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KEBCO COMBIVERT S4 Applications Manual

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COMBIVERT
APPLICATION MANUAL
P O W E R T R A N S M I S S I O N
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Summary of Contents for KEBCO COMBIVERT S4

  • Page 1 COMBIVERT APPLICATION MANUAL P O W E R T R A N S M I S S I O N 7/00...
  • Page 2 This is especially true for the attention, safety and warning guides. The meaning of the icons used in this manual are: Danger Attention, Information Warning observe at Help Caution all costs © KEBCO 03.S4.0EZ-K140 7/00...

  • Page 3: Table Of Contents

    Introduction Table of Contents 1. Introduction...................3 2. Initial start up of the drive system ............5 2.1 Verifying connections to the amplifier..............5 2.2 Verifying motor operation ..................6 3. Application examples................9 3.1 Positioning / indexing applications................9 3.2 Single axis positioning of up to 4 positions ............9 3.2.1 Application definition....................9 3.2.2 System Layout.....................9 3.2.3 Operational Sequence..................10...
  • Page 4 This page left blank intentionally Section 1 S4 Application Manual Page 2...

  • Page 5: Introduction

    This application manual is designed to assist the user in applying the KEBCO COMBIVERT S4 drive system to a specific application. This Application manual does not replace the other instruction manuals supplied with the unit. Please read fully the S4 CP manual before attempting to use the product.
  • Page 6 This page left blank intentionally Section 1 S4 Application Manual Page 4...

  • Page 7: Initial Start Up Of The Drive System

    Initial Start-Up 2 Initial start up of the drive system This section will describe how to initially start up the COMBIVERT S4 drive system. This process should be done before attempting to adjust the drive for a specific type of application.

  • Page 8: Verifying Motor Operation

    Initial Start Up 2.2 Verifying motor operation Connect the control terminal strip as indicated in the figure below. Turn the supply voltage to the amplifier The display on the amplifier will show actual motor speed. Close one of the jog switches and the motor should begin to turn.
  • Page 9 Initial Start-Up Set up Trouble Shooting Guide Problem Cause / Solution Motor does not turn at all Verify the jumpers are installed between 12 and 16, between 13 and 17, between 1,3,4 and 10 Motor does not turn and the fault The torque load is greater than the torque limit E.OH2 is triggered of the motor.
  • Page 10 Initial Start Up This page left blank intentionally Section 2 S4 Application Manual Page 8...

  • Page 11: Application Examples

    Application Examples 3 Application examples 3.1 Positioning / indexing applications The following sections will outline two primary types of positioning applications, which can easily be solved with the internal motion controller. In order for the drive to take on the special functions, it is necessary to download the corresponding parameter list to the drive through the set up program COMBIVIS.

  • Page 12: Operational Sequence

    Application Examples 3.2.3 Operational Sequence 1. Power turned on and drive enabled (maintained signal at terminal 1) 2. Automatic mode turned on (maintained signal at terminal 3) 3. Start position signal given (momentary signal on terminal 2) to establish reference point.

  • Page 13: Single Axis Positioning Control Wiring

    Application Examples • The reference point search only happens once after the supply voltage to the drive is first turned on. After that the drive will make only position moves when a signal is given to terminal 2. • Terminals 6 and 7 are binary coded for positions 0 through 3. The position selection signals must be maintained at least until after the start move pulse is given on terminal 2.

  • Page 14: Setup Of The Drive

    3.2.6 Loading the program into the drive (if sent from KEBCO, INC.) 1. Connect a PC computer to the drive using the serial operator and a standard KEBCO serial cable. Start the program COMBIVIS and load the parameter window with the download file S4POSI1.DW5.
  • Page 15 Application Examples 4. Once the parameters have been adjusted in the parameter list, the list can be loaded into the drive using the download function of the COMBIVIS program. Follow the instructions provided with COMBIVIS to send the parameter data to the drive. 5.

  • Page 16: Single Axis Positioning Parameter List

    3.2.7 Single axis positioning parameter list The following parameter list S4POSI1.DW5 can either be written in the COMBIVIS 5.1 program or manually entered in. You can also request the program from KEBCO, INC. The line numbers in COMBIVIS will match the line numbers listed below.
  • Page 17 Application Examples 49 SP00 speed setting source = 2: +/- analog 50 Pc00 control mode = 1:on 51 Pc01 position input mode = 3: pos.disp. HEX / pos.input HEX 52 Pc02 mode of posi select. = 0: parameter set 53 Pc10 mode of position ref. = 3: auto ref on / stop at ref 54 Pd00 posi mode = 1:on...

  • Page 18: Application Tips

    Application Examples 3.2.8 Application Tips Sensors The drive is set up for PNP type signaling. Be sure not to exceed the rated supply current of the internal power supply. It may be necessary to use an external 24VDC supply if the load current is too great.
  • Page 19 Application Examples Changing direction of motion Depending on the mounting of the motor, it may be desired to change the direction of travel and consequently the reference limit switch from the left side to the right side. Three parameters must be changed in the S4POSI1 parameter list as out lined below. 69 Pc14 reference speed 1 = +100.0 rpm Reference search speed...
  • Page 20 Application Examples This page left blank intentionally. Section 3 S4 Application Manual Page 18...

  • Page 21: Single Axis Index To Length

    Application Examples 3.3 Single axis index to length 3.3.1 Application definition • The system must index incrementally in one direction relative to the previous stopping point. • The system must have the capability to enter a search mode at the end of each index to establish positive stopping point based on registration mark.

  • Page 22: Operational Sequence - Index Without Registration Search

    Application Examples 3.3.3 Operational Sequence - index without registration search 1. Power turned on and drive enabled (maintained signal at terminal 1) 2. Automatic mode turned on (maintained signal at terminal 3) 3. Start index signal (momentary signal on terminal 2) is given, system indexes preset distance and stops.

  • Page 23: Operational Sequence - Index With Registration Search

    Application Examples 3.3.4 Operational Sequence - index with registration search 1. Power turned on and drive enabled (maintained signal at terminal 1) 2. Automatic mode turned on (maintained signal at terminal 3) 3. Initiate registration point search (momentary signal at terminal 5), systems runs to a registration mark.

  • Page 24: Single Axis Index Control Wiring

    Application Examples • All signals with a vertical arrow are edge triggered and must be brought low before the drive will accept another signal at that terminal. • Terminals 8 and 9 are digital outputs. 3.3.5 Single axis index control wiring Section 3 S4 Application Manual Page 22...

  • Page 25: Setup Of The Drive

    3.3.7 Loading the program into the drive (if sent from KEBCO, INC.) 1. Connect a PC computer to the drive using the serial operator and a standard KEBCO serial cable. Start the program COMBIVIS and load the parameter window with the download file S4POSI2.DW5.

  • Page 26: Single Axis Indexing Parameter List

    3.3.8 Single axis indexing parameter list The following parameter list S4POSI2.DW5 can either be written in the COMBIVIS 5.1 program or manually entered in. You can also request the program from KEBCO, INC. The line numbers in COMBIVIS will match the line numbers listed below.
  • Page 27 Application Examples 50 Pc01 position input mode = 3: pos.disp. HEX / pos.input HEX 51 Pd00 posi mode = 1:on 52 Pd11 mode of positioning = 1: relative 53 Pd12 position deviation = 1000 54 SP11 acceleration time = 0.10 s 55 SP12 deceleration time = 0.10 s 57 Le05 speed level 2...

  • Page 28: Application Tips

    Application Examples 3.3.9 Application Tips Sensors The drive is set up for PNP type signaling. Be sure not to exceed the rated supply current of the internal power supply. It may be necessary to use an external 24VDC supply if the load current is too great.
  • Page 29 Application Examples Basic index The index is made from the existing position of the system. If there is no registration mark or tooling marker, then the index can be made without first running the system to a registration point and without a search for the registration mark after the index. Under these conditions there is no need for a sensor to be connected to terminal 4 and additionally terminals 5 and 6 should be left open.
  • Page 30 Application Examples This page left blank intentionally. Section 3 S4 Application Manual Page 28...

  • Page 31: Adjustment Of The Velocity Profile And The Pi Regulators

    COMBISCOPE program by moving your cursor to the menu bar and selecting View then Inverter Scope. If you do not have COMBIVIS 5.1 you may download the unregistered version from our web site at www.kebco.com. Once the COMBISCOPE program is running, you may select one of the channels A…D for the mode of operation you would like.

  • Page 32: Motion Profile Adjustment

    Regulator Adjustment 4.2 Motion Profile Adjustment The motion profile for all position moves are defined through the following parameters. Pd09 set position high = 10 Index distance high Pd10 set position low Index distance low Pd07 max speed for posi = 1000 rpm Max.

  • Page 33: Helpful Hints When Adjusting The Move Profiles

    Regulator Adjustment 4.2.2 Helpful hints when adjusting the move profiles • When adjusting the move profiles remember that each move has its own set of parameters. When adjusting these on the fly, you must use parameter Fr.09 to select which position (0…3) you want to adjust. In the COMBISCOPE program, when the scope screen is displayed, simply move your cursor up to the menu bar, select windows, then Project- explorer.

  • Page 34: Example Speed And Position Regulator Adjustment

    Regulator Adjustment 4.3 Example speed and position regulator adjustment Once the profile is correct, it may be necessary to adjust the PI speed control and positioning control to provide the best response. There are three control gains which can be adjusted: P-speed (proportional speed control gain) CS.00, I-speed (integral speed control gain) CS.01, and P-position (proportional position control gain) Pd.02.

  • Page 35: Graph

    Regulator Adjustment 4.3.2 Graph P-speed gain increased to eliminate overshoot; speed profile looks good. Actual Speed 1000 rpm / div P – Speed (CS.00) Set Speed 1000 rpm / div I - Speed (CS.01) Torque 35 lb in / div P –...

  • Page 36: Graph

    Regulator Adjustment 4.3.4 Graph Same move as graph 4.3.3. The I-speed gain is increased to improve low speed response. However, the integral term alone can not remove the overshoot. Actual Speed 100 rpm / div P – Speed (CS.00) Set Speed 100 rpm / div I –...

  • Page 37: Graph

    Regulator Adjustment 4.3.6 Graph Same move as graph 4.3.5. Now both the I-speed gain and the P-position gain are used to eliminate the overshoot. Both regulators together offer the best result. If the I-speed gain is increased too much, the function of the P-position regulator will be hindered. So it is best to keep I-speed low as compared to P-position.

  • Page 38: Graph

    Regulator Adjustment 4.3.8 Graph I - position is increased further. Position deviation decreases but creep remains. Solution is to increase I and P. Actual speed 100 rpm / div P – Speed (CS.00) Set speed 100 rpm / div I – Speed (CS.01) Horizontal 100 mSec /div P –...
  • Page 39 Regulator Adjustment 4.3.10 Helpful hints adjusting the speed and position controllers • When adjusting the control gains remember that each move uses its own set of parameters. When adjusting these on the fly, you must use parameter Fr.09 to select which position (0…3) you want to adjust.

  • Page 40: Graph Helpful Hints Adjusting The Speed And Position Controllers

    Regulator Adjustment 4.3.11 Operation at the torque limit This graph shows the result when the torque limit of the motor is reached during the acceleration. The actual speed falls behind the set speed with no chance to catch up since the acceleration torque is limited. As a result the position control increases the set speed during the constant run to reduce the position deviation.
  • Page 41 NOTES: S4 Application Manual Section 5 Page 39...
  • Page 42 NOTES: Section 5 S4 Application Manual Page 40...
  • Page 43 KEBCO in St. Paul. The serial number will be used to track the shipping date. Operation of the inverter outside the rated specifications printed in the instruction manuals will void the warranty.
  • Page 44 FAX 05263 / 401 - 116 P O W E R T R A N S M I S S I O N With Sales Offices in: KEBCO Inc. • USA Headquarters Atlanta, Georgia 1335 Mendota Heights Road Columbus, Ohio St.

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