Control Techniques M'Ax Advanced User's Manual
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Control Techniques M'Ax Advanced User's Manual

Compact, high-performance, single-axis servo amplifier for brushless ac servo motors
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Advanced User Guide
Compact, high-performance, single-axis servo
amplifier for brushless AC servo motors
Part Number: 0453-0017-04
www.controltechniques.com
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M'Ax
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Issue Number: 4

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Summary of Contents for Control Techniques M'Ax

  • Page 1 Advanced User Guide M’Ax Compact, high-performance, single-axis servo amplifier for brushless AC servo motors Part Number: 0453-0017-04 Issue Number: 4 www.controltechniques.com...
  • Page 2 This product is supplied with the latest version of user-interface and machine-control software. If this product is to be used with other Control Techniques servo amplifiers in an existing system, there may be some differences between their software and the software in this product. These differences may cause a difference in functions.

  • Page 3: Table Of Contents

    Contents Advanced parameters: General information ..........1 Menu 0 Parameters ..................2 Menu 1 Parameters - Speed reference selection ........5 Menu 2 Parameters - Ramp Selection ............12 Menu 3 Parameters - Speed Loop PID gains ........... 19 Menu 4 Parameters - Torque Control ............28 Menu 5 Parameters - Motor Control ............

  • Page 4: Advanced Parameters: General Information

    Advanced parameters: General information NOTE In some cases, the function or range of a parameter are affected by the setting of another parameter; the information in these lists relate to the default condition of such parameters. Read-write parameter Read-write (RW) parameter whose default value is defined by the motor via the SLM Read-only parameter Read-only parameter whose value is defined by...

  • Page 5: Menu 0 Parameters

    Menu 0 Parameters Parameter Range( Default( Type ô ð 0.00 Parameter XX.00 0 ~ 3001 0.01 Hardware enable indicator 0 ~ 1 0.02 Reference selected indicator 1 ~ 5 0.03 Value of selected reference + value of [1.06] 0.04 Final speed reference + value of [1.06] 0.05 Speed feedback + value of [1.06]...
  • Page 6 0.50 Parameter transfer selector See below ô ð Default settings Version Setting boot2 Use parameter 0.50 to initiate the transfer of parameter values between the RAM, EEPROM (when an option module is fitted), and the flash memory in the drive (see Appendix H Storage and Transfer of Parameter Values in the M’Ax User Guide). After changing the setting of parameter 0.50, perform either of the following, as appropriate: •...
  • Page 7 Parameter 0.50 Parameter XX.00 set at Prog preset at 1000 (save) Flash memory EEPROM Parameter 0.50 Parameter 0.50 set at rEAd preset at Parameter 0.50 set at Parameter 0.50 , boot1 or boot2 preset at Parameter 0.50 preset at boot1 Parameter values are immediately copied in the indicated direction Parameter...

  • Page 8: Menu 1 Parameters - Speed Reference Selection

    Menu 1 Parameters - Speed reference selection Parameter Range( Default( Type ô ð 1.01 {0.03} Value of selected reference +[1.06] rpm 1.03 Pre-ramp reference +[1.06] rpm 1.04 {0.06} Reference offset +[1.06] rpm 1.05 {0.32} Jog reference 0 ~ 500 rpm RW Uni 0 ~ n 1.06 {0.08}...
  • Page 9 M’Ax Advanced User Guide Issue Number: 4 www.controltechniques.com...
  • Page 10 Figure 3-1 Menu 1 software diagram Reference 1.44 1.43 1.42 1.49 selected Analog Preset Keypad Keypad Pulse Pulse Pulse Pulse Analog reference Preset-references selected indicator 1.36 1.42 Keypad-reference selected indicator 1.43 Menu 7 Pulse-reference selected indicator 1.44 Preset reference Reference Preset-reference selector 1.45...
  • Page 11 DIGITAL I/O Menu 8 Sequencer (Menu 6) Pre-ramp 1.13 1.12 1.11 1.03 reference Jog selected Reverse Reference indicator selected enabled indicator indicator Menu 2 x(-1) Orientation 13.11 enable 1.05 1.06 Jog reference Maximum Orientation reference clamp 13.14 acceptance Limited window by 13.12 Feedback encoder...
  • Page 12 1.01 Value of selected reference ± Pr 1.06 0.03 ô ð Indication of the reference being used by the drive is given for systems set-up and fault finding. The value indicated by this parameter is the sum of input reference and reference offset [1.04]. NOTE When the drive is operating from a pulse reference input and the speed is below 100rpm, use the speed feedback parameter [3.02] for control purposes as parameter 1.01 will display some instability due to the sampling rate at lower speeds.
  • Page 13 0: Reference selection by terminal input The reference selected depends on the state of bit parameter [1.42] to [1.44]. These bits are for control by digital inputs such that reference can be selected by external control. If any of the bits are set, the appropriate reference is selected (indicated by parameter [1.49]). If more than one bit is set the highest numbered will have priority.
  • Page 14 1.24 Preset reference 4 ± Pr 1.06 1000 ô ð Parameter 1.21 defines the speed reference for preset speed 1. Parameter 1.22 defines the speed reference for preset speed 2. Parameter 1.23 defines the speed reference for preset speed 3. Parameter 1.24 defines the speed reference for preset speed 4.

  • Page 15: Menu 2 Parameters - Ramp Selection

    Menu 2 Parameters - Ramp Selection Parameter Range( Default( Type ô ð 2.01 Post-ramp reference ±[1.06] 2.02 {0.24} Ramp enable 0 ~ 1 2.03 Ramp hold enable 0 ~ 1 2.04 {0.27} Fast ramp select 0 ~ 1 2.05 Limit switch ramp enable 0 ~ 1 2.06 S-ramp enable...
  • Page 16 Figure 4-1 Menu 2 software diagram Digital input 3 Acceleration rate Preset-reference Acceleration Acceleration-rate selected indicator DIGITAL I/O 2.32 rate selector select bit-0 indicator 2.10 1.50 Menu 8 Acceleration-rate 2.33 select bit-1 indicator Sequencer (Menu 6) Acceleration rate 1 2.11 1.13 Jog selected indicator...
  • Page 17 Forward limit 6.35 switch Reverse limit 6.36 switch Ramp controller 6.48 DC-bus level Fast ramp 2.04 Sequencer Controlled- select 6.49 (Menu 6) stop enable indicator Limit switch 2.05 ramp enable Stop-control 2.46 proportional-gain 5.05 DC-bus voltage Stop-control 2.47 integral-gain Internal 10.12 braking-resistor overload alarm...
  • Page 18 2.01 Post-ramp reference ± Pr 1.06 ô ð This is the speed reference after the ramps. The range of this parameter is restricted by the value set in parameter 1.06 Maximum reference clamp. 2.02 Ramp enable 0 ~ 1 0.24 ô...
  • Page 19 Demand Speed Acceleration Actual Speed Programmed ramp rate S-ramp acceleration ramp 2.07 S-ramp acceleration limit 0.000 ~ 32.000 0.031 ô ð /1000rpm This parameter defines the maximum rate of change of acceleration/deceleration. The default values have been chosen such that for the default ramps and maximum speed, the curved parts of the S will be 25% of the original ramp if S-ramp is enabled.
  • Page 20 2.19 Jog acceleration rate 0.000 ~ 32.000 0.200 s/1000rpm ô ð The jog acceleration rate is only used when the drive starts from the inhibit or ready states, or has reached the jog reference from another state and the speed is changing because the jog reference is changed. This prevents the fast ramps normally used with jog from being used when changing between running and jogging.
  • Page 21 2.32 Acceleration-rate select bit-0 indicator 2.33 Acceleration-rate select bit-1 indicator 2.35 Deceleration-rate select bit-0 indicator 2.36 Deceleration-rate select bit-1 indicator 0 ~ 1 ô ð These bits are provided for control by logic input terminals for external ramp selection (see parameter 2.10 and 2.20). 2.46 Stop control proportional gain 0 ~ 200...

  • Page 22: Menu 3 Parameters - Speed Loop Pid Gains

    Menu 3 Parameters - Speed Loop PID gains Parameter Range( Default( Type ô ð 3.01 {0.04} Final speed reference ±[1.06] rpm 3.02 {0.05} Speed feedback ±[1.06] rpm 3.05 Zero-speed threshold 0 ~ 200 rpm RW Uni 3.06 At-speed lower limit 0 ~ [1.06] rpm RW Uni 3.07...
  • Page 23 Figure 5-1 Menu 3 software diagram Hard speed reference 3.22 Hard speed reference selector SLM PID buffer 1 Demand 3.23 SLM PID buffer 2 Sequencer (Menu 6) SLM PID buffer 3 Menu 2 Feedback Post-ramp 2.01 reference 3.01 Menu 13 Final speed reference t echnology...
  • Page 24 3.01 Final speed reference ±Pr1.06 0.04 ô ð Final speed demand at the input to the speed regulator formed by the sum of the ramp output and the hard speed reference (if the hard speed reference is enabled). If the drive is disabled this parameter will show 0.0. 3.02 Speed feedback ±Pr1.06...
  • Page 25 Parameter 3.16 may be changed when the drive is enabled or disabled. It is necessary to update the SLM with the required PID set by setting PID buffer update bit i.e. Pr 11.67 to 1. Any of the available 3 buffers can be selected "on the fly". Speed Torque reference...
  • Page 26 Torque reference Torque controller delay delay delay calculation delay 62.5µs 47.5µs 600µs 710µs Calculating Kp, Ki, Kd for M'Ax (Set-up method based on Compliance angle) Compliance angle based set-up required following parameters. Description M’Ax Parameter Symbol Motor rated current 5.07 M(rated) Symmetrical current limit (%) 4.07...
  • Page 27 × --------- - -- - const π × 30.4 0.00076 0.00224 0.003 α Therefore: 22.5 ---------- - 3.75 × 0.003 3.75 0.034 -------------------------------- - × -- - 30.4 π 0.003 -- - -------------------------------------- - 0.0023 × × -- - 30.4 3.75 π...
  • Page 28 current (parameter 11.32) with no field weakening. Zero Load 100% Motor rated current Stiffness angle 3.20 Load inertia 0.1 ~ 6000.0 Kgcm 0.10 ô ð 0.00001 ~ 0.6 The load inertia should be calculated and entered into 3.20 so that the total inertia can be calculated. Before entering the load inertia value into parameter 3.20, check the range status in parameters 5.34 and 5.54.
  • Page 29 3.52 Z marker pulse offset 0 ~ 65535 ô ð Difference in between the encoder marker and 0 position at parameter 3.29. On power up, SLM uses single cycle Sin-Cos output to find absolute shaft position. This measurement has a maximum of ±3° error. After passing through Marker pulse this offset is calculated. 3.53 Shaft key offset 0 ~ 65535...
  • Page 30 3.64 Speed feedback unfiltered ±2048 ô ð The speed feedback in counts / 250µs taken from the SLM encoder. This is used as source for analog output. This can be used by a PLC for instantaneous speed measurements. M’Ax Advanced User Guide www.controltechniques.com Issue Number: 4...

  • Page 31: Menu 4 Parameters - Torque Control

    Menu 4 Parameters - Torque Control Parameter Range( Default( Type ô ð 0 ~ I 4.01 {0.07} Motor current magnitude RO Uni ±200.0%I 4.03 Torque demand 4.04 Current demand 0 ~ 620 RO Uni 0 ~ 300.0% I 4.07 {0.18} Symmetrical current limit Kc1 200.0 RW Uni...
  • Page 32 Figure 6-1 Menu 4 software diagram Current-demand Motor − thermal Symmetrical current 4.12 4.07 4.15 filter 1 cut-off time-constant limit Kc1 frequency Current-demand Motor − Symmetrical current 4.23 4.24 5.07 filter 2 cut-off rated current limit Kc2 frequency Current-demand Drive rated Symmetrical current 4.27 4.28...
  • Page 33 4.01 Motor current magnitude 0 ~ I 0.07 ô ð This parameter is the r.m.s. current from each output phase of the drive. 4.03 Torque demand ±0 ~ 200 ô ð The torque demand is derived from the torque reference and offset. The units of the torque demand are % of allowed maximum torque to the motor (Based on Symmetrical current limit).
  • Page 34 4.15 Motor-thermal time-constant 0.16 ô ð The motor is modelled thermally in a way that is equivalent to the electrical circuit shown below. = RC Temp The temperature of the motor as a percentage of maximum temperature, with a constant current magnitude of I, after time t is given by Temp = [I / (Motor rated current x Motor overload threshold) ] (1 - e-t/τ) x 100%...
  • Page 35 4.53 Symmetrical current limit after motor thermal-overload trip 0 ~ 300 ô ð The Motor overload warning bit 10.17 is set if integrator value is greater than Motor overload warning threshold 4.52. Also the output current scaling is switched to parameter 4.53 (Current scaling during I t limit).
  • Page 36 Version _AN Initiate the save operation by setting parameter XX.00 at 1000. Execute the operation by performing either of the following: • While the display is in Edit mode, press at the same time: • Set parameter 10.38 at 100 (via serial communications) Version _SL Version _AN (if required) Ensure the drive is disabled by checking that the Hardware enable contact is open or that parameter 6.15 is set at 0, then perform either...

  • Page 37: Menu 5 Parameters - Motor Control

    Menu 5 Parameters - Motor Control Parameter Range( Default( Type ô ð 5.05 {0.43} DC-bus voltage 0 ~ 1000 V RO Uni 5.07 {0.19} Motor - rated current 0 ~ FLC A [SLM] RO Uni 5.08 Motor - rated speed 0 ~ 7500rpm [SLM] RO Uni...
  • Page 38 Figure 7-1 Menu 5 software diagram 5.05 DC-bus voltage Phase advance [MO] Current demand Sine-wave Pulse width modulator Current loop modulator and power stage Menu 4 Position information Current measurement Offset adjustment t echnology Braking control Motor parameters Menu 4 Motor current Motor −...
  • Page 39 5.05 DC-bus voltage 0 ~ 1000 0.43 ô ð Voltage across the internal DC Bus Voltage. 5.07 Motor - rated current 0 ~ FLC 0.19 ô ð This value is read from the SLM. The value is used is for current limit (refer to symmetrical current limit, parameter 4.07) and motor thermal protection (refer to thermal time constant, parameter 4.15).
  • Page 40 5.52 Reserved for internal system purposes 5.53 Reserved for internal system purposes For drive's internal system purposes only. 5.54 Inertia range select 0 ~ 1 ô ð The settings of parameter 5.54 are as follows: 0 = Ranges are as shown for 3.18 and 3.20 1 = Ranges are divided by 10 The value of this parameter needs to be known before programming 3.18 and 3.20.

  • Page 41: Menu 6 Parameters - Sequencer Functions, Ac Supply Loss Modes

    Menu 6 Parameters - Sequencer Functions, AC Supply Loss Modes Parameter Range( Default( Type ô ð 6.01 Stop mode selector 0 ~ 2 RW Txt 6.03 AC supply loss mode selector 0 ~ 1 RW Uni 6.08 Hold zero speed select 0 ~ 1 6.15 Drive enable...
  • Page 42 Figure 8-1 Menu 6 software diagram 13.15 Orientation complete 6.50 10.16 Under-volts warning UV warning threshold flag M’Ax Advanced User Guide www.controltechniques.com Issue Number: 4...
  • Page 43 6.01 Stop mode selector 0 ~ 2 ô ð Stopping Action Mode 0 - COASt Inhibits the inverter 1 - rP Stop with ramp 2 - no.rP Stop with no ramp Only one stopping phase exists and the ready state is entered as soon as the single stopping action is complete. 6.03 AC supply loss mode selector 0 ~ 1...
  • Page 44 6.35 FORWARD LIMIT switch 6.36 REVERSE LIMIT switch 0 ~ 1 ô ð Digital inputs connected to limit switches should be routed to these parameters if fast stopping is required at a limit. The drive will respond in 500µs (500µs digital input filter delay) and stop the motor with zero ramp rate (i.e. in current limit) if limit switch ramp is disabled (i.e. parameter 2.05 Limit switch ramp disable is set to zero).

  • Page 45: Menu 7 Parameters - Analog Input Output Settings, Temperature Monitoring

    Menu 7 Parameters - Analog Input Output Settings, Temperature Monitoring Parameter Range( Default( Type ô ð 7.01 Analog input ±100.0% 0 ~ 100 °C ±10 °C 7.04 Power-stage temperature 7.07 Analog input offset trim ±10.0% 7.08 Analog input scaling 0.000 ~ 4.000 1.000 7.09 Analog input invert...
  • Page 46 Analog-output scaling When parameter 3.64 is selected, and parameter 7.20 is set at 1, 10V at Analog output 1 represents 7500rpm. When parameter 4.04 is selected, and parameter 7.23 is set at 1, 10V at Analog output 2 represents 200% FLC. Analog-input destination in torque mode When the drive is in torque mode (parameter 4.11 set to 1 or 2) and controlled by an analog input, parameter 7.10 Analog input destination selector must be set to 4.08, parameter 1.14 Reference selector must be set to 3 to 5.
  • Page 47 M’Ax Advanced User Guide Issue Number: 4 www.controltechniques.com...
  • Page 48 Figure 9-1 Menu 7 software diagram M’Ax Advanced User Guide www.controltechniques.com Issue Number: 4...
  • Page 49 M’Ax Advanced User Guide Issue Number: 4 www.controltechniques.com...
  • Page 50 7.01 Analog input 0 ~ 100 ô ð This parameter displays the level of the analog signal in percentage that is present at the terminal. 7.04 Power-stage temperature °C ±10°C 0 ~ 100 ô ð This parameter displays the temperature currently being measured on the heatsink. If this level reaches 90°C the drive will give an alarm indication hot on the lower line of the display.
  • Page 51 7.25 Calibrate analog input 1 full scale 0 ~ 1 ô ð Setting this bit will cause the drive to adjust it's own scale factor such that the required maximum is reached at the input level at the time calibration takes place. This parameter is cleared by the software when the calibration is complete. 7.26 Analog input sample time 0.250 ~ 4.000...

  • Page 52: Menu 8 Parameters - Digital Input / Output Settings And Indications

    Menu 8 Parameters - Digital Input / Output Settings and Indications Parameter Range( Default( Type ô ð 8.01 Digital input 1 state indicator - Digital I/O Terminal 10 0 ~ 1 8.02 Digital input 2 state indicator - Digital I/O Terminal 9 0 ~ 1 8.03 Digital input 3 state indicator - Digital I/O Terminal 8...
  • Page 53 ??.?? Any unprotected bit parameter DIGITAL I/O x(-1) ??.?? Default source Default function parameter Digital output Y 10.02 M'AX RUNNING state indicator Digital output Y Digital output Y 10.03 AT ZERO SPEED source selector invert 10.19 ALARM 10.06 AT SPEED 8.7Y...
  • Page 54 8.01 Digital input 1 state indicator - Digital I/O terminal 10 8.02 Digital input 2 state indicator - Digital I/O terminal 9 8.03 Digital input 3 state indicator - Digital I/O terminal 8 8.04 Digital input 4 state indicator - Digital I/O terminal 7 8.05 Digital input 5 state indicator - Digital I/O terminal 1 8.06...
  • Page 55 8.16 Digital Input 6 invert 0 ~ 1 ô ð This invert parameter is used to change the sense of terminal 6 on the Digital I/O port. Setting this parameter to 1 causes the input sense to the destination parameter to be inverted. 0 = Not inverted 1 = Inverted 8.17...
  • Page 56 8.24 Digital input 4 destination selector (FORWARD LIMIT) 0.00 ~ 20.50 6.35 Menu.Par ô ð This parameter should be programmed with the destination parameter for terminal 7 on the Digital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of this parameter the destination is only changed when a reset or power down and back up again.
  • Page 57 8.59 Status line indicator 0 ~ 1 ô ð Parameter not used 8.60 Status line output enable 0 ~ 1 ô ð Parameter not used. 8.61 Digital output 1 invert 0 ~ 1 ô ð This invert parameter is used to change the sense of terminal 5 on the Digital I/O port. 0 = Not inverted 1 = Inverted 8.62...
  • Page 58 8.73 Digital output 3 source selector (ALARM) 0.00 ~ 20.50 10.19 Menu.Par ô ð This parameter should be programmed with the source parameter for terminal 3 on the Digital I/O port. Only bit parameters can be programmed into this parameter. If a non-valid parameter is programmed an output will drive current. After modification of this parameter the source is only changed when a reset is performed or a power down and back up again.

  • Page 59: Menu 10 Parameters - Status And Diagnostic Information, Trip Log, Braking Control

    Menu 10 Parameters - Status and Diagnostic Information, Trip log, Braking control Parameter Range( Default( Type ô ð 10.01 Drive healthy indicator 0 ~ 1 10.02 Drive running indicator 0 ~ 1 10.03 At zero speed indicator 0 ~ 1 10.05 Below set speed indicator 0 ~ 1...
  • Page 60 10.01 Drive healthy indicator 0 ~ 1 ô ð This parameter indicates whether the drive has tripped or not. 0 = Trip condition 1 = Drive healthy 10.02 Drive running indicator 0 ~ 1 ô ð This parameter is set if the servo output is active. 0 = Inhibit condition 1 = hardware enable active 10.03...
  • Page 61 Contains the last 6 drive trips. Parameter [10.20] is the most recent trip and [10.25] the oldest. When a new trip occurs all the parameters move down one, the current trip is put in [10.20] and the oldest trip is lost off the bottom of the log. Possible trips for M'Ax are shown in the table below.
  • Page 62 String Cause of trip DC link under voltage DC link over voltage. This could be because the DC link voltage has exceeded the maximum level or has remained above the maximum continuous level for more than 30s. Drive voltage rating: 400V Instantaneous trip: 830V Max continuous level: 810V OI.AC...
  • Page 63 10.38 User-defined trips 0 ~ 255 ô ð This parameter is used to generate user trips, or to reset the drive codes are as shown in the table below 1 ~ 55 General drive trips that give trip strings 56 ~ 99 User trips that give string trXX,where XX is the trip number If the parameter is set to 100 the drive is reset If the parameter is set to 255 the trip log (parameters 10.20...
  • Page 64 ð The M'Ax power stage is rated at 200% for 2 seconds. The drive includes a thermal protection system. The drive over temperature alarm bit is set if this parameter is greater than 75%. The drive will trip on O.ht1 if 10.56 > 100%.
  • Page 65 10.58 Motor I T accumulator 0.0 ~ 100.0 0.40 ô ð The drive will trip on I2t.AC if 10.58 > 100%, for the time specified in parameter 4.54 Motor Overload time limit. Refer to parameter 4.54. 10.59 SLM PCB temperature °C 0 ~ 100 ô...

  • Page 66: Menu 11 Parameters - Scale Factor, Initial Displayed Parameter, Serial Communications, Drive Information

    Menu 11 Parameters - Scale factor, Initial displayed parameter, Serial communications, Drive information Parameter Range( Default( Type ô ð 11.20 Parameter 0.46 assignment selector 00.00 ~ 19.71 3.02 RW Uni 11.21 Parameter 0.46 scaling 0.000 ~ 9.999 RW Uni 00.00 ~ 13.99 11.22 Initially displayed parameter selector 0.05...
  • Page 67 11.20 Parameter 0.46 assigned selector 00.00 ~ 19.71 3.02 ô ð 11.21 Parameter 0.46 scaling 0.000 ~ 9.999 ô ð Parameter [0.46] can be assigned to any advanced parameter and given a scaling factor. Typical uses are as follows: 1. Indicates the rate of flow in a way that is meaningful to the production process (e.g cans per hour) 2.
  • Page 68 11.24 Serial comms. Protocol selector 0 ~ 1 ô ð This is the mode of operation of the serial port. 0 = ANSI 1 = MODBUS RTU 11.25 Serial comms baud rate 0 ~ 6 0.36 ô ð Used in ANSI comms mode to select the comms port baud rate. 0 = 300 1 = 600 2 = 1200...
  • Page 69 Read & Write SLM parameters and Issue SLM command to M'Ax 11.52 Execute Done 11.52 11.60 Disable background read Busy 11.59 11.55 Instruction 11.53 Address 11.54 Data / Command Data 11.54 SLM update error 11.58 Number of errors 11.57 EEPROM CRC Error 11.56...
  • Page 70 13 Encoder error check 14 Issue zero command 15 Read zero offset 16 Select torque mode 17 Select speed mode 18 Test SLM 19 EEPROM write enable 20 EEPROM write disable 21 Read encoder initial angle 22 Flux align 23 Fan enable 24 Fan disable 25 Change Flux align PID parameter buffer 1 26 Update Current Scaling...
  • Page 71 11.63 SLM buffer update 0 ~ 1 ô ð A transition from 0 to 1(positive edge triggered) on this parameter updates the current gain buffer in use by SLM. 11.64 SLM on-line enable 0 ~ 1 0.17 ô ð This parameter enables/disables the continuous gain buffer update to SLM. 1 - Continuous gain buffer update enabled.

  • Page 72: Menu 13 Parameters - Pulse Reference Selection & Scaling

    Menu 13 Parameters - Pulse Reference Selection & Scaling Parameter Range( Default( Type ô ð 13.01 Pulse reference ±7500 rpm 13.02 Revolutions error 0 ~ 65535 RW Uni 13.03 Position error 0 ~ 65535 RW Uni 13.10 Pulse / position control select 0 ~ 2* RW Uni 13.11...
  • Page 73 M’Ax Advanced User Guide Issue Number: 4 www.controltechniques.com...
  • Page 74 Figure 13-1 Menu 13 software diagram 2.02 Ramp enable M’Ax Advanced User Guide www.controltechniques.com Issue Number: 4...
  • Page 75 Pulse / position control select 13.10 (See parameter table for settings) Menu 3 Reference position Position Menu 3 error Reference position (most Feedback 13.22 Revolutions significant position 13.02 error word) Feedback- encoder Reference 3.28 revolution Position position 13.23 counter error (least 13.03 significant...
  • Page 76 13.01 Pulse reference ±7500 ô ð The speed in rpm is indicated by this parameter, for the selected Pulse Reference input. NOTE When the drive is operating from a pulse reference input and the speed is below 100rpm, this parameter should be used for display purposes only.
  • Page 77 13.20 Pulse reference selector 0 ~ 2 ô ð This parameter specifies the Pulse Reference input format. 0 - Digital Reference signals treated as Frequency and Direction. 1 - Digital Reference signals treated as Quadrature A & B signals. 2 - Digital Reference signals treated as Directional pulse input signals. NOTE When using the pulse input, analog input cannot be used.
  • Page 78 13.24 Ratio 0 numerator 13.25 Ratio 0 denominator 13.26 Ratio 1 numerator 13.27 Ratio 1 denominator 0 ~ 32767 ô ð The above four parameters are used for slave / ratioing of Speed / Position with respect to the Pulse reference input. The sampled pulse counts per every 250µs are multiplied by the corresponding numerator and divided by the corresponding denominator to obtain the required ratio of Speed / Position of the slave following the pulse reference input.

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