes the steepness and shape of the ramp and the acceleration behaviour.

Create travel profile of all positioning modes has the following proper-ties.

• Symmetrical and linear acceleration ramp.

• Changing speed and position during movement.

• Acceleration parameters in rpm*s.

Range of values 12 … 765,000 rpm*s

Resolution ca. 12 rpm*s.

• Speed parameters in rpm

6-25

6-26

Operation IclA IFS

Range of values 1 … 3,000 rpm

Resolution1 rpm

• Position defaults in increments (Inc).

Range of values -231 to +231-1 Inc

Compact drives with stepper motors have a resolution of 20,000 Inc/rev.

Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

Motion.dec_Stop 28:21 (1C:15h)

Delay for Quick-Stop Deceleration used for every Quick-Stop: - Quick-Stop via control word - Quick-Stop via ext. Monitoring signal - Quick-Stop by error of classes 1,2

UINT32 12..765000

rpm*s 6000

R/W/rem.

Motion.v_target0 29:23 (1D:17h)

Default setpoint speed Remanent default value for v_tarPTP. Speed for PTP mode if no value has been written to v_tarPTP. Note: This remanent value is used exclusively when switching on the drive as a default assignment for v_tarPTP.

UINT16 1..3000

rpm 60

R/W/rem.

Motion.acc 29:26 (1D:1Ah)

Acceleration Value determines acceleration and deceleration. New values are only imported after drive standstill

UINT32 12..765000

rpm*s 600

R/W/rem.

Table 6.8 Parameters of the "create travel profile" function

Setting options Se
tting options for the "create travel profile" function:
• Deceleration for Quick-Stop“


• Default setpoint speed

(Parameter Motion.v_target0, 29:23)

• Acceleration (= deceleration)

(Parameter Motion.acc, 29:26)

6.3.3 Quick-Stop

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The "Quick-Stop" function is an emergency braking function.

Events that trigger a "Quick-Stop":

• STOP input signal

(Parameter Status.Sign_SR, Bit 2)

• Limit switch overrun

(Parameter Status.Sign_SR, Bit 0 and Bit 1)

• Error of error class 1 or 2


0098

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113

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IclA IFS Operation


• Quick-Stop triggered by a field bus command


The "Quick-Stop“ remains active until acknowledged by the user. The power amplifier remains switched on, except with errors of error class 2.

Setting options Se
tting options of the "Quick-Stop“ function:
• Deceleration


The compact drive absorbs excess braking energy during a "Quick-Stop“. If the DC link voltage exceeds the permissible threshold, the com-pact drive switches off the power amplifier and displays the "overvolt-age" error. The motor then runs down under no braking.

Procedure if the compact drive repeatedly switches off with an "overvolt-age" error during "Quick-Stop".

Reduce the "Quick-Stop" deceleration.

Reduce the drive load

Acknowledging "Quick-Stop“

Prma

ocedure after an error or a Quick-Stop executed by a field bus com-nd:

Reset the error.


Procedure after a "STOP“ signal:

Reset the "STOP" signal at the signal input.

Reset the error.


Procedure after a "Quick-Stop“ via the "LIMN“ and "LIMP“ limit switch signals:

Traverse the compact drive out of the limit switch range.

(For more information see chapter 6.1.2 „External monitoring sig-nals“.)

More information

Fotio

r more information see chapter 6.1.5 „Operating states and transi-ns“ and 4 „Installation“.

6.3.4 Fast position capture

The "fast position capture" function is used to capture the current motor position at the time of receipt of a digital 24-V signal at one of the two capture inputs. The function can, for example, be used for identifying print marks.

Setting options Tw
o independent capture inputs are available for the "fast position cap-ture" function.
• IO2 (CAP1)

6-27

6-28

Operation IclA IFS

• IO3 (CAP2)

Two possible functions for capture can be selected for every capture in-put:

• Position capture with positive or negative slope at capture input.

• One-time or continuous capture with multiple slope change at cap-ture input.

Continuous capture means that the motor position is captured anew at every defined slope while the former captured value is lost.

The CAP1 and CAP2 capture inputs have a time constant of t = 10 µs.

The jitter is less than ±3 µs, since the following applies at a resolution of 20,000Inc/rev.: 3,000 rpm = 1 Inc/µs.

While the compact drive accelerates or decelerates the captured motor position is less precise.

Enable fast position capture En
able single position capture
• For CAP1: write value 1 in parameter Capture.CapStart1, 20:15

• For CAP2: write value 1 parameter Capture.CapStart2, 20:16

Enable continuous position capture



End position capture W
ith single position capture the "fast position capture“ function is ended when the first signal edge is detected.
With continuous position capture or missing signal edge the capture can be ended by writing the parameter Capture.CapStart1, 20:15, Wert 0 or Capture.CapStart2, 20:16, Wert 0 .

Parameter

Data type Unit R/W/
00
98 4

41 1

13 1

89, V

1.02

, 01.

2004



dec.Default dec.

rem. Info

Capture.CapLevel 20:14 (14:0Eh)

Signal level for capture inputs Bit 0: Setting of level for CAP1 Bit 1: Setting of level for CAP2 Assignment of bits: 0: Position capture with 1->0 change 1: Position capture with 0->1 change

UINT16 0..3

- 3

R/W/-

Capture.CapStart1 20:15 (14:0Fh)

Start capture at CAP1 Value 0: Stop capture function Value 1: Start single capture Value 2: Start continuous capture The function ends after the first captured value with one-time capture. The capture continues endlessly with continuous capture.

UINT16 0..2

- 0

R/W/-

Capture.CapStart2 20:16 (14:10h)

Start capture at CAP2 as with CAP1

UINT16 - 0

R/W/-


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IclA IFS Operation

Capture.CapStatus 20:17 (14:11h)

Status of capture channels Read access: Bit 0: Position captured via CAP1 Bit 1: Position capture via CAP2

UINT16 0..3

- 0

R/-/-

Capture.CapPact1 20:18 (14:12h)

Motor position on signal to CAP1 Output of captured position of the actual position encoder (actual motor position) This is always the commutation position with stepper motor units.

INT32 Inc -

R/-/-


Motor position on signal to CAP2 As with CAP1

INT32 Inc -

R/-/-




Unit Default dec.

R/W/rem. Info


Table 6.9 Parameters of the "fast position capture" function

6.3.5 Programmable inputs and outputs

If a 24-V signal is configured as a "programmable input or output", the compact drive independently accesses this signal input or output.

This can be set for every one of the four signals with the parameters IO0_def … IO3_def in the parameter group I/O .

Programmable input

If amo

signal is configured as a programmable input, the compact drive nitors this signal continuously and independently accesses parame-

ters at every detected edge change. The parameter accesses can be configured as follows:

• Evaluation of positive or negative edges

• Parameters to be influenced by input of index and subindex

• Write value for parameter on positive edge

• Write value for parameter on negative edge

• Bit mask for writing the object

The parameter access always follows the same plan:

• Positive or negative edge detected

• Read parameter

• AND operating result with bit mask

• OR operation result with write value for parameter at positive or negative edge

• Write result to parameter

Shown as pseudo code:

• positive edge -> object_write_value = (object_read_value AND bit mask) OR write_value_pos

• negative edge -> object_write_value = (object_read_value AND bit mask) OR write_value_neg

Special case if bit mask = 0:

• positive edge -> object_write_value = write_value_pos

6-29

6-30

Operation IclA IFS

• negative edge -> object_write_value = write_value_neg

Programmable output If a
signal is defined as a programmable output, the compact drive runs cyclic read accesses and sets the signal level in accordance with the read value. The accesses can be configured with the following parame-ters:
• Selection of parameters to be read by input of index and subindex

• Comparison value for high level at output

• Comparison operator: equal, unequal, smaller, greater

• Bit mask for the comparison

The parameter access always follows the same plan:

• Read parameter

• AND operation result with bit mask

• Compare result by comparison value

• Set output HIGH or LOW depending on result

Shown as pseudo code:

IF (object_read_value AND bit mask) <comparison operator> compari-son value THEN set output=1

ELSE set output=0

Parameter

Data type Unit R/W/

0098

441

113

189

, V1.

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1.20

04



dec.Default dec.

rem. Info

ProgIO0.Index 800:1 (320:01h)

Index of control parameter If prog. input: Index of the parameter to be written If prog. output: Index of the parameter to be read If prog. input: write(Index,Subindex) = (read(Index,Subindex) BAND BitMask) BOR VALUEx If prog. output: high level at output if (read(Index,Subindex) BAND BitMask) =<> VALUE1

UINT16 - -

R/W/rem.

ProgIO0.Subindex 800:2 (320:02h)

Subindex of control parameter If prog. input: Subindex of the parameter to be written If prog. output: Subindex of parameter to be read

UINT16 - -

R/W/rem.

ProgIO0.BitMask 800:3 (320:03h)

Bit mask for parameter value If prog. input or prog. Output: Bit mask with the read value of the parameter (Index,Subindex) is logically ANDed before it is further processed.

UINT32 - -

R/W/rem.


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IclA IFS Operation

ProgIO0.Switch 800:4 (320:04h)

Edge detection or comparison operator If prog. input: Selection of the slopes to be captured: Value 0: no response to level change Value 1: response to pos. edge Value 2: response to neg. edge Value 3: Response to both edges If prog. output: Selection of condition for comparison: Value 0: (parameter read value = comparison value) Value 1: (parameter read value <> comparison value) Value 2: (parameter read value < comparison value) Value 3: (parameter read value > comparison value)

UINT16 - -

R/W/rem.

ProgIO0.Value1 800:5 (320:05h)

Write value at pos. edge or comparison value If prog. input: Parameter write value with pos. slope If prog. output: Comparison value for condition

UINT32 -- -

R/W/rem.


Write value at neg. edge If prog. input: Parameter write value with neg. edge If prog. output: no meaning

UINT32 - -

R/W/rem.




Unit Default dec.

R/W/rem. Info


Table 6.10 Parameters of the "programmable inputs and outputs" function

Example Se
tting parameters for simple manual controller
ch on power amplifier negative edge = power amplifier off + reset error
IO0 as input, positive edge = swit
IO1 as input, positive edge = traverse forwards negative edge = stop

IO2 as input, positive edge = traverse backwards negative edge = stop

IO3 as output, Output = 1 if compact drive ready

Table 6.11 Setting parameters for simple manual controller

Input IO0Inp

Table 6.12 Input IO0

Table 6.13 Parameters of input IO0

ut L -> H Commands.driveCtrl 2 (Enable)

H -> L Commands.driveCtrl 9 (Disable + FaultReset)

Parameter name Idx:Six Value Remarks

I/O.IO0_def 34:1 5 Input programmable

ProgIO0.Index 800:1 28 Index 28

ProgIO0.Subindex 800:2 1 Subindex 1

ProgIO0.Bitmask 800:3 0 Mask

ProgIO0.Switch 800:4 3 Detect both edges

ProgIO0.Value1 800:5 2 Value at pos. edge: Enable

ProgIO0.Value2 800:6 9 Value at neg. edge: Disable+Fault-Reset

6-31

Operation IclA IFS

Input IO1Inp

6-32



ut L -> H VEL.velocity 60 (positive movement)

H -> L VEL.velocity 0 (stop)






ProgIO1.Switch 801:4 3 Detect both edges

ProgIO1.Value1 801:5 60 Speed value at positive edge

ProgIO1.Value2 801:6 0 Speed value at negative edge

Input IO2Inp



ut L -> H VEL.start -60 (neg. movement)

H -> L VEL.start 0 (stop)






ProgIO2.Switch 802:4 3 detect both edges

ProgIO2.Value1 802:5 -60 speed value at pos. edge

Output IO3Ou
tput High if status 6 (Status.driveStat AND 15) = 6
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Table 6.18 Output IO3


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IclA IFS Operation


Table 6.19 Parameters of output IO3


I/O.IO3_def 34:4 130 Output programmable



ProgIO3.Bitmask 803:3 15 Mask: Bit 0..3

ProgIO3.Switch 803:4 0 Condition: „=“

ProgIO3.Value1 803:5 6 Comparison value: 6 = Operation Enable

6.3.6 Drives with index pulse

The index pulse is a sensor on the motor shaft that sends a signal at ev-ery revolution. This signal is always sent at exactly the same angular po-sition of the shaft and has a width of ca. 22.5°.

The index pulse is optional and must be specified in the order key when ordering.

The index pulse offers the following functions:

• Reference movement to index pulse (only with IcIA IFS field bus drives)

• Stall detection

• Output of index pulse via 24V output IO0 (adjustable)

6.3.6.1 Stall detection using index pulse

Drives with index pulse offer supplementary "stall detection" monitoring. This monitoring can be disabled with the parameter Settings.moni-torM, 14:7 .

Basic principle Th
e stall detection checks whether the index pulse is always triggered at the same angular position of the rotation field during the motor move-ment. If a stepper motor stalls, the motor shaft is displaced in relation to the rotation field by an angle corresponding to one or more complete pole pairs. In IclA stepper motor drives a pole pair corresponds to 1/50 of a revolution.
Restrictions •
Every time the power amplifier is switched on (Enable) the stall detection is initially disabled. The detection is automatically enabled as soon as the index pulse is overrun; this occurs after a maximum of one motor revolution. A stall of one or more pole pairs is only detected from this point on.
• If the stepper motor stalls during braking shortly before standstill, this will be only detected when the index pulse is overrun next time, i.e. possibly only on the next movement.

• If the traverse range of the application is less than one complete motor revolution, the stall detection will not operate reliably.

• If the motor shaft is rotated by an external force during standstill, the stall detection will not reliably detect this.1 The stall will be detected during the next movement unless the motor shaft is displaced by exactly one full revolution.

6-33

6-34

Operation IclA IFS

Parameter

Data type Unit R/W/

dec.Default dec.

rem. Info

Settings.monitor

M14:7 (0E:07h)

Motor monitoring

Bit 0: stall detection

Bit value=0: Monitoring is not active

Bit value=1: Monitoring is active

Note: This parameter is only available in units (IFS drives) with optional index pulse.

UINT16

0..1

-

1

R/W/rem.

3 18

9, V

1.02

, 01.

2004

Table 6.20 Parameters for the motor monitoring


0098

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1. If the motor shaft comes to a stop exactly at the index pulse, oscillation and gen-uine rotary movement cannot be distinguished

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IclA IFS Diagnostics and troubleshooting

7 Diagnostics and troubleshooting

7.1 Error display and troubleshooting

7.1.1 Error display in the IcIA Easy PC commissioning tool


The IcIA Easy PC commissioning tool can be used to find the following diagnosis information

• Status of status machine Enables conclusions about why the com-pact drive is not ready for operation.

• Status word Indicates which of the 3 following signals is pending:

– external monitoring signal

– internal monitoring signal

– warning

• Parameter Status.StopFault, 32:7 Cause of last interrup-tion, error number

• Error memory The error memory contains the last 7 errors. The contents of the error memory are retained even when the compact drive is switched off. The following information is output for every error:

– Age

– Description of error in text

– Error class

– Error number

– Frequency

– Additional information

7.1.2 Diagnosis over field bus

Asynchronous error In
field bus operation device faults are reported as asynchronous errors by the controller’s monitoring facility. An asynchronous error is recogn-ised by the status word 'fb_statusword'. Signal status "1" indicates an er-ror or warning message. You can find details of the error from the parameters.
Figure 7.1 Evaluation of asynchronous errors

Description of the bits from Figure 7.1:

• Bit 5, "FltSig“

7-1

7-2

Diagnostics and troubleshooting IclA IFS

Message from internal monitoring signal (e.g. power amplifier over-temperature)

Parameter Status.FltSig_SR, 28:18

• Bit 6, "Sign_SR“

Message from external monitoring signal (e.g. movement interruption by limit switch)

Parameter Status.Sign_SR, 28:15

• Bit 7, "warning“

Warning message from compact drive (e.g. temperature early warn-ing)

Parameter Status.WarnSig, 28:10

Data type Unit R/W/

113

189,

V1.

02, 0

1.20

04



dec.Default dec.

rem. Info

Status.WarnSig 28:10 (1C:0Ah)

Warnings Monitoring signals with error class 0. Bit 0: position overrun profile generator Bit 1: overtemperature power amplifier Bit 5: I^2t limit active Bit 8: I/O timing error GATE/STEPX10 (IDS only) Bit 9: position deviation with inactive power amplifier (IFE only) The remaining bits are reserved for later extensions.

UINT16 - -

R/-/-



UINT16 0..15

- -

R/-/-

Status.FltSig_SR 28:18 (1C:12h)

Saved monitoring signals Error bits remain set until FaultReset is run. Bit 0: undervoltage 1 power supply Bit 1: undervoltage 2 power supply Bit 2: overvoltage power supply Bit 5: motor overload Bit12: overtemperature power amplifier Bit16: blocking error Bit17: following error Bit18: motor position sensor failure Bit21: protocol error Bit22: node guard error Bit23: pulse/direction input timing Bit28: hardware error EEPROM Bit29: power up error Bit30: internal system error Bit31: Watchdog

UINT32 - -

R/-/-

0098

441

Table 7.1 Parameters for asynchronous error messages


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Synchronous error Be


sides asynchronous errors, synchronous errors are also reported in field bus operation, triggered by a communication error (e.g. by unau-thorized access or an incorrect command).

Both error types are described in the compact drive field bus manual.

Error memory Th
e last 7 error messages are saved in a separate error memory. The er-ror messages are arranged in chronological order and can be read via index and subindex values (Table 7.2). The last error that caused an in-terruption is also saved in the parameter Status.StopFault, 32:7 .
Table 7.2 Structure of the error memory

More information on every error message can be obtained from subindi-ces 1 … 5:

Index:Subindex Meaning

900:1, 900:2, 900:3 … 1st entry, oldest error message

901:1, 901:2, 901:3 … 2nd entry

… …

906:1, 906:2, 906:3 7th entry, newest error message

Data type Unit R/W/

dec.Default dec.

rem. Info

ErrMem0.ErrNum 900:1 (384:01h)

Coded error number Unique error number Index 900: first error entry (oldest) Index 901: second error entry ... Note: Reading this object brings the entire error entry (9xx.1 – 9xx.5) into a clipboard, from which all other elements can then be loaded.

UINT16 - -

R/-/-

ErrMem0.Class 900:2 (384:02h)

Error class The error class specifies the error response of the controller

UINT16 0..4

- -

R/-/-

ErrMem0.Age 900:3 (384:03h)

Age of error in device activation cycles 0 = errors since the last time the drive was switched on 1 = errors occurring in last operation 2 = errors in penultimate operation etc.

UINT32 - -

R/-/-

ErrMem0.Repeat 900:4 (384:04h)

Error repetitions Number of sequential errors occurring with this error number: 0 = errors occurring only once 1 = 1 repetition 2 = 2 repetitions etc. The repetition counter does not change after the maximum num-ber of 255.

UINT16 0..255

- -

R/-/-

ErrMem0.ErrQual 900:5 (384:05h)

Error identification This entry contains supplementary information for qualification of the error. The meaning depends on the error number.

UINT16 - -

R/-/-

Table 7.3 Error memory entries

7-3


7.1.3 Reset error message

7-4

To reset the error message after correction of the fault, send a "fault re-set" command over the field bus by writing the value 8 to the control word, parameter Commands.driveCtrl, 28:1. An error message can also be reset with the PC commissioning tool.

7.1.4 Error classes and error response

An error triggers an error response in the compact drive. The errors are classified into error classes, which initiate different error responses:

Table 7.4 Error classes and error response

Error class

Error response Explanation

0 Warning Message only, no movement interruption

1 Compact drive switches to operat-ing status 7 ("Quick-Stop“)

Motor stops with "Quick Stop“ Power amplifier and controller remain switched on

2 Compact drive switches to operat-ing status 9 ("Fault“)

Motor stops with "Quick Stop“ Power amplifier and controller switch off after standstill.


Power amplifier and controller switch off Motor runs to a stop The power amplifier can only be switched on again after correction of the fault.


Power amplifier and controller switch off. The compact drive can only be reset by switching it off.

7.1.5 Causes of errors and troubleshooting

If communication with the compact drive over the field bus is impossible, proceed as follows:

Open the plug case cover

Compare the LED display with the output in Table 7.5.

Cause of error Troubleshooting

1 11

3 18

9, V

1.02

, 01.

2004

Error Error class

Field bus communication not possible

- Incorrect communication parameters Set DIP switches correctly Set param-eters correctly

Field bus communication unreli-able

- Missing terminating resistor Defective line shielding

Connect terminating resistor correctly Set shielding correctly (see chapter 4 „Installation“)

LED off – No power Check power supply and fuses

LED flashes at 6 Hz 4 Flash checksum incorrect Install firmware again or replace com-pact drive

LED flashes at 10 Hz 4 Hardware error Internal system error Watchdog

Switch compact drive off and on or send compact drive for service

0098

44

Table 7.5 Troubleshooting when field bus communication is not possible


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The motor and the power amplifier are protected against overload and overheating by various monitoring systems.

Error messages and warnings are read out over the field bus.

The parameter Status.FltSig_SR, 28:18 shows errors found by internal monitoring by correspondingly set bits.

The bits remain set even if the monitored limit values are no longer ex-ceeded.

The bits can be cleared by a "fault reset".

Cause of error Troubleshooting
Moni-toring bit
Error Error class

0 Undervoltage 1 2 Power supply below threshold value for switching off compact drive

Check voltage, check connections on compact drive

1 Undervoltage 2 3 Power supply below threshold value for switching off compact drive

Check voltage, check connections on compact drive

2 Overvoltage 3 Overvoltage, feedback, loss of syn-chronism at high speed

see 4.4.1 „System design“

5 Motor overload Torque too high Motor phase current set too high

Reduce torque Reduce motor phase current

12 Overtemperature Power amplifier

3 Motor phase current set too high Reduce motor phase current

16 Blocking error 3 Compact drive is blocked or stalled Travel frequency too high Acceleration too high

Reduce load torque or motor torque; Check settings for motor phase cur-rent; Reduce travel frequency Reduce acceleration

21 CAN/RS485 protocol error

Check shield on serial cable Prevent earth loops

22 Nodeguard error 2 Serial or field bus connection broken Check serial connection

28 EEPROM hardware error

Hardware error Compact drive requires service

29 Startup error Hardware error Compact drive requires service

Status machine remains in status 2

Startup error caused by illegal param-eter setting; incorrect EEPROM checksum

Initialise parameters with default val-ues (parameter Commands.default 11:8). If this does not correct the prob-lem, the compact drive must be ser-viced

Table 7.6 Troubleshooting

The causes of an error can also be read as an error number in the pa-rameter "Cause of last interruption“ (parameter Status.StopFault, 32:7:

Cause of error/troubleshooting
Error number
Error type

013Fh EEprom not initialised Hardware error/return compact drive

0140h EEprom not compatible to current software

Hardware error/return compact drive

0141h EEprom read error Hardware error/return compact drive

0142h EEprom write error Hardware error/return compact drive

7-5


0143h Checksum error in EEprom Hardware error/return compact drive

0148h Serial interface: Overrun error Check shield on serial cable, prevent earth loops

0149h Serial interface: Framing error Check shield on serial cable, prevent earth loops

014Ah Serial interface: Parity error Check shield on serial cable, prevent earth loops

014Bh Serial interface: Receiving error Check shield on serial cable, prevent earth loops

014Ch Serial interface: Buffer overrun Check shield on serial cable, prevent earth loops

014Dh Serial interface: Protocol error Check shield on serial cable, prevent earth loops

014Eh Nodeguarding Serial connection broken.

0150h Illegal limit switch is enabled - Reference movement in wrong direction started? - limit switch incor-rectly wired?

0151h Switch was overrun, retraction not possible

Search speed for reference movement set too high?

0152h Switching edge within run-off not found

Run-off for reference movement set too small?

0153h Index pulse not found - Device without index pulse - Encoder/Hall sensor defective?

0154h Uncertain reproducibility of index pulse movement, index pulse too close to switch

- Position of index switch too near switch. - Move switch or reinstall motor shaft at a different rotary position

0155h Switch still active after retraction, cause possible bouncing of switch

Set larger retraction path.

0157h Interruption/QuickStopActive by LIMP

Limit switch was activated

0158h Interruption/QuickStopActive by LIMN

Limit switch was activated

0159h Interruption/QuickStopActive by REF

Limit switch was activated and is configured as interruption input

015Ah Interruption/QuickStopActive by STOP

Stop input was activated and is configured as interruption input

Error number

Error type Cause of error/troubleshooting

7-6

Table 7.7 Frequently occurring errors and correcting them

7.2 Overview of error numbers

escription

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hex dec Error class D

0100h 256 2 Undervoltage 1 power supply

0101h 257 3 Undervoltage 2 power supply

0102h 258 3 Overvoltage power supply

0105h 261 3 Motor overload

010Ch 268 2 Overtemperature power amplifier

0110h 272 3 Blocking detection

0111h 273 3 Following error

0112h 274 4 Motor position sensor defective

0115h 277 1 Field bus protocol error

0116h 278 2 Nodeguard error


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0117h 279 3 Frequency at pulse/direction input too high

0118h 280 3 Short-circuit dig. outputs

011Ch 284 4 EEPROM hardware error

011Dh 285 4 startup error

011Eh 286 4 Internal system error

011Fh 287 4 Watchdog

0120h 288 0 Warning position overrun profile generator

0121h 289 0 Warning overtemperature IGBTs

0128h 296 0 Warning I/O timing

0130h 304 0 Parameter does not exist, invalid index

0131h 305 0 Parameter does not exist, invalid subindex

0132h 306 0 Communication protocol: unknown service

0133h 307 0 Parameter write not allowed

0134h 308 0 Parameter value outside legal value range

0135h 309 0 Segment service not initialised

0136h 310 0 Error with recording function

0137h 311 0 Status not Operation Enable

0138h 312 0 Processing in current operating status of status machine not possible

0139h 313 0 Setpoint position generation interrupted

013Ah 314 0 Switching during running axis operating mode not possible

013Bh 315 0 Command during running process not legal (xxxx_end=0)

013Ch 316 0 Error in selection parameter

013Dh 317 0 Position overrun exists/occurred

013Eh 318 0 Actual position is not yet defined

013Fh 319 4 EEPROM not initialised

0140h 320 4 EEPROM not compatible to current software

0141h 321 4 EEPROM read error

0142h 322 4 EEPROM write error

0143h 323 4 Checksum error in EEPROM

0144h 324 0 Value cannot be calculated

0145h 325 0 Function only allowed at standstill

0146h 326 0 Reference movement is active

0147h 327 0 Command during running process not legal (xxx_end=0)

0148h 328 1 RS485 interface: overrun error

0149h 329 1 RS485 interface: framing error

014Ah 330 1 RS485 interface: parity error

014Bh 331 1 RS485 interface: receiving error

014Ch 332 1 RS485 interface: buffer overrun

014Dh 333 1 RS485 interface: protocol error

014Eh 334 1 Nodeguarding, interface is not longer operated

hex dec Error class Description

Intelligenter Kompaktantrieb 7-7


01.2

004

014Fh 335 0 Quick-Stop status enabled

0150h 336 1 Illegal limit switch active

0151h 337 1 Switch was overrun, retraction not possible

0152h 338 1 Switching edge within retraction path not found

0153h 339 1 Index pulse not found

0154h 340 1 Reproducibility of index pulse movement uncertain, index pulse is too close to switch

0155h 341 1 Switch still active after retraction, possible cause switch bounce

0156h 342 1 Input not configured as LIMP/LIMN/REF

0157h 343 1 Interruption/Quick-Stop by LIMP

0158h 344 1 Interruption/Quick-Stop by LIMN

0159h 345 1 Interruption/Quick-Stop by REF

015Ah 346 1 Interruption/Quick-Stop by STOP

015Bh 347 1 Limit switch is not released

015Ch 348 0 Processing not allowed in current axis operating mode

015Dh 349 0 Parameter not available with this device

015Eh 350 0 Function not available with this device

015Fh 351 0 Access denied

0160h 352 4 Production data in EEPROM not compatible to current software

0161h 353 4 Index pulse sensor not compensated

0162h 354 0 Drive is not referenced

0163h 355 0 CAN interface:COB-ID not correct

0164h 356 0 CAN interface:error in query

0165h 357 0 CAN interface:overrun error

0166h 358 0 CAN interface:telegram could not be saved

0167h 359 0 CAN interface:general error in CAN stack

0168h 360 0 Field bus:data type and parameter length do not match

0169h 361 0 Blocking detection is switched off

016Ah 362 0 Connection failure to DSP boot loader

016Bh 363 0 Communication error to DSP boot loader

016Ch 364 0 Error initialising SPC3 memory

016Dh 365 0 Error calculating input/output data

016Eh 366 0 Specified Profibus address outside legal range

016Fh 367 0 Illegal use of DIP switch S1.1

0170h 368 0 DSP software not compatible to Profibus software

hex dec Error class Description

7-8

0098

441

113

189

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02,

Table 7.8 Error numbers


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IclA IFS Parameters

8 Parameters

8.1 Overview Parameters


Parameter groups

CAN CA
N bus settings
Capture "Fa
st position capture" function
Commands Sa
ve parameter status change in EEPROM Initialise default parameters
Config Dr
ive configuration
ErrMem0 Er
ror memory
Homing "R
eferencing“ operating mode
I/O St
atus and definition of inputs and outputs
Motion Op
erating function "Definition of direction of rotation“ Operating function "Quick-Stop“ Default setpoint speed Acceleration and deceleration
Profibus Pr
ofibus settings
ProgIO0..3 Op
erating function "Programmable inputs/outputs“
PTP "P
oint-to-point" operating mode
RS485 RS
485 bus settings
Settings Us
er device names Phase currents Monitoring inputs
Status St
atus information
VEL "S
peed mode" operating mode
Range of values

In the case of parameters without values the applicable value range de-pends on the data type.

Table 8.1 Data types and value ranges

Data type Byte Min value Max value

INT16 2 Byte / 16 Bit -32768 32767

UINT16 2 Byte / 16 Bit 0 65535

INT32 4 Byte / 32 Bit -2,147,483,648 2,147,483,647

UINT32 4 Byte / 32 Bit 0 4,294,967,295

8.2 "CAN“ parameter group

Data type Unit R/W/

dec.Default dec.

rem. Info

CAN.canAddr 23:2 (17:02h)

Address CAN Bus UINT16 1..127

- 127

R/W/rem.

8-1

Parameters IclA IFS

8.3 "Capture“ parameter group

CAN.canBaud 23:3 (17:03h)

Baud rate CAN Bus Following values are allowed: 20 = 20Kbaud 50 = 50Kbaud 100 = 100Kbaud 125 = 125Kbaud 250 = 250Kbaud 500 = 500Kbaud 800 = 800Kbaud 1000 = 1Mbaud

UINT16 20..1000

- 125

R/W/rem.




Unit Default dec.

R/W/rem. Info

8-2

Data type Unit R/W/

4



dec.Default dec.

rem. Info

Capture.CapLevel 20:14 (14:0Eh)

Signal level for capture inputs Bit 0: Setting of level for CAP1 Bit 1: Setting of level for CAP2 Assignment of bits: 0: Position capture with 1->0 change 1: Position capture with 0->1 change

UINT16 0..3

- 3

R/W/-

Capture.CapStart1 20:15 (14:0Fh)

Start capture at CAP1 Value 0: Stop capture function Value 1: Start single capture Value 2: Start continuous capture The function ends after the first captured value with one-time cap-ture. The capture continues endlessly with continuous capture.

UINT16 0..2

- 0

R/W/-

Capture.CapStart2 20:16 (14:10h)

Start capture at CAP2 as with CAP1

UINT16 - 0

R/W/-

Capture.CapStatus 20:17 (14:11h)

Status of capture channels Read access: Bit 0: Position captured via CAP1 Bit 1: Position capture via CAP2

UINT16 0..3

- 0

R/-/-


Motor position on signal to CAP1 Output of captured position of the actual position encoder (actual motor position) This is always the commutation position with stepper motor units.

INT32 Inc -

R/-/-


Motor position on signal to CAP2 As with CAP1

INT32 Inc -

R/-/-

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Table 8.2 Parameters of the "fast position capture" function


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IclA IFS Parameters

8.4 "Commands“ parameter group


Data type Unit R/W/

dec.Default dec.

rem. Info

Commands.eeprSave 11:6 (0B:06h)

Save parameter values in EEPROM memory Value 1: Backup user parameters The current parameters are backed up in the non-volatile mem-ory (EEPROM). The save process is complete when the object SYS-TEM.STOREND returns a 1. Attention: Saving is only possible when the drive is at a stand-still.

UINT16 - -

R/W/-

Commands.stateSave 11:7 (0B:07h)

Save processing status of parameters in EEPROM 0: save process active 1: Save process complete If multiple value ranges must be backed up, the completion of the backup of all values is shown.

UINT16 - -

R/-/-

Commands.default 11:8 (0B:08h)

Initialise parameter with default values Bit 0: All user parameters are initialised with default values and saved in the EEPROM. After switching off and on again the values are imported into the current parameter structure. Attention: only possible when the drive is at standstill.

UINT16 - -

R/W/-

Commands.stateDef 11:9 (0B:09h)

Processing status of Commands.default 0: basic initialisation active 1: basic initialisation complete

UINT16 - -

R/-/-

Commands.driveCtrl 28:1 (1C:01h)

Control word for status change Bit0: Disable power amplifier Bit1: Enable power amplifier Bit2: Quick-Stop Bit3: FaultReset Bit4: Quick-Stop release Bit5..15: reserved Preset Bit0..4="0", write access automatically triggers slope change 0->1 and processing of status machine.

UINT16 0..31

- 0

R/W/-

Commands.del_err 32:2 (20:02h)

Clear error memory write value 1: Clear all error entries in error memory

UINT16 1..1

- 1

R/W/-

8-3

Parameters IclA IFS

8.5 "Config" parameter group

8-4


8.6 Parameter group "ErrMem0“



dec.Default dec.

Info

Config.PrgNo 1:1 (01:01h)

Firmware number High Word: Program number Low Word: Program types Example: PR802.10 High Word:802 Low Word: 10

UINT32 - - R/-/-

Config.PrgVer 1:2 (01:02h)

Firmware version High Word: Program version Low Word: Program revision Example: V1.003 High Word:1 Low Word: 3

UINT32 - - R/-/-

Config.OptPrgNo 13:11 (0D:0Bh)


UINT32 - - R/-/-

Config.OptPrgNo 13:12:00 (0D:0Bh)


UINT32 - - R/-/-

Data type Unit R/W/

0098

441

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dec.Default dec.

rem. Info

ErrMem0.ErrNum 900:1 (384:01h)

Coded error number Unique error number Index 900: first error entry (oldest) Index 901: second error entry ... Note: Reading this object brings the entire error entry (9xx.1 – 9xx.5) into a clipboard, from which all other elements can then be loaded.

UINT16 - -

R/-/-

ErrMem0.Class 900:2 (384:02h)

Error class The error class specifies the error response of the controller

UINT16 0..4

- -

R/-/-

ErrMem0.Age 900:3 (384:03h)

Age of error in device activation cycles 0 = errors since the last time the drive was switched on 1 = errors occurring in last operation 2 = errors in penultimate operation etc.

UINT32 - -

R/-/-

ErrMem0.Repeat 900:4 (384:04h)

Error repetitions Number of sequential errors occurring with this error number: 0 = errors occurring only once 1 = 1 repetition 2 = 2 repetitions etc. The repetition counter does not change after the maximum num-ber of 255.

UINT16 0..255

- -

R/-/-


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IclA IFS Parameters

8.7 "Homing“ parameter group

ErrMem0.ErrQual 900:5 (384:05h)

Error identification This entry contains supplementary information for qualification of the error. The meaning depends on the error number.

UINT16 - -

R/-/-




Unit Default dec.

R/W/rem. Info


Data type Unit R/W/

dec.Default dec.

rem. Info

Homing.startHome 40:1 (28:01h)

Start of referencing mode action object: Write access triggers reference movement from 1: LIMP 2: LIMN 3: REFZ neg. direction of rotation 4: REFZ pos. direction of rotation 5: Index pulse neg. sense of rotation 1) 6: Index pulse pos. sense of rotation 1) 7: Blocking movement neg. sense of rotation 2) 8: Blocking movement pos. sense of rotation 2) Comments: 1) drives with index pulse only 2) drives with EC motor only

UINT16 1..8

- -

R/W/-

Homing.stateHome 40:2 (28:02h)

Acknowledgment: Referencing Bit15: ref_err Bit14: ref_end Bit7: error SW_STOP Bit3: error REF Bit2: error HW_STOP Bit1: error LIMN Bit0: error LIMP

UINT16 - -

R/-/-



INT32 Inc -

R/W/-

Homing.v_Home 40:4 (28:04h)

Setpoint speed for searching for switch UINT16 1..3000

rpm 60

R/W/rem.

Homing.v_outHome 40:5 (28:05h)

Setpoint speed for retraction from switch UINT16 1..3000

rpm 6

R/W/rem.

Homing.p_outHome 40:6 (28:06h)

Max. run-off Default value = 200,000 = 10 revolutions

UINT32 1..4294967295

Inc 200000

R/W/rem.

Homing.p_disHome 40:7 (28:07h)

Safety distance After leaving the switch the drive is positioned over a defined path to the working range and this is defined as a reference point.

UINT32 1..4294967295

Inc 200

R/W/rem.

Homing.RefSwMod 40:9 (28:09h)

Processing sequence during reference movement to REF Bit0: direction of movement withdrawal path 0: Withdrawal in positive direction 1: Withdrawal in negative direction Bit1: direction of movement safety distance 0: in positive direction 1: in negative direction

UINT16 0..3

- 0

R/W/rem.

8-5

Parameters IclA IFS

8.8 "I/O“ parameter group

Homing.RefAppPos 40:11 (28:0Bh)

Application position at reference point On completion of reference movement the position value is set at the reference point. This automatically defines the application zero point.

INT32 Inc 0

R/W/rem.

Homing.p_diffind 40:12 (28:0Ch)

Start position distance - index pulse after reference movement Absolute value of the position difference between start position and index pulse. Can be read to check whether reference movement with index pulse processing can be safely reproduced.

UINT16 0..20000

Inc -

R/-/-




Unit Default dec.

R/W/rem. Info

8-6

Data type Unit R/W/

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dec.Default dec.

rem. Info

I/O.IO_act 33:1 (21:01h)

Status of the digital inputs and outputs 24V inputs/outputs: Bit 0: IO0 Bit 1: IO1 Bit 2: IO2 Bit 3: IO3 Read provides status of inputs and outputs. Write only changes the status of the outputs.

UINT16 0..15

- 0

R/W/-

I/O.IO0_def 34:1 (22:01h)

Configuration of IO0 0 = input freely usable 1 = input LIMP (with IO0 only) 2 = input LIMN (with IO1 only) 3 = input STOP 4 = input REF 5 = input programmable 128 = output freely usable 129 = output index pulse (*) (with IO0 only) 130 = output programmable (*) only with drives with index pulse encoder

UINT16 0..255

- 1

R/W/rem.

I/O.IO1_def 34:2 (22:02h)


UINT16 0..255

- 2

R/W/rem.

I/O.IO2_def 34:3 (22:03h)


UINT16 0..255

- 3

R/W/rem.

I/O.IO3_def 34:4 (22:04h)


UINT16 0..255

- 4

R/W/rem.


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IclA IFS Parameters

8.9 "Motion“ parameter group


Data type Unit R/W/

8.10 "Profibus“ parameter group



dec.Default dec.

rem. Info

Motion.invertDir 28:6 (1C:06h)

Definition of the direction of rotation Value 0: no inversion of direction Value 1: direction reversal active No reversal of direction means: A clockwise direction of rotation is defined as the motor shaft rotating clockwise as the observer faces the end of the protruding shaft. Note: New value only imported when the drive is switched on.

UINT16 0..1

- 0

R/W/rem.

Motion.dec_Stop 28:21 (1C:15h)

Delay for Quick-Stop Deceleration used for every Quick-Stop: - Quick-Stop via control word - Quick-Stop via ext. Monitoring signal - Quick-Stop by error of classes 1,2

UINT32 12..765000

rpm*s 6000

R/W/rem.

Motion.v_target0 29:23 (1D:17h)

Default setpoint speed Remanent default value for v_tarPTP. Speed for PTP mode if no value has been written to v_tarPTP. Note: This remanent value is used exclusively when switching on the drive as a default assignment for v_tarPTP.

UINT16 1..3000

rpm 60

R/W/rem.

Motion.acc 29:26 (1D:1Ah)

Acceleration Value determines acceleration and deceleration. New values are only imported after drive standstill

UINT32 12..765000

rpm*s 600

R/W/rem.

Data type Unit R/W/

dec.Default dec.

rem. Info

PProfibus.MapOut 24:2 (18:02h)

Value in PZD5+6 for drive Index and subindex of the object that is mapped to the PPO2 dur-ing the data transfer from the master to the drive. By default the setpoint acceleration (value 001A001Dh) is mapped. Possible values: 00000000h: no mapping active 001A001Dh: setpoint acceleration, 29:26 00010021h: digital outputs (33:1) Low word: index mapped object High word: subindex mapped object

UINT32 - see text to left

R/W/rem.

8-7

Parameters IclA IFS

8.11 "ProgIO0“ parameter group

Profibus.MapIn 24:3 (18:03h)

Value in PZD5+6 to the master device Index and subindex of the object that is mapped to the PPO2 dur-ing the data transfer from the drive to the master device. No mapping is active by default.Possible values: 00000000h: No mapping active 00070020h: error number (32:7) 00010021h: Dig. inputs/outputs (33:1) 0019001Fh: temperature of power amplifier (31:25) 0014001Fh: power supply (31:20) 000C001Fh: current motor current (31:12) Low word: index mapped object High word: Subindex mapped object

UINT32 - 0

R/W/rem.

Profibus.PkInhibit 24:4 (18:04h)

Refresh cycle for static read jobs The reader value is refreshed cyclically at the defined period with a static pending read job.

UINT32 1..60000

ms 1000

R/W/rem.

Profibus.SafeState 24:5 (18:05h)

Reaction to safe status Reaction of the drive in status 'Clear' of the Profibus DP master device. 0 = no reaction 1 = error of class 2, drive goes to FAULT status if power amplifier was enabled.

UINT32 0..1

- 1

R/W/rem.




Unit Default dec.

R/W/rem. Info

Th(In

8-8

e parameter groups "ProgIO0“ (Index 800), "ProgIO1“ dex 801), "ProgIO2“ (Index 802), "ProgIO3“ (Index 803)

have identical meanings.

Data type Unit R/W/

0098

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dec.Default dec.

rem. Info

ProgIO0.Index 800:1 (320:01h)

Index of control parameter If prog. input: Index of the parameter to be written If prog. output: Index of the parameter to be read If prog. input: write(Index,Subindex) = (read(Index,Subindex) BAND BitMask) BOR VALUEx If prog. output: high level at output if (read(Index,Subindex) BAND BitMask) =<> VALUE1

UINT16 - -

R/W/rem.

ProgIO0.Subindex 800:2 (320:02h)

Subindex of control parameter If prog. input: Subindex of the parameter to be written If prog. output: Subindex of parameter to be read

UINT16 - -

R/W/rem.

ProgIO0.BitMask 800:3 (320:03h)

Bit mask for parameter value If prog. input or prog. Output: Bit mask with the read value of the parameter (Index,Subindex) is logically ANDed before it is further processed.

UINT32 - -

R/W/rem.


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IclA IFS Parameters

8.12 "PTP" parameter group

ProgIO0.Switch 800:4 (320:04h)

Edge detection or comparison operator If prog. input: Selection of the slopes to be captured: Value 0: no response to level change Value 1: response to pos. edge Value 2: response to neg. edge Value 3: Response to both edges If prog. output: Selection of condition for comparison: Value 0: (parameter read value = comparison value) Value 1: (parameter read value <> comparison value) Value 2: (parameter read value < comparison value) Value 3: (parameter read value > comparison value)

UINT16 - -

R/W/rem.


Write value at pos. edge or comparison value If prog. input: Parameter write value with pos. slope If prog. output: Comparison value for condition

UINT32 -- -

R/W/rem.


Write value at neg. edge If prog. input: Parameter write value with neg. edge If prog. output: no meaning

UINT32 - -

R/W/rem.




Unit Default dec.

R/W/rem. Info


Data type Unit R/W/

dec.Default dec.

rem. Info

PTP.p_absPTP 35:1 (23:01h)

Target position and absolute positioning start action object: Write access triggers absolute positioning in incre-ments

INT32 Inc -

R/W/-

PTP.StatePTP 35:2 (23:02h)

Acknowledgment: PTP positioning Bit15: ptp_err Bit14: ptp_end Bit13: Set position reached Bit7: SW_STOP Bit3: error REF Bit2: error STOP Bit1: error LIMN Bit0: error LIMP

UINT16 - -

R/-/-



INT32 IInc -

R/W/-

PTP.continue 35:4 (23:04h)

Continuation of an interrupted positioning The target position is specified with the preceding positioning command. The value transferred here is not relevant for the positioning.

UINT16 - 0

R/W/-



UINT16 1..3000

rpm 60

R/W/-

8-9

Parameters IclA IFS

8.13 "RS485“ parameter group

8-10

Data type Unit R/W/

8.14 "Settings“ parameter group



dec.Default dec.

rem. Info

RS485.timeout 1:11 (01:0Bh)

Node Guard Timer connection monitoring, time in milliseconds 0=inactive (default=0) Value returns automatically to 0 after a node guard error.

UINT16 0..10000

ms 0 R/W/-

RS485.serBaud 22:1 (16:01h)

Baud rate Following values are allowed: 9600 19200 38400

UINT16 0..38400

- 9600

R/W/rem.

RS485.serAdr 22:2 (16:02h)

Address 1...31 are allowed

UINT16 1..31

- 1

R/W/rem.

RS485.serFormat 22:3 (16:03h)

Data format Bit 0: 1=no parity, 0=parity on Bit 1: 1=parity odd, 0=parity even Bit 2: 1=8 data bits, 0=7 data bits Bit 3: 1=2 stop bits, 0=1 stop bit Default is 0 = 7-E-1

UINT16 0..15

- 0

R/W/rem.

Data type Unit R/W/

0098

441

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dec.Default dec.

rem. Info

Settings.name1 11:1 (0B:01h)

User-defined device name part 1 Default = 538976288 = 0x20202020 = 4 spaces User-programmed naming in the form of an 8 character long text

UINT32 - 538976288

R/W/rem.

Settings.name2 11:2 (0B:02h)

User-defined device name part 2 Default = 538976288 = 0x20202020 = 4 spaces User-programmed naming in the form of an 8 character long text

UINT32 - 538976288

R/W/rem.

Settings.I_still 14:1 (0E:01h)

Motor phase current standstill Current given in percent of nominal current.

UINT16 0..100

% 70

R/W/rem.

Settings.I_acc 14:2 (0E:02h)

Motor phase current acceleration / deceleration Current given in percent of nominal current.

UINT16 0..100

% 100

R/W/rem.

Settings.I_const 14:3 (0E:03h)

Motor phase current constant travel Current given in percent of nominal current.

UINT16 0..100

% 100

R/W/rem.

Settings.I_stop 14:4 (0E:04h)

Motor phase current emergency stop Current given in percent of nominal current.

UINT16 0..100

% 100

R/W/rem.


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IclA IFS Parameters

8.15 "Status“ parameter group

Settings.SignEnabl 28:13 (1C:0Dh)

Signal release for monitoring inputs bit 0: LIMP (pos. limit switch) Bit 1: LIMN (neg. limit switch) Bit 2: STOP (STOP switch) Bit 3: REF (reference switch) Bit value=0: Monitoring is not active Bit value=1: Monitoring is active Note: Monitoring is only active if the relevant IO port is config-ured as the corresponding function (parameter I/O.IO0_def to IO3_def).

UINT16 0..15

- 3

R/W/rem.

Settings.SignLevel 28:14 (1C:0Eh)

Signal level for monitoring inputs Set here whether errors are triggered at 0 or at 1 level. Bit 0: LIMP Bit 1: LIMN Bit 2: STOP Bit 3: REF bit value 0: Response at 0 level (wire-break security) Bit value 1: Response at 1 level

UINT16 0..15

- 0

R/W/rem.




Unit Default dec.

R/W/rem. Info


Data type Unit R/W/

dec.Default dec.

rem. Info

Status.driveStat 28:2 (1C:02h)

Status word for operating status LOW-UINT16: Bit0..3: No. of current state of status machine Bit4: reserved Bit5: fault by internal monitoring Bit6: fault by external monitoring Bit7: warning active Bit 8..11: reserved Bit12::15: Axis-specific coding of the processing status Corresponds to assignment of Bits12..15 in the mode-specific acknowledgment data (e.g. PTP.ACK (35:2) with PTP positioning) HIGH-UINT16: For assignment see parameter Status.xMode_act

UINT32 - -

R/-/-

Status.xMode_act 28:3 (1C:03h)

Current axis mode with additional information Bit0..3: current mode (see below) Bit5: Drive is referenced (ref_ok) Bits 4, 6..15: reserved Numbering of current mode: 2: referencing 3: PTP positioning 4: speed profile 0, 1, 5..15: reserved

UINT16 - -

R/-/-

8-11

Parameters IclA IFS

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Status.WarnSig 28:10 (1C:0Ah)

Warnings Monitoring signals with error class 0. Bit 0: position overrun profile generator Bit 1: overtemperature power amplifier Bit 5: I^2t limit active Bit 8: I/O timing error GATE/STEPX10 (IDS only) Bit 9: position deviation with inactive power amplifier (IFE only) The remaining bits are reserved for later extensions.

UINT16 - -

R/-/-



UINT16 0..15

- -

R/-/-

Status.FltSig 28:17 (1C:11h)

Active monitoring signals Error bits remain set only as long as errors are pending (i.e. as long as limit value is exceeded). Assignment as FltSig_SR (28:18)

UINT32 - -

R/-/-

Status.FltSig_SR 28:18 (1C:12h)

Saved monitoring signals Error bits remain set until FaultReset is run. Bit 0: undervoltage 1 power supply Bit 1: undervoltage 2 power supply Bit 2: overvoltage power supply Bit 5: motor overload Bit12: overtemperature power amplifier Bit16: blocking error Bit17: following error Bit18: motor position sensor failure Bit21: protocol error Bit22: node guard error Bit23: pulse/direction input timing Bit28: hardware error EEPROM Bit29: power up error Bit30: internal system error Bit31: Watchdog

UINT32 - -

R/-/-

Status.action_st 28:19 (1C:13h)

Action word Bit0: bit latched error class 0 Bit1: bit latched error class 1 Bit2: bit latched error class 2 Bit3: bit latched error class 3 Bit4: bit latched error class 4 Bit5: reserved Bit6: Drive stopped: actual speed is zero Bit7: drive rotates in positive direction Bit8: drive rotates in negative direction Bit9: reserved Bit10: reserved Bit11: Drive stopped: setpoint speed is 0 Bit12: drive decelerates Bit13: drive accelerates Bit14: Drive operates constant speed Bit15: reserved

UINT16 - -

R/-/-




Unit Default dec.

R/W/rem. Info

8-12 Intelligenter Kompaktantrieb

0098

441

113

189

, V1.

02, 0

1.20

04

IclA IFS Parameters

8.16 "VEL" parameter group

Status.v_ref 31:1 (1F:01h)

Setpoint speed Setpoint magnitude of speed controller. Only available with servo drives.

INT32 Inc/s -

R/-/-

Status.v_act 31:2 (1F:02h)

Actual speed Speed captured by sensor with closed loop drives. With open-loop drives the commutation speed.

INT32 Inc/s -

R/-/-

Status.p_ref 31:5 (1F:05h)

Setpoint position Setpoint magnitude of position controller with closed loop drives. With open-loop drives the setpoint magnitude for commutation.

INT32 Inc -

R/-/-

Status.p_act 31:6 (1F:06h)

Motor position The motor position captured by sensor with closed loop drives. With open-loop drives identical with p_ref.

INT32 Inc -

R/-/-

Status.n_act 31:9 (1F:09h)

Actual speed Corresponds to v_act converted to rpm.

INT16 rpm -

R/-/-

Status.UDC_act 31:20 (1F:14h)

Voltage of power supply in [0.1V] UINT16 V -

R/-/-

Status.TPA_act 31:25 (1F:19h)

Temperature of power amplifier in degrees Celsius

UINT16 20..110

°C -

R/-/-

Status.v_pref 31:28 (1F:1Ch)

Speed of rotor position setpoint value p_ref INT32 Inc/s -

R/-/-

Status.p_target 31:30 (1F:1Eh)

Target position of travel profile generator Absolute position value of the profile generator calculated from transferred relative and absolute position values.

INT32 Inc -

R/-/-

Status.p_profile 31:31 (1F:1Fh)

Actual position of travel profile generator Corresponds to setpoint position p_ref.

INT32 Inc -

R/-/-

Status.p_actusr 31:34 (1F:22h)

Motor position Parameters for improving compatibility to Twin Line. Corresponds to motor position p_act.

INT32 Inc -

R/-/-

Status.n_profile 31:35 (1F:23h)

Actual speed of travel profile generator Corresponds to the speed of the rotor position setpoint value n_pref.

INT16 rpm -

R/-/-

Status.n_target 31:38 (1F:26h)

Target speed of travel profile generator INT16 rpm -

R/-/-

Status.n_pref 31:45 (1F:2Dh)

Speed of rotor position setpoint value p_ref Corresponds to v_pref converted to rpm.

INT16 rpm -

R/-/-

Status.StopFault 32:7 (20:07h)

Last cause of interruption, error number UINT16 - 0

R/-/-




Unit Default dec.

R/W/rem. Info


Data type Unit R/W/

dec.Default dec.

rem. Info

VEL.velocity 36:1 (24:01h)

Start with setpoint speed in speed-profile mode action object: Write access triggers movement

INT16 -3000..3000

rpm -

R/-/-

8-13

Parameters IclA IFS

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VEL.stateVEL 36:2 (24:02h)

Acknowledgement: Speed profile mode Bit15: vel_err Bit14: vel_end Bit13: setpoint speed reached Bit7: SW_STOP Bit3: error REF Bit2: error STOP Bit1: error LIMN Bit0: error LIMP

UINT16 - -

R/-/-




Unit Default dec.

R/W/rem. Info

8-14 Intelligenter Kompaktantrieb

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IclA IFS Accessories and spare parts

9 Accessories and spare parts


The following are available as accessories and spare parts:

Order number
Designation
IclA Ixx Installation Set 0062 501 521 001

IclA Ixx cable gland (2 units) 0062 501 520 002

IclA Ixx cable glands (10 units) 0062 501 520 001

IclA IDx cable (power, P/R), length: 3m, 5m, 10m, 20m 0062 501 464 xxx

IclA IFx cable (power, CAN), length: 3m 0062 501 462 030

IclA IFx cable (power, RS485) 0062 501 463 xxx

IclA IFx cable (power, STAK) 0062 501 470 xxx

IclA IFx signal plug-in connector 2I/O 0062 501 524 001

IclA IFx plug connector set 2 E/A 0062 501 523 001

Table 9.1 Accessories for the compact drives

Order number
Designation
Documentation

IclA Ixx CD-ROM multilingual 0098 441 113 207

IclA IFE7x DE 0098 441 113 211

IclA IFE7x EN 0098 441 113 212

IclA IFS DE 0098 441 113 188

IclA IFS EN 0098 441 113 189

IclA IFx CANopen DE 0098 441 113 184

IclA IFx CANopen EN 0098 441 113 185

IclA IFx RS485 DE 0098 441 113 186

IclA IFx RS485 EN 0098 441 113 187

IclA IFx Profibus DE 0098 441 113 192

IclA IFx Profibus EN 0098 441 113 193

Table 9.2 Documentation for the compact drives

The crimping pliers required for preparing cables are obtained directly from the manufacturer.

• Crimping pliers for power supply: AMP 654174-1

• Crimping pliers for multifunction interface and 24V signal interface: Molex 69008-0982

• Crimping pliers for field bus interface: Molex 69008-0724

• Extraction tool for CAN, RS485: Molex 11-03-0044

• Extraction tool for multifunction interface, I/O: Molex 11-03-0043

An RS232/USB to RS485 converter is required for service and to up-grade the operating system.

• NuDAM RS232-RS485 converter: Acceed ND-6520

9-1

9-2

Accessories and spare parts IclA IFS

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• NuDAM USB-RS485 converter: Acceed ND-6530


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IclA IFS Service, maintenance and disposal

10 Service, maintenance and disposal


CAUTION!

Damage of system components and loss of control!

A break in the negative connection of the power supply may cause excessively high voltages at the signal terminals.

• Never switch the negative connection of the power supply.

• Check that the connection is correct before switching on.

• Do never plug or unplug the conector plug while the supply volt-age is present.


10.1 Service address

Please contact your local dealer if you have any questions or problems. Your dealer will be happy to give you the name of a customer service outlet in your area.

10.2 Maintenance and warranty

Maintenance Th
e compact drive is maintenance-free. The compact drive is lubricated for life.
Hama

ve repairs to the unit carried out only by the nufacturer to ensure that the unit continues to operate

reliably.

Warranty If t
he rear electronics housing cover is opened the warranty is void.
10.3 Shipping, storage, disposal

DANGER!

Electric shock from high voltage

• Switch off the power supply at the main switch before removing the compact drive.

Removal Re
moval procedure:
Switch off the power supply.

Disconnect the power supply.

Pull out all plugs.

Remove the compact drive from the system.

Shipping Th
e compact drive must be protected against impact while in transit. Use the original packaging for this purpose.
10-1

Service, maintenance and disposal IclA IFS

Storage St

10-2

ore the compact drive only under the specified approved ambient con-ditions for room temperature and humidity.

Protect the compact drive against dust and contamination if the cable bushings are open.

Disposal Th
e compact drive is made from various materials which can be recy-cled or which must be disposed of separately.
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smantle the compact drive for disposal only. A mantled compact drive cannot be reassembled to a

functioning unit without special assembly tools and instruments.

If you dismantle the compact drive for recycling, the following material groups must be disposed of separately:

Table 10.1 Disposal by material groups

Electronics housingElectronics housing coverElectronics housing cover

Zinc casting

Shaft bolts

Iron recycling

Cables Copper recycling

Winding aid plastic connection element

Plastic recycling

Electronic circuit boards

Special waste recycling


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IclA IFS Glossaries

11 Glossaries

11.1 Terms and abbreviations

AC Alt


ernating Current

ASCII Am
erican Standard Code for Information Interchange; Standard for cod-ing text characters
Stall detection Th
e stall detection monitors that the optional index pulse is always cor-rectly triggered at the same angular setting of the motor axis. Only for stepper motor drives with index pulse.
CAN St
andardized open field bus over which the drives and other devices from different manufacturers communicate with one another.
DC Di
rect current
Default values Pr
eset values for the parameters before initial commissioning, factory settings.
DIP switch Sm
all switches positioned side by side. They must be set during instal-lation.
Direction of rotation Ro
tation of the motor shaft in a clockwise or counterclockwise direc-tion.A clockwise direction of rotation is given when the motor shaft ro-tates clockwise as the observer faces the end of the protruding shaft. These is the positive direction of rotation.
I/O Inp
uts/Outputs
E En
coder
EC motor Ele
ctronically commutated motor
EC Eu
ropean Community
EMC Ele
ctromagnetic compatibility
Encoder Se
nsor for recording the angular position of a rotating element. The en-coder is mounted on the motor and signals the angular position of the ro-tor.
Limit switch Sw
itches that signal an overrun of the permissible travel range.
Power amplifier A
device that generates current for controlling the motor in accordance with the positioning signals from the controller.
EU Eu
ropean Union
Error class Cl
assification of possible operating faults of the drive system that result in an error status.
FI Fa
ult current
HEX switch Sm
all rotary switch with 16 positions. It must be set during installation.
High/open Sig
nal status of an input or output signal; in the idle state the signal volt-age is high, high level.
I2t-monitoring Pr
edictive temperature monitoring. The expected temperature rise of unit components is calculated in advance on the basis of the motor cur-rent If a limit value is exceeded, the drive system reduces the motor cur-rent.
11-1

Glossaries IclA IFS

Inc Inc

11-2

rement

Index pulse En
coder signal for referencing the rotor position in the motor. The en-coder sends one index pulse per revolution.
IT system Po
wer system with no earth potential reference, since it is not earthed. I: Isolation Isolation: T: terre (French): Earth
LED Lig
ht-Emitting Diode
Power circuit se
e power amplifier
Low/open Si
gnal status of an input or output signal; in the idle state signal voltage is low (low level).
M Mo
tor
Motor phase current In
a stepper motor the available torque is specified by the motor phase current. The higher the motor phase current, the higher the torque.
Node-Guarding Mo
nitoring function by slave at an interface for cyclic communication.
Parameter De
vice functions and values that can be set and called by the user.
PC Pe
rsonal Computer
Profibus St
andardised open field bus compliant with EN 50254-2 over which drives and other devices from different manufacturers communicate with one another.
PWM Pu
lse Width Modulation
Quick-Stop Th
is function is used in the event of faults, the STOP command or for fast braking of the motor.
RS485 Fie
ld bus interface compliant with EIA-485, which enables serial data transmission with multiple devices.
SM St
epper motor
PLC Pr
ogrammable Logic Controller
Watchdog Eq
uipment that monitors cyclic basic functions in the drive system. Power amplifier and outputs are switched off in the event of error.
11.2 Product name

User Term

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Abbreviation Product identification

IcIA IDS Intelligent Compact Drive with pulse/direction interface and stepper motor

Compact drive

IcIA IFS Intelligent Compact Drive with field bus interface and stepper motor Compact drive

IclA IFE Intelligent Compact Drive with field bus interface and EC motor Compact drive

TLC51x TwinLine stepper motor controller TwinLine

TLC53x TwinLine servo motor controller TwinLine

TLD01x TwinLine stepper motor drive TwinLine

TLD13x TwinLine servo motor drive TwinLine


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IclA IFS Supplement

12 Supplement

12.1 Monitoring the limit switches LIMN/LIMP

from version V1.005 Mo


nitoring by the LIMP and LIMN limit switches is enabled by default for safety reasons. In all drives without limit switches monitoring must be disabled with the parameter Settings.SignEnabl, 23:13, value = 0.

12-1

12-2

Supplement IclA IFS

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IclA IFS

Index

Numerics24V signal interface

cable specification 4-24commissioning 5-2connection 4-24function 4-25setting functions 5-2signal inputs 4-25signal outputs 4-25testing limit switch function 5-3

24V signalsconfiguring 4-25testing 5-3

AAbsolute positioning 6-14Accessories 9-1Acknowledgment parameter 6-7Address setting

RS485 field bus interface 4-22Address setting without DIP switch

CAN field bus interface 4-18Axis signals

REF 6-3retraction 6-3STOP 6-3

Axis signals, monitoring signals 6-2

BBaud rate setting

CAN field bus interface 4-18Profibus DP field bus interface 4-14RS485 field bus interface 4-22

CCable specification

24V signal interface 4-24CAN field bus interface 4-17Profibus DP field bus interface 4-13RS485 field bus interface 4-21

Cable specificationspower supply 4-12

CAN 8-1CAN field bus interface

address setting without DIP switch 4-18baud rate setting 4-18cable specification 4-17connection 4-17DIP switches, positioning drive with 4-19function 4-18terminating resistor 4-17


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CAP1 6-27CAP2 6-28Capture 6-27, 8-2Causes of errors 7-4Commissioning 5-1

24V signal interface 5-2optimising travel behaviour 5-7preparation 5-2running 5-2setting phase currents 5-5testing limit switch function 5-3testing positioning operation 5-5torque characteristic 5-7

Communication interfaceDIP switches, address setting 4-15

Config 8-4Create travel profile 6-25

acceleration 6-25position 6-26properties 6-25speed 6-25

DDanger classes 2-2Defining direction of rotation 6-25Definition of direction of rotation 6-25Diagnostics 7-1Diagnostics and troubleshooting 7-1Dimension setting 6-16, 6-22DIP switches 4-15, 4-19, 4-23Disposal 10-1

EEarthing 4-6Electrical installation 4-3ErrMem0 8-4Error classes 7-4Error display 7-1Error memory 7-1Error numbers 7-6Error response 7-4External

axis signals 6-2External power supply 4-4

FFast position capture 6-27

HHoming 8-5Homing.p_disHome 6-19Homing.p_outHome 6-19Homing.startSetp 6-22Homing.stateHome 6-7


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IclA IFS

Homing.v_Home 6-19

II/O 8-6Index pulse

drives with 6-33Installation, electric

earthing 4-6Installation, electrical 4-3

connecting 24V signal interface 4-24connecting CAN field bus interface 4-17connecting power supply 4-12connecting RS485 field bus interface 4-13, 4-21Design of the system 4-4preparing cables 4-6

Installation, mechanical 4-2

LLimit switch

testing function 5-3

MMaintenance 10-1Mechanical installation 4-2Monitoring signals, external 6-2

axis signalsREF 6-3STOP 6-3

software stop, SW STOP 6-3monitoring signals, external

retraction 6-3Monitoring signals, internal 6-5

read 6-5Motion 8-1Motion.dec_Stop 6-2Motor

optimising travel behaviour 5-7setting phase currents 5-5setting ramp slope 5-7torque characteristic 5-7

OOperating function

fast position capture 6-27Operating functions 6-25

create travel profile 6-25definition of direction of rotation 6-25programmable inputs/outputs 6-29Quick-Stop 6-26

Operating modeswitching 6-10

Operating modes 6-9point-to-point mode 6-13referencing 6-15


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speed mode 6-11Operating states 6-6Operating status

read 6-7Operating transitions 6-6Operation 6-1Optimising travel behaviour 5-7

PParameter group

CAN 8-1capture 8-2commands 8-3config 8-4ErrMem0 8-4homing 8-5I/O 8-6motion 8-1, 8-7Profibus 8-7ProgIO0 8-8PTP 8-9RS485 8-10settings 8-10status 8-11VEL 8-13

Parameter values, default 6-1Parameters 8-1

overview 8-1Point-to-point mode 6-13

absolute positioning 6-14relative positioning 6-14

Positioning limits 6-4Positioning operation

testing 5-5Positioning range 6-4

range overrun 6-4Positioning resolution 6-4Power supply

cable specifications 4-12connection 4-12

Preparing cables 4-6Product name 11-2Profibus DP field bus interface

baud rate setting 4-14cable specification 4-13function 4-14terminating resistor 4-14

ProgIO0 8-8Programmable input 6-29Programmable inputs/outputs 6-29PTP 8-9PTP.p_absPTP 6-14PTP.p_relPTP 6-15PTP.v_tarPTP 6-15


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IclA IFS

QQualification, personnel 2-1Quick-Stop 6-26

acknowledge 6-27

RRange overrun 6-4REF 6-3Reference movement 6-15

to index pulse 6-21to limit switch 6-18to REF 6-21

Reference movements, standard 6-16Referencing 6-15

dimension setting 6-16, 6-22reference movement 6-15

Relative positioning 6-14Reset error message 7-4Retraction 6-3RS485 8-10RS485 field bus interface

address setting 4-22baud rate setting 4-22cable specification 4-21connection 4-13, 4-21DIP switches, positioning drives with 4-23function 4-22positioning drives without DIP switches 4-22terminating resistor 4-21

SService 10-1Service address 10-1Setting options

operating-mode independent 6-10Setting phase currents 5-5Setting ramp slope 5-7Settings 8-10Shipping 10-1Software stop 6-3Speed mode 6-11

resolution 6-11value range 6-11

Standard reference movements 6-16Status 8-11Status information

miscellaneous 6-8operating-mode-specific 6-7

acknowledgment parameter 6-7xxx_end 6-8xxx_err 6-8

Status.action_st 6-8Status.FltSig, 28

17) 6-5


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Status.FltSig_SR 6-5Status.n_act 6-8Status.n_pref 6-8Status.n_profile 6-8Status.n_target 6-9Status.p_act 6-9Status.p_profile 6-9Status.p_ref 6-9Status.p_target 6-9Status.Sign_SR 6-2Status.StopFault 7-5Status.TPA_act 6-9Status.UDC_act 6-9Status.v_act 6-9Status.v_pref 6-9Status.WarnSig 6-4Status.xMode_act 6-4STOP 6-3Stopping 6-12Stopping positioning drive 6-12Storage 10-1SW STOP 6-3

TTechnical data 3-1Terminating resistor 4-14, 4-17

RS485 field bus interface 4-21Testing

positioning operation 5-5Troubleshooting 7-1, 7-4

VVEL 8-13VEL.velocity 6-11


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