tae TA Series Instructions And Operating Manual
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tae TA Series Instructions And Operating Manual

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TA-U1...U280
Universal Antrieb / Universal Drive
Instruction and Operating Manual
Pikatron GmbH • division TAE Antriebstechnik • Raiffeisenstrasse 10 • D-61250 Usingen
State 09-2016 V-1 TA-U1_U280-e.indd
The German text applies in cases of doubt

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  • Page 1 TA-U1...U280 Universal Antrieb / Universal Drive Instruction and Operating Manual Pikatron GmbH • division TAE Antriebstechnik • Raiffeisenstrasse 10 • D-61250 Usingen State 09-2016 V-1 TA-U1_U280-e.indd The German text applies in cases of doubt...

  • Page 2: Table Of Contents

    TA-U1...U280 Table of content About This Instruction Manual ........................4 Instructions of Safety ............................ 4 Instructions and Rules ..........................4 Safety ................................5 Using Fault-Current-circuit-breaker (FI) ...................... 5 General ................................6 Name Plate ..............................6 Expected Readers of this Manual ....................... 6 This operating manual is for users which are qualified to handle this device.
  • Page 3 TA-U1...U280 5.1.7 Braking Unit ............................. 36 Connections ..............................36 Power Connections ............................. 36 Connection Diagram Controlboard ......................37 5.2.1 Connection Diagram Controlboard standard ................. 37 5.2.2 Connection Diagram Controlboard save Torque ................38 Connection Diagram Encoders ........................39 5.3.1 Encoder standard ..........................39 5.3.2 Encoder RS422..........................

  • Page 4: About This Instruction Manual

    Use only functional devices. After safety mechanisms have been triggered, the cause must be found and the failure has to be fixed. Defects on the device can only be repaired by TAE or from TAE authorized qualified personal. Safety equipment must not be bypassed or removed. More information about the provided safety and protection equipment may be found in Chapters 7 and 7.1.

  • Page 5: Safety

    TA-U1...U280 Safety As with any form of electrical equipment, there is always a risk involved in the handling of electrical machinery. The greatest care must always be exercised during installation and maintenance. It is recommended that service is performed by authorized personnel only. Make sure that the unit and the motor is properly grounded in order to avoid electrical hazzards! Improper grounding will also cause damage to the electronic circuit and to the encoders of the motor! The common connection of the electronic circuit can be jumpered, connected to ground...

  • Page 6: General

    TAE is not liable if any manipulations have been made, for example, attempts to repair. If there is any doubt about the cause of failure or possibility of repairing, please contact TAE to avoid further damage to the device or motor.

  • Page 7: Description Of The Product

    Motor connection 3.1.1 Usability Referring to power asynchronous and permanet magnet synchronous motors can be connected to this device which are specified by TAE. 3.1.2 Protection Against Irregular Usage Caution! Do not apply mains to the output terminals U, V, W.

  • Page 8: Norms And Directives

    (Amended by Directives 93/68/EEC) Using a QM system, TAE is watching all steps from development to production of the device. So all norms and direc- tives can be fulfilled referring to this aspect of safety.

  • Page 9: Technical Data

    TA-U1...U280 Technical Data 3.2.1 Drive Specifications - Part numbers TA-U1…U280 The voltages, currents and power data in this tabel are nominal data at switch frequency 8 kHz. You will find the exact value on the name plate. If the 400V devices operate at voltage 480V, the output power will be increased at approx 20%. Mains 3Ph 50/60 Hz Power Current (Output)

  • Page 10: Dimensions Ta-U2

    TA-U1...U280 3.2.2 Dimensions TA-U2…U400 TA-U 1/2/4/6 TA-U 8...280 PG 4001 PG 4001 Ready For Run Run (Enabled) C1 DRV-Temp Warning C2 MOT-Temp Warning C3 Value Out Of Range C4 Safe Stop C5 DRV Locked Ref>0 C6 Pow-Stage Disabled F0 Motor Overtemp. F1 Overcurrent F2 Drive Overtemp.

  • Page 11: Device Data And Dimensions

    TA-U1...U280 3.2.3 Device data and Dimensions (Voltage according to name plate) Line voltage Deviation 200-250V ± 10% 300-480V 3 Phase 50/60Hz Enclosure IP 20 Environment Temperature 0-40°C Speed deviation less than 1% with analogue reference (0-10V) 0% absolute (+/- 1 Digit) at digital reference The technical data are rated at atmospheric humidity of 90% and at 1000 m above sea level.

  • Page 12: Rated Current De-Rating In Relation To Switch Frequency

    TA-U1...U280 3.2.4 Rated current de-rating in relation to switch frequency Rated current I rated 140% 130% 120% 110% 100% 10 11 12 13 14 15 16 17 18 19 f/kHz 3.2.5 Standard equipments  Electronic transmissions  4 free programmable digital inputs ...

  • Page 13: Printed Circuit Boards & Modules

    TA-U1...U280 Printed Circuit boards & modules 3.3.1 Powerstage TA-U1..U6 LP1 BR1 LD101 BR2 BR3 LP2 Connection to controlboard Mains voltage 200-250V +/-24V Indication Safe Stop bridged +/-24V Safe Stop bridged PT100 LD101 Buss voltage „Red“ back side Thermal switch LD102 Power supply active „Green“ back side Buss voltage Misprints and technical changes reserved Instruction and Operating Manual...

  • Page 14: Powerstage Ta-U8

    TA-U1...U280 3.3.2 Powerstage TA-U8..U15 Connection to controlboard Buss voltage +/-24V Mains voltage 200-250V +/-24V Indication Safe Stop bridged Charging relay Safe Stop bridged PT100/Thermal switch Buss voltage „Red“ back side Safe Stop Power supply active „Green“ back side Instruction and Operating Manual Misprints and technical changes reserved...

  • Page 15: Powerstage Ta-U22

    TA-U1...U280 3.3.3 Powerstage TA-U22..U90 Connection to controlboard +/-24V +/-24V fan (switched) Charging relay Current U Current V Current W PT100/Thermal switch Safe Stop External elektronic supply Buss voltage IGBT WP IGBT WN IGBT VP IGBT VN IGBT UP IGBT UN Buss voltage "red"...

  • Page 16: Powerstage Start At U110

    TA-U1...U280 3.3.4 Powerstage start at U110 Connection to controlboard +/-24V +/-24V Charging relay Current U Current V Current W PT100/Thermal switch Safe Stop External elektronic supply Buss voltage X16/X26 IGBT WP X17/X27 IGBT WN X18/X28 IGBT VP X19/X29 IGBT VN X20/X30 IGBT UP X21/X31 IGBT UN Supply Charging relay...

  • Page 17: Printed Circuit Boards Modules Ta-U1

    TA-U1...U280 3.3.5 Printed circuit boards modules TA-U1...U150 CPU - Controlboard 1 2 3 9 10 47 48 49 50 51 Encoder- Encoder Systems systems Digital - Analog Board and Bus Systems Digital - Analog Bus Systems CPU - Controlboard Boards or or Ethernet Adapter board Misprints and technical changes reserved...

  • Page 18: Controlboard Ta-U1

    TA-U1...U280 3.3.6 Controlboard TA-U1...U150 DIP switch S1 1 2 3 9 10 (Factory adjustment) DIP switch S2 (Factory adjustment) LD10 LD11 LD12 LD13 LD14 Connection to powerstage LD1 Yellow - Input terminal 2 Connection to Digital - Analogboard, LD2 Yellow - Input terminal 3 bussystems and Ethernetboard LD3 Yellow - Input terminal 4 Connection to displayboard...

  • Page 19: Encoderboard "Standard

    TA-U1...U280 3.3.7 Encoderboard "Standard" Ilustration of Jumper BR on board, is factory adjustment BR1 BR2 TP1 TP2 DIP switch S2 (Factory adjustment) DIP switch S1 (Factory adjustment) TP3 TP4 Speed actual value track AB Voltage Impuls/UPM refer to chapter 5.3.1 <100 >100 TP10 TP11...

  • Page 20: Encoderboard "Rs422

    TA-U1...U280 3.3.8 Encoderboard "RS422" Ilustration of Jumper BR on board, is factory adjustment DIP-Schalter S1 (factory adjustment) BR3 BR4 refer to chapter 5.3.2 TP10 TP12 TP13 TP15 TP16 TP18 Encoder RS422 0402 BR5 Zero point signal Z2 X5 Connection to controlboard Pin 1-2 closed: Zero point signal from S1 GND Connections of the input terminals encoder...

  • Page 21: Encoderboard "Resolver 0403" (12 Bit)

    TA-U1...U280 3.3.9 Encoderboard "Resolver 0403" (12 Bit) Ilustration of Jumper BR on board, is factory adjustment TP19 TP18 DIP switch S1 TP17 (Factory adjustment) TP14 refer to chapter 5.3.3 TP13 TP11 TP18 Encoder Resolver 0403 Connection to controlboard BR5 Scan frequency (NC) factory adjustment open GND Connections of the input terminals 33,35 and 38 (Z,/Z,AB)

  • Page 22: Encoderboard "Resolver 0406" (16 Bit)

    TA-U1...U280 3.3.10 Encoderboard "Resolver 0406" (16 Bit) Ilustration of Jumper BR on board, is factory adjustment DIP switch S1 DIP switch S2 (factory adjustment) (factory adjustment) Resolver resolution12 Bit refer to chapter 5.3.3 TP12 TP11 Resolver mode selection TP10 DIP-S2 Parameter 53,54 resolver selection by u-Drivemanager or Keypad, active: 1) or disabled: 2) Resolver resolution...

  • Page 23: Encoderboard "Sincos

    TA-U1...U280 3.3.11 Encoderboard "SinCos" Ilustration of Jumper BR on board, is factory adjustment DIP-Schalter S1 Interface: (factory adjustment) SSI (SPI) RS485 refer to chapter 5.3.2 BR20 Zero point signal Z2 Ini ator Encoder LD1, LD2, LD5 Encoder (Inverted) BR10 Encoder BR20 BR20 Supply Encoder...

  • Page 24: Digital - Analog Board

    TA-U1...U280 3.3.12 Digital - Analog board DIP switch S1 (Factory adjustment) DIP switch S2 X200 X200 (Factory adjustment) DIP switch S3 (Factory adjustment) LD11 LD11 LD10 LD10 Analogboard 0501 refer to chapter 5.4 refer to chapter 5.4 Connection to bussystems LD3 Yellow - digital output terminal 63 X200 Connection to controlboard LD4 Yellow - digital output terminal 64...

  • Page 25: Canopen

    TA-U1...U280 3.3.14 CanOpen CanOpen 0701 X2 Connection to controlboard S1 load resistor X7 Connection to CanOpen plug On=top OFF=bottom 3.3.15 Ethernetboard Ethernet 1401 X2 Connection to controlboard X7 Connection ethernet X8 Connection ethernet Misprints and technical changes reserved Instruction and Operating Manual...

  • Page 26: Displayboard

    TA-U1...U280 3.3.16 Displayboard 7 Segment Display 0 Ready for run 1 Run (Enable) C1 Drive temperature pre-warning C2 Motor temperature pre-warning C3 Max value out of range C4 Safe Stop C5 Drive Locked ref>0 C6 Powerstage disabled C7 Actual speed > norming C8 Parameterization fault Fault signals: (F and number shine alternately) F0 Motor overtemperature...

  • Page 27: Principle Diagrams

    TA-U1...U280 Principle Diagrams External brake resistor 3.4.1 TA-U1..U6 Encoder-Systems Digital - Analog boards & Bus systems CPU - Controlboard PowerStage Safe Stop Option EMC-Filter External Elektronic supply max 710V DC Misprints and technical changes reserved Instruction and Operating Manual...

  • Page 28: Ta-U8

    TA-U1...U280 3.4.2 TA-U8..U15 Externer Brems- Widerstand -24V Encoder Systems +24V -24V Digital - Analog boards & Bus Systems +24V PowerStage CPU - Controlboard Option EMC-Filter External Safe Stop Elektronic supply max 710V DC Instruction and Operating Manual Misprints and technical changes reserved...

  • Page 29: Ta-U22

    TA-U1...U280 3.4.3 TA-U22...U90 Input -24V 50°C -24V +24V -24V PowerStage 1 - 4; wh,bu,gn,bn +24V 1 - 4; wh,bu,gn,bn 1 - 4; wh,bu,gn,bn -24V +24V DC BUSS 0-800V Encoder-Systems DC-Bussfilter Digital analog boards & Bus systems 48 VDC (TA-U55-65) -24V Heatzink +24V bottom...

  • Page 30: Ta-U110

    TA-U1...U280 3.4.4 TA-U110 PowerStage -24V -24V +24V +24V -24V +24V 1 - 4; wh,bu,gn,bn 1 - 4; wh,bu,gn,bn -24V 1 - 4; wh,bu,gn,bn +24V 48 VDC DC-Bussfilter Digital analog boards & Bus systems CPU-Controlboard EMC-Filter Safe Stop Option Instruction and Operating Manual Misprints and technical changes reserved...

  • Page 31: Ta-U150

    TA-U1...U280 3.4.5 TA-U150 50°C PowerStage capacitor left -24V -24V +24V -24V -24V +24V +24V capacitor right 1 - 4; wh,bu,gn,bn 1 - 4; wh,bu,gn,bn -24V 1 - 4; wh,bu,gn,bn +24V -24V 2-10V +24V -24V +24V DC BUSS 0-800V 48 VDC -24V Powerstage +24V...

  • Page 32: Ta-U200

    TA-U1...U280 3.4.6 TA-U200...U280 Thermal switch heatzink right (R) d1 PowerStage (L) d2 IGBTs right -24V IGBTs 2-10V left +24V -24V -24V +24V +24V DC BUSS -24V 0-800V 1 - 4; wh,bu,gn,bn +24V 1 - 4; wh,bu,gn,bn 1 - 4; wh,bu,gn,bn E3.1 -24V -24V...

  • Page 33: Setting Up

    Interchanging of the terminals U, V, W while connecting synchronous motor results in a malfunction of the motor. Furthermore, the encoder cable from the motor has to be a screened cable. TAE is offering premounted cables for this purpose. Without the correct connection of the cable, the drive is not functional.

  • Page 34: Conditions For Grounding

    TA-U1...U280 TAE-Drive screened motor cable with clip 4.1.3 Conditions for Grounding All metal frames have to be connected to ground by their own. Make a well defined path for high ground currents. For short-circuits to frame and leakage currents of filter components exists minimum cross-sections.

  • Page 35: Instruction For Mounting

    TA-U1...U280 4.1.5 Instruction for Mounting It is recommended to use a galvanized backplate. All drives are to be mounted in a vertical position. The location where the unit is mounted should be free of dust, moisture and aggressive gas. In cases where the unit or the switch cabinet is subjected to excessive vibrations, it is recommended to protect the electronic components by either mounting the plate or the complete switch cabinet in a shock and vibration absorbing manner.

  • Page 36: Braking Unit

    TA-U1...U280 5.1.7 Braking Unit Connection between braking chopper, braking resistor and regulator are a source of radiated and conducted interfe- rence. The cable should be screened and as short as possible. Ensure proper grounding (Chapter 4.1.3). 5.0 Connections Power Connections Option Option L1 L2...

  • Page 37: Connection Diagram Controlboard

    TA-U1...U280 Connection Diagram Controlboard 5.2.1 Connection Diagram Controlboard standard Alternative PLC control DIP-S1 0-10V External DIP-S1 0-20mA/ 4-20mA DIP-S1 nominal value Potentiometer S1-4 S1-2 Supply S1-4 Digital inputs external OFF 15-30V terminal 1 internal AGND Yellow - input terminal 2 1 2 3 9 10 Yellow - input terminal 3...

  • Page 38: Connection Diagram Controlboard Save Torque

    TA-U1...U280 5.2.2 Connection Diagram Controlboard save Torque Channal 1+2 +24V Feedback +24V (STO) Safe Torque off Safe Torque off (STO) Channal 1 (STO) Channal 2 24V DC / 30mA TA-U2...150 max 10mA/Eingang S1-4 S1-2 Supply S1-4 Digital inputs External OFF 15-30V Terminal 1 internal BR5 right...

  • Page 39: Connection Diagram Encoders

    TA-U1...U280 Connection Diagram Encoders 5.3.1 Encoder standard UD-Encoder PCB (default) - 401 for TA-U... actual value Out B output Out A conductance IN B input IN A Com Z2 Reference zero point slave signal Z2 S1-2 S1-3 S1-1 Com Z1 Reference zero point master signal Z1 24V Out...

  • Page 40: Encoder Rs422

    TA-U1...U280 5.3.2 Encoder RS422 actual value output conductance input Com Z2 Reference Zero point slave signal Z2 Com Z1 Reference Zero point master signal Z1 45 46 47 48 49 50 51 +24V S1-1 S1-2 S1-3 +24V Out Option Zero pulse Z2 (invert) UD-Encoder PCB Zero pulse Z2...

  • Page 41: Resolver - 403 12 Bit

    Cos+ (S2) Ref+ Ref+ (R1) Ref- Ref- (R2) BN 0,5 mm Temperature evaluation 2 GN+BN Temperature evaluation 1 WH 0,5 mm Colour TAE-cable Temperature evaluation 1 Temperature evaluation 2 Klixon = Pre-warning Klixon = Switch-OFF PT100 = Temperature indicator, pre- PT100...

  • Page 42: Resolver - 406 16 Bit

    Cos+ (S2) Ref+ Ref+ (R1) Ref- Ref- (R2) BN 0,5 mm Temperature evaluation 2 GN+BN Temperature evaluation 1 WH 0,5 mm Colour TAE-cable Temperature evaluation 1 Temperature evaluation 2 Klixon = Pre-warning Klixon = Switch-OFF PT100 = Temperature indicator, pre- PT100...

  • Page 43: Encoder Sincos

    TA-U1...U280 5.3.5 Encoder SinCos Zero point output actual value output conductance input 45 46 47 48 S1-3 S1-2 Com Z2 Reference UD-SinCos input Zero point slave signal Z2 S1-1 PCB 407 Com Z1 Reference for TA-U... input Zero point master signal Z1 +24V +24V Out BR20...

  • Page 44: Connection Diagram Analog - Digital Upgrading

    TA-U1...U280 Connection Diagram Analog - Digital upgrading Analog output-1 S1-3 S1-4 RL [Ohm] Analog output-2 S1-1 S1-2 0-20 / 4-20mA 0-10V / ±10V AGND S1-2 Analog output 2 S1-1 (Current actual value - default parameter) AGND S1-4 Analog output 1 S1-3 (Speed actual value - default Parameter) S3-3...

  • Page 45: Assignment Rs422 - Interface "X20

    TA-U1...U280 Assignment RS422 - interface "X20" U-Drive-Connector Network-Connector D-Sub 9-pole (female) D-Sub 9-pole (male) The Device-Connector (X20) is located on the Display-Board of the U-Drive. The Network-Connector establis- hes connection to the RS422 network. Pin-assignment is as follows: Assignment Assignment RX - RX + TX +...

  • Page 46: Operation

    TA-U1...U280 6.0 Operation Instructions of Safety The operation should only be done by qualified personnel. Follow the advice in Chapter 1 and 2 about usability and protection against irregular usage. As with any form of electrical equipment, there is always a risk involved in the handling of electrical machinery.

  • Page 47: Functional Tests And Initial Operation

    TA-U1...U280 6.2.3 Functional Tests and Initial Operation Every statement in this chapter is referring to the control board. Chapter 5.2 - 5.4 give a description of the control connections, signals and adjustments. Before the first operation of the drive proceed according to the following check-list: 1) Install and interconnect the drive with reference to Chapters 4 and 5 2) Check,...

  • Page 48: Troubles

    TA-U1...U280 7.0 Troubles Separating protection equipment: Internal: start at TA-U8: Prefuse F1 and F2 switched mode power supply External: Mains fuse (look at Chapter 3.2.3 Drive data and Dimensions) Non separating protection equipment: To keep the device working correctly the following errors and operating states will be evaluated by the control board. They will be displayed and stored.

  • Page 49: Fault Description

    TA-U1...U280 Fault Description Motor over temperature: a) Overload motor. b) Sensor cable defective. c) Temperature control defective. Overcurrent switch-off: a) Short-circuit power stage. b) The motor has a winding short-circuit or a ground fault. Over zemperature power stage: The heat sink temperature of the device has max. tempera- ture exceeded ( >...

  • Page 50: Troubleshooting

    TA-U1...U280 Troubleshooting 7.2.1 Sensor test The five LED indicators U, V, W, A, B (pale) indicate a proper working of the sensors from the motor. U / V / W - Position sensors A / B - Speed sensors To check the hall-sensors, you have to proceed as follows: a) Disconnect device from mains.

  • Page 51: Appendix 1 List Of Parameters

    Appendix 1 list of Parameters State 16.11.15 Appendix 1 list of Parameters Access explanation R and RC = Read = Read / Write RW (0) = Read, Write while staionary 01: EEPROM, SMC and EZU Name Value-Range Default-Value Unit Access Memory CMD 0000h ...
  • Page 52 Synchronous motor with rotor position and rotation speed sensor 4 Syn Sensorless Synchronous motor without “sensorless”rotation speed sensor 02: Motor Data Name Value-Range Default-Value Unit Access Article Number (TAE) 0 ... 65535 Motor Size 0 ... 65535 02: Motor Data Name Value-Range Default-Value...
  • Page 53 Appendix 1 list of Parameters State 16.11.15 02: Motor Data Name Value-Range Default-Value Unit Access Motor EMF 0,00 ... 1000,00 V/1000rpm RW(0) Motor Pole Pairs 1 ... 120 RW(0) Motor Resistance 0,000 ... 200,000 RW(0) Motor Inductance 0,000 ... 600,000 RW(0) Motor Rated Current 0,0 ...
  • Page 54 Appendix 1 list of Parameters State 16.11.15 03: Drive Data Name Value-Range Default-Value Unit Access Pulse Frequency Max Threshold 1,000 ... 20,000 3,000 Pulse Frequency Hysteresis 1,000 ... 20,000 5,000 Start Frequency 1,00 ... 12,00 1,80 Increase Frequency-Ramp 0,000 ... 100,000 Increase Speed-Ramp 1,0 ...
  • Page 55 Appendix 1 list of Parameters State 16.11.15 05: Speed/Current Name Value-Range Default-Value Unit Access 117 Reference Speed Selection [00] Preset Speed ... [08] Positioning [03] Analog Input TR8 The definition of the required rotational speed setpoint source can be selected as follows: The number in brackets corresponds with the priority of the set function.
  • Page 56 Appendix 1 list of Parameters State 16.11.15 06: Ramps Name Value-Range Default-Value Unit Access 153 Ramp 5: S-Accel-Reach 0,00 ... 600,00 0,00 154 Ramp 5: S-Decel-Start 0,00 ... 600,00 0,00 155 Ramp 5: S-Decel-End 0,00 ... 600,00 0,00 156 Ramp 6: Accel 0,00 ...
  • Page 57 Appendix 1 list of Parameters State 16.11.15 08: Digital I/O Name Value-Range Default-Value Unit Access 200 DI-Physical 0000h ... 0F3Fh [bits] Physical state of the digital inputs. 0=low, 1=high Bit Name Notes 0 Terminal 52 1 Terminal 53 2 Terminal 54 3 Terminal 55 4 Terminal 56 5 Terminal 57...
  • Page 58 Appendix 1 list of Parameters State 16.11.15 08: Digital I/O Name Value-Range Default-Value Unit Access 202 DI-Logical 0000h ... 0F3Fh [bits] Logical state of the inputs. 0=low, 1=high Bit Name Notes 0 Terminal 52 1 Terminal 53 2 Terminal 54 3 Terminal 55 4 Terminal 56 5 Terminal 57...
  • Page 59 Appendix 1 list of Parameters State 16.11.15 08: Digital I/O Name Value-Range Default-Value Unit Access 211 DO Set Actual 0000h ... 031Fh [bits] Current state of the digital outputs. 0=low, 1=high Bit Name Notes 0 Terminal 60 1 Terminal 61 2 Terminal 63 3 Terminal 64 4 Terminal 65...
  • Page 60 Appendix 1 list of Parameters State 16.11.15 09: Analog I/O Name Value-Range Default-Value Unit Access 230 A-IN 68 Mode [00] 0~10V ... [05] 0~-10V [00] 0~10V 231 A-IN 68 Offset 0 ... 32767 232 A-IN 68 Gain 0,00 ... 105,00 100,00 233 A-IN 68 Dest-Parameter 0 ...
  • Page 61 Zero point or. offset setting when using a PT-100 or a KTY. Because the measurement can be corrupted by the resistivity of the cable. (at complete delivery, adjusted by TAE) Select motor temperature sensor for terminal 21, 22 Select drive temperature sensor Nr.
  • Page 62 Appendix 1 list of Parameters State 16.11.15 10: PLC I/O Name Value-Range Default-Value Unit Access 301 PLC-IO STAT 0000h ... 001Fh 0000h [bits] Name Notes Busy GetIN Status: Read inputs Busy Calc Status: Calculate the outputs Busy SetOut Status: Set the outputs Busy Reset Status: Reset Error:Link...
  • Page 63 Appendix 1 list of Parameters State 16.11.15 10: PLC I/O Name Value-Range Default-Value Unit Access 345 Output Param ID/Bit 12 0 ... 200000 21001 346 Output Param ID/Bit 13 0 ... 200000 21004 347 Output Param ID/Bit 14 0 ... 200000 21003 348 Output Param ID/Bit 15 0 ...
  • Page 64 Appendix 1 list of Parameters State 16.11.15 10: PLC I/O Name Value-Range Default-Value Unit Access 403 OUT Polarity 00000000h ... FFFFFFFFh FFFFFFFFh 410 IO N_Inputs 0 ... 32 411 IO N_Outputs 0 ... 32 412 Valid Input 00000000h ... FFFFFFFFh 413 Valid Output 00000000h ...
  • Page 65 Appendix 1 list of Parameters State 16.11.15 13: Command/Status Words Name Value-Range Default-Value Unit Access 550 DrvCtrl Act 0000h ... FFFFh 0000h [bits] Actual status of control word 1 Control word 1 can be controlled by four different sources (field bus, digital inputs, PG4000 or U-drive Manager)! The bits for the four control words (Par.551 to 554) are incorporated in Control Word 1 or linked (1=dominant).
  • Page 66 Appendix 1 list of Parameters State 16.11.15 13: Command/Status Words Name Value-Range Default-Value Unit Access 555 DrvCtrl Flags Act 0000h ... FFFFh 0000h [bits] Actual status of control word 2. Control word 2 can be controlled by two different sources (field bus, digital inputs, PG4000 or U-drive Manager)! The bits for both control words (Par.556 to 557) are incorporated in control word 2 or linked (1=dominant).
  • Page 67 Appendix 1 list of Parameters State 16.11.15 13: Command/Status Words Name Value-Range Default-Value Unit Access 560 General Stat 0000h ... FFFFh [bits] Displays the most important operation conditions for the drive. Bit Name Notes 0 Ready 1 Running 2 Speed > 0 3 Speed >...
  • Page 68 Appendix 1 list of Parameters State 16.11.15 14: Error-Status Name Value-Range Default-Value Unit Access 570 Control Messages 0000h ... 00DAh [bits] Display of prewarning and conditions which cause the drive to malfunction. Bit Name Notes 0 Drive Temp Prew C1 Controller temperature is close to shut-off! (See Par.513) 1 Motor Temp Prew C2 Motor temperature is close to shut-off! (See Par.509)
  • Page 69 Appendix 1 list of Parameters State 16.11.15 15: Kommunikation Name Wertebereich Standard-Wert Einheit Zugriff 600 Device ID 0 ... 126 601 SSC-Baudrate 0 ... 65535 38400 15: Communication Name Value-Range Default-Value Unit Access 610 FBus Type [00] None ... [08] EtherNetPCBoard Display of the installed Field Bus option.
  • Page 70 Appendix 1 list of Parameters State 16.11.15 15: Communication Name Value-Range Default-Value Unit Access 612 Profibus Status word 0000h ... 07FFh [bits] Display of Profibus status word. Bit Name Note 0 BusStReadyToSwitchON Electronic voltage available 1 BusStReadyToSwitchOperate Intermediate circuit loaded 2 BusStDriveEnabled End stage enabled 3 BusStError...
  • Page 71 Appendix 1 list of Parameters State 16.11.15 15: Communication Name Value-Range Default-Value Unit Access 623 Tx PDO 4 -1 ... 3000 624 Tx PDO 5 -1 ... 3000 625 Tx PDO 6 -1 ... 3000 626 Tx PDO 7 -1 ... 3000 627 Tx PDO 8 -1 ...
  • Page 72 Appendix 1 list of Parameters State 16.11.15 15: Communication Name Value-Range Default-Value Unit Access 642 CO-Driver State 0000h ... 007Fh 0000h [bits] Current status of the CANopen module Bit Designation Function/Meaning 0 CANFLAG_INIT CanModul in the Initialisation phase 1 CANFLAG_ACTIVE CanModul is active 2 CANFLAG_BUSOFF CanModul in Bus-Off error status...
  • Page 73 Appendix 1 list of Parameters State 16.11.15 15: Communication Name Value-Range Default-Value Unit Access 646 CO NodeState Act [00] UNKNOWN ... [129] RESET_COMM [00] UNKNOWN Node-State: Current value Value Designation Function/Meaning UNKNOWN Can is not activated CO_INITIALISING Can is being initialised CO_STOPPED Can stopped CO_OPERATIONAL...
  • Page 74 Appendix 1 list of Parameters State 16.11.15 16: Master/Slave Name Value-Range Default-Value Unit Access 670 MaSlv Ctrl 0000h ... FFFFh 0000h [bits] Controlling the Master/Slave operating modes Bit Name Note 0 Slave Function Activate Only functions with connection with input Track B, Connection 1 Master with single track On Tr.
  • Page 75 Appendix 1 list of Parameters State 16.11.15 16: Master/Slave Name Value-Range Default-Value Unit Access 671 MaSlv Stat 0000h ... FFFFh 0000h [bits] Status of the Master/Slave – operating modes Bit Name Note 0 Slave Function Active Only functions with connection with input Track B, Connection Track A 1 Master with single track On Tr.
  • Page 76 Appendix 1 list of Parameters State 16.11.15 17: Motorpotentiometer Name Value-Range Default-Value Unit Access 690 Digital Motorpoti Selection 0000h ... 0007h 0000h [bits] Selection of the basic motor potentiometer functions. Bit Name Note 0 Motorpoti Activate motor potentiometer 1 Save Motorpoti value by Power down When mains voltage OFF 2 Start Motorpoti by Zero When motor potentiometer ON, value is always zero...
  • Page 77 Appendix 1 list of Parameters State 16.11.15 18: Positioning Name Value-Range Default-Value Unit Access 840 Positioning Control 0000h ... FFFFh 0000h [bits] Controlling various positioning tasks. Bit Name Note 0 Enable positioning The preset Forwards direction of rotation from Par. 553 Bit 2 is read using 1 Definie Pos Direction the Pulse command.
  • Page 78 Appendix 1 list of Parameters State 16.11.15 18: Positioning Name Value-Range Default-Value Unit Access 847 Reference position 0 ... 2147483647 848 Adjust brake curve time 0,0 ... 600,0 849 Actual reference position -2147483647 ... 2147483647 850 Actual position -2147483647 ... 2147483647 851 Actual position difference -2147483647 ...
  • Page 79 Appendix 1 list of Parameters State 16.11.15 21: Keypad PG4000 Name Value-Range Default-Value Unit Access 704 sercom_protocol 0 ... 2 705 Menu.refresh_cycle_time 0 ... 2000 706 Menu-Language [00] English ... [01] Deutsch [00] english 720 KEYS_Bitmap 0000h ... 003Fh 0000h [bits] 721 keypad_run 0000h ...
  • Page 80 Appendix 1 list of Parameters State 16.11.15 22: Error Log Name Value-Range Default-Value Unit Access 819 errlog_time_now 2000-00-00T00:00:00 ... 2063-15-31T31:63:63 Current system time of regulator in T32 format T32 Time Format Timestamps are saved in the Error Logbook in a compact double word format. The structure of the bit field is as follows: T32 Time Format –...
  • Page 81 Appendix 1 list of Parameters State 16.11.15 23: Trace Name Value-Range Default-Value Unit Access 1010 trigger type [00] > v (immediate) ... [07] Bit=0 (on edge) [04] Bit=1 (sofort) [bits] Bit Name Comments 0 > v (immediate) Trigger remains active until the comparison value is exceeded …...

  • Page 82: Appendix

    Appendix 2: PG4001 Actual values act. measurements: Action act Speed Select previous actual value 0.00 Select next actual value [rpm] set value 0.00 Switch: Bar/value display speed [rpm] Switch: Bar/value display >> Go to main menu Action Main menu Main menü: Menu selection up act.
  • Page 83 Sub-menus: Control Action U-Drive Control: Increase set N value n-SET Reduce set N value n-ACT Cursor left (increase decimal) I-ACT Cursor right (reduce decimal) When decimal is already on 1: STOP START Invert rotation direction in set value! Confirm set value START Cancel set value input STOP...
  • Page 84 Parameters Group selection The parameters on the U-drive are divided into several groups. Use the keypad to first select the group and then open it to view and, if necessary, change the parameters it contains. Groupen/parameters: Action EEPROM, SMC a. EZU One group up (min.
  • Page 85 Selecting parameters The up / down keys may be used to select the parameters within a group. The right / left keys allow the values for some parameters to be displayed differently (e.g. control words may be presented as a bit field or hexadecimal value).
  • Page 86 Data management The data management is separated in the Groups U-Drive, smart Card and Keypad PG4001. There the data can be saved or loaded. You can also loaded or save standard data data management: Taste Aktion Cursor up U-Drive Smartcard Cursor down Keypad PG4001 >>...

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