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(→ Sec. X.X) means: Further information can be found in section X.X of this manual. • Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and specifications. A requirement of fault-free operation and fulfilment of any rights to claim under guarantee is that this information is observed.
Introduction Introduction Description The "synchronous operation" process permits a group of motors to be operated with synchronous angular rotation or else with an adjustable proportional relation (electronic gear unit). The master drive is the one which specifies the position. It can also be an incremental encoder. The slave drive is the one which has to follow this position specification.
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Introduction • Mode 6/7: The angular difference resulting from free-running operation is reduced back down to zero in synchronous operation. During synchronous operation (X40:1 = "0"), the internal differ- ence counter is additionally used for correction to an adjustable offset angular deviation between master and slave.
Project Planning Project Planning Notes • Do not use synchronous operation on systems with a rigid mechanical connection. • Ensure that the slave inverter is equipped with a braking resistor. • When planning the synchronous operation application, note that the slave has to be able to reduce the angle differential in respect of the master to zero at any time.
Project Planning Synchronous Operation with Open-circuit Monitoring of the Encoder Connection Fault-free transmission of the incremental encoder signals is necessary to guarantee permanent synchronous operation of the master and slave drive. To do this, open-circuit monitoring of the connection from master X14 (incremental encoder simulation) to slave X42 (master encoder input) is necessary.
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Project Planning The following table clarifies the settings and/or wire connections in the aforementioned master/ slave combinations with regard to synchronous starting/stopping and active open-circuit monitor- ing master/slave: Master Slave Master parameters Slave parameters Remarks Master: Incremental Open-circuit monitoring: Open-circuit monitoring: enc.
Project Planning Synchronous Operation with Sync. Encoder In all applications involving friction-locked power transmission between the motor shaft and the machine, in which case slip is to be expected, it is necessary for position measurement to take place using an additional incremental encoder. This incremental encoder is mounted in a positive- locked connection to the driven machine part (it is fitted to a section of the machine) and is referred to as a sync.
Installation Installation Installation Instructions • The maximum permitted cable lengths are: - Between the master inverter and the slave inverters: 10 m - Between the inverters and the corresponding incremental encoders (MDV) / resolvers (MDS): 100 m • Connection cables of the incremental encoders (motor and sync. encoder) and all cables "incre- mental encoder simulation", "input master encoder"...
Installation Functional Description of the "DRS11A Synchronous Operation Option" Terminals Terminal Function X40: "0" signal = synchronous operation INØ: Free-running operation "1" signal = free-running operation IN1: Offset 1 "0" signal = no Offset, with "1" signal on IN1, IN2 or IN3 the offset 1, 2 or 3 (P225, P226 or P227 becomes effective.
Startup Startup Introduction The following example describes the startup procedure for the synchronous operation of a two-col- umn hoist. Both drives are fitted with identical gear units with the identical ratio. The rated power values of the motor and the inverters are identical. In both drives, CW rotation of the motor means an upward movement of the hoist.
Startup Summary of Startup Procedure The following diagram shows the procedure: Preliminary Work - Check wiring, terminal assignments and safety cut-outs. Disconnect drives from machine! → Sec. 4.3 - Carry out speed controlled start up of master and slave separately . - Program binary inputs and outputs according to application.
Startup Preliminary Work Make sure that • the wiring, • the terminal assignments • and the safety cut-outs have been implemented correctly in accordance with the application. Disconnect the drives from the machine so both drives can be mechanically operated independ- ently of one another.
Startup 4.4.3 Setting the Synchronous Operation Parameters • Parameter input of the master and slave gear factors (P221 and P222). - P221 and P222 can be left at the factory setting of 1 when identical gear units are used with identical ratio and identical reduction ratio.
Startup Examples for the Calculation of P221 and P222 4.6.1 Example 1 This example will demonstrate the operation of two chain conveyors in synchronous operation. This is a positive-locked application with varying gear ratios. A synchronous encoder is not neces- sary, as in positive-locked applications the position data can be calculated from the signal of the motor encoder.
Startup 4.6.2 Example 2, Synchronous Encoder Application This example will demonstrate the operation of two belt conveyors in synchronous operation. This is a force-locked application with identical gear ratios. In force-locked applications, the position data cannot be accurately calculated from the signal of the motor encoder, for this reason a master encoder is necessary on the first belt and a synchronous encoder on the second belt.
Parameters Parameters Explanation of the parameters: the factory setting is identified by underlining in each case. Parameters can only be changed in the INHIBITED inverter status (= output stage at high resist- ance). Relationship between Parameter Values and Output Speed In the case of the adjustable parameters (P224, P225, P226, P227, P510, P511, P512, P514), it is necessary to enter increments which relate to an angle offset (e.g.
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Parameters The following additional parameters are available for synchronous operation. (Complete parameter list → MOVIDRIVE ® manual/operating instructions) Par. Name Adjustment range After Description Factory setting startup 22_ Synchronous control (only parameter set 1) 220 P-gain (DRS) 1...10...200 Gain of synchronous operation controller in the slave 221 Master gear factor 1...3,999,999,999...
Parameters Explanation of the Parameters Synchronous operation control (only parameter set 1) P-gain (DRS) Adjustment range: 1...10...200 Gain of the synchronous operation controller in the slave. This determines the control characteristics of the slave as a function of the angular differences in respect of the master. The greater the P-gain setting, the faster any angular difference is corrected (although there is also a greater tendency towards oscillation).
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Parameters X40:2... Slave counter Mode Function Description X40:1 X40:4 (P224) (red) Free-running A "1" signal to X40:1 (pulse time > 100 ms) initiates start Effec- Effective operation of free-running. Free-running operation ends when the tive effective - limited by value angular difference reaches the value in P224.
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Parameters Offset 1 [inc.] (X40:2) Offset 2 [inc.] (X40:3) Offset 3 [inc.] (X40:4) Adjustment range: -32,767...-10 / 10...32,767 inc.; effective only in mode 6 or mode 7! For mode 6 (angle offset at times): Three separately adjustable angular differences to which the slave sets itself for the duration of the "1" signal at X40:2 / X40:3 / X40:4.
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Parameters Adv. warn. lag error [inc.] Adjustment range: 50...99.999.999 inc. An advance warning message is generated if the angle offset exceeds the value set here. This is independent of the operating mode of the slave drive. The DRS ADV. WARN. message can be used as a position message, for example, and be programmed on a binary output (P62_/P63_).
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Parameters 60_/61_ Binary inputs The programmable binary inputs can be assigned four additional types of signal for synchronous operation. • DRS SET ZERO PT. The internal counter for the angle offset can be zeroed. "1" signal = Counter is zeroed. "1"...
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Parameters Reaction to LAG ERROR It is possible to program the reaction to a fault message generated by exceeding the lag error limit (→ P512): Reaction Description NO REACTION No fault is displayed, nor is there any fault response. The signalled fault is com- pletely ignored.
Fault Messages Fault Messages The following fault messages may occur specifically in synchronous running: (For the complete list of faults → MOVIDRIVE ® manual/operating instructions). Fault Designation Possible cause Response code Encoder - Encoder cable or shield not connected cor- Check encoder cable and shield are con- rectly nected correctly;...
Technical Data Technical Data Option Synchronous operation card type DRS11A Part number 822 319 X ≈ 3.0 kΩ, PLC compatible Binary inputs X40:INØ ≈ 10 mA, sampling interval: 5 ms ...IN5 Signal level +13 V...+30 V "1" -3 V...+5 V "0"...
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