Page 1 BAUMÜLLER CONTROLLER BUS 6 T Technical description and operation manual Edition November 1995 5.94017.06...
Page 2 BAUMÜLLER CONTROLLER BUS 6 T Technical description and operation manual Edition November 1995 5.94017.06 PLEASE READ AND PAY ATTENTION TO SAFETY INSTRUCTIONS AND OPERATING GUIDE PRIOR TO COMMISSIONING This manual contains the necessary information for normal opteration of the products described therein.
Page 3: Table Of Contents
Table of contents ABLE OF CONTENTS 1 Safety notes ....................... 1 2 Technical data ....................5 2.1 General........................5 2.2 Electrical data ......................7 2.3 Type code........................10 3 Transport, removal of the packaging .............. 11 4 Assembly ......................13 4.1 Dimensions.........................14 4.2 Assembly notes......................
Page 4 Table of contents 7 Parameters......................49 7.1 Function diagram ......................49 7.2 Basic settings......................50 7.2.1 Basic settings (menu page 1 - 2)..............51 7.2.2 Motor-specific values (menu pages 3 - 5) ............ 57 7.3 Display and measuring parameters ................63 7.3.1 Display of nominal and peak values (menu page 6) ........
Page 5 Abbreviations BBREVIATIONS ϑ Temperature 1 Pulse inhibit ϑ Temperature 2 Board τ Rotor time constant Torque Alternating current Torque limit Asynchronous motor control Nominal torque Reference potential analog Speed Reference potential digital Nominal speed Asynchronous motor Negative temperature coeffizient Direct current Speed threshold Synchronous motor Power...
Page 6 Abbreviations Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 7: Safety Notes
Safety notes AFETY NOTES Foreword Relatively high leakage to ground occurs in the converter and the motor, i.e. the drive may be incompatible with residual current protective devices. In operation, the unit is protected against direct handling in such a way that it is suitable for installation in enclosed electrical operating areas (pr EN 50178: 1994, sect.
Page 8 Safety notes Hazard notes The following notes are for your personal safety on the one hand, and on the other, the protection of the described product or connected equipment from damage. The terms used have the following definitions both within the scope of this manual and in the notes on the product itself: DANGER DANGER means that death, serious injury or considerable material damage will occur if the safety...
Page 9 Safety notes Qualified personnel Qualified personnel, in the sense of the safety notes in this handbook or on the products themselves, are persons who are familiar with the installation, assembly, commissioning and operation of the product and are correspondingly qualified, i.e. -are trained or authorised to commission, ground and designate electrical circuits and appliances according to the required safety standards.
Page 10 Technical data Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 11: Technical Data
General Technical data ECHNICAL DATA 2.1 General This motor controller from the BMS series, referred to as Technology Controller, is particularly designed for high flexibility and highly demanding control tasks. A powerful 32-bit microprocessor is used for the computing tasks. Control system: •...
Page 12 Technical data General • Depending on requirements, the controller can be operated analog set value settings and switching inputs serial interface RS 232 for PC operation, parameter assignment, commissioning and service as well as for archiving the controller parameters on floppy disk Inputs: 2 digital inputs for parameter set switching 1 digital input (programmable function by Baumüller)
Page 13: Electrical Data
Electrical data Technical data 2.2 Electrical data The electrical data varies according to the relevant basic unit and is described in the applicable documentation. Technical data of the controller: Accuracy of whole system Calculation accuracy 16 bit Resolver recording resolution 12 / 14 / 16 bit switchable ROD 486 resolution 20 bit...
Page 14 Technical data Electrical data • Cycle times if set value source is analog (ID no. 32818 = 0) ID no. 32818 = 0 (set value source is analog) ID no. 32819 ID no. 32837 Digital input X3:13 Cycle rates (controlling) (set value additive) (MSP/C axis) MSP speed set value...
Page 15 Electrical data Technical data ID no. 32818 = 0 (set value source analog) Software version: SV_03.05H (synchronous control) SV_03.07H (synchronous control) see terminal diagram II ID no. 32819 Cycle times (controlling) MSP speed set value 1 ms (n control) Digital inputs 8 ms Digital outputs 8 ms...
Page 16: Type Code
Type code Technical data 2.3 Type code Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 17: Transport, Removal Of The Packaging
Transport, removal of the packaging RANSPORT REMOVAL OF THE PACKAGING The devices are packed in the manufacturer´s works in accordance with ordering instructions. Severe vibrations during transport are to be avoided. Onse packaging is removed and the devices are checked for their completeness, assembly can follow.
Page 18 Assembly Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 19: Assembly
Assembly SSEMBLY WARNING The user is responsible for the assembly of the converter power unit, the motor, the transformer and the other components according to applicable safety standards (e.g. DIN, VDE) and all other relevant national or local regulations regarding conductor dimensions and fusing, grounding, circuit breakers, overcurrent protection etc.
Page 20: Dimensions
Assembly Dimensions 4.1 Dimensions Plug-in depth of cassette • BUS 6 and BUM 62: 128.5 mm • BUM 63/64: 131.0 mm The total depth can only be determined in conjunction with the basic unit. In addition, it is necessary to take into account the dimensions of the connector to be used (approx. 40 mm). Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 21: Assembly Notes
Assembly notes Assembly 4.2 Assembly notes Plug the controller cassette into the appropriate recess in the basic unit and secure it with the two screws attached to it. NOTE Do not plug in the cassette under voltage. The installation of the basic units is covered separately. Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 22 Installation Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 23: Installation
Hazard notes Installation NSTALLATION 5.1 Hazard notes WARNING This unit carries dangerous voltage and contains dangerous rotating machine parts (ventilators). This means that death, serious injury or considerable material damage can occur if the safety and warning notes are not heeded. The user is responsible for the assembly of the converter power unit, the motor, the transformer and the other components according to applicable safety standards (e.g.
Page 24: Checks Prior To Installation
Installation Checks prior to installation 5.2 Checks prior to installation • Switch on controller • Note down the type and no. of the unit and motor • Check wether power unit type and motor type printed at memory module correspond to power module type and motor type •...
Page 25: Display
Display Installation 5.3 Display LED display element Speed = 0: motor has stopped or motor speed below minimum speed Torque limit: torque has reached torque limit Torque direction 1: positive torque Torque direction 2: negative torque Error: error message present Ready for use: controller ready for use: no error status class 1 or manufacturer status class 1...
Page 26: Terminal Diagram I
Installation Terminal Diagram 5.4 Terminal diagram I Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 27: Terminal Diagram Ii (Only Sv 03.05H And Sv 03.07H)
Terminal Diagram Installation 5.5 Terminal diagram II (only SV 03.05H and SV 03.07H) Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 28: Connector Location Diagram
Installation Connector location diagram 5.6 Connector location diagram Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 29: Connector Pin Assignment
Connector pin assignment Installation 5.7 Connector pin assignment • • • • Connection of ROD486 and resolver 15-pin X1A SUB-D socket Pin no. Assignment ROD 486 Assignment resolver 5V ground + ref +5V encoder voltage - ref incremental encoder U0 not assigned incremental encoder -U0 not assigned...
Page 30 Installation Connector pin assignment • Motor temperature recording X28 sub-unit terminal RM 5 Pin no. Assignment motor temperature (connection 1) BSA (analog ground) shielding Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 31 Connector pin assignment Installation • Incremental encoder emulation (optional) 15-pin X1B SUB-D socket Pin Nr. Belegung ground incr. emulation + 5 V incr. emulation incr. emulation track 0 incr. emulation track incr. emulation track B not assigned incr. emulation track incr.
Page 32 Installation Connector pin assignment • Analog set value input 9-pin X2 SUB-D plug Pin Nr. Belegung n set + MSP (difference amplifier input) n set - MSP (difference amplifier input) - 10 V / 2 mA output n set + C axis (difference amplifier input) n set - C axis (difference amplifier input) + 10 V / 2 mA output M limitation + (difference amplifier input)
Page 33 Connector pin assignment Installation • • • • Digital I/O 25-pin X3 SUB-D plug Pin no. Assignment additional + n soll (difference amplifier input) additional - n soll (difference amplifier input) n act (0 .. +10V or 0 .. ± 10V / 1 mA) M act (0 ..
Page 34 Installation Connector pin assignment • Interface RS 232 9-pin X 10 SUB-D socket Pin no. Assignment not assigned RS 232 txd signal RS 232 rxd signal not assigned ground connection RS 232 supply voltage 5 V (+ 5V/0.1A if R316 on 3.9130 is equipped with 0 Ω ) not assigned not assigned not assigned...
Page 35 Connector pin assignment Installation • • • • Analog/digital 25-pin X22 SUB-D plug Pin no. Assignment common ground 24 V for optocoupler inputs/outputs 24 V external voltage supply for optocoupler outputs Reset* funktion 2 (prog. by Baumüller) optocoupler input 2 S2 optocoupler input 3 (data set switching LOW byte) S1 optocoupler input 4 (data set switching HIGH byte) not assigned...
Page 36 Installation Connector pin assignment Parameter set selection: Input 3 (S2) Input 4 (S1) Parameter set High High High High Reset: * Reset activ if +24 V edge This input corresponds with its function the command reset error status class 1 (ID no. 99). If this input is enabled, the output X3:25 (error status class 1) at the same time is high and the LED „Error“...
Page 37: Connection Cable
Connector cable Installation 5.8 Connection cable 5.8.1 Connection cable for resolver or incremental encoder Cable sets are available for the connection of the resolver and the incremental encoder. Serial number: 1901 8001 (lengths on request) Unit end Motor end View of mating side View of mating side 15-pin SUB-D plug connector 12-pin metal round plug,...
Page 38: Serial Connection Cable For Pc
Installation Connector cable 5.8.2 Serial connection cable for PC NOTE Connect PC in control cabinet or via isolating transformer. Refer to additional description operation software for explanation of operating program. Refer to additional description of communication software for explanation of transmission procedure. •...
Page 39: Accessories
Accessories Installation 5.9 Accessories Part no. • PC cable (3 m) RS 232 1901 8006 • encoder cable (cable length available on request) resolver / incremental encoder 1901 8001 • SUB-D plug: analog set value input 9-pin socket connector 1900 6131 housing 1901 2894 X3, X22 digital I/O...
Page 40 Commissioning Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 41: Commissioning
Commissioning OMMISSIONING DANGER Due to the nature of electrical equipment, certain parts of this unit carry dangerous voltage during operation. Serious injury and/or damage to property can result from non-compliance with these safety notes and warnings. Only qualified personnel familiar with the safety instructions, and instructions regarding assembly, maintenance and operation are to work on this unit.
Page 42 Commissioning WARNING Control cabinets must be furnished with emergency stop buttons by which all potentially dangerous voltages may be de-activated. Excluded from this are operating media, through whose de-activation a new hazard may arise. The trigger for the emergency stop should be incorporated in such a way that, in the event of an emergency, it may be reached as soon as possible.
Page 43: Identification Power Unit
Leistungsteilkennung Inbetriebnahme 6.1 Identification power unit SV 03.06H (SM) and 83.01H (AM) • EEPROM not yet programmed or „Motor data acknowledged“ (ID no. 32917) = 0, but type of power unit correctly recognized. Consequence: The motor parameter are initialized with the data from boot-EPROM and because of the successfully recognition of the power unit´s type the parameter of the power unit are correctly initialized.
Page 44: Initial Commissioning Of The Drive System
Commissioning Initial commissioning 6.2 Initial commissioning of the drive system Make sure that external pulse enabling is inhibited before starting initial commissioning in order to avoid uncontrolled starting of the motor. It is assumed that the individual controllers are set to default values which guarantee a perhaps not optimum, but controlled operation of the motor.
Page 45 Initial commissioning Commissioning unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 46 Commissioning Initial commissioning unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 47 Initial commissioning Commissioning unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 48: Optimisation In The Main Spindle Area
Commissioning Main spindle area 6.3 Optimisation in the main spindle area unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 49 Main spindle area Commissioning unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 50: Optimisation In C Axis Mode
Commissioning C axis mode 6.4 Optimisation in C axis mode unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 51: Torque Control
Torque control Commissioning 6.5 Torque control NOTE : The motor may overspeed even with low set values. In this case the motor is automatically switched to speed control and decelerated on reaching the maximum speed value (ID no. 32829 of parameter set 0). unit Controller BUS 6 T Baumüller Nürnberg GmbH...
Page 52 Commissioning Torque control unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 53: Position Control
Position control Commissioning 6.6 Position control Function can only be activated via PC. At present not yet implemented with synchronous motors. motor unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 54: Spindle Positioning
Commissioning Spindle positioning 6.7 Spindle positioning Function can only be activated via PC. At present not yet implemented with synchronous motors. motor unit Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 55: Parameters
Function diagram Parameters ARAMETERS 7.1 Function diagram Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 56: Basic Settings
Parameters Basic settings 7.2 Basic settings Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 57: Basic Settings (Menu
Basic settings Parameters 7.2.1 Basic settings (menu page 1 - 2) Parameter overview ID no. Name Range Unit Standard Display min..max. value only menu page 1 basic settings 32840 language 0 ... 3 32839 qualification for entries 6 ... 7 parameter set preselection 0 ...
Page 58 Parameters Basic settings Parameter description language This parameter displays the parameter name and possibly the corresponding unit in the appropriate language. Value Meaning German English French Polish qualification for entries This parameter specifies which parameters can be modified by the respective operator. Value Meaning service...
Page 59 Basic settings Parameters controller inhibit type This parameter specifies the type of controller inhibit after slowing down the motor. Value Meaning brake down pulse inhibit when n=0 brake down no pulse inhibit when n=0 NOTE In operation mode position control after pulse enabling and controller enabling is given, the position = 3 * τ...
Page 60 Parameters Basic settings controller inhibit braking time (t After the preset time the pulses are automatically switched off; the drive slows to a standstill. Set value source Via this parameter the service personnel can specify a set value source. Value Meaning analog...
Page 61 Basic settings Parameters control type Via this parameter the service personnel can specify the control type. The torque limitation must be set to 0 % before switching to M control (0 V at X2:7 and X2:8). Value Meaning speed control torque control position control reference run...
Page 62 Parameters Basic settings Motorgeber-Strichzahl (number of motor encoder scale marks) The resolution for rotation feedback 1 (motor encoder) represents the pulses per motor revolution. number of motor pole pairs (p) The number of motor pole pairs is set via this parameter. nominal motor speed (n Via this parameter you specifiy the speed at which the motor reaches nominal power.
Page 63: Motor-Specific Values (Menu Pages 3 - 5)
Basic settings Parameters 7.2.2 Motor-specific values (menu pages 3 - 5) Parameter overview ID no. Name Range Unit Standard Display min..max. value only menu page 3 motor-specific values 32897 temperature modell 0 ... 1 32794 application speed for 500.0000 ...
Page 64 Parameters Basic settings Parameter description temperature model This parameter selects whether the operation is to take place with or without temperature correction. Value Meaning inactive active application speed for motor nominal speed The constant torque of machine tools can be increased from 0 ... n to 0 ...
Page 65 Basic settings Parameters set magnetising current value (I α α α α N The magnetising current value is always 0 by synchronous motors. magnetising current limitation (I α α α α G The maximum value of the magnetising current is entered via these parameters. Sychronous motors: typical value 5 A ...
Page 66 Parameters Basic settings torque limitation for < 10 Hz Via these parameters you can choose between torque limitation for low speeds and torque limitation for high speeds. Value Meaning application speed for torque limitation The lower application speed for torque limitation is set via these parameters. 60 10 [rpm] ...
Page 67 Basic settings Parameters torque limitation for high speeds Via these parameters you can choose torque limitation for high speeds. Value Meaning application speed for torque limitation The upper application speed for torque limitation is set via these parameters. torque at maximum speed The torque value at maximum speed is entered via this parameter.
Page 68 Parameters Basic settings generator torque limitation This parameter specifies whether torque limitation in generator mode is desired. Value Meaning generator torque limitation 1(M Gen1 generator torque limitation 2(M Gen2 The value of upper and lower torque limitation in generator mode can be set via these parameters.
Page 69: Display And Measuring Parameters
Display and measuring parameters Parameters 7.3 Display and measuring parameters 7.3.1 Display of nominal and peak values (menu page 6) Parameter overview ID no. Name Range Unit Standard Display min..max. value only menu page 6 display of nominal and peak values nominal motor current 1.000 ...
Page 70: Random-Check Generator - Square-Wave Generator (Menu
Parameters Display and measuring parameters 7.3.2 Random-check generator - square-wave generator (menu page 7) Parameter overview ID no. Name Range Unit Standard Display min..max. value only menu page 7 random-check- / square-wave generator 32820 random-check generator time t1 1.000 ...
Page 71 Display and measuring parameters Parameters set velocity value V1 set velocity value V2 This parameter specifies the set velocity values of the square-wave generator. time for set velocity value V1 time for set velocity value V2 The appropriate time for the respective set velocity values is entered via these parameters.
Page 72: Characteristic Curve Of Magnetisation (Asynchronous Machines Only)
Parameters Display and measuring parameters 7.3.3 Characteristic curve of magnetisation (asynchronous machines only) Parameter overview ID no. Name Range Unit Standard Display min..max. value only characteristic curve of magnetisation 32872 0.0000 ... 10000.0000 1500 32873 0.0000 ... 10000.0000 1700 32874 0.0000 ...
Page 73: Temperature Monitoring
Display and measuring parameters Parameters 7.3.4 Temperature monitoring Parameter overview ID no. Name Range Unit Standard Display min..max. value only Temperature monitoring 32782 actual circuitry housing temperature 0.0 ... 100.0 °C value 32783 actual amplifier temperature value -100.0 ... 100.0 °C 32784 actual motor temperature value...
Page 74 Parameters Display and measuring parameters amplifier warning temperature If the amplifier temperature exceeds the amplifier warning temperature, the drive sets the bit "amplifier warning temperature" in Class 2 Diagnostics (see ID no. 12). NOTE Exceeding the temperature does not cause pulse or controller inhibit. amplifier shutdown temperature If the amplifier temperature exceeds the amplifier shutdown temperature, the drive sets the bit "amplifier shutdown temperature"...
Page 75: Measuring Channel 1 And 2
Display and measuring parameters Parameters 7.3.5 Measuring channel 1 and 2 Parameter overview ID no. Name Range Unit Standard Display min..max. value only measuring channel 1 und 2 32768 measuring channel 1 1 ... 32916 32770 offset of measuring channel 1 -2047 ...
Page 76 Parameters Display and measuring parameters value 1 (32 bit) Without function by asynchronous control. SV_03.06H (synchronous control) followise meaning: Value Meaning without resolver angle pre-control > 0 without resolver angle pre-control Example: value 1 = 60.000 ⇔ 60° value 2 (16 bit) value Bedeutung...
Page 77: Display Of Controller Parameters
Display and measuring parameters Parameters 7.3.6 Display of controller parameters Parameter overview ID no. Name Range Unit Standard Display min..max. value only display of controller parameters 32864 ramp function generator output -2147483648 ... +2147483647 32865 rounding generator output -2147483648 ...
Page 78 Parameters Display and measuring parameters Parameter description These parameters display internal values of the controller. actual position value The actual position value displayed refers to the ROD encoder in the motor. 0 corresponds to the position of the reference signal after completion of the reference run. hardware version...
Page 79: Parameter Set 0
Parameter set 0 Parameters 7.4 Parameter set 0 Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 80: Velocity And Ramp Function Generator
Parameters Parameter set 0 7.4.1 Velocity and ramp function generator Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 81 Parameter set 0 Parameters Parameter overview ID no. Name Range Unit Standard Display min..max. value only velocity and ramp function generator set velocity value -12000.0000 ... 12000.0000 polarity of set velocity value positive velocity limit value 0.0000 ... 12000.0000 negative velocity limit value 0.0000 ...
Page 82 Parameters Parameter set 0 positive velocity limit value The positive velocity limit value describes the maximum permissible velocity in positive direction. If the limit value is exceeded, the message in Class 3 Diagnostics is displayed. negative velocity limit value The negative velocity limit value describes the maximum permissible velocity in negative direction.
Page 83: Rounding Generator And Torque
Parameter set 0 Parameters 7.4.2 Rounding generator and torque Parameter overview ID no. Name Range Unit Standard Display min..max. value only rounding generator and torque 32823 rounding generator 0 ... 1 32824 rounding generator time 10.0 ... 6000.0 set torque value for M control -100.0 ...
Page 84 Parameters Parameter set 0 polarity of set torque value Clockwise rotation of the motor shaft (seen from the front) takes place if the set torque value and the polarity are positive. Bit no. Meaning set torque value 0: positive polarity 1: negative polarity reserved actual torque value...
Page 85: Speed Controller
Parameter set 0 Parameters 7.4.3 Speed controller Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 86 Parameters Parameter set 0 Parameter overview ID no. Name Range Unit Standard Display min..max. value only speed controller speed controller gain 0.10 ... 400.00 speed controller integral-action time 0.00 ... 655.00 lower adaptation limit for speed 0 ... 0 controller upper adaptation limit for speed 10.0000 ...
Page 87 Parameter set 0 Parameters integral-action time adaptation Below the lower adaptation limit the integral-action time adaptation indicates the percentage value referring to the speed controller integral-action time (ID no. 101). Above the upper adaptation limit the speed controller proportional gain changes linearly taking the adaptation of the integral-action time and the current speed into account.
Page 88: Messages - Monitoring
Parameters Parameter set 0 7.4.4 Messages - monitoring Parameter overview ID no. Name Range Unit Standard Display min..max. value only messages - monitoring speed threshold n 6.0000 ... 600.0000 velocity window 6.0000 ... 600.0000 velocity threshold n 6.0000 ... 1200.0000 32829 velocity threshold n 1200.0000 ...
Page 89 Parameter set 0 Parameters torque threshold M If the actual torque value exceeds torque threshold M , the drive sets the message ³ M (ID no. 333) in Class 3 Diagnostics. Display via LED H 401 red and via relay contacts X3:13 and X3:14 on printed circuit board 3.9211.
Page 90: Parameter Set 1
Parameters Parameter set 1 7.5 Parameter set 1 7.5.1 Velocity and ramp function generator Parameter overview ID no. Name Range Unit Standard Display min..max. value only velocity and ramp function generator 4132 set velocity value -12000.0000 ... 12000.0000 4139 polarity of set velocity value 4134...
Page 91 Parameter set 1 Parameters 7.5.3 Speed controller Parameter overview ID no. Name Range Unit Standard Display min..max. value only speed controller 4196 speed controller gain 0.10 ... 400.00 4197 speed controller integral-action time 0.00 ... 655.00 4305 lower adaptation limit for speed 0 ...
Page 92: Parameter Set 2
Parameters Parameter set 2 7.6 Parameter set 2 7.6.1 Velocity and ramp function generator Parameter overview ID no. Name Range Unit Standard Display min..max. value only velocity and ramp function generator 8228 set velocity value -12000.0000 ... 12000.0000 8235 polarity of set velocity value 8230...
Page 93 Parameter set 2 Parameters 7.6.3 Speed controller Parameter overview ID no. Name Range Unit Standard Display min..max. value only speed controller 8292 speed controller gain 0.10 ... 400.00 8293 speed controller integral-action time 0.00 ... 655.00 8401 lower adaptation limit for speed 0 ...
Page 94: Parameter Set 3
Parameters Parameter set 3 7.7 Parameter set 3 7.7.1 Velocity and ramp function generator Parameter overview ID no. Name Range Unit Standard Display min..max. value only velocity and ramp function generator 12324 set velocity value -12000.0000 ... 12000.0000 12331 polarity of set velocity value 12326...
Page 95 Parameter set 3 Parameters 7.7.3 Speed controller Parameter overview ID no. Name Range Unit Standard Display min..max. value only speed controller 12388 speed controller gain 1.00 ... 400.00 12389 speed controller integral-action time 4.00 ... 655.00 12497 lower adaptation limit for speed 0 ...
Page 96: Encoder Evaluation
Parameters Encoder evaluation 7.8 Encoder evaluation Parameter overview ID no. Name Range Unit Standard Display min..max. value only encoder evaluation 32917 motor data saved 0 ... 1 32918 incremental encoder 0 ... 10 emulation 32919 resolver resolution 0 ... 9 32920 resolver position correction - 360.0000 ...
Page 97 Encoder evaluation Parameters incremental encoder emulation (with synchronous motors only) Via this parameter the resolution of the incremental encoder emulation can be set, i.e. the number of emulated increments per physical motor revolution. The permissible value depends among other things on the respective operating status. Value Resolution 128 increments...
Page 98 Parameters Encoder evaluation slip frequency at motor temperature 1 (f ϑ ϑ ϑ ϑ M1 temperature 1 (ϑ ϑ ϑ ϑ temperature 2 (ϑ ϑ ϑ ϑ These parameters are only effective with asynchronous controlling. Temperature 2 > temperature 1. Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 99: Set Adaptation
Set value adaptation Parameters 7.9 Set value adaptation Parameter overview ID no. Name Range Unit Standard Display min..max. value only set value adaptation 32922 main spindle offset - 100.0000 ... 100.0000 32923 C axis offset - 100.0000 ... + 100.0000 32924 offset - 2 ...
Page 100: Position Control (Asynchronous Motors)
Parameters Position control 7.10 Position control (asynchronous motors) The functions position control, reference run and spindle positioning are currently implemented for the operation of asynchronous motors only. 7.10.1 Position control and reference run Can only be activated via PC. Not implemented with synchronous motors. Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 101 Position control Parameters Parameter overview ID no. Name Range Unit Standard Display min..max. value only Lageregelung und Referenz fahren set position value -1080.0000 ... +1080.0000 degree position polarity parameter positive position limit value 0.0000 ... +1080.0000 degree 1080.0 negative position limit value -1080.0000 ...
Page 102 Parameters Position control position interpolation auxiliary value In control systems with variable set position value cycle time the position interpolation auxiliary value informs the drive about the number of cycles on which the set position value alteration of an assigned set position value is to be distributed. The intermediate interpolation required is carried out by the drive itself.
Page 103: Spindle Positioning
Position control Parameters 7.10.2 Spindle positioning Can only be activated via PC. Not implemented with synchronous motors. Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 104 Parameters Position control Parameter overview ID no. Name Range Unit Standard Display min..max. value only spindle positioning spindle positioning speed 0.0000 ... 1500.0000 150.0 positioning window 0.0000 ... 6.500 degree reference offset -360.0000 ... +360.0000 degree 0.000 Parameter description spindle positioning speed If the command "spindle positioning"...
Page 105: Maintenance
Maintenance notes Maintenance AINTENANCE DANGER This unit carries dangerous voltage and contains dangerous rotating machine parts (ventilators). This means that death, serious injury or considerable material damage can occur if the safety and warning notes are not heeded. Maintenance work on the equipment may only be carried out in a voltage-free state. Work on the power unit, intermediate circuit and motor terminals may only be undertaken when it is ascertained that there is neither potential nor voltage (remainder) present.
Page 106: Status Messages
Maintenance Status messages 8.2 Status messages Controller BUS 6 T Baumüller Nürnberg GmbH 5.94017.06...
Page 107: Error Messages
Status messages Maintenance 8.2.1 Error messages Parameter overview ID no. Name Range Unit Standard Display min..max. value only error messages Class 1 Diagnostics Manufacturer Class 1 Diagnostics command "reset Class 1 Diagnostics" 32906 BUS operating error 32907 BUS hardware error 32908 BUS software error 32909...
Page 108 Maintenance Status messages Manufacturer Class 1 Diagnostics Display of drive interlocking. A Class 1 Diagnostics error situation detected by the drive leads to: • controller inhibit with brake down or pulse inhibit • setting of error bit. Bit no. Meaning 1: operating error BUS (PI or CI) 1: hardware error BUS (PI) 1: software error BUS (PI)
Page 109 Status messages Maintenance BUS operating error An operating error of the servo unit leads to pulse inhibit (PI) or controller inhibit (CI). Bit no. Meaning 1: power unit ready for use (PI) 1: communication not enabled (PI) 1: power unit error (PI) 1: auxiliary voltage failure (PI) 1: excess current error (PI) 1: fault current (PI)
Page 110 Maintenance Status messages BUS software error A software error of the servo unit leads to pulse inhibit of the controller. Bit-Nr. Meaning 1: watchdog error (PI) 1: task length exceeded (CI) 1: power unit not recognized at all 3 ... 7 reserved 1: incompatible hardware version (PI) 1: incompatible software version (PI)
Page 111 Status messages Maintenance supply operating error An operating error of the supply leads to pulse inhibit of the controller. Bit no. Meaning always 0 1: supply not ready for use BUG hardware error A hardware error leads to pulse inhibit of the controller. Bit no.
Page 112 Maintenance Status messages boot initialisation error If an error occurs during the controller's boot procedure this error bar is activated and controller enabling is not possible (controller inhibit). NOTE This ID no. can only be read by activation of key F4 on PC. Only the LED´s „Power“ (green) and „controller inhibit“...
Page 113: Warnings And Messages
Status messages Maintenance 8.2.2 Warnings and messages Parameter overview ID no. Name Range Unit Standard Display min..max. value only warnings and messages Class 2 Diagnostics Manufacturer Class 2 Diagnostics 32912 BUS warning 32913 supply warning Class 3 Diagnostics Manufacturer Class 3 Diagnostics 32914 BUS operating message...
Page 114 Maintenance Status messages BUS warning Bit no. Meaning 1: error encoder evaluation 1 1: error encoder evaluation 2 2 ... 15 reserved supply warning Bit no. Meaning 1: BUS warning 1 ... 15 reserved Class 3 Diagnostics Operating status messages. Class 3 Diagnostics is read via the service channel. The bits set in Class 3 Diagnostics are additionally defined by ID numbers.
Page 115 Status messages Maintenance BUS operating message Bit no. Meaning 1: BUS pulse inhibit 1: BUS controller inhibit 2 ... 15 reserved BUS hardware message Bit no. Meaning 1: encoder module 2 not available 1: option board 1 not available 1: option board 2 not available 1: encoder module 3 not available 4 ...
Page 116: Disposal
Maintenance Disposal 8.3 Disposal The units consist essentially of the following components and materials Components Material Housing, various intermediate plates, fan coil, support plates Steel plate Heat sinics in power unit Aluminium Various distance bolts Steel Various distance bolts, current converter hausing and fan Plastic housing Power unit rails...
Page 117: Appendix
Appendix PPENDIX 9.1 Manufacturer´s declaration Manufacturer Declaration in Accordance with the EC–Machine Guidelines 89/392/EEC, Appendix II B We herewith declare that this delivery includes the following specified machine component and that its putting into operation is prohibited until the declaration is made that the machine, in which this component is built in, complies with the regulations of the EC–machine guideline 89/392/EWG, appendix II B.
Page 118: Index
Appendix 9.2 Index Accessories • 33 Hardware version • 71; 72 Accuracy • 7 Acitve current limiation • 57 Active current limitation • 59 Analog set value input • 26 Identification power unit • 37 Analog/digital I/O • 29 Incremental encoder emulation • 25 Assembly •...
Page 119 Appendix Ramp function generator • 74 Technical data • 5; 7 Random-check generator • 64 Temperature monitoring • 67 Removal of the packaging • 11 Terminal diagram • 20; 21 Reset • 30 Torque control • 45 Resolver • 23 Torque limitation •...

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Baumuller BUS 6-T Series Technical Description And Operations Manual

1 Safety Notes

2 Technical Data

3 Transport, Removal of the Packaging

4 Assembly

5 Installation

6 Commissioning

7 Parameters

8 Maintenance

9 Appendix

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