gefran ADV200 User Manual
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gefran ADV200 User Manual

Electrical line shaft application
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ADV200
English
Electrical Line Shaft Application
User Guide

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Summary of Contents for gefran ADV200

  • Page 1 ADV200 English Electrical Line Shaft Application User Guide...
  • Page 2 Before using the product, please read the chapter on safety instructions carefully. Keep the manual in a safe place and available to technical personnel during the product functioning period. Gefran S.p.A. reserves the right to make changes and variations to products, data and dimensions at any time without notice.

  • Page 3: Table Of Contents

    ABOUT menu ............................ 29         Examples ..............................30 Gear ratio calculation example ......................30     Startup, tuning and performance check .................... 31     ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 3 of 32...

  • Page 4: Introduction

    Chapter 3 - "Connection diagrams and system interface" illustrates typical connection diagrams and the command interface for controlling the application via digital I/O or fieldbus. Chapter 4 - "Commissioning" provides information about installing the application on the ADV200 drive. Chapter 5 - "Control logic and sequences" contains detailed information about application functions and operating modes.

  • Page 5: General Description

    "slaves"; the position ratio between the master and slaves can be changed proportionally by means of a parameter called "electronic gear ratio". The Electrical Line Shaft application requires at least firmware version 5.00 of the ADV200 drive with the relative optional encoder signal acquisition cards and for the Fast Link system bus; some typical configurations are illustrated in section 3.3 "Possible master-slave configurations".

  • Page 6: Connection Diagrams And System Interface

    3 Connection diagrams and system interface The input and output signals of the Electrical Line Shaft application for ADV200 drives and the relative sequences are managed by a superordinate control device such as a PLC or IPC. The application can thus be controlled via discrete digital I/O (digital input and output terminals on the ADV200 regulation card and any expansion cards, such as EXP-IO-D6A4R1-ADV);...
  • Page 7 (*) Connect to the digital input of the master drive programmed as "External Fault" The ADV200 drive requires the installation of the EXP-IO-D6A4R1-ADV optional card in slot 1, and of the EXP-FL- XCAN-ADV optional card for the Fast Link system bus, which can be used to send the position reference between the master and slaves.

  • Page 8: Control Via Fieldbus Interface

    (see IPA 12036 Status Word Mon), bringing together all the digital output signals defined in the DIGITAL OUTPUTs menu so that the Word comp can be used for other signals. Figure 3.2: Layout of I/Os ADV200 with EXP-...Fieldbus ____________________ _ User Guide Electrical Line Shaft for ADV200...
  • Page 9 "External fault" digital input on the master drive; if that is not possible, an emergency stop mechanism must be provided at the superordinate control level (PLC) to stop the master drive in case of a fault on the slave drive(s). ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 9 of 32...

  • Page 10: Possible Master-Slave Configurations

    I2R1F2-ADV); the encoder emulation output of this card repeats the Encoder 1 input, i.e. the motor encoder of the slave axis. The figure below shows an example of configuration in which the master axis motor encoder is repeated to all the slave axes. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 10 of 32...
  • Page 11 The choice between these two configurations depends on the type of application; the former, for example, is for cascade control of synchronised conveyor belts, the latter for multiple-column hoists. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 11 of 32...

  • Page 12: Master Electrical Line Shaft From Fast Link Communication Interface

    Master electrical line shaft from Fast Link communication interface The Fast Link EXP-FL-XCAN-ADV optional card is the optical fibre synchronous communication interface for the ADV200. Reference should be made to the specific user guide for details about installation and configuration of the optional card.
  • Page 13 IPA 5730 FL Fwd 1 src E1 Virtual position E1 Virtual position E1 Virtual position IPA 5732 FL Fwd 2 src E1 Revolution E1 Revolution E1 Revolution ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 13 of 32...

  • Page 14: Commissioning

    The ADV200 firmware version supports asynchronous (ASY) and synchronous (SYN) motors. To install the application you must have a PC, version 1.6.27 or higher of the Gefran GF Express software with Catalog, the drive RS485 - PCI COM connection kit and the set-up CD.

  • Page 15: Drive Parameters Managed By The Application

    Each drive configured as a slave in electrical line shaft mode must be configured so that its absolute maximum speed is higher than that of the master, to ensure an adequate operating margin during master capture transients or during phase correction. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 15 of 32...

  • Page 16: Control Logic And Sequences

    The speed and acceleration parameters are assigned, respectively, via parameters IPA 11308 Jog Speed, IPA 11310 Jog Accel and IPA 11312 Jog Decel in the POSITION menu of the ADV200 drive. The motor starts the acceleration ramp when the jog command is activated. The jog speed is maintained for as long as the command remains active and the deceleration ramp starts when the command is disabled.

  • Page 17: Positioning

    As a result, during said transient, the slave axis moves at a hyper-synchronous or hypo- synchronous speed, depending on the sign of the specified target position. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 17 of 32...

  • Page 18: Electrical Line Shaft Function

    F1 = 1/T1 [increments /sec]; if the command remains active for another time equal to at least T2 [ms], the slip is subsequently updated at a rate of F2 = 1/T2 [increments /sec]. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 18 of 32...

  • Page 19: Monitoring Of The Position Of The Master With The Slave Not Captured And Recovery

    Position error, calculated as difference between Position Demand and slave motor actual position, is processed by PID regulator and generates speed correction for slave drive, resulting in Speed Reference 1 setpoint. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 19 of 32...

  • Page 20: List Of Parameters

    Pos Error Alarm Time This parameter displays the actual position of the motor in user units. Actual Position This parameter displays the position reference in user units. Demand Position ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 20 of 32...

  • Page 21: Position Menu

    Setting of the acceleration used in jog mode in user units per second squared. Jog Accel Setting of the deceleration used in jog mode in user units per second squared. Jog Decel ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 21 of 32...
  • Page 22 In Position Monitor flag for the direction of rotation selected in jog mode. Jog Direction Mon Monitor of current target position in user units. Target Position Mon ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 22 of 32...

  • Page 23: Line Shaft Menu

    IPA 11300 FastLinkPosRev Target Pos parameter. Local setting of the master position reference in electrical line shaft mode. Digital Master Pos ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 23 of 32...
  • Page 24 Local setting for the digital command to reset the difference in position between the Digital Engage Reset master and slave. Setting of the resolution of the master encoder if using the FastLink interface. FL Master PPR ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 24 of 32...
  • Page 25 Monitor of the difference in position accumulated during independent slave Engage Pos Error operation. Monitor of the actual electrical line shaft ratio number selected (1…4). Ratio Select Mon ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 25 of 32...

  • Page 26: Digital Inputs Menu

    Electrical line shaft application control word monitor. This contains the commands Command Word Mon defined in the DIGITAL INPUTS menu, in the same order and starting from the least significant bit. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 26 of 32...

  • Page 27: Digital Outputs Menu

    Bit 10 Home Complete mon Bit 11 In Position mon Nota! Electrical shaft application status word is automatically mapped on fieldbuds data 2 of ADV200. Therefore, this data has to be mapped as following: IPA 4190 Fieldbus S→M2 ipa = 4194 IPA 4192 Fieldbus S→M2 sys = Mdplc 16...

  • Page 28: Home Reference Menu

    Monitor flag of the digital input of the zero search reference sensor. Home Sensor Mon Monitor flag active during the zero search. Home Busy Mon Monitor flag active when the zero search is complete. Home Complete Mon ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 28 of 32...

  • Page 29: Exchange Menu

    This menu contains the parameters that identify the electrical line shaft application. Parameter Name User type Target type Unit Default 12092* APPLVERSION Float Float 12094* MDPLCVERSION Float Float 12096* CONFVERSION Float Float 12098* APPLDATE Float Float ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 29 of 32...

  • Page 30: Examples

    Thus: where master encoder position resolution [impulsi / mm] slave encoder position resolution [impulsi / mm] ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 30 of 32...

  • Page 31: Startup, Tuning And Performance Check

    (engaged to master): enable master and slave, engage slave (ELS Engage ON), move master motor (also manually) and check that slave is correctly “copying” master movement. Electrical shaft tuning: Set PID gains to zero (IPA 11200, 11202, 11204). ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 31 of 32...
  • Page 32 Repeat dynamic tests to make sure PID gains are correct Tuning procedure can be performed also with motors already connected to driven mechanics, if this is possible without damaging mechanical components. ____________________ _ User Guide Electrical Line Shaft for ADV200 Page 32 of 32...

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