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Keba ServoOne Device Help

Servo controller single-axis systems and multi-axis system
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Table of Contents

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ServoOne and
ServoOne junior
Device Help
Servo controller 2 A to 450 A
Single-Axis Systems and Multi-Axis System

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Summary of Contents for Keba ServoOne

  • Page 1 ServoOne and ServoOne junior Device Help Servo controller 2 A to 450 A Single-Axis Systems and Multi-Axis System...
  • Page 2 ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Description of the Servo controller ServoOne software functionality (Single-Axis System and Multi-Axis System) as well as ServoOne junior ID No.: 0842.26B.5-01 Information valid as of: 08.2020 Effective as of firmware version   V4.30-xx (ServoOne junior)  ...

  • Page 3: Legal Information

    . Copyright © The entire contents of this documentation, especially the texts, photos and graphics it contains, are protected by copyright. The copyright is owned by KEBA Industrial Automation Germany GmbH unless specifically marked otherwise. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020...

  • Page 4: Table Of Contents

    Table of contents ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Table of contents 4.1.2  Switching frequency 4.1.3  Online derating of switching frequency 4.1.4  Parameters 4.2  Power failure bridging Legal information 4.2.1  Detection of a voltage failure 4.2.2  Monitoring for single-phase failure Table of contents 5  Motor...
  • Page 5 7.5  Position controller settings 6.7.6  SinCos / TTL X8 7.5.1  Pre-control 6.7.7  SSI (cyclical) X8 7.5.2  Friction torque compensation (friction) 6.7.8  HIPERFACE DSL® (ServoOne junior) 7.6  Asynchronous motor field weakening 6.7.9  Encoder gearing 7.6.1  Variant 1: Default 6.8  Channel 4: Virtual encoder 7.6.2  Variant 2: Modified characteristic 6.8.1  Sensorless control synchronous motor...

  • Page 6: Servoone  - Device Help

    Table of contents ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.8.2  LHMES(2) method 8.3.4  IP mode with position control 7.8.3  IECON(4) method 8.3.5  Jerk limitation and speed offset 7.8.4  Test signal generator 8.3.6  Interpolation 7.9  V/Hz mode 8.4  Stop ramps 7.10  Process controller...
  • Page 7 8.11.6  Engagement 9.5  Analogue outputs (option only for ServoOne) 8.11.7  Disengagement 9.5.1  Function selectors 8.12  Virtual Master 9.6  Analog output (Option - MIO) 8.13  Common master 9.7  Motor brake output 8.14  Cam group (CAM switch) 9.7.1  Motor brake details 8.14.1  Parametrization of the cam group 10  Limitations / Thresholds...
  • Page 8 Table of contents ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.15  Error 14: EtherCAT error 11.6.52  Error 58: HYDRAULIK, common error 11.6.16  Error 15: Parameter error 11.6.53  Error 60: Spindle mlamping mystem monitoring error 11.6.17  Error 16: Speed difference error 11.6.54  Error 61: End damping error...
  • Page 9 17.1.3  Procedure 17.2  Upload and download of parameter data sets 17.2.1  Write parameter data set to the file system. 17.2.2  Loading the parameter data set from the file system 18  Index ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Table of contents...

  • Page 10: General Information

    It is aimed at everyone who performs mounting, set-up, commissioning and service tasks on the product. 1.2  Requirements Important points to be observed when handling the devices from KEBA Industrial Automation Germany GmbH:   The device documentation must be kept readable, always available, and ...

  • Page 11: Pictograms

    Operating step performed by either the user or the system. For the pictograms for “safety information and warnings” used in this Device Help, see the Section "Safety information and warnings" on page 15. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 1  General information...

  • Page 12: Exclusion Of Liability

    1  General information ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 1.4  Exclusion of liability Compliance with the documentation for the devices of KEBA Industrial Automation Germany GmbH is a prerequisite for:   safe operation and   attaining the performance characteristics and product characteristics  described. KEBA Industrial Automation Germany GmbH accepts no liability for personal injury,...

  • Page 13: Applicable Documentation

    1.5  Applicable documentation All further applicable documents for this device can be found on our website: www.keba.com under Service -> Support -> DOKU PORTAL ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 1  General information...

  • Page 14: Support

    1  General information ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 1.6  Support    KEBA Industrial Automation Germany GmbH  Address : Gewerbestrasse 5-9    D-35633 Lahnau     Our Helpline can assist you quickly and effectively in the event of technical questions on project development for your machine or the commissioning of your device. The Helpline can be reached via email or telephone: Opening hours: Mon–Fri: 8 am–5 pm (CET) Email: helpline@keba.de Phone: +49 6441 966-180 Internet: www.keba.com NOTE   For detailed information on our services, please visit our website, www.keba.com ►Service.

  • Page 15: Safety

    Risk of injury posed by uncontrolled rotation!   The device must only be installed and commissioned in  compliance with the documentation for the corresponding device  family! Improper conduct can lead to serious injury or death.   Before commissioning motors with feather key on the    shaft end it must be secured to prevent it from being  ejected, if this is not prevented by drive elements such  NOTE as pulleys, couplings or similar.   Please also pay special attention to the safety and warning  information in the respective valid operation manual when  commissioning the drive!   ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 2  Safety...

  • Page 16: Responsibility

    2  Safety ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   For the risk assessment of the complete machine or system according to  CAUTION! Your system/motor may be damaged if put into operation in DIN EN 12100:2011 and EN ISO 13849-1. an uncontrolled or inappropriate manner. Observe the topic “Electrical equipment of machines” in IEC/EN 60204-1:2006 Improper conduct can cause damage to your system / “Safety of machinery”.

  • Page 17: Initial Commissioning

    3.1  Initial Commissioning wizard 3.1.2  Prompt Initial commissioning 3.2  Automatic test 3.3  Motor If the KeStudio DriveManager 5 is opened without an existing project, a prompt to undertake initial commissioning appears automatically. 3.4  Encoder 3.5  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 3  Initial commissioning...

  • Page 18: Initial Commissioning

    3  Initial commissioning ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 3.1.3  Initial commissioning Image 3.1: Prompt to activate wizard If this window does not open automatically, you can also start the wizard manually by double-clicking on the pictogram (see “Chapter overview” in Section "Initial commissioning"...
  • Page 19   Measurement of electrical parameters (resistance, inductivity)   Current controller tuning Identification or calculation of motor data    Calculation of nominal flux Data set calculation:   Complete "Calculation of control settings" screen and start the calculation   Set the I xt monitor Motor protection   Select of temperature sensor   Characteristic setting   Encoder selection Encoder setting   Channel selection Table 3.1: Instructions for the commissioning wizard ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 3  Initial commissioning...
  • Page 20 3  Initial commissioning ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Action Step Subject area Instruction Rotary motor Linear motor   Motor phase test   Determine encoder offset Automatic tests   Determine mass inertia Open manual mode window   Control type V/Hz (open loop) operation Motor test in manual mode without  intervention of a higher-level PLC   Move motor at low speed   Check direction   Optimize current controller (test signal generator). When there is a motor  data set the current of the test signal generator is set automatically. Controller setting  ...
  • Page 21 Torque Define limits   Speed   Position Scaling, IOs, field buses: Set marginal conditions. For more    CANopen information refer to the user manuals for    PROFIBUS the individual bus systems.   Sercos Saving: For more information on data  Saving the settings and creating a commissioning file handling refer to the  KeStudio DriveManager 5   h elp. Table 3.1: Instructions for the commissioning wizard (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 3  Initial commissioning...

  • Page 22: Automatic Test

    3  Initial commissioning ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 3.2  Automatic test To be able to run the automatic tests, you will need to read and confirm the safety prompts. Once you are done doing so, you will be able to run the individual tests.

  • Page 23: Motor

    Image 3.5: “Initial Commissioning - Motor data and control settings” screen   You can click on the "Select motor data set" to select a motor from the LSH,  LSN, LSP and LST series from KEBA.   If you want to use a different motor, you can configure it by clicking on the  "Manual motor settings" button. For details see Section "Motor configuration  data" on page 32.   If you need to configure the temperature and current monitoring mechanism,  click on the "Motor protection" button. For details see Section "Motor  protection" on page 40.   To configure a motor brake, click on the "Motor brake" button. For details see  Section "Motor brake output" on page 321. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 3  Initial commissioning...

  • Page 24: Encoder

    3  Initial commissioning ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 3.4  Encoder 3.5  Control Image 3.6: “Initial commissioning - Encoder selection” screen   There is a database available for commissioning the encoder. This database  can be used to select from a large number of standard models. Image 3.7: “Initial Commissioning - Control” screen   If you are unable to find your encoder model or want to configure additional  settings, click on the "Settings..." button. For details see Section "Encoder    You can use this screen to select the control mode for the device. selection" on page 53   To determine the system’s inertia and configure position and speed control  settings, click on the "Basic settings" button. For details see Section "Basic ...

  • Page 25: Power Stage

    The power stages of the Servo controller can be operated with different voltages and switching frequencies. The list boxes in the screen are used to adapt the power stage to the application conditions. NOTE   Any changes to parameters must be saved in the device.   The setting is only applied on the device after a power off/on  cycle.   If the power stage parameters are changed, the rated currents,  overload values and brake chopper thresholds may also change. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 4  Power stage...

  • Page 26: Voltage Supply

    4  Power stage ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 4.1.1  Voltage supply Step0: No reduction of the switching frequency (the operating switching frequency from P 302 is used). P 307[0] - CON_VoltageSupply is used to configure the power supply. For single- Step1: 1st reduction step for the switching frequency axis applications only the settings (0) to (5) are allowed.
  • Page 27 Index Name / Setting Unit Description CON_VoltageSupply   Power supply mains voltage     (5)Safety low voltage     24-60 V CON_VoltageMode   Device power supply mode CON_GridVoltageNom V r.m.s Mains voltage CON_ DC link voltage (DC low voltage) DCLinkVoltageNom Table 4.3: “Power stage - DC drives” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 4  Power stage...

  • Page 28: Power Failure Bridging

    4  Power stage ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 4.2  Power failure bridging 4.2.1.1  Functional description The P 2940 - CON_PowerFail_Sel selection parameter can be used to select the 4.2.1  Detection of a voltage failure following operating modes: The mains failure support feature detects a failure of at least two phases of the mains 0= (OFF) switched off supply.
  • Page 29 [1] - POWF_VRef. The voltage setpoint must be lower than the detection limit so that it will be possible to detect when the power returns. Moreover, it should be considerably higher than the shutdown limit (default setting = 20 V). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 4  Power stage...
  • Page 30 4  Power stage ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 4.2.1.4  Parameters typically raised all the way over the braking chopper threshold, resulting in the braking energy being converted into braking resistance. Accordingly, the drive will decelerate as quickly as possible.

  • Page 31: Monitoring For Single-Phase Failure

    5-10 times that as the monitoring threshold. The monitoring triggers error 54-1 (Emergency code 6100h). See chapter 11.6   Error list. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 4  Power stage...

  • Page 32: Motor

    Each motor can only be operated if its field model and the control parameters are correctly set. Using the standard motors and encoders from the KEBA motors catalogue, a system can be commissioned and put into operation very quickly and easily.

  • Page 33: Synchronous Motor

    In the case of third-party motors, basic suitability for operation with Servo controllers from KEBA must first be verified on the basis of the motor data and the data of any installed encoder. The values of the parameters for adaptation of the Servo controller must be determined specifically for each motor by calculation or identification.
  • Page 34 Table 5.1: “Synchronous motor” parameters via the menu, View, Messages.   Calculation of operating point: Flux P 462 - MOT_FLUXNom   Calculation of: current, speed and position control parameters NOTE   All existing motor parameters are overwritten. Calculated values   Flux settings (including for torque constant)   Control settings for current controller: the current controller is dimensioned  based on the actual switching frequency set.   Speed controller and position controller gain: here a moderately stiff  mechanism and mass inertia matching from load to motor with a ratio of 1:1 is  to be assumed.   V/F characteristic NOTE   All existing control parameters are overwritten. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...

  • Page 35: Synchronous Motor Electronic Data

    5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5.2.1  Synchronous motor electronic data Index Name Unit Description MOT_FluxNom Motor rated flux linkage MOT_PolePairs   Motor number of pole pairs MOT_Rstat Ohm Motor stator resistance MOT_Lsig mH Motor leakage inductance (ASM) / stator  inductance (PSM)   MOT_LsigDiff   q-axis stator inductance variation (relative to  MOT_Lsig) Lsig_q@I0 Inductance @ CurrentI0 Lsig_q@I1 Inductance @ CurrentI1 Lsig_q@I2 Inductance @ CurrentI2 Lsig_q@I3 Inductance @ CurrentI3 CurrentI0 Current I0 relative to MOT_CNom...

  • Page 36: Linear Synchronous Motor

    Variant 1: Motor calculation   Control settings for PI current controller: the current controller is dimensioned    Variant 2: Motor identification (see Section "Motor identification" on page 45) based on the actual switching frequency set. Variant 1: Motor calculation   PI speed controller and position controller gain: A moderately rigid  mechanism and moment of inertia matching from load to motor with a ratio of    Enter the motor data 1:1 is assumed here. The motor data relevant to the calculation must be entered from the data  sheet.   The default value for speed tracking error monitoring corresponds to 50% of  the nominal speed.   Click on “Start calculation”.   V/F characteristic   If the moment of inertia of the motor P 461 - Mot_J is not known, a value  roughly corresponding to the motor's moment of inertia must be applied. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...

  • Page 37: Linear Synchronous Motor Electronic Data

    5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5.3.1  Linear synchronous motor electronic data Index Name Unit Description MOT_Name   Name of motor parameter set MOT_CNom Motor rated current MOT_CalcLin2Rot   Calculate from linear to rotary motor data MOT_MagnetPitch mm Width of one motor pole pair MOT_SpeedMax m/s Motor rated speed MOT_ForceNom Motor rated force MOT_MassMotor Mass of motor slide MOT_MassSum Total mass, moved by the motor MOT_EncoderPeriod Period of line signals Table 5.3: “Linear synchronous motor” parameters...

  • Page 38: Asynchronous Motor

    Table 5.4: “Linear synchronous motor electronic data” parameters Image 5.6: “Asynchronous motor configuration” screen There are two methods of creating a motor data set for the asynchronous motor.   Variant 1: Motor calculation   Variant 2: Motor identification (For details see Section "Motor identification"  on page 45) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...

  • Page 39: Asynchronous Motor Electrical Data

    5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Variant 1: Motor calculation Index Name Unit Description MOT_Name   Name of motor parameter set   Enter the motor data MOT_CosPhi   Motor rated power factor The motor data relevant to the calculation must be entered from the data  MOT_FNom Motor rated frequency sheet. MOT_VNom Motor rated voltage MOT_CNom Motor rated current   Click on “Start calculation”. MOT_SNom Motor rated speed MOT_PNom Motor rated power  ...

  • Page 40: Motor Protection

    MOT_LmagNom mH Main inductance at nominal magnetizing current   MON_MotorTempMax   Maximum motor temperature (switch-off value) Table 5.6: “Asynchronous motor electrical data” parameters   TempMax X5 degC Maximum sensor temperature X5   TempMax X6 degC Maximum sensor temperature X6   MON_MotorPTC   Selection of sensor type Table 5.7: “Temperature monitoring” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...
  • Page 41 5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 P No. Index P Name / Setting Unit Function P No. Index P Name / Setting Unit Function   Type         PTC (2)   PTC sensor (three) with short circuit monitoring  below 50 ohms or hardware detection     Off (0)  ...
  • Page 42 The following table provides an overview of the selection options for sensor types with P 732[0] as well as the connection options for the plug-in connectors X5, X6, X7 and X8 (Tech. option) for ServoOne and ServoOne junior. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020...

  • Page 43: I²T Monitoring Synchronous Motor

    5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5.5.2  I²t monitoring synchronous motor If the I t type is set to "THERM(1) = Thermal time constant dependent", all settings apart from the thermal time constant are disabled. A synchronous motor by design has lower loss than an asynchronous motor, If the integrator exceeds its limit value, the error E-09-01 is triggered.

  • Page 44: Asynchronous Motor I²T Monitoring

    Setting of I t type:   P 735[0] = “FREQ(0)=Output frequency-dependent": KEBA-specific i(f)  evaluation   P 735[0] = “THERM(1)=Thermal time constant-dependent”: Evaluation based  on thermal time constant i(Tth)   Thermal time constant P 733[7] - Ttherm in [s]   The shut-off threshold is 110% (reduction in current noise) Image 5.10: “I²T monitoring” screen for an asynchronous motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...

  • Page 45: Motor Identification

    5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5.6  Motor identification Image 5.12: “Motor identification" screen for a linear synchronous motor Image 5.11: “Motor identification" screen for a rotary synchronous motor...

  • Page 46: Synchronous Motor Identification (Rotary And Linear)

    When the Rating plate data have been entered in the screen, identification is started by clicking the "Start identification" button. A safety notice must be confirmed with a tick (check mark). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...

  • Page 47: Support For Motor Filters When Using Pmsm Motors

    5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5.7  Support for motor filters when using PMSM  motors 5.7.1  General functional description In applications involving high-speed drives in particular, the use of filters between the inverter output and the motor is widespread as a measure designed to attenuate current harmonics. The following two are used for this purpose:  ...

  • Page 48: Configuration

    Because of this, the use of sine wave filters is not recommended for drives that require a high dynamic performance. MOT_Filt_Sel = (OFF)0 No filter compensation. The current controller decoupling network will be active. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...

  • Page 49: Parameters

    5  Motor ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 2πf s MOT_Filt_Sel = (MCHOKE)1 Has no effect on the current setpoint calculation. Instead, it just deactivates the Sd,ref current controller decoupling network. If necessary, the calculated motor terminal voltage components (before the voltage drop caused by the motor choke) can be...

  • Page 50: Scope Signals

        5.7.4  Scope signals Index Name Unit Description 2500 isdpre_SinFilt Calculated filter capacitor current d components  (isd  in the formula above) 2501 isqpre_SinFilt Calculated filter capacitor current q components  (isq  in the formula above) 2502 usdmot_SinFilt Calculated motor terminal voltage d components 2503 usqmot_SinFilt Calculated motor terminal voltage q components Table 5.11: “Motor filter” scope signals ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 5  Motor...

  • Page 51: Encoder

    Contents 6.1  Introduction 6.2  Encoder selection 6.3  Encoder offset 6.4  Connections and pin assignations 6.5  Channel 1: Interface X7 6.6  Channel 2: Interface X6 6.7  Channel 3: Interface X8 (optional) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 52: Introduction

    For more details regarding the encoder gearing, see Section "Encoder gearing" on On the ServoOne, EnDat and SSI can be selected simultaneously only once. Even page 91. though there is an additional option for EnDat/SSI at X8, the following cannot be operated simultaneously on the ServoOne...

  • Page 53: Actual Values At The Encoder Channel Outputs

    P 503 - ENC_CH4_ActVal for Ch4 The parameters are field parameters with...   Index 0 (single-turn component) and   Index 1 (multi-turn component) Image 6.1: Encoder channel selection screen The ServoOne’s control is subdivided into three levels...   MCON (Commutation and Torque control)   SCON (Speed control) and   PCON (Position control). This screen is used to select the encoder channel for each of the control levels.
  • Page 54 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 To assign the encoder channel for... Encoder offset   Commutation and torque control, use P 520[0] - ENC_MCon For the encoder for commutation and torque control, P 349[0] - CON_FM_   Speed control, use P 521[0] - ENC_SCon MConOffset can be used to set an offset. For details see Section "Encoder offset" on page 55.

  • Page 55: Encoder Offset

      If your Servo controller comes with a technology option with an  encoder function (X8 connector), see the corresponding  It is not necessary to determine the commutation offset for standard KEBA motors, as Specification for a description of the encoder connections (see  the encoders are aligned. In the case of third-party motors that are not aligned, the Section "Applicable documentation" on page 13).

  • Page 56: Connector For Resolver (X6)

    The motor temperature sensor must have basic ϑ- (PTC, KTY, Klixon)     insulation to the motor winding when connected to X5  1) Internally connected to X7/10 in ServoOne junior. and reinforced insulation to   E N 61800-5-1 when  connected to X6 or X7. 2) Internally connected to X7/9 in ServoOne junior. Table 6.2: Pin assignment X6 (ServoOne and ServoOne junior) (continue) Abb. Function 6.4.2  Connector for high-resolution encoders (X7) Sin+ / (S2) analogue differential input Track A NOTE REFSIN / (S4) analogue differential input   ...
  • Page 57 1) The total of the currents drawn at X7/3 and X6/4 must not exceed the specified value! 2) After connecting pin 7 to pin 12, a voltage of 11.8 V will appear at X7, pin 3! Table 6.3: Pin assignment X7 (ServoOne) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020...
  • Page 58 2) After connecting pin 7 to pin 12, a voltage of 11.8 V will appear at X7, pin 3! 3) Observe the preceding CAUTION statement! Data + Data + Data + Table 6.4: Pin assignment X7 (ServoOne junior) (continue) Data - Data - Data - B - B -...

  • Page 59: Channel 1: Interface X7

    Select from database Clicking on this button will open a menu that can be used to select encoders. The data sets for KEBA encoders will already be available there by default. Encoder name You can use this field to enter your own information for describing the encoder (max.

  • Page 60: Main Parameters For Encoder Channel Ch1

    ID No.: 0842.26B.5-01   Date: 09.2020   Code and Mode are used to set SSI modes. If Mode=1, wire break monitoring  Signal correction (GPOC) (if any) will be disabled, for example. If Mode = 0, it will be enabled instead  GPOC is a special KEBA online process for improving the quality of SinCos signals (default). before they are used to calculate a position. If “SINCOS(1)” is selected as the “main   In the case of linear encoders, PeriodLen and DigitalResolution will be ...

  • Page 61: Biss (Cyclical) X7

    0 to max will be mapped to 0 to max; the A special software version of the ServoOne is required for operation of the BiSS second half of the measuring range will be initialized as positive; in this case, the encoder interface (EnDat and SSI encoders are not supported in it).

  • Page 62: Endat (Cyclical) X7

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 The current BiSS position at the end, after the encoder gearing, is output in The slave address range is defined in only a very limited manner for BiSS (across all parameter P 598[0] - ENC_CH1_Position after being converted to increments (32- BiSS): it merely includes a so-called slave device ID (also called type ID) which is bit).
  • Page 63  1.  Special EnDat encoder with diagnostics for evaluation  The software versions required to run the EnDat encoder interface are the standard In this case, the valuation numbers from the encoder are read cyclically via  software versions for the ServoOne and ServoOne junior. additional information. Only the valuation numbers that the encoder supports  will be read. During the initialization process, the system will read the  NOTE encoder to determine which valuation numbers it supports. When P 640[0] -   Please note the limitations that apply when running EnDat and  ENDAT_Select = 1, the function will be enabled in the controller and the  SSI encoders (see Section "Limiting for EnDat and SSI" on page  internal diagnostics in the EnDaT encoder will be enabled as well. The ...

  • Page 64: Hall Sensor X7

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description NOTE ENDAT_BWZ_4 lowbyte vn4: position value formation   The operation and configuration of Hall effect sensors is reserved  ENDAT_Status   EnDat additional status output for special applications. Consult with KEBA if needed. ENDAT_Z1_Sel   EnDat additional information 1 type selection ENDAT_Z1_1   Z1 info: dword 1 ENDAT_Z1_2   Z1 info: dword 2 6.5.5  SinCos / TTL X7 ENDAT_Z1_3   Z1 info: dword 3 ENDAT_Z1_4   Z1 info: dword 4 ENDAT_Z2_Sel  ...
  • Page 65 (P 541[0] = 0). Commutation Motor operation with pure incremental encoders needs for the auto commutation function to be enabled without fail. For details see Section "Synchronous motor auto commutation" on page 158. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 66 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6.5.5.2  SinCos encoder pole pair subdivision (North-North) for commutation. 1 x North-North corresponds to one revolution from Lines. In this case, the motor pole pair number must be set to 1. Ch1: SINCOS(1) - SinCos signals Moreover, P 553[0] - ENC_CH1_PeriodLen is not used in this case.
  • Page 67 P 547[0] - ENC_CH1_MTBase = Minimum MultiTurn position are the length of an analogue SinCos signal period in nanometres and the  The MTBase parameter is used to set a position in the multi-turn encoder’s  length of a digital increment of the position from the absolute value interface  travel path that defines the point of discontinuity (overflow/underflow) for the  in nanometres. Both parameters are used for linear EnDat encoders and  absolute value initialization (that is, the “multi-turn basis”). Assuming a  linear HIPERFACE encoders (instead of MultiT and SingleT bits (rotary)). In  bipolar encoder measuring range, all position values that fall below MTBase  contrast, linear SSI encoders are treated as rotary SSI encoders (in this case,  will be shifted “up” (the whole MT range will be added to them once). This  it is impossible to determine that the system is a linear encoder system based  method makes it possible to place the point of discontinuity at any point  on the encoder head). Likewise, linear SinCos encoders without an absolute  within the encoder’s entire measuring range. By default, MTBase will be set  value interface are treated as “rotary” encoders (if run as commutation  to the lowest possible value for the parameter, i.e. reliably outside of the  encoders, the number of tracks, or lines (Lines) and the encoder gearing  encoder’s value range: In this case, the full bipolar range will remain  (Num, Denom) must be used to establish the relationship to the linear  unaffected, as values will never fall below this MTBase threshold (see  motor’s magn. pole pair subdivision). Only in the case of SinCos encoders  Section "Channel 1: Interface X7" on page 59).   P 548[0] - ENC_CH1_MTEnable = MultiTurn as SingleTurn The MTEnable parameter makes it possible to use multi-turn encoders as  ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 68 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 reference marks will the system determine, based on PeriodLen > 0, that the    DIG(1) - Digital: encoder system is linear and not rotary. Only the digital component will be used for the absolute value  initialization.   P 555[0] - ENC_CH1_Info = Encoder Information This parameter is available to the user so that they can enter a text of their    SEK_SEL37(2) - Automatic: choice (maximum of 31 characters). This text should be used to describe the  Digital if ST bits > (LineBits + 8); otherwise standard (criterion applies  encoder on channel Ch1 with HIPERFACE SEKL-37 encoders)   P 616[0] - ENC_CH1_CycleCount = Sampling cycle in: n x 125 µs    SSI_180(3) - Same as Standard, except: (microseconds) In the case of SSI, the quadrant alignment of the digital value relative  The CycleCount parameter can be used to slow down the timing for the  to the analogue SinCos tracks is not the same as with EnDat, but is  cyclical SSI encoder evaluation. By default, CycleCount = 1, i.e. the default  instead offset by 180 degrees relative to EnDat, i.e. in the “natural Q ...
  • Page 69 With P 1900 - ENC_ETS, the HIPERFACE interface also supports what is referred to (cyclical) X7" on page 62, as are the differences in using the EnDat interface with the as the “KEBA electronic rating plate.” If this parameter is set to SCAN(0), the motor’s “cyclical” method and “one-time reading” method.

  • Page 70: Ssi (Cyclical) X7

    SSI encoder basics and requirements transmitted (request to encoder “left” + response from encoder “right”) will be shown completely. The SSI interface on the ServoOne has been designed as an actual motor feedback interface. Accordingly, the connected SSI encoder must meet the following criteria:...
  • Page 71 ENC_CH1_Mode makes it possible to run special SSI encoders that deliver   With the first rising clock edge, the encoder must shift the data to the first  one or more special bits after the data. In this case, the ServoOne will not evaluate position bit to be transmitted (MSB) these bits – this mode is meant to make it possible to work with SSI encoders that  ...

  • Page 72: Encoder Gearing

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   P 543[0] - ENC_CH1_MultiT = Number of multi-turn bits: 0..14 Value Name Due to the design of the cyclical SSI interface as a motor feedback interface,    000Dh Data_Free_PEven_EncObs   the number of multi-turn bits is limited to 14 (no limit to 14 bits in the case of a    000Eh Data_PEven   SinCos interface with SSI one-time reading).   000Fh Data_Free_PEven             P 545[0] - ENC_CH1_Code = SSI decoding: BINARY(0) or GRAY(1)  ...
  • Page 73 This value will be proportional to the position progress of the motor’s commutation (adjusted for the pole pair number). In field mode, the encoder gearing can be used “freely” for scaling purposes. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 74: Channel 2: Interface X6

      Transformation ratio of approx. 0.5 GPOC is a special KEBA online process for improving the quality of SinCos signals before they are used to calculate a position. If Sel = RES(1) or Sel = SINCOS(2), this process may come in handy. For details see Section "Signal correction GPOC (Gain Phase Offset Correction)"...

  • Page 75: Compensation For Long Resolver Cables

    S2-S4, sin). This phase difference can be compensated for with P 565[0] - ResExc: ResExc is the time, in µs (microseconds), by which the resolver excitation will lead. Moreover, P 565[1] - Delay can be used to compensate for a commutation dead ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 76 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Procedure Step Action Open the manual mode window and set speed-controlled mode. Motor operated at constant speed   Resolver: 1000 rpm   SinCos incremental encoder: 1 to 5 rpm Set P 549[0] - ENC_CH1_Corr to "ADAPT(2) = Auto correction" Wait about 1–3 minutes. During this time, the compensation algorithms  will reach their steady state. Speed ripple should decrease after about 1  minute. This can be monitored with the actual speed value in the scope  or with P 550 - ENC_CH1_CorrVal. Set P 549[0] - ENC_CH1_Corr to "CORR(1) = Correction with saved  values". Save in the device Table 6.17: Configuring and activating GPOC NOTE  ...

  • Page 77: Encoder Gearing X6

    See Section "Encoder gearing" on page 91 The encoder gearing for encoder channels Ch1, Ch2 and Ch3 is described there. NOTE   In the case of encoder channel Ch2, it is assumed that the  resolver will always be used as a commutation encoder on the  motor shaft. Because of this, the numerator adjustment range is  limited to a value of (+1) or (-1), while the denominator is set at a  fixed value of (+1), for the Ch2 encoder gearing ratio. This means  that the only option available is to invert the encoder signal  (direction reversal).   Encoder channel Ch4 (virtual encoders) does not feature any  encoder gearing. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 78: Channel 3: Interface X8 (Optional)

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6.7  Channel 3: Interface X8 (optional) Interface X8 can optionally be equipped with a technology option (X8 option) at the factory (this option cannot be retrofitted). There are a variety of optional modules available: Technology option name...
  • Page 79 The following table shows how the X8 options that can be used for encoder evaluation can be identified and selected.   “No.” column  As per the table above.   “Hardware ID” column  The texts in this column can be viewed in the KeStudio DriveManager 5 using P 53[0] - DV_HwOptionX12ID by going to ►Drive description ►Hardware version if the  corresponding technology option is present.   “Selection” column  In certain cases, several different encoder types can be run on a technology option and selected with P 507 - ENC_CH3_Sel. Even if a technology option that does not  match is equipped, most values can only be selected with P 507 - ENC_CH3_Sel. If an impermissible combination is selected, this will be indicated by means of error  messages during the initialization phase. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 80 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Technology option name Hardware ID Selection No module NONE(0) - No technology option OFF (0) SINCOS(1) - SinCos cyclic *) - Without absolute value interface, Abs=OFF(0), with zero pulse - With SSI one-time reading, Abs=SSI(1) Second SinCos encoder SINCOS_V2(10) - 2nd SinCos encoder (V2) - With EnDat one-time reading, Abs=ENDAT(2) SSI(2) - Cyclical SSI (without analogue tracks) TTL(3) - TTL evaluation, with zero pulse ENDAT(4) - Cyclical EnDat (without analogue tracks) TTL encoder simulation / TTL master encoder TTL_ECSIM_V2(9) - TTL Encodersimulation (V2) TTL(3) SSI encoder simulation SSI_ECSIM(3) - SSI encodersimulation SSI(2) - Cyclical SSI (without analogue tracks) TTL(3) TTL encoder with commutation signals TTL_COM(11) - TTL + Hall option TTL_COM(5) HDSL interface (with special FW) HDSL(15) - HIPERFACE DSL® option HDSL(7) - Only on ServoOne junior (single-cable solution)
  • Page 81 Clicking on this button will open a menu that can be used to select encoders. The “Technology option” in the “Hardware” section. data sets for KEBA encoders will already be available there by default. Encoder name You can use this field to enter your own information for describing the encoder (maximum of 31 characters) (P 580[0] - ENC_CH3_Info).

  • Page 82: Main Parameters For Encoder Channel Ch3

      P 577[0] - ENC_CH3_EncObsMin  Signal correction (GPOC) If you set EncObsMin to 0, SinCos wire break monitoring will be disabled.  GPOC is a special KEBA online process for improving the quality of SinCos signals The default value is 0.2 (20%) and stands for a calculated amplitude value  (calculated using the two SinCos signals) of x = sqrt(a² + b²). If the SinCos  before they are used to calculate a position. If “SINCOS(1)” is selected as the “main signals are equal to approx. 1 Vss when compared, approx. 0.8 will be ...
  • Page 83   TTL signal type selection ENC_CH3_Extended   ENC CH3: Extended SignalType ENC_CH3_Info   Encoder information channel 3 Table 6.22: Encoder configuration channel 3 (X8) parameters (continue) ENC_CH3_AbsEncStatus   Error and status codes (absolute encoder) ENC_CH3_PeriodLen Length of signal period (Sin/Cos linear encoder) Table 6.22: Encoder configuration channel 3 (X8) parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 84: Absolute Value Interfaces X8

    ID No.: 0842.26B.5-01   Date: 09.2020 6.7.2  Absolute value interfaces X8 The software versions required to run the EnDat interface are the standard software versions for the ServoOne and ServoOne junior. The following absolute value interfaces will be available at encoder channel Ch3 NOTE depending on the X8 option being used.

  • Page 85: Sincos / Ttl X8

    The TTL interface accepts various TTL signal types, which can be selected using P 2824[0] - ENC_CH3_TTL_SignalType: see Section "SinCos incremental encoders with absolute value interface" on page   (0) AF_B - A/B tracks (forward counting, X4 encoding) - AB 86 and in specialSection "SSI absolute value interface" on page 88.   (1) AR_B - A/B tracks (reverse counting, X4 encoding) - AB_inv ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 86 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020  a.  There are no different signal types for the SinCos signal (always 1 Vss for  Index Name Unit Description cosine and sine). ENC_CH3_Sel = 3   Encoder selection set to TTL(3) ENC_CH3_Num   Encoder gearing: Numerator  b.  The zero pulse is the analogue zero pulse typical of SinCos encoders (see  ENC_CH3_Denom   Encoder gearing: Denominator the “Connection for high-resolution encoders” section in the ServoOne  ENC_CH3_Abs   Selection of absolute value interface Operation Manual Single-Axis System, for example). ENC_CH3_NpTest   ENC CH1, TEST-MODE: Index pulse signal(s) to Scope ENC_CH3_Lines   Number of lines (Sin/Cos / TTL encoders) 6.7.6.2.2  Linear SinCos incremental encoders 2842 ENC_CH3_TTL_SignalType  ...
  • Page 87 P 582[0] - ENC_CH3_PeriodLen = SinCos linear encoder and The Code and Mode parameters are described in Section "SSI (cyclical) X7" on P 583[0] - ENC_CH3_DigitalResolution = linear absolute encoder page 70. are the length of an analogue SinCos signal period in nanometres and the    P 584[0] - ENC_CH3_MTBase = Minimum MultiTurn position length of a digital increment of the position from the absolute value interface  The MTBase parameter is used to set a position in the multi-turn encoder’s  in nanometres. Both parameters are used for linear EnDat encoders (instead  travel path that defines the point of discontinuity (overflow/underflow) for the  of MultiT and SingleT bits (rotary)). In contrast, linear SSI encoders are  ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 88 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 treated as rotary SSI encoders (in this case, it is impossible to determine that  value initialization: the system is a linear encoder system based on the encoder head). Likewise,    DIG_ANA(0)- Standard: linear SinCos encoders without an absolute value interface are treated as  Absolute value initialization using a mix of the digital and analogue  “rotary” encoders (if run as commutation encoders, the number of tracks, or  components (this is the default mode) lines (Lines) and the encoder gearing (Num, Denom) must be used to  establish the relationship to the linear motor’s magn. pole pair subdivision).    DIG(1) - Digital: Only the digital component will be used for the absolute value  Only in the case of SinCos encoders with distance-coded reference marks  initialization. will the system determine, based on PeriodLen > 0, that the encoder system  is linear and not rotary.   SEK_SEL37(2) - Automatic: Digital if ST bits > (LineBits + 8); otherwise standard   P 580[0] - ENC_CH3_Info = Encoder Information This parameter is available to the user so that they can enter a text of their    SSI_180(3) - Same as Standard, except: choice (max. 31 characters). This text should be used to describe the ...

  • Page 89: Ssi (Cyclical) X8

    SSI encoder basics and requirements (cyclical) X7" on page 62, as are the differences in using the EnDat interface with the The SSI interface on the ServoOne has been designed as an actual motor feedback “cyclical” method and “one-time reading” method.
  • Page 90 P 576[0] - ENC_CH3_Mode can be used to run a parity evaluation after the data. In the number of multi-turn bits is limited to 14 (no limit to 14 bits in the case of a  SinCos interface with SSI one-time reading). addition, ENC_CH3_Mode makes it possible to run special SSI encoders that deliver one or more special bits after the data. In this case, the ServoOne will not evaluate   P 575[0] - ENC_CH3_Code = SSI decoding: BINARY(0) or GRAY(1) Gray decoding will be selected by default. The other option is to use binary ...

  • Page 91: Hiperface Dsl® (Servoone Junior)

    ENC_CH1_Denom   Numerator of channel 1 that requires special device firmware. ENC_CH2_Num   Denominator of channel 2 ENC_CH2_Denom   Numerator of channel 2   For a full description of the HIPERFACE DSL® technology option  ENC_CH3_Num   Denominator of channel 3 (technical data, connections, configuration), see the “Single-cable  ENC_CH3_Denom   Numerator of channel 3 interface option 2 Specification” (ID No.: 1106.26B.x). Table 6.28: Parameters for encoder gearing 6.7.9  Encoder gearing NOTE   Please read the general information on encoder gearing found in  Section "Introduction" on page 52 beforehand. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 92: Channel 4: Virtual Encoder

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6.8  Channel 4: Virtual encoder Parameters   P 500[0] - ENC_CH1_ActVal[0].SingleTurn and   P 500[1] - ENC_CH1_ActVal[1].MultiTurn are used, for example, to indicate the current position value at the output for encoder channel Ch1. These parameters can also be used for checking purposes during commissioning.

  • Page 93: Sensorless Control Synchronous Motor

      Sensorless control: Q-Matrix (epsilon) Q[4,4]   Sensorless control: Q-Matrix (T Last)   The Kalman filter is    ENC_CH4_Kalman_   Sensorless control: Test signal generator initialized SigInj Table 6.29: Control word ENC_CH4_Ctrl (P783) Signal   SC test signal: Signal calculation selection Frequency SC test signal: Sinusoidal signal frequency Table 6.30: “Sensorless synchronous motor control” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 94 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6.8.1.1  Auto commutation P No. Index Name Unit Description d-Amplitude sinus SC test signal: d current amplitude of sinusoidal  signal When using sensorless control, auto commutation is required in order to ensure that q-Amplitude sinus SC test signal: q current amplitude of sinusoidal  the motor will not align itself towards a direction in an uncontrolled manner. There...
  • Page 95 (796). The following two diagrams use examples to illustrate the influence that the ramp parameters have on the additive d components. Please note, however, that this current will also increase motor losses, meaning it should only be used in exceptional cases. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 96 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 I [A] 6.8.1.3  Expanded speed control circuit There is the option of setting up an expanded speed control circuit when using 792[9] sensorless control. The reason for this is that the estimated speed from the Kalman filter cannot be calculated with steady-state accuracy, as parameter inaccuracies are inherent to the model.
  • Page 97 (P 351[0] for n_eps and P 339[0] for n_kal). The expanded speed control Kalman filter can determine the position based on the inductance difference in circuit can be started with P 350[0] (“4” => Kalman) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 98 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 combination with a test signal when the motor is stopped. In addition, the total Step Action moment of inertia resulting from the motor and the connected load must be set as Configure noise covariance matrices Q and R. This should be done ...

  • Page 99: Sensorless Asynchronous Motor Control

    P 794[1] = 50% of rated motor current P 794[2] = 250 ms Starting the expanded speed control circuit is not absolutely necessary,  but will result in control with better dynamic performance. The circuit can  be started by setting P 350[0] - SEL_ObserverMethod to a value of 4.  P 339 - CON_SCON_Kalman can be used for tuning purposes. If necessary, adjust the noise covariance matrices and the filter time  constants for the expanded speed control circuit (changes will take effect  in real-time). Table 6.31: Configuring the Kalman filter for sensorless control (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 100 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Additional setting parameters 6.8.2.1  Activation of sensorless control for asynchronous motors P No. Index Name Unit Description Proceed as follows:   CON_SCALC_Tf   Speed filter   CON_SCALC_Tf Filter time const. speed control (motor) Activity   CON_SCALC_Tf Filter time const. velocity (hydraulic cyl.)   CON_SCALC_Tf Filter time const. speed from position control. Set motor type (P 450[0] - MOT_Type) to “2 (ASM) = asynchronous    EN_CH4_Kalman_SigInj  ...
  • Page 101 P 792[2] to 200 . . . 500 rpm and P 792[7] to the d current required for starting. If the motor tends to tip, then attempt to limit the permissible slip using P 1959[1] K_ov. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020...

  • Page 102: Redundant Encoder

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6.9  Redundant encoder 6.10  Axis correction It is possible to set the position difference between the positioning encoder and a The position value delivered by the encoder system and the actual position value on redundant encoder. To do this, the channel of the redundant position encoder must the axis may vary for a number of reasons.
  • Page 103   1 (= 1st Encoder)   1. encoder selected     2 (= 2nd Encoder)   2. encoder selected ENC_ACOR_PosStart   Definition of correction range: The range is  defined by parameters P 0591 ENC_ACOR_ PosStart Start position and  P 0592 ENC_ACOR_PosEnd end position.  The start position is user-specified; the end  ENC_ACOR_PosEnd   position is determined on the device side from  the maximum value of correction table  interpolation points used and the interpolation  point pitch. Table 6.36: Axis correction parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...
  • Page 104 6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Position control Step Action Use P 530 - ENC_Encoder1Sel to select the channel for Sercos: 1st  The direction of movement is produced when the time-related change in position encoder reference (speed pre-control value) has exceeded the amount of the standstill Use P 531 - ENC_Encoder2Sel to select the channel for Sercos: 2nd ...
  • Page 105 P 0593 checked in user units using the scope parameter 1001 (with  Interpolation smoothing) and 1003. Legend: point distance Interpolation point conter clockwise correction Interpolation point clockwise correction Incorrected Positionvalue (conter-clockwise rotation) Incorrected Positionvalue (clockwise rotation) Image 6.12: Corrected position value ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 106: Oversampling

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6.11  Oversampling 6.12  Multi-turn encoder as a single-turn  encoder Encoder signal oversampling optimizes the accuracy of resolver and SinCos signals. This function can only be used, if necessary, for low-track SinCos encoders By way of parameters P 548[0] - ENC_CH1_MTEnable = 1 (for Channel 1) and and resolvers;...

  • Page 107: Increment-Coded Reference Marks

    1001 lines Zero point: Parameter P 542[0] - ENC_CH1_Lines is used to enter the number  of lines (e.g. 18 x 1000). A sector increment difference of +1, +2, +3 and +4 is  Table 6.39: Example of a rotary system on encoder channel Ch1 ③ supported. One mechanical revolution is precisely one whole multiple of the  basic increment A. Legend for Schematic view of circular graduations with increment-coded reference marks ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 108: Overflow In Multi-Turn Range

    6  Encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6.14  Overflow in multi-turn range With this function the multi-turn range can be shifted in order to avoid a possible overflow. The function is available for encoder channels 1 and 3. Example If a portion of the travel distance is to the left of the threshold (MT Base), it is appended to the end of the travel range (to the right of the 2048) via parameter P 547[0] - ENC_CH1_MTBase for encoder channel 1 and P 584[0] - ENC_CH3_ for...

  • Page 109: Zero Pulse Test

    Image 6.16: Zero pulse recording via measurement variable CH1/3_Np NOTE   When in zero pulse test mode, zero pulse evaluation will not be  available during homing.   Regardless of this, all zero pulse events will be counted. The  zero pulses are counted by counter evaluation P 411[31] for  channel 1 and P 411[32] for channel 3 (under ►Actual values  ►All values in the KeStudio DriveManager 5) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 6  Encoder...

  • Page 110: Control

    7.5  Position controller settings 7.6  Asynchronous motor field weakening 7.7  Field weakening and LookUpTable (LUT), synchronous motor 7.8  Synchronous motor auto commutation 7.9  V/Hz mode 7.10  Process controller 7.11  Hydraulic control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 111: Setting

    Legend for figure Control Structure Position Controller/Feed  7.1.1  Setting see 7.5    P osition controller settings Forward Control When using a standard KEBA motor data set, the control parameters are preset for Position controller see 7.5    P osition controller settings the specific motor model (external mass inertia = motor inertia). If using third-party Speed controller see 7.4    S peed controller motors, a manual setting must be made for the drive by way of the motor Digital filter...

  • Page 112: Basic Settings

    Click on the "Basic settings" button opens the wizard to determine the mass inertia, the rigidity wizard, as well as the speed and position controllers. Image 7.2: “Motor control settings” screen *) With firmware V270.xx-xx. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 113 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 CAUTION! Your system/motor may be damaged if put into operation in an uncontrolled or inappropriate manner. Improper conduct can cause damage to your system / machine.   Before the “Start” step, make absolutely sure that a valid  setpoint has been entered, as the configured setpoint  will be immediately transmitted to the motor after the  motor control function starts, which may result in the ...

  • Page 114: Automatic Inertia Detection

    Improper conduct can cause damage to your system / machine.   Before the “Start” step, make absolutely sure that a valid  setpoint has been entered, as the configured setpoint  will be immediately transmitted to the motor after the  motor control function starts, which may result in the  motor accelerating unexpectedly. NOTE   This function is not recommended for horizontal axes. Attention  must be paid to the mechanical end stops with this function. This  function is only to be used with a freely rotating motor shaft. NOTE Image 7.4: “Determining the mass inertia” screen   If no values are entered for "Hysteresis Speed" and "Hysteresis  Torque", 20% of the rated speed and 20% of the rated torque is    set. The distance covered results from the preset values. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 115: Torque Controller

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.3  Torque controller 7.3.1  Current controller optimization The faster the actual value approaches the setpoint, the more dynamically the The torque controller is executed as a PI controller. The gain (P-component) and the controller is set. The overshoot of the actual value should not be more than 5-10 % integral-action time (I-component) of the individual controllers are programmable.

  • Page 116: Creating The Transfer Function

    To determine the transfer function the noise amplitude (motor rated current) and the sampling time (default 0.125 ms) must be specified. Click the "Start Test Signal" button. Image 7.8: Current controller transfer function ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 117: Decoupling

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.3.5  Detent torque compensation Green curve = amount  ① Y-axis left = absolute value of isd/isdref Blue curve = phase response ② Y-axis right = Phase response Isd/isdref Legend for Current controller transfer function 7.3.3  Decoupling The current control has a decoupling of the d- and q-axis by means of feed-forward control of the corresponding coupling voltages. The decoupling depends on the stator inductance P 471 MOT_Lsig and can be scaled with parameter P 434.3.
  • Page 118 P 385[0] - CON_ TCoggTeachCon=CALC1(3) or with P 385[0] - CON_TCoggTeach- Con = CALC2 (8).It ‘calculates’ the corresponding compensation table (which can be saved) from ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 119 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.3.5.1  “Detent torque compensation” parameters table. àrecurring, infinite Table: index = (inpos inc / 2^32 inc) * tabsize, with tabsize = 250 or 4000 - Input reference ‘variable' via delta (**): absolute, 'linear' continuous position: the...
  • Page 120 - F2: Without offset and delta, with tuning, without fader Calculation: (385)CON_TCoggTeachCon=(3)CALC1 Compensation: (382)CON_TCoggComp=(2)APSPOS à big CompTab, access via (440) and (441) (6)TeachEpsM =Teach epsm mechanical angle (shaft) Table 7.3: Settings for teaching, calculating and compensation ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 121 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 (385) (385) CON_TCoggTeachCon CON_TCoggTeachCon (10)TeachPosEncRed Singleturn position from encoder for commution =Teach posact from redundant encoder Actual position from so called redundant encoder - F1: Big teach table (4000) in ref value normalization, Scope-Signal 153...
  • Page 122 With the control still operating, the teaching is then stopped by calling the  The following table shows the procedure for detent torque compensation. calculation function once: P 385[0] - CON_TCoggTeachCon = (3)CALC1 or (8)CALC2.Afterwards,  parameter P 385[0] jumps back to READY(0). Table 7.4: Overall procedure for detent torque compensation     ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 123 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 No. Action - The teaching and calculation are thus finished. - The position source used has been stored internally. - The compensation table is available for use immediately. Stop control Start the compensation: P 382[0] - CON_TCoggComp > 0 After this, the q-current feed forward control becomes active when the control  is restarted. Save device data. - The position source used by the teaching is also saved here. It will later be  used for the compensation once again in exactly the same manner. Table 7.5: Overall procedure for detent torque compensation Image 7.12: After enabling detent torque compensation (with) (please keep the Y axis scaling in mind!) 7.3.5.3.1  Scope recording: speed ‘before' and ‘after'...
  • Page 124 Check P 440[0] - CON_TAB_TabIndex and P 446[0] - CON_TAB_OutVal With the control still operating, the teaching is then stopped by calling the  calculation function once: P 385[0] - CON_TCoggTeachCon = (3)CALC1. This imports all values into the compensation table P 380[] - CON_ TCoggAddTab (small table with 250 elements). Stop control Start the compensation: P 382[0] - CON_TCoggComp = (1)EPSRS After this, the q-current feed forward control becomes active when the control  is restarted. Save device data. - The position source used by the teaching is also saved here. It will later be  used for the compensation once again in exactly the same manner. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 125 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Action Action Open manual mode window. Stop control Approach start position Save device data. - The position source used by the teaching is also saved here. It will later  Speed control mode control setting (set high rigidity, for smooth running) be used for the compensation once again in exactly the same manner. Set the teaching direction if necessary: P 445[0] - CON_TAB_TeachDir Use the scope to monitor IsqRef_Comp Default: POS(1)= teaching routine in positive direction. Set the offset and delta if necessary using: P 442[0] - CON_TAB_PosStart, default 0 P 443[0] - CON_TAB_PosDelta, default 1000 inc/TabElement = e.g. (endpos inc - startpos inc) / 4000 elements 7.3.5.6  Compensation as a function of mechanical rotation  Set the input tuning if necessary using: (EPMS) P 447[0] - CON_TAB_Tune.TimeDelay, default 0 P 447[1] - CON_TAB_Tune.PosShift, default 0...
  • Page 126 Save device data. 11 Use the scope to monitor IsqRef_Comp - The position source used by the teaching is also saved here. It will later  be used for the compensation once again in exactly the same manner. 7.3.5.7  Compensation as a function of the electrical angle  Use the scope to monitor IsqRef_Comp (EPSRS), big table Teaching routine and compensation à big CompTab (4000) - Incremental, ‘rotary' recurring position - Without offset and delta, with tuning, with fader ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 127: Advanced Torque Control

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   Adaptation of torque control / Saturation characteristic (see Section  7.3.5.8  FadeOut function "Adaptation of torque control" on page 127). At higher speeds it usually makes sense to linearly fade the Q-current feed forward   Observer system (see Section "Current observer" on page 129) control of the detent torque compensation using the FadeOut function:  ...
  • Page 128 Scaling of q-stator inductance in [%];  ① P 472[0] - [3] Lsig_q@Ix interpolation points 0 to 3. Scaling of rated current in [%];  ② P 472[4] - [7] MOT_CurrentIx interpolation points 4 to 7. Legend for Diagram: “Scaling of q-inductance L in [%]” NOTE   Between the interpolation points the scaling factor is interpolated  in linear mode. The current scaling of the inductance is displayed  in the scope variable 74_Is_ActVal . ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 129 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 be passed on to the current controller. The disadvantage of the current observer is a Index Name Unit Description possible deviation between actual current and observed current. This can lead to an MOT_Lsig mH Motor leakage inductance (ASM) / stator ...
  • Page 130 Voltage at inductor Inverter voltage DC link voltage α Phase angle Legend for “Circle and hexagon voltages” diagram Index Name Unit Description CON_CCON_VLimit Voltage limit for first current controller CON_CCON_Mode   Select current control / limitation mode Table 7.9: “Advanced torque control - Overmodulation” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 131: Torque Control With Defined Bandwidth

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.3.7  Torque control with defined bandwidth P no. Index Name / Setting Unit Function     ENC_OFFSET (1)   Start encoder offset determination (power stage  will be switched on!) The controller gain is determined by activating test signals (Autotuning). The     MOT_ID (2)   Start electrical motor identification (power stage ...
  • Page 132 MOT_Lsig. The feed forward control can be scaled with P 434.5. P 434.6 enables filtering of the voltage thus set, which reduces noise. Do not set this filter too high, otherwise there will no longer be an increase in bandwidth. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 133: Speed Controller

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.4  Speed controller To set these functions, use the test signal generator (not yet described - to do) to apply a sweep signal to the d-current setpoint and record the setpoint and actual values with the scope.
  • Page 134 CON_SCON_ScaleTF   Scaling filter time constant 2695 ScaleMaxSpeedFil Speed scaling filter time constant If the system's moment of inertia is defined manually, it must be reduced  2695 ScaleMaxTorqueFil Torque scaling filter time constant to the motor. CON_SCON_Kp Nm/rpm Speed control gain CON_SCON_Tn Speed control integration time constant CON_SCON_KpScale Speed control gain scaling factor CON_SCALC_TF Speed calculation filter time constant CON_SCALC_TF Filter time const. speed control CON_SCALC_TF Filter time const. field model (hydraulic) CON_SCALC_TF Filter time const. speed from position control Table 7.12: “Speed controller” parameter ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 135: Advanced Speed Control

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.4.1  Advanced speed control Index Name Unit Description CON_IP_RefTF Speed reference filter time constant (SCON  mode) CON_SConTS Speed control sampling time 2939 CON_SCON_TorqueTF ms Actual torque filter time     Digital filter   Digital filter / speed controller settings   CON_SCON_FilterFreq   Filter frequencies of digital filter CON_SCON_FilterFreq 1st center/cutoff CON_SCON_FilterFreq 1st width CON_SCON_FilterFreq 2nd center/cutoff CON_SCON_FilterFreq 2nd width CON_SCON_FilterAssi  ...
  • Page 136 An appropriate setting of P 336 - CON_SCON_KpScaleSpeedZero reduces this tendency to oscillate. Image 7.24: Quick stop without sensor Image 7.23: Reduction of gain at low speeds. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 137 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.4.1.4  Parameters Index Name Unit Description CON_SCALC_ObsPara     CON_SCALC_ObsPara     Index Name Unit Description CON_SCALC_ObsPara       CON_SCON_Kd   Advanced control structure gains CON_SCALC_ObsPara     CON_SCON_K_d   D control / acceleration feedback CON_SCALC_ObsPara    ...

  • Page 138: Digital Filter

    Table 7.14: Filter Bode plots Action Scope setting: isq (unfiltered, torque-forming current) Set shortest  sampling time Create scope plot without notch filtering On the oscilloscope click the "Mathematical functions" > FFT (Fourier  analysis) icon. From the following pop-up menu choose isq. Disturbance  frequency is displayed. Select filter Enter middle/limit frequency Width: Enter the bandwidth of the limit frequency; the width has no effect  when using PTx filters Create scope plot with notch filtering Table 7.15: Instructions for FFT signal analysis Image 7.25: “Speed controller - Digital filter” screen ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 139: Analysis Of Speed Control

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description FFT without filtering FFT with filtering   CON_SCON_FilterFreq   Filter frequencies of digital filter CON_SCON_FilterFreq 1st center/cutoff CON_SCON_FilterFreq 1st width CON_SCON_FilterFreq 2nd center/cutoff CON_SCON_FilterFreq 2nd width CON_SCON_FilterAssi   Digital filter design assistant   CON_SCON_FilterPara   Coefficients of digital filter FilterPara b0  ...
  • Page 140 To determine the transfer function the noise amplitude (motor rated current) and the Observe the safety notice: When you confirm the safety notice a step  response is executed. sampling time (default 0.125 ms) must be specified. Click the "Start Test Signal" button. The oscilloscope is set automatically. The faster the actual value approaches the setpoint, the more  dynamically the controller is set. The overshoot of the actual value should  not be more than 5-10 % of the setpoint (general figure) during the  settling process. Table 7.18: Instructions for optimization of the speed controller ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 141 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Image 7.29: Speed controller transfer function Green curve = amount  ① Y-axis left = absolute value of nact/ndiff Blue curve = phase response ② Y-axis right = Phase response nact/ndiff Legend for Speed controller transfer function Image 7.28: “Noise amplitude, sampling time” screen...

  • Page 142: Position Controller Settings

    In order to improve the dynamism of the position controller, the following screen is provided to optimize the speed and acceleration pre-control. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 143: Friction Torque Compensation (Friction)

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 NOTE Index Name Unit Description CON_IP_SFFTF Speed feedforward filter time constant (PCON    Torque feed-forward control will be disabled if linear interpolation  mode) is used. CON_IP_EpsDly Delay pos. reference by integer no. of cycles  CON_PConTS   The overall moment of inertia in P 1516[0] - SCD_Jsum must not  CON_IP_SFFScale Scaling of speed feedforward be changed to optimize the pre-control, because this would also    CON_IP_TFFScale   Scaling of torque feedforward have an effect on other controller settings! TFFScale_PCON   Scaling of torque feedforward (PCON mode)  ...
  • Page 144 CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits remains constant at higher speeds. CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits   CON_SCON_TConst %  Friction torque compensation: Constant  (independent of direction) Table 7.22: “Position controller - Feed-forward control” parameters (friction torque compensation extract) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 145: Asynchronous Motor Field Weakening

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.6  Asynchronous motor field weakening Up to rated speed the asynchronous motor runs with a full magnetic field and so is able to develop a high torque. Above the rated speed, the magnetic field is reduced because the maximum output voltage of the Servo controller has been reached.

  • Page 146: Variant 2: Modified Characteristic

    The voltage setpoint that needs to be achieved is specified   CON_FM_SpeedTab   Speed values for magnetizing current scaling CON_FM_SpeedTab   using P 347[0] - CON_FM_VRef. CON_FM_SpeedTab   CON_FM_SpeedTab     CON_FM_SpeedTab   CON_FM_SpeedTab   CON_FM_SpeedTab   Table 7.24: “Field-weakening” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 147: Field-Weakening Of Asynchronous Motor Voltage Controller

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description CON_FM_SpeedTab     CON_FM_FWTabIdx   Table index for field weakening / reluctance  torque utilization CON_FM_SpeedTab   CON_FM_FWTabIdx   Speed index   CON_FM_ImagTab   Magnetizing current scaling vs. speed CON_FM_FWTabIdx   Torque index CON_FM_ImagTab   CON_FM_FWTabId d-current table entry CON_FM_ImagTab  ...

  • Page 148: Field Weakening And Lookuptable (Lut), Synchronous Motor

    Synchronous motors can also be operated above their rated speed at rated voltage by reducing their voltage consumption through the injection of a current component. Features   The method is relatively robust against parameter fluctuations.   The voltage controller can only follow rapid speed and torque changes to a  limited degree.   A non-optimized voltage controller may cause oscillation; the controller must  be optimized. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 149 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Conditions First of all, there are two variants for field weakening with synchronous motors, variants 1 and 2. They can be selected via P 435[0] - CON_FW_FWMode. To effectively reduce the voltage consumption, the ratio of stator inductance P 471[0] - MOT_Lsig multiplied by the rated current P 457[0] - MOT_CNom to rotor flux P 462...

  • Page 150: Variant 1 (Table)

    343[0] - CON_ parameter FM_ImagTab) dependent on the speed (P 342 [0] - CON_FM_SpeedTab). Table 7.27: Example of speeds in P 342 - CON_FM_SpeedTab     CALC (2) = Isd set by PI    Field-weakening is effected by way of a  controller and table  characteristic which is set internally via the  parameter Table 7.28: Parameters for selecting field weakening ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 151: Variant 4 (Tablemotgen)

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Activate table: P 435[0] - CON_FM_FWMode = TABLE_MOT_GEN(4) Index Name / Setting Unit Function motor parameters. The d-current reference is  Parameter P-343 CON_FM_ImagTab can be used to configure 16 elements. then calculated dependent on the speed AND  the required q-current: isd = f(n, isq_ref).  Index 0-7: Motor or classic table, The inaccuracies with regard to the motor ...

  • Page 152: Variants 3 And 6 (Lut)

    (id is reduced to 0) (typical for non-salient pole PMSM) is no longer adequate to make use of the machine’s full potential. Consequently, special control structures are implemented in the ServoOne to ensure optimal control for motors of this nature.
  • Page 153 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   Be calculated internally by the firmware (small table), OR The large table has a variable size for the performance map which can be set for a minimum of [3x3] to a maximum of [128x128] table entries. It is specified externally  ...
  • Page 154 Parameter P 149[0] - MPRO_DRVCOM_Init = START(1). Index Name / Setting Description Unit (*) Map values with negative torques are allowed (large table). P 149 MPRO_DRVCOM_Init 1: Start re-initialization   Table 7.33: P 149, perform re-initialization ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 155 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 The d/q current values are now calculated and the small table is filled with the Index Name / Setting Description Unit results. P 421   CON_FM_FWTabIdx     P 421 Speed index select Selects index for speed  ...
  • Page 156 The manufacturer may be able to provide one example of a PC converter program of this nature (“LookUpTabConverter.exe”). At the end of the preparation process, you will then have the targeted amount of different *.bin files for the process which will run later on. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 157 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 The ‘special command’ for transferring the data of the large table from the For information on the checksum calculation, see also section "CRC algorithm and C controller’s file system to the RAM cells of the large LUT is: functionality"...

  • Page 158: Field-Weakening Of Synchronous Motor Voltage Controller

    CON_FM_VRef. If the response with voltage controller is unproblematic and no particular demands are made in terms of dynamism, the available torque can be optimized by setting P 347[0] - CON_FM_VRef to values up to 98%. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 159 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name / Setting Unit Description CAUTION! Damage to the device as a result of incorrect operation!     HALLSDIGITAL2 (7)   Digital Hall sensor (alternate process) CON_ICOM_KpScale commutation detection: scaling of control gain Failure to exercise caution or follow proper working  ...

  • Page 160: Iencc(1) Method

    The time should be set so that the rotor is at rest during the measurement. For control purposes, the commutation process can be recorded with the Scope function. NOTE   Inexperienced users should always choose the rated motor  current (amplitude) as the current and a time of at least 2000 ms.   If the axis is blocked, meaning the rotor is unable to align itself, the  method will not work correctly. As a result, the commutation angle  will be incorrectly defined and the motor may perform uncontrolled  movements.   When calculating the data sets of linear motors the values for time  and current adjust automatically. Image 7.38: “Auto commutation IENCC(1)” screen ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 161: Lhmes(2) Method

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.8.2  LHMES(2) method known after the first sequence and the direction of movement after the second. This method is suitable for determining the rotor position with braked rotors or motors with a high mass inertia.

  • Page 162: Iecon(4) Method

    7.8.3  IECON(4) method Index Description Unit Value Test signal period  (Measurement  frequency) Test signal amplitude  (Current I0) Test signal direct  component (Current I1) Table 7.37: LHMES configuration example NOTE   It is advisable to connect speed tracking error monitoring with the  "Power stage off" error reaction (see Section "Error reactions" on  page 339). This monitoring feature prevents the motor from racing. Image 7.40: “Auto commutation IECON(4)” screen ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 163: Test Signal Generator

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 The motor shaft motion can be minimized by a shaft angle controller. The structure and parameters of the speed controller are used for the purpose. The gain can be scaled via P 391[0] - CON_ICOM_KpScale. The precondition is a preset speed control loop.
  • Page 164 Speed     epsref(4) Position     sramp(5) Speed (ramp)     ISQREF(6) q-current reference   d-current q-current    ISDQREF(7)   reference Table 7.38: Parameters of test signal generator for square and sine signal ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 165 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Parameter / Parameter / Function Info Function Info Setting Setting Setpoint voltage feed-   USDQREF(8)   forward control SCD_TSIG_ Amplitude of sine signal  1505   PRCREF(9) Process controller   SCD_TSIG_ 1502 Number of repeat cycles Cycles Frequency of the sine  SCD_TSIG_ SCD_TSIG_ signal (f); Lower  1503 Offset of square signal...
  • Page 166 The PRBS signal is suitable for system excitation with high bandwidth using a test signal. A feedback shift register is used to generate a binary output sequence with an amplitude that can be set in P 1509 - SCD_TSIG_ PRBSAmp and a "random" ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 167: V/Hz Mode

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.8.4.3  Sweep signal 7.9  V/Hz mode Use P 1510 - SCD_TSIG_SignalType = Sweep (2) to generate a sine signal of A simple function test can be carried out in V/Hz mode. This test will show users variable frequency.

  • Page 168: Process Controller

    Table 7.40: Scope signals “V/Hz mode (basic)”   Process controller calculation in speed controller cycle NOTE   Process controller as PI controller with Kp adaptation   For information on the advanced V/Hz mode, see the “HF function    Process controller actual value selectable via selector package" User manual (ID No.:1107.22B.x).   Filtering and offset correct of reference and actual values   Process controller output can be connected to different points in the general    control structure     Process controller is usable in all control modes     Cycle time: 125 µs (if the switching frequency is 4 kHz: 250 µs)   The process controller state is changed with a control word     The process controller state is indicated with a status word   The process controller’s integral term can be reduced in a targeted manner  with a control command ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 169: Description Of Control Structure

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.10.2  Description of control structure The status word, P 2682[0] - CON_PRC_StatWord, indicates the process controller’s current state. Name Description Process controller active ResetIReady Integral term reset complete Table 7.42: Status word P 2682[0] Image 7.46: Schematic of process controller 7.10.2.1  Control and status word of process controller The process controller can be activated either with the control word, P 2681[0] -...
  • Page 170 The process control circuit actual value can be selected via a number of pre-defined Table 7.43: Selector for reference value source (P 2683[0]) actual value sources. P 2668[0] - CON_PRC_ACTSEL can be used to select these actual value sources. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 171 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Setting Name Description Setting Name Description Analogue input ISA00 (CON_ANA_Isaf Analogue input IEA05 from Multi I/O  ANA0 [0]) IEA05    module (TOPT_MIO_AIN_Val_Scaled [1])   Analogue input ISA01 (CON_ANA_Isaf ANA1 [1]) Actual speed normalized. Speed in user SPEED units. Fieldbus parameter.  FIELDBUS CON_PRC_ACTVAL_FIELDBUS P  Actual position normalized. Position in...
  • Page 172 Mapping of REAL_2 parameter SOLL 2980 3 MAP_REAL_3   Mapping of REAL_3 parameter 2980 4 MAP_REAL_4   Mapping of REAL_4 parameter Image 7.48: Mapping parameters and scope values Table 7.45: Parameter MPRO_DATA_Map The following parameters cannot be used for mapping. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 173 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.10.2.5  Manipulated variable P-2985..2988 MPRO_DATA_DINT_1..4 P-2989..2992 MPRO_DATA_UDINT_1..4 The process controller’s manipulated variable downstream of the rate limiter (P 2676 [0] - CON_PRC_OUTVAL) can be mapped to various internal drive setpoint or feed- 7.10.2.4  PI process controller forward control values. The selection is made via P 2672[0] - CON_PRC_OUTSEL.

  • Page 174: Rate Limiter

    Actual value of the input signal ACTVAL P 270[0] - MPRO_FG_PosNorm in Inc/rev 2674 CON_PRC_ACTVAL   Input signal after scaling and filtering Internal position resolution = 1048576 inc/rev (default) 2675 CON_PRC_CDIFF   Process controller: control deviation 2676 CON_PRC_OUTVAL   Process controller: output value Table 7.48: “Process controller” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 175: Scope Signals

    2679 CON_PRC_RefReached USER “Reference value reached” window 2680   CON_PRC_RateLimiter   Process controller: rate limiting implement hydraulic system applications. The firmware is available for ServoOne, 2680 CON_PRC_RateLimiter x/ms Slope limitation (Process) ServoOne junior and ServoOne safety. 2680 CON_PRC_RateLimiter x/ms Process controller: rate limiting, reset I-...

  • Page 176: Pump Setting

    The following physical variables and relationships apply to the hydraulic pump:   ENC_SCon Channel selection for speed control Physical variables   ENC_PCon Channel selection for position control Table 7.50: Parameters for basic setting   Q: Volumetric flow rate   p: differential pressure   n: Speed   M: Torque ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 177 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Pump characteristics and data If you specify eta_(Vol,N), the drive controller will internally calculate k_L automatically as follows:   V_g: Geometric displacement volume (P 2851[0] (ccm/rev))   k_L = V_g ∙ n_N ∙ (1 - eta_(Vol,N) ) ∙ p_N   eta_Vol,N: Volumetric efficiency at the pump’s rating point (P 2851[4] (%)) Theoretical volumetric flow rate Q_th is proportional to the speed:  ...
  • Page 178 7.11.2.1  Speed limits The pump’s minimum and maximum speeds can be set in P 2851[4; 5] - HYD_ Pump. The control system will not exceed or fall below the values set there. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 179 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.11.2.2  Pump protection functions Meanwhile, the speed is taken into account linearly, i.e. at half the speed, half the duration will be tolerated. 7.11.2.2.1  P2t shutdown Reason: The speed / the volumetric flow rate proportional to the speed results in a proportional heat removal.
  • Page 180 Using P 2851[14,15]-HYD_Pump, it is possible to configure a Image 7.55: Pressure-dependent speed regulation characteristic minimum and maximum pressure for negative speeds. The minimum and maximum ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 181: Signal Setting

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.11.2.3  Gear ratio between pump and pump motor 7.11.3  Signal setting If there is gearing between the pump and the pump motor, the gear ratio needs to be 7.11.3.1  Selection of signal sources entered in P 2851[9] - HYD_Pump. If only the direction of rotation needs to be changed (motor turns in a negative direction when the pump turns in the positive, The signal sources of the actual values can be selected from two analogue inputs.
  • Page 182 2:Pos_pRef   Min. pressure value from HYD_Val_pRef 2840 pMaxSrc   Maximum pressure source selector selected with P 2840 - HYD_Cfg. A variety of signal sources can be set for the Table 7.52: “Selection of signal sources” parameters following variables: ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 183 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.11.3.2  Signal scaling Index Name / Setting Unit Description     0: PressCon   Max. pressure value from HYD_PressCon_pMax 7.11.3.2.1  Signal scaling, pressure     1: Pos_pRef   Max. pressure value from HYD_Val_pRef     2:Neg_pRef   Max. negative pressure value from HYD_Val_pRef 2840 QMinSrc   Minimum flow rate source selector     0: PressCon  ...
  • Page 184 (QAct_Min and QAct_Max) can be set. The result after the scaling will be shown in P 2847 - HYD_Val. These values will also be used for control purposes. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 185 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 The individual parameters for configuring the signals are shown in the following Index Name Unit Description table. 2846 nRef_Offset 1/min Offset 2846 nRef_Min 1/min Min Index Name Unit Description 2846 nRef_Max...

  • Page 186: Hydraulic Limitations

    P/Q coordinate system. (Bit 12 = Q1, bit 13 = Q2, bit 14 = Q3, bit 15 = Q4). and the minimum permissible reference value of the pressure control to be limited. If ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020...
  • Page 187 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Q [l/min] NOTE   The limitation controllers are not active in all control modes. The  following table shows which limitations can be configured for  which control mode.   Section 7.11.6    H ydraulic Motion profile describes for which  control modes the scaling factor can be used. p [bar] Pressure Control mode Volumetric flow rate limit limit NPumpCon(4)     PressCon(0) VolCon(5)   VolConPlim(1) SpdCon(2)  ...
  • Page 188 (QMaxSrc). P 2847[3] - QRef can be used to specify the limit via the volumetric flow rate value, which, for example, can be set variably using an analogue input. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 189 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description 2840 pMinSrc   Minimum pressure source selector 2840 pMaxSrc   Maximum pressure source selector 2840 QMinSrc   Minimum flow rate source selector 2840 QMaxSrc   Maximum flow rate source selector 2840 QActCalc   Flow rate calculation method 2840 QLeakEst   Flow rate leakage estimation method 2840 nRefSrc  ...

  • Page 190: Cylinder Configuration

    The parameters which must be set are P 2852[0] - cylArea1 and P 2852[2] - cylArea2. Cylinder piston surface area A1 = cylAreal1 = A1 in cm² Cylinder ring surface area A2 = cylAreal2 = A2 in cm² ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 191 Table 7.57: Parameters – Pressure control parameters (continue) configuration” screen). If the pump can be operated in both  directions of rotation, this is not necessary. Since in ServoOne all encoder input variables are calculated in revolutions, the hydraulics require a relationship between linear and rotary motion for the internal calculations of the cylinder model, cylinder speed and feed-forward control variables.

  • Page 192: Hydraulic Motion Profile

    The parameter P 2840[11] -CylValveSwSel can be used to set various different modes for controlling the actuating valves. Valve switching can be performed automatically via the POS(3) mode depending on the position difference or be ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 193 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 For communication with a higher-level controller in the CTRL1 and CTRL2 operating Index Name Unit Description modes, some scaling factors of process variables and control parameters are 2862 HYD_OpMode   Hydraulic: operation mode summarized in P 2879 HYD_AddProcData.
  • Page 194 Table 7.63: Hydraulic status word: What the bits mean, expand the table Index Name Unit Description 2841 HYD_Ctrl   Hydraulic: system control Index Name Unit Description Table 7.62: “Hydraulic - Control word” parameters 2842 HYD_State   Hydraulic: Status of the control functions Table 7.64: “Hydraulic - Status word” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 195 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.11.6.2  Servo pump speed ramps These settings are active and have priority for every control mode. Pump acceleration (max. acceleration = 0 = default = without a limit) Index Name Unit Description 2855   HYD_PumpAcc  ...
  • Page 196 Hydraulic Table control word 2859   HYD_d2Ref   Hydraulic: 2nd setpoint derivative Table 7.72: Parameter “Hydraulic table control word” 2859 0 . .15 HYD_d2Ref HYD_UNIT/s/s Hydraulic: 2nd setpoint derivative Table 7.70: “Hydraulic - 2nd setpoint derivative” parameters Scaling of the hydraulic limits ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 197 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Using the scaling parameter Hyd_Limit (P 2872) allows the respective currently Wait time in Auto mode active limit to be scaled for each motion block. This makes it possible to limit each After expiration of the waiting time, there is a branch to the motion block specified in individual process.

  • Page 198: Pressure Control

    “InWindow” (bit 13) is set in the status word ( see the speed controller (see Image 7.67: Mask of pressure control with pump speed also section "Hydraulic Motion profile" on page 192 ). Furthermore, a second ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 199 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 KpScale P 2879[0] PressCon1_KpScalePDO, P 2879[1] PressCon2_KpScalePDO has been introduced for operation via one controller and it can be written cyclically via the PDO channel. It should be noted here that both factors act one after the other and influence each other.

  • Page 200: Volumetric Flow Rate Control

    QRefInput can be converted to an equivalent motor setpoint speed nRefPump 2850 Rate time using the displacement volume and QLeak can be disregarded during the process. 2850 Integral-action time Table 7.80: “Hydraulic - pressure control” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 201 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 If there are stricter requirements concerning the volumetric flow rate accuracy, QLeak must be taken into account as a function of pressure and nRefPump must be increased accordingly. In addition, limiting the pressure upwards to a maximum pressure of pmax is usually a requirement.
  • Page 202 P 2860 - HYD_TabConMode. This provides the same functions but is not linked to the pressure control. Moreover, the pressure regulator does not need to be parametrized for this control mode. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 203: Speed Control

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description 2850 Integral-action time 2850 pMin Minimum permissible pressure 2850 pMax Maximum permissible pressure 2850 QMin l/min Minimum flow rate 2850 QMax l/min Maximum flow rate 2850 PressWindow Pressure control parameters 2850 decmpLvl Level for active decompression 2850 decmpRate bar/s Rate for active decompression...
  • Page 204 PI controller. In order to take the different cylinder volumes for the ring and piston sides of the cylinder into account, two scaling factors (P 2852.10 KpScale, P ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 205: Position Control

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 2852.11 KpScaleNeg) for the positive and negative cylinder directions can be used Index Name Unit Description to influence the gain of the controller. KpScaleNeg becomes active with the bit for 2850 Integration time constant...
  • Page 206 P 2872 - thus be operated by means of feed forward control and P  HYD_TabLimit can be used to adapt the pressure limitation for each motion block. controller. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 207 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Image 7.76: “Hydraulic - position control” screen PosCon(1) Image 7.75: “Hydraulic - position control” screen PosCon_pLimit(2) Position control with tracking error switchover: Position control without volumetric flow control: For special applications, the control parameters can be changed as a function of a If the cylinder geometry is unknown, then no feed-forward control value can be tracking error limit.
  • Page 208 If no readjustment of the position is desired, it is Image 7.79: Position window and position hysteresis also possible to define a hysteresis in addition to the position window (P 2870.6 ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 209: Digital Filter Hydraulics

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description 2848   HYD_PosCon   Position Controller Parameters 2848 1/min Gain of position controller 2848 Position control integration time constant 2848 Speed feedforward scaling 2848 PosDiffMax Position tracking error monitoring Table 7.84: “Hydraulic - position control” parameters 7.11.11  Digital filter Hydraulics For special applications the hydraulics firmware has two biquad filters connected in series with different input and output variables.

  • Page 210: Example: Configuring An Mio Module With 0-20 Ma Sensors

    Selector of input to filter 1  OFF (0) = no effect on control  PressAct (1) = actual pressure value in bar  cyl_nACT (2) = cylinder speed in rpm  CylSpeedAct (3) = cylinder speed in mm/s 2876 Sink (output filter 2)   Selector to output from filter 2  OFF (0) = no effect on control  nFF (1) = Additive speed setpoint in rpm  VolFF (2) = Additive volumentric flow rate setpoint in  Table 7.86: Parameter P 2876 HYD_AdvFilSel Image 7.81: Configuration for operation with an MIO module with 0–20 mA sensors ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...

  • Page 211: Example: Pressure And Pump Speed Control

    7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7.11.13  Example: Pressure and pump speed control Now the pump specifications – as found on the rating plate or data sheet – need to be entered into P 2851 - HYD_Pump. This is also where the minimum and maximum...
  • Page 212 P 2840 -  HYD_Cfg is used to select the location from which the setpoint, actual, and limit values will be evaluated. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 213 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Value Unit Description Type   QActCalc NONE (0)   Flow rate calculation method uint16     QLeakEst MEAS (0)   Flow rate leakage estimation method       nRefSrc PROFILE (1)   Pump speed reference source  uint16   selector Table 7.91: Selectors settings (continue) The control dynamic performance and the pressure and volumetric flow rate limits for the pressure control are configured in P 2850 - HYD_PressCon.
  • Page 214 -500 float32     pAct_Max float32     pAct2_Scale 1000 Scaling  float32     pAct2_Offset -5.9 Offset float32     pAct2_Min float32     pAct2_Max float32   Table 7.93: Scaling settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 215 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Value Unit Description Type   pRef_Scale Scaling  float32   Scaling   pRef_Offset Offset float32     pRef_Min -100 float32     pRef_Max float32     nRef_Scale 1/min Scaling  float32  ...

  • Page 216: Example: Hydraulic Position Control

    This example shows which parameters must be set in order to control the position and speed of a hydraulic cylinder with a linear encoder. The motor and encoder must be parametrised before the hydraulic control settings can be made. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 217 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Select "TCON(1) = Torque / hydraulic control" in the hydraulic basic settings and under “Reference via," select "HYD(12) = Hydraulic profile". Image 7.90: “Hydraulic basic settings” screen Image 7.91: “Pump settings” screen...
  • Page 218 Image 7.92: “Encoder selection” screen In addition, the encoder must also be configured under Options. Here, the encoder type can be set under “Cyclic position via” and the absolute value interface of the respective encoder. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 219 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Value Unit Description ENC_CH1_Position 4909 Channel 1: Position ENC_CH1_CycleCount 8   Channel 1: Position encoder sampling cycle  (n x 125  µ s) ENC_CH1_   Channel 1: Mode of absolute value  AbsInitMode initialization Table 7.100: SSI encoder settings (continue) The scaling of the units is performed in the motion profile of the standard motor control.
  • Page 220 P 2840[11] - CylValueSwSel, meaning that the valve positions must be specified for the respective table index in the motion block table (P 2863 - Hyd_TabCtrl). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 221 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Image 7.98: “Hydraulic motion block table” screen Selecting the hydraulic control mode: PressCon(0) = Pressure control VolConPlim(1) = Volume flow rate control (pressure limited) SpeedCon(2) = Speed control PosCon(3) = Position control NPumpCon(4) = Pump speed control Image 7.97: “Hydraulic Motion profile” screen...
  • Page 222 Table 7.107: Parameter “Hydraulic table control word” Hydraulic: Optional comparison value Index Name Unit Description 2868   HYD_TabCondVal     2868 0. . 15 HYD_TabCondVal   Hydraulic table comparison state Table 7.112: Parameter “Hydraulic table comparison state” ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 7  Control...
  • Page 223 7  Control ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020  ...

  • Page 224: Motion Profile

    8.3  Basic settings 8.4  Stop ramps 8.5  Homing 8.6  Jog mode 8.7  Reference table 8.8  Analogue channel (ISA00 und ISA01) 8.9  State machine 8.10  Touch probe 8.11  Synchronized motion 8.12  Virtual Master ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 225: Settings

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.1  Settings  Scaling profile   Standard/CiA 402 ① When it comes to the drive settings for motion profiles, the settings that need to be   Sercos configured relate to the following: control, units, and commands.

  • Page 226: Scaling / Units

    Index Name Unit Description MPRO_FG_Type   Factor group: Type selection DS402(0), Sercos (1), USER(2) Table 8.1: Parameter "" ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 227: Standard/Cia

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.2.1  Standard/CiA 402 Image 8.3: “Standardization profile - Standard/CiA 402 - Units” screen Image 8.4: “Standardization profile - Standard/CiA 402 - Direction of rotation” screen NOTE Referred to the motor, the positive direction is clockwise as seen when looking at the  ...
  • Page 228 A total of 32 bits are available. In the default setting, 20 of the bits are used for the single-turn position. Image 8.5: “Standardization profile - Standard/CiA 402 - Feed/gearing/resolution/process format” screen ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 229 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Process format Index Name Unit Description 2252   MPRO_402_   608FH DS402 position encoder resolution PosEncRes 2252 MPRO_402_ incr Encoder increments PosEncRes 2252 MPRO_402_ Motor revolution PosEncRes 2253   MPRO_402_VelEncRes   6090H DS402 velocity encoder resolution 2253 MPRO_402_VelEncRes incr/s Encoder increments/s...
  • Page 230 0°. The same applies to the negative direction. On reaching 0° the actual position is set to 360°.   Image 8.9: “‘Clockwise rotation’ process option” screen ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 231 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.2.1.3  Process option “Path - optimized” Not path-optimized Optimized path An absolute target position is always approached by the shortest path. Relative movements cannot be carried out with the “path – optimized” mode. Position range...

  • Page 232: Sercos

    The method of weighting is defined by the parameters 10085 COM_SER_   Torque polarity parameter for position, speed, force/ torque and acceleration weighting. Table 8.5: “Standardization / units - Sercos” parameter ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 233 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.2.2.1  Position unit Index Name Unit Description PolarityTorque 10086 COM_SER_   Torque/force data scaling type ScaleTypTorque 10093 COM_SER_   Torque/force data scaling factor ScaleFactorTorque 10094 COM_SER_   Torque/force data scaling exponent ScaleExpTorque 10103 COM_SER_ModuloVal mDegree Modulo value 10121 COM_SER_   Input revolutions of load gear GearRatioNum...
  • Page 234 (looking at the motor linear (translational) and rotary weighting within this context. shaft). Linear weighting Unit Weighting factor Preferential weighting (LSB) Table 8.6: Weighting for linear motion (default setting) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 235 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.2.2.2  Speed Rotary weighting Unit Weighting factor Preferential weighting (LSB) Degrees 3,600,000 0.0001 µm Table 8.7: Weighting for rotary motion (default setting) Image 8.14: “Standardization profile - Sercos - Speed (1)” screen...
  • Page 236 The polarity of the speed data can be inverted according to the application. A Preferential weighting positive speed reference indicates clockwise rotation (looking at the motor shaft). Unit Weighting factor (LSB) m/min 0.001 m/min Table 8.8: Weighting for linear motion (default setting) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 237 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.2.2.3  Unit of torque/power Rotary weighting Preferential weighting Unit Weighting factor (LSB) Degrees 3,600,000 0.001 m/min Table 8.9: Weighting for rotary motion (default setting) Image 8.17: “Standardization profile - Sercos torque/power(1)” screen...
  • Page 238 Table 8.10: Weighting for linear motion (default setting) Torque polarity The polarity of the torque can be inverted according to the application. A positive torque reference indicates clockwise rotation (looking at the motor shaft). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 239 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.2.2.4  Unit of acceleration Rotary weighting Preferential Parameter weighting Weighting weighting Unit factor (LSB) (LSB) LSB = Unit *  0.01 Nm Exponent Table 8.11: Weighting for rotary motion (default setting) Image 8.20: “Standardization profile - Sercos - Acceleration(1)” screen...
  • Page 240 Sercos wizard. A distinction must be Image 8.22: Acceleration weighting made between linear and rotary weighting here. Linear weighting Unit Weighting factor Factory setting (LSB) Table 8.12: Weighting for linear motion (default setting) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 241: User Defined

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Rotary weighting Unit Weighting factor Factory setting (LSB) rad/s 3,600,000 Table 8.13: Weighting for rotary motion (default setting) 8.2.2.5  Modulo weighting If Modulo (indexing table application) is to be selected (see Section "“As linear”...
  • Page 242 Speed in [rpm] MPRO_FG_   Acceleration in [rpm/s] Speed factor 1[rpm] SpeedFac   Positioning in [°degrees] 1/60 = 0.01667  MPRO_FG_AccFac Acceleration factor Given [rpm/s]   Position unit P 0284 MPRO_FG_PosUnit = [µm] Table 8.15: Parameters for user-defined scaling (rotary system)   Speed unit P 0287 MPRO_FG_SpeedUnit = [m/s] ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 243 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Standard Standard Name Function Name Function rotary system rotary system MPRO_FG_ Unit for position  False =  mdegree MPRO_FG_Reverse Reverse direction PosUnit value clockwise MPRO_FG_ Unit for speed  1.875 rps  rev/min SpeetUnit value corresponds to 1  MPRO_FG_ mm/s, 1/32 mm =  Speed factor Unit for ...

  • Page 244: Basic Settings

      Profile type MotionProfType Table 8.17: “Motion profile - Basic settings” parameters Interpolation See Section "Interpolation" on page 249. 8.3.1  PG mode with speed control NOTE   Select reference source   The reference filters are initialized only after the control has been    Motion profile adaptation: scaling, ramps and smoothing time. re-enabled or by a device restart.   In reference processing by way of the profile generator the fine interpolator is  always in use.  ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 245: Pg Mode With Position Control

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Image 8.25: Profile mode speed control Profile Generator with speed control:   Control mode P 300[0] - CON_CfgCon = speed control Image 8.26: Speed control in PG mode, smoothing   Under Profile select the profile generator (PG) P 301[0] - CON_Ref_Mode = ...

  • Page 246: Ip Mode With Speed Control

    In IP (Interpolation) mode the appropriate reference source and correct scaling of units are selected for the speed reference before the reference is passed via the interpolator to the control. Linear interpolation is always applied in this process. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 247: Ip Mode With Position Control

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Referencevalue P 0165 -OFF (0) Interpolation -ANA0 (1) IP-Mode Normalization Referencevalue -ANA0 (2) Referencevalue Userunit -Tab (3) Increments Referencevalue Lineare -DS402 Speed control -leer (4) Interpolation -SERCOS Samplingtime Samplingtime -iPLC (5)
  • Page 248 The acceleration and braking ramp = 0, so the jerk is maximum (red curve). The acceleration and braking ramp with preset smoothing time (smoothing time = 2000 ms, red curve) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 249: Interpolation

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 By using a suitable interpolation method, the function’s values between known points can be estimated. This is termed an interpolation problem. There are a number of solutions to the problem; the user must select the appropriate functions.
  • Page 250 Lin (1)   Linear interpolation: In the linear interpolation method the  acceleration between two points is generally  zero. Pre-control of the acceleration values is  thus not possible and speed jumps are always  caused. Image 8.35: Interpolation polynomial, 7th degree     SplineExtFF(2)   Interpolation with external pre-control: Only on request from KEBA . Table 8.18: Interpolation types ServoOne Image 8.36: Cubic spline interpolation ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 251: Stop Ramps

    Image 8.37: “Stop ramps” screen The interpolation formula corresponds to a  Fourier trend of the unknown interpolants. Table 8.18: Interpolation types ServoOne (continue) Each reference source has its own acceleration and braking ramps. There are also the stop ramps (quick-stop ramp), according to the .CiA 402 standard. The ramp functions are only effective in certain system states.

  • Page 252: Homing

      605BH DS402 reaction to control shutdown 2220 0 MPRO_402_DisableOpOC   605CH DS402 disable operation option code 2221 0 MPRO_402_HaltOC   605DH DS402 halt option code 2222 0 MPRO_402_FaultReactionOC   605EH DS402 fault reaction option code 2242 0 MPRO_402_QuickStopDec rev/min/s 6085H DS402 quickstop deceleration Table 8.19: “Motion profile - Stop ramps” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 253 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 NOTE   The reference mark signal can be optionally linked to one of the ISD05 and ISD06 fast digital inputs. 8.5.1.1  Homing to a limit switch: The digital input must be set to the available selection parameter LCW(5) for a positive limit switch or to LCCW(6) for a negative limit switch.

  • Page 254: Method (-13): Absolute Encoder

    Method (-13) is significantly easier to use, as it eliminates the need to determine the encoder’s absolute position at the machine zero point and back-calculate the actual position. Image 8.39: Set the machine homing point ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 255: Method (-12): Set Absolute Position (Absolute Measuring System)

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.5.3  Method (-12): Set absolute position (absolute meas- 8.5.4  Method (-10) and Method (-11): Move to block with  uring system) zero pulse To set the machine homing point, the rotor or the linear axis is moved to the machine Tracking error monitoring is switched off during the homing procedure.

  • Page 256: Method (-8) And (-9): Move To Block

    When the block is detected, the system disengages by half the value in parameter P 0169 MPRO_REF_HOMING_MaxDistance) and the zero point is defined. An offset can be programmed in the screen. Image 8.43: Approach block, direction right ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 257: Method (-7) To (0)

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.5.5.2  Method (-9): Leftward direction of travel 8.5.6  Method (-7) to (0) With P 0169 MPRO_REF_HOMING_MaxDistance the tracking error is specified in 8.5.6.1  Homing method for increment-coded encoders the positioning range in which the block is detected. When the block is detected, the system disengages by half the value in parameter P  ...

  • Page 258: Method (1) And Method (2): Limit Switch And Zero Pulse

    Start movement left; at this time the hardware limit switch is inactive.   The direction of movement reverses on an active hardware limit switch edge. Image 8.46: Positive limit switch and zero pulse   First zero pulse after falling limit switch edge corresponds to zero/reference  point. Image 8.45: Negative limit switch and zero pulse 8.5.7.2  Method 2: Positive limit switch and zero pulse   Start movement right; at this time the hardware limit switch is inactive.   The direction of movement reverses on an active hardware limit switch edge.   First zero pulse after falling limit switch edge corresponds to zero/reference  point. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 259: Method (3) And (4): Positive Reference Mark And Zero Pulse

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.5.8  Method (3) and (4): Positive reference mark and  zero pulse 8.5.8.1  Method (3): Start movement in direction of positive (right)  hardware limit switch   Start movement in direction of positive (right) hardware limit switch; at this  time the reference mark is inactive. Image 8.48: Start condition for negative limit switch   The direction of movement reverses on an active edge from the reference  mark.   The first zero pulse after a falling edge from the reference mark is the zero  point/homing point. Image 8.47: Start condition for positive limit switch 8.5.8.2  Method 4: Start movement in direction of negative (left) ...

  • Page 260: Homing Methods 5 And 6: Negative Reference Mark And Zero Pulse

    Image 8.50: Negative (left) hardware limit switch and zero pulse   The direction of movement reverses on an active edge from the reference  mark.   Start movement in direction of the negative limit switch if the reference mark  is inactive. Image 8.49: Positive (right) hardware limit switch and zero pulse 8.5.9.2  Method 5: Start movement in direction of negative (left)  hardware limit switch with zero pulse   Start movement in direction of negative (left) hardware limit switch.   The direction of movement reverses on an inactive edge from the reference  mark. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 261: Method (7) To (10)

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.5.10  Method (7) to (10): 8.5.10.1  Method (7): Reference mark, zero pulse and positive  limit switch   The start movement is in the direction of the positive, right hardware limit  switch. Both it and the reference mark are inactive.   The direction of movement reverses after an active reference mark. The zero  Image 8.52: Zero point corresponds to first zero pulse point corresponds to the first zero pulse after the falling edge.   The start movement is in the direction of the negative, left hardware limit  8.5.10.3  Method (9): switch. The homing point is set at the first zero pulse after a falling edge from  the reference mark.   The direction of movement changes when the reference mark becomes    The first zero pulse after passing the reference mark is the zero point. inactive. The zero point corresponds to the first zero pulse after a rising edge.   The zero point is the first zero pulse if the reference mark is active.

  • Page 262: Method (11) To (14): Reference Mark, Zero Pulse And Negative Limit Switch

    Image 8.54: Zero pulse after falling edge corresponds to the zero point. Image 8.55: Reversal of direction of movement after active reference mark 8.5.11.2  Method (12)   Zero point corresponds to the first zero pulse if the reference mark is active.   Reversal of direction of movement after a falling edge from the reference  mark. The zero point corresponds to the first zero pulse after a rising edge  from the reference mark.   Reversal of direction of movement when the reference mark has been  passed. The zero point corresponds to the first zero pulse after a rising edge. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 263 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   The zero point corresponds to the first zero pulse after the reference mark’s  falling edge.   Reversal of direction of movement after active reference mark. The zero point  corresponds to the first zero pulse after the falling edge. Image 8.56: Zero point corresponds to first zero pulse. 8.5.11.3  Method (13)   Reversal of direction of movement when the reference mark has been  passed. The zero point corresponds to the first zero pulse after a rising edge. Image 8.58: Zero point corresponds to first zero pulse after...  ...

  • Page 264: Method (17) To (30): Reference Mark

    The determination of the homing point is independent of the zero pulse. It only depends on the reference mark or on the limit switches. Image 8.59: Homing methods 17 to 30 are equivalent to methods 1 to 14 ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 265 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.5.14  Methods (31) and (32) Method 1 corresponds to  method 17 These two homing methods are not defined. Method 20 corresponds to  method 4 The determination of the homing point is  Method 8 corresponds to  independent of the zero pulse. It only depends on  method 24 the reference mark or on the limit switches. Method 12 corresponds to  method 28 Method 14 corresponds to  method 30 Table 8.21: Method comparison of the individual homing methods...

  • Page 266: Method (33) And (34): With Zero Pulse

    Image 8.62: The actual position corresponds to the homing point Image 8.60: Homing with zero pulse 8.5.15.2  Method (34): Rightward travel direction The zero pulse corresponds to the first zero pulse to the right. Image 8.61: Homing with zero pulse ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 267: Jog Mode

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   Fast jog 8.6  Jog mode Both digital inputs must be active (corresponding bits in bus mode)   Fast jog, leftward direction of travel  Input "Jog left" and then also enable input two   Fast jog, rightward direction of travel: Input "Jog right" and then also enable input two 8.6.2  Digital Inputs Image 8.63: “Jog speeds” screen Jog mode (setup mode) is used to record (teach-in) positions, for disengaging in the event of a fault, or for maintenance procedures.

  • Page 268: Manual Mode Window, "Jog Mode" Tab

    The setpoints need to be provided in the distance units defined by the user (for details on how distance units are defined, see Section "Scaling / Units" on page 226). Image 8.65: "Jog mode" window ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 269 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Control mode   AUTO_COMPLETE (4) = via auto complete mode (parameter no. 204) As with "AUTO (2)", as long as the input is set, the table will be executed. NOTE After being deactivated, the entire table will be run through to the end once  ...
  • Page 270 P 196 - MPRO_TAB_SAcc (for speed control) or   P 199 - MPRO_TAB_PAcc (for position control) and indexes 0–15, the accelerations for moving to the setpoint for each individual motion task can be defined. The input must not be zero. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 271 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Deceleration Activation Setting Function With ... Enable a selected driving set.   P 194 - MPRO_TAB_TDec (for torque control) or The selection of a new motion task Actuation via  Input ISDxx =  digital inputs TBEN   P 197 - MPRO_TAB_SDec (for speed control) or always interrupts an ongoing positioning and the follow-up job logic.
  • Page 272 MPRO_TAB_WaitTime   TAB: Wait time MPRO_TAB_WaitTime ms   1 -15 MPRO_TAB_WaitTime ms   MPRO_TAB_Mode   TAB mode MPRO_Tab_MaxIdx   TAB: Max index in AUTO mode MPRO_TAB_ActIdx   TAB: Actual index   MPRO_TAB_OutputNo   OSD TAB: actual table index and target  Table 8.24: “Setpoint table settings” parameters (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 273: Analogue Channel (Isa00 Und Isa01)

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.8  Analogue channel (ISA00 und ISA01) Offset (O) This parameter (P 174 - MPRO_ANA0_SOffset for ISA00, P 184 - MPRO_ANA1_ SOffset for ISA01) compensates for component variations and is used for offset compensation purposes. Depending on the control mode being used (see Section "Basic settings"...

  • Page 274: Special Characteristics Of Position Control Mode

    P 399 - CON_ANAWireBrk_Th can be used to configure wire break monitoring for the analogue inputs. For details see Section "Wire Break Monitoring" on page 319. Analog chanel Scale Filter Offset Pro le generator Control Control Image 8.69: Reference processing structure ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 275 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description   CON_ANA_Isaf_Scaled   "Analogue inputs: Values (filt, norm, comp,  MPRO_ANA0_TOffset ANA0:offsets for torque reference scaled)" MPRO_ANA0_SOffset rev/min ANA0:offsets for speed reference ISA00   "Scaled, compensated, filtered, normalized  MPRO_ANA0_POffset mDegree ANA0:offsets for position reference value"   MPRO_ANA0_Threshold   ANA0: thresholds ISA01  ...

  • Page 276: State Machine

    MPRO_ANA1_SRamp SPEED/s   MPRO_ANA1_SRamp SPEED/s   Table 8.27: “Analogue channel ISA01” parameters (continue) Initialization on device startup Not ready (DC link voltage possibly too low) Start inhibit (DC link voltage present, power stage off) Starting lockout Ready for start Control initialization: Auto commutation, flux build-up etc. Table 8.28: Central state machine according to CiA 402 device display ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 277 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 power disabled fault Display System state fault Start Control enabled reaction active not ready fault Quick stop active to switch on switch on Error reaction active disabled Error state (in this state the error is indicated directly on the  ready to display.) switch on power enabled Device is reset (display flashes)

  • Page 278: Touch Probe

    Channel 1 in increments MPRO_TP_Ctrl           ENCPOS_CH2 (5) = Encoder position  MPRO_TP_Ctrl     Channel 2 MPRO_TP_Ctrl           ENCPOS_CH2_INC (6) = Encoder position    MPRO_TP_Position   Probe: Pos. high/low edge of TP0/1,  Channel 2 in increments encoder zero pulse Table 8.29: “Touch probe” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 279: Synchronized Motion

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.11  Synchronized motion Index Name / Setting Unit Description       ENCPOS_CH3 (7) = Encoder position  Channel 3 The Synchronized Movement function enables synchronous running of the drive in       ENCPOS_CH3_INC (8) = Encoder position  relation to a real or virtual master axis.

  • Page 280: Electronic Cam Plate

    MPRO_ECAM_CI_   ECAM: CamIn - Master reference MasterRef 1309 MPRO_ECAM_CI_   ECAM: CamIn - Slave reference SlaveRef 1310 MPRO_ECAM_CI_   ECAM: CamIn - Coupling mode CouplingMode 1311 MPRO_ECAM_CI_ incr ECAM: CamIn - Coupling distance CouplingDist 1312 MPRO_ECAM_CI_ incr ECAM: CamIn - Synchronization position  Table 8.32: “Electronic camming - Synchronization” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 281 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description SyncPosST (singleturn part) 1337 0 to  MPRO_ECAM_SegData_   ECAM: Segment mode of the current segment SegmentMode 1313 MPRO_ECAM_CO_   ECAM: CamOut - Slave reference SlaveRef 1338 0 to  MPRO_ECAM_SegData_   ECAM: Indicator for pool of constants, current  ConstPool segment 1314 MPRO_ECAM_CO_  ...

  • Page 282: Control Word For Synchronized Motion

    MCB_ Select CAM table CamTableSelect Master calculation is active Start Ecam MCB_CamIn Table 8.36: ECAM status word (P 1326[0] - MPRO_ECAM_StatusWord) Stop Ecam MCB_CamOut Start Egear MCB_GearIn Stop Egear MCB_GearOut Table 8.35: Control word ECAM (P 1318[0] - MPRO_ECAM_ControlWord) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 283: Master Configuration

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 the master encoder, you will need to set the resolution relative to a single  8.11.4  Master configuration motor revolution in P 250 - MPRO_ECAM_PARAMaster_Amplitude (see  below).   ENC CH1 (3) = Encoder channel 1 X7 (SinCos)   ENC CH2 (4) = Encoder channel 2 X6 (Resolver)   ENC CH3 (5) = Encoder channel 3 X8 (optional) ...
  • Page 284 ACTIVE WAY COMP (1) = Reverse lock active - with way compensation    While the slave accelerates to the speed of the master during engagement,  the master and slave do not move synchronously. This function needs to be    Master (black line) rotates in the blocked direction selected in order to quickly catch up to the master that is running ahead.   The slave (blue line) remains stopped   Master rotates in the unblocked direction again   The slave follows the master directly in the unblocked direction .  Example:  Assume the master has moved two motor revolutions in the direction for    Master (black line) rotates in the blocked direction which the slave lock is enabled. If the master now moves in the direction for    The slave (blue line) will remain stopped which there is no lock, the slave will immediately start running in that  direction.   Master rotates in the unblocked direction ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 285 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Filter type Index Name Unit Description 1319 MPRO_ECAM_   ECAM / EGEAR: Channel selection of internal  When using a real master encoder, encoder signals may be subject to noise. P 1340 CamMaster_AxisType master input [0] - MPRO_ECAM_CamMaster_SpeedFilTyp can be used to select a filter type in...

  • Page 286: Electronic Gearing

      EGEAR: Gear denominator GearDen MPRO_ECAM_Egear_   EGEAR: Numerator of gear ratio GearNum 1344 MPRO_ECAM_Egear_ rpm/s EGEAR: Acceleration limit for reference LimRefAcc 1345 MPRO_ECAM_Egear_ rpm/s^2 EGEAR: Jerk limit for reference LimRefJerk Table 8.38: “Synchronized motion - Electronic gearing” parameters Image 8.73: "Electronic gearing" screen ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 287: Engagement

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 used to define the engagement distance (between the dashed lines). 8.11.6  Engagement P 253[0] - MPRO_ECAM_Egear_GearInMode is used to define the mode for engagement.   DIRECT (0) = Direct  Direct engagement: Angular synchronous; with jerking (no ramps).   CROSSFADE (3) = Crossfading  Engagement with crossfading function (5th degree polynomial): Angular  synchronous; jerk-limited; speed will overshoot during engagement.   RAMP (1) = Linear speed ramp ...

  • Page 288: Disengagement

      RAMP (1) = Linear speed ramp  P 258[0] - MPRO_ECAM_Egear_GearOutDist is used to define the disengagement Disengagement with linear deceleration: With jerking. P 256[0] (see below)  distance. The actual disengagement occurs within this range (between the dashed lines). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 289: Virtual Master

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.12  Virtual Master Index Name Unit Description MPRO_ECAM_Egear_   EGEAR: GearOut - disengagement mode GearOutMode MPRO_ECAM_Egear_ rev/min/s EGEAR: GearOut - deceleration ramp for  GearOutDec disengagement MPRO_ECAM_Egear_ incr EGEAR: GearOut - disengagement distance GearOutDist MPRO_ECAM_Egear_ rpm/s^2 EGEAR: GearOut - acceleration ramp jerk for  GearOutJerk disengagement Table 8.40: “Synchronized motion - Electronic gearing - Disengagement” para- meters Image 8.74: "Virtual master"...

  • Page 290: Common Master

    1410 Position incr Position phasing difference 1410 Velocity Position phasing velocity 1410 Acceleration rpm/s Position phasing acceleration 1411   MPRO_CMST_ActVal   Actual values of common master 1411 PosST incr Position singleturn part 1411 PosMT Position multiturn part 1411 Velocity Table 8.42: "Common master” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 291: Cam Group (Cam Switch)

    P 122 - P 126 MPRO_OUTPUT_FS_OSDxx). Here the value Two cam group outputs are implemented in ServoOne. Up to 4 tracks with max. 32 CAMLineA (45) - cam group track A or CAMLineB (46) - cam group track B must be cam definitions can be assigned to each of the two outputs.
  • Page 292 Each bit stands for one cam. A 1 means that this cam is active. A 0 Image 8.75: Cam group hysteresis means that this cam is hidden. By default, all cams are active. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 293 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.14.1.6  Assigning cam switching values to an output Index Name Unit Description/setting 1423   MPRO_CAM_CamMaskConf Cam bitmask The cam group has two outputs (CAMLineA and CAMLineB) which can be used as   This parameter activates / deactivates the cam group value specifications for the digital outputs.
  • Page 294 Shows the status of the currently active cam of each cam   A minimum cam length and a minimum cam spacing must be maintained  track.   while configuring the parameters.  1426 Status track 1   Status of cam track 1 This results from the formula:  1426 Status track 2   Status of cam track 2 1426 Status track 3   Status of cam track 3 1426 Status track 4   Status of cam track 4 Table 8.50: P 1426 MPRO_CAM_CamStatus ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 295: Parameters

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Minimum Minimum Index Name Unit Description cam length cam spacing 1421 size track 2   Number of defined cam values on track 2 (always even) 1421 size track 3   Number of defined cam values on track 3 (always even) 1421 size track 4   Number of defined cam values on track 4 (always even) 1422   MPRO_CAM_CamHystConf   Hysteresis settings for each track 1422 hysteresis track 1  ...
  • Page 296 MPRO_CAM_   Configuration of cams on track 2 CamTrack2Conf 1430 start cam 17   Start cam 17 1431 start cam 1   Start cam 1 1430 end cam 17   End cam 17 1431 end cam 1   End cam 1 1430 start cam 18   Start cam 18 Table 8.52: “CAM switch” parameters (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...
  • Page 297 8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description 1431 start cam 2   Start cam 2 1431 end cam 18   End cam 18 1431 end cam 2   End cam 2 1431 start cam 19   Start cam 19 1431 start cam 3   Start cam 3 1431 end cam 19  ...
  • Page 298 MPRO_CAM_   Configuration of cams on track 4 CamTrack4Conf 1432 start cam 17   Start cam 17 1433 start cam 1   Start cam 1 1432 end cam 17   End cam 17 1433 end cam 1   End cam 1 1432 start cam 18   Start cam 18 Table 8.52: “CAM switch” parameters (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 299: Error Messages

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description 1433 start cam 2   Start cam 2 1433 end cam 18   End cam 18 1433 end cam 2   End cam 2 1433 start cam 19   Start cam 19 1433 start cam 3   Start cam 3 1433 end cam 19  ...

  • Page 300: Data Handling

    2929 MPRO_DATA_   Lower limit offset LowerLimit Cam positions are not specified in ascending order in one of the parameters P 1430 MPRO_CAM_ CamTrack1Conf - P 1433 MPRO_CAM_CamTrack4Conf. The track and cam position that caused the error  2930 MPRO_DATA_   Name of data set are coded in the number given in the error message. The track is coded in the hundreds position of the number (0  DataName = track 1, 1 = track 2, 2 = track 3, 3 = track 4). The cam position in the track is coded in the tens and ones  Table 8.54: “Data handling” parameters position of the number. Table 8.53: Error message 15-20   ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8  Motion profile...

  • Page 301: Analogue Channel (Iea05)

    8  Motion profile ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 8.16  Analogue channel (IEA05) Index Name Unit Description 2728 IEA05_SOffset rev/min IEA05: offset for speed reference 2728 IEA05_POffset mDegree IEA05: offset for position reference 2729   TOPT_MIO_REFV_   Extended analogue inputs: Reference value  Threshold threshold 2729 IEA04_TThreshold IEA04: threshold for torque reference 2729 IEA04_SThreshold rev/min IEA04: threshold for speed reference 2729 IEA04_PThreshold mDegree IEA04: threshold for position reference...

  • Page 302: Inputs/Outputs Settings

    The buttons on this screen can be used to access and configure the individual input and output types. 9.3  Digital Outputs Inputs 9.4  Analogue Inputs   Before using the digital inputs, they are normally associated with a special  9.5  Analogue outputs (option only for ServoOne) device functionality for digital inputs with the use of function selectors. 9.6  Analog output (Option - MIO)   Likewise, before using the analogue inputs, these are normally associated  with a special device functionality for analogue inputs. The corresponding  9.7  Motor brake output function selectors also make it possible to select a special digital functionality ...

  • Page 303: Digital Inputs

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9.2  Digital inputs Outputs   While function selectors can be used to assign digital outputs a wide range  of special device functionalities for digital outputs, the special device  functionality for analogue outputs is considerably more limited and does not  overlap with the digital outputs’ functionality. Moreover, analogue outputs are  only available when using X8 option modules!   The motor brake output is a digital output with special hardware for driving a  motor brake, which is normally found inside the motor casing. Image 9.2: “Function selectors of the digital inputs” screen...

  • Page 304: Digital Standard Inputs

    If it is, this button can be used to switch to a different screen MPRO_INPUT_FILTER for IED02 Table 9.1: “Digital standard inputs” parameters directly and define the function’s exact behaviour there. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...

  • Page 305: Function Selectors

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name / Setting Unit Description MPRO_INPUT_FILTER for IED03     HOMST (9)   Start homing according to the homing method            parameterized in P 02261 MPRO_402_ Homing Method MPRO_INPUT_STATE_FIL   States of filtered and inverted digital inputs MPRO_INPUT_INV  ...

  • Page 306: Hardware Enable - Power Stage

    P 144[0] - MPRO_DRVCOM_AUTO_START = "ON" autostart mode is activated     PWR_REL_DIRECT (41)   Used to manually switch the precharge relay  (only in ServoOne). With "STO active" activating the "ENPO" is sufficient to start (with 1000 ms delay) Use only after consultation  with KEBA. control of the drive. When the "ENPO" is cancelled the drive runs down uncontrolled.  ...

  • Page 307: Digital Virtual Inputs

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name / Setting Unit Description MPRO_INPUT_FS_ENPO   Function of digital input ENPO     Off (0)   Hardware enable power stage     START (1)   Hardware enable power stage & start motor control Table 9.3: “Enable power stage (hardware)” parameters 9.2.4  Digital virtual inputs Virtual inputs are digital software inputs actuated via iPLC or field bus. The virtual inputs P 111[0] - MPRO_INPUT_FS_ISV00 and P 112[0] - MPRO_INPUT_FS_ISV0...

  • Page 308: Power-Up Sequence

    PROFI(9)   Reference via PROFIBUS     VARAN(10)   Reference via VARAN     TWIN(11)   Reference via external option "TWINsync"     HYD(12)   Hydraulic profile (software-specific) Table 9.6: “Control selector switching” parameters Image 9.4: Time diagram of sequences ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...

  • Page 309: Pulse Direction

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 The setting can be made in the dialog box I/O configuration -> Dig. inputs.   Command System state Set ISD05 and ISD06 to ENC(29) = Encoder (pulse count / pulse direction on ISD05, ①...
  • Page 310 Enable the function with “Start E-Gear.” Selection options: NOTE TP0(6) = Pulse counter on probe channel 1 (TP0) TP1(7) = Pulse counter on probe channel 1 (TP1)   The signals ISD06 and ISD05 are HTL signals, which is why the  voltage level must be greater than 20 V. The frequency must not  be higher than 300 kHz.   ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...

  • Page 311: Digital Outputs

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9.3  Digital Outputs Index Name Unit Description MPRO_OUTPUT_FS_OSD00   Function of digital output OSD00 MPRO_OUTPUT_FS_OSD01   Function of digital output OSD01 MPRO_OUTPUT_FS_OSD02   Function of digital output OSD02 MPRO_OUTPUT_INV   Output inv. OSD0-2(0-2),MBRK(6),REL1/2 (7/15),OED0-7(16-23) Table 9.7: “Digital standard outputs” parameters 9.3.2  Function selectors Index Name / Setting Unit Description...
  • Page 312 (68)   Not defined     TAB3 (38)   Actual table index 2^2     (69)   Not defined     COM_1MS (39)   Set output via field bus in 1 ms cycle     (70)   Not defined Table 9.8: “Digital outputs” function selectors (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...

  • Page 313: Relay Outputs

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   Depending on the configured function, the “Options...” button may become  Index Name / Setting Unit Description enabled. If it is, this button can be used to switch to a different screen directly      (71)   Not defined and define the function’s exact behaviour there.     (72)   Not defined     (73)   Not defined   The relay output can be switched from “active-high” to “active-low” (bit 8 in      HYD_VAL_OPT1 (74)  ...

  • Page 314: Reference Reached Ref

    Reference value fluctuations caused by reference input are thus taken into account. Speed control Limit value monitoring becomes active when the speed reference value exceeds the maximum speed (see Section "Limitations / Thresholds" on page 324). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...

  • Page 315: Switching With Motor Contactor

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Positioning NOTE   Additional times for the typical contact chatter on a contactor must  Limit value monitoring becomes active when the speed reference exceeds the be taken into account when specifying the time for timer P 148[0] - maximum speed or the torque reference exceeds the maximum torque (see Section MPRO_DRVCOM_ENMO_Time. They may be several hundred ...

  • Page 316: Analogue Inputs

    (P 405[0] - CON_ANA_Filt0 and P 406[0] - CON_ANA_Filt1).   CON_ANA_Offset   Analogue inputs: Offset ISA00 Voltage offset for input ISA00   P 427[0] - CON_ANA_CalibZero can be used to trigger a zero correction  ISA01 Voltage offset for input ISA01 routine for both analogue inputs. If you use this routine, there must not be any    CON_ANA_Gain   Analogue inputs: Gain scaling voltage at the inputs. Table 9.11: “Analogue inputs” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...

  • Page 317: Function Selectors

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name / Setting Unit Description ISA00_gain   Gain scaling for input ISA00     REFV (-2)   Analogue reference ISA01_gain   Gain scaling for input ISA01     (-1)   Not defined ISA00_limMin   Minimum value for input ISA00  ...

  • Page 318: Analogue Input Scaling

    “Options...” button to configure additional    = -10 V, Out  = 0 V process variables such as “the backlash in rev/min” (when using an analogue setpoint, REFV).    = +10 V, OUT  = +10 V Usage examples ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...

  • Page 319: Profile Mode And Analogue Inputs

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9.4.5  Wire Break Monitoring   Calculations are   and  P 399 - CON_ANA_WireBrk_Th is used to define the wire break monitoring threshold (in V) (parameter index [0] for ISA00, parameter index [1] for ISA01). If the  ...

  • Page 320: Analogue Outputs (Option Only For Servoone)

    Image 9.14: “Function selection of optional analogue outputs (option)” screen   The technology option “CANopen + 2AO” is not available for  ServoOne junior. If your ServoOne features the "CANopen + 2AO" technology option, you will have two analogue outputs available, enabling you to output values from the controller   To determine whether your ServoOne comes with the  using analogue signals. The function selector offers nine variables for selection for "CANopen + 2AO" technology option, you can check the ...

  • Page 321: Analog Output (Option - Mio)

    9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9.6  Analog output (Option - MIO) 9.7  Motor brake output The “MIO” technology option is for the purpose of expanding the digital and analogue inputs and outputs. Options slot 2 (technology) is intended for the purpose of IO expansion.

  • Page 322: Motor Brake Details

    Index Name Unit Description MPRO_BRK_LiftTime Motor brake lift time MPRO_BRK_CloseTime Motor brake close time MPRO_BRK_RiseTime Motor brake: torque rise time MPRO_BRK_FadeTime Motor brake: Torque fade time Table 9.16: “Motor brake details” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 9  Inputs/Outputs settings...
  • Page 323 9  Inputs/Outputs settings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description MPRO_BRK_ Motor brake: factor for application of last torque LastTorqFact MPRO_BRK_StartTorq Nm Motor brake: initial torque (constant) MPRO_BRK_LastTorq Nm Motor brake: torque sampled at last closing time MPRO_BRK_Lock   lock brake Table 9.16: “Motor brake details” parameters (continue) NOTE   Please check the settings of the stop ramps if use of a holding  brake is specified (see Section "Stop ramps" on page 251).

  • Page 324: Limitations / Thresholds

    100% of the ratings. The parameters must therefore be adapted to application and motor. The motor quantity limits can be read out in P 338[0] - CON_ SCON_ActMax. Limitations in closed-loop controlled mode ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 10  Limitations / Thresholds...

  • Page 325: Torque- / Force Limits

    10  Limitations / Thresholds ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   Torque- / force limits 10.2  Torque- / force limits   Speed- / velocity limits   The torque is limited to a maximum by P 329[0] - CON_SCON_TMax. In the    Position limitation default setting the torque limit corresponds to the rated torque of the motor.    Power stage (see Section "Power stage" on page 327) The possible setting range is 0-1000 %. The parameter can be changed  during operation. P 745 - MON_RefWindow and P 746[0] - MON_UsrPosWindow indicate the status   In addition, P 329[0] - CON_SCON_TMax can be used to determine what the ...

  • Page 326: Speed- / Velocity Limits

    Scaling of positive motor speed limit Endless operation. The drive travels until a software limit switch is  CON_SCON_DirLock   Direction lock for speed reference value detected. Then the programmed error reaction is executed. CON_SCON_SMaxScale % Scaling of motor speed limit Table 10.4: Positioning mode MON_SpeedThresh rpm Monitoring speed threshold MON_SDiffMax rpm Speed tracking error Table 10.3: “Limits / thresholds - Speed limits” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 10  Limitations / Thresholds...

  • Page 327: Power Stage

    10  Limitations / Thresholds ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 10.5  Power stage Index Name Unit Description MPRO_REF_   Target reached option code TargetReachedOpC   If the value for the DC link voltage exceeds the value set in parameter P 747 MON_UsrPosDiffMax mDegree Position difference threshold [0] - MON_PF_OnLimit, error ERR-34 "Power failure detected" is reported  2235   MPRO_402_   607DH DS402 software position limit (SW  and the parameterized error reaction is triggered (see Section "Error  SoftwarePosLimit limit switch) reactions" on page 339). 2235 MPRO_402_ mDegree Minimum position limit (negative software ...

  • Page 328: Alarms & Warnings

      The individual trigger thresholds for setting and resetting a warning are  reactions. defined in P 730 - MON_WarningLevel (see Section "Warning thresholds" on  page 337). Contents 11.1  Warning status 11.2  Alarms and warnings (Details) 11.3  Warning thresholds 11.4  Error display 11.5  Error reactions 11.6  Error list ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 329 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 P 34 Bit-No. Meaning xt integrator (motor) warning threshold exceeded Heat sink temperature Motor temperature Interior temperature Reserved for Sercos Excessive speed Reserved for Sercos Reserved for Sercos Reserved for Sercos Undervoltage (10) Reserved for Sercos (11) Reserved for Sercos (12) Reserved for Sercos (13) Reserved for Sercos (14) Reserved for Sercos Image 11.1: Warning status window (15) Reserved for Sercos...

  • Page 330: Alarms And Warnings (Details)

    To view the entire P 34[0] status word at once, double-click on the list.   P 33 - ActualError will describe the current error in detail, including a  timestamp, the probable cause, potential fixes, etc.   P 39[0] - ERR_ErrorID will contain the error code, which provides  information regarding the error location and error type of the current error.   P 71 - ActualErrorExt will contain information on the state of the Servo  controller at the time the current error occurred, e.g. current, voltage, speed,  temperatures. Image 11.2: Status word P 34[0] visual representation ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 331 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020   P 31 - ErrorStack and P 70 - ErrorStackExt will contain the history with the  Index Name Unit Description most recent 20 errors along with the contents from P 33 and P 71. P 31 - File   Source / File ErrorStack and P 70 - ErrorStackExt can also be displayed as tables (see  Cause   Error cause Remedy  ...
  • Page 332 Time   Time stamp File   Source / File CommentId   Additional comment (id) Cause   Error cause CommentText   Additional comment (text) Remedy   Error remedy Line   Line of error occurrence Table 11.3: “Alarms & warnings (Details)” parameters (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 333 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description File   Source / File CommentId   Additional comment (id) Cause   Error cause CommentText   Additional comment (text) Remedy   Error remedy Line   Line of error occurrence   Error id File  ...
  • Page 334   Power stage time stamp of error event Temp_Int deg  Absolute temperature of interior Current Actual current Count   "Counter, if same error occurs again" Voltage Actual DC voltage DriveComState   Actual DriveComState ActSpeed 1/min Actual speed Temp_KK deg  Absolute temperature of cooling block Table 11.3: “Alarms & warnings (Details)” parameters (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 335 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description TimePowerStage   Power stage time stamp of error event Temp_Int deg  Absolute temperature of interior Current Actual current Voltage Actual DC voltage Count   "Counter, if same error occurs again" ActSpeed 1/min Actual speed DriveComState   Actual DriveComState Temp_KK deg ...
  • Page 336 ActualTimePowerStageValue   Power stage time stamp of error event Temp_Int deg  Absolute temperature of interior Current Actual current Voltage Actual DC voltage Count   "Counter, if same error occurs again" ActSpeed 1/min Actual speed DriveComState   Actual DriveComState Temp_KK deg  Absolute temperature of cooling block Table 11.3: “Alarms & warnings (Details)” parameters (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 337: Warning Thresholds

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.3  Warning thresholds Index Name Unit Description Temp_Int deg  Absolute temperature of interior   P 730 - MON_WarningLevel can be used to define warning thresholds in  order to prevent Servo controller nuisance tripping. Each warning is    ErrorAbsCount   Absolute error counters assigned on and off thresholds. This enables parameterization of a  Over voltage   Overvoltage hysteresis that meets the requirement of the application. Warnings can also  Over current   Overcurrent be programmed onto digital outputs. Inverter overtemp.  ...

  • Page 338: Error Display

    "ER" for Error flashes, then the error number, and then the number of the error location. Example: ER ►16 ►01 Display Function readout Attention – error message Errors marked with a dot on the display (D1/D2) can only be  reset when the cause of the fault has been eliminated. Maximum speed exceeded Table 11.5: Servo controller error display Image 11.4: KeStudio DriveManager 5 error screen ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 339: Error Reactions

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.5  Error reactions Immediately after an error occurs, it will be shown in a window. After closing the window by clicking on “Quit error” or “Later,” you can view the current error and the 20 most recent errors (see Section "Alarms and warnings (Details)"...
  • Page 340 Error response: Channel 2 initialization encoder  ServoHaltAndLock (7) restart error Reac_EncCH3Init   Error response: Channel 3 initialization encoder  Notify error, disable power stage, reset error (only by  error WaitERSAndReset (8) 24 V control voltage Off/On) Reac_EncoderCycl   Reaction on "encoder error, common, cyclic in  process" Table 11.6: Error reactions (continue) Reac_EncCH1Cycl   Reaction on "encoder error, channel 1, cyclic in  process" Table 11.7: Parameters “Error reactions” ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 341 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description Reac_EncCH2Cycl   Reaction on "encoder error, channel 2, cyclic in  Reac_GridFailure   "Reaction on ""power grid failure (by detection  process" circuit)""" Reac_EncCH3Cycl   Reaction on "encoder error, channel 3, cyclic in  Reac_SpeedGuard   "Reaction on ""speed guarding error""" process" Reac_MagBearing   "Reaction on ""magnetic bearing error""" Reac_TC   Error response: Hardware error Reac_ComOptPowerlink  ...

  • Page 342: Error List

    Cause: Unknown runtime error Cause: Error while flash initialisation / flash access Suggested steps: Suggested steps: See exception message This is probably a software    Please try to switch to a different version of  This is probably a software    Please try to switch to a different version of  issue.  device firmware.  issue.  device firmware.    Save your dataset and reset the axis module to    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  factory setting. See if the error persists, or if it  comes with activating a certain feature. comes with activating a certain feature. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 343 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.2.4  Error 1-3 (emergency code 6010h)  11.6.2.6  Error 1-5 (emergency code 6010h)  Cause: Error while PLC initialisation / PLC execution Cause: Unknown EXCEPTION in TC-safety Suggested steps: Suggested steps: Check PLC program Acknowledge error! - If the error occurs again, reset device! This is probably a software    Please try to switch to a different version of  This is probably a software    Please try to switch to a different version of  issue.  device firmware. ...

  • Page 344: Error 2: Parameter List Error

      When reporting this error to your service    Please set device to factory setting, restart, and  partner, please include your device's  see if the error occurs again.  parameter setting.   When reporting this error to your service  This is probably a software    Please try to switch to a different version of  partner, please include your device's  issue.  device firmware.  parameter setting.   Save your dataset and reset the axis module to  This is probably a software    Please try to switch to a different version of  factory setting. See if the error persists, or if it  issue.  device firmware.  comes with activating a certain feature.   Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 345 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.3.3  Error 2-3 (emergency code 5530h)  11.6.3.4  Error 2-4 (emergency code 6320h)  Cause: Error in parameter saving routine Cause: Error in paralist while adding a new parameter Suggested steps: Suggested steps: Switch off/on device. Please contact your service provider if this error occurs again Switch off/on device.
  • Page 346   See 'history of parameter changes' and undo  parameter setting.   Save your dataset and reset the axis module to  the latest changes.  factory setting. See if the error persists, or if it    Please check your parameter set for  comes with activating a certain feature. implausible settings.     Please set device to factory setting, restart, and  see if the error occurs again.    When reporting this error to your service  partner, please include your device's  parameter setting. This is probably a software    Please try to switch to a different version of  issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 347 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.3.8  Error 2-8 (emergency code 6320h)  11.6.3.9  Error 2-9 (emergency code 6320h)  Cause: Error in power stage initialization; selected device voltage not supported Cause: Overvoltage in DC link Suggested steps: Suggested steps: Choose different voltage level and/ or switching frequency Please check parameter (749). This issue is probably ...

  • Page 348: Error 3: Undervoltage Error

    Re-start process when power is available. Please check grid conditions and power Suggested steps: fail levels. This is possibly a hardware  If other measures fail to solve the problem, please  An under-voltage occurred    Power supply was possibly switched off.  issue replace the servo controller.         on the drive while this axis    Please check if the actual grid voltage matches  was switched on. the supply setting (parameter PST_ VoltageSupply)    Verify that the grid is stable under load  condition. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 349: Error 5: Overcurrent Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.6   Error 5: Overcurrent error  11.6.6.2  Error 5-2 (emergency code 2350h)  Cause: Overcurrent shut-off (fast) by software 11.6.6.1  Error 5-1 (emergency code 2250h)  Suggested steps: Cause: Overcurrent shut-off by hardware Please check power wiring and control settings Suggested steps: An overcurrent was    Please check current control settings and step  Please check power wiring and control settings detected.
  • Page 350 This is possibly an EMC    Please check the device cabling for proper  issue. This is very likely if the  connection.  issue. This is very likely if the  connection.  problem occurs when  problem occurs when    Please check device grounding, i. e. the    Please check device grounding, i. e. the  switching on motor control  switching on motor control  connection to a metal backplane and cabinet  connection to a metal backplane and cabinet  and/ or when connecting DC  and/ or when connecting DC  connection to earth.  connection to earth.  link power supply.  link power supply.    Check motor grounding and motor cable    Check motor grounding and motor cable  length.  length.  ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 351 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.6.5  Error 5-5 (emergency code 2350h)  11.6.6.6  Error 5-6 (emergency code 2350h)  Cause: (Fast) Overcurrent shut-off "below 5 Hz" Cause: Total current monitoring Suggested steps: Suggested steps: Please check torque limits, speed profile and control settings Please check ground connection or power wiring of motor and device, check current values An overcurrent was ...
  • Page 352 This is possibly an EMC    Please check the device cabling for proper  problem occurs when  issue. This is very likely if the  connection.    Please check device grounding, i. e. the  switching on motor control  problem occurs when  connection to a metal backplane and cabinet    Please check device grounding, i. e. the  and/ or when connecting DC  switching on motor control  connection to earth.  connection to a metal backplane and cabinet  link power supply.  and/ or when connecting DC  connection to earth.    Check motor grounding and motor cable  link power supply.  length.    Check motor grounding and motor cable  length.  ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 353: Error 6: Motor Temperature Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.7   Error 6: Motor temperature error  11.6.7.2  Error 6-2 (emergency code 4310h)  Cause: PTC short circuit detected (DIN2) 11.6.7.1  Error 6-1 (emergency code 4310h)  Suggested steps: Cause: Motor temperature above threshold value Please check PTC cable and sensor Suggested steps: The motor temperature is too    Please let the motor cool down  Wait and let motor cool down. Reduce motor load or change motion cycle.
  • Page 354 Please let the motor cool down  This issue is probably    Save your parameter set for a later restore.   high. caused by an unsuitable    Please check motor temperature and motor    See 'history of parameter changes' and undo  parameter setting. temperature resistance (PTC sensors do not  the latest changes.  report the motor temperature). If the values are    Please check your parameter set for  not plausible, check cables and sensor type.  implausible settings.     If you are not using a system motor, please    Please set device to factory setting, restart, and  check with the motor manufacturer if the motor  see if the error occurs again.  can stand a higher temperature   When reporting this error to your service  partner, please include your device's  parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 355: Error 7: Device Heatsink Temperature Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.8   Error 7: Device heatsink temperature error  11.6.9   Error 8: Device inside temperature error  11.6.8.1  Error 7-1 (emergency code 4210h)  11.6.9.1  Error 8-1 (emergency code 4210h)  Cause: Heat sink temperature too high Cause: Interior temperature  monitor Suggested steps: Suggested steps: reduce the load and check the conditions of the drive check the conditions of the drive An overcurrent was ...

  • Page 356: Error 9: I2T Motor Error

    Check the motor's saturation settings  (parameter MOT_LSigDiff). If the error  (parameter MOT_LSigDiff). If the error  occurred in high-current range, lower  occurred in high-current range, lower  saturation values manually.  saturation values manually.    If possible, reduce the needed current,    If possible, reduce the needed current,  especially in low-frequency range.  especially in low-frequency range.    If possible, lower the switching frequency or    If possible, lower the switching frequency or  enable automatic frequency selection.  enable automatic frequency selection.    Check if the encoder offset is set properly.    Check if the encoder offset is set properly.    Consider using an axis module with higher    Consider using an axis module with higher  current rating. current rating. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 357: Error 11: External Digital Input Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.11.2  Error 10-2 (emergency code 2350h)  11.6.12   Error 11: External digital input error  Cause: Internal brake resistor was overloaded 11.6.12.1  Error 11-1 (emergency code FF00h)  Suggested steps: Cause: External error at digital input detected Use slower deceleration ramp, check for external accelerating torque, or use unit...

  • Page 358: Error 12: Can Error

      Please check device grounding, i. e. the  switching on motor control    Try to increase the master cycle time. connection to a metal backplane and cabinet  and/ or when connecting DC  This is possibly an EMC    Please check the device cabling for proper  connection to earth.  link power supply.  issue. This is very likely if the  connection.    Check motor grounding and motor cable  problem occurs when    Please check device grounding, i. e. the  length.  switching on motor control  connection to a metal backplane and cabinet  and/ or when connecting DC  connection to earth.  link power supply.    Check motor grounding and motor cable  length.  ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 359 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.13.3  Error 12-3 (emergency code 8100h)  11.6.13.4  Error 12-4 (emergency code 8130h)  Cause: CAN option: Message transmit failed Cause: CAN option: Heartbeat error Suggested steps: Suggested steps: The device was probably    Please check the bus system connection. Try  The device was probably    Please check the bus system connection. Try  disconnected from the  to replace the cables.  disconnected from the  to replace the cables.  master controller, or the  master controller, or the ...
  • Page 360 Please set device to factory setting, restart, and  the latest changes.  see if the error occurs again.    Please check your parameter set for    When reporting this error to your service  implausible settings.   partner, please include your device's    Please set device to factory setting, restart, and  parameter setting. see if the error occurs again.  The device was probably    Please check the bus system connection. Try  disconnected from the  to replace the cables.    When reporting this error to your service  master controller, or the  partner, please include your device's    Please try to reduce computational load on the  master is overloaded. parameter setting. master.    Try to increase the master cycle time. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 361: Error 13: Sercos Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.13.7  Error 12-7 (emergency code 8130h)  11.6.13.8  Error 12-8 (emergency code FF00h)  Cause: CAN option: Sync / RxPDO timeout error Cause: CAN option: Error while parameter initialisation Suggested steps: Suggested steps: The device was probably    Please check the bus system connection. Try  This issue is probably    Save your parameter set for a later restore.   disconnected from the  to replace the cables. ...
  • Page 362 11.6.14.4  Error 13-4 (emergency code FF00h)  Cause: Sercos option: Receive data disturbed Suggested steps: Disturbed receive data due to distortion. Lightwave power does not match to the cable length. Please check the cable length! ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 363 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.14.6  Error 13-6 (emergency code FF00h)  11.6.14.8  Error 13-8 (emergency code FF00h)  Cause: Sercos option: MDT failure Cause: Sercos option: Phase upshift failure Suggested steps: Suggested steps: Missing master data telegram. Please check the wiring! Error during phase switching (up-shift) by master. Please check the settings in the master! The device was probably ...
  • Page 364 Cause: Sercos option: Run time error see if the error occurs again.  Suggested steps:   When reporting this error to your service  partner, please include your device's  This is probably a software    Please try to switch to a different version of  parameter setting. issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo controller.         ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 365 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.14.13  Error 13-13 (emergency code FF00h)  11.6.14.15  Error 13-15 (emergency code FF00h)  Cause: Sercos option: Watchdog failure Cause: Sercos option: Communication error Suggested steps: Suggested steps: SERCOS controller hardware watchdog. Please check the settings in the master! Error in the topology detection. Topology not stable or not detected. Please check the wiring! The device was probably ...

  • Page 366: Error 14: Ethercat Error

    Check motor grounding and motor cable  length.  The device was probably    Please check the bus system connection. Try  disconnected from the  to replace the cables.  master controller, or the    Please try to reduce computational load on the  master is overloaded. master.    Try to increase the master cycle time. 11.6.15.2  Error 14-2 (emergency code 8130h)  Cause: EtherCAT®:  Parameter error,  parameter data  implausible Suggested steps: This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo controller.         ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 367 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.15.4  Error 14-4 (emergency code 8130h)  11.6.15.5  Error 14-5 (emergency code 8130h)  Cause: Invalid Configuration, Ethercat communication controller does not support Cause: Missing Ethercat receive process data on Sync Manager 2 requested Sync Manager Suggested steps: Suggested steps: This is possibly an EMC ...

  • Page 368: Error 15: Parameter Error

    This issue is probably    Save your parameter set for a later restore.   caused by an unsuitable    Please check your parameter set for    See 'history of parameter changes' and undo  parameter setting. implausible settings.   the latest changes.    Please set device to factory setting, restart, and    Please check your parameter set for  see if the error occurs again.  implausible settings.     When reporting this error to your service    Please set device to factory setting, restart, and  partner, please include your device's  see if the error occurs again.  parameter setting.   When reporting this error to your service  partner, please include your device's  parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 369 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.16.3  Error 15-3 (emergency code FF00h)  11.6.16.4  Error 15-4 (emergency code FF00h)  Cause: Error: Timeout during auto commutation Cause: Error in motor model initilization Suggested steps: Suggested steps: Please check auto commutation parameters Please check motor parameters and motor type This issue is probably ...
  • Page 370   See 'history of parameter changes' and undo    See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 371 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.16.7  Error 15-7 (emergency code 6320h)  11.6.16.8  Error 15-8 (emergency code 8400h)  Cause: Encoder gear ratio vs. line count out of range Cause: Unknown speed calculation method selected Suggested steps: Suggested steps: Please check encoder parameters Please check the parameters of the speed observer (P350) This issue is probably ...
  • Page 372   When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. An overcurrent was    Please check current control settings and step  detected. response.     Check the motor's saturation settings  (parameter MOT_LSigDiff). If the error  occurred in high-current range, lower  saturation values manually.    If possible, reduce the needed current,  especially in low-frequency range.    If possible, lower the switching frequency or  enable automatic frequency selection.    Check if the encoder offset is set properly.    Consider using an axis module with higher  current rating. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 373 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.16.11  Error 15-12 (emergency code FF00h)  11.6.16.13  Error 15-14 (emergency code FF00h)  Cause: Plant inertia / mass is invalid Cause: Drive initialization: Unexpected error during drive initialization Suggested steps: Suggested steps: Please specify motor inertia or try to identify plant inertia Check the drives parameter settings This issue is probably ...
  • Page 374 Please use other autotuning mode or tune by hand the latest changes.    Please check your parameter set for  11.6.16.17  Error 15-18 (emergency code FF00h)  implausible settings.     Please set device to factory setting, restart, and  Cause: Error in power fail initialization see if the error occurs again.  Suggested steps:   When reporting this error to your service  partner, please include your device's  Check power fail parameters or disable function parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 375 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.16.21  Error 15-22 (emergency code FF00h)  11.6.16.22  Error 15-23 (emergency code FF00h)  Cause: Invalid production data detected Cause: Parameter settings requires a valid software key Suggested steps: Suggested steps: Please contact your service provider Please contact your service provider This issue is probably ...

  • Page 376: Error 16: Speed Difference Error

      Please check device grounding, i. e. the  This is possibly an EMC    Please check the device cabling for proper  switching on motor control  connection to a metal backplane and cabinet  issue. This is very likely if the  connection.  and/ or when connecting DC  problem occurs when  connection to earth.    Please check device grounding, i. e. the  link power supply.  switching on motor control    Check motor grounding and motor cable  connection to a metal backplane and cabinet  and/ or when connecting DC  length.  connection to earth.  link power supply.    Check motor grounding and motor cable  length.  ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 377: Error 17: Position Difference Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.18   Error 17: Position difference error  11.6.19   Error 18: Motion control error  11.6.18.1  Error 17-1 (emergency code 8611h)  11.6.19.1  Error 18-1 (emergency code 8612h)  Cause: Position tracking error too large Cause: Homing: Limit switches interchanged Suggested steps: Suggested steps: Check your parameter P743 Check limit switches The control system failed to    Please check if the axis is blocked.  There is a problem with the    Please check the 24V I/O wiring, function  track the reference value digital/analog inputs assignment and inversion parameters.    ...
  • Page 378   Check motor grounding and motor cable    Check motor grounding and motor cable  length.  length.  11.6.19.4  Error 18-4 (emergency code FF00h)  Cause: Homing: Wrong homing method, homing method not available Suggested steps:   Please restart the application (24V reset).    If the error is still reported after the restart please contact your service partner. An error occured at the    Please acknowledge the error.  homing methode.   Please start the homing method again. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 379 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.19.5  Error 18-5 (emergency code FF00h)  11.6.19.9  Error 18-9 (emergency code FF00h)  Cause: Homing: Homing method available but not defined Cause: Homing: Encoder initialization error Suggested steps: Suggested steps: Homing is not available with this motion profile. Please select another homing The homing during device start-up was not performed due to an internal error.

  • Page 380: Error 19: Fatal Error

      Please acknowledge the error.  homing methode.   Please start the homing method again. Cause: PST: Error in switching frequency-dependent data Suggested steps: Call your service provider. This is probably a software    Please try to switch to a different version of  issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo controller.         ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 381 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.20.3  Error 19-3 (emergency code 5400h)  11.6.20.5  Error 19-5 (emergency code 5400h)  Cause: PST: Invalid EEPROM data Cause: PST: Error reading power stage data Suggested steps: Suggested steps: Call your service provider. Call your service provider. This is probably a software    Please try to switch to a different version of  This is probably a software    Please try to switch to a different version of  issue.  device firmware.  issue.  device firmware.   ...
  • Page 382 Switch off/on device. Please contact your service provider if this error occurs again comes with activating a certain feature. This is possibly a hardware  If other measures fail to solve the problem, please  This is probably a software    Please try to switch to a different version of  issue replace the servo controller.         issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 383 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.20.11  Error 19-11 (emergency code 5300h)  11.6.20.13  Error 19-13 (emergency code 5300h)  Cause: Software licence key or level is invalid Cause: Error while FPGA programming Suggested steps: Suggested steps: Please contact your service provider Switch off/on device. Please contact your service provider if this error occurs again This is probably a software ...
  • Page 384   Save your dataset and reset the axis module to  Cause: System run-up with illegal FPGA firmware! factory setting. See if the error persists, or if it  comes with activating a certain feature. Suggested steps: Update the FPGA with the correct firmware! This is probably a software    Please try to switch to a different version of  issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 385 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.20.20  Error 19-20 (emergency code 5300h)  11.6.20.22  Error 19-22 (emergency code 5300h)  Cause: Safety production data invalid (no data or CRC failure) Cause: Functionality or hardware not supported in this software version Suggested steps: Suggested steps: Update of safety production data required, contact your service provider Please contact your service provider This is probably a software ...

  • Page 386: Error 20: Hardware Limit Switch Error

    Please check that the encoder offset is set    Please check connected switches for  away, most likely due to a  properly.   chattering. Consider using the input filter. wrong encoder offset.   If auto commutation is used, re-view the auto  The speed control might run    Please check that the encoder offset is set  commutation setting and test under all  away, most likely due to a  properly.   wrong encoder offset. possible conditions.    If auto commutation is used, re-view the auto    If torque mode is used, reduce torque, ensure  commutation setting and test under all  external speed limitation, or increase speed  possible conditions.  control gain for stronger limitation.   If torque mode is used, reduce torque, ensure  external speed limitation, or increase speed  control gain for stronger limitation. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 387: Error 21: Initialization, Common Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.21.3  Error 20-3 (emergency code 8612h)  11.6.22.1  Error 21-2 (emergency code 7305h)  Cause: Negative hardware limit switch (LSW_N) detected Cause: Electronic nameplate, interface, group error: no further information available. Suggested steps: Suggested steps: Check your hardware Function "Electronic nameplate" not available. Please contact your service provider.
  • Page 388 Function "Electronic nameplate" not available. Please contact your service provider. Define an order for ENP operation. Please contact your service provider.   The "Electronic Nameplate" (ENP) is located in    The "Electronic Nameplate" (ENP) is located in  the OEM memory of the motor encoder and  the OEM memory of the motor encoder and  contains primarily motor related data.  contains primarily motor related data.    In the simplest case, the ENP contains only the    In the simplest case, the ENP contains only the  commutation angle (ECOFF) between motor  commutation angle (ECOFF) between motor  phases and encoder mounting. phases and encoder mounting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 389 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.22.7  Error 21-10 (emergency code 7305h)  11.6.22.9  Error 21-12 (emergency code 7305h)  Cause: Electronic nameplate, OEM data error, FindBlock: block with number BN not Cause: Electronic nameplate, process block error: group error from schort frame found. check of the block being read.
  • Page 390 Function "Electronic nameplate" not available. Please contact your service provider. Function "Electronic nameplate" not available. Please contact your service provider.   The "Electronic Nameplate" (ENP) is located in    The "Electronic Nameplate" (ENP) is located in  the OEM memory of the motor encoder and  the OEM memory of the motor encoder and  contains primarily motor related data.  contains primarily motor related data.    In the simplest case, the ENP contains only the    In the simplest case, the ENP contains only the  commutation angle (ECOFF) between motor  commutation angle (ECOFF) between motor  phases and encoder mounting. phases and encoder mounting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 391 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.22.15  Error 21-25 (emergency code 7305h)  11.6.22.17  Error 21-27 (emergency code 7305h)  Cause: Electronic nameplate, process block error: block 5 EncFeedback (no further Cause: Electronic nameplate, process block error: block 7 MotBreak (no further information available). information available). Suggested steps: Suggested steps: Function "Electronic nameplate"...
  • Page 392 Function "Electronic nameplate" not available. Please contact your service provider. Function "Electronic nameplate" not available. Please contact your service provider.   The "Electronic Nameplate" (ENP) is located in    The "Electronic Nameplate" (ENP) is located in  the OEM memory of the motor encoder and  the OEM memory of the motor encoder and  contains primarily motor related data.  contains primarily motor related data.    In the simplest case, the ENP contains only the    In the simplest case, the ENP contains only the  commutation angle (ECOFF) between motor  commutation angle (ECOFF) between motor  phases and encoder mounting. phases and encoder mounting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 393: Error 22: Encoder Channel 1, Initialization Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.22.23  Error 21-33 (emergency code 7305h)  11.6.23.2  Error 22-2 (emergency code 7305h)  Cause: Electronic nameplate, process block error: block 13 DevSpecDatServo1 (no Cause: Channel 1 Initialization, SinCos: timeout error, getting AB-SquareSum further information available). Suggested steps: Suggested steps: No further information available. Please contact your service provider.
  • Page 394 Please note additional Information in the message window of the DriveManager. Initialization encoder    Error during the initialization routines of  channel 1 encoder channel 1.  Initialization encoder    Error during the initialization routines of  channel 1 encoder channel 1.    In any case look at init outputs in the message  window of the DriveManager.    In any case look at init outputs in the message  window of the DriveManager.    The most common cause of error is the wiring  to the encoder.   The most common cause of error is the wiring  to the encoder. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 395 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.23.8  Error 22-8 (emergency code 7305h)  11.6.23.10  Error 22-10 (emergency code 7305h)  Cause: Channel 1 Initialization, EndDat 2.1: CRC error, position data from encoder Cause: Channel 1 Initialization, EndDat 2.1: not allowed write operation to write protected cells or protection cells of the encoder...
  • Page 396 Group error --> look at message window of the DriveManager   In any case look at init outputs in the message  Initialization encoder    Error during the initialization routines of  window of the DriveManager.  channel 1 encoder channel 1.    The most common cause of error is the wiring    In any case look at init outputs in the message  to the encoder. window of the DriveManager.    The most common cause of error is the wiring  to the encoder. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 397 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.23.16  Error 22-23 (emergency code 7305h)  11.6.23.18  Error 22-25 (emergency code 7305h)  Cause: Channel 1 Initialization, HIPERFACE: timeout error Cause: Channel 1 Initialization, HIPERFACE: CRC error in error status response from encoder (communication error) Suggested steps: Suggested steps: Please check the wiring of the encoder Please check the wiring of the encoder Initialization encoder ...
  • Page 398 No further information available. Please contact your service provider. Please look at parameter (552) ENC_CH1_AbsEncStatus Initialization encoder    This is probably an internal problem of the  Initialization encoder    Error during the initialization routines of  channel encoder!  channel 1 encoder channel 1.    In any case look at init outputs in the message    In any case look at init outputs in the message  window of the DriveManager. window of the DriveManager.    The most common cause of error is the wiring  to the encoder. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 399 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.23.24  Error 22-31 (emergency code 7305h)  11.6.23.26  Error 22-33 (emergency code 7305h)  Cause: Channel 1 Initialization, HIPERFACE, response with error bit, status: Cause: Channel 1 Initialization, HIPERFACE: encoder status error, encoder signals technical or process error (inside encoder) communication error...
  • Page 400 No further information available. Please contact your service provider. available. Please contact your service provider. Initialization encoder    This is probably a software problem!  Initialization encoder    This is probably an internal problem of the  channel channel encoder!    In any case look at init outputs in the message  window of the DriveManager.   In any case look at init outputs in the message  window of the DriveManager. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 401 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.23.32  Error 22-40 (emergency code 7305h)  11.6.23.34  Error 22-42 (emergency code 7305h)  Cause: Channel 1 Initialization, Np: error from review of parameters 'Lines' and Cause: Channel 1 Initialization, SSI: common error 'NominalIncrement' Suggested steps: Suggested steps: Please note the extended information of the error message Please check this parameters.
  • Page 402 Please reduce the internal position resolution to free bits for the internal multi-turn Initialization encoder    Error during the initialization routines of  information. channel 1 encoder channel 1.  Initialization encoder    This is probably a problem of the    In any case look at init outputs in the message  channel parameterization!  window of the DriveManager.    In any case look at init outputs in the message    The most common cause of error is the wiring  window of the DriveManager. to the encoder. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 403: Error 23: Encoder Channel 2, Initialization Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.24   Error 23: Encoder channel 2, initialization error  11.6.24.3  Error 23-3 (emergency code 7304h)  Cause: Channel 2 Initialization, Resolver: error, encoder monitoring 11.6.24.1  Error 23-1 (emergency code 7304h)  Suggested steps: Cause: Channel 2 Initialization, Resolver: error 'Lines' from parameter (560) ENC_ Please connect the encoder correctly.

  • Page 404: Error 24: Encoder Channel 3, Initialization Error

    Please look at Log entry window for error code information   In any case look at init outputs in the message  window of the DriveManager.  Initialization encoder    Error during the initialization routines of  channel 3 encoder channel 3.    The most common cause of error is the wiring  to the encoder.   In any case look at init outputs in the message  window of the DriveManager.    The most common cause of error is the wiring  to the encoder. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 405 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.25.5  Error 24-5 (emergency code 7307h)  11.6.25.7   Error 24-7 (emergency code 7307h)  Cause: Channel 3 Initialization, EndDat 2.1: error, 'Lines' read from encoder Cause: Channel 3 Initialization, EndDat 2.1: error, 'SingleTurn' read from encoder Suggested steps: Suggested steps: Please note additional Information in the message window of the DriveManager.
  • Page 406 Change the input of the singleturn bits of the parameter. Suggested steps: Initialization encoder    This is probably a problem of the  No further information available. Please contact your service provider. channel parameterization!  Initialization encoder    This is probably a software problem!    In any case look at init outputs in the message  channel window of the DriveManager.   In any case look at init outputs in the message  window of the DriveManager. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 407 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.25.13  Error 24-17 (emergency code 7307h)  11.6.25.15  Error 24-38 (emergency code 7307h)  Cause: Channel 3 Initialization, SSI: parity error, position data from encoder Cause: Channel 3 Initialization, EndDat 2.1: error, 'PositionBits' read from encoder Suggested steps: Suggested steps: Initialization encoder ...
  • Page 408 Please note the extended information of the error message Initialization encoder    Error during the initialization routines of  Initialization encoder    Error during the initialization routines of  channel 3 encoder channel 3.  channel 3 encoder channel 3.    In any case look at init outputs in the message    In any case look at init outputs in the message  window of the DriveManager.  window of the DriveManager.    The most common cause of error is the wiring    The most common cause of error is the wiring  to the encoder. to the encoder. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 409 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.25.21  Error 24-45 (emergency code 7307h)  11.6.25.23  Error 24-47 (emergency code 7307h)  Cause: Channel 3 Initialization, SinCos: error, encoder monitoring Cause: Channel 3 Initialization, EndDat22: common error Suggested steps: Suggested steps: Please connect the encoder correctly. Please note the extended information of the error message Initialization encoder ...

  • Page 410: Error 25: Encoder Cyclic Process, Common Error

    The most common cause of error is the wiring  Check the Parameter of autocommutation! to the encoder. Initialization HIPERFACE-   Error during the initialization of HIPERFACE- Encoder channel, cyclic    Error during the cyclic evaluation of an  DSL (HDSL).  evaluation encoder channel.    Probably there is a problem due to insufficient    In any case look at init outputs in the message  mounting of the encoder. Make sure that the  window of the DriveManager.  encoder has been mounted correctly.    The most common cause of error is the wiring    The problem could also have been caused by  to the encoder. mechanical vibration during initialization. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 411: Error 26: Encoder Channel 1, Cyclic Process Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.26.3  Error 25-3 (emergency code FF00h)  11.6.26.5  Error 25-5 (emergency code FF00h)  Cause: Encoder cyclic, Getting commutation: redundant encoder, maximum tracking Cause: Encoder cyclic, ENC_PCon: missing encoder configuration for PCON mode error exceeded Suggested steps: Suggested steps: Please configure encoder channel for position control (P522).

  • Page 412: Error 28: Encoder Channel 3, Cyclic Process Error

    Please check the wiring of the encoder, perhaps reduce the speed. Encoder channel, cyclic    Error during the cyclic evaluation of an  evaluation encoder channel 1.  Encoder channel, cyclic    Error during the cyclic evaluation of an  evaluation encoder channel 3.    In any case look at init outputs in the message  window of the DriveManager.    In any case look at init outputs in the message  window of the DriveManager.    The most common cause of error is the wiring  to the encoder.   The most common cause of error is the wiring  to the encoder. 11.6.28   Error 28: Encoder channel 3, cyclic process error   ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 413: Error 30: Control Initialization Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.28.3  Error 28-3 (emergency code 7307h)  11.6.29   Error 30: Control initialization error  Cause: Channel 3 cyclic, Np (distance coded): error, calculated 'delta' is out of range 11.6.29.1  Error 30-1 (emergency code 5300h)  Suggested steps: Cause: Initialization error analogue input Please check the wiring of the encoder Suggested steps: Encoder channel, cyclic ...
  • Page 414   See 'history of parameter changes' and undo    See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 415 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.29.4  Error 30-4 (emergency code 5300h)  11.6.29.5  Error 30-5 (emergency code 5300h)  Cause: Error by setting up Imag Table Cause: Error in U/f-control initialization Suggested steps: Suggested steps: Check Imag, Slim and table entries of module CON_FM Check VFC parameters This issue is probably ...

  • Page 416: Error 31: Plc Error

    11.6.30   Error 31: PLC error  11.6.30.1  Error 31-0 (emergency code FF00h)  Cause: User defined Error detected. Suggested steps: Error was triggered by iPLC application (Function: MCB_CTR_SetError). Further information is available from the programmer of the application! ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 417: Error 32: Profibus/Profinet Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.31   Error 32: Profibus/Profinet error  11.6.31.2  Error 32-2 (emergency code 8100h)  Cause: Profinet IRT: No firmeware on Profinet option available! 11.6.31.1  Error 32-1 (emergency code 8100h)  Suggested steps: Cause: Profibus/Profinet option: process data timeout This is probably a software    Please try to switch to a different version of  Suggested steps: issue.  device firmware.    Save your dataset and reset the axis module to ...

  • Page 418: Error 33: Internal Timing Error

    De-activate features of control system or  Computational load in time-   Please reduce computational load by  motion control.  critical task of axis module is  removing parameters from mapping.  too high. This is probably a software    Please try to switch to a different version of    De-activate features of control system or  issue.  device firmware.  motion control.    Save your dataset and reset the axis module to  This is probably a software    Please try to switch to a different version of  issue.  device firmware.  factory setting. See if the error persists, or if it  comes with activating a certain feature.   Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 419 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.32.3  Error 33-2 (emergency code 5300h)  11.6.32.5  Error 33-4 (emergency code 5300h)  Cause: Internal timing error Cause: Internal timing error Suggested steps: Suggested steps: Please restart device. Run time error, not enough CPU performance, check PLC program Computational load in time-  ...

  • Page 420: Error 34: Powerfail Funkction Error

      Verify that the grid is stable under load  condition.   When reporting this error to your service  partner, please include your device's  parameter setting. 11.6.33.2  Error 34-1 (emergency code 3220h)  Cause: Returning DC-link voltage detected Suggested steps: Restart Device An under-voltage occurred    Power supply was possibly switched off.  on the drive while this axis    Please check if the actual grid voltage matches  was switched on. the supply setting (parameter PST_ VoltageSupply)    Verify that the grid is stable under load  condition. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 421: Error 35: Encoder Monitoring Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.34   Error 35: Encoder monitoring error  11.6.34.2  Error 35-1 (emergency code 7305h)  Cause: ENC CH1 SinCos: error, encoder monitoring 11.6.34.1  Error 35-0 (emergency code 7300h)  Suggested steps: Cause: Unknown encoder monitoring error Check encoder cables, voltage supply, and selection. Make sure unused channels Suggested steps: are switched off.
  • Page 422   See 'history of parameter changes' and undo    See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 423 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.34.5  Error 35-4 (emergency code 7305h)  11.6.34.6  Error 35-5 (emergency code 7305h)  Cause: ENC CH1 SSI: error, encoder monitoring Cause: ENC CH1 SSI: error, parity error Suggested steps: Suggested steps: Check encoder cables, voltage supply, and selection. Make sure unused channels Check encoder cables, voltage supply, and selection.
  • Page 424   See 'history of parameter changes' and undo    See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 425 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.34.9  Error 35-8 (emergency code 7305h)  11.6.34.10  Error 35-9 (emergency code 7307h)  Cause: ENC CH1: wire break on digital encoder Cause: ENC CH3: wire break on digital encoder Suggested steps: Suggested steps: Check encoder cables, voltage supply, and selection. Make sure unused channels Check encoder cables, voltage supply, and selection.
  • Page 426 Cause: ENC CH3 ENDAT: error, diagnosis parameter ENC_CH3_ErrorTol to tolerate a  Suggested steps: given number of failures. Scope the error  counter ENC_CH3_ErrorCount to monitor the  endat encoder cyclic diagnosis monitoring error, check encoder behaviour. In case of an error, position is  estimated from previous data. The encoder is not    If this is encoder has analogue signals, please  connected or not working  check the signal amplitude vs. parameter  properly. EncObsMin    Check cabling. If available, please try another  encoder and cable.    See detailed error information (>>) for a more  detailed description. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 427: Error 37: Syncronization Controller Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.35   Error 37: Syncronization controller error  11.6.37   Error 39: TWIN monitoring error  11.6.35.1  Error 37-1 (emergency code 6100h)  11.6.37.1  Error 39-0 (emergency code 7300h)  Cause: Wrong ratio between interpolation-, synchonization- or velocity control time Cause: TWIN-Monitoring: speed difference between master and slave is too large Suggested steps: Suggested steps: Check the set cycle times in parameter 306, as well as according to the used bus The control system failed to ...
  • Page 428   Save your parameter set for a later restore.   parameter setting. the latest changes.  caused by an unsuitable    See 'history of parameter changes' and undo  parameter setting.   Please check your parameter set for  the latest changes.  implausible settings.     Please check your parameter set for    Please set device to factory setting, restart, and  implausible settings.   see if the error occurs again.    Please set device to factory setting, restart, and    When reporting this error to your service  see if the error occurs again.  partner, please include your device's    When reporting this error to your service  parameter setting. partner, please include your device's  parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 429 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.37.4  Error 39-3 (emergency code 2350h)  11.6.37.5  Error 39-4 (emergency code 2350h)  Cause: Maximum phase difference detected Cause: TWIN-Monitoring: position difference between master and slave is too large Suggested steps: Suggested steps: The control system failed to    Please check if the axis is blocked.  The control system failed to    Please check if the axis is blocked.  track the reference value track the reference value...

  • Page 430: Error 40: Tech Option Error

    This issue is probably    Save your parameter set for a later restore.   caused by an unsuitable    Please check your parameter set for    See 'history of parameter changes' and undo  parameter setting. implausible settings.   the latest changes.    Please set device to factory setting, restart, and    Please check your parameter set for  see if the error occurs again.  implausible settings.     When reporting this error to your service    Please set device to factory setting, restart, and  partner, please include your device's  see if the error occurs again.  parameter setting.   When reporting this error to your service  partner, please include your device's  parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 431 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.38.3  Error 40-2 (emergency code 7300h)  11.6.38.4  Error 40-3 (emergency code 7300h)  Cause: Tech-Option mode conflict Cause: Tech-Option remote error Suggested steps: Suggested steps: Tech-Option both master / both slave Error pending on remote servo This issue is probably    Save your parameter set for a later restore.   This issue is probably ...
  • Page 432   See 'history of parameter changes' and undo    See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 433 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.38.7  Error 40-6 (emergency code 7300h)  11.6.38.8  Error 40-7 (emergency code 7300h)  Cause: Tech-Option initialisation error Cause: Multi I/O communication error Suggested steps: Suggested steps: Error while loading dynamic software module Error in option communication This issue is probably    Save your parameter set for a later restore.   This issue is probably ...

  • Page 434: Error 41: Fast Discharge Monitoring Error (Dc-Link)

    This issue is probably    Save your parameter set for a later restore.   the latest changes.  caused by an unsuitable    See 'history of parameter changes' and undo    Please check your parameter set for  parameter setting. the latest changes.  implausible settings.     Please check your parameter set for    Please set device to factory setting, restart, and  implausible settings.   see if the error occurs again.    Please set device to factory setting, restart, and    When reporting this error to your service  see if the error occurs again.  partner, please include your device's  parameter setting.   When reporting this error to your service  partner, please include your device's  parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 435: Error 43: Ethernet Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.40   Error 43: Ethernet error  11.6.40.2  Error 43-1 (emergency code 6100h)  Cause: Plausibility error between IP adress and subnetmask, subnetmask was 11.6.40.1  Error 43-0 (emergency code 6100h)  corrected! Cause: Unknown error in Ethernet interface Suggested steps: Suggested steps: Check the settings of the IP address and the subnetmask of the Ethernet interface (X3/X9) in the parameters 671 and 688.

  • Page 436: Error 45: Lock Violation Error

      See 'history of parameter changes' and undo    See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.   Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.    Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.   When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 437 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.42.3  Error 45-2 (emergency code FF00h)  11.6.42.4  Error 45-3 (emergency code 8612h)  Cause: Cause: Software limit switch overtravel detected, traversing task rejected Movement requested which was limited by reversing lock, limit switch or reference v Suggested steps: alue limitation. Lock active in both directions Quit error and change reference value Suggested steps: The reference value violates    Please check reference values. If this axis is  Check plausibility of limit switches and/or software limits a lock or limit switch.

  • Page 438: Error 46: Position Limit Error

    Please check that the encoder offset is set    Take a scope record to determine if the  away, most likely due to a  properly.   position control overshoots. wrong encoder offset.   If auto commutation is used, re-view the auto  The speed control might run    Please check that the encoder offset is set  away, most likely due to a  properly.   commutation setting and test under all  possible conditions.  wrong encoder offset.   If auto commutation is used, re-view the auto    If torque mode is used, reduce torque, ensure  commutation setting and test under all  possible conditions.  external speed limitation, or increase speed  control gain for stronger limitation.   If torque mode is used, reduce torque, ensure  external speed limitation, or increase speed  control gain for stronger limitation. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 439 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.43.3  Error 46-2 (emergency code 8612h)  11.6.43.4  Error 46-3 (emergency code 8612h)  Cause: Positive software limit switch is exceeded (positive position limit) Cause: Software limit switch overtravel detected Suggested steps: Suggested steps: Quit error and change reference value Quit error and change reference value Position was limited ...

  • Page 440: Error 47: Functional Safety, Common Error

    Cause: Communication error to safety system detected Suggested steps: Acknowledge error, if the error occurs again, reset device An error occurred in the    Please acknowledge the error.  communication to the safety    If the error occurs again please restart the  system. application (24V reset). This is probably a software    Please try to switch to a different version of  issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 441 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.44.3  Error 47-2 (emergency code 6100h)  11.6.44.5  Error 47-4 (emergency code 6100h)  Cause: Error while requesting data from safety system Cause: Upload of safe PLC application file failed Suggested steps: Suggested steps: Acknowledge error, if the error occurs again, reset device Acknowledge error and try upload again An error occurred in the ...

  • Page 442: Error 49: Safety System Error

    Safety Error Description". This is probably a software    Please try to switch to a different version of  An alarm occured at the    Please check the safety program and the  issue.  device firmware.  safety controller. wiring of the safety system.     Save your dataset and reset the axis module to    Please acknowledge the alarm at the safety  factory setting. See if the error persists, or if it  master. The safety master acknowledges all  comes with activating a certain feature. slave alarms and resets the network status to  This is possibly a hardware  If other measures fail to solve the problem, please  "RUN". issue replace the servo controller.         ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 443 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.45.3  Error 49-2 (emergency code 6100h)  11.6.45.4  Error 49-3 (emergency code 6100h)  Cause: Alarm on safety controller SR2 of master or local device detected Cause: Alarm on safety controller SR1 of Slave 1 detected Suggested steps: Suggested steps: Read additional information, check safety system or wiring and acknowledge...
  • Page 444 Extended diagnosis of safety    Further information on the error/alarm code  errors/alarms. can be found in the "ServoOne functional  errors/alarms. can be found in the "ServoOne functional  Safety Error Description". Safety Error Description". An alarm occured at the    Please check the safety program and the  An alarm occured at the    Please check the safety program and the  safety controller. wiring of the safety system.   safety controller. wiring of the safety system.     Please acknowledge the alarm at the safety    Please acknowledge the alarm at the safety  master. The safety master acknowledges all  master. The safety master acknowledges all  slave alarms and resets the network status to  slave alarms and resets the network status to  "RUN". "RUN". ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 445 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.45.7  Error 49-6 (emergency code 6100h)  11.6.45.8  Error 49-7 (emergency code 6100h)  Cause: Alarm on safety controller SR2 of Slave 2 detected Cause: Alarm on safety controller SR1 of Slave 3 detected Suggested steps: Suggested steps: Read additional information, check safety system or wiring and acknowledge...
  • Page 446 Extended diagnosis of safety    Further information on the error/alarm code  errors/alarms. can be found in the "ServoOne functional  errors/alarms. can be found in the "ServoOne functional  Safety Error Description". Safety Error Description". An alarm occured at the    Please check the safety program and the  An alarm occured at the    Please check the safety program and the  safety controller. wiring of the safety system.   safety controller. wiring of the safety system.     Please acknowledge the alarm at the safety    Please acknowledge the alarm at the safety  master. The safety master acknowledges all  master. The safety master acknowledges all  slave alarms and resets the network status to  slave alarms and resets the network status to  "RUN". "RUN". ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 447 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.45.11  Error 49-10 (emergency code 6100h)  11.6.45.12  Error 49-11 (emergency code 6100h)  Cause: Alarm on safety controller SR2 of Slave 4 detected Cause: Alarm on safety controller SR1 of Slave 5 detected Suggested steps: Suggested steps: Read additional information, check safety system or wiring and acknowledge...
  • Page 448 Further information on the error/alarm code  errors/alarms. can be found in the "ServoOne functional  errors/alarms. can be found in the "ServoOne functional  Safety Error Description". Safety Error Description". An alarm occured at the    Please check the safety program and the  An error occured at the    Please check the safety program and the  safety controller. wiring of the safety system.   safety controller. wiring of the security system.     Please acknowledge the alarm at the safety    Please acknowledge the error on the affected  master. The safety master acknowledges all  device. Subsequently the alarm must be  slave alarms and resets the network status to  acknowledged at the safety master to reset the  "RUN". network status to "RUN".    Please restart the application (24V reset). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 449 11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.45.15  Error 49-14 (emergency code 6100h)  11.6.45.16  Error 49-15 (emergency code 6100h)  Cause: Error on safety controller SR2 detected Cause: Safety network alarm, initiated by safety master Suggested steps: Suggested steps: Read additional information, check safety system or wiring and acknowledge...

  • Page 450: Error 51: Encoder Status, Common Error

    Please check encoder manual for further information. Suggested steps: Encoder channel, internal    Error during reading from a digital encoder.  status from digital encoder Check motor wiring   Warning information or error status information  reported by the encoder.  This is possibly a hardware  If other measures fail to solve the problem, please    In any case look at init outputs in the message  issue replace the servo controller.         window of the DriveManager. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 451: Error 54: Power Grid Failure Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.49   Error 54: Power grid failure error  11.6.50   Error 55: Speed guarding error  11.6.49.1  Error 54-1 (emergency code 6100h)  11.6.50.1  Error 55-1 (emergency code 6100h)  Cause: At least one grid phase missing Cause: Speed guarding digital input Suggested steps: Suggested steps: Check grid wiring Check digital inputs An under-voltage occurred    Power supply was possibly switched off.  This issue is probably    Save your parameter set for a later restore.  ...

  • Page 452: Error 57: Powerlink Error

    Hydraulics, cyclic    Error during the cyclic execution of the  processing hydraulics.    Try to increase the master cycle time.   In any case look at init outputs in the message  window of the DriveManager. 11.6.51.2  Error 57-2 (emergency code FF00h)  Cause: Powerlink fieldbus module defective or not available! Suggested steps: This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo controller.         ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...

  • Page 453: Error 60: Spindle Mlamping Mystem Monitoring Error

    11  Alarms & warnings ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11.6.52.2  Error 58-2 (emergency code 6100h)  11.6.53.3  Error 60-3 (emergency code 6100h)  Cause: Hydraulics, tracking error monitoring: maximum tracking error exceeded Cause: Clamping pressure was not applied properly Suggested steps: Suggested steps: Please check the parameterization. Check clamping pressure generation Hydraulics, cyclic ...

  • Page 454: Error 62: Battery Buffered Encoder

    Cause: Brake monitoring error, cannot reach target torque, brake remains closed Suggested steps: Check torque or system limits, control settings or motor data set This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo controller.         ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 11  Alarms & warnings...
  • Page 455 POWERLINK is defined as an IEC 61158-13 and IEC 61784-2  Industrial Ethernet standard.   For general information on POWERLINK, please visit  Navigation ►Project tree ►Device setup ►Fieldbus www.ethernet-powerlink.org Brief description This chapter describes the configuration options for various  fieldbuses and makes reference to the corresponding User  manuals where appropriate. Contents 12.1  POWERLINK 12.2  CANopen / EtherCAT® 12.3  Sercos 12.4  PROFIBUS / PROFINET 12.5  Synchronization / Configuration 12.6  EDS file generator ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 12  Fieldbus...

  • Page 456: Canopen / Ethercat

    12  Fieldbus ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 12.2  CANopen / EtherCAT® 12.3  Sercos NOTE NOTE   For a full description of the CANopen / EtherCAT® fieldbus option    For a full description of the Sercos fieldbus option for the  for the ServoOne and ServoOne junior (operation, system  ServoOne and ServoOne junior (operation, system requirements,  requirements, connection, operating modes, configuration,  connection, operating modes, configuration, commissioning), see  commissioning), see the CANopen / EtherCAT® User manual(ID  the Sercos II and III User manual (ID No.: 1108.26B.x). No.: 1108.28B.x).   Sercos is defined in IEC 61784, IEC 61158 and IEC 61800-7.   CANopen is standardized in EN 50325-4.   Refer to www.sercos.org for general information about Sercos   For general information on CANopen, please visit  www.canopen.org   EtherCAT® is defined in IEC 61158 and IEC 61784.   For general information on EtherCAT®, please visit  www.ethercat.org   EtherCAT® is a registered trademark and patented technology ...

  • Page 457: Profibus / Profinet

    2008 COM_SYNC_CTRL_ki integration 2008 COM_SYNC_CTRL_max us Maximum control output value 2008 COM_SYNC_CTRL_min us min control output 2008 COM_SYNC_CTRL_Tfil synchronization filter time 2008 COM_SYNC_CTRL_____   MPRO_DRVCOM_CFG   DriveCom: Device configuration (requires  restart) 2009 COM_CFG_File   Generates fieldbus specific config file Table 12.1: Synchronization / Configuration parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 12  Fieldbus...

  • Page 458: Eds File Generator

    ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 12.6  EDS file generator Image 12.1: EDS file generator screen To be able to integrate a ServoOne or ServoOne junior into a CANopen fieldbus network, you will need an EDS file. This EDS file can  a.  Be generated with the help of the EDS file generator for the current firmware  on the device  b. ...
  • Page 459 13.6  DIO option   SSI module (see Section "SSI encoder simulation" on page 461) 13.7  MIO option   TWINsync module (see Section "TwinSync" on page 463) 13.8  TwinSync For the encoder types that can be evaluated, see Section "Channel 3: Interface X8 (optional)" on page 78. ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 13  Technology options (X8)

  • Page 460: Second Sincos Encoder

    13  Technology options (X8) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 13.2  Second SinCos encoder 13.3  SinCos encoder NOTE NOTE   For a full description of the “Second SinCos encoder” technology    For a full description of the “SinCos encoder” technology option  option (technical data, connections, configuration), see the  (technical data, connections, configuration), see the “Specification  “Specification Option 2 - Technology, second SinCos encoder” (ID  Option 2 - Technology, SinCos encoder” (ID No.: 1108.21B.x). No.: 1308.21B.x).

  • Page 461: Ttl With Encoder Simulation

    V2.15 or higher: The “Option 2 - Technology, TTL  encoder / TTL encoder simulation Specification” (ID  13.5.1  Parameters No.: 1106.21B.x)   For the ServoOne with hardware version .2 or higher and any SSI encoder simulation is enabled by setting P 2800[0] - TOPT_SSI_Mode to 1. firmware version, as well as theServoOne junior with hardware version .1 or higher and firmware version V1.10 or higher: The  Index Name Unit Description “Option 2 - Technology, TTL encoder simulation / TTL master ...

  • Page 462: Dio Option

    13  Technology options (X8) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 13.6  DIO option 13.7  MIO option NOTE NOTE   For a full description of the "DIO" (digital input/output expansion)    For a full description of the “MIO" (multifunctional input/output  technology option (technical data, connections, configuration),  expansion) technology option (technical data, connections,  see the “Option 2 - Technology, digital input/output expansion  configuration), see the “Option 2 - Technology, multifunctional  (DIO) Specification" (ID No.: 1106.04B.x). input/output expansion (MIO) Specification" (ID No.: 1106.25B.x).

  • Page 463: Twinsync

    13.8  TwinSync NOTE   For a full description of the “TWINsync” technology option  (technical data, connections, configuration), see the “Option 2 -  Technology, TWINsync option Specification” (ID No.: 1106.23B.x). ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 13  Technology options (X8)
  • Page 464 14.1  Device status 14  Device status Chapter overview Pictogram Navigation ►Project tree ►Device setup ►Device status Brief description This chapter describes the options available for viewing the  device status. Contents 14.1  Device status 14.2  Status bits 14.3  Load factor Image 14.1: “Device status” window   ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 14  Device status...

  • Page 465: Status Bits

    14  Device status ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 14.2  Status bits To select various status and control signals for viewing in the oscilloscope or as trigger signals, click on the “Scope signals of Device status ” (at the very top of the window).

  • Page 466: Load Factor

    LU_Timing_Reset   Reset maximal and average timing values 1654 LU_Timing_Total Total computer load 1661   LU_MemoryLoad   SW Memory: Memory Load 1661 LU_Memory Context Save Area 1661 LU_Memory Dynamic program memory total 1661 LU_Memory Dynamic program memory ICODE 1661 LU_Memory Dynamic program memory SCODE Table 14.3: “Device status - Load” parameters ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 14  Device status...
  • Page 467 “Activate manual mode” button, a safety prompt that needs to be confirmed will Brief description This chapter describes the configuration and control options  appear. for the “Manual mode” window. Contents 15.1  Manual mode window 15.2  Manual mode control status Image 15.1: Safety information ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 15  Manual mode...
  • Page 468 15  Manual mode ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Once the safety prompt is confirmed, the “Manual mode” window will be enabled, after which you can select a control mode and configure it for manual operation. Depending on the control mode you selected, one to four configuration tabs will appear:  ...
  • Page 469 Image 15.3: “Manual mode” window (enabled) - Homing tab Image 15.4: “Manual mode” window (enabled) - Jog mode tab ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 15  Manual mode...
  • Page 470 15  Manual mode ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Image 15.5: “Manual mode” window (enabled) - Reversing PG(0) tab Image 15.6: “Manual mode” window (enabled) - Reversing IP(1) tab...

  • Page 471: Manual Mode Control Status

    MPRO_PARA_   Drive commissioning: Type of test signal in  SignalType IP mode Double-clicking on “Manual mode control status” will open a window that will show MPRO_PARA_ Drive commissioning: Watchdog tick the status word for the ServoOne in hexadecimal format. WatchDog MPRO_PARA_Time Drive commissioning: Reverse control timer Index Name Unit Description MPRO_FG_   Factor group: actual speed factor (1/min to ...
  • Page 472 Image 16.1: “Drive controller electronic rating plate” screen The electronic rating plate provides a variety of information concerning the ServoOne, including the device model, serial number, communication and technology options, hardware and software versions, and operating time. This information is also available in the form of parameters.
  • Page 473 16  Drive description ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description DV_DeviceId   Device family/series ID DV_SwVersionVar   Software version variant of device (plain text) DV_DeviceName   Device name / product name   USB_IO_Statistic   Statistic data of USB-IO Infineon driver DV_DeviceAliasName   Application-specific device name alias uReset   Reset statistics data DV_SwVersion   uIntEp0  ...
  • Page 474 Name   Sub parameters name DV_HwPrintSubID   Hardwareprint Sub-ID Unit   Sub parameters unit DV_HwOptionX11ID   ID hardware option on X11 Introduction   Sub parameters short introduction Table 16.3: Parameter “Drive description - Hardware version" Table 16.4: Parameter “Drive description - Interface" ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 16  Drive description...
  • Page 475 16  Drive description ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Index Name Unit Description Index Name Unit Description DataType   Sub parameters data type identification ReadLevel   Essential level for parameter read access DataTypeName   Sub parameters data type name WriteLevel   Essential level for parameter write access Attributes   Sub parameter attributes Attributes   Manufacturer dependent attributes Minimum   Sub parameter minimum value as float32 DisplayAttributes  ...
  • Page 476 Index Name Unit Description PARA_DSC_Groups       PARA_DSC_   List of names of parameter save groups SaveGroups2 PARA_DSC_SaveGroup     PARA_DSC_SaveGroup     PARA_DSC_SaveGroup     Table 16.4: Parameter “Drive description - Interface" (continue) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 16  Drive description...
  • Page 477 17  Enhanced/additional functions ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 17.1  Reloading individual parameters 17  Enhanced/additional functions The parameters P 97 - PARA_DataSetLdCfg, P 98 - PARA_DataSetLdIDand P 99 - PARA_DataSetLdVal provide the option of adapting individual parameter values as Chapter overview needed. Pictogram  ...
  • Page 478 PARA_DataSetLdCfg[4] and P 97 - PARA_DataSetLdCfg[5] and is entered in P 97 - PARA_DataSetLd [3] = ActId. The function is activated by the setting of the parameter P 97 - PARA_DataSetLdCfg [0] Opt = 1. Determining the data set ID ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 17  Enhanced/additional functions...
  • Page 479 17  Enhanced/additional functions ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 17.1.3  Procedure Using P 97 - PARA_DataSetLdCfg[6] - Para_Scale and P 97 - PARA_ DataSetLdCfg[7] - Para_Offset, the parameter value is now first multiplied by Activate the function using: “Para_Scale” and then “Para_Offset” is added. The resulting value is rounded to the nearest integer to obtain the data set ID.
  • Page 480 65535 ßà 8   ßà 9     ßà 10   65535 ßà 11   ßà ... ßà ..     ßà 99   Table 16.6: Functional example ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 17  Enhanced/additional functions...
  • Page 481 17  Enhanced/additional functions ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 17.2  Upload and download of parameter data  Action Assign name for the parameter data set:  sets With byte 0 of P 2010[0] - COM_CFG_ID:  Specifies the name of the parameter data set.  The parameters P 2009[0] - COM_CFG_File and P 2010[0] - COM_CFG_ID can be 0-99 means PDS00...PDS99. used to write the configuration of the drive controller to the file system of the drive Specify options: ...
  • Page 482 With byte 0 of P 2010[0] - COM_CFG_ID: Specifies the name of the data  set to be read.  0-99 means PDS00...PDS99. Specify options:  With byte 1 of P 2010[0] - COM_CFG_ID:  Specification of the options.  Bit 0 = 1: Save the data set permanently to the non-volatile axis controller. Read the parameter data from the file system and write to the device  parameters. P 2009[0] - COM_CFG_File = 19. If everything has worked properly, P 2009[0] - COM_CFG_File is  automatically set to 0 = Ready once again.  If there is an error, P 2009[0] - COM_CFG_File is set to -2 = error.     ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 17  Enhanced/additional functions...
  • Page 483 See Motor, Asynchronous Channel 4 Asynchronous motor I²t monitoring Characteristic Automatic test Saturation Commissioning BiSS 61, 84 Automatic test Signal correction Wizard Common master Compensation Axis correction Control word Detent torque Function selectors ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 18  Index...
  • Page 484 18  Index ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Control 110, See also Torque control; Speed control; Position control Basic setting Deceleration Motor control basic settings Device status Shutdown Digital filter Control location selector Drahtbruch See Wire break monitoring Control word Auto commutation...
  • Page 485 Method (13) Field weakening Method (14) Asynchronous motor 145, 147 Method (15) Synchronous motor 148, 158 Method (16) Fieldbus 455, See also POWERLINK; CANopen; EtherCAT®; SERCOS; PROFIBUS; PROFINET Method (17) to (30) ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 18  Index...
  • Page 486 18  Index ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Method (2) Method (3) Jog mode Method (31) Method (32) Method (33) LHMES(2) method Method (34) Limit switch Method (35) negative Method (4) Limitations Method (5) Jerk Method (6) Position Method (7) to (10)
  • Page 487 IP mode I²t PG mode Synchronous 33, 35 Reference table 269-271 Auto commutation Reference value limitation Linear Setting Electronic data Position controller Third-party Sampling time Multi-turn encoder Position polarity as single-turn encoder ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 18  Index...
  • Page 488 18  Index ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Power-up sequence Reference mark 67-68, 88, 259, 262, 264 Power failure response Increment-coded Power stage Negative Settings Resolver cables POWERLINK Responsibility PRBS signal Restart Pre-control Rigidity Process controller of the drive train...
  • Page 489 Rigidity of the drive train Track signal correction Setting 20, 127 Wire break monitoring 61, 67, 75, 87 Together with position control 111, 142 With linear synchronous motor Speed With setpoint via analogue channel ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 18  Index...
  • Page 490 18  Index ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Speed controller Sampling time Target Group Speed factor Technology options (X8) 78, 81, 459 Speed observer CANopen + 2AO 70, 89 Connections Encoder simulation State machine HIPERFACE DSL® Status bits Status word...
  • Page 491 Pulses per revolution 59, 81 Adaption with commutation signals 78, 80 Defined bandwidth Encoder for 53-55, 100 V/Hz mode Expanded Versions For hydraulic systems 175, 211 Optimization Hardware Software Reference table 269-271 ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 18  Index...
  • Page 492 18  Index ServoOne  - Device Help ID No.: 0842.26B.5-01   Date: 09.2020 Virtual Master Warning status Warning thresholds Warnings Weighting   See also Scaling linear rotary Wire break monitoring 274, 319 Activation Zero pulse 109, 258, 260, 262, 266...
  • Page 493 Czech Republic • Turkey • USA Copyright © 2020 KEBA All rights reserved. The entire contents of this documentation, especially the texts, photos and graphics it contains, are protected by copyright. The copyright is owned by KEBA Industrial Automation Germany GmbH unless specifically marked otherwise.

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