Baumuller b maXX BM5800 Parameter Manual
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Baumuller b maXX BM5800 Parameter Manual

Baumuller b maXX BM5800 Parameter Manual

Multi-axis controller
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Parameter manual
English
Language
Translation
Document No. 5.16029.03
Part No.
00470716
Status
30.07.2019
E
5.16029.03
Read the Operating Manual before starting any work!
b maXX BM5800
Multi-axis controller
Parameter manual
Version 01.15

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Summary of Contents for Baumuller b maXX BM5800

  • Page 1 Parameter manual English Language Translation Document No. 5.16029.03 Part No. 00470716 Status 30.07.2019   b maXX BM5800 Multi-axis controller Parameter manual Version 01.15 Read the Operating Manual before starting any work! 5.16029.03...
  • 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

    Parameter overview Lh-characteristic ........Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 4 Master-Slave Torque Coupling ........253 Parameter manual b maXX BM5800 Document No.: 5.16029.03...

  • Page 5: General

    ProDrive Ramp Function Generator ........Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 6 Reactive current brakes ..........479 Parameter manual b maXX BM5800 Document No.: 5.16029.03...

  • Page 7: Prodrive Flux Controller

    Homing Method 1 (neg. limit switch) ........Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 8 Vibration damping ..........664 Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 9 Overview of Revisions............Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 10 Contents Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 11: Information About The Parameter Manual

    (BM51xx). Furthermore the controller con- trols not only the connected motor (axis) but also the DC link voltage and so the power input from mains (active mains rectifier unit). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • 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 BM5800 Document No.: 5.16029.03 of 814...

  • 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 801. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 15: Commissioning

    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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 16: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 17: Voltage Test

    Therefore: m Subsequent tests of the devices using high voltages may only be performed by Baumüller Nürnberg GmbH. m Disconnect the converter from the system during high-voltage testing! Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 18: Requirements For The Electrical Supply

    5800 basic unit). NOTE Pictures for the next work steps can be found in the Operating Manual for the  b maXX 5800 basic unit. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 19 With sine-cosine encoders with HIPERFACE inter- 50/60 SinCos face, the encoder type is read in automatically via  encoder the HIPERFACE interface Number of pulses 1024 Parameter list/Encoder configuration/ Z137.1– Number of pulses Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 20: Communication Via Ethercat

    Leave the base address on the EtherCAT Master unchanged (192.168.1.1). n Set the desired IP address on the BM5800 controller (here 192.168.1.2). You will find further information about this in the b maXX BM5800, 5.16027 Operating Manual, Art. No. 464136.

  • Page 21: Setting Fixed Ip Addresses

    Open/activate the Workspace window. n Click the Controller PLC in ProMaster. n Click EtherCAT Master  Configure Master Bus (ProEtherCAT) in the Workspace win- dow. n The window will open: Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 22: Proethercat Download

    Select the tab Download  Update list  Download Figure 4: ProEtherCAT Download n Click on Close. n Select the tab Bus control  click on Operational. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 23: Prodrive: Find Device

    Commissioning n Start ProDrive and select "Find device". Figure 5: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 24: Prodrive: Device Selection With Ethercat Communication

    (here: b maXX5800 Drive Multi Axis Controller) n Select the communication: Button TYPE (here: TCP/IP) Figure 6: ProDrive: Device selection with EtherCAT communication Start the graphical user interface by clicking on "OK". Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 25: Prodrive: Start Window

    ProDrive: Start window 11 Then press "Connect". 12 This concludes the preparations. The remainder of the commissioning is described in ZPerforming the commissioning (using Axis 1 as an example)– on page 27. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 26: Switch-On Sequence

    Step Switch on 24V Turn on mains Find notch position Set speed Enable motor rotation Motor n=0 Turn off mains Turn off 24V Figure 8: Switch-on sequence Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 27: Performing The Commissioning (Using Axis 1 As An Example)

    (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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 28: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 29: Prodrive: Project Tree For Power Unit

    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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 30 Performing the commissioning (using Axis 1 as an example) Figure 12: ProDrive: Power unit Setting encoder The parameters for the encoder still have to be entered. parameters Go back to the project tree. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 31: Prodrive: Project Tree For The Encoder

    Commissioning Click on "Encoder". Figure 13: ProDrive: Project Tree for the Encoder Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 32: Prodrive: Encoder 1 Configuration

    11 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 300000, Parameter number 006.006 and 006.008: enter the value -300000 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 33: Prodrive: Project Tree For Motor - General

    ProDrive: Project Tree for Motor - General Using the motor 13 Click on the "Motor database" button in the icon bar in the Motor window. database Figure 16: ProDrive: Motor database Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 34: Prodrive: Selecting The Motor

    17 Check all the values for the motor using the motor data sheets (This is only for check- ing purposes if you are using the Baumüller motor database. If you are employing mo- tors from third-party manufacturers, you must do this in any case). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 35: Prodrive: Motor-General

    19 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 18: ProDrive: Motor-General Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 36: Prodrive: Motor-Synchronous

    21 In the parameter list, click on "Motor Id". Figure 20: ProDrive: Parameter List - Motor Type The following motor parameters must be specified: m Maximum speed, mech. (Z107.26– Maximum speed, mechanical) Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 37: Prodrive: Project Tree For Dataset Management

    Now save the entered data. 22 Click on "Dataset management" in the project tree Figure 21: ProDrive: Project Tree for Dataset management 23 Click on the "Save All" button in the Dataset management. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 38 (main power supply + control voltage). By switching off and on again, you can check whether the settings you have made will result in warnings or errors. No errors may be present. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 39 Now perform the autotuning of the current controller. current controller 28 Go to the project tree and click on "Configuration", then click on "Autotuning-Current controller". Figure 23: ProDrive: Project Tree - Autotuning-Current controller Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 40 It is now necessary to search for the notch position. notch position 29 Go to the project tree and click on "Operating Modes", then click on "Find Notch Po- sition". Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 41 Commissioning Figure 25: ProDrive: Project Tree - Find notch position 30 Click on the "Drive Manager" icon. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 42 ProDrive: Find Notch Position, Drive Manager 31 For the method, select "fix currentangle and rotating shaft". 32 Select "Find notch position" in the Drive Manager-Axis 1 window. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 43 (With Baumüller motors: resolver: 330° + 5°, sine-cosine: 240° ± 5°). This completes all the parameter setting work for the specimen commissioning. You can now satisfy yourself that the device is functioning correctly by having the motor rotate briefly. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 44 39 Go back to the project tree. the motor 40 Click on: "Set value generators". 41 Click on: "Ramp function generator". Figure 27: ProDrive: Project Tree - Ramp function generator Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 45: Prodrive: Drive Manager For Axis

    44 Select the "Speed control mode“ from the scroll list in the Drive Manager dialog. 46 Click on the "Start" button in the Drive Manager dialog. 47 The motor should now rotate at 10 % of the maximum speed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 46 This successfully completes the commissioning for Axis 1. ZPrepara- In the same way, you can set the parameters for Axis 2 and start it up from tions– on page 18. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 47: Cycle Times Of The Software Modules

    Ramp function generator Settable: RT1-cycle time (1 ms; default setting) or fieldbus task cycle. Z110.22– Effective cycle time can be read in Setpoint generator 1 ms Analogous inputs 125 µs, 250 µs, 500 µs or RT1-cycle time Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 48 Speed control RT1 (default setting) or fieldbus Current control Notch position search Target position setting Speed setting RT1 (default setting) or fieldbus Manual drive operation Reference run operation Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 49: Structure Of The Parameter Overviews

    X in column „Cyclic Write“ = fieldbus cycle time < 1 ms also Parameter is valid for all axes of the device  X in column „Axis independent“ = in common Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 50 The parameter is writable, cyclic writable (fieldbus cycle time < 1 ms), it will be stored namely in all data sets; it is NOT axis independent, i.e. it can be set separately for each axis. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 51: System

    0xFFFFFFFF 0 ware number 102.19 Fieldbus controller firm- UDINT 0xFFFFFFFF 0 ware version 102.20 Fieldbus controller firm- STRING ware version time stamp 102.21 Fieldbus controller firm- UDINT 0xFFFFFFFF 0 ware type Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 52: Description Of The Parameters

    3.3.1.2 Description of the Parameters System Clock Operating time of the controller in seconds. System Ticks RT1 Display of the value of a counter which is incremented in TASK_RT1. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 53 102.1 Firmware number Internal Baumüller firmware number 102.2 Firmware version Display of the firmware version with 2 digits for main version (incompatible version), sub- version (compatible version) and bugfix version. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 54 Summarized text information of the firmware version. 102.7 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. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 55 Expected identifier of the system FPGA. See also Z102.10–. 102.14 FPGA version Display of the FPGA version in the format Major[2] . Minor[2] . Fix[2] 102.15 FPGA firmware number Baumüller internal FPGA Firmware number Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 56 Board data status Status code: Value Meaning No error Busy – command being executed Done – command has completed without errors All other values are error codes Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 57 102.31 Controller article number Article number of the controller as a 32 bit numerical value. 102.32 Device serial number Serial number of the device as a 32 bit numerical value. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 58 The handling of the password-protected levels is not interface-oriented. If an inter- face channel switches to a password level, the corresponding access permission also applies to all the other channels. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 59 System command System commands in the controller are triggered by writing to this parameter. 139.25 Switch-on time If the system is started this parameter saves the value of system clock (Z1.1–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 60 158.6 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 61: Configuration

    Output frequency dependent limit of the maximum drive current Z138.32– From controller firmware 01.13 the peak current derating in parameter is pre- Z138.8– sented and signalized in the parameter bit 6. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 62: Prodrive Power Unit

    3.4.1.2 Parameter overview Functional blocks: FbPsChars [129] FbPower_Section [130] FbPuTempModell [175] ZDiagnosis– For Parameter 6.27 see from page 676 ZMotor– For Parameters 19.6 and 107.9 see from page 81 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 63 Peak current 4 kHz TM FLOAT 1000.00 10.00 129.87 Peak current 8 kHz TM FLOAT 1000.00 10.00 129.88 Peak current 16 kHz TM FLOAT 1000.00 10.00 129.92 Fan configuration UINT 0xFFFF Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 64: Description Of The Parameters

    175.8 PU I2t max. continuous FLOAT 1000 current actual value 3.4.1.3 Description of the Parameters 129.3 Hardware Id The hardware identifier has the format: 33.YYNN.BBA01 Example: 33.0815.02D04 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 65 129.7 Main voltage scaling gain Standardization factor for the supply voltages, depends on the power unit (relevant to mains rectifier units) 129.8 Current converter configuration Factory settings for the configuration Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 66 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 67 "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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 68 Max. ground current Monitoring the maximum ground current 129.42 Min. DC link voltage Monitoring the minimum DC Link voltage 129.44 Firmware version Reserved 129.45 Power factor Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 69 Maximum admitted current of the power unit at the accordant PWM frequency The parameter is valid only if the temperature model for the PU overload monitoring is Z175.2– used (see PU temperature model state Bit 0) Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 70 This parameter has the same meaning at the axis units as well as at the active mains rec- tifier unit. Actual value of the DC link voltage 130.8 Main supply voltage Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 71 0, the drive is inhibited at once at mains failure and an accordant error mes- sage is generated (error 1016 Mains failure or error 1032 Error DC-link supply). Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 72 130.15 PWM frequency The PWM frequency of the drive controller and the cycle time of the current controller are set in this parameter. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 73 0 - 225 Hz 125 µs 0 - 450 Hz 62,5 µs 0 - 599 Hz (900 Hz) *) *) 900 Hz are technically (from the control point of view) possible Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 74 (Z130.41–). It can deviate from the set PWM frequency >130.15<, if the safe- ZOverload ty function of the PU temperature mode "PWM reduction" is operated (see monitoring of the power unit– from page 709). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 75 Mode. If the mains is available again within the set Mains failure delay, no error message is gen- erated. The warning is deleted and normal operation is continued. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 76 1: Internal diagnosis channel 1 has triggered STO 10 ... 8 SAF-001-001 identification: SAF-001-001-000 SAF-001-001-001 (SS1 time fixed: 200 ms) 2 ... 7:reserved 13 ... 11 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 77 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 78 >175.5< The maximum mains voltage is important for the mains rectifier unit, the active mains rectifier unit and internally supplied mono devices, only. For other devices (includ- Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 79 PU instanta- neous value of continuous current >175.7<. See ZOverload monitoring of the power unit– from page 709. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 80 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 709. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 81: Motor

    Z19.6–. However, value" this current and the actual maximum torque can be reduced by the power unit overload monitoring (refer to "Bit mask of external drive current limit" Z138.8–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 82: A) Asynchronous Motor: Torque Limit Above B) Asynchronous Motor: Overlap Of Several Limits

    Particular case synchronous motor with interior permanent magnet (IPMSM) The torque is calculated from the characteristic map of the IPMSM and from the currents according to the following formula: Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 83: 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 34–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 84: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 85: Prodrive Motor

    19.6 Max. drive current FLOAT 10000 19.7 Max. field current ampli- FLOAT 10000 tude 19.8 Max. torque current FLOAT 10000 19.9 Field current preset FLOAT -10000 10000 value Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 86 Attenuation factor FLOAT 655.35 Nm/10 00U/mi 107.25 Max speed electr. UINT 65535 U/min 1:1 107.26 Max speed mech. UINT 65535 U/min 1:1 107.27 Max temperature UINT Grad Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 87 Iq upper limit FLOAT 10000 138.7 Iq lower limit FLOAT -10000 -1.5 138.8 Bitmask of external UINT 0xFF Bits drive current limit 138.9 External limiting max FLOAT 10000 10000 drive current Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 88: Description Of The Parameters

    Number of motors Number of axes. The value of the parameter is automatically set by the controller during the boot process, using the device identifier (Z129.4– Hardware name). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 89 The parameter accords to the minimum value be- Z19.6– tween the "maximum total current of the drive" and the "External limitation of the maximum total current" Z138.9–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 90 "Max. field current amplitude" and "External limiting max. field current amplitude" Z138.10–. 19.8 Max. torque current Display of the standardized factor of the maximum torque current in A. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 91 3 = 1 (independent of bit 1 and the motor type) = "Max. drive current" Z19.6– max aux = 0, sd aux >19.8< Z19.6– or I = "Max. drive current" sq max ref Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 92: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 93: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 94 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. 19.21 Isq additive set value 2 Second additional set value for current. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 95 Notch position search failed or plausibility error 15 ... 4 Reserved 19.51 Current ref. for notch position detection Current for the notch position detection. Standardization:  Z107.9– 100% Motor Nominal current Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 96 107.4 Serial number Serial number of the motor. The value displayed is read from motors with an electronic identification plate and is for information only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 97 Display of the motor standstill current.  The value displayed is read from motors with an electronic identification plate.  The parameter can be changed in the inhibited state, only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 98 100%) accordant to slip temperature (cold) Z107.17–. The parameters 107.15 Z107.17– support the temperature adaption characteristic of the slip frequency. Refer to "Slip frequency temperature actual value" Z19.30–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 99 The slip temperature when warm must be higher than the slip temperature when cold (Z107.17–). At asynchronous motors without an electronic type plate the parameter must be set man- ually. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 100 107.22 Peak torque Peak torque of the motor. The value displayed is read from motors with an electronic iden- tification plate and is for information only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 101 2 and -3. For details, refer to Z110.13–. The parameter can be changed in the inhibited state, only. 107.27 Max temperature Switch-off threshold of the motor temperature monitor. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 102 Magnetizing inductance of the single phase equivalent circuit of the asynchronous ma- chine. The value displayed is read from motors with an electronic identification plate and is for information only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 103 0: Motor phase sequence counter-clockwise 1: Phase sequence clockwise 2 ... 1 00: Synchronous motor 01: Asynchronous motor 10: Interior permanent magnet synchronous motor (IPMSM) Reserved  15 ... 3 default = 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 104 Inertia of brake Moment of inertia of the motor brake. The value displayed is read from motors with an electronic identification plate and is for information only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 105 The selection and the entering of the values can be made manually or by an available supporting point set in the Baumüller motor data base. Generally, the supporting points 107.72[0] to 107.72[10] are assigned zero. The parameter can be changed in the inhibited state, only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 106 Display of the measured motor temperature in °C Z128.2– Is important if the motor temperature monitoring is switched on (value bits 0 to ≠ 0 and 1 and 3), only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 107 Warning threshold 2. 133.14 Status motor operating mode The mode is set in parameter Z19.52–.  Value Meaning Motor observer off Motor observer on Motor model for the motor control Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 108 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 109: Torque Current Limit

    "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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 110 The strongest limit is effective. The definite upper and lower torque current limit is dis- Z138.6– and Z138.7–. played in Standardization:  Z19.8– 100% Max. torque current Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 111 Display of external sources of the drive current limit as a bit string. A 1 in the corresponding bit position means that the limit is active. If several bits are set, the smallest limit takes effect. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 112 Center frequency Iq set value notch filter Setting of the center frequency of the Iq set value of the notch filter. The filter is switched off, when the value is less than 2 Hz. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 113 In comparison with the symmetrical, cyclic torque current limit (Z138.14–), the 138.15 can not be written cyclical. However, it can be saved and is subject to the hysteresis (Z138.4–) when defining the quadrant. Standardization:  Z19.8– 100% Max. torque current Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 114 If the breakdown torque controller is activate the breakdown torque limit does not act any- more (Z138.1– bit 4 = 1). If the breakdown torque limit as well as the breakdown torque controller are deactivated then Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 115 This parameter displays the torque in Nm, acting within the motor. This is the torque in the air gap of the motor, which is calculated as follows:   Flux [%] I sq act with: Torque display in Nm, 138.21 Kt updated Z155.24–, in Nm/A Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 116 Indication threshold torque If the absolute value of the effective torque (Z138.21–) exceeds the value of the torque threshold, bit 0 in parameter Status current limitation (Z138.25–) is set. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 117 "Max. drive current actual value" sq max act Z19.5– Z47.2–. and by subtracting the "lsd set value" l max act sd set – max act sd set sq max act Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 118 Build-up of the flux before the transition in drive manager state 4 (Z108.6–): 1: on 0: off Reserved Command start of the Lh-identification 15 ... 11 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 119 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 508. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 120: Synchronous Motor

    A feedforward of an additional current torque is generated, in which an additional current torque is generated in dependence of an electric or mechanic angle. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 121: Torque Ripple Compensation

    Mode optimization UINT 0xFFFF 157.2 State Identification UINT 0xFFFF torque ripple compensa- tion 157.3 Table torque ripple cur- FLOAT -1000 1000 rent 157.6 Actual torque ripple cur- FLOAT -1000 1000 rent Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 122 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 123: Asynchronous Motor

    BM5000 can consider a non-linear Lh-characteristic for motor control. This can be en- tered manually or can be identified in idle mode. Z123.33– Manual input of the Lh-characteristic m Lh dependent on magnetizing current m Flux dependent on magnetizing current Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 124 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 125: Prodrive Lh-Characteristic

    Description of the Software Modules and Parameters 3.4.4.3 ProDrive Lh-characteristic Figure 43: ProDrive Lh-characteristic Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 126: Description Of The Lh-Characteristic Parameters

    Acceleration of nominal speed with 1.1 * magnetizing current To build up Wait until current and voltage are constant Measuring the voltages Braking to 0 Calculating the inductance Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 127 Meaning Motor control entry in table Completed Error 146.19 Ramp-up time nominal speed Ramp-up time for controlled acceleration/deceleration to nominal speed/speed = 0 due to determine the main inductance characteristic. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 128: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 129: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 130: Identification Of The Nonlinear Parameters

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 131 From this maximum total current during a present flux (Z171.17–) and the min- imum ld current (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. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 132 0 by the nominal flux. The characteristic can be calculated automatically in the controller by bit 12 of Z171.1–.The MTPF should be calculated again if the maximum cur- rent (Z19.6–) or the maximum field current (Z146.12–) are changed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 133: Torque Ripple Compensation At Ipmsm

    Lq curve family FLOAT 1e-5 1e-3 1:1000 171.5 Norm current for induc- FLOAT 0.01 tance chart familiy 171.10 Minimum Id Current FLOAT -1e9 171.11 Id Current of MTPF FLOAT -100 -100 characteristic Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 134: Description Of The Parameter

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 135 (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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 136 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 137 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 138: Encoder

    ----------------------------------------- - max,theoretical Number of pulses Example: Sine-Cosine encoder with a number of pulses 1024:  250 kHz 60   ------------------------------ - 14648 min max,theoretical 1024 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 139: Length Measuring Devices

    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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 140: Encoder Monitoring

    Z14.1– The levels for the monitoring of the sin² +cos² value can be set in the parameter and Z14.2–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 141 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 142 Additionally, the field angle monitoring can be switched on and off by setting the field an- gle speed threshold (Z143.8–) as a function of the speed set value. If the speed is less than the field angle speed threshold (Z143.8–), the monitoring remains disabled. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 143: Sin 2 Cos 2 Monitoring And Field Angle Monitoring Of A Synchronous Machine

    Position error Motor Threshold = /4 Pole pairs Offset 107.19 127.8 Error cos² + sin² No. 400 to 404 Figure 49: Monitoring and Field Angle Monitoring of a Synchronous Machine Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 144: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 145: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 146 10 rpm is shown in the following. The relevant frequency is  f = 10 rpm * 1024 = 170 Hz. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 147 Description of the Software Modules and Parameters Figure 53: Speed and sinus track before statical encoder error correction Figure 54: Speed and sinus track after statical encoder error correction Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 148: Encoder Accuracy And Excentricity

    Variation of the position value angle Figure 55: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 149: Ssi Digital Configuration

    6 bit data before the position Z106.63– 8 bit revolutions Z106.62– = 16 16 bit angle Z106.99– = 18 18 bit data after the position Z106.100– Z126.21– Application parameter Uint16_1 Z106.101– Z126.61– Application parameter Uint32_1 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 150: Resolver Synchronization

    Additionally the phase of the resolver excitation can be set to set the resulting sine and cosine tracks to a certain time. Figure 57: Synchronization of the resolver Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 151: Encoder Angle Via Fieldbus

    (fieldbus dead time). Because of the additional dead time in the speed control loop speed and position control loops cannot be operated with the standard gains. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 152: Parameter Overview

    Oversampling factor UINT 106.5 Encoder actual angle UDINT 0xFFFFFFFF 0 106.6 Encoder actual revolu- UDINT 0xFFFFFFFF 0 tions 106.7 Speed display DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 153 0xFFFFFFFF 0 Grad monics 106.77 Phases of the harmon- UDINT 0xFFFFFFFF 0 Grad 106.78 Correction angle DINT 0x80000000 0x7FFFFFFF 0 Grad 106.79 Speed for calculation of FLOAT 3000 Grad/s 1:1 excentricity Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 154 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 155: Description Of The Parameters

    (sin²+cos²) value of the encoder signals. The variance is calculated using the least errors squared method. The sum of all errors squared is a measure of the quality of the calcu- lated variance and should be as small as possible. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 156 Max error count incremental encoder Setpoint for the incremental encoder monitoring. At activated monitoring an error mes- sage is generated corresponding to the preset numbers of incremental encoder errors. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 157 14.20 Status variance calculation Internal status of the variance calculation. 14.21 Position monitoring error threshold Z14.17– Error threshold for position actual value monitoring, see bit 7. Mechanical angle in degrees. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 158  recognizable by the designation of order EnDat 01 or EnDat 02  Z137.20– Sine-Cosine encoder with Absolute value encoder with incremental SSI interface signal ~1 Vpp Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 159 0: Encoder optimization is not completed yet 1: Encoder optimization completed (amplitudes/offset, eccentricity...) 0: Offset- and amplitude error correction is carried out 1: Offset- and amplitude error correction is completed 15 ... 3 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 160 1: The revolutions of the overflow counter are added to the position actual value. Z106.3– Bit 7 of the is not relevant in this case. 31 ... 11 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 161 16-fold oversampling 32-fold oversampling 64-fold oversampling 128-fold oversampling 256-fold oversampling 106.5 Encoder actual angle Current actual value of encoder angle (without absolute dimension offset adjustment) Standardization: 0xFFFFFFFF for 360 degrees Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 162 The parameter shows the number of revolutions of the encoder’s actual value position in 32 bit resolution. If the encoder is selected for position control, it corresponds with param- eter Z18.56–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 163 This parameter specifies the maximum counter limit for the encoder revolution overflow counter (Z106.15–) from which the overflow counter starts with 0 again. Z106.15– If the value of the parameter is equal to 0 or 1, the parameter does not count. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 164 Analog value of cosine trace (after correction). At square-wave incremental encoders the measuring value of the A trace is shown. How- ever the displayed value is only usable up to approximately 18 kHz signal frequency. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 165 At an automatic setting the phase is set in such a way that the evaluation is always carried out at the maximum of the sine and cosine track. 106.47 Resolver actual phase offset Actual phase value of the resolver excitation. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 166 Setting of transmission and the data format:  Meaning 9 ... 0 Reserved 13 - 10 Baud rate Value Meaning 100 kHz 199 kHz 399 kHz 1,014 MHz 1,974 MHz 5 ... 15 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 167 Reserved 106.62 SSI bits angle Setting of bit numbers to transmit the angle (0 to 31). 106.63 SSI bits revolutions Setting of bit numbers to transmit revolutions (0 to 31). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 168 Error, setpoint frequency not constant Error, setpoint frequency too low Error, setpoint frequency too high Offset error and amplitude error correction active 12 ... 14 Internal calculation Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 169 Correction angle of excentricity and adding the individual harmonics, added to the encod- er angle. 106.79 Speed for calculation of excentricity By this speed the motor is operated during the evaluation of the excentricity or the indi- vidual harmonics. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 170 Number of the bits transmitted after the last bit of the position at the SSI encoder (least significant bit / LSB). Changes at the parameter become effective by the activation of the encoder with Z106.1–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 171 Number of sine periods per Rotary encoder: The value  EnDat 2.1 or HIPER- revolution will be read out automatically  FACE from the encoder Length measuring devices: The user must enter the value Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 172   Pole pitch [mm} 2 Pole pairs Z106.63– At encoders with SSI protocol the parameter is set by means of the setting in SSI bits multiturn. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 173 / Z106.12–). The M0-Offset is the position coordinate system (Z106.10– added to the read encoder actual value at each initialization. Due to this, the requested position coordinate system (machine coordinate system) results directly. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 174 Offset of the position zero proximity switch for the machine zero position. 137.8 Encoder operating hours Reserved 137.9 Time first commissioning Reserved 137.10 Time last refresh Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 175 Only the incompat- ible part of the version will be displayed. The compatible part (to the right of the decimal point) is missing. 137.23 Firmware date Date of the encoder firmware version. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 176 Instruction set  The parameter is only valid for EnDat encoders. It displays the supported instruction set as well as type specific information of the con- nected encoder. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 177 -length measuring device ("linear en- coders") only. The parameter displays the measuring step which will be output from the measuring in- strument at the serial transfer of the position value. The unit is nm. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 178 Not generally all error messages were supported (see Alarm mask). The controller responds to a set error bit with a corresponding error (error numbers 406 to 412). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 179 Not generally all warnings were supported (see Warning mask). The controller responds to a set warning with a corresponding error (error numbers 417 to 421). These can be always acknowledged. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 180  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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 181: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 182: Prodrive Autotuning Of The Current Controller

    Name Type Default Value Unit Factor 123.1 Mode UDINT 0xffffffff 123.2 Status UDINT 123.4 Display max. current FLOAT 10000 0.000000e+00 A 123.6 Stator resistance mea- FLOAT sured Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 183: Description Of The Parameters

    – If the adaption is activated, the dead time measurement values are converted to val- ues corresponding to a PWM frequency of 8 kHz and subsequently stored in the dead time correction table Z123.15–. The effective dead time voltage for the dead Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 184 Identification cannot be switched on Identification error: Set Value voltage too great. Identification error: Voltage limit accessed Identification error: Timeout (60 seconds) while measuring the resistance Identification interrupted Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 185 This parameter shows the identified inductance of the motors. Conversion from motor da- sig_Ls = L s ASM: sig_Ls = L s r The following pictures show the equivalent circuits for the asynchronous machine (ASM) and the synchronous machine (SM) at standstill. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 186 This parameter shows the identified reset time for the current controller. 123.10 Parameters takeover Bit no. Meaning Reserved Accept identified Lh-characteristic Smooth the dead time table Parameter for motor control from: 0: Motor type plate 1: Identification Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 187 This parameter shows the normalized error that has been established while determining the step response time constant (Z123.12–). The quality of the evaluation can be as- sessed from the value and a value of less than 5% can be considered good. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 188 The dead time measurement must be repeated, if the IGBT dead time (Z129.9–) was changed. 123.35 Result Rr This parameter shows the identified rotor resistance of an asynchronous motor. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 189: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 190 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 191 ProDrive on the page control system analysis is required (method 3). The Ks measuring via the FFT analysis can be executed in all operating modes where the torque current controller (this means current control or higher operating modes such as Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 192 The third method of the Ks measuring is appropriate for oscillatory systems and is de- ZControl loop analysis– scribed in detail in the chapter on page 198. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 193: Prodrive Ks Determination

    10000 0.000000e+00 A 52.5 Mean Isq 2 FLOAT -10000 10000 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/ Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 194: Description Of The Ks Measurement Parameters

    Wait for constant set speed Speed_1 (Parameters Z132.14–) Settling to constant speed Speed_1 Constant speed Speed_1 Acceleration Z132.12– and Z132.16–) Settling to constant speed Speed_2 (Param. Constant speed Speed_2 Braking Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 195 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 196 The determined coefficient of sliding friction, b, is displayed here in units of [(A/degree)/s]. 52.10 Load friction The determined static friction coefficient c is displayed here in units of [A]. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 197 52.19 Period for Ks identification The period that the additional angle is added to the position set value to determine the Ks-determination in position control. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 198: Control Loop Analysis

    Noise is added to the additional current set value by "Start analysis". The evaluation of the measuring values is processed via the FFT analyzer function. This evaluation deter- mines the frequency response. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 199 At first is evaluated if it is a single mass system or a two-mass vibrational system. For this the accepted frequency response is checked, if there are distinctive antiresonance and resonance frequencies. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 200 In order to optimize the controller and polynomial filters the sampling time (cycle of posi- tion and speed controller) as well as the current time constant (additional time constant of the closed control loop dependent of the PWM frequency) are required. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 201 ProDrive transfers the optimized values to the coefficients of the Isq-set-polynomial filter, but doesn’t activate the filter automatically. The user must control the state of the filter (Z29.2–) and activate the filter (Z29.1–), if necessary. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 202: Autotuning Asynchronous Motor

    The procedure to identify the Lh-characteristic curve is described detailed in chapter characteristic– on page 123 as a part of the configuration of the asynchronous motor. The ZProDrive Lh-characteristic– detailed description is in chapter on page 125. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 203: Digital Inputs

    0xFFFFFFFF 0 116.12 Set bit pattern for LOW DWORD 0 0xFFFFFFFF 0 state digital input 2 116.13 Set bit pattern for HIGH DWORD 0 0xFFFFFFFF 0 state digital input 2 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 204: Description Of The Parameters

    If the input is permanently linked to the "Pulse enable" function, the logical inversion has no effect on the function. The user can only set the inversion of bit 15 and the evaluation of bit 14. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 205 If the data of the target parameter is of type Float, no bit selection can be made; all the bits written to the target parameter will always be of the bit pattern Low or High. Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 206 Set bit pattern for LOW state digital input 2 For description, see Z116.6–. 116.13 Set bit pattern for HIGH state digital input 2 For description, see Z116.7–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 207: Fieldbus Communication

    At 125 µs cycle time the set values are transferred in the RT0 cycle after next one, so that the fieldbus task is available of more computing time. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 208 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 209 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 BM5800 Document No.: 5.16029.03...

  • Page 210: Parameter Ids For The Real Time Lists

    Factor 131.1 Mode WORD 0xFFFF 131.2 State WORD 0xFFFF 131.3 Producer List UDINT 0xFFFFFFFF 0 131.4 Consumer List UDINT 0xFFFFFFFF 0 131.5 Producer Counter UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 211: Description Of The Parameters

    By setting the appropriate bits, the following channels can be switched off independently of one another: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 212 The parameter Ids configured by the Fieldbus computer are displayed in the real-time lists. The parameters are two-dimensional arrays. Figure 67: Producer list and cunsumer list 131.4 Consumer List Z131.3– Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 213 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 214 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 215 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 216 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 217 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 218 The counter is incremented, if the fieldbus firmware did not retrieve the actual values. If the fieldbus is in operational state and the drive is synchronous with the fieldbus, the error 1937 is set at exceeding of threshold Z131.55–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 219 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 220: Measuring Encoder Function

    The availability of new measured values will be displayed in parameters 124.3 (Status, after initial measurement) and 124.4 (Status 2, Toggle Bit after each new measurement). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 221 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 68: Direction of revolution Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 222: Prodrive Measuring Encoder

    FbTouchProbe [124] Number Name Type 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 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 223 TP2 pos. edge rev- olutions 124.22 Encoder 2 trigger digital UDINT 0xFFFFFFFF 0 input TP2 pos. edge angle 124.23 Encoder 2 trigger digital UDINT 0xFFFFFFFF 0 input TP2 neg. edge revolutions Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 224: Description Of The Parameter

    All measurements are inactive during the change of the configuration! Meaning Encoder 1 0…2 Measurement "Encoder 1 with Trigger digital input TP1" Activation channel measurement positive edge (Enc1TrDi1PosValRev/Enc1TrDi1PosValPhi) 0: switch off 1: switch on Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 225 Activation Qualification with digital input 0: Qualification off 1: Qualification on Selection digital input for qualification 0: Qualification zero pulse with digital input TP1 1: Qualification zero pulse with digital input TP2 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 226 Measurement "Encoder 2 with Trigger digital input TP2" Activation channel measurement positive edge (Enc2TrDi2PosValRev/Enc2TrDi2PosValPhi) 0: switch off 1: switch on Activation channel measurement negative edge (Enc2TrDi2NegValRev/Enc2TrDi2NegValPhi) 0: switch off 1: switch on Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 227 1: Delete measuring values, if channel is switched off Activation filter 500 µs for measuring encoder digital input TP2 (effects only for measuring encoder, to all encoder) 1: Filtering with 500 µs 0:No filtering (-> 4 µs) Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 228 Measurement Channel "Delete / reactivate Encoder 2 with Trigger digital input TP1 negative edge 0->1, 1->0: Measurement Channel "Delete / reactivate Encoder 2 with Trigger digital input TP2 positive edge Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 229 Zero Pulse negative edge": 0: Switched off 1: Switched on Measured value storage Measurement Channel "Encoder 2 with Trigger dig- ital input TP1 positive edge": 0: Switched off 1: Switched on Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 230 Status of the measured value storage Channel "Encoder 2 with Trigger Zero Pulse " ("or" linked Bits 30,31): 0: No measured value stored yet 1: Measured value stored 19 … 18 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 231 P124.4 is recommended where new measured values of the channels are signaled through toggle bits. 124.4 Status 2 Extended status of the measuring encoder. Toggle bits to signal new measurements with continuous triggering (refer to Z124.1–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 232 0->1, 1->0: new measured value exists Toggle bit to signal "New measured value in channel "Encoder 2 with Trigger Zero Pulse negative edge" exists. 0->1, 1->0: new measured value exists 12…31 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 233 Revolutions Encoder 1 with triggering of measurement through falling edge at digital input TP2. 124.12 Encoder 1 Trigger digital input TP2 neg. Edge Angle Angle Encoder 1 with triggering of measurement through falling edge at digital input TP2. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 234 Angle Encoder 2 with triggering of measurement through rising edge at digital input TP1. 124.19 Encoder 2 Trigger digital input TP1 neg. Edge Revolutions Revolutions Encoder 2 with triggering of measurement through falling edge at digital input TP1. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 235 Angle Encoder 2 with triggering of measurement through rising edge of Zero Pulse of En- coder 2. 124.27 Encoder 2 Trigger Zero Pulse neg. Edge Revolutions Revolutions Encoder 2 with triggering of measurement through falling edge of Zero Pulse of Encoder 2. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 236 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 237 Encoder 1 trigger digital input TP2 Encoder 1 trigger zero pulse Encoder 2 trigger digital input TP1 Encoder 2 trigger digital input TP2 Encoder 2 trigger zero pulse 6 … 15: Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 238 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 239 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 240: Customizable Pid Controller

    G s   Kd s  ----- - This means that Kp is effective for the D and I controller even then if the P controller is inactive. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 241: Parameter Overview

    Target number output UDINT 0xFFFFFFFF 0 PID controller 1 150.7 Kp PID controller 1 FLOAT 100000 150.8 Tn PID controller 1 FLOAT 0.000001 100000 0.01 150.9 Td PID controller 1 FLOAT 100000 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 242 Actual value PID con- FLOAT -5000000000 5000000000 troller 2 150.31 Output PID controller 2 FLOAT -5000000000 5000000000 150.32 Integral term PID con- FLOAT -5000000000 5000000000 troller 2 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 243: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 244: Only

    Selection of the target of the PID controller output. All cyclic writable parameters are permitted. 150.7 Kp PID controller 1 Proportional gain of the PID controller 1. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 245 If the lower limit is less than the minimum value of the linked target parameter, then the output is limited at writing on the target parameter to the minimum value of the Z150.2– linked target parameter if necessary. This will be signalized in bit 8. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 246 The integral term is set to 0 permanently at deactivated PID controller or switched off in- tegral controller. 150.17 Mode PID controller 2 Z150.1– Configuration of the PID controller 2 see table Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 247 Source number actual value PID controller 2 Selection of the source of the PID controller actual value. At source number = 0 the value can be specified directly, e.g. via a fieldbus or an analogous input. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 248 Z150.18– the linked target parameter if necessary. This will be signalized in bit 8. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 249 Value of the output of the PID controller. Z150.22– The target of the output can be selected in „Target number output PID control- ler 2“. The output is set to 0 at deactivated PID controller. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 250 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 251: Pt 1 Filters

    Type Default Value Unit Factor 182.1 Mode WORD 0xFFFF 182.2 Source parameter id UDINT 4294967295 182.3 Time constant PT1 filter FLOAT 32.767 182.4 PT1 filter output FLOAT -3.4028234e38 3.4028234e38 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 252: Description Of The Parameters

    The output is always displayed in ProDrive as a raw value of the source parameter. A cal- culation of the unit of the input value by ProDrive does not effect the presentation of the output value. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 253: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 254 Cross communication n act Master Set,master Figure 71: Structure of the control of the torque coupling at connecting the torque coupling via compensat- ing controller Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 255: Structure Of The Control Of The Torque Coupling At Connecting The Torque Coupling As Torque Additional Set Value

    Cross communication Stress Torque init stress Mv P147.18 Master set,master Figure 72: Structure of the control of the torque coupling at connecting the torque coupling as torque addi- tional set value Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 256 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 257 (P147.21 Torque init stress (P147.21 Torque init stress actual value master) actual value master) Transfer P147.21 at direct torque init stress only (P147.1 Bit 16 = 1) Figure 75: Axis internal cross communication Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 258: Parameter Overview

    147.18 Torque init stress pt1 FLOAT 5000 time constant 147.19 Torque set value master DINT -10000000 10000000 147.21 Torque init stress actual DINT -10000000 10000000 value master Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 259: Description Of The Parameters

    Torque init stress must be parameterized to slave Torque init stress must be parameterized to master, transfer via cross commu- nication is needed, if master slave communication is externally (see Bit 4) Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 260 Bit 0 = 1) and the master drive is enabled. Meaning 0: Torque coupling is switched off 1: Torque coupling is switched on 15 ... 1 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 261 Compensating controller output upper limit Upper limit of the compensating controller at torque coupling (at slave functionality only, Z147.1– ZFig. 71– i.e. Bit 1...0 = 10, see on page 254). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 262 256). NOTE! The parameterized torque init stress is set only at the time when both the speed cou- pling factor master and slave Z147.5–, Z147.6– are 1. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 263 At external master-slave communication this parameter must be sent via cross commu- ZCross communication– nication (fieldbus) or analog inputs/outputs. See also on page 256. At internal master-slave communication an external transmission is not required. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 264 An external transmission is not required at internal master-slave communication. 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 265: Gantry Functions

    Setting of the Gantry mode: Bit no. Meaning 0: Gantry functions disabled 1: Gantry functions enabled 0: Internal coupling at a double axis 1: Coupling via fieldbus (not implemented yet) 7 ... 2 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 266 Z169.2– Z169.1– Status is set and depending on the setting in Mode bit 8 error message 213 "Position difference greater than threshold in Gantry operation" is displayed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 267 Mode, bit 9. 169.8 Actual current difference Displays the difference of the actual torque current values (smoothed torque current ac- tual values, parameter Z47.5–) between both Gantry axes. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 268: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 269 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 270 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 271: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 272 Configuration Z165.2– via the operators of Z165.5–. Figure 76: Boolean operation of the configurable status bits Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 273: Parameter Overview

    If the function of the logic operations is switched off completely via the Mode bit 0 = 0, the state of the completely configurable status is frozen at the shut-off time. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 274 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 275 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 276 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 277: Ds402 Factor Group

    Gear ratio motor shaft revolutions P179.6 Gear ratio (0x6091) ----------------------------------------------------------------------------------------------------- Gear ratio drive shaft revolutions P179.7 Feed constant feed P179.8 Feed constant (0x6092) ------------------------------------------------------------------------------------------------------------ Feed constant drive shaft revolutions P179.9 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 278 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 279: Factor Group Effect Of Position Weighting

    (selection with P124.30 from P124.5 ... 124.16 or 124.28) 1/ Position weighting unsigned Position error actual value P179.20 (0x60F4) Position error rev+angle (P18.60) Figure 77: Factor Group effect of position weighting Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 280: Factor Group Effect Of The Speed And 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 78: Factor Group effect of the speed and acceleration weighting Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 281 P 179.2 = 65536 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 282: Prodrive Ds402

    Configuration 3.4.19.2 ProDrive DS402 Figure 79: ProDrive Factor Group and touch probe DS402 3.4.19.3 Parameter overview Functional block: FbFactorGroup [179] Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 283 Homing speed search UDINT 0xFFFFFFFF 0 Inc/s for zero 179.25 Speed offset DINT 0x80000000 0x7FFFFFFF 0 Inc/s 179.26 Target speed DINT 0x80000000 0x7FFFFFFF 0 Inc/s 179.27 Homing acceleration UDINT 0xFFFFFFFF 0 Inc/s Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 284: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 285 277). 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 277). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 286 DS402 Factor Group object 0x60BD (touch probe value from revolutions and angle ZGeneral information– scaled with position weighting corresponding to from page 277). Zpage Notice: The touch probe must be parameterized adequately, see notes on 281–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 287 DS402 Factor Group object 0x60B1 (speed offset with speed weighting corresponding to ZGeneral information– from page 277). 179.26 Target speed DS402 Factor Group object 0x60FF (target speed with speed weighting corresponding to ZGeneral information– from page 277). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 288 277). 179.30 Quick stop deceleration DS402 Factor Group object 0x6085 (quick stop deceleration with acceleration weighting ZGeneral information– corresponding to from page 277). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 289: Management

    Power unit is operationally ready, DC link voltage / mains voltage is present (de- pending on the parameterization) m The operationally ready relay is ON (drive is operationally ready) Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 290 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 291: Introduction To The Description Of The Device Control System

    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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 292: State Machine For The Device Controller Of The Axis Units

    QUICK STOP ACTIVE X001 0111 PA = 0: Axis not parked PA = 1: Axis parked Figure 81: State Machine for the Device Controller of the axis unit Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 293: State Transitions In The Device Controller Of The Axis Units

    "Enable Operation" command n Action: m Drive function is enabled and m Holding brake is enabled Z134.1– (only if brake is in Automatic mode (Parameter Bit 0 = 1) Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 294 Action: m None 7 READY TO SWITCH ON  SWITCH-ON INHIBIT n Event: m "Quick Stop" command or m "Inhibit Voltage" command n Action: m None Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 295 Action: m Drive function is inhibited 10 SWITCHED ON  SWITCH-ON INHIBIT n Event: m "Inhibit Voltage" command or m "Quick Stop" command n Action: m Drive function is inhibited Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 296 Event: m Drive error is detected, i.e., an error to which a response should follow has been triggered n Action: m Error-dependent error response is initiated Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 297 The "Cancel Parking Axis" command will be accepted if the controller is in the "Parking Axis" display state. If the controller is switched off in the "Parking Axis" display state, this state will be re-es- tablished at the next switch-on. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 298: Parameter Overview

    108.19 Time for reducing torque FLOAT 108.20 Parking Shaft Control UINT Word 108.21 Parking Shaft Status WORD 0xFFFF Word 109.1 Operation Mode Set 109.2 Operation Mode Act Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 299: Description Of The Parameters

    Start sequential positioning, Inhibit set value Depends on operating mode: Jog backwards, Interrupt positioning 0: Enable mode changeover 1: Inhibit mode changeover 15 ... 14 Reserved Bit active low Bit active low Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 300 Change set immediately This bit is dependent on the setting in Parameter Z118.2–,  Mode bit 11 active low or active high.  Z118.2– Mode Bit 11 = 0: Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 301 Reference run operation (Operating mode 6):  0: Continue reference run Z121.8– 1: Hold axis with stop delay (FbPosCommonData) n Coupled operation (operation mode -12)  0->1 Takeover of gear factor Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 302 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 303 The bits labeled X are reserved and must be set to 0 by the controller. 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 304 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 305 Device Controller State Switch-on 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 OPERATION ENABLED Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 306 Coupled operation (operation mode -12)  1: A reloaded curve is ready to be activated.  0: A reloaded curve was activated and there is no curve available anymore Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 307 The bit is set as soon as the axis has come to a stop. For this, the set value setting Z6.1– and the drive must be at a standstill (Parameter "Speed-0 Message"). The Hold function is only implemented in the Target Position Setting mode (Operating mode 1). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 308 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 309 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 310 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 311 If at least one bit from the mask is set in the selected parameter, Bit 14 in the Status Word will be set. When StatusB14_IdSelect = 0, the mapping for Bit 14 is switched off. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 312 Return to ramp-down ramp and remain in Quick Stop active mode (renewed enabling possible) Return to Quick Stop ramp and remain in Quick Stop active mode (renewed enabling possible) Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 313 For correct functioning of the braking procedures on the Quick Stop or Ramp-down ramps, the speed controller must be adequately configured. NOTICE! Do not use return to current limit during U/f operation Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 314 1: Negative SW limit switch is set (target position was outside, now limited) 1: Positive SW limit switch is set (target position was outside, now limited) 8…31 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 315 This parameter is only relevant for axis units. This parameter is used to issue the commands for the "Parking shaft" display state. Value Meaning Reserved Activate "Parking shaft" No action Deactivate "Parking shaft" 3 … 32767 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 316 Manual drive operation Reference run operation 109.2 Operation mode Act This parameter is only relevant for axis units. For the meaning of the values, see Parameter 109.1. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 317: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 318: Organization Of The Parameters In The Data Sets

    After the device is configured, the parameters in the device should be saved. If an error occurs while saving (e.g. as a result of switching off the device during the programming Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 319: Switch-On Behavior

    Freely selectable text name for the data set 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 320: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 321: Data Set Commands And Possible Error Messages

    (2 to 7) using this command will the device allow switching to this data set. This measure is intended to guarantee that the user cannot switch unintentionally to an as yet Parameter manual b maXX BM5800 Document No.: 5.16029.03...
  • Page 322 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 323: Changeover To Data Set 1 To 7

    Read Flash completely Clear Flash completely Set standard values for the target data Data set which is to be set to standard values Set standard values for all writable parameters Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 324: Parameter Overview

    UINT 105.10 Boot Mode SAF-XXX WORD 0xFFFF 105.11 Name of complete para- STRING meter set 105.12 Error count UINT 0xFFFF 105.13 Config Ident number UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 325: Description Of The Parameters

    No command executed yet or else Reset command executed. 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 326 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 327 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 328 105.12 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 329: Brake Management

    A suspended axis will NOT be prevented from sagging in the following cases: m The drive is working in one of the modes "Find Notch Position", "Autotuning", "Current Control", "Current Setting" or "Voltage Setting". m The drive is being operated without encoders. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 330 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 331 Description of the Software Modules and Parameters Figure 83: Starting the drive in the "Automatic" brake control mode Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 332 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 333 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 84: Braking procedure in the "Automatic" brake control mode Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 334: Brake Watchdog

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 335: Prodrive Brake Management

    Speed limit FLOAT 1.00E+06 Grad/s 1:1 134.7 Timeout check-back sig- 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 336: Description Of The Parameters

    10 ... 7 Reserved Watchdog for brake monitoring at an opened brake Switch off Switch on 31 ... 12 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 337 Z134.5–) 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 338 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 329 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 339 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 329 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 340 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 329 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 341: 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. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 342: Parameter Overview

    0xFFFF mode 100.8 Error reaction actual value 100.9 Error reaction set value INT 100.11 Launch application error UDINT 0xFFFFFFFF 0 100.12 Error count RAM log UINT 0xFFFF Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 343: Description Of The Parameters

    The number of the relevant entries (i.e. the not yet acknowledged messages) is displayed Z100.2– in parameter Error count. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 344 Stop (ramp function generator - quick stop time) Stop at current limit The error responses „Return motion“ and „Controlled stop" are described in the chapters Z 3.6.3– 3.6.4–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 345 Z100.8– Z100.9– I.e. the control must copy of drive 1 to of drive 2. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 346 This parameter is only relevant in connection with the PLC function blocks BM_GetError- Info (at VARAN) and BM_GetDriveError (at EtherCAT) and is evaluated by these function blocks (see the Online-help of these function blocks). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 347: Set Value Manager

    Mode bit 16 = 1). Z111.1– An active Fieldbus Task operating mode can be recognized by Status Bit 5 = 1. Figure 87: ProDrive Set Value Manager 3.5.5.1 Parameter overview Functional block: SwgManager [111] Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 348: Description Of The Parameters

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 349 Any change in the mode only takes effect after a controller inhibit. Value Meaning Mode 0: Linear extrapolation of the position and the speed Mode 1: Linear interpolation of the position and the speed Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 350 Here the position and the speed is delayed by two set value manager cycles. NOTE! If several axes are to be operated collectively, the same interpolation mode should be set on each axis. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 351 The feedforward is activated via the bit 2 in Z18.9–, assumed that bit 1 in Z18.9– was set to 0! Refer to Tabelle , “Feedforward modes in position controlled operating Z111.7– modes,” auf Seite 425. The same notes and warnings apply as described in Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 352 Its resolution is 32 bit increments/revolution per ms Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 353: Set Value Generators

    Speed profile in zero-crossing at change of direction with or without rounding-off. m The set quick stop time Z110.8– applies to n change of set value from 100% to 0% Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 354: Optional Interpolation Of The Ramp Function Generator Input Set Value

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 355 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 356 The calculation of a resulting ramp-down time would be performed in the same way using Z110.7– Z110.10– the parameters Ramp-down Time and S-Curve Ramp-down Time. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 357 Now determine the resulting ramp-up time:   / dV ) * 2 * T (12.5 % / 25 %) * 2 * 200 ms = 283 ms Scurve total Scurve Scurve total Scurve Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 358 Virt. master set value cycle time = Interpolation interval = 2 ms  2 ms / 1 ms - 1 = 1  Interpolator generates 1 interpolated set value in the ramp function generator. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 359 The ramp-up and ramp-down times can be set here as required. In case of a stop at the deceleration ramp, it will be broken at the deceleration ramp. Z110.1– The bits 8 (Ramp-up is active) and bit 9 (Ramp-down is active) in are not changed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 360 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 361: Parameter Overview

    Default Value Unit Factor 110.1 Status DWORD 0 0xFFFFFFFF 0 110.2 Mode DWORD 0 0xFFFFFFFF 0x20 110.3 Output DINT -1073741824 1073741824 400000 100% 110.4 Input 32 bit DINT -1073741824 1073741824 400000 100% Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 362: Description Of The Parameters

    1: FG input is set internally to set value 0 (FG ZERO) 1: Quick Stop ramp is active (FG QSTOP) 1: Ramp-up is active 1: Ramp-down is active Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 363 0: Set Value inhibit before polarity reversal 1: Polarity reversal before set value inhibit 0: Trapezoidal speed profile with ramp generator smoothing (PT1 ele- ment) 1: S-Curve with quadratic speed profile Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 364 Mode bit 6 = 0. It acts when the ramp function generator is activated, e.g., by changing over or activat- ing operating mode -3 (speed control), so that no jump in speed occurs. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 365 If a stop at the deceleration ramp should be set at reaching the hardware limit switch Z110.2– must be set.  in spite of switched off error message, bit 8 in Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 366 This mode has no advantage for the trapezoidal profile and should be switched off. Figure 91: Change of direction without rounding-off of the speed at zero-crossing Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 367 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 368 100% Maximum drive speed (Z110.13–, [rpm]) 110.6 Ramp-up time Acceleration ramp for the speed-controlled operating modes. The time selected here applies to a 100% set value change Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 369 The time selected here applies to a 100% set value change The set S-Curve ramp-down time must be less than the set ramp-down time. Total ramp-down time for a 100% set value change: TotalRamp-downTime Ramp-downTime SCRamp-downTime Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 370 Input max. amount or Z110.5–). Absolute value of upper limit of the active ramp generator input (Z110.4– Parameter value with 32-bit resolution. Standardization: 100% Maximum drive speed (Z110.13–, [rpm]) Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 371 Maximum drive speed (Z110.13–, [rpm]) 110.20 Controlled stop time Delay ramp for the controlled stop. The set time in this parameter applies to a 100% change of the set value. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 372 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 373: Set Value Generator

    The set value generator has a cycle time of 1 ms. It can always be switched on or only when the drive is enabled. Starting always takes place with the first set value in the preset profile. 3.6.2.1 Parameter overview Functional block: FbSwg [132] Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 374: Description Of The Parameters

    1: Single cycle: the generator runs through only one cycle of the preset set value profile. At the end, the last set value is held. 31…3 Reserved Drive state P108.6 = 4 ("Operation Enabled") Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 375 Duration zone 1 Duration of Time zone 1 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 376 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 377: Error Reaction Controlled Stop

    This includes the following errors 203 and 204 (overspeed), 201 (speed error value) and 211 (field angle monitoring). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 378: Error Reaction Return Motion

    Speed limit UDINT 13200 1000 Inc/ms 1:1 148.5 Acceleration limit UDINT 45000 Inc/ 1:100 148.6 Position error limit UDINT 0xFFFFFFFF 0xFFFFFFFF 148.7 Position error time UINT 65535 65535 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 379 This bit will be deleted when upcoming error is reset. 3 ... 2 Reserved 1: Return motion positioning can/could not be started or is canceled. Accumulative bit, for details see bit 8 to 11 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 380 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 381 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 382: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 383: Parameter-Controlled Processing

    Parameter value Base value (P159.14) – In order to process the bitwise AND in this case, the supporting point count must comply with a power of 2 (for example 256 or 512). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 384: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 385 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 386 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 387: State Machine Of The Cam Generator

    The cam generator is in "active" state, if bit 0 = 0 and bit 1 = 0 in State. The cam is waiting for the final command to start processing, if it is in the "active" state. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 388: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 389: Parameter Overview

    Axis index input param- UINT eter 159.14 Basic value index calcu- UDINT 0xFFFFFFFF 0 lation 159.15 Shift factor index calcu- UINT lation 159.16 Output parameter UDINT 0xFFFFFFFF 0 159.17 Target axis UINT Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 390: Description Of The Parameters

    0: time control via the table index 1: time control with virtual master axis Time control with virtual master axis and parameter-controlled processing, only 0: no interpolation 1: active interpolation Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 391 The instantaneously active table entry is displayed. This index starts at 0 and ends at (count supporting points - 1). 159.5 List entries Total count of supporting points of the active cam. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 392 This parameter is combined with the reference value and amounts to the active table in- dex. If the parameter is an integer data type, then additionally the shift factor is combined, in order to amount to the active table index. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 393 159.17 Target axis The own axis or all axes can be selected at a double axis as a target axis. The selection of the other axis only is not possible. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 394: Motor Potentiometer

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 395: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 396 "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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 397 Z110.5– = 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 398: Controllers

    In the "Synchronized operation on a virtual master axis" mode the set values, including the electronic gearbox, are calculated in the Synchronized Operation module and for- warded to the position and speed controllers via the set value manager. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 399 Description of the Software Modules and Parameters Figure 95: Overview of the controller module in the drive Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 400: Block Diagram Of The Set Value Manager

    Speed Interpolation mode set value source (111.6) External speed feedforward (111.7) External acceleration feedforward (111.8) Conversion: Inc/s Degree/s Figure 96: Block diagram of the set value manager Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 401: Block Diagram Of The Position Controller

    Block diagram of the position controller NOTE! Z18.16– The gear factor is active at single axis and mono devices with two encoder inputs only. The gear factor is not evaluated at double axis units. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 402: Block Diagram Of The Speed Controller

    Kp Td Bandwidth (18.43) Friction compensation actual output value (154.8) Smoothing time (18.27) x2 speed actual value unfiltered 5000_0083_rev09.cdr (18.44) Figure 98: Block diagram of the speed controller Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 403: Block Diagram Of The Position / Speed Controller Module When In Operating Mode Current Control

    This function is only available 5000_0145_rev04_int.cdr at double axes devices! Figure 100: Block diagram of the position / speed controller module when in synchronous operation with a real master shaft Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 404: Position / Speed Controller

    = 100% and a "warm" motor). Z18.40– Z155.10– The Ks factor is the base of the parameter "Ks actual value" at which an operation is considered that deviates from the nominal operation. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 405: Position / Speed Controller Adaption

    The adaption can be calculated alternatively depending on the speed actual value or on the speed set value or on a free usable parameter (Z155.18–). In position control the adaption can additionally be calculated depending on the speed feedforward. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 406: Cyclical Ks Adaption

    By the option "from the speed feedforward change" the acceleration feedforward is ob- tained from the speed feedforward differentiation in the RT0 cycle. When selecting "from the entire speed set value" the sum of position controller output and speed feedforward Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 407: Friction Compensation

    A certain compensation of the friction is achieved with the connection of a correction sig- nal to the internal speed set value. NOTE! A speed controlled or position controlled operating mode must be activated (see Z109.1–) for friction compensation. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 408 A ramp function value is set between the constant connection values below the lower speed threshold and above the upper speed threshold. Faults at the switching edges are avoided by the continuous run. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 409 < > < 154.3 154.4 Speed > < 154.5 Figure 105: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 410: Prodrive Friction Torque Compensation With Pt Filter And Response

    If the speed exceeds the speed value of P , the compensation torque remains consistent- ly on the value of P Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 411 Lower speed threshold FLOAT -50000000 50000000 Grad/s 1:1 154.4 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 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 412 Speed thresholds are related to 00: Speed set value 01: Speed actual value 10: Speed feedforward (position control) Reserved Friction reduction at speed 0 31 ... 12 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 413 Connected friction compensation value for Speed > Upper speed limit For connection „Three-point with hysteresis and dead zone“ (Z154.1– bit 2 ... 1 = 00) see ZFig. 103– on page 408. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 414 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 415: Compensation Of The Torque Ripple

    If the torque ripples are dependent of the electric angle they can be compensated in the ZTorque ripple com- controller by additional torque current. This is described in detail in pensation– from page 120. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 416: Prodrive Position / Speed Controller

    Controllers 3.7.1.7 ProDrive Position / Speed Controller Figure 108: ProDrive position controller with detailed settings Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 417 Description of the Software Modules and Parameters Figure 109: ProDrive speed controller with detailed settings Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 418: Parameter Overview Of Position / Speed Controller

    FLOAT -1000000 1000000 Grad 18.13 e1 Position error value FLOAT -1000000 1000000 Grad 18.14 Kv position controller FLOAT 1000000 18.15 w2-Feedforward factor FLOAT Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 419 Isq set value unlimited FLOAT -3.4028234e38 3.4028234e38 0 18.50 isq set value for OM cur- -16384 16384 4000 rent control 100% 18.51 Position controller out- FLOAT -1000000 1000000 Grad/s 1:1 put total Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 420 FLOAT 10000 quency nominator 18.89 Set value filter damping FLOAT nominator 18.90 Set value filter fre- FLOAT 10000 quency denominator 18.91 Set value filter damping FLOAT denominator Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 421 155.18 Source controller adap- UDINT 0xFFFFFFFF 0 tion 155.19 Factor Kv adaption FLOAT 0.01 155.20 Factor Kv middle speed FLOAT 0.01 threshold 155.21 Actual Kv factor FLOAT 1000000 Grad/s 1:1 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 422: Description Of The Parameters

    1: External cyclic acceleration feedforward via Z111.8–; effective only in operating mode Position control (-4) See Tabelle , “Feedforward modes in position controlled operating modes,” auf Seite 425. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 423 Reserved Acceleration filter 0: Not active 1: Active Z18.93– 1: Timing acceleration feedforward / speed feedforward via Speed set value filter 0: Not active 1: Active 31 … 21 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 424 Reserved 18.11 w1 position set value Z18.57– Display of the current position set value in degrees, corresponds to parameter Position set value rev+angle in 32 bit resolution. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 425 Two encoders must be used for this purpose. One for the motor con- trol/speed control and one for the load-side position sensing for position control. For this option bit 0 = 1 must be set in Z18.9–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 426 8. 0: Operation as motor 1: Operation as generator 0: Torque direction 1 is active 1: Torque direction 2 is active Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 427 Speed set value output SetValMgr *  w2 Speed set value total = (Z18.69– Z18.15– w2-feedforward factor)  Z18.68– Speed set value add + (Z18.13– e1 position controller error * Z18.14– Kv position controller) Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 428 1 ms corresponds to a corner frequency of 159 Hz. Z18.9– The PT1 filter type can be set with bit of Controller options. 18.29 Integral term speed controller Display of the I-term in the speed controller. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 429 Factor for acceleration feedforward during the braking phase (negative change of speed). See also Z18.38–.  A value of 1 corresponds to 100%. Friction assists during braking, so a reduced feedforward during braking can make sense. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 430 This speed set value is used in the speed controller as a set value and is compared with the speed actual value (Z18.22–). 18.42 Center frequency x2 speed act value notch filter Center frequency of the speed actual value notch filter in Hz. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 431 Display parameter.  Acceleration feedforward from the position controller and before the parameter "w3-Feed- forward act. factor" Z18.38–, in degrees/s Z18.9– This feedforward acts independently of the controller option bit 0. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 432 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 433 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 434 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 435 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 436 18.87 w3 Filter damping denominator Denominator damping of the filter for the acceleration feedforward. 18.88 Set value filter frequency nominator Nominator frequency of the set value filter Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 437 406. In order to ac- Z18.93– Z18.9– tivate bit 19 of must be set. 18.94 w2 Filter frequency nominator Nominator frequency of the speed set value filter Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 438 Factor Tn adaption Factor for the adaption of the integral action time Tn of the speed controller. 155.7 Actual Kp speed controller Actual value of the gain Kp. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 439 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 440 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 441: Filter Of The Torque Current Set Value

    The filter coefficients can be calculated by the filter parameters (Z29.30– Z29.51–). Hereby bit 2 of Z29.1– must be active. Via the bit 3 the filter coefficients are calculated again. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 442: Setting Options Of The Polynomial Filter

    The filter amplitude increases from the cutoff frequency numerator f onwards. n The filter amplitude decreases from the cutoff frequency denominator f onwards. n The slope is set via the damping D and D Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 443 ------------------------------------------------ - 10  2 Center frequency Center frequency 200 Hz Bandwidth 200 Hz Notch depth -20 dB 200 Hz 200 Hz 0.05 Figure 112: Notch filter with defined notch depth Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 444: Other Filters

    Z18.91–. The calculation of the filter constants is made via the com- rameters mand 1 of parameter Z18.92–. The filter is activated via bit 11 of Z18.9–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 445: Parameter Overview

    29.17 Coefficient b1 FLOAT -1000000 1000000 29.18 Coefficient b2 FLOAT -1000000 1000000 29.19 Coefficient b3 FLOAT -1000000 1000000 29.20 Coefficient b4 FLOAT -1000000 1000000 29.21 Coefficient b5 FLOAT -1000000 1000000 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 446 29.49 Pt1 filter 2 cut-off fre- FLOAT 10000 quency 29.50 Pt1 filter 3 cut-off fre- FLOAT 10000 quency 29.51 Pt1 filter 4 cut-off fre- FLOAT 10000 quency Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 447: Description Of The Parameters

    Display of filter status (on / off) Value Meaning Filter is switched off Filter is switched on 29.6 Input value Displays the input to the filter. 29.7 Output value Displays the output of the filter. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 448 For description, see parameter Z29.9–. 29.12 Coefficient a3 For description, see parameter Z29.9–. 29.13 Coefficient a4 For description, see parameter Z29.9–. 29.14 Coefficient a5 For description, see parameter Z29.9–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 449 Coefficient b3 For description, see parameter Z29.17–. 29.20 Coefficient b4 For description, see parameter Z29.17–. 29.21 Coefficient b5 For description, see parameter Z29.17–. 29.22 Coefficient b6 For description, see parameter Z29.17–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 450 Denominator damping of the first biquad filter. 29.34 Biquad filter 2 nominator frequency Nominator frequency of the second biquad filter. 29.35 Biquad filter 2 damping nominator Nominator damping of the second biquad filter. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 451 Denominator damping of the third biquad filter. 29.42 Notch filter 1 center frequency Center frequency of the first notch filter. 29.43 Notch filter 1 bandwidth Bandwidth of the first notch filter. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 452 29.50 PT1 filter 3 cut-off frequency Cutoff frequency of the third PT filter 29.51 PT1 filter 4 cut-off frequency Cutoff frequency of the fourth PT filter Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 453: Current Controller

    Sign of Isq Axis Current is flowing from the motor to the axis, the motor is braked Current is flowing from the axis to the motor, the motor is powered Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 454: Current Controller

    (47.70) Nominal deadtime voltage b Deadtime voltage (47.71) Space Vector PWM Dead time compensation factor (47.50) 5000_0080_rev02.cdr PWM_U PWM_V PWM_W 47.29 47.30 47.31 Figure 114: Current controller Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 455: Overviewing The Voltages Before And After The Pwm

    Ud + Uq smoothed Nominal (6.38) d, q deadtime voltage b Smoothing time 1,25 ms Motor power display 5000_0407_rev02.cdr Rho electrical (47.47) Figure 115: Overviewing the voltages before and after the PWM Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 456: Current Prediction

    PWM frequency is therefore not necessary. However 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 457: Torque Current Limiting

    The ampere value of these limits will change at field weakening and external total current limit. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 458: Torque Current Limit "Lsqlim" At The "Standard Load Mode" Of The Synchronous Motor Bit 3 = 0)

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 459: Torque Current Limit "Lsq" At The "Current Mode" Of The Synchronous Motor

    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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 460: Torque Current Limit "Lsqlim" At "Standard Load Mode" Of The Asynchronous Motor

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 461 1 = 1, bit 3 = 0).  motor, only (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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 462: Feedforward

    Axis units: There is the possibility to feedforward the electromagnetic force for the current controller of the torque forming current component. This feedforward can be switched off by enter- Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 463: Current Controller Adaption

    P-gain reaches a limited percentage Kp of the original P-gain. The adap- Adapt tion results from the current set value Z47.1–. The current controller adaption can be activated by (controller adaption) mode Z155.1–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 464: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 465: Prodrive Current Controller

    Description of the Software Modules and Parameters 3.7.3.7 ProDrive Current Controller Figure 122: ProDrive current controller Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 466 Controllers Figure 123: ProDrive Current controller details Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 467: Overview Of Current Controller Parameters

    47.10 Tn d-current controller FLOAT 1.0e+04 47.20 Usq set value FLOAT -440 47.21 Usd set value FLOAT -440 47.22 Integral term Usq FLOAT -440 47.23 Integral term Usd FLOAT -440 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 468: Description Of Current Controller Parameters

    FLOAT adaption 3.7.3.9 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 469 = 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 470 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 471 U Beta set value Imaginary part of the control variable for the current controller in stator frame coordinates before dead time compensation. The unit of the parameter is [V], phase-to-phase voltage effective. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 472 100%, i.e. no modified modulation. MSVM stands for "Modified Space Vector Modulation" and is used to improve the voltage efficiency. However this results in increased current ripple. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 473 Standardization: 65535 for 360 degrees. m During the operation with the encoder (Z19.52– = 0 or 1) Rho electric depends on the encoder angle actual value as described in the following: Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 474 Rho electric has no mean- ing. 47.49 Output frequency filtered Frequency (actual value) of the output voltage smoothed with 4 ms. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 475 1: Increase of Id via Udc link-Id controller 15 ... 7 Reserved 47.52 Iq predicted This parameter displays the predictive current Iq determined by the current prediction pro- cedure, if the current prediction procedure is switched on. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 476 Because of the current actual values, the PWM frequency (according to setting bit 3) and of the UDC-link actual value evaluated dead time voltage (this means the nom- inal dead time voltage), affected by the dead time compensation factor (Z47.50–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 477 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 478: Dc Link Controller

    The set field current preset value (Z19.9–) is supplied at a synchronous motor. The cur- rent should be supplied negatively at high speed as otherwise the required voltage could get too high. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 479: Short Circuit Brake

    Iq lower limit DC link ctrl FLOAT -10000 -10000 114.7 Speed threshold for FLOAT 600000 Grad/s 1:1 block shape current 114.8 Flux threshold FLOAT 1:100 114.9 DC link voltage hystere- FLOAT Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 480: Description Of The Dc Link Controller Parameter

    Reset time of the DC link controller  Units: ms 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 481 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 482 With the value 0 the complete field current (Z19.9–) can be specified by the reactive current brake at synchronous machines; the reactive current brake cannot apply any reactive current at value 1. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 483: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 484 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 485 PWM total voltage 142.15 smoothed 142.7 after PWM 47.41 Ö Max. total PWM after PWM 47.42 voltage 142.6 Smoothing time (142.10) Figure 126: Block diagram of the field weakening factor Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 486 External limiting max field current amplitude 138.10 Isd set value 47.2 Field current preset value 19.9 5000_0345_rev01.cdr Figure 128: Block diagram: Effect of field weakening factor SM Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 487: Breakdown Torque

    There is a speed-dependent torque current limit I in the BM5800 so that the de- sq,K,limit manded Ud voltage can be limited to a defined limit U as follows: d,Max d,Max -----------------   sq,K,limit Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 488 Field weakening at the voltage limit    ------ - min u ph,Max max, Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 489 Z142.7– With regard to the set voltage "PWM total voltage smoothed" the "Maximum to- Z142.6– tal PWM voltage" can be controlled (by means of the oscilloscope function for Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 490 The higher the present field current the lower the present Uq voltage and due to this a higher torque can is available and a higher torque can be reached. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 491: Parameter Overview Field Weakening

    Tn breakdown torque FLOAT 0.01 10000 controller 142.21 Factor breakdown FLOAT 1.15 1.02 torque threshold 142.22 Breakdown torque con- FLOAT trol output 142.23 Voltage limit field weak- FLOAT ening controller Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 492: Description Of The Field Weakening Parameters

    (relevant to breakdown torque controller): 0: Not active 1: Active See note to bit 2 15 ... 3 Reserved m Bit 2: Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 493 With a SM, the field weakening controller can be set more finely than with an ASM, as no delay in the reduction of the field due to the rotor time constant occurs. A P-gain of 0 switches off the field weakening controller. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 494 The parameter is required by the field weakening controller as well as of the breakdown torque controller.  The unit of the parameter is [V], line-to-line voltage effective. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 495 Output after the field weakening controller. 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 496 (Z142.8–) and the product from the "Factor field weakening threshold" (Z142.15– ) and the "Maximum nominal voltage" (Z142.6–). The parameter unit is [V], line-to-line voltage effective. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 497: Flux Controller

    0, the inverse of the Imr-flux-characteristic is set for the Isd-set val- 3.7.6.1 ProDrive Flux controller Figure 131: ProDrive Flux controller 3.7.6.2 Parameter Overview of the Flux Controller Functional blocks: FbAsynchronmaschine [146] Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 498: Description Of The Flux Controller Parameters

    Limit magnetizing current Limitation of the flux controller’s output [A] 146.15 Actual flux current Flux current [A] 146.18 Integral term flux controller Integral term of the flux controller Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 499: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 500: Parameter Overview Of The Controller Adaptations

    State UINT 0xFFFF 155.10 Ks actual value FLOAT 0.01 Grad/ 155.14 Ks adaption cyclic UDINT UDINT 0xFFFFFFFF 65536 655.36: 155.24 Kt actual value FLOAT 1000.00 0.00 Nm/A Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 501: Description Of The Controller Adaptations Parameters

    7 ... 6 Direct speed controller adaption Speed controller adaption according to: 00: Actual value 01: Set value 10: Speed feedforward 11: Parameter for free use 15 … 8 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 502 (speed controller output) and torque current set value (isq). ZThe factor Ks– ZKs adaption– Refer to on page 404 and on page 506. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 503: 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 to the Saturation– on page 507). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 504: 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 to the Saturation– on page 507). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 505: Ks Adaption

    The cyclic Ks adaption is not active by default. It is activated by (controller adaption) mode Z155.1–bit 4. The Ks value is updated in RT1 cycle. ZThe factor Ks– ZKs Determination– Refer to on page 404 and on page 189. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 506: Adaption To The Saturation

    The synchronous motors operate generally in the linear range of the torque current char- acteristic until standstill current lo (or in the linear range of the Lq inductance i.e. Lq = con- stant). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 507: Compensation Dead Time Voltages

    F (Z19.30–) as follows: 2 Tm act Flux   sq set   ---------------- - ------------------- - F   2 set 2Tm act Flux sq nom Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 508 The temperature compensation is made automatically if the motor temperature monitor- ing is activated (Z128.2– bits 0 to 7). The following applies if the temperature monitoring is deactivated: 2 Tm act 2 warm Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 509 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 510: Operating Modes

    Speed control (-3) Target position setting (1) Speed setting (2) Manual drive operation (5) Homing (6) *) This functions are not effective in the unlisted operating modes. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 511: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 512 2 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 513 Description of the Software Modules and Parameters Figure 135: Sequence of the Moving to positive stop command in the Position control (-4) operating mode Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 514: Prodrive Positioning

    121.10 Maximum Position UDINT 0xFFFFFFFF 0xFFFFFFFF Value 121.11 Speed limit UDINT 65535 3276 Inc/ms 1:1 121.12 Position actual value UDINT 0xFFFFFFFF 0 revolutions with over- flows Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 515: Description Of The Parameter

    1: The position actual value (Z121.9–) is set to the value of the calculated modulo position actual value (Z121.17–); the setting is relevant at an active calculation of the modulo position actual value! Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 516 The activation of limit switch monitoring is of no importance for the reference run op- erating mode. 121.2 Status limit switch This parameter shows the conditions of hardware and software switches. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 517 9 = 0 (error message is activated). For further details, refer to Z110.2–. However, before the error is reset, the wiring of the hardware limit switches and parame- terization of the software limit switches must be checked. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 518 If the drive is pushed out of the positioning window again, such as through the load, "Po- sitioning target reached" will be deleted again. The next dip into the positioning window will restart time monitoring. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 519 Maximum position value This parameter shows the maximum possible position value with the set position resolu- tion. It is calculated as follows: Maximum revolution = whole-number result from FFFFFFFF / position resolution Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 520 910 "Overspeed detected at the set value input" will be triggered and bit 6 will Z136.1– be set in the Status. Z136.3– The following applies especially to the input set values Target position and Z136.4– Target offset: Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 521 Output revolutions of load gear ("load side") Z121.13– Z121.14– Z121.17– The parameters are used for the calculation of Mod- Z18.16– ulo position actual value only. The ratio motor/load is set via Gear ratio for the control. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 522 An exorbitant value in the rotation position resolution can cause an unrequested overflow Z121.17– Modulo position actual value. Therefore the following condition applies: Modulo revolutions * Rotation position resolution < 2 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 523 Bit 10 "Addition of the revolutions of the overflow counter to the position actual value at encoder initialization" must be switched off! Figure 137: Simplified presentation of the calculation of the Modulo position actual value Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 524 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 525 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 526 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 527 (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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 528 The parameter is updated with the cycle time of the fieldbus task Z1.10–, if the function Z121.1– modulo position actual value was activated via Positioning general mode bit 4. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 529: Operating Mode Target Position Setting

    These are implemented in their own operating mode and will be described in a separate section. 3.8.2.1 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 530 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 531: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 532: Actions On The Rising Edge Of "New Set Value

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 533 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 534: Sequence Of Events For Handshake With "Set Of Setpoints

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 535: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 536 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 537: Software Limit Switches

    Relative target specification in a positive or negative direction relative to the actual po- sition at the time when the task was activated. m Relative target specification with sign relative to the last target position. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 538: Change Of Operating Mode To Positioning

    = 0 (Status Z118.1–, bit 4) and the Speed Zero message (Z6.2–) is pres- ent at the same time, the axis is considered to be halted and Set Value Reached (Status Word Z108.3–, bit 10) is set. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 539: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 540: 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 141: Time-optimized positioning Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 541 Figure 142: Time-optimized positioning with smoothing Figure 143: Jerk-free positioning (S-Curve speed profile) with jerk = 0.12 Inc/ms Figure 144: Jerk-free positioning (S-Curve speed profile) with jerk = 0.63 Inc/ms Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 542: Control By Means Of The "Start Positioning" Method

    With absolute limited target setting (Target mode = 0, limited to maximum travel ampli- tude), the start bit can remain permanently set; positioning is then always based on the Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 543 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 544 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 545 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 546: Parameter Overview

    "Target Position Reached" signal is guaranteed to be reset before the "Start Positioning" command is transmitted. 3.8.2.16 Parameter overview Functional block: FbPositioning [118] Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 547: Description Of The Parameter

    3.8.2.17 Description of the Parameter 118.1 Status This parameter shows the state of positioning (Position Set Value Specification operating mode).  Bit # Meaning 1: Positioning is switched on 1: Function ended Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 548 The bit is set when the ramp generator has ended its function. Set Values can be out- put through the signal routing creator (PT link of the trapezoidal cross section). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 549 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 550 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 Tim- eout ON) Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 551 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 552 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 553 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 554 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 555 Inc, with absolute target specification. With absolute target, positioning occurs in direction of shortest path to the target, which means the maximum adjusting range may be exceeded (Con- dition: software end switch OFF!). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 556 (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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 557 (e.g. gear) is taken into account via the definition of the range of modulo values (Z118.20– Modulo value). In this mode the controller calculates the shortest way to the target position itself. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 558 = 0011EEEF  WayLeft > WayRight  Move right  New target position in normal absolute format: TargetPositionAbsolute = SetPositionAbsolute + WayRight = 001A3333 + 00021111 = 001C4444 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 559 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 560 In this parameter, the relative target position with applied leading signs is set for the po- sitioning set 0 (Z118.6– Record number actual = 0). This parameter works in target modes: 4, 7, 9 and 12. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 561 Description of elements Z118.9– Target position Refer to Target Position Z118.10– Target mode Refer to Target mode Z118.11– Speed Refer to Speed Z118.12– Acceleration Refer to Acceleration Z118.13– Deceleration Refer to Deceleration Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 562 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 563: Operating Mode Homing

    / zero angle is described below. The procedure of the other homing runs cor- responds with this procedure. There are differences especially in the direction of travel and sought after switch edge. Figure 149: Homing procedure to negative end switch with zero pulse Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 564: Shifting The Zero Angle

    If the zero pulse is not detected within this distance, "Homing" error no. 901 homing is reported and homing is interrupted. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 565: Procedure Of A Homing To Switch Only

    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 BM5800 Document No.: 5.16029.03...

  • Page 566: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 567: 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 153: Homing method 2 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 568: 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 154: Homing method 3 and 4 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 569: 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 155: Homing method 5 and 6 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 570: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 571: 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 homing methods 1 to 14. Only homing methods 19 and 20 are shown as an example. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 572: 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 159: Homing method 33 and 34 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 573: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 574: Command Set Home Position

    However the command is possible in the inhibited state only independent of the current operation mode of the drive. 3.8.3.20 Parameter overview Functional block: FbHoming [120] Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 575: Description Of The Parameter

    Status of the homing. Bit # Meaning 1: Homing is switched on 1: Homing completed successfully Acknowledgment for the "Set home position" command Reserved 1: Speed set value at the output is zero Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 576 1: Synchronization with speed actual value when activating the operating mode Reserved to select the adjusting profile (0: Trapezoidal, 1: S-Curve) 3 ... 2 Reserved 1: Referencing without setting the home position Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 577 This value must be adjusted prior to the reference run. If the drive has reached the home position after the reference run, the current position set value and po- sition actual value will be wet to the home position value. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 578 Zero point switch, right of Edge B, with zero pulse or encoder zero angle, clockwise turn Zero point switch, right of Edge B, with zero pulse or encoder zero angle, counterclockwise turn Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 579 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 580 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 581 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 582 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 583: 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 160: Manual Drive Operation page in ProDrive Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 584: Parameter Overview

    Z107.26– Speed limit and Max speed mech. of the motor. 1: Number range limit exceeded 9 … 8 Reserved 1: Set value reached 13 … 11 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 585 The jogging acceleration describes the maximum permitted acceleration of the drive in manual drive operation. 119.5 Jogging deceleration The jogging deceleration describes the maximum permitted deceleration of the drive in manual drive operation. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 586 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 587: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 588 Speed setpoint value will be kept Slow down with spindle acceleration bipolar Setpoint value stands at target position Figure 162: Speed profile Speed actual value <= spindle position speed Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 589 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 590 Instant of time 8: Position setpoint 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 "Setpoint reached". Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 591: 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. 3.8.5.1 Parameter overview Functional block: FbSpindlePos [149] Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 592: 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 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 593 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 594 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 595 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 596: Operating Mode Position Control

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 597: Parameter Overview

    SW interface to controller clock unlimited Figure 167: SW = Set value; SW Cycle = effective interpolation interval; cycle of the internal software interface = Fieldbus cycle 3.8.6.1 Parameter overview Functional block: FbCycSyncPos [136] Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 598: Description Of The Parameter

    1: Set value speed = 0 Reserved Z121.11– 1: Speed is limited to maximum speed; refer to Speed limit and Z107.26– Max speed mech. 1: Positioning range limit exceeded Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 599 0: Error message; new set values will be accepted. A response by the con- trol is necessary. 1: Error message; drive internal stop 2: No error message; no stop; new set values are accepted 3: No error message; drive internal stop Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 600 Target angle with the current Output position set value. The higher level control must perform this as well and can then be assigned new set values. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 601 This is where the procedure for the interpolation level "Set value cycle  Cycle internal set value interface" is entered. The interpolation level "Cycle internal set value interface  Controller cycle" is thereby Z111.6– not influenced. This interpolation is defined through Parameter Interpolation mode! Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 602 Factor for IP interval = 2  Bit 13 = 0 and bit 12 = 1 n The hardware and software limit switches should only report errors  Bit 4 = 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 603 This parameterization makes sense when writing the offset by set value generator or curve generator without cyclical mapping of the main set value, for example. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 604 When using the offset speed it must be observed that the input set value and position set Z111.3– value (Z111.2– Position set value rev SetValMgr and Position set value angle SetValMgr) must no longer match. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 605 This parameter shows the calculated set value angle after offset addition and is updated during the cycle of the set value interface. The displayed value is in format 32 Bit angle. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 606 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 607: Operating Mode Synchronous Operation

    The input set value of the virtual master axis can be routed through a ramp generator (ramp function generator) or have a direct effect. Refer to the related explanations of bit 12 of the mode. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 608 Monitoring of speed synchronization between master and slave axis. Z145.1– Z145.6– Status bit 8 displays exiting the Synchronization Velocity window of the slave axis. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 609 – The operating mode setting for the master axis depends on the application, e.g. "Po- sition Target Specification" (Z109.1– = 1). – The operating mode of the slave axis must be set to "Synchronous operation" (Z109.1– = -5). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 610: Parameter Overview

    145.1 Status WORD 0xFFF 145.2 Mode DWORD 0x0 0xFFFFFFFF 0x0 145.3 Gear slave shaft revolu- DINT -2147483647 2147483647 tions 145.4 Gear master shaft revo- DINT 2147483647 lutions Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 611: Description Of The Parameter

    1: Speed synchronization on master axis is active 1: Slave axis is outside of the synchronization velocity window (Z145.6–) 15 … 10 Reserved Remarks: m Bit 5 Slave axis stopped Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 612 Virtual master speed set value 0: Speed set value is routed through ramp generator of the synchronous operation 1: Speed set value with optional interpolation and without ramp generator Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 613 Z145.7– – Automatic activation of the internal ramp generator using Parameters Z145.9–. – The speed set value of the master axis defines the target speed for the ramp gener- ator. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 614 This may lead to damage to the mechanism and trigger a error when position error monitoring is active. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 615 The denominator and counter of the transmission ratio consist of whole numbers without decimal places. The counter may become negative. The function of a reverse transmis- sion can thereby be implemented. The table below shows some transmission ratios with associated parameter values: Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 616 Transmission Ratio i 0  1 10  100 8  115 1  0 0.08  1.15  No undesired transmission ratios occur in Edit Mode! Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 617 If the speed actual value of the slave axis enters the monitoring window again, bit 9 will be deleted again. Monitoring is not activated until speed synchronization is completed (Z145.1– Status bit 8 = 0). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 618 This parameter is the set value input for the function "virtual master axis". It specifies the set value speed on the master axis ("in front of the transmission"). Z145.2– The "virtual master axis" is activated through Parameter Mode bit 0-3 = 0010. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 619 The parameter will only be updated in the "Operation enabled" status. In the event of the virtual master axis, the value is included through integration of the set value speed and may be set to a blocked status. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 620 Therewith the entire offset adjustment can be distributed to several controller cycles. The parameter has no function at synchronous operation with a virtual master axis. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 621: 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 622 Therefore, they are ZParameter overview sensorless synchronous motor– shown in the from page 665 ZDescription of the sensorless synchronous motor parame- and are described under ters– from page 666. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 623: Prodrive Notch Position Search

    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–) 3.8.8.1 ProDrive Notch Position Search Figure 169: ProDrive Find Notch Position Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 624: Parameter Overview Notch Position Search

    Meaning Method 0: Constant current feed angle and turning axis Method 1: Nearly constant position of motor axis and variable current feed angle Method 2: Injection procedure Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 625 (of the encoder, being responsible for the motor control). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 626 Z127.12– * Phi / ms < Traversing angle (Z127.9–). Condition for standstill This parameter is used at notch position search method 1, only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 627 Description of the Software Modules and Parameters 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 628: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 629: Compensating Controller For Acceleration

    ZFig. A block diagram for the control is presented in 172–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 630: Current Control

    (Z166.17–) via a PI controller, so that at least the set current (Z133.22–) or maximum current (settable via bit 8 of parameter Z166.1–) is ap- plied to the motor. Figure 173: Current control Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 631: Parameter Overview

    53 : 1 166.24 Frequency of ramp gen- FLOAT -1e9 360:1 erator 166.25 Kp speed correction FLOAT controller 166.26 Tn speed correction FLOAT controller 166.27 Time constant slip filter FLOAT 100000 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 632: Description Of The Parameter

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 633 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 634 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 635 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 636 166.26 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 637: Operation Mode Coupled Operation

    Slave position Start cam segment Start position slave Start position Master position master 5000_0314_rev02_int.cdr Figure 174: Set value curve consisting of several curve segments Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 638 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 639: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 640: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 641: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 642: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 643 "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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 644: Use Of The Output-Sided Gear

    Z122.8– and Z122.9–) at that the master axis is in the starting point (this is defined in switchover of the gear factor. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 645: Overlaying Using An Additional Movement

    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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 646 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 647: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 648: Flexible Segments

    122.1 Status DWORD 0x0 0xFFFFFFFF 0x0 122.2 Mode DWORD 0x0 0xFFFFFFFF 0x0 122.3 Master position revolu- UDINT 0xFFFFFFFF 0x0 tions 122.4 Master position angle UDINT 0xFFFFFFFF 0x0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 649 0xFFFF 0xFFFF 122.36 Flex. master distance UDINT 0xFFFFFFFF 0x0 revolutions 2 122.37 Flex. master distance UDINT 0xFFFFFFFF 0x0 angle 2 122.38 Flex. slave distance rev- UDINT 0xFFFFFFFF 0x0 olutions 2 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 650: Description Of The Parameter

    The curve is synchronous (set value reached), see also bit 10 in Status word 1 Reserved Z108.3– The curve sequence was changed, see also bit 12 in Status word 1 15 … 13 Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 651 0: Virtual master axis: the master axis position is transmitted cyclically per fieldbus 1: Real master axis: the master axis position is the actual value of the mas- ter axis encoder Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 652 16 bit segment responded to 16 bit segment following The sequence change is indicated here. The change is carried out by a rising edge of bit 5 Z108.1– "Control word 1". Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 653 The resolution is 16 bit increments/revolution per ms. 122.13 Maximum acceleration synchronization This parameter specifies the maximum acceleration of the synchronization movement in Inc/ms2 described in Z122.12–. The resolution is 16 bit increments/revolution per ms Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 654 The resolution is 16 bit increments/revolution per ms Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 655 Smoothing is provided at a real master axis, only and it must be activated by mode bit 17 = 1. It is suitable for rotating master axes which are nearly constantly and not for permanent reversing procedures! Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 656 The angular portion of the changed drive system travel for the segment with the number from Z122.30–. 122.35 Flex. segment no.2 Segment number for the second flexible segment where the traversing distances were changed during movement. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 657 The sequence change is specified here. The change is processed by a rising edge of bit 5 Z108.1– "Control word". 122.42 Numerator gear factor Numerator of the gear factor at the output of the polynomial curve generator. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 658 Operating Modes 122.43 Denominator gear factor Denominator of the gear factor at the output of the polynomial curve generator. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 659: Operating Mode Current Control

    Furthermore, additional torque current can be added to the lsq set value unlimit- ed. The result is checked upon limits and is transferred to the current controller (lsq set value Z47.1–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 660: Prodrive Om Current Control

    Operating Modes 3.8.11.1 ProDrive OM current control Figure 177: ProDrive OM current control Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 661: Motor Operating Mode

    In order to improve the transition to the voltage model, it is recommended to switch off the consideration of the dLi/dt terms (bit 8 of Z133.1–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 662: General Constraints Of Sensorless Control With The Injection Procedure

    3 Calculate the current controller parameters with the measured values for stator resis- tance and the Lq-inductance. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...

  • Page 663: 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 664: Parameter Overview Sensorless Synchronous Motor

    133.9 2nd Harmonic rate FLOAT 100.0 133.10 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 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 665: Description Of The Sensorless Synchronous Motor Parameters

    3: Controlled without notch position 1: Synchronize Reserved Constant current in controlled operation 0: Current is constant 1: Maximum current at acceleration Reserved 1: No dead time compensation during notch position search Reserved Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 666 This frequency has the following values only: 62.5 Hz, 125 Hz, 250 Hz, 500 Hz. 133.7 Injection amplitude 2 This parameter can set the amplitude of the HF-voltage, which was injected in the motor in step 2. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 667 1, otherwise adjust these at constant load, so that the deviation of the injec- tion (Z133.31–) is 0 on average. 133.18 Estimated speed Displays the estimated speed in degree/s. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 668 133.30 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 669 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 670: Sensorless Control For Asynchronous Motors (Open Loop)

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 671 Motor parameters needed for commissioning Z107.8– Nominal voltage Z107.9– Nominal current Z107.7– Nominal speed Z107.13– Nominal frequency Z107.19– Pole pairs Z107.14– Magnetic current Z107.16– Slip frequency warm Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 672: Catch On Fly

    Overshoots of over 30% might occur. Take this into account to parameterize the overspeed limits. Required parameters m Catch enable Z167.1– Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 673: Parameter Overview Sensorless Asynchronous Motor

    Minimum speed threshold OL Speed reference below which speed estimation is suspended. 161.2 Minimum speed delay OL Time which must elapse before speed estimation is suspended when speed is below the threshold Z161.1–. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 674 As a Z19.32– reference value the double or triple rotor time constant can be used. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 675: Diagnosis

    Motor I2t actual value FLOAT 1000 0.00 6.29 Motor I2t threshold FLOAT 1000 6.30 Motor total current FLOAT 10000 smoothed 6.32 Motor real power FLOAT -1000000 1000000 1:0.001 X smoothed Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 676: Description Of The Diagnosis Parameter

    The measured actual speed is NOT within the speed window set in the Parameter "Standstill Threshold". The measured actual speed is within the speed window set in the Param- eter "Standstill Threshold". The message is updated every 1 ms. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 677 The clock of the overspeed monitoring is 1 ms. Negative overspeed limit When the drive exceeds this negative maximum speed limit, the drive is immediately de- energized by error message 204 "Negative overspeed limit exceeded". Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 678 Speed actual value is fallen below this threshold Z18.20– (Z6.12–), bit 8 in Speed controller status is canceled. The bit will be set again if the value exceeds the ON threshold (Z6.13–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 679 If the conditions for blocking have been met, a warning (Code No. 209) will be triggered upon expiration of the set blockade time limit 1. If the conditions for blocking are no longer met, the warning 209 will be canceled by the controller. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 680 ZOverload monitoring of the motor (I Also see t)– from page 717. to the functionality of the l t motor. 100%  Maximum thermal load of the motor Standardization: Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 681 +/- 2% of the nominal power of the device. NOTE! The BM5XXX isn't a measuring device and may not replace a power measuring de- >6.32< vice. The value shown in the parameter is just a benchmark Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 682 Generally, the parameter is assigned to zero (speed-dependent monitoring is deactivated ZOverload monitoring of the mo- and the monitoring of the total current is activated). See tor (I t)– from page 717. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 683 By default, both derating factors have a value of 100% which accords to the speed-inde- ZTemperature monitoring of pendent standardized solution of the l t monitoring (refer to the motor– from page 715). The minimum value corresponds to 10%. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 684 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 685 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 686: Oscilloscope Function

    4294967295 parameter Id 101.5 Channel 2 source UDINT 4294967295 parameter Id 101.6 Channel 3 source UDINT 4294967295 parameter Id 101.7 Channel 4 source UDINT 4294967295 parameter Id Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 687: Description Of The Parameter

    Recording stopped Recording in progress current status: Waiting for trigger event No significance Trigger has occurred Recording still in progress Ring buffer in after-running period Ring buffer can be read out Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 688 101.4 Channel 1 source parameter Id Z101.3– 101.5 Channel 2 source parameter Id Z101.3– Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 689 101.12 Trigger mode Setting the corresponding bit will trigger the ring buffer for the associated event. NOTE! Trigger data changes must always be made in Status 0 (Recording Stop) only. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 690 The value of RSP Trigger Source Pxxx (axis indicated through trigger axis mask is com- pared with the trigger compare value (101.15) and a trigger is activated when the trigger condition (101.14) is met. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 691 Trigger activated because programmable trigger value and comparison mask equal to 0 101.18 Sample time The sampling time can be entered for all channels. Internal rounding occurs to a whole number multiple of the control cycle. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 692 The data type of the array is FLOAT32. Depending on the data type of the recorded chan- nel, the raw data is stored in the memory in the format of the source data type (always stored in 4 bytes). Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 693 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 694: Function Fft Analyzer

    Output as an - Spectrum signal 1, signal 2 array parameter - Amplitude phase response signal 2/signal 1 (104.21) - Coherence Figure 180: Block diagram FFT analyzer function Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 695: Parameter Overview

    FFT length DINT 4096 4096 104.10 FFT windowing UINT 104.11 Average number setup DINT 20000 104.12 Signal out amplitude FLOAT -1e+9 1e+9 104.13 Signal output offset FLOAT -1e+9 1e+9 0.000000e+00 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 696: Description Of The Parameter

    Start Average Get Signal Initialization Get Signal 11,12 Windowing Signal Ch1, Ch2 13,15 FFT Ch1, Ch2 Standardization 20,22 Auto, Cross Spectrum 24, 25, 26 ÜTF, PHI, Coherence Calculation Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 697 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 698 Pxxx" cannot be read. 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 699 Signal out amplitude Here, the amplitude of the signal output of the signal generator (such as noise) can be entered in the accordant units of the selected "Signal output target parameter" (Z104.6–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 700 104.20 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 701 488 Hz. 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 702: Monitoring

    ZCurrent Controller– For Parameter 47.55, see from page 454. Number Name Type Default Value Unit Factor 143.8 Field angle speed UINT threshold 143.9 Field angle counter UINT 0xFFFF Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 703: Description Of The Parameter

    The field angle error is determined in the current controller cycle. 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 704: Position Error Monitoring

    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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 705: Description Of The Parameter

    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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 706 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 707 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 708: Overload Monitoring Of The Power Unit

    LT Heat sink temperature actual value ( ) [°C] 130.1 LT Ixt value (Ixt) [%] 6.27 LT Overload factor max ) [%] LT Overload factor current (u) [%] Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 709 – ---------------------------------- - 0 91   150 100 – ----------------------- -        ----------------------- - 0 91 1 63   120 100 – Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 710 3.11 Monitoring Figure 183: Curve overload monitoring This characteristic curve assumes a cold power unit (Ixt Offset = 0;   < 45 °C) Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 711 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 185–). Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 712 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 713 , 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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 714: Temperature Monitoring Of The Motor

    KTY84/130 (PTC with an almost linear characteristic for precise evaluation of the tem- perature) m Temperature switch (motor protection thermistor (PTC) conforming to DIN 44080-082) m PT1000 (PTC with linear characteristic) Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 715 3 = Power unit not applicable not applicable NOTE! The connection type (value of parameter Z128.2–) of both axes must not be com- bined between "standard" and "non-standard" at double axis units. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 716: Overload Monitoring Of The Motor (I 2 T)

    1000 m altitude, then the motor nominal power and the Z107.9– motor nominal current must be accordingly reduced. For this purpose the motor manufacturers provide the accordant derating factors. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 717 0 no warning occurs. Z6.29– As soon as the l t actual value reaches the threshold the pulse inhibit is activated and the motor error 205 "l2t overload" is displayed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 718 Z107.28– Motor I t -time constant T 600 s Z6.30– Total current actual value I' A jump from 0 to 100% l limit the power unit Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 719 Therefore, in the following implementation solutions are introduced con- sidering the speed-dependence of the maximum continuous current of the l t motor model. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 720 Baumüller machines as a pre-manufactured set via the motor data base in ProDrive. In case there is no complete set available or at least one supporting point is ze- ro, this option cannot be activated. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 721 Nominal current 107.9 107.10 Standstill current Nominal speed 107.7 Speed actual value 18.22 5000_0360_rev01.cdr ZFig. 187– Figure 191: Continuous current limit characteristic by approximation of the iron losses (see page 718) Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 722 Speed actual value 6.46[1] 18.22 6.46[0] 6.46[0], 6.46[1] 5000_0362_rev01.cdr Motor I t derating factors Figure 193: Speed-dependent l t overload monitoring of asynchronous machines without forced ventilation Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 723: Monitoring Of The Single Phases

    By default this option is not activated. Initialization Motor I t actual value Iu-,Iv-,Iw Actual values 6.28 47.32, 47.33, 47.34 5000_0363_rev01.cdr Figure 194: Motor-I t, monitoring of the single phases Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 724 3.11 Monitoring Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 725: Behavior In Case Of Errors

    In particular, reacting to error indications and conditions requires that the oper- ator must have special knowledge. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 726: Monitoring Functions

    QS: Quick stop Pulse inhibit carried out after a specifiable interval. X: Implemented -: Not possible Only if KTY encoder used Adjustable Adjustable Not provided for power modules Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 727 Not available with BM51xx, BM541X and BM542X QS: Quick stop Pulse inhibit carried out after a specifiable interval. X: Implemented -: Not possible Only if KTY encoder used Adjustable Adjustable Not provided for power modules Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 728: Monitoring Function - Explanations

    If the drive is enabled at the moment of triggering the safety function, an error message is generated. If the drive is not enabled, a warning is displayed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 729 "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 BM5800 Document No.: 5.16029.03 of 814...

  • Page 730: Error Detection

    Torque limit red permanent lighting Error red blinking slow Warning red blinking fast Torque limit red permanent lighting Error red blinking slow Warning red blinking fast Torque limit Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 731: Led Assignment Wit 2 Leds (1 Column)

    A reset causes deletion of the errors, if deletion was possible on account of the error circumstances. Errors can be reset by setting bit 7 in control word. For further information on the subject of error reset, see "Instruction Manual b maXX 5800". Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 732: 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 733 No response No log file available No write permission for the actual Parameter cannot be changed due to the access protection. No access level write permission for the actual access level. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 734 Error occurs when position error limit 1 is exceeded. Pulse block Exceeded position error limit 2 The error occurs when position error limit 2 is exceeded Pulse block Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 735 Either the encoder has a problem or the mon- itoring threshold is set too great. Amplitude of the encoder signal too Encoder monitoring has detected an amplitude that is too great at Pulse block great +cos Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 736 8 V (Stegmann encoder). 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 737 Warning Lighting controller reserve EnDat encoder has messaged warning „Lighting controller reserve No response Z137.38– reached reached“; see and error number 406; preventative main- tenance is recommended in order to avoid lighting failure. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 738 In the other operating modes the error will be initiated, if it will be tried to activate the torque coupling Torque coupling configuration error Configuration error: m Device internal cross communication at single axis unit impossible Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 739 For synchronous machine: encoder 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 740 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 741  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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 742 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 BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 743 The drive is in the enabled state in the operating mode Position Z131.20– control (Z109.1– = -4) and the Division ratio fieldbus Z131.18– task or the Fieldbus cycle time was changed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 744 3: Channel B, positive 4: Channel B, negative 5: Channel C, positive 6: Channel C, negative m Cause/ Remedy:  Check motor leads  Check motor connection Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 745 1022 Cable break heat sink temperature Pulse block encoder 1023 Communication error with MUX regis- Communication error with Multiplex Register interface to the FPGA Pulse block ter to the FPGA Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 746 1057 15 V faul - power cycle required The 15 V power supply failed. Pulse block 1069 Temperature model data inconsistent Pulse block Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 747 The above error message is issued. The error bit will be activated in the status of the brake activation. The response of the drive depends on the error response that has been set. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 748 A invalid drive address is set. No response 1514 Error caused by memory allocation No response 1515 Faulty task start Operating system was not able to start a task. No response Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 749 Rotary encoder: Analog signals outside of specification Pulse block Calibration data are faulty Linear encoder: Calibration data are faulty 1702 Internal angle offset faulty Pulse block 1703 Table for data field partitioning Pulse block destroyed Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 750 Invalid section found in the encoder Invalid section found while reading the encoder memory. Reference Pulse block OEM memory to wrong data in the OEM memory of the encoder. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 751 No response 1922 Wrong list type No response 1923 Wrong parameter list ID No response 1924 Wrong parameter number for parame- Wrong parameter number for parameter list No response ter list Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 752 Either the connection was not opened at all or it was closed due to a socket error by the internal TCP/IP stack or communication partner. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH...
  • Page 753 An attempt was made to load a cam, although another cam was processing yet n An attempt was made to load a wrong file. Only files with exten- sion *.kbin can be loaded. Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 754 No response during processing. However, the reload by using a changed curve segment would be possible. m Consequence:  The previous curve is continued to be processed. Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 755 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 756 Error descriptions Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 757 6.20 Blockade Speed Limit FLOAT 1000000 Grad/s 1:1 6.21 Blockade Time Limit 1 FLOAT 1000000 6.22 Blockade Time Limit 2 FLOAT 1000000 6.25 Power unit peak current FLOAT 1000 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 758: Summary Of All Parameters

    Error count incremental UINT 0x001F encoder 14.17 Encoder error mask UDINT 0x7F 0x1F 14.19 Cycle time variance cal- UDINT 0x7FFFFFFF 10000 culation 14.20 Status variance calcula- UDINT 0xFFFF tion Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 759 18.14 Kv position controller FLOAT 1000000 18.15 w2-Feedforward factor FLOAT 18.16 Gear factor motor:load- FLOAT 0.0001 1000 1.0000 encoder 18.17 w2 speed feedfwd. act. FLOAT -1000000 1000000 Grad/s 1:1 value Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...

  • Page 760: Controller

    -1000000 1000000 Grad/s 1:1 unfiltered 18.45 Isq set value unlimited FLOAT -3.4028234e38 3.4028234e38 0 18.50 isq set value for OM cur- -16384 16384 4000 rent control 100% Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 761 100% 18.84 w3 Filter frequency FLOAT 10000 nominator 18.85 w3 filter damping nomi- FLOAT nator 18.86 w3 Filter frequency FLOAT 10000 denominator 18.87 w3 filter damping FLOAT denominator Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 762 Rotor time constant FLOAT 19.50 Notch position O.K. UINT 19.51 Current ref. for notch FLOAT position detection 19.52 Modus motor operating UINT mode 19.61 Delay reference current FLOAT Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 763 Biquad filter 2 damping FLOAT denominator 29.38 Biquad filter 3 nominator FLOAT 10000 frequency 29.39 Biquad filter 3 damping FLOAT nominator 29.40 Biquad filter 3 denomi- FLOAT 10000 nator frequency Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 764 47.29 Control value U FLOAT 5.0e-01 47.30 Control value V FLOAT 5.0e-01 47.31 Control value W FLOAT 5.0e-01 47.32 Iu actual value FLOAT -10000 10000 1:1,414 X Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 765 -10000 10000 52.11 Inertia measured FLOAT 1e+9 kg cm 52.12 Amplitude for FFT FLOAT -1e9 52.15 Kp identification FLOAT 1000000 52.16 Tn identification FLOAT 1000000 52.17 Phase margin FLOAT Grad Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 766 0x0000003F 101.15 Trigger compare value FLOAT -5.000000e+9 5.000000e+9 0.000000e+00 101.16 Trigger compare mask UDINT 0xFFFFFFFF 0 101.17 Trigger cause UINT 1999 101.18 Sample time FLOAT 0.0000625 0.001 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 767 Hardware name STRING 102.30 Controller serial number UDINT 0xFFFFFFFF 0 102.31 Controller article num- UDINT 0xFFFFFFFF 0 102.32 Device serial number UDINT 0xFFFFFFFF 0 102.33 Device article number UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 768 105.5 Record Id UDINT 0xFFFFFFFF 0 105.6 Dataset index UINT 105.7 ValidDatasets BIT- 0x7F FIELD 105.8 DatasetSource UINT 105.9 DatasetDest UINT 105.10 Boot Mode SAF-XXX WORD 0xFFFF Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 769 UINT 0xFFFF µs 106.47 Resolver actual phase UINT 0xFFFF µs offset 106.52 Resolver phase syn- UINT µs chronization 106.60 SSI mode UDINT 0xFFFFFFFF 0x00004000 106.61 SSI status UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 770 107.10 Standstill current FLOAT 6553.5 107.11 Standstill torque FLOAT 42949672.95 0 107.12 Power factor FLOAT 1.000 107.13 Nominal frequency FLOAT 6553.5 107.14 Magnetic current FLOAT 6553.5 0.01 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 771 6553.5 107.41 Brake torque FLOAT 6553.5 107.42 Inertia of brake FLOAT 42949672.95 0 107.43 Nominal torque FLOAT 90000.00 107.44 Kt factor FLOAT 1000.00 Nm/A 107.67 Pole pitch UDINT 0xFFFFFFFF 16 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 772 Status DWORD 0 0xFFFFFFFF 0 110.2 Mode DWORD 0 0xFFFFFFFF 0x20 110.3 Output DINT -1073741824 1073741824 400000 100% 110.4 Input 32 bit DINT -1073741824 1073741824 400000 100% Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 773 -2147483647 2147483647 Grad/ feedforward 111.9 Jerk set value Set- DINT 0x80000000 0x7FFFFFFF 0 Inc/ ValMgr 114.1 DC link controller set FLOAT value 114.2 Kp DC link controller FLOAT 0.001 0.01 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 774 Output acceleration set DINT -65535 65535 Inc/ 100:1 value ms² 118.6 Record number actual UINT 118.7 Clip environment 1 UDINT 0xFFFFFFFF 0x00010000 118.8 Clip environment 2 UDINT 0xFFFFFFFF 0x00010000 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 775 Homing acceleration UDINT 65535 Inc/ 100:1 ms² 120.8 Homing deceleration UDINT 65535 Inc/ 100:1 ms² 120.9 Homing maximum Jerk UDINT 65535 Inc/ 100:1 ms³ 120.10 Homing encoder offset UINT 0xFFFF Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 776 DWORD 0x0 0xFFFFFFFF 0x0 121.19 Speed actual value load FLOAT -2147483648 2147483647 Grad/s 1:1 basis 121.20 Coarse position window UDINT 0xFFFFFFFF 0x2000 121.21 Command positive stop WORD drive Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 777 Inc/ms 1:1 122.19 Maximum acceleration UDINT 65535 Inc/ 100:1 offset 122.20 Maximum deceleration UDINT 65535 Inc/ 100:1 offset 122.21 Maximum jerk offset UDINT 65535 Inc/ 100:1 122.22 Curve segments CORD Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 778 Time constant of step FLOAT 10000 response 123.14 Normalized Error FLOAT 123.15 Dead time compensa- FLOAT -100 tion table 123.33 Magnetization induc- FLOAT 100.0 tance look up table Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 779 TP1 pos. edge rev- olutions 124.18 Encoder 2 trigger digital UDINT 0xFFFFFFFF 0 input TP1 pos. edge angle 124.19 Encoder 2 trigger digital UDINT 0xFFFFFFFF 0 input TP1 neg. edge revolutions Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 780 126.23 Parameter Uint16_3 UINT 0xFFFF 126.24 Parameter Uint16_4 UINT 0xFFFF 126.25 Parameter Uint16_5 UINT 0xFFFF 126.41 Parameter Int32_1 DINT -2147483647 2147483647 126.42 Parameter Int32_2 DINT -2147483647 2147483647 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 781 UINT °C 128.7 Motor temperature hys- °C teresis 129.3 Hardware id STRING 129.4 Hardware name STRING 129.5 Current scaling gain FLOAT 10000 1,1862 129.6 DC scaling gain FLOAT 10000 1,03885 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 782 130.1 Heat sink temperature FLOAT 1000 °C 130.2 Interior temperature FLOAT 1000 °C 130.3 DC link actual voltage FLOAT 1000 130.8 Mains voltage FLOAT 0.0e+0 1000 0.0e+0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 783 Actual IP address UDINT 0xFFFFFFFF 0 131.16 Gateway UDINT 0xFFFFFFFF 0 131.17 Subnet mask UDINT 0xFFFFFFFF 0xffff0000 131.18 Fieldbus cycle time UDINT 125000 8000000 1000000 131.19 Slave error code UDINT 0xFFFFFFFF 0 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 784 133.10 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 operating DINT mode Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 785 0x80000000 0x7FFFFFFF 0x0 136.7 Offset speed DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 136.8 Output position set UDINT 0xFFFFFFFF 0x0 value 136.9 Output speed set value DINT -65535 65535 Inc/ms 1:1 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 786 137.33 Signal length UDINT 0xFFFFFFFF 0 137.34 Measure step UDINT 0xFFFFFFFF 0 137.36 Alarm mask UINT 0xFFFF 137.37 Alarm buffer UINT 0xFFFF 137.38 Warning mask UINT 0xFFFF Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 787 1000:1 torque 138.25 Status current limitation UDINT 0xFFFFFFFF 0 138.26 Limitation max current of FLOAT IPMSM 138.28 Hysteresis for Iq limit FLOAT flag 138.29 Time constant torque FLOAT 1000 display Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 788 143.1 Status WORD 0xFFFF 143.2 Mode 1 UINT 143.3 Position error limit 1 UDINT 0xFFFFFFFF 0xFFFFFFFF 143.4 Position error monitoring UINT 0xFFFF 0xFFFF time 1 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 789 0x7FFFFFFF 0x0 146.1 Asynchronous Motor UINT 0xFFFF Mode 146.13 Flux set value FLOAT -1e9 1:100 146.14 Actual flux FLOAT -1e9 1:100 146.16 Slip preset value DINT 0x80000000 0x7FFFFFFF 0 Inc/ Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 790 147.18 Torque init stress pt1 FLOAT 5000 time constant 147.19 Torque set value master DINT -10000000 10000000 147.21 Torque init stress actual DINT -10000000 10000000 value master Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 791 PID controller 1 150.7 P-gain PID controller 1 FLOAT 100000 150.8 Integral action time PID FLOAT 0.000001 100000 0.01 controller 1 150.9 Derivative time PID con- FLOAT 100000 troller 1 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 792 Integral term PID con- FLOAT -5000000000 5000000000 troller 2 151.1 Mode WORD 0x3F 151.2 Status WORD 0xFFFF 151.3 Input UDINT 0xFFFFFFFF 0 151.5 Lower threshold abso- FLOAT -5000000000 5000000000 lute Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 793 154.5 Output value 1 FLOAT -50000000 50000000 154.6 Output value 2 FLOAT -50000000 50000000 154.7 Output value 3 FLOAT -50000000 50000000 154.8 Friction compensation FLOAT -50000000 50000000 actual output value Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 794 155.16 Factor Kp for middle FLOAT 0.01 speed threshold 155.17 Factor Tn middle speed FLOAT threshold 155.18 Source controller adap- UDINT 0xFFFFFFFF 0 tion Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 795 Interrupt load max FLOAT 159.1 Mode WORD 0x00FF Cam options  159.2 WORD 0xFFFF curve generator options 159.3 Status UINT 0xFFFF 159.4 List index UINT 0xFFFF 159.5 List entries UINT 0xFFFF Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 796 166.14 Kp acceleration control- FLOAT Grad/s 1:1 166.15 Tn acceleration control- FLOAT 166.17 Frequency threshold FLOAT 6.28318 53 : 1 166.18 State frequency reduc- UINT 0xFFFF tion Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 797 Control word reluctance UINT 0xFFFF 171.3 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 induc- FLOAT 0.01 tance chart familiy Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 798 Polarity UINT8 0xFF 179.2 Position resolution UDINT 4294967295 65536 encoder increments 179.3 Position resolution UDINT 4294967295 motor revolutions 179.4 Velocity resolution UDINT 4294967295 65536 Inc/s encoder increments/s Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 799 Inc/s 179.27 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 800 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 801: Appendix A - Abbreviations

    Pulse inhibit Û Peak voltage Chap. Chapter Rms-value, AC voltage Cooling air requirement of device Rms-value, DC voltage interior Underwriters Laboratories Cooling air requirement of passive cooling unit DC link voltage Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 802 Volt Stainless steel Verband der Elektrotechnik, Elek- tronik Informationstechnik (German electrical engineering, electronics and IT association) DC link Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 803: Table Of Figures

    ProDrive Breakdown torque controller at IPMSM ..............State machine of field weakening at IPMSM................Sine/Cosine traces and instantaneous amplitude of the encoder signal........Monitoring and Field Angle Monitoring of a Synchronous Machine ......Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 804 Block diagram of the position controller..................Block diagram of the speed controller ..................Block diagram of the position / speed controller module when in operating mode current control..Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 805 Without adaption and breakdown limit is too high: Value of the voltage limit is higher than expected. ProDrive Flux controller......................EMF feed forward........................Torque monitoring ........................Flux actual value with encoder, current model with Lh-characteristic ........Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 806 Overload monitoring of the power unit (temperature model) ............ Current derating at changed operating conditions..............Time curve of the motor l t actual value in the nominal operating point ........Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 807 718) 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 BM5800 Document No.: 5.16029.03 of 814...
  • Page 808 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 809: Index

    47, 373 Error management Error message Danger ERROR RESPONSE Data set Error while reading Changeover Error while writing Commands Errors, behavior Copy 322, 324 Explanation of symbols Create 321, 324 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 810 Parameter group 120 Maximum drive current Parameter group 121 Maximum speed 34, 36 Parameter group 122 Measuring encoder Parameter group 123 Message text Parameter group 124 Monitoring functions Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 811 44, 353 Switching off the drive Ramp generator SWITCH-ON INHIBIT Read Flash completely Synchronous motor READY TO SWITCH ON Synchronous operation Reference switch synchronous position setpoint value specifi- Releasing brake cation Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 812 Trigger Trigger sources Trigger time Triggering Troubleshooting Up/Download Virtual lead shaft Voltage test Warning 12, 726 Warnings Zero angle 564, 565, 574 Zero pulse 564, 565, 574 Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...

  • Page 813: Overview Of Revisions

    Overview of Revisions Overview of Revisions Version Status Changes 5.09022.01 20.09.2017 Initial creation firmware version 01.13 5.09022.02 22.02.2018 Changes for firmware version 01.14 5.09022.03 30.07.219 Changes for firmware version 01.15 Parameter manual b maXX BM5800 Document No.: 5.16029.03 of 814...
  • Page 814 Notes: Parameter manual b maXX BM5800 Document No.: 5.16029.03 Baumüller Nürnberg GmbH of 814...
  • Page 816 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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