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DigitAx
AC Servo Drive
1.4kW to 22kW
The manufacturer accepts no liability for any The following information applies where the end use
consequences resulting from inappropriate, of the Drive is within the European Union, the
negligent or incorrect installation or adjustment of European Economic Area, or other regions which
the optional operating parameters of the equipment have implemented Directives of the European
or from mismatching the variable speed drive Council or equivalent measures.
(Drive) with the motor.
The Drive complies with the Low Voltage Directive
The contents of this User Guide are believed to be 73/23/EEC.
correct at the time of printing. In the interests of a
commitment to a policy of continuous development The installer is responsible for ensuring that the
and improvement, the manufacturer reserves the equipment into which the Drive is incorporated
right to change the specification of the product or complies with all relevant Directives.
its performance, or the contents of the User Guide,
The complete equipment into which the Drive is
without notice.
incorporated must comply with the EMC Directive
All rights reserved. No parts of this User Guide may 89/336/EEC.
be reproduced or transmitted in any form or by any
If the Drive is incorporated into a machine, the
means, electrical or mechanical including
manufacturer is responsible for ensuring that the
photocopying, recording or by any information-
machine complies with the Machinery Directive
storage or retrieval system, without permission in
98/37/EC. In particular, the electrical equipment
writing from the publisher.
should generally comply with European Harmonised
Standard EN60204-1.
Important...
Drive software version
This product is supplied with the latest version of
user-interface and machine-control software. If this
product is to be used in a new or existing system
with other DigitAx Drives, there may be some
differences between their software and the
software in this product. These differences may
cause this product to function differently. This may
also apply to Drives returned from a Control
Techniques Service Centre.
10.6 Resolver phasing 10-4 A.2 Evaluating the PID gains A-2
The voltages used in the Drive can cause severe Within the European Union, all machinery in which
electric shock and/or burns, and could be lethal. this product is used must comply with the following
Extreme care is necessary at all times when working directives:
with or adjacent to the Drive. 98/37/EC: Safety of Machinery
Specific warnings are given at the relevant places in 89/336/EEC: Electromagnetic Compatibility.
this User Guide and the accompanying User Guide.
The installation must comply with all relevant safety 2.6 Safety of personnel
legislation in the country of use.
The STOP function of the Drive does not remove
dangerous voltages from the output of the Drive or
2.3 System design from any external option unit.
The Drive is intended as a component for The Stop and Start controls or electrical inputs of
professional incorporation into complete equipment the Drive should not be relied upon to ensure safety
or systems. If installed incorrectly the Drive may of personnel. If a safety hazard could exist from
present a safety hazard. The Drive uses high unexpected starting of the Drive, an interlock that
voltages and currents, carries a high level of stored electrically isolates the Drive from the AC supply
electrical energy, and is used to control mechanical must be installed to prevent the motor being
equipment which can cause injury. inadvertently started.
Close attention is required to the electrical Careful consideration must be given to the
installation and the system-design to avoid hazards functions of the Drive which might result in a hazard
either in normal operation or in the event of through incorrect operation due to a fault or trip
equipment malfunction. System-design, (eg. stop/start, forward/reverse, maximum speed).
installation, commissioning and maintenance must
be carried out by personnel who have the necessary Under certain conditions, the Drive can suddenly
training and experience. They must read this safety discontinue control of the motor. If the load on the
information and User Guide carefully. motor could cause the motor speed to be increased
(eg. hoists and cranes), a separate method of
To ensure mechanical safety, additional safety braking and stopping the motor must be used (eg. a
devices such as electro-mechanical interlocks may mechanical brake).
be required. The Drive must not be used in a safety-
critical application without additional high-integrity
protection against hazards arising from a
malfunction.
Motor
3.2 Ingress protection Refer to motor manufacturer.
(IP and NEMA 1)
3.8 PWM switching frequencies
Model sizes 1 and 2 are rated at IP20. The cooling
fans for the heatsink are rated at IP20. DBE140 to DBE1100S: 8kHz
Model size 3 are supplied as a stand-alone unit in a DBE1500, DBE2200: 4kHz, 8kHz
protective case having an enclosure specification
which is rated as IP00 (in accordance with the
IEC529) or NEMA 1. The cooling fans for the heatsink
3.9 Vibration
are rated at IP20.
Conformance to the requirements of IEC 68–2–34
For Drives supplied in an IP00 case, a DC bus choke
(inductor) and an optional braking resistor should be
installed externally to the Drive. For Drives supplied
in a NEMA 1 case, a DC bus choke and braking resistor
are installed internally.
mH ARMS Apk kg lb
DBE1500 1.50 45 85 6.4 14
DBE2200 0.70 75 143 8.4 19
Mounting brackets
Position for
Position for
surface
Heated air exhaust through-panel mounting
mounting
Model Model
size 1 size 2
DBE140 DBE420
DBE220 DBE600
DBE750
DBE1100S
Mounting bracket detail
Figure 3–1 Dimensions of model sizes 1 and 2 (See table on opposite page)
Model
size 3
DBE1500
DBE2200
AC supply cables
These can enter the
enclosure and be
routed as required.
RFI filters
When required, install a separate ≥3mm
RFI filter for each Drive. 125mm ≥3mm
( in)
(5 in) ( in)
Ferrite rings
Use two rings for each Drive. Mount
each pair of rings as close as
possible to each Drive.
Back-plate
Mount all Drives and RFI filters
on the back-plate.
Drives
Ensure minimum clearances are
respected.
Signal cables
Plan for all signal cables to Enclosure
be routed at least 300mm
(12in) distant from any AC
power cable.
2. If condensation is likely to occur when the Drive Drive model Filter part
is not in use, install an anti-condensation heater. number
This heater must be switched off when the DBE140 4200–4810
Drive is in use; automatic switching is
DBE420 4200–4810
recommended.
DBE420 4200–4810
3. Do not locate the Drive in a classified hazardous
DBE600 4200–4820
area, unless the Drive is installed in an approved
enclosure and the installation is approved. DBE750 4200–4820
DBE1100S 4200–4830
4. Install the Drive vertically for best flow of
cooling air. DBE1500 4200–1051
DBE2200 4200–1051
5. Install the Drive as low as possible in the
enclosure without contravening EMC
requirements. Filter Filter dimensions
part
6. Observe the requirements for ambient number
temperature if the Drive is to be mounted Length Width Depth
directly above any heat generating equipment,
4200– mm in mm in mm in
such as another Drive.
15 3 3
4810 250 9 /16 110 4 /8 60 2 /8
7. If the Drive is to be installed directly beneath 3 9 3
4820 270 10 /4 140 5 /16 60 2 /8
other equipment, such as another Drive, ensure 3 9 3
the Drive does not cause the ambient 4830 270 10 /4 140 5 /16 60 2 /8
temperature requirements of the equipment to 1051 330 13 190
5
7 /8 145
11
5 /16
be exceeded.
8. Allow at least 100mm (4in) clearance above and 4.5 Ferrite absorber ring
below the Drive.
1 A ferrite absorber ring and capacitor network may
9. Allow at least 3mm ( /8in) clearance each side of be used in place of an RFI filter for all models, except
the Drive. for models DBE1500 and DBE2200. See Figure 5–4.
Cut out
Dimension mm in
3
A 105 4 /16
Dimension mm in
B 24 1 9
A 65.0 2 /16
1
C 62 2 /2 9
B 40.0 1 /16
1
D 28.5 1 /8 1
C 26.0 1 /16
5
E 90 3 /8 7
D 22.0 /8
3
Mounting hole diameter 5 /16 13
E 97.0 3 /16
3
Figure 4–2 Dimensions of the ferrite rings F 146.5 5 /4
9
H 167 6 /16
1
W 114 4 /2
3
Mounting hole diameter M4 /16
Example
Internal
braking
resistor Upper power
connector terminals
Power
connector
Front panel
Lower power
terminals
Figure 5–2 Location of the power and Figure 5–3 Locations of the power terminals
braking-resistor connectors on on models DBE1500 and DBE2200
models DBE420 DBE600, DBE750
DBE1100S Upper power terminals
Power connector Pin Function Type Notes
DB1 External braking Out Braking transistor
Pin Function Type Notes
resistor connection
U Phase U Out
DB2 External braking Out +DC bus
V Phase V Out Output to motor resistor connection
W Phase W Out PE Ground
Y PE L1 Phase L1 In
L1 Phase L1 In L2 Phase L2 In AC supply
L2 Phase L2 In AC supply connections L3 Phase L3 In connections
L3 Phase L3 In
Lower power terminals
–DC DC bus Out
negative Pin Function Type Notes
BR External Out External braking resistor L11 Choke Out
braking connections
resistor L12 Choke Out –DC bus
Simulated
Encoder
input
Simulated encoder
Ferrite
absorber ring
Isolator Safety-ground terminal
AC supply
Output stage
The capacitor network and ferrite
absorber ring are not required when This
an RFI filter is used. connection
must be as
System supply ground bus-bar short as Drive
50mm x 20mm x 100mm min, possible
200mm max
Screened twisted-pair wires
with overall screen
Enclosure
Armoured or
shielded cable
This
connection
must be as
short as
possible
Motor Resolver
Machine
Figure 5–4 Recommended connections, ground arrangements and other minimum requirements
to ensure good noise immunity
Using the arrangement shown in Figure 5–4
Note
does not guarantee that the specified
Failure to follow the basic standards for conducted and radiated
recommendations shown in Figure 5–4 may emissions are met. Additional precautions
result in vibration in the motor or spurious and guidelines need to be considered.
trips in the Drive. These are shown in Figures 5–5 and 5–6.
Alternative location
of fuses or MCB
Output 3 Control
Output 2 cables to L1 L2 L3
the Drives
Output 1
RFI filter
0V
Isolated 0V bus-bar 2 ferrite rings
Ground Bus-bar must be Part No. 4200-0000
isolated from the 2 turns of each phase
Host
enclosure Flat flexible conductor
controller L1 L2 L3 (braid)
Min. width: 10mm (½ in)
Max length: 90mm (3½ in)
Extension bus-bar
Max. length: 60mm (2½ in)
AC supply
AC supply
L1 distribution Bond the back-plate U V W L1 L2 L3 R + Connect the cable
(and fuses or to the power ground shields to terminal
L2 MCB) bus-bar
Safety ground B18 (0V connection).
terminal Refer to the signal
L3 connections diagram.
Ground Drive
Back-plate
Bond the armour or shield to the back-plate.
If the enclosure construction permits, you may
instead bond the armour or shield to the enclosure at
the cable entry point.
Refer to Radiated emissions in the EMC Data Sheet.
Power ground bus-bar
Bus-bar does not need to be
isolated from the enclosure
Enclosure
Safety bond
to enclosure
Figure 5–5 Models DBE140 to DBE1100S — Recommended AC power and ground connections
Extension bus-bar
Max. length: 60mm (2½ in)
Alternative safety
ground connection
for the motor
Back-plate
Bond the armour or shield to the back-plate.
If the enclosure construction permits, you may instead
bond the armour or shield to the enclosure at the cable
entry point.
Refer to Radiated emissions in the EMC Data Sheet.
Enclosure
Alternative location
of fuses or MCB
AC supply phases and ground cables for each Drive RFI filter
must be parallel and close together Bond the RFI filter to the
back-plate using the
mounting screws.
Output 1 See signal
Output 2 connections
diagrams.
Output 3
0V
Isolated 0V bus-bar
Ground Bus-bar must be isolated
from enclosure.
Host
controller DB1 DB2 PE L1 L2 L3 See signal
connections
Drive diagrams.
Connect the cable
shields to the ground
connection of the
Drive. Refer to the
signal connections Bond the Drive
diagram. frame to the
L11 L12 PE U V W
back-plate.
Back-plate
Figure 5–6 Models DBE1500 to DBE2200 — Recommended AC power and ground connections
Alternative location
of fuses or MCB
Bond the armour or shield to
the back-plate. RFI filter
Bond the RFI filter to the
If the enclosure construction back-plate using the
permits, you may instead mounting screws.
bond the armour or shield to
the enclosure at the cable
entry point.
Refer to Radiated emissions
in the EMC Data Sheet.
Back-plate
Do not connect
the cable shields When dimension D >300mm (12 in), bond the
to the resolver or armour or shield to the back-plate. If the enclosure
DC bus choke
motor. construction permits, you may instead bond the Enclosure
armour or shield to the enclosure at the cable entry
point. Refer to Radiated emissions in the EMC Data
Optional motor isolator Sheet.
Armour or shields must be bonded using
isolator case or a flat, wide conductor.
Maximum length of conductor: 100mm (4 in)
Alternative motor and braking resistor connections
Use these wiring techniques as appropriate for the following:
Motor connected to the Drive through a terminal block.
Wiring to optional braking resistor external to the enclosure and the resistor shielding.
For the following connections, use 600VAC An external DC bus choke is not required for model
(1000VDC) 3-core pvc-insulated cable with copper sizes 1 and 2.
conductors of the size specified in the table:
AC power to the Drive 5.7 Protecting the Drive
For the following connections, use 600VAC
(1000VDC) 3-core pvc-insulated, shielded or
with line reactors
armoured cable with copper conductors of the size
When a DigitAx is connected to an AC supply which
specified in the table:
is subject to severe disturbances, as a result of the
Drive to the motor following for example...
Drive to external braking resistor (if used)
• Capacity is at least 200kVA
Cable sizes must be selected for 100% of the RMS • Fault current is at least 5kA
currents.
• Power-factor correction equipment is
connected close to the Drive
• Large DC Drives having no or ineffective line
reactors are connected to the supply
• Direct-on-line started motor(s) are
connected to the supply and, when any of
AC supply
isolator
CNC Emergency
Stop/Start Stop
Thermal
trip
DBE140
DBE220 Thermal
trip
Thermal
trip
External
braking
resistor
Braking Braking
resistor resistor
connector connector
DBE420
DBE600
DBE750
DBE1100S
Thermal
trip
External
braking
resistor
Main
power
Thermal connector
trip
Braking Braking
resistor resistor
connector connector
DBE1500
DBE2200 Thermal
trip
External
braking
resistor
Upper
power
terminals
Figure 5–8 Connecting internal and external braking resistors to the recommended thermal
trip circuit
1
Model sizes 1 and 2
0.5 1 2 4 5 10 17
The Control Keypad cannot be mounted remotely.
x current setting (F)
Programmable 5
Inputs
CON B – Resolver connections 6
7
Programmable
Outputs 8
0V Full Scale
No connection Adjust
9
Cosine (low) Analog Ref
Cosine (high) 10
Sine (low) 11
Sine (high)
12
Excitation (low) -10V
Reference
Excitation (high) Supplies 13
+10V
14
Drive Enable
15
Drive OK
17
Tacho
Pin Function Type Description
18
B18 0V Ground connection for the 0V
resolver wiring screen 19
N/C
B19 Not Do not connect 20
LO
internally COS
connected 21
HI
C D
0V
-10V, 10mA supply output
+10V, 10mA supply output
DRIVE ENABLE input
DRIVE NORMAL output
Digital I/O Analog output
Tacho output
CON
B Figure 5–14 Analog inputs and outputs
Analog inputs
Resolver
Input impedance: 10kΩ
Analog outputs
Output impedance: 1kΩ
Pin Function Type Description
Serial B9 Analog In When b6 = 0, these inputs
communications inverting are used as analog speed
input reference
B10 Analog non- In When b6 = 1, these inputs
CON CON inverting are used as torque reference
D C
input input
Input Impedance: 10kΩ
Digital inputs
Input impedance: 15kΩ Note — The 470Ω resistor
Logic 0 = <4.5V or input open circuit value shown applies to
Dutymax servomotors. For
Logic 1 = >5.5V
other motors, the resistor
value should be selected so
Digital outputs
that the input signal at
Output type: Open collector (PNP) terminal B1 is less than 5V at
Current: 60mA per channel the motor trip temperature.
B2 0V Control signal common
B3 +24V, 100mA Out Power supply to external control
circuits
B4 Programmable In When parameter b16 = 0, and
input 2 Pr21 = 2, these inputs are used
for digital speed selection.
The configuration can be read
in parameter Pr18.
B5 Programmable In When b16 = 1, these inputs are
input 1 used for limit switch signals.
1 X Stop
X logic 1 Stop
Keypad
The Control Keypad has three keys. These are as
follows:
Mode key
Figure 6–1 Control Keypad used in models
DBE140, DBE220, DBE420, DBE600, The Mode key is used to change the type of
DBE750, DBE1100S information shown on the display. A green LED
indicator responds to operation of the Mode key.
b5 = 1
Recall
defaults
Data and commands
b99 = 1 b1 = 1
Saving data Recall last
Pr setting
The Default Table is held in PROM in the Drive. The Saving parameter values held in the Working Table
Working Table is held in RAM in the Drive and the stores them in the User’s Table. Saving is carried out
User’s Table is held in EEPROM in the Control Keypad. by setting b99 at 1. The contents of the Working
This arrangement ensures that a Drive is always Table are lost when AC power is removed.
equipped with its default values, and the user-
defined parameter values remain unchanged when the
Control Keypad is removed from the Drive.
Note
Setting parameters to their default values
includes the value of the security code
parameter Pr25. The default value is zero,
which allows any parameter to be changed;
ie. security is lost when default values are
recalled.
Display Software
Drive Baud Data b50 return version
address rate format function
Pr22 Pr23 b51 Pr97
b5 Recall default
values from PROM
CON D
3
Write
7
Serial communications Random Access Memory PROM
2
Read
6
Security
b21 b52 b1 b99 Pr25
code
BCC Mode Recall last Save RAM to
enable parameter settings EEPROM
from EEPROM
(the Drive must be Enable change
disabled before b0
of security code
this parameter is
adjusted) EEPROM
Figure 7–2 Logic diagram showing how parameter values are changed using serial
communications
DigitAx User Guide
7-2 Issue code: dgxu4
8 Programming 8.2 Changing a parameter
value
Instructions
Note
If a new value has been entered in security
8.1 Displaying a parameter parameter Pr25, parameter values cannot
be edited unless the correct value is first
Use the following procedure to display a parameter entered in Pr25. Refer to Chapter 9
and its value: Security.
1. Press the Mode key once. The LED above the The values of parameters can be changed when the
Mode key illuminates. The display will Drive is stopped or running.
alternately display the number of the last
1. Select the parameter to be edited by following
accessed parameter in the form of Pr33 or b17
the instructions above in Displaying a parameter.
and the parameter value. After 8 seconds, the
display returns to showing the current status. 2. When the value of the parameter is being
displayed hold down or press repeatedly one of
2. To select a different parameter from the one the arrow keys to change the displayed value.
shown, either hold down or press repeatedly
3. To enter the value, press the Mode key. The LED
one of the arrow keys. The display scrolls
extinguishes.
through the parameter numbers.
1. Set b0 to 1
LK4
8kHz 4kHz
LK5
Using the example operating cycle shown below: Pr7 1 Speed loop bandwidth limit.
Range 1 to 7 (320Hz to 5Hz)
Disconnect the motor shaft 3. Apply AC power to the Drive. Check the display
from the driven load before first shows 04..xx, then CAL, then rdY.
Warning using this procedure. During
this procedure, the drive will 4. If using serial communications, check the
apply rated current to the correct transmission format is being used (refer
motor. It is essential that to Chapter 13 Serial Communications).
Pr45 is set correctly, or the 5. Unless the Hold zero speed function is
drive may damage the required, disconnect terminal B6 and check the
motor.
value of parameter b18 (digital stop selector)
is 0 (default value).
1. Set parameter b2 at 0.
6. Replace the connections that were removed in
2. Apply +24V to terminal B14. step 1. Make sure that all terminals are fully
tightened on the Drive, motor and resolver.
3. Set parameter b49 at 1. The motor shaft will
complete one revolution, making 3 steps per 7. Connect the motor to the load. Perform
pole. typical working cycles for a period of at least
15 minutes. Check the following:
4. Motor must rotate in clockwise (forwards)
If the value of b33 = 0, at least one alarm
direction, when viewed from the shaft end of
condition exists. Investigate as necessary.
If the value of b89 = 1, the Drive has entered
DigitAx User Guide
10-4 Issue code: dgxu4
the I2t region. The value of I2t is displayed in 7 Set Pr21 at 1
Pr80 as a percentage (fully-integrated value =
100). It may be necessary to change the setting Analog Reference settings
of Pr45, or reduce the duty ratio to reduce the
effective current Ieff. 1. Set bl7 = 0
5. Set Pr58 at maximum speed. During the next stage, the Drive will cause
the motor shaft to oscillate. Adjustment
6. Ensure that Pr99 is set for the full-scale speed may be made as follows:
of the motor.
Using an analog reference signal
Digital Reference settings
If the amplitude of oscillation is excessive, increase
1. Set b17 at 1
the signal generator frequency. If the speed is too
2. Set Pr0 at 0 high, reduce the signal generator output voltage to
not less than ±1V.
3. Set Pr1 at Pr58 ÷ 5
Using a digital reference
4. Set Pr2 at 0
If the speed is excessive, decrease the values of Pr0,
5. Set Pr3 at -(Pr58 ÷ 5) Pr1, Pr2, Pr3. Increase the inversion frequency by
decreasing the value of Pr19.
6. Set Pr19 at 2.5 (0.2Hz)
Note
This setting depends on the transmission
ratio and the mechanical limitations of the
system.
2. Set b16 at 0.
Using an analog speed reference
3. Set b17 at 1.
The speed of the motor is controlled by applying an
analog speed reference voltage having a maximum 4. Set Pr21 at 1.
range of ±10V to terminals B9 and B10. This voltage The pre-set speeds are selected in sequence at
can be either a single-ended or differential signal. intervals defined by Pr19.
The maximum speed is set by the value of Pr99, but
this can be trimmed using the full-scale speed Digital input control
potentiometer. This has a ±20% window of
adjustment around Pr99. 1. Set b6 at 0.
Use the following procedure to set up the Drive for 2. Set b16 at 0.
analog speed control:
3. Set b17 at 1.
1. Set parameter b6 at 0.
4. Set Pr21 at 2.
2. Set parameter b14 at 1.
The required parameter is selected by applying
3. Set parameter b17 at 0. signals to the digital inputs as follows:
Parameter Terminal
Using a digital speed reference
b4 b5
The speed of the motor can be controlled by values Pr0 0V 0V
in Pr0, Pr1, Pr2 and Pr3. This allows for up to
Pr1 0V +24V
four pre-set speed settings. These values can be
selected using any of the following methods: Pr2 +24V 0V
Pr3 +24V +24V
• Direct selection using Pr20
• Sequential selection using Pr19
Frequency speed reference
• Digital input control using terminals B4
and B5 The speed and direction of the motor are controlled
The permissible range of values is determined by the by applying a pulse reference to terminal C7 and a
value programmed in Pr99 as follows: direction signal to terminal C8. The speed of the
motor is directly controlled by the frequency of the
Value of Maximum value of pulse reference signal.
Pr99 reference parameters
200 to 3000 3000
Scaling is as follows:
Ramps can be selected by setting b7 at 1. When Protection against excessive motor speed is given
selected, all three methods of speed control will be by the Drive tripping on trip OS if the speed set in
subject to the ramps during changes in speed. All Pr58 is exceeded.
ramps (acceleration and deceleration in forward and
Use the following procedure to set the Drive for
reverse) are independently controlled, and can be
digital torque reference control:
set in terms of milliseconds per 1000 RPM in Pr9,
Pr10, Pr11 and Pr12. 1. Set b2 at 0 to disable the Drive.
This mode of operation allows the shaft torque When parameter b11 is set at 1, terminal B1 becomes
from the motor to be controlled using an analog an analog speed reference input, and controls
reference applied to terminals B9 and B10. This parameter Pr41. This sets the value of current limit
input can also be used for master/slave applications which in effect applies torque control to the motor.
where the motors or their loads are coupled
Use the following procedure:
together in some way to allow load sharing. The
master Drive would be in speed control, and the 1. Set b6 at 0 to select speed control. (See
current demand output from the master would be Methods of speed control for setting up
used as the torque reference for the slave. the Drive for the required speed reference).
Protection against excessive motor speed is given 2. Set b11 at 1 to select external torque limit.
by the Drive tripping on trip OS if the speed set in
Pr58 is exceeded. 3. Set b56 at 0 to disable the external trip
function of terminal B1.
Use the following procedure to set the Drive in
analog torque reference control: 4. Apply the required signal to terminal B1 (±10V
gives torque limited to ±100% of Ipk).
1. Set b2 at 0 to disable the Drive (See Pr42).
2. Ensure the motor is stopped.
1. Set b14 at 0.
Pulse Reference control
2. Set b15 at 1.
The position reference is applied as a pulse-train to
terminal C7 (maximum frequency is 240kHz) and a 3. Set b16 at 0.
direction signal to terminal C8. The pulses arriving 4. Set b17 at 0.
on terminal C7 are multiplied by a scaling factor set
in Pr70, and counted by the buffer. The signal
present on terminal C8 determines whether the Digital Reference control
buffer counts up (positive value) or down (negative The position reference is entered into Pr75 and
value). As each pulse enters the buffer, the Drive Pr76 using serial communications. The value of
immediately steps the motor in the appropriate Pr75 must be entered first, followed by Pr76.
direction, and attempts to keep the net value at The new value is entered into the buffer when the
zero. value of Pr76 has been entered. The Drive runs at
This mode of operation allows the Drive to be maximum speed while it is moving into position
directly controlled by a stepper controller. In this (see Pulse Reference control above).
case, the ramps should be controlled by the stepper The value that will actually be written into the
controller. The acceleration and deceleration ramps buffer is given by:
Position reference = (Pr76 x 1000) + Pr75
+ Analogue
B9 +
Speed + Reference
ref B10
- 1
0
Frequency
b15
Reference
0
1
0
Position
Pulse C7
Controller
1
+ 32 bit +
buffer
+ + +
Direction C8 16384 pulses
Pulse
Pr70 1 = 1 revolution
Multiplier
S
Low Byte +
Pr75
Pr71
High Byte Pr76 *1000 + Enabled
Clear
Digital Position
buffer b04 b53
Reference
0
0
Stop B6 1 = Stop
1 b18
1
b09 b88
Threshold
Pr05
STOP signal
0
polarity Pr00
1
Pr01
Pr04 2 Pr24
Pr02
5ms clock 3
DC link Pr03
voltage Digital
Reference
Pr17
b15 1
Select
or B5 1 Digital select Auto
Buffer select
Pr19
Inc./Dec. time
Pr18
1 = Limit switch active
Figure 10–6 Logic diagram showing speed reference selection and position control
Pr53
b07
Pr54
Shaft
Positioning b48
1 0
b22
Speed
Feedback
1 0
b23
+ 0 -
B9 Reference +
Ramps I 2t Maximum
B10 Selection Pr42 Current
- - Alarm
Speed Limit
ref b89 100%
0
Upper Relative/ Nominal I 2t
Window Absolute Current Accumulator Motor
At 0
Direction
Pr45 1
Speed Pr57
Pr80 Pr43
1 Pr55 b11 b38
b42
Time I 2t Limit
Pr56 Constant
Lower
Window Pr39
Et / I limit
B1
B14
1
Enable Et
disable Enable
b10 0 1 0
b56
0V Level
b02
Pr58
Last Over
Trip Resolver Current +24V Rail
Break External Over Short Circuit
(>110% I pk)
Pr98 Trip Speed
1 = trip
0
Oh dOI UU OU
Reset b85 b83 b82
PA
Over Drive DC Under DC Over
b91
Temperature Over Operating Voltage Voltage
Pre-Alarm Temperature Incorrectly (400V) (840V)
Figure 10–7 Logic diagram showing the torque loop, trip logic and I/O
PWM V
Brake
Power
Chopper
M
Stage W
Enable
Resolver
Resolver Full R
Phasing
Motor Correction Scale
Shaft Check
Speed Speed
Position Pr16 b49
Pr99
Pr58 Pr58
d Resolver to
dt Digital B20 - B25
Drive
Enabled
Position B17 Tacho
Window Pr95
Demand Resolution
b04 Pr53 Motor Poles Pr68 Con C
Pr27
Simulated
1 Encoder
b41
Buffer Empty
1 0
Drive Zero
Ready Speed
Zero Speed 0 b53
Pr30 B15
0 b89 I 2t alarm
Pr31
1 b91 Over temp. pre-alarm 0 Drive OK
1 +24V
2 b84 Over-current trip 2
3 b38 Motor direction 3
4 b41 Zero speed 4
5 b42 At speed 5
6 b48 Speed loop saturation 6
B7 (Pr30)
7
7 b04 Drive enabled 8
B8 (Pr31)
8 b95 Internal braking resistor
overload
b6 = 0 b6 = 1
Digital
reference
Analog Analog
Frequency
reference? reference?
control
b17 = 1
Set speeds
Pr0, Pr1, Pr2, Pr3 b7 = 1 b7 = 0
Set ramps
Pr9, Pr10, Pr11, Pr12
Torque limit
required?
b11 = 0
Limitation by
external analog
reference
End
Yes
b16 = 1
b16 = 0
No
Ramps?
Pr21 = 2
Yes
End
b53 = 1 b53 = 0
Set:
Pr27, Pr37, Pr53, Pr54 Stop with ramps
to the required
orientation values
b22 = 0
b22 = 1
(Range: see below) RPM Def. 0 Res. 1 Used in conjunction with Pr13, Pr14, Pr15 to
val.
minimize instability of the speed loop caused by
–3000 to 3000 RPM when Pr99 = 200 to 3000 resonance in the mechanical transmission, or by high
–6000 to +6000 RPM when Pr99 = 3200 to 6000 inertia of the driven load.
–3000 to 3000 RPM when Pr99 = 200 to 3000 Pr8 Digital current reference R–W
–6000 to +6000 RPM when Pr99 = 3200 to 6000 ± 100 % Def. 0 Res. 1
val.
Pr3 Programmable digital R–W
speed reference User-programmable current (torque) reference, as a
(Range: see below) RPM Def. 0 Res. 1 percentage of Ipk. Polarity indicates the direction of
val. motor rotation.
–3000 to 3000 RPM when Pr99 = 200 to 3000 Pr9 Acceleration ramp — forward R–W
–6000 to +6000 RPM when Pr99 = 3200 to 6000 1 to 3000 ms Def. 200 Res. 1
RO val.
Pr4 Voltage level of DC bus
0 to 1024 V Def. Res. 4 Slope in milliseconds per 1000 RPM.
val.
Pr10 Acceleration ramp — reverse R–W
1 to 3000 ms Def. 200 Res. 1
val.
RO
A Drive address is required when serial
Pr18 Digital input configuration
communications are used. Each Drive on a serial
(terminals B4 and B5)
communications link must have an individual
0 to 3 Def. Res. address.
val.
Pr23 Baud rate R–W
Indicates the signals on terminals B4 and B5, as
300 to 19200 Def. 9600 Res.
follows:
val.
0V or open-circuit = 0
This parameter can be set only at the control
+24V = 1
keypad, not by using serial communications.
The indications are as follows:
Available values are as follows:
Terminal Pr18
300, 600 1200, 2400, 4800, 9600, 19200
B4 B5
0 0 0 The host computer must be set at the same Baud
rate as the Drive.
0 1 1
1 0 2
1 1 3
Indicates the value of the selected digital reference Selects the source parameter for terminal B8.
in RPM at the start of the speed loop.
Value of Pr31 Parameter selected
2
Pr25 Security code R–W 0 b89 I t alarm
1 to 9999 Def. 0 Res. 1 1 b91 Temperature pre-alarm
val. 2 b84Current limit alarm
RO 5 b42 At Speed
Pr26 Drive model code
6 b48 Speed loop saturation
(See below) Def. Res.
val. 7 b4 Drive enable status
The model number is coded as follows: 8 b95 Braking resistor overload
0 DBE140
Pr37 Orientation (position) loop gain R–W
1 DBE220
0 to 50 Def. 12 Res. 1
2 DBE420
val.
3 DBE600
7 DBE750 When the orientation function is selected (Normal
stop while b53 = 1), the Drive automatically sets the
11 DBE1100S
orientation loop gain.
12 DBE1500, DBE2200
Pr39 Analog current limit input RO
Selects the source parameter for terminal B7. Pr41 Current limitation value RO
0 to +100 % Def. Res. 1
Value of Pr30 Parameter selected
val.
2
0 b89 I t alarm
Indicates the lowest value set in the following
1 b91 Temperature pre-alarm parameters:
2 b84Current limit alarm
I2t limit (Pr43)
3 b38 Present direction Analog limit (rectified) (Pr39) when b11 = 1
4 b41 Motor stopped Digital limit Pr42
5 b42 At Speed 0 is shown when the Drive is disabled.
6 b48 Speed loop saturation
7 b4 Drive enable status
8 b95 Braking resistor overload
DBE140 to DBE750: 20% to 50% When Pr68 = 0, pulses per revolution = 256
DBE1100S to DBE2200: 20% to 67% When Pr68 = 1, pulses per revolution = 512
Pr53 Shaft orientation window R–W When Pr68 = 2, pulses per revolution = 1024
When Pr68 = 3, pulses per revolution = 2048
0 to 100 stops Def. 10 Res. 1
val.
Note
Defines a window either side of the value
programmed in Pr27 within which it is assumed When Pr68 is set at 3, the maximum
that the motor shaft is correctly orientated when permissible speed is 3000 RPM
stop is selected and b53 = 1. See Pr27.
Pr70 Position Reference Input R–W
Pr54 Speed reference during R–W Scaling
orientation 4 to 16384 Def. 4 Res. 1
10 to 200 RPM Def. 150 Res. 1 val.
val.
The number of pulses at the input is multiplied by
Speed in RPM adopted during shaft orientation. See Pr70. For each resulting pulse, the motor shaft will
Pr27. rotate Pr70/16384 part of a revolution. Refer also
to Pr71.
Pr55 Thermal time-constant R–W
of motor Pr71 Position Loop Integral Gain R–W
0.4 to 10.0 secs Def. 7.0s Res. 0.1s 0 to 255 Def. 0 Res. 1
val. val.
Enter the value for the motor. When the Drive is set up to operate in position
control with a frequency input signal, Pr71 is used
Pr56 Motor At-speed window — R–W to add integral gain to eliminate steady-state
lower limit position error.
±6000 RPM Def. –5 Res. 1
val.
0 to 1999.9 Def. Res. 0.1 200 to 3000 RPM Def. 3000 Res. 200
val. 3200 to 6000 val. 400
Shows the shaft position at all times. Set at 1 to enable the security code to be changed
to any valid number. Refer to Pr25.
Pr95 Number of Motor Poles R–W
b1 Recall last parameter settings R–W
Def. 6 Res.
val. from EEPROM
0 or 1 Def. 0 Res.
4, 6, or 8 poles can be set. val.
Pr97 Software version number RO Return to the last-written parameter values. Set b2
Def. Res.
Recalls the default values of all parameters from val.
PROM and enters them in RAM for immediate
application. The display shows dEf while default Indicates the logic input state at terminal B14.
values are loaded. Related to b1 and b99.
When the logic state at B14 is 0, b10 is 0 and the
b6 Reference selector R–W Drive is not enabled.
0 or 1 Def. 0 Res. When the logic state at B14 is 1, b10 is 1 and the
val. Drive is enabled depending on the setting of b2.
Refer to b8. b11 Current limit selector R–W
When b12 = 0, b13 is used to select the signal source. Selects the stop function without an input applied
to terminal B6.
When b13 is set at 0, clamped current demand
(Pr40) is selected (±10V ≡ ±100%). When b18 = 0, the stop function is controlled by
When b13 is set at 1, post-ramp speed reference is applying a signal to terminal B6. Refer to b9.
selected (5V ≡ 6000RPM request). When b18 = 1, and b53 = 1, the stop function is to
stop to position with ramp and hold.
b14 Pulse/analog R–W
When b18 = 1, b53 = 0, and b22 = 0, the stop
reference selector
function is to stop without ramps and hold.
0 or 1 Def. 1 Res. When b18 = 1, b53 = 0, and b22 = 1, the stop
val.
function is to stop with ramps and hold.
When b17 is set at 0 and b14 is set at 0, pulse-train Refer also to b7, b9, b23.
input is selected (terminal C7).
b21 BCC enable R–W
When b17 is set at 0 and b14 is set at 1, analog
speed reference (±10V) is selected (terminals B9 0 or 1 Def. 1 Res.
and B10). val.
b15 Pulse/position control selector R–W When b21 is set at 0, BCC is disabled.
When b21 is set at 1, BCC enabled.
0 or 1 Def. 0 Res.
val. See Chapter 13 Serial Communications.
When b15 is set at 0, pulse control is selected. b22 Ramp function for Normal stop R–W
When b15 is set at 1, position control is selected.
0 or 1 Def. 1 Res.
b16 Pulse offset control / R–W val.
limit switch selector Selects with or without ramps for stop-and-hold.
0 or 1 Def. 0 Res.
val. When b22 is set at 0, without ramps is selected.
When b22 is set at 1, with ramps is selected.
Selects the function of terminals B4 and B5.
Indicates the direction of rotation when seen at the When b49 is set at 0, resolver phasing is inactive.
drive shaft end of the motor. When b49 is set at 1, resolver phasing is enabled.
b38 = 0 indicates the motor is rotating in th e
reverse (counterclockwise) direction. Change the value of b49 only
b38 = 1, indicates the motor is rotating in the when the Drive is disabled by
forward (clockwise) direction. setting b2 at 0, and the
Warning
motor is stopped
b41 Zero speed or shaft orientation RO
b50 Display return function R–W
status
0 or 1 Def. 0 Res.
Def. Res.
val.
val.
b53 = 0, b41 = 0 indicates motor not at zero speed. When b50 is set at 0, the control keypad display
returns to rdY or the speed value after 8 seconds
b53 = 1, b41 = 0 indicates shaft not orientated.
without a key stroke.
b53 = 0, b41 = 1 indicates motor at zero speed.
When b50 is set at 1, the display continues to show
b53 = 1, b41 = 1 indicates shaft is oriented. the value of the last parameter to have been
See Pr27. selected.
When the Drive is being used for position control, b51 Serial link data format R–W
b41 indicates In Position.
0 or 1 Def. 0 Res.
b42 At-speed status RO val.
Def. Res.
val.
When b56 is set at 0, external trip is disabled. b87 = 0 indicates the speed is within limits.
When b56 is set at 1, external trip is enabled. b87 = 1 indicates the speed has exceeded the limit
set in Pr58.
b81 Digital output short circuit trip RO
b83 DC under-voltage trip RO b89 = 0 indicates Drive not in the I2t zone.
Def. Res.
val.
OU
PA
Trip Code number: 1
Over Voltage Trip Code number: 7
Over Temperture Pre-Alarm
The DC bus voltage has exceeded the permitted
maximum of 808V. The heatsink temperature is close to the
permitted maximum.
UU
OS
Trip Code number:2
Under Voltage Trip Code number: 8
Motor Overspeed
The DC bus voltage is below the permitted
minimum of 404V. The motor speed has exceeded the safe limit
set in Pr58.
OC
SC
Trip Code number: 3
Over Current Trip Code number: 9
Digital Output Short Circuit Trip
Excessive current (>110% of Ipk) has been
detected in the output bridge. A digital output (terminals B7, B8, B15) is short
circuit to 0V.
th Et
Port Port
configuration
A B
The configuration for the serial port must be
determined before attempting to communicate
with the Drive. These parameters should be set up
using the control keypad.
Drive Drive Drive Drive
Baud rate
The Baud rate is selected using parameter Pr23.
The selected rate must be the same as that of the
host computer.
Figure 13–1 Up to 32 Drives can be connected
to each communications port of
the host computer
The Drive will respond with the data for next lower
parameter number.
13.6 Messages from host
to Drive
13.7 Write data to the Drive
Interrogate the Drive To write data into the Drive, the message must be in
the format shown below. The data field does not
To find the value of a parameter, the host must send need to be six characters long, since the ETX (ctrl C)
a message in the format shown below. No data field character indicates the end of the data. The BCC
is needed. can be disabled, but a CR (ctrl M) character must
be transmitted in its place.
Drive Pr
address Drive Pr Data field BCC
EOT 0 0 1 1 0 0 6 ENQ address
Drive =
address
Requests a repeat of the data for the parameter last
EOT 0 0 2 2 Cr addressed
Ctrl-D Ctrl-M
>
The Drive responds with:
Requests the data for the parameter of next higher
0 2 > number