Baumuller b maXX BM3000 Operating Manual
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Baumuller b maXX BM3000 Operating Manual

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Table of Contents

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Parameter manual
English
Language
Translation
Document No. 5.12001.07
Part No.
442290
Status
15.11.2017
E
5.12001.07
Read the Operating Manual before starting any work!
b maXX BM3000 /
BM2500
Parameter manual
Version 01.13

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Summary of Contents for Baumuller b maXX BM3000

  • Page 1 Parameter manual English Language Translation Document No. 5.12001.07 Part No. 442290 Status 15.11.2017  b maXX BM3000 / BM2500 Parameter manual Version 01.13 Read the Operating Manual before starting any work! 5.12001.07...
  • Page 2 Copyright The owner may produce an unrestricted number of copies of this Parameter manual solely for internal use. This Parameter manual may not be copied or reproduced, even in extract form, for any other purpose. Use and disclosure of the contents of this Parameter manual are not permitted. Names or company symbols in this Parameter manual can be trademarks, the use of which by third parties for their own purposes may infringe the rights of the owners.

  • Page 3: Table Of Contents

    Torque monitoring ..........Parameter manual b maXX BM3000 Document no.: 5.12001.07...
  • Page 4 Description of the Parameters ........228 Parameter manual b maXX BM3000 Document no.: 5.12001.07...

  • Page 5: Prodrive Analog Outputs

    Description of the Parameters ........341 Parameter manual b maXX BM3000 Document no.: 5.12001.07...
  • Page 6 Limiting of output value ..........432 Parameter manual b maXX BM3000 Document no.: 5.12001.07...

  • Page 7: Current Controller Adaption

    Adaption EMF feed forward ......... . Parameter manual b maXX BM3000 Document no.: 5.12001.07...
  • Page 8 Parameter overview ..........604 Parameter manual b maXX BM3000 Document no.: 5.12001.07...
  • Page 9 Software function FFT analyzer ........Parameter manual b maXX BM3000 Document no.: 5.12001.07...
  • Page 10 Overview of Revisions ............819 Parameter manual b maXX BM3000 Document no.: 5.12001.07...

  • Page 11: General

    Version 01.13 The parameters are used to influence the behavior of the drive controller. The controller controls the behavior of the power unit and the connected motor. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 12: Explanation Of Symbols

    ..warns of a potentially dangerous situation which may result in material damage if not avoided. Recommenda- tions NOTE! ..points out useful tips and recommendations, as well as information for efficient, trouble-free operation. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 13: Limitation Of Liability

    SICK STEGMANN GmbH,  ® SinCos 78166 Donaueschingen, Germany ® is a registered trademark of Microsoft Corporation, USA Windows is a registered trademark of Baumüller Nürnberg GmbH,  b maXX 90482 Nürnberg, Germany Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 14: Other Applicable Documents

    Terms used In this documentation, the term "device" is also used for the "b maXX" Baumüller product. ZAppendix A - Abbreviations– For abbreviations used, see from Page 807. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 15: Commissioning Bm25Xx

    Check of the requirements for the electrical supply. Check of the requirements for the electrical cables and provision of appropriate ca- bles. Check of the characteristics of the connections and manufacture of the appropriate cables. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 16: Safety Information

    When this electrical unit is operated, certain parts of the unit are of necessity at a haz- ardous voltage. Therefore: m Pay attention to the areas on the device that could be dangerous during the elec- trical installation. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 17: Voltage Test

    If the requirements for the electrical supply are not complied with, the device may be damaged/destroyed and consequently present a significant danger to persons. Therefore: m Before installation, make sure that the requirements for the electrical supply are met. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 18: Preparations

    3000 rpm Parameter list/Motor configuration Z107.7– Motor nominal speed The motor database is used in this example; the values in the table are provided only for checking purposes. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 19 Make sure that the encoder for motor control (sine-cosine encoder) is connected to the encoder evaluation module with the appropriate encoder cable. Make sure that the PC/Laptop is connected to the controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 20: Communication Via Ethercat

    System Control  Network Connections  LAN Connection  Properties   Internet Protocol (TCP/IP)  Properties  Assign fixed IP address  from the same address space (here, e.g. 192.168.1.254). Figure 1: Setting fixed IP addresses Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 21 Click on Connect. n Select the tab Download  Update list  Download Figure 3: ProEtherCAT Download n Click on Close. n Select the tab Bus control  click on Operational. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 22 Start ProDrive and select "Find device". Figure 4: ProDrive: Find device n The PLC will appear here with 192.168.1.1 and the controller with 192.168.1.2. n Click on OK Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 23 (here: b maXX 2500 Drive) n Select the communication: Button TYPE (here: TCP/IP) Figure 5: ProDrive: Device select with EtherCAT communication 10 Start the graphical user interface by clicking on "OK". Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 24 Figure 6: ProDrive: Start window 12 Then press "Connect". 13 This concludes the preparations. The remainder of the commissioning is described in ZPerforming the commissioning– on page 26. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 25: Switch-On Sequence

    The following overview shows the commissioning schematically. You will find the individ- ZPerforming the commissioning– ual steps of the commissioning described in detail in from page 26. Figure 7: Switch-on sequence Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 26: Performing The Commissioning

    (press the "Reset errors" button several times if necessary). NOTE Any queued error messages may result from the as yet incomplete parameter setting. These errors cannot be acknowledged. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 27 ProDrive: Drive Manager NOTE Due to the numerous possible combinations of motors and encoders, it is only possi- ble to give an example here. Enter your own motor and encoder data! Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 28 Performing the commissioning Click on "Power unit". Figure 10: ProDrive: Navigation for Power unit Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 29 (according to the data sheet): 1.5 A, at which you wish to operate the motor and the power unit. Figure 11: ProDrive: Power unit Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 30 The parameters for the encoder still have to be entered. parameters Go back to the navigation. Click on „Scaling“ Figure 12: ProDrive: Navigation Scaling The „Scaling“ window opens: Figure 13: ProDrive: Scaling Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 31 Commissioning BM25xx 10 Click on % at speed 11 Go back to the navigation. 12 Click on "Encoder 1". Figure 14: ProDrive: Navigation Encoder Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 32 14 Enter the overspeed limit manually in the parameter list in the diagnostic block [FB:006]: Parameter number 006.005 and 006.007: enter the value 115%, Parameter number 006.006 and 006.008: enter the value -115% Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 33 ProDrive: Navigation Motor general Using the motor 16 Click on the "Motor database" button in the icon bar in the Motor window. database Figure 17: ProDrive: Motor database 17 The following window appears. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 34 NOTE If you are using motors from third-party manufacturers, you can also include their data in the motor database. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 35 22 You will find all the important motor data or parameters displayed in the Motor window and the Synchronous Motor sub-window.  data Check all data. Figure 19: ProDrive: Motor general Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 36 "Parameter list". 23 Click on the "Parameter list" in the navigation. 24 In the parameter list, click on "Motor Id". Figure 21: ProDrive: Parameterlist - Motor Id Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 37: Prodrive Navigation Dataset Management

    25 Click on "Parameter set management" in the navigation Figure 22: ProDrive Navigation Dataset management 26 Click on the "Save all" button in the Dataset management. Figure 23: ProDrive: Dataset management Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 38: Prodrive: Navigation Autotuning Current Controller

    31 Go to the navigation and click on "Configuration", then click on "Autotuning Current controller". Figure 24: ProDrive: Navigation Autotuning Current controller 32 Activate pulse enable 33 Click on „Start“ 34 Wait until „Self-optimization completed“ appears in field „Status“. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 39: Prodrive: Autotuning Current Controller

    Commissioning BM25xx Figure 25: ProDrive: Autotuning Current controller Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 40: Prodrive Navigation - Find Notch Position

    35 Go to the navigation and click on "Operating modes", then click on "Find notch posi- tion". Figure 26: ProDrive Navigation - Find notch position 36 Click on the "Drive Manager" icon. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 41 Figure 27: ProDrive: Find notch position, Drive manager 37 For the method, select "fix current angle and rotating shaft". 38 Select "Find notch position" in the Drive Manager-Axis 1 window. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 42: Prodrive: Navigation Ramp Function Generator

    45 Go back to the navigation. the motor 46 Click on: "Set value generators". 47 Click on: "Ramp function generator". Figure 28: ProDrive: Navigation Ramp function generator Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 43 48 Enter values in the following input fields: m (Ramp function generator) Input h Enter the value "10". Confirm with Enter. 49 Open the Drive manager dialog Figure 30: ProDrive: Drive manager Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 44  60 Disconnect the device from the main power supply and the control voltage using the appropriate switching elements. This successfully completes the commissioning for Axis 1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 45: Commissioning Bm3Xxx

    Check of the requirements for the electrical supply. Check of the requirements for the electrical cables and provision of appropriate ca- bles. Check of the characteristics of the connections and manufacture of the appropriate cables. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 46: Safety Information

    Errors during installation can lead to life-threatening situations or result in sig- nificant material damage. Therefore: m Have the installation and initial commissioning carried out exclusively by the man- ufacturer's employees or by qualified personnel. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 47: Voltage Test

    For all important data, see the Operating Manual for the b maXX 3300. Small deviations in the electrical supply from the requirements can result in malfunctions of the device. If the supply deviates greatly from the requirements, the device could be destroyed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 48: Preparations

    Make sure that the installation is carried out correctly and, in particular, that all safety regulations have been observed (see Installation in the Operating Manual for the ® b maXX 3000 basic unit). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 49 Data for Baumüller motors are available in the form of a "Motor Database" within the operating software. Make sure that all the necessary data are at hand. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 50 Make sure that switching elements for pulse enabling are connected to the b maXX 3000 (e.g. in a patch panel) and are functioning. Make sure that the switch is in the rest position (inactive). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 51: Communication Via The Service Cable

    The service cable BM5-K-USB-XXX must be used for the service interface X1, only. The driver connection was installed on the PC/laptop with ProDrive, already. The settings of the connection (baudrate etc.) are made in ProDrive. Refer to the online-help of ProDrive. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 52: Communication Via Ethercat

    Leave the base address on the EtherCAT Master unchanged (192.168.1.1). n Set the desired IP address on the BM3000 controller (here 192.168.1.2). You will find further information about this in the b maXX BM3000, 5.11018 Operating Manual, Art. No. 441839.
  • Page 53 Click on Connect. n Select the tab Download  Update list  Download Figure 36: ProEtherCAT Download n Click on Close. n Select the tab Bus control  click on Operational. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 54 Start ProDrive and select "Find device". Figure 37: ProDrive: Find device n The PLC will appear here with 192.168.1.1 and the controller with 192.168.1.2. n Click on OK Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 55 Select the device type for which parameters are to be set: Button TYPE (here: bmaXX52_TwoAxis_EtherCAT_Slave) n Select the communication: Button TYPE (here: TCP/IP) Figure 38: ProDrive: Device select with EtherCAT communication 10 Start the graphical user interface by clicking on "OK". Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 56 Figure 39: ProDrive: Start window 12 Then press "Connect". 13 This concludes the preparations. The remainder of the commissioning is described in ZPerforming the commissioning– on page 58. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 57: Switch-On Sequence

    The following overview shows the commissioning schematically. You will find the individ- ZPerforming the commissioning– ual steps of the commissioning described in detail in from page 58. Figure 40: Switch-on sequence Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 58: Performing The Commissioning

    (press the "Reset errors" button several times if necessary). NOTE Any queued error messages may result from the as yet incomplete parameter setting. These errors cannot be acknowledged. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 59 ProDrive: Drive Manager NOTE Due to the numerous possible combinations of motors and encoders, it is only possi- ble to give an example here. Enter your own motor and encoder data! Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 60 In the "Maximum drive current" box, enter the current required for your application, at most the limiting current of the motor (according to the data sheet): 2.5 A, at which you wish to operate the motor and the power unit. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 61 Commissioning BM3xxx Figure 44: ProDrive: Power unit Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 62 Go back to the navigation. Click on „Scaling“ Figure 45: ProDrive: Navigation Scaling The „Scaling“ window opens: Figure 46: ProDrive: Scaling 10 Click on % at speed Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 63 Commissioning BM3xxx 11 Go back to the navigation. 12 Click on "Encoder 1". Figure 47: ProDrive: Navigation Encoder Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 64 14 Enter the overspeed limit manually in the parameter list in the diagnostic block [FB:006]: Parameter number 006.005 and 006.007: enter the value 115%, Parameter number 006.006 and 006.008: enter the value -115% Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 65 ProDrive: Navigation Motor general Using the motor 16 Click on the "Motor database" button in the icon bar in the Motor window. database Figure 50: ProDrive: Motor database 17 The following window appears. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 66 When using the Baumüller motor database, you will not find any discrepancies between data the motor data sheet and the data taken automatically from the database. 21 Click on "Motor" in the navigation. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 67 22 You will find all the important motor data or parameters displayed in the Motor window and the Synchronous Motor sub-window.  data Check all data. Figure 52: ProDrive: Motor general Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 68 ProDrive: Parameterlist - Motor Id The following motor parameters must be specified: m Maximum speed, mech.(Z107.26– Maximum speed, mechanical) m Number of pole pairs (Z107.19– Pole pairs) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 69 28 At this point the data set is saved in Flash memory. 29 Disconnect the device from the main power and control voltage supplies.  ® 30 Reconnect the power supplies to the b maXX (main power supply + control voltage). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 70 31 Go to the navigation and click on "Configuration", then click on "Autotuning Current controller". Figure 57: ProDrive: Navigation Autotuning Current controller 32 Activate pulse enable 33 Click on „Start“ 34 Wait until „Self-optimization completed“ appears in field „Status“. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 71 Searching for the It is now necessary to search for the notch position. notch position 35 Go to the navigation and click on "Operating Modes", then click on "Find Notch Posi- tion". Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 72 Performing the commissioning Figure 59: ProDrive Navigation - Find notch position 36 Click on the "Drive Manager" icon. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 73: Prodrive: Rastlage Suchen, Antriebsmanager

    The "Drive Manager" window will also appear Figure 60: ProDrive: Rastlage suchen, Antriebsmanager 37 For the method, select "fix currentangle and rotating shaft". 38 Select "Find notch position" in the Drive Manager-Axis 1 window. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 74 45 Go back to the navigation. the motor 46 Click on: "Set value generators". 47 Click on: "Ramp function generator". Figure 61: ProDrive: Navigation Ramp function generator Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 75 48 Enter values in the following input fields: m (Ramp function generator) Input h Enter the value "10". Confirm with Enter. 49 Open the Drive manager dialog Figure 63: ProDrive: Drive manager Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 76  60 Disconnect the device from the main power supply and the control voltage using the appropriate switching elements. This successfully completes the commissioning for Axis 1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 77: Description Of The Software Modules And Parameters

    Set value generator 1 ms Analogous inputs 125 µs, 250 µs, 500 µs or RT1-Cycle time Analogous outputs Adjustable values: 62,5 µs, RT0-Cycle time or RT1-Cycle time Digital inputs 1 ms Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 78: Structure Of The Parameter Overviews

    1000000000 System ticks RT1 UDINT 0xFFFFFFFF 0 Number = Number of the parameter consisting of ID of the functional block (FB) and the numbering within the FB Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 79 Unit % for ProDrive Factor 4000 : 100% 100% in ProDrive correspond to 16384 internal The parameter is writable, cyclic writable, it will be stored namely in all data sets. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 80: System

    STRING version time stamp 102.21 Fieldbus controller firmware UDINT 0xFFFFFFFF 0 type 102.22 Fieldbus controller firmware UDINT 0xFFFFFFFF 0 build number 102.23 Board data command UINT 0x1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 81: Description Of The Parameters

    Display of the value of a counter which is incremented in TASK_RT2 by the ratio TASK_RT2/TASK_RT1, so that System Ticks RT2 and System Ticks RT1 have approx- imately the same value. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 82 Display of the firmware version with accordingly 2 digits for main version (incompatible version), sub-version (compatible version) and bugfix version. 102.3 Firmware type Classification of the Firmware Value Meaning Production Beta versio Prototype Nightly Build Developer Build Customers version Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 83 Firmware time stamp Time stamp for the firmware generation. 102.8 Bootloader0 version Version of Bootloader 0. 102.9 Bootloader1 version Version of Bootloader 1. 102.10 Fpga version Version of the FPGA. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 84 Display of the FPGA version in the format Major[2] . Minor[2] . Fix[2] 102.15 FPGA firmware number Baumüller internal FPGA Firmware number 102.18 Fieldbus controller firmware number Baumüller internal fieldbus firmware number Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 85 No command or STOP command Write current data set from the parameters to the serial EEPROM Read data set from the serial EEPROM Initialize serial EEPROM Command 3 is provided with a key. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 86 Format: 16-byte string e.g. "01: Safe" 102.28 Hardware date Format: 16-byte string e.g.: "01.04.2009" 102.30 Controller serial number Serial number of the controller-PCB as a 32 bit numerical value. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 87 Baud rate for serial communication Valid baud rates: 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600 Baud Each time the controller is switched on, the baud rate is set to 38400. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 88 Average value of the computing time load by the interrupt routine. The parameter is re- freshed every second and shows the mean computing time load since the last update. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 89 Description of the Software Modules and Parameters 158.6 Interrupt load max Maximum value of the computing time load by the interrupt routine. The parameter can be reset by writing a value. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 90: Display

    Activation of LED Power On (H12 (axis 1) or H22 (axis 2), if power LED is on permanently LED flashes (life signs) 31 ... 25 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 91: Configuration

    The drive changes to "Switch-on inhibit (1)" state and coasts down. If the time of the mains failure is shorter than the set Mains failure delay (Z130.25–), the drive restarts automatically. The drive changes automatically in the "Operation enabled" state again. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 92: Prodrive Power Unit

    DC scaling gain FLOAT 10000 1.03885 129.7 Main voltage scaling gain FLOAT 10000 129.8 Current converter configura- UDINT 0xFFFFFFFF 0 tion 129.9 IGBT dead time FLOAT 10.0 µs Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 93 2.56e+02 1:1.414 X 130.19 I offset phase V FLOAT -2.56e+02 2.56e+02 1:1.414 X 130.20 I offset phase W FLOAT -2.56e+02 2.56e+02 1:1.414 X 130.24 Phase error delay time UINT 65535 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 94: Description Of The Parameters

    33.YYNN.[S]BB.A.01 Example: 33.1110.S01.C.01 Abbreviation Meaning Year Example: 2011 Sequential number Example: 10 STO module available Assembly variant Example: 01 Revision number Example: C Technical status Example: 01 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 95 On/Off switching pulses, the switching state of the IGBTs is extended to the next PWM period. This will further increase the maximum possible voltage setting. PWM voltage pulses that are shorter than the parameter value will be suppressed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 96 If operating conditions are changed and after current derating, the continuous current is Z175.7– displayed in parameter provided that the PU-overload monitoring is executed via temperature model. See "Status PU temperature model" Z175.2–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 97 "Technical data" of the device's operating manual. If the PU overload monitoring model is operated by the temperature model (see status PU temperature model Z175.2–), this parameter is not important. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 98 Monitoring the maximum ground current 129.42 Min. DC link voltage Monitoring the minimum DC-Link Voltage 129.49 Amp article number Article number of the power unit, not of the complete unit. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 99 "Technical data" of the Instruction Handbook of the device. 130.1 Heat sink temperature Power Unit Heat Sink Temperature 130.2 Interior temperature Internal temperature of the device 130.3 DC link voltage Actual value of the DC link voltage Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 100 It is essential generally: If the mains failure is longer than the set time in Z130.25– an error message is generated. 15 ... 6 Reserved Bit 1: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 101 Mode is not set, the phase error delay time doesn’t act. 130.12 Heat sink temperature warning threshold Warning threshold for heat sink temperature. If the temperature exceeds this threshold, the corresponding warning is generated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 102 = 1/current controller cycle time) to the maximum output frequency f . The greater the proportional factor K the better the quality is which Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 103 The PWM frequency should not be changed during the flying restart of the sensorless asynchronous motor. The failures at the implementation of the PWM switching during the continuous operation in the controller were minimized - however, with reference to control engineering, they Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 104 The further behavior is determined by the response which is set in warning/error 1047. m Response is „No response“ The drive remains enabled. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 105 This parameter indicates the status of the STO module. If STO is triggered, the error bits indicate the cause for the triggering. The parameter should only be requested at disabled drive, because timeout errors (see bit 0) could occur at enabled drive. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 106 As soon as the DC link voltage falls below the threshold set in Z130.37–, this is regarded as additionally via DC link volt- age (absolute threshold). mains failure. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 107 The corresponding instantaneous (operating) cycle time of the current controller is dis- played in parameter Z47.65–. Of importance for devices, which support the PU temperature model, only (see status PU temperature model Z175.2–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 108 There is no reduction of the output current at the default value of the parameter. This means that the default value remains if there is no change of the required operating con- ditions to be expected. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 109 Furthermore the maximum accepted continuous current in dependence of the output fre- Z47.49– quency can be reduced, as described in chapter "Output frequency dependent current derating" in the operating manual of the device. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 110 Z175.4–. The parameter displays the scaling factor of the I t-sub-model (part of the PU tempera- ZOverload monitoring of the power unit– ture model).See from page 723. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 111: Motor

    FW 01.13 Z146.14– Flux Magnetic actual flux in % Kt = Kt · Kt factor, in Nm/A corr Z138.23– Kt correction factor, corr Z107.44– Kt factor Motor Kt in Nm/A Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 112: A) Asynchronous Motor: Torque Limit Above B) Asynchronous Motor: Overlap Of Several Limits

    If there are several torque limits Z138.22–, that result from the torque current limits Z138.2–, Z138.3–, Z138.14–, Z138.15– or from the breakdown torque-current limit op- ZFig. 66– erating simultaneously then the smallest limit is decisive (compare (b)). Note: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 113: Torque Monitoring

    Status current limitation. The relationship between the effective torque of the machine, the set torque ZFig. threshold and the status bit is shown in 67–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 114: Maximum Permissible Speed (Electrical Conditioned)

    Risk of fatal injury from electrical current! The overvoltage limit at converter is passed over. Therefore: m Never operate the motor without additional safety precautions over the electrical conditioned maximum permissible speed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 115: Prodrive Motor

    FLOAT 10000 value 19.6 Max. drive current FLOAT 10000 19.7 Max. field current amplitude FLOAT 10000 19.8 Max. torque current FLOAT 10000 19.9 Field current preset value FLOAT -10000 10000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 116 65535 U/min 1:1 107.26 Max speed mech. UINT 65535 U/min 1:1 107.27 Max temperature UINT Grad 107.28 Time constant i2t UINT 65535 107.29 Stator resistance FLOAT 1000.000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 117 10000 138.12 Center frequency Iq set value FLOAT 8000 notch filter 138.13 Bandwidth Iq set value notch FLOAT 4000 filter 138.14 Iq limit bipolar cyclic UINT 16384 16384 4000 100% Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 118: Description Of The Parameters

    Init. pole position search method 0 Pole position search method 0 active 19 ... 12 Reserved Init. pole position search method 1 Pole position search method 1 active Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 119 " Maximum available total current" Z19.5–. m The "Max. drive current" >19.6< is the scaling size of the standardized current pa- Z166.3– Z166.4– rameter (current threshold motoric/generator; operation mode U-f characteristic). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 120 1 = 0 (bit 3 = 0 from FW 01.13 of the controller):  SM or ASM with = "Max. drive current actual value" Z19.5– max aux = "Isd set value" Z47.2–. sd aux Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 121: Modes Of The "Max. Torque Current 19.8 At The Synchronous Motor

    Modes of the "Max. torque current 19.8 at the synchronous motor a) Field current dependence (external total current limit is not assumed).  b) External total current limit dependence (field weakening is not assumed). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 122: Max. Torque Current" Modes 19.8 At The Asynchronous Motor  A) Field Current Dependence (No External Total Current Limit Is Assumed).  B) External Total Current Limit Dependence (Field Weakening Is Not Assumed)

    "at the voltage limit" is set (Z142.1– bit 0 = 0) then the parameter >19.9< imposes a field current limit to the field weakening controller and the controlled field weakening characteristic. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 123 Cut-off frequency of the iq set value filter. The filter is switched off by setting this param- eter to 0. 19.17 Isq additive set value Additional set value for current. 19.18 Phi electric Visualization of the electrical angle (360 degrees = 0xFFFF). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 124 See param- Z19.8– and Z138.1–. eters Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 125 The high byte of the mode is designated by the number in front of the dash, the low byte encodes the percentage value. Using the example of S3-40%: High byte = 3 decimal, Low byte = 40 decimal. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 126 Power factor Power factor (cos ) of the motor. The value displayed is read from motors with an elec- tronic identification plate and is for information only. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 127 (this is relevant at asynchronous motors with encoder, only) Slip frequency of the motor at nominal torque current and nominal flux (magnetic flux = 100%) according to the slip temperature (warm) Z107.18–. The parameters 107.16 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 128 At the ASM the Ke factor refers to the "warm" motor (operating temperature). However, the difference between the "cold" and the "warm" motor usually is negligible. At the SM Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 129 107.24 Attenuation factor Display of the motor attenuation factor, Kd. The value displayed is read from motors with an electronic identification plate and is for information only. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 130 The displayed value accords to a motor temperature of 20° (motor cold) and is read at motors with an electronic type key. Z123.10– The parameter 107.29 can be used in dependence of for motor control. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 131 Ld inductance of a synchronous machine. The value displayed is read from motors with an electronic identification plate and is used for motor control as a function of parameter Z123.10–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 132 If the same value is written to the parameter, which already is in the parameter, then this writing procedure has no ef- fects. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 133 (i.e. magnetic flux = 100% and at the nominal temperature "warm" motor). The Kt factor is calculated from the nominal torque M (Z107.43–) and nominal torque current l (Z19.10–) of the motor. sq-nom Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 134 1: Switch-off temperature reached 1: Overtemperature detected by temperature switch 1: Short circuit detected on temperature encoder 1: Temperature encoder is not connected 15 ... 10 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 135 Motor temperature threshold 2. If the motor temperature exceeds this value, Warning 711 is generated. 128.7 Motor temperature hysteresis Z128.4– Hysteresis for canceling Warnings 710 and 711 initiated by Warning Threshold Z128.5– 1 and Warning Threshold 2. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 136 Adapting the breakdown torque limit 0: activated 1: deactivated (if breakdown torque limit is activated, only, refer to bit 2) 15 ... 6 Reserved Bit 0: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 137 "Magnetizing cur- Z107.14– rent" (ASM) or field weakening = 0 (SM). Details about the effect of the standardization modes in the "Max. torque current" are de- scribed in the parameter Z19.8–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 138 Furthermore, there are other torque limits Z138.18–, Z138.30–, Z114.5– and Z114.6–. In addition, the motor-operated torque current can be disabled due to power failure (refer Z138.10– bit 1). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 139  The following diagram illustrates the definition: Figure 72: Definition of the quadrants 138.6 Iq upper limit Display of the currently determined upper limit for the instantaneous current [in A]. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 140 = Maximum value (10000 A) 138.11 Iq set value before notch filter The Iq set value at the input of the notch filter is shown in this parameter. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 141 470. 138.15 Iq limit bipolar The torque current set value can be limited symmetrically with this limit, i.e. equal in both torque directions. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 142 This factor is used to adjust the Ud voltage limit at the breakdown torque that is used to calculate the "lsq limit breakdown torque" (Z138.18–) and the threshold speed break- down torque limit (Z138.16–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 143 If the maximum current of the motor is limited by a monitoring (such as PU overload monitoring, refer to "bit mask external total current limit" Z138.8–), then this is regarded in this parameter. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 144 The same internal motor torque value is limited in both directions. The torque limit is car- ried out by limiting the torque current set value. The accordant limit at the torque-gener- ating current l is calculated as follows: sqM limit Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 145 Indicates whether the absolute value of the effective torque (Z138.21–) is greater or less than the set torque threshold (Z138.24–) 0: The torque is less than the torque threshold 1: Torque threshold exceeded 31 ... 1 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 146 "Max. drive current actual value" sq max act Z19.5– Z47.2–. and by deducting the "lsd set value" l max act sd set – max act sd set sq max act Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 147 Slip preset value between electrical and mechanical frequency [Inc/Tab]. It is calculated from lsq set value, flux set value (Z146.13–) and the "slip frequency tem- ZTemperature adaption slip frequency– perature actual value" (Z19.30–). Refer to page 527. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 148: Synchronous Motor

    Configuration 4.4.3 Synchronous Motor 4.4.3.1 ProDrive Synchronous Motor Figure 73: ProDrive Synchronous motor Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 149: Asynchronous Motor

    BM3300 can consider a non-linear Lh-characteristic for motor control. This can be en- tered manually or can be identified in idle mode: Manual input m Lh dependent on magnetizing current m Flux dependent on magnetizing current Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 150 As it is estimated that the drive is in idle state, the inductance can be calculated with the acceptability that the slip = 0. It is decelerated and the inductances are standardized to nominal inductance and entered in the table. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 151: Prodrive Lh-Characteristic

    Description of the Software Modules and Parameters 4.4.4.3 ProDrive Lh-characteristic Figure 75: ProDrive Lh-characteristic 4.4.4.4 Parameter overview Lh-characteristic Functional block: FbAsynchronous machine [146] Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 152: Description Of The Lh-Characteristic Parameters

    Motor control entry in table Completed Completed 146.19 Ramp-up time nominal speed Ramp-up time for controlled acceleration/deceleration to nominal speed/speed = 0 due to determine the main inductivity characteristic. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 153: Synchronous Motor With Interior Permanent Magnet

    Then the total current set value is divided in a lq and ld current set value by the motor Z171.10– and Z171.11–. constant K. Additionally, the ld current passes the limits of Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 154: Commissioning

    – The notch position must be set next. – The field current can be limited via parameter limit magnetizing current (Z146.12–). This is important in order to prevent the demagnetization of the motor. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 155: Identification Of The Nonlinear Parameters

    If the available flux reduces further, the maximum Iq current is reduced and the current pointer always positions itself along the MTPF curve up to the zero point of the flux. So it is secured that always the maximum torque can be reached. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 156 (Z171.10–) the maximum total current of the IPMSM (Z138.26–) is cal- culated. This ensures that no more current impressed and the maximum torque is reached. Figure 78: ProDrive Breakdown torque controller at IPMSM Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 157: Parameter Overview

    Ld curve family FLOAT 1e-5 1e-3 1:1000 171.4 Lq curve family FLOAT 1e-5 1e-3 1:1000 171.5 Norm current for inductance FLOAT 0.01 chart familiy 171.10 Minimum Id Current FLOAT -1e9 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 158: Description Of The Parameters

    171.3 Ld curve family Nonlinear direct axis inductance depending on the currents Isd and Isq. The first index shows the dependence of Id, the second of Iq. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 159 (Z171.1–). The factor K is calculated via the nominal current and the nominal Id current at bit 0 and from the mean values of Lq, Ld and the magnetic flux table Z171.4– and Z171.20–) at bit 1. (Z171.3–, Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 160 This way the maximum torque current can be reached taking into consideration all the present limits. 171.20 Magnetic flux Nonlinear magnetic flux depending on the current. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 161 Determination of the sampling time Reset of the parameters used for the measurement Calculation of the inductance, if the needed current is too high Error Timeout Calculation of Ld Recalculation of the tables Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 162: Encoder

    20 Number of pole pairs Resolver 20 Number of pole pairs Resolver Example: Resolver with 1 pole pair  7,8125 kHz 60   ------------------------------------- - 23437 min 20 1  max,theoretical Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 163: Encoder Monitoring

    The levels of the encoder signal are monitored separately at a square-wave incremental encoder, because a monitoring of the amplitude using sin² +cos² is only restricted possi- ble. The zero trace (zero pulse) is not monitored. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 164 (Z143.8–) as a function of the speed set value. If the speed is less than the field angle speed threshhold (Z143.8–), the monitoring remains disabled. Field angle monitoring only functions for the encoder which is set for motor control. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 165 Description of the Software Modules and Parameters Figure 81: Monitoring and Field Angle Monitoring of a Synchronous Machine Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 166: Prodrive Encoder

    The signals of the encoder or of the encoder's attachment are not always correct. The en- coder signals can be optimized with different methods. This way correct positioning infor- mation and speed information is obtained. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 167: Encoder Correction

    90% amplitude. On the ProDrive page Encoder diagnosis the measured values can be included for checking. If the measured points are on the predefined green circle, the angle and speed measuring have been processed correctly. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 168 10 rpm is shown in the following. The relevant frequency is  f = 10 rpm * 1024 = 170 Hz. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 169 Description of the Software Modules and Parameters Figure 85: Speed and sinus track before statical encoder error correction Figure 86: Speed and sinus track after statical encoder error correction Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 170: Encoder Accuracy And Excentricity

    Variation of the position value angle Figure 87: Encoder excentricity Determination is carried out in current control. The setpoint frequency (speed) must be constant. It must lie between 0.1 and 500 Hz. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 171: Resolver Synchronization

    0 and 124 µs. Thereby, the excitation voltages of the amplitude and the phase towards one another can deviate depending on the imped- ance of the resolver. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 172: Parameter Overview

    -1.000000e+09 1.000000e+09 0 Grad/s 1:1 106.10 Position actual angle 32 bit UDINT 0xFFFFFFFF 0 106.11 Position actual revolutions UDINT 0xFFFFFFFF 0 106.12 Position actual value UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 173 2147483647 137.8 Encoder operation time UDINT 0xFFFFFFFF 0 137.9 Time first commissioning UDINT 0xFFFFFFFF 0 137.10 Time last refresh UDINT 0xFFFFFFFF 0 137.20 Type name STRING 137.21 Serial number STRING Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 174: Description Of The Parameters

    Maximum threshold value for (sin²+cos²) monitoring of the encoder signals in percent. 14.3 Actual value sin²+cos² The value is calculated from the encoder track for (sin²+cos²) monitoring. 14.4 Variance of sin²+cos² Standardized variance of the (sin²+cos²) actual value. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 175 14.11 Error count lower limit Display of how often the minimum threshold (sin²+cos²) has been under-run. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 176 1: Encoder monitoring switched on Monitoring of maximum signal amplitude active Monitoring of minimum signal amplitude active Monitoring of sectors active Monitoring of the square-wave incremental encoder active Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 177 Updating interval approx. 500 ms. Mechanical angle in degrees. Error 14.22 Digital position Analog position – Z137.28– Z137.1– The digital resolution and the number of pulses restrict the possible resolution of the encoder. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 178 430 is generated. 106.2 Status Status of the encoder Description 0: Encoder not active 1: Encoder active 0: Automatic resolver setting not active 1: Automatic resolver setting active Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 179 1: The range which is clearly distinguishable by the encoder will be considered at the addition of the M0 Offset (e. g. overflow at 4096 revolutions) 9 ... 8 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 180 This bit is set to zero at all other encoder types. 106.4 Oversampling factor Oversampling factor for encoder evaluation. Meaning of the values: Value Meaning no oversampling 2-fold oversampling 4-fold oversampling 8-fold oversampling 16-fold oversampling Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 181 Time constant speed display Smoothing time constant for the smoothed speed set value (Z106.9–). 106.9 Speed filtered Filtered value of the speed (only for display, smoothing time constant can be set in Z106.8–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 182 In the off-state position changes of multiturn encoders are detected up to a maximum of ¼ of the position revolution range "Number of revolutions" (Z137.2–). The value of "Rev- olution overflow counter" (>106.15<) is corrected correspondingly. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 183 Can also be set as a fixed parameter. 106.21 Offset cosine Offset correction for the cosine signal. Automatically adjusted when optimization activat- Can also be set as a fixed parameter. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 184 0: manual setting 1: automatically phase setting 3 ... 2 Reserved Resolver frequency 0: 7.8125 kHz without synchronization on the fieldbus 1: 8 kHz with synchronization on the fieldbus Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 185 Z106.43– – = 0x0083: Resolver reevaluation, resolver frequency = = 7.8125 kHz without synchronization on the fieldbus with automatic amplitude and phase setting  Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 186 1: Transmitted with parity bit Even parity / odd parity 0: Even parity (bit 16 is set) 1: Odd parity (bit 16 is set) 31 ... 18 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 187 There is a 32 bit value for the SSI angle (singleturn) in increments, which is directly read by the encoder. 106.65 SSI revolutions There is a 32 bit value for the SSI revolutions (multiturn), which is directly read by the en- coder. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 188 Error, setpoint frequency too high Offset error and amplitude error correction active 12 ... 14 Internal calculation Error in calculation 16 ... 21 Internal calculation Acceleration Braking Correction measurement Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 189 405 is generated if the error remains. The error counter is incremented as soon as there is a cycle error occurs. If the encoder is initialized again then the error counter is deleted as well. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 190 If the length measuring device is used to control the position only (Z18.9– Controller options bit 0 = 1) the user must set the PPR count accordant to the existing mechan- ical structure. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 191 Displays the value of the mechanical angle for the notch position. 137.5 M0-offset angle Absolute distance (angle fraction, only). Offset between the encoder coordinate system and the machine coordinate system. Z137.6– Concerning details, see M0-Offset Revolutions Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 192 The M0-Offset is not influenced when writing the parameters. 137.7 M0-sector position initiator Offset of the position zero proximity switch for the machine zero position. 137.8 Encoder operating hours Encoder Operating Hours Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 193 Singleturn encoder ECN1313 designation of order is not in electronic type plate; EnDat version 02;  instruction set 2.1; Z137.20– = „SingleRotaryEDxx-2.1“ 137.21 Serial number Serial number of the encoder. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 194 The parameter shows the resolution oft he the digital position in bits per revolution. It is   operated only with rotary encoder with EnDat - or Hiperface -encoders. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 195 The parameter is set at EnDat - and Hiperface -encoders only. It displays the resolution of the digital position value (number of bits) in the area of angle at encoders or angle measuring devices. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 196 The error messages of the connected encoder type are displayed in this parameter. The encoder sends an error message if the malfunction can result in wrong position values. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 197 The warnings of the connected encoder type are displayed in this parameter. The ex- ceeded requirements of tolerance for specific encoder internal values are displayed. It is not assumed that position value are wrong at warnings contrary to error messages. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 198 ® These two parameters are only valid for EnDat encoder. The available OEM memories are displayed. The controller uses these areas for the Baumueller motor type plate. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 199: Autotuning Of Current Controller

    Otherwise the motor control system uses the values from the motor data sheet. The autotuning only has an effect on the current data set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 200: Prodrive Autotuning Of The Current Controller

    Stator resistance measured FLOAT 123.7 Inductance measured FLOAT 10000 123.8 Result current controller Kp FLOAT 1000 123.9 Result current controller Tn FLOAT 1000 123.10 Parameters takeover DINT Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 201: Description Of The Parameters

    This can be different to the switch frequency at the moment of the measurement. Better dead time compensation is reached if the used switch frequency and switch frequency at the time of measurement are equal. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 202 Identification error: Voltage limit accessed Identification error: Timeout (60 seconds) while measuring the resistance Identification interrupted Identification finished successfully Identification switched off / aborted Motor diagnosis active Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 203 Magnetizing inductance (main inductance = L Figure 91: Equivalent circuits of ASM (left) and SM (right) at standstill Z123.10– The parameter 123.7 can be used in dependence of for motor control. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 204 – Synchronous motor Z107.29– Stator resistance Z107.34– Inductance Lq Z107.35– Inductance Ld (with Parameter 107.35 = Parameter 107.34) – Asynchronous motor Z107.29– Stator resistance Z107.30– Stator leakage inductance Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 205 PWM frequency is not necessary anymore. How- ever, the best results are generally reached if the used PWM frequency corresponds to the PWM frequency at the moment of the dead time measurement. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 206 Magnetization inductance look up table Table for Lh-Im-characteristic. Standardized to the nominal inductance. 123.35 Result Rr This parameter shows the identified rotor resistance of an asynchronous motor. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 207: Autotuning Of Position / Speed Controller

    Kt = Kt factor, in Nm/A Z107.44– Kt factor Motor Kt in Nm/A (Attention: Torque inertia parameters of the  Torque of the drive in kg m controller are shown in kg cm Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 208 By measuring the time t to change the specified speed N with limited current I , Ks sq-lim can be evaluated as follows: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 209 (for this ProDrive provides a calculation tool). Furthermore, the generation of the inertia torque of the drive (Z52.11– "Inertia mea- sured"), the sliding friction factor (Z52.10– "Load friction") of the Ks measurement is eval- uated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 210: Prodrive Ks Determination

    0.000000e+00 A 52.6 Ks result acceleration FLOAT -1.000000e+00 1,00E+09 0.000000e+00 Grad/ 52.7 Ks result deceleration FLOAT -1.000000e+00 1,00E+09 0.000000e+00 Grad/ 52.8 Ks measured FLOAT -1.0 1,00E+09 Grad/ Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 211: Description Of The Ks Measurement Parameters

    Z132.14–) Settling to constant speed Speed_1 Constant speed Speed_1 Acceleration Z132.12– and  Settling to constant speed Speed_2 (Parameters Z132.16–) Constant speed Speed_2 Braking Calculating Ks Not used Calculation complete Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 212 Display of the determined speeds while the drive is being operated at constant speed Speed_1. 52.3 Mean speed 2 Display of the determined speeds while the drive is being operated at constant speed Speed_2. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 213 The determined coefficient of sliding friction, b, is displayed here in units of [(A/degree)/s]. 52.10 Load friction The determined static friction, c, is displayed here in units of [A]. The static friction will have a different sign for different directions of revolution. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 214 Tn identification Optimized reset time of the speed controller from the identification. 52.17 Phase margin Setting of the required phase margin which the speed controller was designed to. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 215: Autotuning Asynchronous Motor

    The procedure to identify the Lh characteristic curve is described detailed in chapter characteristic– on page 149 as a part of the configuration of the asynchronous motor. The ZProDrive Lh-characteristic– detailed description is in chapter on page 151. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 216: Digital Inputs

    Quick stop Controller enable Neg. HW limit switch Pos. HW limit switch Zero-point-sw Reset time stamp Brake feedback 4.4.10.1 ProDrive Digital Inputs Figure 93: ProDrive Digital inputs Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 217: Parameter Overview

    Bits 3 ... 0 show the logical states of the inputs according to their configured inversion (see Bit 15 in each case in the Mode Digital Input 1 Z116.2–, Mode Digital Input 2 Z116.8–, etc. parameters). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 218 Negative hardware limit switch  Positive hardware-limit switch  Zero point reference switch Reset time stamp for ring buffer recording Feedback of motor holding brake 9…63 reserved 13 ... 6 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 219 Low or High. 116.6 Set bit pattern for LOW state digital input 1 Bit pattern for logic LOW on Digital Input 1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 220 Set bit pattern for HIGH state digital input 2 For description, see Z116.7–. 116.14 Mode digital input 3 For description, see Z116.2–. 116.16 Target number digital input 3 For description, see Z116.4–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 221 For description, see Z116.5–. 116.24 Set bit pattern for LOW state digital input 4 For description, see Z116.6–. 116.25 Set bit pattern for HIGH state digital input 4 For description, see Z116.7–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 222: Digital Outputs

    DWORD 0 0xFFFFFFFF 0 117.11 Compare bit pattern digital DWORD 0 0xFFFFFFFF 0 output 2 117.22 Mode DWORD 0 0xFFFFFFFF 0 117.23 Bit mask digital outputs WORD Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 223: Description Of The Parameters

    1: Triggering of the motor holding brake 15 … 8 Reserved 117.4 Source number digital output 1 Number of the parameter to be compared which is to activate Digital Output 1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 224 Bit # Meaning 0: Transparency mode off: The outputs are triggered via connections.  1: Transparency mode active: The outputs are triggered via Z117.23–. 31 ... 1 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 225 117.23 Bit mask digital outputs The value of the four lower bits of the bit mask is written to the digital outputs 1 to 2 in the transparency mode. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 226: Analog Inputs

    V. These remaining, unexploited 2.3 V are kept in reserve. Regarding the size of the 12- bit input register, the following applies: -12.3 V…+12.3 V corresponds to 0…4095 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 227 Description of the Software Modules and Parameters Input signal:  Figure 96: Signal at analog input After A/D conversion (non-quantized representation):  Figure 97: Signal after A/D conversion After restandardization:  Figure 98: Signal after restandardization Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 228: Prodrive Analog Input

    4.4.12.4 Description of the Parameters 144.1 Time constant PT analog input 1 Time constant of the PT filter for smoothing the analog input signal on Channel 1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 229 This parameter specifies the sampling interval in which the analog input is read. Setting the parameters to the values 0, 1, 2, 3 corresponds to the relationship n= 0, 1, 2, 3 Value Sampling interval [µs] 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 230: Analog Outputs

    Test signal parameter) should be entered in the parameter "Visu Channel 1 Source Parameter Id (Z125.1–) or "Visu Channel 2 Source Parameter Id (Z125.2–) in the corresponding "Source Parameter Number" box. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 231: Parameter Overview

    5000000 1.000 125.19 Correction gain channel 2 FLOAT 5000000 1.000 125.20 Offset channel 1 FLOAT -10.0 10.0 125.21 Offset channel 2 FLOAT -10.0 10.0 125.22 Test signal FLOAT -5000000000 5000000000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 232: Description Of The Parameters

    Reserved Visu cycle = 62.5 µs Visu cycle = RT0-Cycle time Z1.8–; the RT0-Cycle time is set to 250 µs by default Visu cycle = 1000 µs Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 233 This standardization is used for parameter with the units [Inc/ms ], [degree/s ] and [Inc/tab 125.15 Torque scaling Parameters with the units [Nm] will be normalized to [Nm / V] with this factor. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 234 Z18.58– Example: Position set value angle on channel 1 Z18.60– Position error rev+angle on channel 2 Z125.12– both use Position scaling Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 235 The amplitude is defined by Parameter Z125.17–. The cycle time is equal to the 1000-fold of the set output cycle time of param- eter Z125.7–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 236: Filter

    F s   -------------- - n The bilinear filter offers better damping of higher frequencies – Notch filters n Single notch filter with settable blocking frequency and bandwidth Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 237 Cutoff frequency numerator 200 Hz Cutoff frequency denominator 100 Hz Biquad filter Damping numerator Damping denominator Order Cutoff frequency 200 Hz Elliptical filter Block damping -40 dB Passband ripple 3 dB Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 238 Configuration Figure 102: Filter representation clockwise: PT bilinear, notch filter, elliptical filter, biquad filter Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 239: Prodrive Filter

    4.4.14.2 ProDrive Filter Figure 103: ProDrive Control structure: The window Filter synthesis will be opened with a click on „Polynom“ on the control structure page 4.4.14.3 Parameter overview Functional block: Filter [29] Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 240: Description Of The Parameters

    29.29 Filter cycle time FLOAT 62.5 1000 µs 4.4.14.4 Description of the Parameters 29.1 Command Switching the filter on/off: Value Meaning Switch off filter Switch on filter Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 241 In order to change the parameter the filter either must be deactivated (Z29.1– = 0) or the pulses must be inhibited. 29.10 Coefficient a1 For description, see Parameter Z29.9–. 29.11 Coefficient a2 For description, see Parameter Z29.9–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 242 In order to change the parameter the filter either must be deactivated (Z29.1– = 0) or the pulses must be inhibited. 29.18 Coefficient b2 For description, see Parameter Z29.17–. 29.19 Coefficient b3 For description, see Parameter Z29.17–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 243 For description, see Parameter Z29.17–. 29.29 Filter cycle time Displays the current cycle time of the filter. If the filter coefficients are calculated this pa- rameter value must be considered. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 244: Fieldbus Communication

    The interpolated po- sition set values are transferred to the position controller with the next position/speed controller cycle (RT0 cycle). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 245 The same applies for data exchange to the fieldbus (default behavior at EtherCAT: common frame for set values and actual values).Consequential the actual values are delayed by about two fieldbus cycles. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 246 A setting of 0 controller cycles means that the actual values are transmitted in the interrupt, where the fieldbus task will Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 247: Parameter Ids For The Real Time Lists

    131.3 Producer list UDINT 0xFFFFFFFF 0 131.4 Consumer list UDINT 0xFFFFFFFF 0 131.5 Producer counter UDINT 0xFFFFFFFF 0 131.6 Consumer counter UDINT 0xFFFFFFFF 0 131.7 Last producer index UINT 0xFFFF Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 248: Description Of The Parameters

    Description 4 ... 0 Reserved Cyclic real-time channel for EtherCAT Slow service channel for managing the real-time GDP lists Slow parameter channel for Microblaze GDP protocol Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 249 The parameter Ids configured by the Fieldbus computer are displayed in the real-time lists. The parameters are two-dimensional arrays. Figure 108: Producer list and consumer list 131.4 Consumer list Z131.3– Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 250 Gateway = 0.0.0.0, Subnet mask = 255.255.0.0 Select a language online at CoE object directory 1: English 0: German 13 ... 2 Reserved 0: Do not activate Factor Group 1: Activate Factor Group Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 251 Base IP address + DIP-switch settings (Z131.13–) 131.13 DIP-switch settings Setting on the DIP-switch used as an offset to the base IP address when Slave Settings Z131.9– Bit 0 = 0. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 252 A parameter change is permitted at a inhibited state and in the fieldbus state INIT (Z131.10– slave info bit 0 and 1), only. 131.19 Slave error code Error code for the EtherCAT slave. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 253 The definition of the parameter depends on the fieldbus slave type. The description is to be found in the corresponding technical documentation. The controller must be rebooted after changing a parameter. Z131.9– For other specific settings corresponding to the fieldbus, see parameter Slave settings. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 254 The transmission of the set values and the actual values from/to the fieldbus processor normally takes place in the fieldbus task. For special applications individual time settings can be configured for actual value transmissions. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 255 Max error count fieldbus set values Error threshold for set value failures. This parameter configures how many set value failures (set values have been not written) are necessary to set the error 1938. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 256: Measuring Encoder Function

    The measured values of the negative edge at positive direction of revolution are equal to the measured values of the positive edge at negative direction of revolution, and where necessary adding the measuring inaccuracy due to the encoder’s resolution. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 257 Digital input Positive direction of revolution High Positive Negative (rising) (falling) edge edge Digital input Negative direction of revolution High Negative Positive (falling) (rising) edge edge Figure 109: Direction of revolution Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 258: Prodrive Measuring Encoder

    Default Value Unit Factor 124.1 Configuration mode DWORD 0 0xFFFFFFFF 0 124.2 Activation command WORD 0xFFFF 124.3 Status DWORD 0 0xFFFFFFFF 0 124.4 Status 2 DWORD 0 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 259: Description Of The Parameters

    DS402 touch probe 2 neg. UDINT 0xFFFFFFFF 0 value 4.4.16.3 Description of the Parameters 124.1 Configuration mode Configuration of the measuring encoder NOTE! All measurements are inactive during the change of the configuration! Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 260 Measurement "Encoder 1 with Trigger Zero Pulse" Activation channel measurement positive edge (Enc1TrZpPosValRev/Enc1TrZpPosValPhi) 0: switch off 1: switch on Activation channel measurement negative edge (Enc1TrZpNegValRev/Enc1TrZpNegValPhi) 0: switch off 1: switch on Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 261 Toggling the corresponding bit will trigger the command. The parameter can be used to delete the indexes / latched values of the measuring en- coder during active operation, but the application is not necessary Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 262 TP2 positive edge": 0: Switched off 1: Switched on Measured value storage Measurement Channel "Encoder 1 with Trigger digital input TP2 negative edge": 0: Switched off 1: Switched on Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 263 The status bits 12…17 and 20…21 remain set with continuous triggering of the corre- sponding channel (P124.1) after the first measurement. For signaling, the additional use of P124.4 is recommended where new measured values of the channels are signaled through toggle bits. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 264 Angle Encoder 1 with triggering of measurement through rising edge at digital input TP1. 124.7 Encoder 1 trigger digital input TP1 neg. edge revolutions Revolutions Encoder 1 with triggering of measurement through falling edge at digital input TP1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 265 Angle Encoder 1 with triggering of measurement through rising edge of Zero Pulse of En- coder 1. 124.15 Encoder 1 trigger zero pulse neg. edge revolutions Revolutions Encoder 1 with triggering of measurement through falling edge of Zero Pulse of Encoder 1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 266 Configuration/scaling of the combined measured values Z124.34–: 00: Configuration corresponding to bits 4 … 9 to Z179.9–) 01: Calculation with Factor Group (Z179.2– 10: Modulo actual position value 11: Reserved Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 267 19 … 16 Source for DS402 touch probe 1 (TP1) / Z124.32–, object 60BA / 60BB) (Z124.31– Value: Encoder 1 trigger digital input TP1 Encoder 1 trigger digital input TP2 Encoder 1 trigger zero pulse 3: … 15: Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 268 Z179.2– Z179.9– (Z124.30– bit 2 ... 1 = 01) or m position system of the modulo actual position value Z121.17– (Z124.30– bit 2 ... 1 = 10) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 269 Factor Group weightings from Z179.2– Z179.9– (Z124.30– bit 2 ... 1 = 01) or m position system of the modulo actual position value Z121.17– (Z124.30– bit 2 ... 1 = 10) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 270: Freely Programmable Pid Controller

    ----- - This means that Kp is effective for the D and I controller even then if the P controller is inactive. The functional diagram is described below: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 271: Parameter Overview

    0.01 troller 1 150.9 Derivative time PID controller FLOAT 100000 150.10 Pt1 time constant PID con- FLOAT troller 1 150.11 Output upper limit PID con- FLOAT -5000000000 5000000000 troller 1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 272 5000000000 150.30 Actual value PID controller 2 FLOAT -5000000000 5000000000 150.31 Output PID controller 2 FLOAT -5000000000 5000000000 150.32 Integral term PID controller 2 FLOAT -5000000000 5000000000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 273: Description Of The Parameters

    If PID controller output is linked only (Z150.6– 1: PID controller output greater than maximum value or less than minimum value of the target parameter. PID controller output is limited to target parameter at writing. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 274 Integral action time PID controller 1 Integral action time (Tn) of the PID controller. 150.9 Derivative time PID controller 1 Derivative time (Td) of the PID controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 275 Z150.2– limited to its minimum or maximum value. This will be signalized in bit 9. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 276 Status of the PID controller: Meaning 0: PID controller is deactivated 1: PID controller is activated 3 ... 1 Reserved 1: PID controller output is limited 7 ... 5 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 277 All cyclic writable parameters are permitted. 150.23 P-gain PID controller 2 Proportional gain (Kp) of the PID controller. 150.24 Integral action time PID controller 2 Integral action time (Tn) of the PID controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 278 „Source number set value PID controller 2“. If the source is not selected (Z150.20– = 0) the set value can be written via fieldbus or an analogous input. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 279 Integral term PID controller 2 Display of the unlimited integral term of the PID controller. The integral term is set to 0 permanently at deactivated PID controller or switched off in- tegral controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 280: Master-Slave Torque Coupling

    For stressing the drives in standstill and if applicable also during the motion an additional torque init stress can be connected. Two options are available for the connection of the torque init stress: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 281 P147.5 P147.6 Set,slave Slave n act Cross communication n act Master Set,master Figure 112: Structure of the control of the torque coupling at connecting the torque coupling via compensating controller Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 282: Structure Of The Control Of The Torque Coupling At Connecting The Torque Coupling As Torque Additional Set Value

    Torque init stress Mv P147.18 Master set,master Figure 113: Structure of the control of the torque coupling at connecting the torque coupling as torque addi- tional set value Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 283 The parameter to be transferred cyclic (coupling command master, torque set value mas- ter, torque init stress actual value master (optional)) must be mapped correspondingly Z147.1– controller-side and EtherCAT-side. Set Bit 4 = 0 at the slave axis. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 284: Parameter Overview

    Compensating controller P- FLOAT 10000 Grad/ gain 147.8 Compensating controller FLOAT 100000 integral action time 147.9 Compensating controller out- FLOAT 180000 18000 Grad/s 1:1 put upper limit Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 285: Description Of The Parameters

    Coupling standby switch on / switch off (possible only at master functional- ity, i.e. Bit 1...0 = 01). Slave-side the coupling is efficiently not before master and slave are enabled: 0: Coupling standby switch off 1: Coupling standby switch on Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 286 1: Slave functionality is switched on 3 ... 1 Reserved Torque coupling between master and slave 0: Coupling is switched off 1: Coupling is switched on 15 ... 5 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 287 1. 147.7 Compensating controller P-gain Proportional gain (Kp) of compensating controller at torque coupling (at slave functionality Z147.1– ZFig. 112– only, i.e. Bit 1…0 = 10, see on page 281). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 288 Display of the unlimited, integral part of the compensating controller output at torque cou- Z147.1– ZFig. 112– pling (at slave functionality only, i.e. Bit 1…0 = 10, see on page 281). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 289 Bit 1…0 = 10, see on page 281). 147.19 Torque set value master Display of the torque set value of the master at torque coupling in the dimensions for transmission via fieldbus. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 290 (fieldbus) or analog inputs/outputs. See also on page 283. m Slave:  Display of the present torque init stress which is parameterized and generated of the master and sent to the slave. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 291: Friction Compensation

    > < > < > < 154.3 154.4 154.4 154.3 Speed + > < - > < 154.9 154.9 > < 154.5 Figure 116: Three-point with hysteresis and dead zone Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 292 154.3 154.4 Speed > < 154.5 Figure 118: Two-point with hysteresis Two different values are connected. The effective hysteresis results from the speed Z154.3– and Z154.4–. thresholds Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 293 0 subsequently. The result is no change of the torque set value and the friction compensation function can be started again. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 294: Identification Of The Friction Torque Curve

    Type Default Value Unit Factor 154.1 Mode WORD 0xFFFF 154.3 Lower speed threshold FLOAT -50000000 50000000 Grad/s 1:1 154.4 Upper speed threshold FLOAT -50000000 50000000 Grad/s 1:1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 295: Description Of The Parameters

    0: Speed set value 1: Speed actual value Start identification of the friction torque curve 31 ... 10 Reserved NOTE! The friction compensation must not used in combination with the torque coupling function. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 296 Connected friction compensation value at the moment. 154.9 Hysteresis speed threshold Hysteresis for connection „Three-point with hysteresis and dead zone“ (Z154.1– Bit 2…1 = 00), otherwise not effective. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 297 154.12 State identification friction torque Value Meaning Deactivated Init Wait until there is negative speed Measurement of Iq before acceleration Wait until acceleration Measurement Identification control Calculation Error Time-out Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 298: Synchronization

    Meaning 0: Synchronization is switched off 1: Synchronization is switched on Z156.4– 0: Automatic adjustment of the Sync offset Z156.4– 1: Manual adjustment of the Sync offset Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 299 Measured interval-length of the synchronization signal. 156.6 Fieldbus jitter Measured jitter of the fieldbus synchronization signal (deviation of the set interval-length). 156.7 Sync error Current phase error between synchronization signal and the controller cycle. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 300 Instant of time of read access of the fieldbus processor on the DPRAM referring to the Sync signal. 156.19 Time fieldbus read to DSP read Period between the read accesses of the controller processor and the fieldbus processor. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 301: Configurable Status Word

    Z108.3– Status word 1 of the drive manager. Here the information is available with a de- Z108.9– to Z108.12–. lay of 1 ms. This function is described in the parameters Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 302: Parameter Overview

    Configuration Z165.2– via the operators of Z165.5–. Figure 121: Boolean operation of the configurable status bits 4.4.21.1 Parameter overview Functional block: FbGPState[165] Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 303: Description Of The Parameters

    If only the function of all logic operations is switched off via the Mode bit 1 = 0, the status of the logic operation outputs (bit no. 16 to 30) is frozen only. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 304 Meaning Z165.2– Source parameter for status bit 0 of Z165.2– Source parameter for status bit 1 of … … Z165.2– Source parameter for status bit 15 of Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 305 Logic function is switched off. AND operation OR operation XOR operation (exclusive OR operation) NAND operation (NOT – AND) NOR operation (NOT – OR) XNOR operation (exclusive NOT – OR) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 306 This parameter can be written to, in order to reset single bits or the complete latch. Switching off single channels or the complete function has no effect on its value. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 307: Softdriveplc

    PLC option module. Typical applications for the SoftDrivePLC: m Computing of scalar controller parameters m Access to digital, analog inputs / outputs m Weighting of controller values m Error management, etc. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 308: Limitations

    The controller PLC saves a correct translated project always in the flash memory. It is not possible to keep a boot project in the flash while working with another project in RAM. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 309: Tasks

    The drive parameters which can be inserted in the variables data sheet by double click or drag & drop are to be found in the toolbox at the right window frame. The toolbox also provides filtering drive parameters by name or by number. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 310: Parameter Overview

    Free memory UDINT 0xFFFFFFFF 0 170.13 POU count UINT 0xFFFF 170.14 Task count UINT 0xFFFF 170.15 Project CRC UDINT 0xFFFFFFFF 0 170.16 MetaData CRC UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 311: Description Of The Parameters

    All variables will be initialized with default values PLC warm start (behavior as cold start) PLC hot start No variables are initialized. 4 ... 65535 Reserved 170.2 PLC Status Status of the SoftDrivePlc Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 312 Meaning Default task Task RT0 Task RT1 Task RT2 Task fieldbus Write to parameter PlcEventWrUint Write to parameter PlcEventWrUdint Write to parameter PlcEventWrReal 15 ... 8 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 313 Execution time of the default task including interrupts from other tasks with higher priority in the controller. 170.10 Project name This parameter shows the name of the active project in the controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 314 170.21 Write event parameter UDINT Writing on this UDINT parameter leads to a call of the "Event write UDINT" task, if the POU is enabled via Z170.3–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 315 Error in project – not supported task type in project file 3022 The loaded PLC project is not valid for the PLC extension stage of the controller. The controller is not activated for the full version of the PLC. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 316 This parameter shows the execution time of the PLC code in the RT0 time slice. 170.51 Run time task RT1 This parameter shows the execution time of the PLC code in the RT1 time slice. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 317 Run time write event task This parameter shows the execution time of the PLC code in the last processed event task. The event task runs when writing to parameter Z170.20–, Z170.21– or Z170.22–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 318: Ds402 Factor Group

    Feed constant (0x6092) ------------------------------------------------------------------------------------------------------------ Feed constant drive shaft revolutions P179.9 Bit 7: Bit 6: Polarity P179.1 (0x607E) 1: Multiply position with (-1) 1 Multiply speed with (-1) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 319 Speed resolution (0x6090) * Gear ratio (0x6091) Speed weighting without sign -------------------------------------------------------------------------------------------------------------------- - Feed constant (0x6092) Speed weighting with sign Speed weighting without sign * Polarity (0x607E) ---- - Speed weighting without sign Acceleration weighting Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 320: Factor Group Effect Of Position Weighting

    P124.5 ... 124.16 or 124.18) Position weighting unsigned Position error actual value P179.20 (0x60F4) Position error rev+angle (P18.60) Figure 122: Factor Group effect of position weighting Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 321: Factor Group Effect Of The Speed And Acceleration Weighting

    Acceleration weighting Profile deceleration P179.29 (0x6084) Positioning deceleration (P118.13) Acceleration weighting Quick stop deceleration P179.30 (0x6085) Quick stop time (P110.8) Figure 123: Factor Group effect of the speed and acceleration weighting Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 322 P 179.3 = 1 P 179.4 = 65536 P 179.5 = 1 P 179.6 = 1 P 179.7 = 1 P 179.8 = 3600 P 179.9 = 1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 323: Prodrive Ds402

    Description of the Software Modules and Parameters 4.4.23.2 ProDrive DS402 Figure 124: ProDrive Factor Group and touch probe DS402 4.4.23.3 Parameter overview Functional block: FbFactorGroup [179] Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 324 Homing acceleration UDINT 0xFFFFFFFF 0 Inc/s 179.28 Profile acceleration UDINT 0xFFFFFFFF 0 Inc/s 179.29 Profile deceleration UDINT 0xFFFFFFFF 0 Inc/s 179.30 Quick stop deceleration UDINT 0xFFFFFFFF 0 Inc/s Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 325: Description Of The Parameter

    Speed resolution motor revolutions/s DS402 Factor Group object 0x6090.02 (denominator of the speed weighting). 179.6 Gear ratio motor shaft revolutions DS402 Factor Group object 0x6091.01 (numerator of the gear ratio). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 326 318). 179.13 Home offset DS402 Factor Group object 0x607C (home offset for the operating mode "Homing" with ZGeneral information– position weighting corresponding to from page 318). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 327 DS402 Factor Group object 0x60BD (touch probe value from revolutions and angle ZGeneral information– scaled with position weighting corresponding to from page 318). Zpage Notice: The touch probe must be parameterized adequately, see notes on 322–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 328 DS402 Factor Group object 0x60B1 (speed offset with speed weighting corresponding to ZGeneral information– from page 318). 179.26 Target speed DS402 Factor Group object 0x60FF (target speed with speed weighting corresponding to ZGeneral information– from page 318). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 329 DS402 Factor Group object 0x6084 (profile deceleration with acceleration weighting cor- ZGeneral information– responding to from page 318). 179.30 Quick stop deceleration DS402 Factor Group object 0x6085 (quick stop deceleration with acceleration weighting ZGeneral information– corresponding to from page 318). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 330: Management

    Using Parameters 116.2/116.8/116.14/116.20 any chosen digital input can be se- lected as the input for error reset. A rising edge on this input (if input is not inverted) initiates an error reset. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 331 The parameters for the application can be changed m Drive function is enabled m "Inhibit Operation" command is executed m The operationally ready relay is ON (drive is operationally ready) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 332 The parameters for the application can be changed m The drive function is inhibited m The operationally ready relay is OFF (drive is not operationally ready) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 333 None of the bits labeled X (i.e. the bits of the status word) or x (i.e. the bits of the control word) have any significance for the control of the state machine or the representation of the current state. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 334: State Machine Of The Device Controller

    BB = ready-for-use relay PA = 0: Axis not parked (*) Inputs not inverted PA = 0: Axis parked Figure 126: State Machine of the Device Controller Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 335 Condition: m Power supply reports operational readiness / main supply voltage applied and – Drive activation by control word: m Pulse enable input = High n Action: m None Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 336 Event: m "Quick Stop" command or m "Inhibit Voltage" command or m Quick Stop input = Low (only if Quick Stop (SH) hardware control input is used) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 337 "Quick Stop" command or m Quick Stop input = Low (only if Quick Stop (SH) hardware control input is used) n Action: m Quick Stop is initiated (braked or coast-down, depending on setting) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 338 14 ERROR RESPONSE ACTIVE  ERROR n Event: m Error response is complete n Action: m Drive function is inhibited m Switch off the operationally ready relay Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 339 OPERATION INHIBIT ACTIVE DRIVE SHUT-DOWN ACTIVE QUICK STOP ACTIVE ERROR RESPONSE ACTIVE ERROR m Smooth torque reduction This parameter can be set to provide smooth torque reduction using controlled braking procedures. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 340: Parameter Overview

    108.9 Parameter selection status- UDINT 0xFFFFFFFF 0 bit 14 108.10 Bit pattern status bit 14 UDINT 0xFFFFFFFF 0 108.11 Parameter selection status- UDINT 0xFFFFFFFF 0 bit 15 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 341: Description Of The Parameters

    Depends on operating mode: Ramp FG zero, Absolute / relative target specification 0 -> 1 Error reset Depends on operating mode: Hold Depends on operating mode: Change of set value Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 342 Bit 4 - Ramp FG inhibit / New set value / Start reference run n Speed Setting 1 (Operating mode 2) 1: Enable ramp function generator 0: Inhibit ramp function generator (set output to 0) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 343 2) 1: Set ramp function generator input to zero (braking with ramp) 0: Enable ramp function generator input n Coupled operation (operation mode -12)  0->1 Activate additional movement Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 344 (FbPosCommonData) n Position control (Operating mode -4):  1: Inhibit set values (Position set values which are written to 136.3/136.5 or 136.4/136.6 are not adopted) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 345 A new operating mode can thus be activated synchronously with the control word. The instantaneous state of the mode changeover is indicated in Z108.5– Status Word 2. 0: Enable mode changeover  1: Inhibit mode changeover Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 346 These bits are active low In Operating Modes -3 and 2, Bits 4, 5 and 6 are prioritized as follows: Bit 4 before Bit 5 before Bit 6 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 347 1: No request for Quick Stop 0: Quick Stop (or request for Quick Stop present) 1: Switch-on inhibit 0: No switch-on inhibit 1: Warning 0: No warning Depends on operating mode Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 348 Device Controller State Switch-on Quick Error Operation Switched Ready to Inhibit Stop Enabled switch on NOT READY TO SWITCH ON 0 SWITCH-ON INHIBIT READY TO SWITCH ON SWITCHED ON Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 349 Quick Stop. The bit is set once more as soon as the drive is enabled again or the "Ready to Switch On" state is reached as a result of a command. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 350 The bit is set as soon as the position actual value is in the set position window for the set position window time. The bit will be deleted when the drive is not any longer in the positioning window. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 351 The bit is deleted, if the drive ignores the cyclic set value.  This is the case at Z108.1– - a stop via the control word bit 8 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 352 The bit is deleted if the error is reset. m Coupled operation (operation mode -12)  0->1 Change of gear factor was made (check-back for Bit 8 Z108.1–) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 353 Can be set via Parameter 108.9, 108.10 Can be set via Parameter 108.11, 108.12 These bits are active low The bits labeled X are reserved and must not be evaluated by the controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 354 0: Operating mode changeover is enabled 1: Operating mode changeover is inhibited 2 ... 1 Reserved 1: Warning: Deactivation through safety technology;  corresponds to drive warning 1046 31…4 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 355 If no inputs have been configured for Quick Stop or Controller Enable, the signals will be interpreted as inactive or active so that the drive can be enabled (see also Param- Z108.8– eter DI_StatusDrvControl (Status digital inputs drive manager) in this regard) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 356 Mask for the freely definable Status Bit 14 in the drive manager Status Word Z108.3–. If at least one bit from the mask is set in the selected parameter Z108.9–, Bit 14 in the Status Word will be set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 357 This parameter defines the response of the drive to a Quick Stop request (by control word command or hardware control input). For correct functioning of the braking procedures on the Quick Stop or Ramp-down ramps, the speed controller must be adequately configured. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 358 Status bit string for internal limits  Bit no. Meaning 1: Current/torque limited 1: Speed set value limited at speed controller input 1: Speed limited during set value generation Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 359 Furthermore the smooth reduction of torque also oper- ates for error reactions where a braking procedure is initiated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 360 U-f operation Voltage setting (for development purposes only) Current setting (for development purposes only) Autotuning Spindle positioning Synchronous operation with electronic gearbox Position control Speed control Current control Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 361 Value Meaning Notch position search Target position setting Speed setting 1 Manual drive operation Reference run operation 109.2 Operation mode act For the meaning of the values, see Parameter 109.1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 362: Data Set Management

    Z105.2– The parameter Status displays the instantaneous processing state of the com- mand interface and also any error messages from the previous command. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 363: Organization Of The Parameters In The Data Sets

    The "window" for the active data set addresses Data Set 3. Figure 127: Active data set Basically, only data from the active data set (DS 0) can be accessed via external option modules or Fieldbuses. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 364: Delivered State

    Data Set Name Z105.5– UDINT You can assign each data set (DS 1 to DS 7) Data Set  a unique number from 0 to 4294967295 Identification Number here Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 365: Functions Of The Data Set Management System

    Unique ID number for the data set stored in Flash memory Z105.4– Data Set Name The name of the active data set (string) can be freely assigned by the user. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 366: Data Set Commands And Possible Error Messages

    This data set command creates a data set which is selected with Target Data Set. The parameter values for this data set (the data set parameter only) are set to their standard values in the process. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 367 Value less than minimum value n Value greater than maximum value n Parameter is read-only n Due to operating state, parameter cannot be changed n Parameter value is invalid n Check yielded faulty checksum Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 368: Changeover To Data Set 1 To 7

    Clear Flash completely Set standard values for the target Data set which is to data set be set to standard values Set standard values for all writable parameters Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 369: Parameter Overview

    WORD 0x7F 105.8 Data set source UINT 105.9 Data set dest UINT 105.11 Name of complete parameter STRING 105.12 Error count UINT 0xFFFF 105.13 Config Ident number UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 370: Description Of The Parameters

    RC_BUSY A command is being executed. RC_DONE A command has completed successfully 1400 RC_ERR_DSV Error while loading or saving the parame- ter set (see Message parameters) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 371 Id found in the parameter file does not exist RC_ERR_INDEX Index in parameter file invalid RC_NOT_WRITABLE Parameter is not writable RC_ERR_MIN Value is less than the minimum value RC_ERR_MAX Value is greater than the maximum value Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 372 0: Data Set 3 deleted 1: Data Set 3 created 0: Data Set 4 deleted 1: Data Set 4 created 0: Data Set 5 deleted 1: Data Set 5 created Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 373 Denomination for the complete parameter set of the drive. 105.12 Error count Z105.3– Number of valid messages in array parameter Message. 105.13 Config Ident number User-definable identification number for the complete parameter set of the drive. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 374: Brake Management

    The drive is working in one of the modes "Find Notch Position", "Autotuning", "Cur- rent Control", "Current Setting" or "Voltage Setting". m The drive is being operated without encoders. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 375 Z134.10–. If the holding torque corresponds exactly to the load torque, the drive does not sag. Any difference between the load torque and the holding torque set in the parameters results in a negligible sag and is corrected. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 376 Management Figure 128: Starting the drive in the "Automatic" brake control mode Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 377 In the "Error response active" state, this check is not carried out, i.e. even with the state monitoring activated and the brake not applied, the transition to the "Error" state takes place. The drive will consequently be without torque. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 378 Bit 2 = 0) as the drive could be accelerated by the externally acting torque, with the result that the speed threshold is not reached and the brake is not applied. Figure 129: Braking procedure in the "Automatic" brake control mode Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 379: Brake Watchdog

    1 ms. The watchdog causes an automatic closing of the brake. The monitoring function operates inversely if the logic is inverted to the brake control. Z134.2– Bit 9 of specifies if the current firmware provides the watchdog functionality. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 380: Prodrive Brake Management

    Grad/s 1:1 134.7 Timeout check-back signal UINT 1000 1000 134.8 Pulse inhibit delay UINT 1000 134.9 Start of motion delay UINT 1000 134.10 Opening delay UINT 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 381: Description Of The Parameters

    In order to trigger the brake a digital output must be assigned with the special func- tion „Triggering holding brake“ m For the feedback of the brake state a digital input with the special function „Feed- back holding brake“ must be assigned. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 382 Behavior when enabling the brake with holding torque preset (Bit 0 = 1): enable brake if 0: Drive torque = Holding torque (Z134.5–) Z134.10– 1: Time in elapsed Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 383 Bit 0 = 1). This torque is built up before the brake is enabled if the appro- priate mode is selected (Z134.3– Bit 0 = 1). ZEnabling the Brake– See also from page 374 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 384 The drive is without torque at the earliest after the time set in 134.9 has elapsed follow- ing reception of the "Brake is enabled" confirmation. ZEnabling the Brake– See also from page 374 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 385 Bit 1...0 = 3). The "En- able brake" command is issued [134.10] ms after the start of the buildup of the holding torque. ZEnabling the Brake– See also from page 374. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 386: Error Management

    According to the error code not all error responses are possible. For example the pulses are blocked at certain errors at once. Another response is not adjustable for such errors. 4.5.4.1 Parameter overview Function block: FbInfoMgr [100] Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 387: Description Of The Parameters

    Trigger application error no. 169 Reset error memory Remain- Reserved 100.2 Error Count Returns the number of errors present in the error memory since the last switch-on or since the last error reset. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 388 Error code Error Response Error response code The following values are possible for the error response: Code Error reaction SS1 stop Controlled stop Return motion No error message Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 389 Z100.8– Z100.9– I.e. the control must copy of drive 1 to of drive 2. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 390 Error, which is set Noneffective 175 - Application error 1 176 - Application error 2 177 - Application error 3 178 - Application error 4 179 - Application error 5 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 391: Signal Bus

    The axis units monitor also the DC link voltage and can be configured to generate the Chopper Resistor On signal. If this signal is set, the chopper resistor is switched on at the mains rectifier unit. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 392: Prodrive Signal Bus

    1: Set Chopper Resistor On signal, if the DC link voltage exceeds the bal- last switch on threshold. 9 .. 2 Reserved 0: Evaluate Supply ready for use signal 1: Ignore Supply ready for use signal Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 393 Otherwise the supply unit can be dam- aged in this case. 140.2 Status States of the Signal bus lines: Bit no. Meaning 4 ... 0 Reserved Chopper resistor on Reserved Supply operationally ready Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 394: Set Value Manager

    Mode bit 16 = 1). Z111.1– An active Fieldbus Task operating mode can be recognized by Status Bit 5 = 1. Figure 132: ProDrive Set Value Manager Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 395: Parameter Overview

    For all speed and position controlled operating modes in the OPERATION ENABLED state, the set value manager is switched on. In operating modes such as, e.g., current control it thus remains switched off. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 396 Mode 3: Quadratic interpolation of the position and linear interpolation of the speed Mode 4: Cubic interpolation of the position and quadratic interpolation of the speed Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 397 This parameter takes effect in operating mode Position control with synchronous set val- Z18.9– ue specification (Z109.1– = -4) only. The function is activated by Controller op- tions bit 3 = 1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 398 111.9 Jerk set value This parameter displays the jerk set value after the addition of all set values. Its resolution is 32 bit increments/revolution per ms Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 399: Set Value Generators

    Z110.3– to 0%. This causes a constant braking time from all speeds at ramp function gener- ator output. m The set SS1 stop time Z110.21– applies to Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 400 The resulting times for other set value changes are calculated as follows: * Set Value change / 100 % ResRamp-up Ramp-up * Set Value change / 100 % ResRamp-down Ramp-down Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 401 The S-Curve time can be set separately for the ramp-up and the ramp-down. The ramp-up or ramp-down time resulting from a change to the input set value of 100 % can be found from Ramp-upTotalTime Ramp-upTime SCRamp-upTime Ramp-downTotalTime Ramp-downTime SCRamp-downTime Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 402 Scurve amax Example 2: Set Value changed by +12.5 % Total set value change dV = 12.5% total Calculate proportion of "S-Curve phase" in the acceleration process: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 403: Optional Interpolation Of The Ramp Function Generator Input Set Value

     A new set value is transferred in each fieldbus cycle.  The ramp function can be configured in the fieldbus task as well as in the RT1  task. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 404 Z110.1– The bits 8 (Ramp-up is active) and bit 9 (Ramp-down is active) in are not changed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 405: Prodrive Ramp Function Generator

    Control Word 1 Bit 4 Z108.1– FG STOP: Parameter Control Word 1 Bit 5 Z108.1– FG ZERO: Parameter Control Word 1 Bit 6 Display "Set Value reached": Z108.3– Parameter Status Word 1 Bit 10 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 406: Parameter Overview

    Set Value Generators Figure 135: Ramp function generator page in ProDrive 4.6.1.3 Parameter overview Functional block: FbRampGenerator [110] Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 407 Input 32 bit additive DINT -1073741823 1073741823 400000 100% 110.20 Controlled stop time UDINT 65000 1000 110.21 SS1 stop time UDINT 650000 110.22 Active cycle time ramp gen- FLOAT erator Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 408: Description Of The Parameters

    The bit is deleted at constant input set value or set value failure. The ramp function generator input set value is interpolated from the set value cycle to the ramp function generator cycle (1 ms). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 409 Reserved Selection of the set value processing task: 0: RT1 task with a cycle time of 1 ms 1: Fieldbus task with a settable cycle time 31 … 17 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 410 Z110.1– sent again. The blocked direction is displayed in Status Bits 18 and 19. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 411 This mode has no advantage for the trapezoidal profile and should be switched off. Figure 136: Change of direction without rounding-off of the speed at zero-crossing Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 412 Z110.10–) or changes due to a data set switchover are always processed in the RT1 cycle. NOTE! A change of bit 16 is efficiently not before the data set is saved and the controller is restarted. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 413 Z110.2– Depending on bit 7 of the parameter Mode the quick stop time applies to m change of set value from 100% to 0%  Z110.2– bit 7 = 0, Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 414 Z110.1– (Bit 12) "Set Value Reached". The "Set Value Reached" status bit is set if the following is valid:  Set value zone - HLG Output Input Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 415 The result of this limiting forms the effective input value for the ramp generator. Z110.15– Z110.16– If the standard values of Parameters remain set, no limiting takes place and the ramp input receives values between -100% and +100%. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 416 The SS1 stop ramp is available only for error reactions. 110.22 Active cycle time ramp generator Displaying the cycle time of the set value processing of the ramp function generator. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 417: Set Value Generator

    4.6.2.1 Parameter overview Functional block: FbSwg [132] Number Name Type Default Value Unit Factor 132.1 Mode DWORD 0 0xFFFFFFFF 0 132.2 Status DWORD 0 0xFFFFFFFF 0 132.3 Output FLOAT -5000000000 5000000000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 418: Description Of The Parameters

    01: Set value generation is being initialized 10: Set value generation is suspended, awaiting (renewed) enabling of the drive 11: Set value generation is switched on 3…2 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 419 When the set value generator is started, a check is made to make sure that the set value lies within the range of values in the target parameter and if necessary an error message is issued. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 420 Duration zone 4 Duration of Time Zone 4 for the set value generator in ms. The associated set value is applied to the output of the generator for this duration. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 421: Error Reaction Controlled Stop

    This includes the following errors 203 and 204 (overspeed), 201 (speed control deviation) and 211 (field angle monitoring). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 422: Error Reaction Return Motion

    Output position set value UDINT 0xFFFFFFFF 0 148.9 Output speed set value DINT -65535 65535 Inc/ms 1:1 148.10 Output acceleration set value DINT -65535 65535 Inc/ 100:1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 423: Description Of The Parameters

    Bit 1 = 1 If bit 4 = 1: 1: Abort on the hardware end with pulse inhibit (digital input) or with a more significant error reaction (pulse inhibit or stop at ramp). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 424 True for acceleration phase and deceleration phase. A change of the maximum acceleration during a continuous return motion positioning does not affect the present return motion positioning. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 425 Output speed set value Display of the present speed set value of return motion positioning. 148.10 Output acceleration set value Display of the present acceleration set value of return motion positioning. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 426: Cam Generator

    Processing time of the cam using the virtual master axis is calculated by:  Count_Supporting points 256  ------------------------------------------------------------------------- - Cycle time of field bus task Processing time Virtual master axis speed Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 427: Parameter-Controlled Processing

    Parameter value Base value (P159.14) – In order to process the AND operation in bit mode, the supporting point count must comply with a power of 2 (for example 256 or 512). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 428: Setting Options Of Cam Generator

    59926. This index is greater than the maximum index of (count supporting points - 1) = 511. The active table index is limited to a maximum index of 511 at non-cyclical pro- cessing. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 429 In this example the jump width (25 - 7) = 18 table indices is half of the count of the supporting points (32 / 2) = 16 indices. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 430 The decimal position components define the interpolation point be- tween the valid and the next table entry. Example: Z159.5– Count supporting points = 128 Z159.14– Base value Input parameter value = 29.8 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 431: State Machine Of The Cam Generator

    "active" state Z159.3– The cam generator is in "active" state, if bit 0 = 0 and bit 1 = 0 in State. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 432: Limiting Of Output Value

    Therewith, the cam is saved in the flash, also. If the device is booted, an available cam in the flash is loaded with the parameters and now is available in the cam generator. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 433: Parameter Overview

    0  1: Start the processing of the cam The processing of the cam generator is stopped. The table index is reset. 0: Cam generator can be started and operated 1: Cam generator is stopped and is reset Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 434 1: generate cyclical offset from the cam 0: processing one-time only 1: cyclical processing 0: real time mode 1: relative mode Parameter-controlled processing, only 0: no auto offset 1: active auto offset Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 435 Speed of the virtual master axis. Speed of 256 accords to a processing of a table index per work cycle. At a negative speed the cam will run the opposite direction. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 436 159.16 Output parameter The cam generator writes on this output parameter. All cyclic writable parameters can be used as output parameters. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 437: Motor Potentiometer

    Status WORD 0xFFFF 168.2 Mode WORD 0xFFFF 168.3 Output -16384 16384 16384: 168.4 Upper Limit -16384 16384 16384 16384: 168.5 Lower Limit -16384 16384 -16384 16384: 168.6 Increment 2000 100:1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 438: Description Of The Parameters

    0: Output is synchronized to the ramp function generator parameter Z110.5– Input 16 bit 1: Output is set to 0 Evaluation of the Motor potentiometer +/- 0: Edge sensitive 1: Level sensitive 15 … 5 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 439 "Motor potentiometer-" button (bit 2 of the param- eter Motor potentiometer mode) the output value is set to the limit value (increase of speed). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 440 = 16384 = internal standardization of 100% of the ramp function  where Max Z110.5– generator parameter Input 16 bit Z168.6– Increment = Increment [%] / 100% * 16384 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 441: Controllers

    The speed controller contains a further PT element for smoothing the actual speed, a notch filter for speed actual value and an adjustable acceleration feedforward (Z18.36–, Z18.37–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 442 Block diagram of the fine interpolator in the position / speed controller ZFig. 142– ZFig. 145– show the block diagrams for the position / speed controller in the speed controller, position controller and torque control modes. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 443: Block Diagram Of The Speed Controller When In Speed Control (18.4 = 13)

    Time constant output value (154.8) speed act. value filter (18.27) 5000_0083_rev06_int.cdr Speed from encoder (106.38) Figure 142: Block diagram of the speed controller when in speed control (18.4 = 13) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 444: Block Diagram Of The Position /Speed Controller When In Position Control (18.4 = 12)

    Position actual value (18.55 and 18.56) Friction compensation output value 3300_0061_rev03_int.cdr (154.8) Figure 143: Block diagram of the position /speed controller when in position control (18.4 = 12) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 445: Physical Units In The Control Circuit

    Block diagram of the position / speed controller when in torque control Z18.50– The Isq set value for torque control can be written via parameter interface, Field- bus or analog input. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 446: The Factor Ks

    The Ks adaption according to conditions deviating of the measuring point (result: Ks ac- tual value Z155.10–) is described in the chapter ZKs adaption– from page 525. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 447: Position / Speed Controller Adaption

    The position/speed controller adaption can be activated by the (controller adaption-) mode Z155.1–. If the middle speed threshold is parameterized to 0, the middle interpolation point is not applicable and the adaption is executed between the upper and lower threshold. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 448: Cyclical Ks Adaption

    Ks factor and can be adapted via the control and parameter Z155.14–. The Ks value is updated in RT1 cycle. The cyclical Ks adaption can be activated by (controller adaption) mode Z155.1–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 449: Prodrive Position / Speed Controller

    Description of the Software Modules and Parameters 4.7.1.4 ProDrive Position / Speed Controller Figure 148: ProDrive position controller with detailed settings Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 450 Controllers Figure 149: ProDrive speed controller with detailed settings Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 451: Parameter Overview Of Position / Speed Controller

    1000000 Grad 18.12 x1 position actual value FLOAT -1000000 1000000 Grad 18.13 e1 Position controller error FLOAT -1000000 1000000 Grad 18.14 Kv position controller FLOAT 1000000 18.15 w2-Feedforward factor FLOAT Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 452 Position error rev+angle DINT -2147483648 2147483647 18.61 Position error angle DINT -2147483648 2147483647 18.62 Position error revolutions DINT -2147483648 2147483647 18.68 Speed additional value FLOAT -150000 150000 Grad/s 1:1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 453: Description Of The Parameters

    Depending on the drive state and operating mode, which are set by means Z109.1– of Parameter the corresponding controller and functions are activated in this module. When the drive is inhibited, the module is switched off (= 10 = Measure). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 454 1: External cyclic acceleration feedforward via Z111.8–; effective only in operating mode Position control (-4) 1: External cyclic speed feedforward via Z111.7–; effective only in operat- ing mode Position control (-4) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 455 Display of the current position set value in degrees. 18.12 x1 position actual value Display of the current actual position in degrees. 18.13 e1 position controller error Current position error in degrees. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 456 Time constant position error display filter Time constant for the PT filter to smooth the position deviation display in parameter Z18.13– e1 position controller error. The filtering doesn't influence the position control! Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 457 1: Actual speed is equal to speed set value (= set value reached) The following conditions must be satisfied for "Set Value Reached" to be set: Z18.23– Z6.7– Max. pos. speed difference  e2 Speed Error < Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 458 Reset time for the integral term for the speed controller, units s. If the value is 0, the integral term is set to 0 and the control operates without an integral term. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 459 Time constant speed set value filter filter to smooth the w2 Speed set value Z18.21–. Time constant of the PT 18.35 w3 acceleration set value Current acceleration set value in degrees/s². Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 460 ZKs Determination– on page 446 and on page 207. 18.42 Center frequency x2 act value notch filter Center frequency of the speed actual value notch filter in Hz. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 461 Position act value rev+angle The parameter displays the actual „mixed“ position actual value in 32 bit resolution. The lower 16 bits correspond to the angle and the upper 16 bits to the revolutions. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 462 16 bits to the revolutions. One revolution of the motor corresponds to 65536 increments. The angular resolution here is approx. 0.0055 degrees. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 463 16 bits to the revolutions. The angular resolution here is approx. 0.0055 degrees. Revolutions Angle 31 ......16 15 ......0 Z18.60–   Revolutions Angle 31 ............... 0 31 ............... 0 Z18.62– Z18.61– Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 464 Time constant speed act. value filter Z18.27–. For synchronous operation on actual master axis (= encoder) the parameter for smooth- ing the master axis set value (w2-feedforward part) can be used. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 465 Therefore, it is primarily intended to be an actual fieldbus value, for the fieldbus especially if an own position error monitoring shall be cal- culated on the control. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 466 The parameter 155.10 "Ks actual value" assumes the Ks factor (Ks value at the measuring point) and considers the following operating conditions deviating from the measuring point. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 467 Free parameter which adapts speed and position controller. It is activated by bit 6 and 7 of the mode parameter (Z155.1–). 155.19 Factor Kv adaption Factor to adapt the gain Kv of the position controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 468 Factor to adapt the gain Kv of the position controller at the average speed threshold. Is activated only, if the average speed threshold is parameterized unequal to zero. 155.21 Actual Kv factor Currently active Kv factor Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 469: Current Controller

    It is recommended to measure the dead time at each device, which requires dead time compensation. NOTE! The dead time measurement must be repeated, if the IGBT dead time (Z129.9–) was changed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 470: Torque Current Limiting

    Consequently, the follow- ing standardization or limit modes accordant to the motor type are available: Load mode Standard, Load mode ASM-lsdMax and the current mode. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 471 3 = 0). a) Dependent of the field current (an external total current limit is not assumed).  b) Dependent of external total current limit (field weakening is not assumed) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 472: Torque Current Limit "Lsq" At The "Current Mode" Of The Synchronous Motor

    (138.1 a) Dependent of the field current (the external total current limit is assumed).  b) Dependent of the external total current limit (field weakening is not assumed). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 473: B) Dependent Of External Total Current Limit (Field Weakening Is Not Assumed)

    1 = 0, bit 3 = 0).  a) Dependent of the field current (external total current limit is not assumed).  b) Dependent of external total current limit (field weakening is not assumed). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 474 (138.1 a) Dependent of the field current (external total current limit is not assumed). b) Dependent of external total current limit (field weakening not assumed). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 475: B) Dependent Of The External Total Current Limit (Field Weakening Is Not Assumed)

    Particular case synchronous motor with interior permanent magnet (IPMSM) The Iq current is not limited, but the total current is limited at IPMSM, because both cur- rents contribute to the torque production. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 476 Controllers Figure 156: Current controller Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 477: Feedforward

    The current controller may become instable at motors with strong saturation. The current controller adaption can be used to reach a constant control also at high currents. Kp [%] 100% Adapt Iq [A] Figure 157: Current controller adaption Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 478: Pulse Width Modulation

    100% corresponds to 100% PWM duty cycle. From a duty cycle of 80% the switching losses are reduced by a third with MSVM, without increasing the switching current ripple compared to SVM. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 479: Prodrive Current Controller

    Description of the Software Modules and Parameters 4.7.2.7 ProDrive Current Controller Figure 158: ProDrive Current controller Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 480 Controllers Figure 159: ProDrive Current controller details Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 481: Overview Of Current Controller Parameters

    47.22 Integral term Usq FLOAT -440 47.23 Integral term Usd FLOAT -440 47.24 Usq control output FLOAT -440 47.25 Usd control output FLOAT -440 47.26 Back-EMF feed forward FLOAT -440 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 482: Description Of Current Controller Parameters

    FLOAT tion 4.7.2.9 Description of Current Controller Parameters 47.1 Isq set value Display of the limited Isq set value which is passed directly to the current controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 483 = Stator resistance in ohms, cold /(3*Tab) = L /(3*0.125) = 2.667* L in mH) For asynchronous motors, the total leakage inductance L must be used instead of sigma Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 484 Displays the control variable for the id controller, taking account of the feedforward. 47.22 Integral term Usq Displays the integration terms of the control variable for the iq controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 485 Modulation level of the IGBTs in Phase U. A value of 0 or 1 means full modulation. 47.30 Control value V Modulation level of the IGBTs in Phase V. A value of 0 or 1 means full modulation. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 486 Alpha voltage after calculating the modulation levels. 47.42 Ubeta after PWM Beta voltage after calculating the modulation levels. 47.43 Uq after PWM q-voltage after calculating the modulation levels. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 487 Compensation can be carried out using measured values or with default values (if dead time measurement wasn't executed). See dead time correction table Z123.15–. 47.51 Current controller mode Switches the current prediction for the current controller on/off. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 488 This parameter displays the predictive current Id determined by the current prediction pro- cedure, if the current prediction procedure is switched on. 47.54 Back EMF estimated EMF acting in the q-direction. Required for field angle monitoring of PMSM. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 489 This percentaged value describes the real acting part of the proportional gain of both cur- rent controllers at a current Iq above the high adaption threshold for the current controller Z155.12–. Interpolation between the lower and the upper adaption threshold is linear. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 490: Dc Link Controller

    Id current can either be applied immediately or the Id cur- rent is continuously (bit 6 of Z47.51–) The Udc link-ld controller is switched on by bit 4 of Z47.51–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 491: Short Circuit Brake

    Iq upper limit DC link ctrl FLOAT 10000 10000 114.6 Iq lower limit DC link ctrl FLOAT -10000 -10000 114.7 Speed threshold for block FLOAT 600000 Grad/ shape current 114.8 Flux threshold FLOAT 1:100 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 492: Description Of The Dc Link Controller Parameter

    Reset time of the DC link controller 114.5 Iq upper limit DC link ctrl Upper torque current limit in the regenerative direction in ampere executed by the DC link controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 493 Reactive current controller output Output of the reactive current controller. It is located between 0 and 1 whereby 0 means the maximum ld current and 1 means no ld current. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 494: Field Weakening Controller

    (minimum value between ). This is additionally limited, so that it never falls below the specified limit of the parameter Minimum field weak factor (Z142.5–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 495 For the range 0 < Field weakening factor < 1, the following applies:  the value set for the field current reference value will be applied proportionally. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 496 Udc controller 142.8 Minimum field weak factor 142.5 Maximum output voltage 142.6 Actual output Ö 5000_0227_rev01_int.cdr voltage 142.7 Figure 162: Block diagram of the field weakening factor Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 497 Permanent field weakening current (142.1 bit 0 = 1): External limiting max field current amplitude 138.10 Isd set value 47.2 Field current preset value 19.9 5000_0345_rev01.cdr Figure 164: Block diagram: Effect of field weakening factor SM Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 498: Breakdown Torque

    The Ud voltage should not be more than the phase voltage U . However, it is rec- ph,Max ommended to limit the voltage to the 1/2-fold U ph,Max  ------ - U d,Max ph,Max Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 499 ------ - min u ph,Max max, Z142.6– Maximum output voltage RMS, Z142.8– Voltage threshold for field weakening, m Permanent field weakening  ------ - u ph,Max Z142.6– Maximum output voltage RMS, Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 500 Another cause of an insufficient field weakening is that the SM reached its limit (field current specification at the SM Z19.9–). In general, the field cur- Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 501: Parameter Overview

    P-Gain field weakening con- FLOAT 1000 0.002 troller 142.4 Field weakening controller FLOAT 10000 3000 integral action time 142.5 Minimum field weak factor FLOAT 142.6 Maximum output voltage FLOAT 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 502: Description Of The Field Weakening Parameters

    The field weakening factor is without units. The range of values extends from 0 to 1. The field weakening factor accords to the minimum value between field weakening output Z142.13– and the field weakening factor after the speed Z142.12–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 503 Minimum field weak factor > 0 Z19.9– preset value can not be reached. For ASM the flux set value in % can only be  reduced to 100 * "Minimum field weak  factor". Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 504 The range of values is between 0 and 1. Of importance only if the field weakening type was set at the voltage limit (Z142.1– bit 0 = 0). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 505 The output from the breakdown torque controller is dimensionless and is between 0 and 1. The limit level is determined. The output is multiplied by the maximum total current (Z19.6–) and leads to Z138.18–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 506: Two-Level Controller

    Z152.5– Z152.6– Z152.7– Z152.8– float REAL int16 unsigned int16 UINT int32 DINT Z152.14– Z152.15– Z152.16– Z152.17– unsigned int32 UDINT Bitfield16 WORD Bitfield32 DWORD Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 507: Two-Level Controller With Absolute Thresholds

    Two-level controller input  Two-level controller lower switching threshold Usage e. g. for temperature monitoring, speed monitoring a. s. o. h(t) Upper threshold Lower threshold Figure 168: Two-level-controller with absolute thresholds Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 508: Two-Level Controller With Relative Thresholds

    4.7.5.4 Combination of the operating modes absolute and relative thresholds. Both threshold types can be activated commonly, in order to limit and monitor the behav- ior of the relative threshold by a constant, absolute threshold controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 509 (NOR logic). h(t) abs. upper threshold rel. on abs. lower threshold rel. upper threshold rel. lower threshold rel. compare value Figure 171: Combination absolute and relative thresholds Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 510: Sign-Independent Monitoring

    If an error occurs at writing to the target parameter (e. g. value greater than the maximum value or smaller than the minimum value), by the controller an according error message occurs. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 511: Parameter Overview Of The Two-Level Controller

    Lower threshold absolute UDINT 0xFFFFFFFF 0 UDINT 152.15 Upper threshold absolute UDINT 0xFFFFFFFF 0 UDINT 152.16 Lower threshold relative UDINT 0xFFFFFFFF 0 UDINT 152.17 Upper threshold relative UDINT 0xFFFFFFFF 0 UDINT Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 512: Description Of The Two-Level Controller Parameter With Absolute Thresholds

    0: Inactive 1: Active 15 … 1 Reserved 151.3 Input Parameter number of the input of the two-level controller. With value 0 no comparison to absolute thresholds operates. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 513 Lower threshold absolute UDINT Z151.3– If the data type of the parameter selected with is INT, DINT, UINT, UDINT, WORD or DWORD, then this parameter forces the lower absolute switching threshold. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 514: Description Of The Two-Level Controller Parameter With Relative And Absolute Thresholds

    Status indication of the entire two-level controller 0: Output inactive 1: Output active Status indication of the absolute two-level controller 0: Output absolute two-level controller inactive 1: Output absolute two-level controller active Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 515 The relative two-level controller switches on, if the following is valid: Parameter number actual value  parameter number relative compare value +  lower relative switch threshold Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 516 WORD or DWORD, then this parameter forces the lower absolute switching threshold. The absolute two-level controller switches on, if the following is valid: Parameter number actual value  lower absolute switch threshold Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 517 WORD or DWORD, then this parameter forces the upper relative switching threshold. The relative two-level controller switches off, if the following is valid: Parameter number actual value  parameter number relative compare value +  upper relative switch threshold Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 518: Flux Controller

    Kp flux controller FLOAT 146.11 Tn flux controller FLOAT 10000 1000 146.12 Limit magnetizing current FLOAT 146.15 Actual flux current FLOAT -1e9 146.18 Integral term flux controller FLOAT -1e9 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 519: Description Of The Flux Controller Parameters

    Display of the actual value of the rotor magnetizing current. The value is evaluated from the actual flux value and the flux-current characteristic. 146.18 Integral term flux controller Integral term of the flux controller Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 520: Controller Adaptations

    The motor data can differ in contrast to the data sheet with regard to the fabrication. For instance the Kt factor of the synchronous motor can differ about ±8% (contact the motor manufacturer concerning this matter). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 521: Parameter Overview Of The Controller Adaptations

    Ks (or 1/Ks) and Kt are not effected. ZAdaption The exact collaboration between the torque current and the torque is shown in torque monitoring– on page 524 (ZFig. 174–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 522 0 for n > n (lower threshold) 10: T is 0 for n > n (upper threshold) 11: Reserved Direct current controller adaption 0: inactive 1: active Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 523: Adaption Emf Feed Forward

    EMF feed forward Z107.20– with: Motor Ke Ke factor ZAdaption The ASM is dependent of the magnetic flux of the saturation influence (refer to of the Saturation– on page 526). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 524: Adaption Torque Monitoring

    Isq set lim From limit in A ZAdaption At the ASM the magnetic flux is dependent of the saturation influence (refer to of the Saturation– on page 526). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 525: Ks Adaption

    The cyclic Ks adaption is not active. It is activated by (controller adaption) mode bit 4. The Ks value is updated in RT1 cycle. ZThe factor Ks– ZKs Determination– Refer to on page 446 and on page 207. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 526: Adaption Of The Saturation

    The synchronous motors operate in the linear range of the torque current characteristic until standstill current lo (or in the linear range of the Lq inductance i.e. Lq = constant). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 527: Compensation Dead Time Voltages

    It is inversely proportional to the magnetic flux set value. It is calculated by the slip frequency at the motor nominal torque current and the nominal flux, F (Z19.30–) as follows: 2 Tm act Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 528 Slip frequency at nominal torque current and nominal flux  2 warm Z107.16– according to motor warm Z107.17– Slip temperature motor cold m cold Z107.18– Slip temperature motor warm m warm Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 529 The displayed value in the parameter "Rotor time constant" is not changed by the temperature compensation. The temperature compensation applies to the following: m Field orientation of the ASM with an encoder Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 530: Operating Modes

    Speed control (-3) Target position setting (1) Speed setting 1 Manual drive operation (5) Homing (6) *) This functions are not effective in the unlisted operating modes. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 531: Moving To Positive Stop Command

    Z121.4–, the optional positive stop monitoring is activated and the cyclic set values from the master control are ignored. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 532 The device can be damaged at active command. The user must avoid this by a proper set value profile (maximum acceleration, maximum speed) and by enough reduced torque limits. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 533 Description of the Software Modules and Parameters Figure 176: Sequence of the Moving to positive stop command in the Position control (-4) operating mode Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 534: Prodrive General Parameters

    Position actual value revolu- UDINT 0xFFFFFFFF 0 tions with overflows 121.13 Input revolutions of load gear UDINT 0x7FFFFFFF 1 121.14 Output revolutions of load UDINT 0x7FFFFFFF 1 gear Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 535: Description Of The Parameters

    Bit 0: Software limit switch monitoring Bit 0 is used to switch on monitoring for software limit switches. Bit 0 = 0: Monitoring of software limit switches is deactivated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 536 1: positive hardware limit switch active 1: Zero point changeover switch (home position switch) active Reserved 1: negative software limit switch active 1: positive software limit switch active Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 537 This parameter limits the permitted traversing range with active software limit switch mon- itoring in the negative direction (= negative output speed). It indicates the lowest target position that can be approached in operating mode position target entry. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 538 121.7 Feedrate override This parameter can be used to adjust a previously adjusted target speed "online" (during movement). The factor affects the following speeds: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 539 / position resolution When the position resolution is a squaring, then the maximum revolution must be in- creased by one. Maximum position value = (Maximum revolution * position resolution) - 1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 540 (Z121.11– Z107.26– respectively), the speed will be reduced to the value of the limit and Bit 6 Z149.1– will be set in the Status. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 541 Position control with synchronous position set value setting (Z109.1– set opera- tion type = 4), the changed gear values are accepted only at an inhibit and of a new en- able of the operation type -4. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 542 (Z121.13– Z121.16– the position at encoder output. The value at the gear output is multiplied with Z121.15– Rotation position resolution in consideration of Modulo revolutions. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 543 Bit 10 "Addition of the revolutions of the overflow counter to the position actual value at encoder initialization" must be switched off! Figure 178: Simplified presentation of the calculation of the Modulo position actual value Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 544 Z18.60– Z121.20– If the absolute value of Position error rev+angle is less than Coarse Z121.18– position window, the drive messages in Status bit 5 "Coarse in position". Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 545 The error is also generated if the master-slave torque coupling or the gantry func- tion is active. Z121.22– The bit 0 "Positive stop drive active" of remains 0 in this case. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 546 10 = 1 "Positive stop reached") the con- troller stores the current position actual value (Z121.9–) in this parameter. This value is the base for positive stop monitoring via monitoring window. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 547 (1) oper- ation mode! Z149.2– The values in the bits 0 and 1 in the mode is effective in the spindle posi- tioning (-6) operation mode. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 548 Operating Modes Examples referring to the effect of the rotational setting at a modulo range of 0° to 360°: Figure 179: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 549: Target Position Setting (Positioning) Mode

    These are implemented in their own operating mode and will be described in a separate section. 4.8.2.1 Controlling the Positioning Two handshake procedures are implemented for controlling the positioning. The selec- Z118.2– tion is defined by Bit 8 in Parameter Mode. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 550: Positioning Data

    The state of the "Change Set Immediately" bit in the control word is evaluated in conjunc- tion with the activation of a motion task, i.e., always on the rising edge of "New Set Value". Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 551: Bits In The Control Word / Status Word

    The drive clears the bit as soon as it is ready to accept new set values. The controller may not start any new positioning tasks while this bit is set. In contrast, the data in the positioning records can be changed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 552: Actions On The Rising Edge Of "New Set Value

    Bit 11 = 1. Control Word Bit 5 has inverted logic here compared to the b maxx 4400 inter- pretation, and must therefore be set for "Single set value" positioning. The handshake according to the b maxx 4400 interpretation is described in the following diagrams. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 553 10 The drive signals that it has detected the start request by setting the set value hand- shake. The new set values have been accepted and were effective immediately, even if the preceding positioning operation had not ended yet. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 554: Sequence Of Events For Handshake With "Set Of Set Values

    The controller cancels "New Set Value". In response to the cleared "New Set Value" bit, the drive also clears the "Set Value Handshake" bit in the status word. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 555: Hardware Limit Switches

    Z121.2– The status of the limit switches is always displayed in Parameter State of Limit Switches, regardless of the operating mode and the other settings. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 556 Special case - both limit switches active If both hardware limit switches are active, both directions of travel will be blocked. A limit switch must be free again before a motion task can be executed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 557: Software Limit Switches

    (relative to the last target). If Bit 6 is set while the edge of "New Set Value" is ris- ing, the target specification is relative. If the bit is cleared, the target specification is Parameter manual b maXX BM3000 Document no.: 5.12001.07...

  • Page 558: Change Of Operating Mode To Positioning

    If the Halt bit is already set when a start command is set, the positioning task will not be started. It will only be started when the Halt bit is cleared. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 559: Aborting A Running Positioning Task

    The maximum jerk (change in acceleration) can be set. The positioning time under otherwise equal boundary conditions (same route, same max- imum speed and accelerations) is always longer with the S-Curve profile than with the trapezoidal profile. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 560: Comparison Of Motion Profiles For Positioning

    Positioning deceleration = 20 Inc/ms² Time-Optimized Positioning (Trapezoidal Speed Profile) 1200 1000 23 45 67 89 111 133 155 177 Sampling steps Figure 182: Time-optimized positioning Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 561 Figure 183: Time-optimized positioning with smoothing Figure 184: Jerk-free positioning (S-Curve speed profile) with jerk = 0.12 Inc/ms Figure 185: Jerk-free positioning (S-Curve speed profile) with jerk = 0.63 Inc/ms Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 562: Control By Means Of The "Start Positioning" Method

    Start bit can remain permanently set; positioning is then always based on the current, absolute target position. This means that when the Start bit is set, only further new (absolute) target positions need to be written. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 563 Alternatively, Positioning Set 0 can be written to directly. The basic values of the ad- dressed positioning set then remain unchanged during the on-line changes. Thus only the speed can be changed at a relative positioning, too. The effective target position remains unchanged. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 564 Start bit is set; a new positioning speed has been transmitted to positioning set 0. NOTE! To alter the current positioning speed or the current acceleration values during the procedure, Bit 11 of the control word must be set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 565 Start bit is set; a new positioning speed has been transmitted to positioning set 0. m Handshake procedure for the "Start Positioning" method A handshake procedure is implemented to guarantee a clean, time-independent mecha- nism for controlling the positioning. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 566: Parameter Overview

    "Target Position Reached" signal is guaranteed to be reset before the "Start Positioning" command is transmitted. 4.8.2.16 Parameter overview Functional block: FbPositioning [118] Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 567: Description Of The Parameters

    Status This parameter shows the state of positioning (Position Set Value Specification operating mode). Bit no. Meaning 1: Positioning is switched on 1: Function ended 1: Braking procedure active Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 568 This bit is set when the set value speed = 0, which means the Positioning module can- not output new position values. This means, the signal routing creator (PT ) must also be set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 569 8 = 0) m No abort command (Z108.1– bit 12 = 0) A change of the remaining bits will only work, if the operating mode ("Offline") is activated again. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 570 1: Block negative direction Positive directional block 1: Block positive direction Positioning time monitoring ON 0: OFF Z118.18– 1: Active (monitoring time is adjusted in Parameter Posi- tioning timeout ON) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 571 This bit is used to adjust whether the drive should trigger a error when a hardware end switch is reached. The bit is only meaningful when hardware end switch monitoring is activated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 572 Bit 11 (interpretation of the control word with control through "New set value") This bit is effective when the method "New set value" (Bit 8 = 0) is set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 573 This parameter is used to select the current positioning set. Whether it will be started au- tomatically when changing the active positioning set or a start edge is required in the con- Z118.2– trol word (Z108.1–) can be adjusted using Parameter Mode Bit 10. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 574 Relative positioning in positive direction relative to the actual position ("fly- ing"). Absolute positioning in the direction of the shortest path to the target, which means maximum traversing range may be exceeded (Condition: software end switch OFF!). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 575 Inc, with absolute target specification. With absolute target, positioning occurs in direction of shortest path to the target, which means the maximum traversing range may be exceeded (Con- dition: software end switch OFF!). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 576 (1) for the online switch from the operating mode if it is necessary to position a defined angle without a stop. The revolution part of this target position must be without meaning. The actual speed value synchronization (Z118.2– Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 577 If in the target position a value is entered which is greater or equal than the modulo value, the error 912 will be output at start and it will be not started. Parameter manual b maXX BM3000 Document no.: 5.12001.07...
  • Page 578 = 0011EEEF  WayLeft > WayRight  Move right  New target position in normal absolute format: TargetPositionAbsolute = SetPositionAbsolute + WayRight = 001A3333 + 00021111 = 001C4444 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 579 In addition, positioning with an absolute target occurs in the direction of the shortest distance to the target, which means the maximum traversing range may be exceeded (Condition: software end switch OFF!). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 580 In this parameter, the relative target position with applied leading signs is set for the po- sitioning set 0 (Z118.6– Positioning record number actual = 0). This parameter works in target modes: 4, 7, 9 and 12. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 581 Positioning Target Position Z118.10– Target mode Refer to Positioning Target mode Z118.11– Positioning speed Refer to Positioning Speed Z118.12– Positioning acceleration Refer to Positioning Acceleration Z118.13– Positioning deceleration Refer to Positioning Deceleration Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 582 The measurement is stopped with the Stop command as soon as parameter Status messages in bit 4 "Speed set value = 0". The measurement is continued when the stop command is cleared. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 583: Operating Mode Homing

    / zero angle is described below. The procedure of the other homings corre- sponds with this procedure. There are differences especially in the direction of travel and sought after switch edge. Figure 190: Homing procedure to negative end switch with zero pulse Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 584: Shifting The Zero Angle

    4.8.3.4 Procedure of a Homing to switch only The zero pulse or zero angle is not evaluated with homings to the switch only. Therefore, the accuracy depends on the switch tolerances of the switch. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 585: Homing Without Setting The Home Position

    Bit 4). The position target and actual values will then not be changed. Instead, the drive stops at the home position and the position values can be read out from the control. Parameter manual b maXX BM3000 Document no.: 5.12001.07...

  • Page 586: Automatic Setting Of The Absolute Value Offset At Homing

    The homing speeds, acceleration, deceleration and encoder offset may not be changed after the one-time adjustment. m The homing speed must be reached in Phase 1. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 587: Homing Method 1 (Neg. Limit Switch)

    The home position is the first zero pulse or zero angle to the left of the switch (which means after the switch is inactive again). Figure 194: Homing method 2 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 588: Homing Methods 3 And 4 (Pos. Zero Point Changeover Switch)

    The home position is the first zero pulse on the left or right of the switch. Figure 195: Homing methods 3 and 4 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 589: Homing Methods 5 And 6 (Neg. Zero Point Changeover Switch)

    The home position is the first zero pulse or zero angle on the left or right of the switch. Figure 196: Homing methods 5 and 6 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 590: Homing Methods 7 To 14 (Reference Switch)

    The home position is one of the zero pulses or zero angles at the rising or falling edge of the switch. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 591: Homing Methods 15 And 16 (Reserved)

    The homing methods 17 to 30 do not use zero pulse or zero angle as an additional refer- ence mark. Only the switch is referenced. Otherwise, these methods correspond with homings 1 to 14. Only homings 19 and 20 are shown as an example. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 592: Homing Methods 31 And 32 (Reserved)

    These homing methods do not use a switch but only the zero pulse or zero angle as ref- erence mark. The home position is the next zero pulse or zero angle in negative or positive direction. Figure 200: Homing Method 33 and 34 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 593: Homing Method 35 (Set Home Position Only)

    Phase 2 If the mechanical stop has been recognized, the home position will be set at this posi- Z120.12– tion and the torque limit Homing torque limit will be canceled again. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 594: Command Set Home Position

    However the command is possible in the inhibited state only independent of the current operation mode of the drive. 4.8.3.20 Parameter overview Functional block: FbHoming [120] Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 595: Description Of The Parameters

    Acknowledgment for the "Set home position" command Reserved 1: Speed set value at the output is zero Reserved Z121.11– 1: Speed is limited to maximum speed (refer to Speed limit and Z107.26– Max speed mech.) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 596 1: Referencing without setting the home position 1: Deactivate monitoring with homings to mechanical stop 1: Automatical setting of the absolute value offset (M0 offset) 15 ... 7 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 597 Selection of the homing method. This parameter determines the procedure for the reference run. This includes the start di- rection of the home position and evaluation of the reference initiator. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 598 Zero point switch, left of Edge B, with zero pulse or encoder zero angle, counterclockwise turn Zero point switch, right of Edge A, with zero pulse or encoder zero angle, counterclockwise turn Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 599 The modes 17 to 30 correspond with modes 1 to 14 in principle, only that no zero angle or zero pulse is used. Referencing in these modes only refers to the switch. m Modes 33 to 35 do not use a switch. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 600 This permits setting the zero angle outside of the switch tolerances of the reference switch. Diagram: 65536 Increments correspond with 1 turn. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 601 Encoder angle plus adjusted offset at the reference switch in 32 Bit increments per turn. To check whether the zero angle of the encoder is in the range of switch tolerances of the reference switch. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 602 The acknowledgment bit of „Set reference point“ (Z120.1– bit 2) is deleted. Set reference point The positioning value at the current position is set to the reference point value. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 603: Manual Drive Operation

    Optional speed actual value synchronization with activation of manual drive operation. m Use of the Z121.7– feed rate override. m Bipolar limiting of output speed through Parameter Z121.11–. Figure 201: Manual Drive Operation page in ProDrive Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 604: Parameter Overview

    13 … 11 Reserved 1: Drive into negative direction was prevented by limit switch 1: Drive into positive direction was prevented by limit switch 31 … 16 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 605 This parameter is used to adjust the maximum jerk (acceleration change) for the S-curve profile. It has no effect when using the trapezoid profile (Z119.2– Mode bit 1 = 0). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 606 This parameter is used to show the output desired speed generated by manual drive op- eration. 119.9 Output acceleration set value This parameter is used to show the output desired acceleration generated by manual drive operation. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 607: Operation Mode Spindle Positioning (M19 Command)

    Free definition of the direction, if the speed actual value = 0, i.e. speed = 0 message is available. Positive or negative direction and shortest distance to the angle target respectively. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 608 Speed setpoint value will be kept Slow down with spindle acceleration bipolar Setpoint value stands at target position Figure 203: Speed profile Speed actual value <= spindle position speed Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 609 The controller acknowledges an identified and Z108.3– accepted start command by setting bit 12 "Start-Command-Acknowledge" in Z108.3– status word 1. With the start bit 10 „Set value reached“ in status word 1 will be Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 610 Instant of time 8: Position set value has reached active target position. Instant of time 9: The position actual value is in positioning window and positioning win- dow time is up  Controller sets "set value reached". Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 611: Parameter Overview

    If the motor is in standstill (standstill message is existent) at switching, bit 0 and 1 of Z149.2– decide on the positioning direction. 4.8.5.1 Parameter overview Functional block: FbSpindlePos [149] Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 612: Description Of The Parameters

    1: Spindle positioning speed limited to maximum speed, see Z107.26– Speed limit and Max speed mech. 9 … 7 Reserved 1: In Position (set value reached) Reserved Start command acknowledge 15 … 13 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 613 00: Positioning to Spindle angle position Residual: Reserved Type of positioning for sequential positioning 0: absolute positioning 1: relative positioning Speed profile 0: Trapezoidal  1: S-curve 31 … 6 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 614 Spindle maximum jerk The maximum jerk (change of acceleration) for the S-curve profile can be set in this pa- rameter. When using the trapezoidal profile the parameter has no function. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 615 This parameter shows the output speed set value generated from module spindle posi- tioning. 149.13 Output acceleration set value This parameter shows the output acceleration set value generated from module spindle positioning. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 616: Position Control With Synchronous Set Value Specification

    An external, cyclical specification of the speed and acceleration feedforward values takes place. For details see Z111.7–, Z111.8– and Z18.9–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 617: Parameter Overview

    SW interface to controller clock unlimited Figure 208: SW = Set value; SW Cycle = effective interpolation interval; cycle of the internal software interface = Fieldbus cycle 4.8.6.1 Parameter overview Functional block: FbCycSyncPos [136] Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 618: Description Of The Parameters

    1: Position set values will be extrapolated (extrapolation is activated) 1: Set value specification stopped; Stop triggered by control word Bit 8 or limit switch. 11 … 10 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 619 1: Activation of the Weighting function block for the input Target position (Z136.2– bit 2 = 0) 1: Activation of the gear factor (Z121.13–, Z121.14–) for the Z136.7– Offset speed Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 620 "Position control with synchronous set value setting" the error code 917 ("po- sition set value setting could not be initialized"). The function block contains the following functions: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 621 8 is of no importance. Z131.20– It must be interpolated and bit 8 is active, if a division ratio fieldbus task which is greater than 1 was set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 622 The extrapolation with set value failure should be effective  Bit 1 = 1 n The synchronization at activation of the operating mode must be deactivated  Bit 0 = 0 Z136.2–  Mode = 1102 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 623 136.6 Angle offset Z136.5– The parameter only acts as an offset when the input Target angle has been se- lected. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 624 Output acceleration set value This parameter shows the generated output set value speed after offset addition and is updated during the cycle of the set value interface. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 625 This parameter shows the current speed set value after speed offset addition (Z136.7–) but before speed limit by parameter Z121.11–. The displayed value is in format 32 bits increments/revolution per ms. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 626 This parameter shows the generated output speed set value after offset addition and after smoothing. Z136.9– In contrast to parameter this parameter has a higher resolution of 32 bits incre- ments/revolution per ms and therefore very low velocities are visible. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 627: Operating Mode Synchronous Operation

    Z18.70– The smoothing of the speed feedforward can be used for smoothing the speed set value of the master axis.  Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 628 There are two additional inputs and Z145.16–) besides the main set value (Z145.15– Z145.10– or the master axis position, if the master axis is virtual or real. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 629: Parameter Overview

    Mode DWORD 0x0 0xFFFFFFFF 0x0 145.3 Gear slave shaft revolutions DINT -2147483647 2147483647 145.4 Gear master shaft revolu- DINT 2147483647 tions 145.5 Speed limit master shaft UDINT 0x7FFFFFFF 0x7FFFFFFF Inc/ Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 630: Description Of The Parameters

    Bit 8 = 1). The slave axis was disconnected from the master axis. If the Stop command of the control word is canceled, the Bit will be deleted again. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 631 0010: Virtual master axis in relative synchronized angle Z145.10– The set value for the slave axis is specified in this mode through Parameter Virt. lead speed set value. The axis is located in the position control. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 632 – The stop is canceled by deleting the control word Bit 8. – After canceling the Stop, the target speed of the ramp generator is set to the current speed set value of the master axis. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 633 Counter in the transmission ratio i of the electronic transmission. The input of 0 is rejected and the old value remains effective. The control word Bit 8 must be used to stop the slave axis. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 634 Mode Bit 4 Transmission Ratio i 8  115 0.8  11.5 10  100 11.5  1.15 NOTE! Undesired transmission ratios may occur in the Transparent Mode! Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 635 = 38655092 Inc/ 250µs  The result converted to a rotative speed: Speed limit = 38655092 * 4 Inc/ms = 1546220368 Inc/ms = 1546220368 * 60000 / 2 2160 rpm Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 636 Synchronization max. jerk = 0.1025 Inc/ms³ Z145.7– Synchronization acceleration = 1.3450 Inc/ms² Time after which the acceleration is reached: 1,3450 Inc/ms² ----------------------------------- - 13,1 ms 0,1025 Inc/ms³ Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 637 145.14 Master position angle The parameter shows the angle of the position set value of the master axis ("in front of the transmission") in 32 bit resolution. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 638 Therewith the entire offset adjustment can be distributed to several control- ler cycles. The parameter has no function at synchronous operation with a virtual master axis. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 639: Operating Mode Notch Position Search

    This result must be compared with the result of the 2nd calculation. If the deviation of both notch positions is out of tolerance, the error No. 716 is generated.. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 640 Therefore, in general, the default values must not be changed. m Method 2 ZNotch position search with the Here the injection procedure is provided. See chapter injection method– from page 645. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 641: Prodrive Notch Position Search

    127.6 Current drop FLOAT 0.001 127.7 Duration constant current FLOAT 127.8 Encoder offset el. UINT 0xFFFF Grad 127.9 Maximum angle UINT 0xFFFF 0x005b 127.10 Angle rising UINT 0xFFFF Inc/ms 1:1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 642: Description Of The Parameters

    – 60% of the power unit's rated current, if PWM frequency was set Z130.15–). 127.5 Current rise Current increase in unit A/s for notch position methods 0 and 1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 643 The value 1 Inc/ms is an electric angle modification of 5.49 degrees/s. 127.11 Error limit mech. delta angle Window setting for permitted mechanic movement before an error is released. The parameter is used at notch position search method 1, only. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 644 127.13 Actual value mech. delta angle Display of the measured mechanic movement at notch position search method 1. 65536 Inc of the parameter accord to 360 degrees. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 645: Notch Position Search With The Injection Method

    (Only if it is secured, that the lesser minimum rate is enough.) Overcurrent during notch posi- Decrease the injected current in step 2: tion search method 2 1: Via a less voltage (Z133.7–) 2. Via a higher frequency (Z133.6–) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 646: Sensorless Control For Synchronous Machines

    However the dead time compensation can affect the injec- tion procedure. This must be tested in each case. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 647: General Constraints Of Sensorless Control With The Injection Procedure

    1 and 5 ms. The greater the inertia torque of the drive is, the greater the smoothing time may be selected. Set speed controller (at sensorless operation a torque inertia measurement is not possible). Store data set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 648: Vibration Damping

    Then, the resulting demodulated signal is assigned to the an- gle in ProDrive (see figure) and can be evaluated. The motor diagnosis is started via the bit 4 of Z123.1–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 649: Parameter Overview

    2nd harmonic min.rate FLOAT 133.11 Carrier current Id FLOAT -1.000000e+10 1.000000e+10 0 133.12 Carrier current Iq FLOAT -1.000000e+10 1.000000e+10 0 133.14 Status motor observer DINT 133.15 Injection Tn FLOAT 1e10 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 650: Description Of The Parameters

    1: No dead time compensation during notch position search Reserved 1: Switch off of the dLi/dt terms Fine adjustment of the dead time compensation 15 ... 10 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 651 I of the injected HF-current referring to the ZNotch position fundamental wave I in the 2 step (minimum saturation level, see search with the injection method– on page 645). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 652 The factor that multiplies the current-dependent angle correction. If all parameters are correct, then 1, otherwise adjust these at constant load, so that the deviation of the injec- tion (Z133.31–) is 0 on average. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 653 9 of parameter Z133.1–. 133.30 Deviation voltage model Deviation of the angle speed because of the voltage model. 133.31 Deviation injection Deviation of the angle speed because of the injection model. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 654 The high-frequency component of the vibration damping is determined here. 133.59 Time constant slow damping filter Slow time constant by which the Iq-I term is filtered. The constant component is filtered with this. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 655: Sensorless Control For Asynchronous Motors (Open Loop)

    = 150 Hz Performance of closed-loop speed control: m Control range = 1:100 m Static accuracy = 30% of motor rated slip m Maximum speed regulation bandwidth = 15 Hz Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 656: Catch On Fly

    Z107.16– Slip frequency warm 4.8.11.2 Catch on Fly Catch on Fly for openloop asynchronous motors allows to engage the motor to an already rotating axis respectively load. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 657: Parameter Overview

    Minimum speed delay OL UDINT 10000 1000 163.1 Flux estimator gain FLOAT 50.00 1000.00 250.00 167.1 Catch enable UDINT 167.2 Catch flux estimator gain FLOAT 1000.00 25.00 167.3 Catch demagnetization time UINT 4000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 658: Description Of The Parameters

    If the delay between pulse disable and pulse enable is short compared to the rotor time constant and the rotor speed is high, the maximum DC link voltage might be Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 659 As a Z19.32– reference value the double or triple rotor time constant can be used. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 660: Operating Mode U-F Characteristic

    The speed controller is activated via bit 4 of so that not the additional frequency from the slip is added but the output. It reduces the acceleration in- sofar. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 661: Compensating Controller For Acceleration

    ZFig. A block diagram for the control is presented in 215–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 662: Current Control

    (Z133.22–) or maximum current (settable via bit 8 of parameter Z166.1–) is ap- plied to the motor. Figure 216: Current control 4.8.12.3 Parameter overview Functional block: FbUfChart [166] Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 663 53 : 1 166.24 Frequency of ramp generator FLOAT -1e9 360:1 166.25 Kp speed correction control- FLOAT 166.26 Tn speed correction control- FLOAT 166.27 Time constant slip filter FLOAT 100000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 664: Description Of The Parameters

    Bit no. Meaning Acceleration 0: negative direction of revolution 1: positive direction of revolution Braking Set value reached Reserved Positive limit of acceleration Negative limit of acceleration Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 665 Rising time Ramp up time to 1000 rpm electrical 166.9 Slip compensation Additional frequency depending on the current. The slip compensation is only active if the speed control is switched off. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 666 Reset time for the compensating controller of acceleration in ms. 166.17 Frequency threshold The motor runs with current control below this frequency and above this frequency it runs according to U-f characteristic. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 667 Reference frequency Reference frequency [Hz] = Additional frequency (Z166.23–)  + Frequency of ramp generator (Z166.24–)  - Frequency reduction (Z166.19–) 166.23 Additional frequency Additional frequency [Hz] from the compensating controller Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 668 166.26 Tn speed correction controller Reset time for the speed correction controller. 166.27 Time constant slip filter Time constant for the slip filter. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 669: Operation Mode Coupled Operation

    Slave position Start cam segment Start position slave Start position Master position master 5000_0314_rev02_int.cdr Figure 217: Set value curve consisting of several curve segments Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 670 Thereby the available options of this operation mode are con- sidered. A gear factor is evaluated if required and overlaid by an additional movement be- fore the position set value is transferred to the position controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 671: Transmission Of Master Axis Position

    By bit 10 of the mode a linear extrapolation of the master axis can be activated. At a set value fail the master axis position is extrapolated with the last master axis speed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 672: Transmission Of The Curve Data

    – Segment 3 was defined in the reloaded curve only - therefore the combined curve is extended with segment 3. The following diagram shows this process: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 673: Changing The Chaining Sequence

    Segment number Predecessor suc- cessor The active curve now consists of four segments. Segment 2 was removed from process- ing and the segments 4 and 5 are now actively processed. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 674: Definition Of The Starting Segment

    = 0 by an S-curve Z122.12– Z122.15– profile. For this the parameters to synchronize motion are used. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 675 "Standstill limit master axis". During an active monitoring the error 2744 “Master axis moves during synchronization“ is activated. The user can freely select the error reaction.    Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 676: Use Of The Output-Sided Gear

    The curve can be shifted in the Y-direction by overlaying the polynomial curve with an ad- ditional movement. The distance of this overlaid movement can be specified in the parameter Target position offset (Z122.17–). This parameter is signed including the following information: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 677: Intermediate Buffering Of Curve Segments

    If more than two segments are skipped the controller signalizes the error 2743 "The inter- im buffering of the polynomial curves is empty". Due to the buffer handling delay times can occur when changing the segment sequence and activating reloaded curves. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 678 So that the switchover to other curve areas (such as branching) can be activated as quick as possible the switchover must be made two segments before the branching point (in this case it is segment 1  8). Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 679: Real Master Axis

    17 of the The following applies especially in regard to double axis units: m Here the master encoder of the following axis is the motor encoder of the master axis. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 680: Flexible Segments

    Sequence change start UDINT 0xFFFFFFFF 0x0 122.7 Start cam segment UINT 0xFFFF 122.8 Start position master revolu- UDINT 0xFFFFFFFF 0x0 tion 122.9 Start position master angle UDINT 0xFFFFFFFF 0x0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 681 2 122.39 Flex slave distance angle 2 UDINT 0xFFFFFFFF 0x0 122.41 Sequence change target UDINT 0xFFFFFFFF 0x0 122.42 Numerator gear factor -32768 32767 122.43 Denominator gear factor UINT 0x7FFF Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 682: Description Of The Parameter

    Status word 1 15 … 13 Reserved Display of the master axis direction 0: positive 1: negative 1: Master axis position is extrapolated 31 … 18 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 683 Real master axis: 1: Inversion of the master axis position Real master axis: 1: Smoothing of the master axis position and compensation of the delay, Z122.26– 31 ... 18 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 684 Number of the polynomial which represents the start position of the master axis and the drive. 122.8 Start position master revolution Revolution of the master axis at the beginning of the starting segment. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 685 The resolution is 16 bit increments/revolution per ms 122.15 Maximum jerk synchronization This parameter specifies the maximum jerk of the synchronization movement of Z122.12– in Inc /ms The resolution is 16 bit increments/revolution per ms Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 686 The resolution is 16 bit increments/revolution per ms Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 687 The compensation time is dependent of the size of the time constant (low time constant  low smoothing effect  quick compensation). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 688 Segment number for the second flexible segment where the traversing distances were changed during movement. 122.36 Flex. master distance revolutions 2 The revolution portion of the changed master axis travel for the segment with the number from Z122.35–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 689 Numerator of the gear factor at the output of the polynomial curve generator. 122.43 Denominator gear factor Denominator of the gear factor at the output of the polynomial curve generator. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 690: Diagnosis

    6.46 Motor I2t derating factors FLOAT 175.1 Mode PU temperature model UINT 0xFFFF 175.2 Status PU temperature UINT 0xFFFF model 175.15 Power unit thermal load FLOAT 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 691: Description Of The Diagnosis Parameters

    The value corresponds with the ratio of torque current to nominal torque current and is a 16 bit value (with leading signs, no decimal places). The parameter value corresponds to the following equational format: Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 692 Max. neg. speed difference, Max. pos. speed difference Z6.14– Velocity window percentage are used to generate the "N " message. Z18.20– For details see the description of Speed controller status. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 693 (|Nist| < Blockade Speed Limit). The threshold for the actual speed under which the drive is assumed to be blocked can be set under this parameter. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 694 Power unit Ixt actual value This parameter displays the current Ixt value of PU overload monitoring. The current will be limited to the power unit nominal current with a value of 100%. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 695   e real s s s s whereat the following internal sizes are determined in the controller: Motor currents in -coordinates (in A, instantaneous values). s s Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 696 731. 100%  Maximum thermal load of the motor Standardization: 6.42 Smoothing time electr. motor power display Smoothing time constant for the motor real power display Z6.32–. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 697 Operation grade real power The real power limit load is displayed. Is evaluated at single-phased devices, only in which the maximum real power limit was parameterized in the power unit characteristics as well. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 698 The drive components must tolerate the reduced switching frequency (e.g. check motor filter, if it is existing). This is very important, if the PWM frequency is reduced to 2 kHz. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 699 The current is limited at 105% to the PU max. actual value of continuous current Z175.7–. If PU overload monitoring via the temperature model is not active, this parameter isn't im- portant (see status PU temperature model Z175.2–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 700: Oscilloscope Function

    Channel 2 source parameter UDINT 4294967295 101.6 Channel 3 source parameter UDINT 4294967295 101.7 Channel 4 source parameter UDINT 4294967295 101.8 Channel 5 source parameter UDINT 4294967295 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 701 Recording still in progress Ring buffer in after-running period Ring buffer can be read out 101.2 Command Value Meaning Recording Stop Recording Start Activate trigger Reset, deletes error, redistributes memory Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 702 Channel 1 source parameter Id Z101.3– 101.5 Channel 2 source parameter Id Z101.3– 101.6 Channel 3 source parameter Id Z101.3– 101.7 Channel 4 source parameter Id Z101.3– Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 703 Trigger data changes must always be made in Status 0 (Recording Stop) only. Bit-no. Value Trigger event 0x0001 Reserved 0x0002 Reserved 0x0004 Freely programmable trigger event 0x0008 Reserved 0x0010 Trigger on positive edge 0x0020 Trigger on negative edge 15 ... 6 Reserved Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 704 Trigger activated through drive error Reserved Trigger activated through programmable trigger value greater than compari- son value Trigger activated through programmable trigger value equal to comparison value Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 705 Total recording time including after-running period. It is calculated from the sampling time, available memory and number of active channels. 101.21 Buffer size Display of memory size that is utilized by the ring buffer. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 706 Index 0 of the 2nd dimension points to the most current value. 101.24 Task number Display in which the ring buffer recording is carried out: 62.5 µs time dials 1 ms RT1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 707: Software Function Fft Analyzer

    Module FFT analyser Results: spectrum In_1, In_2, Amplitude phase response In_2/In_1, Coherence ID104.1 Output as array Parameter Figure 220: Block diagram FFT module 4.9.3.1 Parameter overview Functional block: FbFft [104] Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 708: Description Of The Parameters

    Prbs register clock UINT 0xFFFF 4.9.3.2 Description of the Parameters 104.1 Command This parameter can be used to switch the FFT function on or off. FFT Command Meaning Stop Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 709 The parameter for a target parameter can be entered here. The output signal from the signal generator is thereby routed through the system as an excitation signal. Entries are only possible with the FFT command Stop. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 710 Z104.21– Error while reading out the determined curve through Parameter Z104.9– The number of measured values was indicated outside of the per- mitted range. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 711 The amplitude for the signal output (e.g. hissing noise) can be entered here. 104.13 Signal Output offset The offset for the signal output (e.g. hissing noise) can be entered here. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 712 104.20 Frequency resolution Display of the current frequency resolution of the FFT analyzer. The frequency resolution is dependent upon the sampling frequency and "FFT Length". Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 713 FFT Data[6]: Cross spectrum, imaginary 104.22 Prbs register length Length of the Prbs register. 104.23 Prbs register clock Clock frequency of the Prbs register. Value corresponds to a whole multiple of the RT0 cycle. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 714: Optimization

    Figure 221: Optimization The gain Kv of the position controller is proposed additionally, because of the bandwidth of the speed controller. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 715: Torque Ripple Compensation

    157.1 Mode optimization UINT 0xFFFF 157.2 State Identification torque rip- UINT 0xFFFF ple compensation 157.3 Table torque ripple current FLOAT -1000 1000 157.6 Actual torque ripple current FLOAT -1000 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 716: Description Of The Parameters

    Table of the Torque ripple currents in dependence of the electric/mechanic angle. 157.6 Actual torque ripple current The actual additional current set value for the torque ripple compensation. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 717: Monitoring

    Field angle speed threshold Speed threshold from which field angle monitoring becomes active. Field angle monitor- ing is not carried out below the threshold. Value 0 will completely switch off field angle monitoring. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 718 The message "Error While Monitoring the Field Angle" must recognize a field angle error not less than in every other current controller cycle between two monitoring (1 ms) cycles. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 719: Position Error Monitoring

    143.4 Position error monitoring UINT 0xFFFF 0xFFFF Time 1 143.5 Mode 2 UINT 143.6 Position error limit 2 UDINT 0xFFFFFFFF 0xFFFFFFFF 143.7 Position error monitoring UINT 0xFFFF 0xFFFF time 2 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 720: Description Of The Parameters

    Mode for position error monitoring regarding position error limit 1. Position error monitoring is only active when a position controlled operating mode is ac- tive. If the controller is blocked, position error monitoring is deactivated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 721 This time frame influences the status bit 1 and settling the error (Position error limit 1 ex- ceeded". Contrary, Status Bit 0 reports an exceedance of the position error limit 1 imme- diately regardless of the position error time. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 722 This time frame influences the status bit 5 and settling the error (Position error limit 2 ex- ceeded". Contrary, Status Bit 4 reports an exceedance of the lag error limit immediately regardless of the position error time. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 723: Overload Monitoring Of The Power Unit

    Apparent current actual value ) [A 47.5 47.6 LT nominal current 4 kHz / 8 kHz ) [A 6.26 nenn LT maximum current 4 kHz / 8 kHz ) [A 6.25 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 724 ------------------------------ - 100 Offset C 45 – – otherwise = 0 % Offset – Activation time     ------------------------------------------ -   u 100 – Offset Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 725 – ---------------------------------- - 0 91   150 100 – ----------------------- -        ----------------------- - 0 91 1 63   120 100 – Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 726 4.11 Monitoring Figure 224: Curve overload monitoring This characteristic curve assumes a cold power unit (Ixt Offset = 0;   < 45 °C) Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 727: Temperature Model

    The maximum continuous current of the I t-sub-model and also the maximum Z175.7– continuous current of the device is emulated for the safety function "Current lim- ZFig. it" of the temperature model (as displayed in 226–). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 728 This model was implemented for components of the device, whose thermal load isn't de- pendent of the switching frequency. The input value is standardized using the actual val- t max. continuous current Z175.8–. ue of the PU-I Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 729 , which triggers the cur- Sem LimRed Sem pu rent limit. The PWM reduction doesn't change the value of the PWM frequency Z130.15–, which was set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 730: Real Power Limit

    90% then the warning 221 is generated - if it rises to over 100% error 222 is generated. The warning will be cleared again if the load drops to under 85%. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...

  • Page 731: Temperature Monitoring Of The Motor

    4.11.5 Overload monitoring of the motor (I 4.11.5.1 General information t model The overload monitoring protects the motor from thermal overload. Thereby, the tempera- ture of the motor is emulated and monitored by l t model. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 732 40°C. The maximum continuous temperature NEMA motor insulation class F is 155°C, for example. That means that a motor with insulation class F 155°C has the standardiza- Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 733 In this case the l t model assumes a cold motor if it is started. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 734 Z107.28– Motor I t -time constant T 600 s Z6.30– Apparent current actual value I' A jump from 0 to 100% l limit the power unit Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 735: Speed Variable L T Overload Monitoring

    Therefore, in the following implementation solutions are in- troduced considering the speed-dependence of the maximum continuous current of the t motor model. Speed variable I2t overload monitoring of synchronous machines Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 736 ProDrive. In case there is no complete set at the supporting points or at least one supporting point is zero, this option cannot be activated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 737 Nominal current 107.9 107.10 Standstill current Nominal speed 107.7 Speed actual value 18.22 5000_0360_rev01.cdr ZFig. 228– Figure 232: Continuous current limit characteristic by approximation of the iron losses (see page 733) Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 738: Monitoring Of The Single Phases

    3 to 1 instead of the l values of the apparent current the l values can be evaluated to Z47.34–). The "Motor l Z6.28– separately for every phase (Z47.32– t actual value" Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 739 In general this option is not activat- Initialization Motor I t actual value Iu-,Iv-,Iw Actual values 6.28 47.32, 47.33, 47.34 5000_0363_rev01.cdr Figure 235: Motor-I t, monitoring of the single phases Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 740 4.11 Monitoring Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 741: Error Messages And Troubleshooting

    In particular, reacting to error indications and conditions requires that the oper- ator must have special knowledge. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 742: Monitoring Functions

    Pulse inhibit carried out after a specifiable interval SH Quick stop Only if KTY encoder used X: Implemented -: Not possible Adjustable Not provided for power modules Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 743 IS: pulse inhibit Pulse inhibit carried out after a specifiable interval SH Quick stop Only if KTY encoder used X: Implemented -: Not possible Adjustable Not provided for power modules Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 744: Monitoring Function - Explanations

    The KTY84 encoder has a minimum measured value of approx. -30 °C. If this tempera- ture is gone under, or if a short circuit occurs at the encoder, then the error message "Temperature probe short circuit" is reported. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 745 "Drive blocked" is signaled by the controller and a pulse inhibit takes place immediately. m Motor speed = 0 m The motor current output by the device is the same as the set motor limiting current (current limit). Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 746: Error Detection

    By means of write access to the control word m Via a digital input For further information on the subject of error reset, see "Instruction Manual b maXX 3000“. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 747: Error Descriptions

    The communication firmware has booted the fallback version Pulse block booted the fallback version The firmware has booted the fallback The firmware has booted the fallback version Pulse block version Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 748 5 on parameter 100.1 Info-Manager Error command for one single time. The error can be used to test the different error reactions without having to enable a „real“ error, e.g. return. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 749 The drive is blocked longer than the set Blockade Time Limit 2 Pulse block exceeded (Parameter 6.22). Error While Monitoring the Field Angle Error while monitoring the field angle is greater than 45° Pulse block Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 750 The signal monitoring of a square-wave incremental encoder has Pulse block incremental encoder recognized an error. ® CRC error in received data CRC error in received data from EnDat 2.1 or SSI Pulse block Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 751 Cause for a encoder supply voltage that is too low may be cor- roded contacts n Remedy:  Check encoder cable m Cause:  Cause can also be a defect in the encoder hardware. n Remedy: Replace encoder. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 752 SinCos signals by the FPGA. If the position errors abso- lute value (Z14.22–) is higher than the defined error threshold (Z14.21–) this error is set. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 753 2 harmonic I (displayed in Z133.9– parameter 2nd Harmonic Rate) does not reach the level Z133.10– which is indicated in parameter 2nd Harmonic Min.Rate. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 754 No encoder transmission was supported for synchronous machine. Pulse block transmission not permitted A transmission factor not equal to 1:1 was read from the motor type plate. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 755 Error during identification of motor parameters. The voltage limit was Pulse block tance measurement reached during the resistance measurement. m Possible causes:  Incorrect motor nominal current setting in Parameter 107.09.  - Voltage insufficient. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 756 If the actual position is not located in the positioning window (Param- eter 121.5) after the time set in Parameter 118.18 has expired, the error will be triggered. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 757 Other error responses:  The active operating mode will be terminated and the drive will be decelerated according to the preset error response The error can be reset at any time. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 758 Encoder of master axis is switched off If the synchronous operation mode in the "Real master axis" mode is No response activated an inactive encoder of master axis was recognized. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH...
  • Page 759 The drive will fizzle out, if applicable.  Controller activation for the drive again will be prevented until the error cause has been eliminated and the error has been reset. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 760 (P130.10) and the time expired (P130.24). Pulse inhibit (0) immediately must be executed, because the pulses must be inhibited after the error occurred. IMMEDIATELY Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 761 Further details see Mains failure delay 1049 Temperature warning threshold heat Temperature warning threshold heat sink exceeded No response sink exceeded 1050 Temperature warning threshold Inside No response Air exceeded Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 762 HPI Channel was not initialized First Access to the HPI-channel was early as the initialization. No response 1505 HPI buffer is empty HPI buffer has no user data available. No response Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 763 Switch to non-initialized operation Switch to a not supported or unknown operation mode. No response mode 1532 Error: Two drives with same address in Error message only possible using Sercos. No response ring Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 764 1713 Transferred command argument not Pulse block permitted 1714 The selected data field may not be writ- Pulse block ten to 1715 Wrong access code Pulse block Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 765 1813 No memory available in the encoder Pulse block 1814 Faulty data in the section Data in the section is not plausible (WordCount is 0 or too large) Pulse block Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 766 Wrong real time mode No response 1928 Value for Alive Timeout may not be 0 No response 1930 Index range wrong (Start-Index End- No response Index or Max-DIM Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 767 A error occurred in the FFT Analysis module. For an exact specifica- No response tion, refer to Parameter 104.8 "FFT Info". 2201 FFT result not ready for READING yet No response Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 768 Max (target parameter) greater than the maximum value of the selected target parameter.  Testing is carried out to prevent overrun effects while writing to the target parameter. Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 769 2742 No valid start segment defined The start segment defined in the parameter isn't in the Pulse block polynomial curve. m Consequence:  The polynomial curve generator cannot be activated. Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 770 65535 master or slave revolutions. m Consequence:  The cam file is rejected. 2800 No identification in the DPRAM Header No identification found in the DPRAM Header (DEADBEEF) No response Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 771: Summary Of All Parameters

    1000 6.26 Power unit nominal current FLOAT 1000 6.27 Power unit Ixt actual value FLOAT 1000 6.28 Motor I2t actual value FLOAT 1000 0.00 6.29 Motor I2t threshold FLOAT 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 772 Position controller error FLOAT -1000000 1000000 Grad 18.14 Kv position controller FLOAT 1000000 18.15 w2-Feedforward factor FLOAT 18.17 w2 speed feed forward FLOAT -1000000 1000000 Grad/s 1:1 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 773 Position set value rev+angle UDINT 0xFFFFFFFF 0 18.58 Position set value angle UDINT 0xFFFFFFFF 0 18.59 Position set value revolutions UDINT 0xFFFFFFFF 0 18.60 Position error rev+angle DINT -2147483648 2147483647 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 774 Output value FLOAT -5000000000 5000000000 0.000000e+00 29.8 Filter order UINT 29.9 Coefficient a0 FLOAT -1000000 1000000 29.10 Coefficient a1 FLOAT -1000000 1000000 29.11 Coefficient a2 FLOAT -1000000 1000000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 775 1:1.414 X 47.40 PWM MSVM threshold UINT 47.41 Ualpha after PWM FLOAT -440 47.42 Ubeta after PWM FLOAT -440 47.43 Uq after PWM FLOAT -440 47.44 Ud after PWM FLOAT -440 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 776 First error UDINT 5000 100.7 Error communication mode UINT 0xFFFF 100.8 Error reaction actual value 100.9 Error reaction set value 100.11 Launch application error UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 777 102.9 Bootloader1 version STRING 102.10 Fpga Id UDINT 0xFFFFFFFF 0 102.11 Bootloader flags UDINT 0xFFFFFFFF 0 102.13 Expected system Fpga Id UDINT 0xFFFFFFFF 0 102.14 FPGA version UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 778 FLOAT -1e+9 1e+9 0.000000e+00 104.18 Actual average DINT 20000 104.19 Max. frequency FLOAT 0.000000e+00 8000 2000 104.20 Frequency resolution FLOAT 0.000000e+00 62.5 9.765625e-01 104.21 FFT data FLOAT Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 779 1024 106.24 Sinus signal -32768 32767 106.25 Cosinus signal -32768 32767 106.43 Resolver mode WORD 0xFFFF 106.44 Resolver excitation set ampli- UINT tude 106.45 Resolver excitation act ampli- UINT tude Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 780 Slip temperature cold UINT Grad 107.18 Slip temperature warm UINT Grad 107.19 Pole pairs UINT 65535 107.20 Ke factor FLOAT 6553.5 1000U /min 107.21 Max current FLOAT 6553.5 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 781 WORD 0xFFFF manager 108.9 Parameter selection status- UDINT 0xFFFFFFFF 0 bit 14 108.10 Bit pattern status bit 14 UDINT 0xFFFFFFFF 0 108.11 Parameter selection status- UDINT 0xFFFFFFFF 0 bit 15 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 782 400000 100% 110.16 Input min. amount UDINT 1073741824 400000 100% 110.17 Input 32 bit additive DINT -1073741823 1073741823 400000 100% 110.20 Controlled stop time UDINT 65000 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 783 116.13 Set bit pattern for HIGH state DWORD 0 0xFFFFFFFF 0 digital input 2 116.14 Mode digital input 3 WORD 0xFFFF 116.16 Target number digital input 3 UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 784 Inc/ms 1:1 118.12 Acceleration UDINT 65535 Inc/ 100:1 ms² 118.13 Deceleration UDINT 65535 Inc/ 100:1 ms² 118.14 Jerk UDINT 65535 Inc/ 100:1 ms³ 118.15 Smoothing time UINT 8191 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 785 UDINT 0xFFFFFFFF 0 switch 120.16 Homing max. position delta DINT 0x7FFFFFFF 0 to zero pulse 120.17 Command UDINT 121.1 Positioning general mode WORD 0xFFFF 121.2 Status limit switch WORD 0xFFFF Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 786 0xFFFFFFFF 0x0 tion 122.9 Start position master angle UDINT 0xFFFFFFFF 0x0 122.10 Start position slave revolution UDINT 0xFFFFFFFF 0x0 122.11 Start position slave angle UDINT 0xFFFFFFFF 0x0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 787 Denominator gear factor UINT 0x7FFF 123.1 Mode UDINT 0xffffffff 123.2 Status UDINT 123.4 Display max. current FLOAT 10000 0.000000e+00 A 123.6 Stator resistance measured FLOAT 123.7 Inductance measured FLOAT 10000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 788 124.30 DS402 mode UDINT 0xFFFFFFFF 0x00100100 124.31 DS402 touch probe 1 pos. UDINT 0xFFFFFFFF 0 value 124.32 DS402 touch probe 1 neg. UDINT 0xFFFFFFFF 0 value Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 789 126.45 Parameter Int32_5 DINT -2147483647 2147483647 126.61 Parameter Uint32_1 UDINT 0xFFFFFFFF 0 126.62 Parameter Uint32_2 UDINT 0xFFFFFFFF 0 126.63 Parameter Uint32_3 UDINT 0xFFFFFFFF 0 126.64 Parameter Uint32_4 UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 790 Nominal current 16 kHz FLOAT 1000.0 129.16 Peak current 2 kHz FLOAT 1000.0 10.0 129.17 Peak current 4 kHz FLOAT 1000.0 129.18 Peak current 8 kHz FLOAT 1000.0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 791 Mains failure delay UINT 6000 130.29 Chopper threshold FLOAT 130.34 Status STO module UINT 0xFFFF 130.35 Mains failure detection mode UDINT 0xFFFFFFFF 0 130.36 Relative Udc threshold for FLOAT mains failure Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 792 0xFFFFFFFF 0 132.3 Output FLOAT -5000000000 5000000000 132.4 Target number output UDINT 0xFFFFFFFF 0 132.10 Set value 1 FLOAT -5000000000 5000000000 132.11 Duration zone 1 UDINT 4294967295 1000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 793 136.1 Status DWORD 0x0 0xFFFFFFFF 0x0 136.2 Mode WORD 0xFFFF 0x0004 136.3 Target position UDINT 0xFFFFFFFF 0x0 136.4 Position offset DINT 0x80000000 0x7FFFFFFF 0x0 136.5 Target angle UDINT 0xFFFFFFFF 0x0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 794 0xFFFF 137.38 Warning mask UINT 0xFFFF 137.39 Warning buffer UINT 0xFFFF 137.42 Parameter of OEM 1, 2 UINT 0xFFFF 137.43 Parameter of OEM 3, 4 UINT 0xFFFF Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 795 Switch-on time UDINT 0xFFFFFFFF 0 139.26 Shutdown delay UDINT 0xFFFFFFFF 0 140.1 Mode WORD 0xFFFF 140.2 Status WORD 0xFFFF 142.1 Field weakening mode UINT 0xFFFF 142.2 Field weakening faktor FLOAT Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 796 FLOAT 144.6 Target number analog input 1 UDINT 0xFFFFFFFF 0 144.20 Time slot analog inputs UINT 1/2/3 145.1 Status WORD 0xFFF 145.2 Mode DWORD 0x0 0xFFFFFFFF 0x0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 797 147.3 Status slave UINT 0xFFFF 147.4 Coupling command master UINT 147.5 Torque coupling factor mas- FLOAT 147.6 Torque coupling factor slave FLOAT 147.7 Compensating controller P- FLOAT 10000 Grad/ gain Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 798 655.35 2.00 Inc/ 100:1 149.6 Spindle maximum jerk UDINT 0.07 655.35 0.25 Inc/ 100:1 149.9 Spindle relative offset UDINT 0x0000FFFF 149.10 Active target position UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 799 2 150.28 Output lower limit PID cont- FLOAT -5000000000 5000000000 roller 2 150.29 Set value PID controller 2 FLOAT -5000000000 5000000000 150.30 Actual value PID controller 2 FLOAT -5000000000 5000000000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 800 Upper speed threshold FLOAT -50000000 50000000 Grad/s 1:1 154.5 Output value 1 FLOAT -50000000 50000000 154.6 Output value 2 FLOAT -50000000 50000000 154.7 Output value 3 FLOAT -50000000 50000000 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 801 -2147483648 2147483647 µs 1000:20 156.5 Fieldbus cycle UDINT 4294967295 µs 1000:20 X 156.6 Fieldbus jitter DINT -2147483648 2147483647 µs 1000:20 X 156.7 Sync error DINT -2147483648 2147483647 µs 1000:20 X Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 802 163.1 Flux estimator gain FLOAT 50.00 1000.00 250.00 165.1 Mode DWORD 0 0xFFFFFFFF 0 165.2 Configurable status DWORD 0 0xFFFFFFFF 0x0 165.3 Source numbers 0xFFFFFFFF 0 CORD Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 803 Catch enable UDINT 167.2 Catch flux estimator gain FLOAT 1000.00 25.00 167.3 Catch demagnetization time UINT 4000 168.1 Status WORD 0xFFFF 168.2 Mode WORD 0xFFFF 168.3 Output -16384 16384 16384: Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 804 -1e9 171.11 Id Current of MTPF charac- FLOAT -100 -100 teristic 171.12 Motor constant K FLOAT 171.13 MTPF Table FLOAT -100 -100 171.14 Nominal flux FLOAT 0.0001 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 805 0x7FFFFFFF 0 179.18 Touch probe pos2 pos value DINT 0x80000000 0x7FFFFFFF 0 179.19 Touch probe pos2 neg value DINT 0x80000000 0x7FFFFFFF 0 179.20 Position error actual value DINT 0x80000000 0x7FFFFFFF 0 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 806 Homing acceleration UDINT 0xFFFFFFFF 0 Inc/s 179.28 Profile acceleration UDINT 0xFFFFFFFF 0 Inc/s 179.29 Profile deceleration UDINT 0xFFFFFFFF 0 Inc/s 179.30 Quick stop deceleration UDINT 0xFFFFFFFF 0 Inc/s Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 807: Anhang A - Abbreviations

    Voltage Pulse inhibit Û Peak voltage IPMSM synchronous motor with interior Rms-value, AC voltage permanent magnet Rms-value, DC voltage Cooling air requirement of device Underwriters Laboratories interior DC link voltage Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 808 Volt Stainless steel Verband der Elektrotechnik, Elek- tronik Informationstechnik (German electrical engineering, electronics and IT association) DC link Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 809: Table Of Figures

    ProDrive: Encoder 1 configuration ..................... ProDrive: Navigation Motor general ................... ProDrive: Motor database ......................ProDrive: Selecting the motor ....................ProDrive: Motor general ......................ProDrive: Motor synchronous..................... ProDrive: Parameterlist - Motor Id....................Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 810 Filter representation clockwise: PT bilinear, notch filter, elliptical filter, biquad filter....ProDrive Control structure: The window Filter synthesis will be opened with a click on „Polynom“ on Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 811 Torque current limit "lsqLim" at the "Standard load mode" of the synchronous motor (138.1 bit 3 = 0). a) Dependent of the field current (an external total current limit is not assumed).  Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 812 Jerk-free positioning (S-Curve speed profile) with jerk = 0.63 Inc/ms Comparison of the curves (trapezoidal profile and S-Curve profile) ......... Sequence of events for absolute positioning ................Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 813 733) Typical derating of standard asynchronous machines (without forced ventilation) ....Speed-dependent l t overload monitoring of asynchronous machines without forced ventilation Motor-I t, monitoring of the single phases ................Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 814 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 815: Index

    Encoder type 19, 50 Autotuning ERROR Current prediction Error Customer service Error acknowledgment Cycle time 77, 417 Error code Error detection Danger Error handling 330, 746 Data set Error management Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 816 Operating modes general Jerk-free OPERATION ENABLED OPERATION INHIBIT ACTIVE Operation mode Ks factor 207, 210 Operationally ready relay Oscilloscope function Overload factor Overload monitoring LED H11 LED H13 Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 817 44, 76 Parameter group 179 S-Curve profile 401, 562 Parameter group 29 Searching for the dwell position 40, 71 Parameter group 52 Searching for the notch position Parameter list 36, 68 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...
  • Page 818 34, 66 Synchronous operation synchronous position setpoint value specifi- cation System control Target data set 364, 365 Target position Target position reached Target position setting Target specification Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...

  • Page 819: Overview Of Revisions

    Changes for firmware version 01.08 5.12001.05 29.09.2015 Changes for firmware version 01.09 5.12001.06 01.08.2016 Changes for firmware version 01.10 5.12001.07 15.11.2017 Changes for firmware version 01.11 to Firmware version 01.13 Parameter manual b maXX BM3000 Document no.: 5.12001.07 of 820...

  • Page 820: Document No.: 5.12001.07 Of

    Notizen: Parameter manual b maXX BM3000 Document no.: 5.12001.07 Baumüller Nürnberg GmbH of 820...
  • Page 822 Baumüller Nürnberg GmbH Ostendstraße 80-90 90482 Nuremberg Tel: +49(0)911-5432-0 Fax: +49(0)911-5432-130 www.baumueller.de All the information in these Operating Instructions is non-binding customer information; it is subject to ongoing further development and is updated on a continuous basis by our permanent change management system. Note that all the data/numbers/information that are quoted are current values at the time of printing. This information is not legally binding for dimensioning, calculation and costing.

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