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Lust MASTERCONTROL MC6000 Series Parameter Description

Servocontrollers from 2 to 64 a
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M
C
ASTER
ONTROL
Servocontrollers from 2 to 64 A
ANTRIEBSTECHNIK
MC6000/MC7000
Parameter Description
CTRL
min -1
stop
star t
retur n
enter
SMART
C A R D

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Summary of Contents for Lust MASTERCONTROL MC6000 Series

  • Page 1 ANTRIEBSTECHNIK MC6000/MC7000 ASTER ONTROL Servocontrollers from 2 to 64 A CTRL min -1 stop star t retur n enter SMART C A R D Parameter Description...
  • Page 2 Parameter description for servocontrollers of series MC6000 ASTER ONTROL MC7000 ASTER ONTROL Valid as from software version: V2.60 (MC6000) V3.55 (MC7000) ID no.: 0792.26B.0-00 Date: March 1999 We reserve the right to make technical changes.
  • Page 3 Table of contents Contents Introduction _CONF Introduction ........10 _ENCD Key to symbols .
  • Page 4 _ENCD – Encoder ........41 Contents 331-ECLNC - Lines per revolution of encoder ........41 Introduction 334-ECNPP - Number of pole pairs of encoder .
  • Page 5 _SCON – Speed control ......60 Contents 452-10PC - Setup mode: Number of overshoots with amplitude >10% in first overshoot range Introduction (only MC6000) .
  • Page 6 _SIO – Serial interface RS485 ......74 Contents 82-SADDR - LustBus device address ......... 74 Introduction 81-SBAUD - LustBus transfer rate .
  • Page 7 _REF – Reference structure ......95 Contents 842-ACCR - Acceleration ramp for speed control ....... . 95 Introduction 852-DECR - Deceleration ramp for speed control .
  • Page 8 502-POAVE - Velocity resolution (K12) ........117 Contents 506-POBEN - Acceleration mode in negative direction (K16) .

  • Page 9: Introduction

    106-CRIDX - Revision index as suffix to version number ......138 Contents 79-DPOS - Tracking error of position controller ....... . . 138 Introduction 70-DSCH0 ...
  • Page 10 _KPAD This parameter is intended only for service and development purposes, and should _SCTY be modified only by LUST staff. Changing the setting may cause the drive to stop running altogether, or to perform _SYS much less efficiently. Make a note of the previous setting if you do change it - other-...

  • Page 11: Conf

    _CONF – Contents Device configuration and I/O Introduction _CONF 412-ANFIL – Filter time constant for analog inputs _ENCD Source: Analog Filter Constant _OPT1 Function: Time constant of the analog filter of the analog reference inputs ISA0, ISA1 _MOT Values: _TCON Minimum Maximum Factory set.
  • Page 12 465-BRAKE - Actuation mode for motor brake Contents Introduction Source: Brake mode Function: Parameter only on MC7000. _CONF Operation mode of holding brake, activation with function selector FOS03 _ENCD _OPT1 Values: Minimum Maximum Factory set. Unit MODE Type MART _MOT SPD_0 HOLD2 HOLD2...
  • Page 13 488-BUSYE - Activate/deactivate synchronization Contents Introduction Source: Function: Parameter for future application, currently without function. _CONF With this parameter synchronization of the drive is activated. _ENCD 0 = no synchronization) _OPT1 _MOT Values: Minimum Maximum Factory set. Unit MODE Type MART _TCON –...
  • Page 14 409-BUTWD - Bus watchdog time in ms Contents Introduction Source: Bus Time Watchdog Function: Parameter only for CAN bus. _CONF To monitor the bus activity (CAN bus or InterBus-S) a watchdog is provided. _ENCD With the parameter BUTWD the monitoring time in ms can be set. The value 0 deactivates the watchdog.
  • Page 15 300-CFCON - Current control mode of servo Contents Introduction Source: Configuration Control Function: Choice of control mode (e.g. speed control) _CONF For each control mode appropriate reference values are stored in the servocontroller (sepa- _ENCD rate structures for each control mode). As a result, when the control mode is switched the reference values are also switched.
  • Page 16 G2 _SCTY _SYS Note: Manual setting of encoder type: _REF for resolvers: Number of pole pairs ECNPP for optical encoders: Parameter CFENC (LUST internal parameter). _IO1 _IO2 305-CFHSW - Hardware status word of system _CAN Source: Configuration Hardware State Word...
  • Page 17 CFHSW on MC7000 Contents Introduction Bit position Value of position Meaning of bit _CONF 0001 H Resolver parameterized (R1, R2, R8) _ENCD 0002 H Encoder with sinusoidal output parameterized (G1) _OPT1 0004 H Encoder with square output parameterized _MOT 0008 H Single-turn absolute value generator with SSI interface (G2, G5) _TCON 0010 H...
  • Page 18 302-CFPNM - Performance class of power stage Contents Introduction Source: Configuration Power Class Nominal Function: Identifier of performance class of power stage (effective rated output current in Amperes) _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 Dependent on device type –...
  • Page 19 402-CLSEL - Control location selector Contents Introduction Source: Control Location Selector Function: Control location selector (terminals, KeyPad, ...) _CONF CLSEL designates the source for the control commands START and INV; reference values _ENCD may also originate from other control locations according to reference input. _OPT1 Values: _MOT...
  • Page 20 Contents Settings: Setting Function Introduction 2nd position measurement system is not evaluated. _CONF SNOM Speed synchronism active _ENCD PNOM Electronic gearing active _OPT1 PACT Currently not supported. _MOT _TCON Note: _SCON The selected function requires correct setting of the control mode! SNOM =>...
  • Page 21 Functions for inputs on MC6000 Contents Introduction Inputs: IS00: Standard input, digital _CONF IS01: Standard input, digital _ENCD ISA0: Analog input +/- 10 V, also usable digitally ISA1: Analog input +/- 10 V, also usable digitally _OPT1 IF0: Fixed input, always =1 _MOT IF1: Fixed input, always =1...
  • Page 22 Contents Introduction Functions for inputs on MC7000 _CONF Inputs: IS00:Standard input, digital _ENCD IS01:Standard input, digital _OPT1 ISA0:Analog input +/- 10 V, also usable digitally ISA1:Analog input +/- 10 V, also usable digitally _MOT IF0:Fixed input, always =1 _TCON IF1:Fixed input, always =1 _SCON IExx:External inputs (I/O module) _PCON...
  • Page 23 Contents No. Setting Function: (continued) Introduction l l l l Start/stop reference run 2) l l l l RSERR Reset error _CONF RECAM Input for reference cam 2) + only IE00! _ENCD l l l l EGEAR Activate electronic gearing 2) ENCAM reserved _OPT1...
  • Page 24 Structure of reference input Contents Introduction Before reference input is parameterized, in subject area Note before _CONF parameterize: reference input _CONF Control mode CFCON _ENCD Control location CLSEL Function selectors Fixxx, Foxxx _OPT1 _MOT RLIM2 _TCON RLIM1 RSSL4 _SCON RFIX6 RLIM2 SADD4 424*...
  • Page 25 Direct input for higher-level position control (SPEED function) Contents Introduction If the servocontroller is operated with speed references from an external position control, the setting FISA0 = SPEED (_CONF) should be selected for ±10V speed references. _CONF This ensures a time-optimized sampling synchronized with the speed control loop and processing of the _ENCD speed references (250 µs clock).
  • Page 26 Í Functions for inputs on MC6000, Page 21 Contents Í Functions for inputs on MC7000, Page 22 Introduction Í Structure of reference input, Page 24 Í _CONF Notes on function selectors for inputs, Page 23 _ENCD _OPT1 Torque limitation (SCALE function) _MOT _TCON Some applications require that the torque limitation be continuously adjusted.
  • Page 27 132-FLABU - FLASH parameter group (FLAGP) in Flash-EPROM Contents Introduction Source: Flashbackup Function: Parameter only on MC7000. _CONF Start data backup of the FLASH parameter group (value of parameter FLAGP) in the _ENCD FLASH EPROM. _OPT1 Values: _MOT Minimum Maximum Factory set.
  • Page 28 Contents Attention! Introduction Not the complete FLASH EPROM is saved, only a group. The user must therefore _CONF known the group number of the parameters. _ENCD _OPT1 _MOT Example: Parameter data of group 1 are to be backed-up in the FLASH. Set 1st parameter FLAGP to 1.
  • Page 29 Contents Values: Introduction Minimum Maximum Factory set. Unit MODE Type MART _CONF TORQE SPEED – R1W2 REFRC USIGN8 Í _ENCD Example of use of output OS00:, Page 34 _OPT1 _MOT Setting Output variable TORQE Current torque _TCON SPEED Current speed _SCON Current position _PCON...
  • Page 30 Contents 463-FOS02- Function selector, relay output OS02 Introduction _CONF Source: Function Selector Output Standard 02 Function: Parameter only on MC7000. _ENCD Function selector for output OS02; determines which variable is delivered at the output. _OPT1 _MOT Values: Minimum Maximum Factory set. Unit MODE Type...
  • Page 31 Contents Introduction No. Setting Function: _CONF ‰ None _ENCD l l l Error _OPT1 l l l WARN Warning _MOT l l l /ERR No error _TCON l l l /WARN No warning _SCON ‰ ACTIV Control in operation (green LED flashing) _PCON l l l ROT_R...
  • Page 32 Functions for outputs on MC7000 Contents Introduction Outputs: OS00: Standard output, digital or PWM (analog) _CONF OS01: Standard output, digital OS02: Relay output (only MC7000) _ENCD OS03: Brake actuation output (only MC7000) _OPT1 OExx: External outputs (I/O module) _MOT ‰ _TCON Factory setting l Output can execute this function...
  • Page 33 Contents No. Setting Function: (continued) Introduction l l l l l S_RDY Servocontroller ready (Servo_Ready): Power stage _CONF enable ENPO not yet set. The signal remains set after the control has started. _ENCD l l l l l C_RDY Ready (Control_Ready): ENPO is set, control ready to start.
  • Page 34 Contents Introduction Setting Function _CONF Status-controlled, without reset _ENCD Status-controlled, with reset _OPT1 Edge-controlled, without reset _MOT Edge-controlled, with reset _TCON _SCON Operation with reset means the reference value of the MOP is set = 0. _PCON Í MOP function, Page 99 _VFCON Í...
  • Page 35 296-OPTN1 - Assignment of slot 1 Contents Introduction Source: Option1 Function: Identifier of module in option slot 1 _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 See table NONE – R5W15 USIGN8 _MOT _TCON _SCON OPTN1 on MC6000 _PCON Settings: _VFCON...
  • Page 36 OPTN2 on MC7000 Contents Introduction Settings: Bit position Value of position Meaning of bit _CONF 0001 H SSI interface Absolute position simulation _ENCD 0002 H LK1 Encoder simulation & input _OPT1 0004 H LK2 Second analog encoder input (only SSI) _MOT _TCON _SCON...
  • Page 37 451-SETUP - Setup mode for speed controller on/off (only MC6000) Contents Introduction Source: Setup Mode Function: Setup mode to activate/deactivate speed controller setup. _CONF With the setup mode the speed controller can be optimized if the moment of inertia of the _ENCD system is not known (see also SCGFA\ _OPT1...
  • Page 38 Example: The parameter is set by the D to ERROR as long as you are in the D RIVE ANAGER RIVE Contents Control dialog. It indicates that in this state the setting of the operation mode is ANAGER Introduction not valid. When you quit the Control dialog the mode setting is restored and parameter RNERR is _CONF reset to OK.
  • Page 39 136-RNTAB - Bit field of valid operation modes Contents Introduction Source: Run mode table Function: Parameter RNTAB is a 6-word field. Within a word each bit ( 6 * 16 = 96 bits) represents _CONF one operation mode. The position of a set bit within the field corresponds to the number of _ENCD an operation mode which can be activated on the device in question.
  • Page 40 Contents Display via outputs: This parameter also determines the speed as from which outputs are Introduction set to which the functions "ROT_R", "ROT_L" or "ROT_0"\ (clockwise, counter-clockwise or standstill) are assigned. _CONF _ENCD Note: _OPT1 For resolvers the lowest logical setting for the reference window is a value of 0.2 rpm; for high-resolution optical encoders the value can be reduced to 0.02 rpm.
  • Page 41 _ENCD – Contents Encoder Introduction _CONF 331-ECLNC - Lines per revolution of encoder _ENCD Source: Encoder Line Count _OPT1 Function: Lines per revolution of the encoder (only for optical encoders Gx). Encoders with 512 to 4096 in increments of 2 can be used. _MOT _TCON Values:...
  • Page 42 333-ECOFF - Encoder offset Contents Introduction Source: Encoder Offset Function: Offset of the encoder (correction value for the mechanical mounting orientation) _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 0000H FFFFH 0000H – R4W5 DRIVE USIGN16 _MOT _TCON Encoder type...
  • Page 43 Contents Introduction Setting Function 1 - 1 Factory setting for optical encoders: Hardware _CONF encoder simulation, lines per revolution = lines per _ENCD revolution of connected encoder. 1) 1 - X Factory setting for resolvers: Normal encoder sim- _OPT1 ulation, lines per revolution determined by parameter ECSLN.
  • Page 44 However, ECTF should only ever be changed by one stage, as an incorrect setting may make the control unstable! This may be noticeable at a standstill by hum- ming of the drive. Any greater need for adjustment should be agreed with LUST. ECTF on MC7000...
  • Page 45 330-ECTS - Sampling time of speed recording Contents Source: Encoder Time Sampling Introduction Function: Sampling rate of the encoder; adjusted with the relevant S to the built-in encoder. MART _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 4KHZ 4_KHZ...

  • Page 46: Opt1

    _OPT1 – Contents Slot 1 Introduction _CONF 452-DA0MN, 454-DA1MN - Lower limit value of value range for channel 0 or 1 of analog output (AH7) _ENCD _OPT1 Source: Digital/Analog Minimum Value for Channel 0, 1 Function: Parameter for MC7000 with 2-channel analog output (AH7). _MOT Minimum output value for channel 0 or 1 (value of output variable at - 10 V).
  • Page 47 Application example for analog output AH7 Contents Introduction Parameter FODA0 = SPEED, DA0MN = - 3000 and DA0MX = + 3000: Then - 10 V correspond to a speed of - 3000 rpm and + 10 V a speed of + 3000 rpm. _CONF _ENCD Speed:...
  • Page 48 Contents Introduction Permitted "SUPI" IBCNF Reference Actual settings _CONF No reference adopted All words = 0 1 ... 12 _ENCD 16 bits, torque, speed or 16 bits, torque, 7 ... 12 position, depending on speed or position, _OPT1 control mode depending on control mode _MOT 32 bits, torque, speed or...
  • Page 49 Contents Settings: Introduction Name _CONF Ready for start _ENCD Enable operation _OPT1 Error Power disabled _MOT Emergency stop _TCON Switch-on inhibit _SCON Warning Not implemented _PCON Remote _VFCON Reference reached Limit value _SIO reserved _KPAD reserved Actual state input IS00 _SCTY Actual state input IS01 _SYS...

  • Page 50: Mot

    _MOT – Contents Motor parameters Introduction Notes: _CONF • Changes to parameters in this subject area only take effect after a rest _ENCD (e.g. start command canceled and re-entered, Í 15 -PLRDY)! • Read in motor data from S (Drive area), in the factory setting the MART _OPT1 servocontroller is set to motor type PSM04-R83 (MC7000) or ASM22...
  • Page 51 319-MOJNM - Moment of inertia of motor Contents Introduction Source: Motor Inertia Nominal Function: Moment of inertia of the motor (nominal value) _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 1e-06 0.12 0.00074 kgmm R4W5 DRIVE FLOAT32 _MOT _TCON...
  • Page 52 322-MOMC1 - Value 1 of continuous magnetizing characteristic Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes. _CONF _ENCD Source: _OPT1 Function: Motor constant for the field weakening range _MOT The field weakening can be shut off by setting MOMC0 = 0. _TCON Values: Minimum...
  • Page 53 325-MOMC4 - Value 4 of continuous magnetizing characteristic Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes. _CONF _ENCD Source: _OPT1 Function: Motor constant for the field weakening range The field weakening can be shut off by setting MOMC0 = 0. _MOT _TCON Values:...
  • Page 54 320-MONPP - Number of pole pairs of motor Contents Introduction Source: Motor Number of Pole Pairs Function: Number of pole pairs of motor _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 – R4W5 DRIVE USIGN8 _MOT _TCON _SCON Note:...
  • Page 55 315-MOSNM - Nominal speed Contents Introduction Source: Motor Speed Nominal Function: Nominal speed of the motor _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 6000 3000 R1W5 DRIVE USIGN16 _MOT _TCON _SCON 328-MOTYP - Motor type _PCON Source: Motor type...
  • Page 56 _TCON – Contents Torque control Introduction _CONF 365-TCAVM - Threshold value for actual torque monitoring _ENCD Source: Torque Control Actual Value Maximum _OPT1 Function: Maximum value (threshold value) of actual torque monitoring. When the threshold value is exceeded an output OSxx is set, provided the output has been _MOT assigned the TCAVM function with the function selector FOSxx.
  • Page 57 352-TCTLG - Lag time of torque controller Contents Introduction Source: Torque Controller Time Lag Function: Lag time of the torque controller (I-component) _CONF The lag time must be longer than the sampling time of the torque controller (124.8 ms for _ENCD MC6000, 62.4 µs for MC7000).
  • Page 58 Contents Introduction TCMMX-m2* _CONF TCTLG -TCMMX-m2* _ENCD _OPT1 +TCMMX _MOT _TCON _CONF _MOT -TCMMX _TCON MOxxx PMFS _SCON TCTLG TCMMX _PCON TCTS _VFCON _SIO The input pointers TCI1 and TCI2 determine which variable is switched to inputs m1* and m2* of the _KPAD torque controller.
  • Page 59 Contents Introduction TCI1, SCI2, SCI1, Pointers for the inputs of the control loops SCI2, PCI1, PCI2 _CONF TCIMX, SCIMX, Pointers for the limits of the control loops _ENCD PCIMX, PCIMN _OPT1 Pointer for the reference filter (only _SCON) _MOT _TCON Example: The pointer TCIMX in the factory setting points to TCMMX.

  • Page 60: Scon

    _SCON – Contents Speed control Introduction _CONF 452-10PC - Setup mode: Number of overshoots with amplitude >10% in first overshoot range (only MC6000) _ENCD _OPT1 Source: 10 Percent Function: For speed controller setup mode (SETUP function\): Number of overshoots with an ampli- _MOT tude greater than 10 percent of the first overshoot.
  • Page 61 368-FCQB - Factor B for calculation of reduced q-current in FSB Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Function: The constants QA and QB of the flux control determine the torque reduction in the field _MOT weakening range.
  • Page 62 369-SCAVM - Threshold value for actual speed monitoring Contents Introduction Source: Speed Control Actual Value Maximum Function: Maximum value (threshold value) which the actual speed may reach. _CONF If the threshold value is exceeded an output OSxx is set, provided the output is assigned the _ENCD SCAVM function with the function selector FOSxx.
  • Page 63 363-SCJ - Moment of inertia of system Contents Introduction Source: Speed Controller Inertia Function: Moment of inertia of the system, reduced onto the motor shaft _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 1000 kgmm R1W3 APPLI FLOAT32 _MOT...
  • Page 64 360-SCTLG - Lag time of speed controller Contents Introduction Source: Speed Controller Time Lag Function: Lag time of speed controller (I-component) _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 0.001 0.0126 R1W3 DRIVE FLOAT32 _MOT _TCON _SCON 361-SCTS - Sampling time of speed controller _PCON...
  • Page 65 66x-SCIMX - Pointers for speed limit (only MC6000) Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Function: Pointer for speed limitation _MOT Parameter only on MC6000. _TCON _SCON Values: Minimum Maximum Factory set.
  • Page 66 371-VCTS - Sampling time of voltage regulator (only MC6000) Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Function: Sampling time of voltage regulator (display only) _MOT _TCON Values: Minimum Maximum Factory set.
  • Page 67 _PCON – Contents Position control Introduction _CONF 307-ENEG - Activation of electronic gearing _ENCD Source: _OPT1 Function: This parameter is inactive and currently has no significance! _MOT _TCON 120-PCALR- Active level of reference cam _SCON Source: Position Control Active Level of Reference Cam _PCON Function: With this parameter the active level of the reference cam is set.
  • Page 68 Contents p (t) PCAZ = OFF Introduction _CONF _ENCD RNok _OPT1 PCAZ = ON _MOT _TCON _SCON _PCON The servocontroller searches for the next zero after the reference cam (Rnok). When the reference cam _VFCON is reached the speed is braked with the braking ramp (1). In the setting PCAZ = OFF the drive stops on completion of the braking ramp in position (2), regardless _SIO of the zero point of the encoder (NP).
  • Page 69 386-PCGFA - Adaptation factor for position controller gain (only MC6000) Contents Introduction Source: Position Controller Gain Factor Function: Adaptation factor for the position controller gain (P-component) _CONF Parameter only on MC6000. _ENCD _OPT1 Values: Minimum Maximum Factory set. Unit MODE Type MART _MOT...
  • Page 70 113-PCRMD - Max. number of revolutions in referencing Contents Introduction Source: Position Control Referencedrive Maximum Distance Function: Indication of the maximum number of revolutions for a reference run without the reference _CONF cam having been activated. When this threshold value is exceeded output OSxx “Referen- _ENCD cing error“...
  • Page 71 308-PDMX - Max. position deviation (limit for tracking error) Contents Introduction Source: Position Difference Maximum Function: Input of the (absolute) maximum deviation between actual and reference position. If the _CONF deviation is greater than the specified value, the error E-FLW is delivered and the output with the function /EFLW is set.
  • Page 72 124-RCO - Offset between position of ref.cam and activation position Contents Introduction Source: Register Control Offset Function: Distance between the reference cam and the position at which the shift of the synchronous _CONF position is executed. _ENCD With RCO an offset can be specified between the position of the reference cam and the position at which the register control becomes active.

  • Page 73: Vfcon

    _VFCON – Contents (V/F mode) Introduction _CONF 34-VFVHZ - Voltage frequency control setting _ENCD CAUTION - Do not change parameter! _OPT1 Parameter only for development and service purposes _MOT _TCON Function: The parameter determines the rise in the linear voltage/frequency characteristic in the _SCON unit Volts per Hz.

  • Page 74: Sio

    _SIO – Contents Serial interface RS485 Introduction _CONF 82-SADDR - LustBus device address _ENCD Source: Serial Address _OPT1 Function: Serial address of the device _MOT Values: _TCON Minimum Maximum Factory set. Unit MODE Type MART – R4W4 USIGN8 _SCON _PCON _VFCON l The address 0 addresses every servocontroller in non-network operation.
  • Page 75 Contents Introduction Bit position Value of position Designation Meaning of bit _CONF 0001 H START Start control (1 = Start, 0 = Stop) _ENCD 0002 H Invert reference _OPT1 0004 H STOP Quick-stop / stop ramp 0008 H reserved _MOT 0010 H reserved _TCON...
  • Page 76 84-SWDGT - LustBus watchdog time setting Contents Introduction Source: Serial Watchdog Time Function: Watchdog sampling time of the serial interface _CONF Time in which the Busmaster must have sent at least 1 telegram to the servocontroller. If the _ENCD servocontroller does not receive a telegram, error E-WDG (Watchdog) is signaled with error location 11.
  • Page 77 107-UNIT - Available parameter units Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Function: Calls off the units of the parameters (by way of value substitution texts) over the bus _MOT system.

  • Page 78: Kpad

    _KPAD – Contents KeyPad KP100 Introduction _CONF 3-BARG - Parameter for bar graph display of KP100 _ENCD Source: Bargraph (Displayed Parameter) _OPT1 Function: Continuous actual value of bar graph display of KeyPad (defines which parameter is on per- manent display on the bar graph display) _MOT _TCON Values:...
  • Page 79 Contents Explana- The value of this parameter determines the sensitivity of the MOP function when key Introduction tory note: is pressed. The graphic outlines the function of the parameter. _CONF _ENCD CTLFA=65 535 _OPT1 _MOT _TCON CTLFA _SCON _PCON CTLFA=1 _VFCON _SIO _KPAD...
  • Page 80 Contents Introduction Setting Use for Comments _CONF Users without access permission No parameter editable, key parameters displayable _ENCD User with basic knowledge Key parameters editable, many _OPT1 displayable Users with advanced knowledge and All parameters necessary for standard _MOT for control via SIO, Interbus-S applications editable, many displayable _TCON...
  • Page 81 In a reset the parameter list is checked for validity and the dependent parameters are calculated. This Contents update of the parameter list takes a short time. Introduction To avoid the delay in starting the drive, the reset can be triggered manually beforehand (above option _CONF 1 or 3).
  • Page 82 100-PSW2 - Password for user level 2 of KP100 Contents Introduction Source: Function: Password Mode 2 _CONF Password for user level 2 can be activated with these parameters. _ENCD (scan --PWx-- on change of user level MODE) _OPT1 Values: _MOT Minimum Maximum Factory set.
  • Page 83 104-PSW6 - Password for user level 6 of KP100 Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Function: Password Mode 6 _MOT Password for user level 6 _TCON (scan --PWx-- on change of user level MODE) _SCON _PCON Values:...
  • Page 84 _SCTY – Contents Device response in case of error Introduction _CONF Parameters to program the error response _ENCD With these parameters (subject area _SCTY) the defined response of the servocontrollers to an error _OPT1 can be programmed. _MOT _TCON _SCON Error response table for MC6000 _PCON In the error response table possible error responses are defined.
  • Page 85 Contents Name No. Meaning (error on ...) (continued) Response Sig. R-ENC ... Encoder error (incorrect type or missing) Introduction R-END 140 ... Limit switch activated (23=left, 24=right) _CONF R-EEX 141 ... Limit switches swapped _ENCD R-EXT ... Error message from external controller 0 ...
  • Page 86 Acknowledging errors Contents Introduction The following possibilities for acknowledgment are provided: _CONF Rising edge at input ENPO of control terminal strip _ENCD _OPT1 Press stop/return key on KeyPad for approx. 3 seconds _MOT Set RESET bit in SIO control word SCTL1 (control via serial interface) _TCON (only with control via serial interface;...
  • Page 87 16-MKERR - Error simulation parameter to test error responses Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Function: The parameter can trigger a specific error for test purposes. The parameter contains the _MOT error number and error location in hexadecimal form.
  • Page 88 _SYS – Contents Diagnosis and digital scope Introduction _CONF Digital scope _ENCD The software of the M includes a Trace tool (digital scope) with which the contents of ASTER ONTROL _OPT1 specific digital variables can be documented over a limited period of time. _MOT The digital scope is conveniently operated with the D RIVE...
  • Page 89 Contents Introduction Bit position Hex value Meaning 0.. 4 0..1Fh Left-shift value for the recorded variable. For 32-bit _CONF variables the value should be less than 32, and for 16-bit variables less than 16. This functionality only _ENCD makes sense for DA output. For the digital scope _OPT1 this value is always 0.
  • Page 90 68-DSRUN - Start enable of digital oscilloscope Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Digital Scope Run Function: Start enable of digital oscilloscope _MOT In the write operation to this parameter only bit 0 is influenced. In read operations bit 0 and _TCON bit 1 are read.
  • Page 91 60-DSTIM - Time division of digital oscilloscope Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Digital Scope Time Function: Time division of the digital oscilloscope in multiples of 62.4 µs (MC7000) or 124.8 µs _MOT (MC6000) respectively _TCON...
  • Page 92 65-DSTM - Trigger mode, digital oscilloscope Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Digital Scope Trigger Mode Function: Trigger mode of digital oscilloscope _MOT _TCON Values: Minimum Maximum Factory set.
  • Page 93 36-DSVTC - Index of trigger channel for values table of Trace tool Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Digital Scope Value Trigger Channel Function: Variable for the trigger channel _MOT _TCON Values:...
  • Page 94 31-PTR_H, 30-PTR_L - Data pointer to any memory locations Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 Source: Pointer High Word, Pointer Low Word Function: High word, Low word of the data pointer which addresses a memory location. With P-VAL _MOT this memory location can be read and written.
  • Page 95 _REF – Contents Reference structure Introduction _CONF 842-ACCR - Acceleration ramp for speed control _ENCD Source: Acceleration Ramp _OPT1 Function: Acceleration ramp (only with speed control) _MOT Values: _TCON Minimum Maximum Factory set. Unit MODE Type MART 65535 rpm/s R1W2 REFRC USIGN16 _SCON...
  • Page 96 335-EC2LN - Lines per revolution of optical encoder, encoder input 2 Contents Introduction Source: Encoder 2 Line Count Function: Lines per revolution of the encoder at encoder interface 2 (input for electronic gearing). _CONF Values from 512 to 32000 can be set, in increments of 2. _ENCD Parameter only for MC7000.
  • Page 97 497-RCAN - Reference from CAN bus Contents Introduction Source: Reference from CAN-Bus Function: Reference values via CAN bus _CONF This parameter only displays the reference value from the CAN bus. _ENCD _OPT1 Values: Minimum Maximum Factory set. Unit MODE Type MART _MOT -32764...
  • Page 98 434-REF1 ... 438-REF6 - Interim values of reference input Contents Introduction Source: Reference Value 1 - 6 Function: Interim values of reference input _CONF These parameters display the reference value (interim stages) on the reference channels. _ENCD They are useful for troubleshooting in reference input. _OPT1 Values: _MOT...
  • Page 99 87x-RINC - Reference increments in MOP function Contents Introduction Source: Reference Increment Function: Stepwidth for MOP function\ via digital inputs. This parameter displays the reference value _CONF of the motor operated potentiometer. _ENCD _OPT1 Values: Minimum Maximum Factory set. Unit MODE Type MART...
  • Page 100 Operation modes of the MOP function Contents Introduction Four operation modes can be selected by way of parameter MPCNF (_CONF): _CONF _ENCD Input Input MPCNF Operation mode Function MP-UP MP-DN _OPT1 Status controlled – _MOT Without reset Increase MP reference Decrease MP reference _TCON –...
  • Page 101 Contents Note: Introduction If RLIM1 > RLIM2 is set, error E-PAR is signaled _CONF (parameter list invalid). _ENCD _OPT1 Í _MOT Structure of reference input, page 24 _TCON _SCON 82x-RNA0, 83xRNA1 - Scaling for analog reference input 0 or 1 _PCON Source: Reference Norm Analog Input 0, 1...
  • Page 102 126-RSDIR - Level of directional signal for stepper motor mode Contents Introduction Source: Reference Step Direction Function: Input of the level of the directional signal for the positive direction of rotation in evaluation of _CONF stepper motor signals (pulse direction signals) with speed synchronism. _ENCD _OPT1 Values:...
  • Page 103 RSSLx on MC6000 Contents Introduction No. Setting Reference source is: _CONF RCON None (reference channel deactivated [constant =0]) _ENCD Analog input ISA0 Analog input ISA1 _OPT1 RSIO Serial interface _MOT RPOT Motor operated potentiometer at digital inputs _TCON RDIG Digital reference input (PWM) ROPT1 Module in slot 1 (X6) _SCON...
  • Page 104 Contents Introduction Settings: Setting Function Stepper motor interface is shut off _CONF (A-B signals) _ENCD Stepper motor interface is on (pulse direction signals) _OPT1 _MOT Í 126-RSDIR - Level of directional signal for stepper motor mode, page 102 _TCON Í 390-RDDEN - Transmission ratio of rotation speed (denominator), page 97 Í...
  • Page 105 Contents Note: Introduction If the torque limitation (SCALE function) is active, it also takes effect in case of a _CONF quick-stop! _ENCD _OPT1 _MOT Resetting the quick-stop state: The quick-stop state is retained until the /STOP signal and the start signal have been reset. _TCON _SCON Attention!
  • Page 106 _IO1 – Contents Inputs Introduction _CONF 455-FIE00 ... 462-FIE07 - Function selector, external inputs IE00 ... IE07 _ENCD Source: Function Selector Input External 0 - 7 _OPT1 Function: Function selectors for external inputs 0 to 7 (I/O module) _MOT Values: _TCON Minimum Maximum...
  • Page 107 _IO2 – Contents Outputs Introduction _CONF 471-FOE00 ... 474-FOE03 - Function selector, external outputs OE00 ...OE03 _ENCD Source: Function Selector Output External 0 - 3 _OPT1 Function: Function selectors for external outputs 0 to 3 (I/O module) The output delivers High level if the condition is met. _MOT _TCON Values:...
  • Page 108 480-SOEXT - Status word of external outputs OE00...OE03 Contents Introduction Source: Status Word Output Extern Function: Status word of the external outputs (I/O module) to scan the outputs via serial interface _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1...
  • Page 109 _CAN – Contents CAN bus Introduction _CONF 493-CAADR - CAN bus device address _ENCD Source: CAN-Bus address _OPT1 Function: Address on CAN – BUS. This parameter has priority over hardware settings. _MOT To assign the address by hardware means (DIP switch or DSUB connector) the parameter _TCON must be set to 0.
  • Page 110 Contents Introduction CACNF Reference Actual _CONF No reference adopted No actual transferred 16 bits, torque, 16 bits, torque, speed or _ENCD speed or position position _OPT1 32 bits, torque, 32 bits, torque, speed or speed or position position _MOT 32 bits speed 16 bits speed (1st word) 16 bits torque (2nd word) _TCON...
  • Page 111 Contents Name (continued) vacant Introduction vacant _CONF vacant _ENCD Reference state output OS00 1), S1OUT 2) Reference state output OS01 1), S2OUT 2) _OPT1 _MOT 1) MCxxxx, 2) VF1xxx _TCON _SCON _PCON 490-CASTA – CAN bus status word _VFCON Source: CAN-Bus Status Word _SIO Function:...
  • Page 112 _PMOD – Contents Open-loop position control (option) Introduction _CONF Calculation aids _ENCD _OPT1 Example for determining the scaling factors for travel, velocity and accelera- _MOT tion _TCON _SCON In order to make the position entries in a unit of length in a linear application, for example, the position _PCON controller must be informed of the context.
  • Page 113 Velocity resolution Contents General rule: Incr. Introduction ⋅ ---------- - Programming unit = K12 65536Incr. where: ------------------------- - (see above) _CONF _ENCD Example - requirement is default in 65536Incr. ⋅ ------------------------- - _OPT1 programming unit 0.01 m/s: 10mm -------------- - ------------------------------------ - _MOT Translate time units into 5 ms...
  • Page 114 Distance unit Contents Introduction On the Units tab you define the unit with which destination positions and positioning travels are entered in the sequence program or in manual mode. _CONF l In the setting "Calculation from resolutions", the "travel resolution" corresponds to the distance unit. _ENCD l In the "Direct input"...
  • Page 115 Positive direction of rotation Contents Introduction Note: _CONF Positive direction of rotation means clockwise as viewed onto the motor shaft (A-side bearing plate), unless the "direction of rotation preceding sign" is specified _ENCD as "Negative" on the Tolerances tab (or in parameter POSIG). _OPT1 _MOT _TCON...
  • Page 116 545-POAPO - Current program set number of active positioning program Contents Function: Parameter only on MC7000. Introduction The parameter indicates the number of the program set of the current positioning _CONF program which is to be executed when the still running positioning set is finished. _ENCD Í...
  • Page 117 502-POAVE - Velocity resolution (K12) Contents Function: Parameter only on MC7000. Introduction With this parameter the unit of the velocities in the position control is defined. _CONF _ENCD Use of this parameter is necessary: l if the parameter is to be entered via serial interface (without D ), or RIVE ANAGER...
  • Page 118 Contents Introduction Linear: Sinusoidal: Advan- Greatest possible dynamics _CONF Smooth but rapid acceleration, so smooth posi- tage: tioning. _ENCD _OPT1 _MOT _TCON _SCON _PCON _VFCON _SIO _KPAD _SCTY _SYS Í Acceleration ramps, page 114 _REF _IO1 510-POBLN - Maximum linear braking acceleration in negative direction (K20) _IO2 _CAN Function:...
  • Page 119 514-POBPN - Maximum sinusoidal braking acceleration in negative direction (K24) Contents Function: Parameter only on MC7000. Introduction The parameter determines the initial steepness of the sinusoidal braking accelera- _CONF tion in negative direction (K24). _ENCD Í Acceleration ramps, page 114 _OPT1 _MOT Values:...
  • Page 120 Contents Values: Minimum Maximum Factory set. Unit MODE Type Introduction MART – – – – R1W3 String _CONF _ENCD Settings: _OPT1 Function No Data _MOT End of Communication _TCON ' | ' = ESC sequence 1B _SCON _PCON _VFCON 515-POECO - External CAN outputs of PosMod _SIO Function: Parameter only on MC7000.
  • Page 121 Contents Introduction Settings POENA = Function _CONF POSMOD1 deactivated, MC6000 in "speed control" mode for setting of the speed control- _ENCD ler, control via CTRL menu on KEYPAD possi- _OPT1 Default after power-up: POSMOD1 active, CTRL menu of KEYPAD inactive _MOT POSMOD1 deactivated, MC6000 in "position STDBY...
  • Page 122 552-POFNC - Position control function diagram Contents Introduction CAUTION - Do not change parameter! Parameter only for development and service purposes _CONF _ENCD _OPT1 _MOT Function: Parameter only on MC7000. Additional information for the D (Control and Monitor dialog) RIVE ANAGER _TCON _SCON...
  • Page 123 Example: POPRT = 0 Input port is IExx Contents POKHE = 1008H IE03 -> positive HWE Introduction IE04 -> negative HWE _CONF _ENCD Note: The function selector of the input must be assigned to the position control _OPT1 (FIExx = POMOD, subject area _IO1). _MOT The parameter is only required for parameter setting via interface.
  • Page 124 Example: POPRT = 0 Input port is IExx Contents POKPN = 72H IE01 = program bit 0 Introduction IE04 = program bit 1 IE05 = program bit 2 _CONF IE06 = program bit 3 _ENCD _OPT1 Note: With parameter 535-POPKD the type of coding is defined. _MOT The parameter is only required for parameter setting via interface.
  • Page 125 539-POKVF - Configuration of feed hold (K06) Contents Function: Parameter only on MC7000. Introduction The feed hold is the prerequisite for all axle movements; that is to say, the axle can _CONF only be positioned when a High level is applied to this input. _ENCD The allocation is bit-wise, i.e.
  • Page 126 529-POMER - Flags Contents Function: Parameter only on MC7000. Introduction The flags of the position control can be read and altered by way of POMER. This is a _CONF field parameter whose index matches that of the position control; that is, flag M00 is identical to POMER[0].
  • Page 127 512-POPAN - Maximum sinusoidal startup acceleration rate in negative direc- Contents tion (K22) Introduction Function: Parameter only on MC7000. _CONF The parameter determines the initial steepness of the sinusoidal startup acceleration _ENCD rate in negative direction (K22). _OPT1 Í Acceleration ramps, page 114 _MOT _TCON Values:...
  • Page 128 Contents Note: Introduction The parameter is only required for parameter setting via interface. In D RIVE ANAGER _CONF operation the value is calculated by way of the settings. _ENCD _OPT1 _MOT _TCON 532-POPLI - Program line counter _SCON Function: Parameter only on MC7000. _PCON The parameter contains the total number of program lines of all programs stored in the position controller.
  • Page 129 534-POQPN - Source of program number (K00) Contents Function: Parameter only on MC7000. Introduction The program number entered here is adopted by the position control on program _CONF start, if parameter 535-POPKD contains the value 0 (FIX). _ENCD _OPT1 Values: Minimum Maximum Factory set.
  • Page 130 Key to “Reference run type“ diagram Contents Introduction Possible starting positions: Abbreviations used: Between reference cam and positive limit Negative hardware limit switch _CONF End - switch _ENCD On reference cam End + Positive hardware limit switch _OPT1 Between reference cam and negative limit Reference cam RNok switch...
  • Page 131 525-PORV2 - Second referencing speed (K73) Contents Function: Parameter only on MC7000. Introduction When the reference cam is reached the speed changes to this. _CONF Í 522-PORTY - Reference run type (K70), page 129 _ENCD _OPT1 Values: Minimum Maximum Factory set. Unit MODE Type...
  • Page 132 531-POSTA - Positioning status Contents Function: Parameter only on MC7000. Introduction This parameter is read-only! _CONF POSTA contains status information on the position control which is only of relevance _ENCD to the D RIVE ANAGER _OPT1 Values: _MOT Minimum Maximum Factory set.
  • Page 133 518-POSWP - Positive software limit switch (K28) Contents Function: Parameter only on MC7000. Introduction With this parameter the travel range can be limited (referred to the machine zero, on _CONF the Referencing tab). POSWP must be parameterized so that it is before the nega- tive hardware limit switch, as viewed from the travel range.
  • Page 134 504-POVMX - Maximum velocity in velocity unit (K14) Contents Function: Parameter only on MC7000. Introduction All programmed velocities are limited to the value set here. _CONF _ENCD Values: Minimum Maximum Factory set. Unit MODE Type MART _OPT1 2147483647 16384 – R4W4 POMOD TERM...

  • Page 135: Table Of Contents

    520-POWIN - Position window (K31) Contents Function: Parameter only on MC7000. Introduction The parameter determines the tolerance limit for reaching of the reference position _CONF (in increments). When the actual position has reached the position window, the "Axle in position" output is set. _ENCD _OPT1 Window larger, i.e.
  • Page 136 _VAL – Contents Actual value parameter Introduction _CONF The _VAL menu contains actual values and fixed values of the servocontroller. _ENCD _OPT1 _VAL menu on MC6000 _MOT This listing shows all actual values and fixed values which can be scanned in the VAL menu. _TCON Each parameter is assigned a parameter number.
  • Page 137 Contents Introduction Name Designation Description MODE Unit _CONF CURNT Current Effective output current (phase) TORQE Torque Actual torque _ENCD SPEED Speed Actual speed _OPT1 Position Actual position TSYS System Time System time (time since power-up) _MOT Time of Operation Operating hours meter _TCON SREV Standard Revision For modified software, gives reference to...
  • Page 138 Contents Name (continued) Parameter list invalid Introduction Editing of param.list finished _CONF Start reference run _ENCD vacant vacant _OPT1 vacant _MOT External error Invert reference (channel 3, 4) _TCON _SCON _PCON 106-CRIDX - Revision index as suffix to version number _VFCON Function: Internal suffix to version number indicating the correction status of the software.
  • Page 139 IOSTA on MC6000 Contents Introduction The parameter displays the IO status in hexadecimal format: _CONF Bit position Value of position Input/output _ENCD 0001 H ENPO 0002 H IS00 _OPT1 0004 H IS01 _MOT 0008 H OS00 (only digital) 0010 H OS01 _TCON 0020 H...
  • Page 140 93-KOMP - Compatibility class of SmartCard Contents Introduction Function: The parameter permits the compatibility of the S to be restricted, e.g. for modi- MART fied software. The value of KOMP in the servocontroller must match the value of KOMP in _CONF the S header.
  • Page 141 10-MAXTX - Maximum processor workload since power-up Contents Function: Maximum controller workload Introduction _CONF Values: Minimum Maximum Factory set. Unit MODE Type MART _ENCD 0.00 999.95 0.00 – R5W15 – FIXPOINT16 _OPT1 _MOT _TCON 12-MIDTX - Average processor workload _SCON Function: Mean controller workload _PCON...
  • Page 142 Index Contents Acceleration ramp 95 Hardware limit switches 122 Introduction Acceleration ramps Hardware status word 16 On PosMod 114 Holding time 40 _CONF Acceleration resolution 113 _ENCD Actual position 115 Actual speed 136 _OPT1 i² x t limitation of motor 50 Actual torque 136 Input 20 _MOT...
  • Page 143 Speed synchronism 19 Contents Standstill window 39 Operation mode 38 Introduction Switching frequency 36 Encoder simulation 42 Symbols used 10 Holding brake 12 _CONF MOP 100 _ENCD Option slot 35 Output 29 _OPT1 Table index 124 Outputs Table values _MOT On PosMod 123 On PosMod 133 Override 126...
  • Page 144 Contents Introduction _CONF _ENCD _OPT1 _MOT _TCON _SCON _PCON _VFCON _SIO _KPAD _SCTY _SYS _REF _IO1 _IO2 _CAN _PMOD _VAL Index Parameter description MC6000/7000 • Index...
  • Page 146 We reserve the right to make technical changes. ID no. 0792.26B.0-00 03/99 Lust Antriebstechnik GmbH ∗ Gewerbestr. 5-9 ∗ D-35631 Lahnau ∗ T el. +49 (0)6441 / 966 -0 ∗ Fax +49 (0)6441 / 966 -137 Internet: http://www.lust-tec.de ∗ e-Mail: lust@lust-tec.de...

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