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Mini Motor DBS Series Installation, Use And Maintenance Manual

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Installation, Use and
Maintenance Manual
DBS
Rev 15
*** DBS Firmware ≥ v4.035 ***

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Summary of Contents for Mini Motor DBS Series

  • Page 1 Installation, Use and Maintenance Manual Rev 15 *** DBS Firmware ≥ v4.035 ***...

  • Page 2: Table Of Contents

    Table of contents General information ........................... 5 Introduction ............................5 Safety warnings ..........................5 Storage and Installation Environment ....................5 Transport, installation and wiring ..................... 5 Operation and adjustments ....................... 6 Maintenance and inspection ......................6 UR Requirement (For motor with UR marking) ................. 7 Product checks ...........................
  • Page 3 3.2.3 Event List............................28 3.2.4 Parameter ............................ 28 3.2.5 Monitoring ........................... 30 Parameters ............................... 32 Appl ..............................32 4.1.1 User .............................. 32 4.1.2 Input Output ..........................33 4.1.3 Accelerometer ..........................34 4.1.4 MultiTrq ............................34 4.1.5 MultiSpeed ..........................35 4.1.6 MultiPos ............................
  • Page 4 8.1.12 Cyclic synchronous torque mode .................... 66 Default PDO mapping ........................66 EMCY codes ............................. 67 DBS touch-probe extensions (optional) ..................67 8.4.1 Touch-probe positioning ......................68 8.4.2 Touch-probe modulo positioning ....................69 CanOpen / EtherCAT / PowerLink ......................71 Overview ............................
  • Page 5 11.7 Process data –Layout C ........................97 11.8 Process data – Layout D ........................98 Homing types ............................. 101 12.1 Type 1: Homing on anticlockwise limit switch and index pulse (resolver zero)......101 12.2 Type 2: Homing on clockwise limit switch and index pulse (resolver zero) ......... 101 12.3 Type 3 and 4: homing on the positive Home Switch and Index Pulse (resolver zero) ....

  • Page 6: General Information

    1 - General information 1 General information Introduction Thank you for choosing this product. This document is an integral part of the product, as it contains the procedures and parameters necessary for the assembly, installation, wiring, commissioning and support of the product.

  • Page 7: Operation And Adjustments

    1 - General information For control signal connections longer than 1m, it is recommended to use shielded cables with the shielding connected to an available earth signal; Make sure that the power supply voltage complies with the one on the rating plate; Ensure that there is sufficient ventilation to dissipate the heat produced by the product.

  • Page 8: Ur Requirement (For Motor With Ur Marking)

    1 - General information UR Requirement (For motor with UR marking) For UR compliance this conditions MUST be met Surrounding air temperature range: 0°C 40°C ÷ Use in Pollution degree 3 Environment Must Use an external protection fuse with the following characteristics Motor Size Cathegory Class...
  • Page 9 1 - General information Type Product Name Serial Number DRIVE DRIVE IN DRIVE OUT Voltage Drive Input Voltage [Vdc] Drive output Voltage [VRMS] Current Driver Input Current [A] Drive Output Current [Arms] Stall Cur. Stall Current Freq Drive input frequency Drive output frequency Phases Drive input phases...

  • Page 10: Ur Label

    1 - General information 1.9.2 UR label Figure 2 Type Product Name Serial Number DRIVE DRIVE IN DRIVE OUT Voltage Drive Input Voltage [Vdc] Drive output Voltage [VRMS] Current Driver Input Current [A] Drive Output Current [Arms] Stall Cur. Stall Current Freq Drive input frequency Drive output frequency...

  • Page 11: Product Technical Specification

    1 - General information 1.10 Product technical specification Technical Characteristic DBS55/50/xx DBS55/100/xx Nominal Supply 24Vdc - 48Vdc 48Vdc Voltage Nominal Supply Current 8A@24Vdc - 4A@48Vdc 6,3A Nominal Speed 3000rpm Nominal Torque 0.4Nm 0.75Nm Motor power output 125W 235W Motor rated current 8Arms 6,6Arms Nominal overload...
  • Page 12 1 - General information Technical Characteristic DBS 80/50/--- DBS 80/100/--- Nominal Supply 48Vdc 48Vdc Voltage Nominal Supply Current 9,9A 15,7A Nominal Speed 3000rpm Nominal Torque 1,1Nm Motor power output 345W 630W Motor rated current 12,8Arms 23Arms Nominal overload 150% per 60 secondi PWM Frequency 4/8/12 kHz Sinusoidal Brushless...

  • Page 13: Optionals

    1 - General information 1.11 Optionals Optional features avalaible on the DBS family. If the motor has one or more of this features, their code will appear in the label. Code Functionality Description MilliAmpere Analogic input in current instead of voltage Safety Torque Off Dual 24V line for safety deactivation of the motor Digital Output...

  • Page 14: Torque Speed Characteristic

    1 - General information 1.12 Torque Speed Characteristic Table 2 Table 3 13 / 107...
  • Page 15 1 - General information Table 4 Table 5 14 / 107...

  • Page 16: S3 Service

    1 - General information 1.13 S3 Service Figure 2 The DBS Motor in S3 configuration has an intermittent Duty Cycle S3 10%, meaning:  On Time 1 Minute using up to 200% nominal Torque  Off Time 9 minutes 15 / 107...

  • Page 17: Installation

    2 – Installation 2 Installation Dimensions DBS55 Table 6 DBSE and MCDBS variants and general product drawings and 3D models can be downloaded from the Cadenas’PART Community at the following links:  DBS 55/---/--- https://b2b.partcommunity.com/3d-cad-models/dbs-brushless-servomotors-with-integrated-drive-mini- motor?info=minimotor%2Feuropean_catalog%2Fbrushless%2Fdbs_asmtab.prj&cwid=0774  MCDBS 55/50/--- https://b2b.partcommunity.com/3d-cad-models/mcdbs-brushless-servomotors-with-integrated-drive-and- reduction-gear-mini- motor?info=minimotor%2Feuropean_catalog%2Fbrushless%2Fmcdbs%2Fmcdbs_asmtab.prj&cwid=1313 ...

  • Page 18: Dimensions Dbs 80

    2 – Installation https://b2b.partcommunity.com/3d-cad-models/dbse-brushless-servomotors-with-integrated-drive-and- planetary-reduction-gear-mini- motor?info=minimotor%2Feuropean_catalog%2Fbrushless%2Fdbse_asmtab.prj&cwid=7179 Dimensions DBS 80 Table 7 Electric connections Please note that the device power supply does not have a direct connection with the system earth. WARNING: The Power must be supplied by a stabilized PSU. Protection fuse advised. 17 / 107...

  • Page 19: Power Supply Connector Cn1 - Dbs 55

    2 – Installation Power supply connector CN1 – DBS 55 Descrizione 55/50/---- 55/100/-- Logic GND Power GND From 24 + Power 48Vdc to 48Vdc + Logic From 24 to 48 Vdc Awg 18 cable is recommended for power connection. WARNING: the picture represents the top view of the connector fixed on the motor case.

  • Page 20: I/O Connector Cn2

    2 – Installation I/O connector CN2 Use a shield cable Awg 22 for control connection Description DIN 1 Multifunction digital input 24Vdc pnp max DIN 2 500kHz DIN 3 / S1+ Multifuncti *STO In 1 on digital DIN 4 / S2+ *STO In 2 input24Vdc pnp max...

  • Page 21: Fieldbus Connection

    2 – Installation Fieldbus connection The optional available fieldbuses are:  CanOpen/Modbus RTU defined by “C” in the final part of the product name;  Ethercat defined by “ETH” in the final part of the product name;  Ethernet IP defined by “EIP” in the final part of the product name; ...

  • Page 22: Ethernet Ip (55

    2 – Installation The pin function is the same for CN5 and CN6. CN5 connector --- input CN6 connector --- output CanOpen over EtherCAT Figure 7 Details about Led status are explained on chapter 5.2 2.8.3 Ethernet IP (55/---/EIP) The wirings and LEDs in Figure 12 refer to the Ethernet IP equipped version. The pin function is the same for CN5 and CN6.

  • Page 23: Profinet (55

    2 – Installation The pin function is the same for CN5 and CN6. Connector CN5 = Connector CN6 = SWITCH CN5 connector --- Port A CN6 connector --- Port B Powerlink Figure 9 Details about Led status are explained on chapter 5.4 2.8.5 Profinet (55/---/EPN) The wirings and LEDs in Figure 12 refer to the Profinet equipped version.

  • Page 24: Protective Device Installation

    2 – Installation Protective device installation In order to prevent short circuits, the product must be connected to a power-supply line protected by devices to protect against overcurrent and short circuits, in compliance with electrical safety legislation, using standard fused, disconnect switches, etc. For the installation of a switch up line of the power supply connection, we suggest to use isolating switch with slow blow fuse 20A for model DBS 55/-- and 50A for model DBS80/-- 23 / 107...

  • Page 25: Parametrization Interface

    3 - Parametrization interface 3 Parametrization interface Software installation Download the “BSI software” e “BSI Usb Driver“ at the following link: https://www.minimotor.com/prodotti/dbs/ Extract and run the downloaded files. Follow the installation guide procedure until it is finished. After the download extract the .zip file and run BSI.exe inside the folder (Figure 11). WARNING: this is not an installation file.

  • Page 26: Software

    3 - Parametrization interface Figure 13 Software Figure 14 The Figure 14 rapresents the main screen of BSI software. Following the menu it is possible to act on the motor parameter and to monitor the functional settings. 25 / 107...

  • Page 27: Status

    3 - Parametrization interface 3.2.1 Status Figure 15 Click on “Status” in order to know the motor status, manage the presence of fault and change the software user level. “Change User Level”: use this option in order to change the software user level and have acces to more setting parameters.

  • Page 28: Alarm List

    3 - Parametrization interface 3.2.2 Alarm list Figure 16 By selecting “list” under the “alarm” voice, it is possible to find the alarm history list. “Erase List”: use this command to erase the hole list. “Save”: use this botton to save the list into an external file. 27 / 107...

  • Page 29: Event List

    3 - Parametrization interface 3.2.3 Event List Under the “List” category, selecting the Event list it’s possible to see the history of the motor events. There are non critical events. “Erase List”: attraverso questo comando è possibile cancellare lo storico degli eventi “Save”: grazie a questo comando è...
  • Page 30 3 - Parametrization interface In order to change the value or to select a different voice in one of the parameters, click on modifiy, change the value and then select Update to load the changement Figure 18. Figure 18 When the voice “parameter” is selected in the top of the window there are several usefull option: “Save Param”: allows to save the parameter setting into an external file.

  • Page 31: Monitoring

    3 - Parametrization interface 3.2.5 Monitoring Figure 19 The program BSI is equipped with a tool useful in order to monitor the variables during the motor emplyment. Click on data and select PCCommisioning to see window shown in Figure 19 To activate the control of one or more variables toogle the white square under column “Upd”.
  • Page 32 3 - Parametrization interface Figure 20 The PLOT function, shown in Figure 20, , enables to track values over longer period of time. 31 / 107...

  • Page 33: Parameters

    4 - Parameters 4 Parameters All Parameters are shown at the Advance user level. Appl 4.1.1 User NAME DESCRIPTION NOTE Speed Analog Input Speed Speed, Torque, Position, ModBus + Dig.Input Homing Speed, Torque, Position, ModBus Homing Multispeed Speed Speed, Torque, Position, CanOpen Homing Speed, Torque, Position,...

  • Page 34: Input Output

    4 - Parameters 4.1.2 Input Output NAME DESCRIPTION NOTE Analog [0.0%  100.0%] P004 MinRefAnalog Min analog reference [0.0%  100.0%] P005 MaxRefAnalog Max analog reference 0 Voltage ref input 010 [V] 1 Voltage ref input -1010 [V] 2 Current ref input 020 [mA] P043 AinMode...

  • Page 35: Accelerometer

    4 - Parameters 0b00101 Digital inputs 1 and 3 Active Digital Output Always Off Digital output. Ready P015 OutFunc Defines what activates the motor Error output signal. Target Reached Speed [rpm] Defines the window within the event 0  9999 P064 Torque [mA]...

  • Page 36: Multispeed

    4 - Parameters 4.1.5 MultiSpeed Speed presets for multispeed mode. NAME DESCRIPTION NOTE P110 Multispeed1 P111 Multispeed2 Defines the speed presets for the binary P112 Multispeed3 combinations MultiSpeed mode. P113 Multispeed4 MultiTorque/MultiPosition it works as speed -6000  6000 [rpm] limit for the corresponding profile.

  • Page 37: Fieldbus

    4 - Parameters This function allows to enable or ENABLE disable the homing Example: P168 HomingOffsetLOW Defines the offset value taken into Offset =68000 (dec) = 0x109A0 (hex) account during the homing. P169 = 0x0001 P168=09A0 The value is generated by one Low P169 HomingOffsetHIG Offset = -1000 (dec) FFFFFC18 (hex)

  • Page 38: Motor

    4 - Parameters - Parity bit (None, Odd, Even) 8-O-1 8bit 1bits - Number of stop bits 19.2 Defines the Baudrate for the Modbus P184 ModbusBaudrate 38.4 [Kbaud] protocol communication 57.6 115.2 CanOpen Defines the address (bus node) that 1  127 P191 CanOPEN_Nodeid defines the device.

  • Page 39: Temperature

    4 - Parameters 4.2.1 Temperature NAME DESCRIPTION NOTE Defines the maximum motor temperature. Exceeded this value over temperature alarm appears. P028 MotorTempMAX [°C] This parameter is active only if NTC present on the motor and active. Defines the minimum motor temperature. Exceeded this value over temperature alarm appears.
  • Page 40 4 - Parameters Defines the time after which the 0.5  1800 [s] P212 Trestore autoresettable alarm count is resetted *Changes are applied on reboot of the device 39 / 107...

  • Page 41: Led Status

    5 - LED status 5 LED status LED color and operating modes (flashing / powering mode) depend on the fieldbus expansion Board mounted (i.e. CanOpen, Ethercat, etc). Fieldbus Board CanOpen\Modbus The indication LEDs are three and they are mapped on the drive’s LEDs in the following way: LED mapping on the drive Indication (*) Status...

  • Page 42: Fieldbus Board Ethercat

    5 - LED status Fieldbus Board EtherCAT The indication LEDs are two: RUN/ERR Bicolour LED Run stuats of the EtherCat slave. (Run/Error) Green/Red Error status of the Ethercat slave Red LED Represents the link status ("L", LINK) and Tx / Rx L/A IN ("A", ACT)
  • Page 43 5 - LED status No connection: The device has no link to the Ethernet ON (Green) Connected: The device is linked to the Ethernet, but does not send/receive Ethernet frames. L/A IN FLICKERING (Load dependent, Green) Activity: The device is linked to the Ethernet and sends/receives Ethernet frames.

  • Page 44: Fieldbus Board Ethernet Ip

    5 - LED status Fieldbus Board Ethernet IP The indication LEDs are three: Represents the operating state of the Drive seen as an Bicolour LED (Modul Status) EthernetIP adapter Green/Red Represents the network connection status of the Drive Bicolour LED (Network Status) Ethernet IP Adapter.
  • Page 45 5 - LED status Not powered, no IP address: The device doesn’t have an IP address (or is powered off). Connected: An IP address is configured, at least one CIP connection (any transport class) is established device has at least one established, and an Exclusive Owner connection has not timed out.

  • Page 46: Fieldbus Board Ethernet Powerlink

    5 - Led Fieldbus Board Ethernet PowerLink The indication LEDs are three: Bus status LED Green Bus error LED Red Ethernet Status (Link activity) LED Green and they are mapped on the drive’s LEDs in the following way: LED mapping on the drive Indication (*) Status power:...
  • Page 47 5 - Led No error: Slave has no error. ON (Red) Error: Slave has detected error. No connection: The device has no link to the Ethernet ON (Green) Link: The device is linked to the Ethernet, but does not send/receive Ethernet frames. FLICKERING Activity: The device is linked to the Ethernet and (Green)

  • Page 48: Fieldbus Board Ethernet Profinet Io

    5 - Led Fieldbus Board Ethernet ProfiNet IO The indication LEDs are three: System Failure RED LED Bus Failure RED LED L/RX/TX (Link / RX-TX Activity) Bicolour LED and they are mapped on the drive’s LEDs in the following way: L/RX/TX LED mapping on the drive Indication (*)
  • Page 49 5 - Led Indicator states Definition Constantly on Constantly off FLASHING (1 HZ, 3 S) The indicator turns on and off for 3 seconds with a frequency of 1 Hz: “on” for 500 ms, followed by “off” for 500 ms. FLASHING (2 HZ) The indicator turns on and off with a frequency of 2 Hz: “on”...

  • Page 50: Alarm

    6 - Alarm 6 Alarm NAME DESCRIPTION NONE No alarm USER User alarm DATAFLASH Data flash error OVERVOLT overvoltage autoresettable OVERCURR_HW overcurrent hardware autoresettable OVERCURR_SW overcurrent software autoresettable OVERTEMP_BOARD Board overtemperature autoresettable OVERTEMP_MOTOR Motor overtemperature autoresettable ENC_SPI_COMM encoder SPI communication error autoresettable UNDERVOLT Undervoltage...

  • Page 51: Events

    6 - Alarm Events NAME DESCRIPTION STARTUP System restarted USER User event ACCMAX_REACHED Acceleration Limit reached MOT_SWITCH_ON Motor was switched on by user MOT_SWITCH_OFF Motor was switched off by user MOT_SWITCH_OFF_ALR Motor was switched off by an alarm FBS_LINK_ESTB Fieldbus Link Estableshed FBS_LINK_LOST Fieldbus Link Lost FBS_UPTIME_DSC_VHIGH...

  • Page 52: Modbus Register

    7 – Modbus Register 7 Modbus register Note: Available only in CanOpen/Modbus RTU driver version ( DBS55/---/C) ** Update to DBS55 V4.032 ** Read and write register NAME DESCRIPTION NOTE None Available motor control type Torque Control type RW 16-bit unsigned integer Speed Equivalent to P016 parameter Position...

  • Page 53: Read Only Register

    7 – Modbus Register Torque control Maximum motor current in torque control 0  20000 [mA] Max current RW 16-bit unsigned integer Equivalent to P017 parameter Maximum acceleration in speed/position control 1  15000 [rpm/s] acceleration RW 16-bit unsigned integer Equivalent to P008 parameter Maximum deceleration in speed/position control...
  • Page 54 7 – Modbus Register Shows the rotating direction of the 0 Forward motor Motor direction 1 Reverse R 16-bit signed integer Analog input R 16-bit signed integer value Board Shows the board temperature temperature [0.1°C] R 16-bit signed integer Sensor 1 Board Shows the board temperature temperature...

  • Page 55: Homing Register

    7 – Modbus Register 4 DECEL PWM on with deceleration control 5 STEADY PWM on with non-zero speed control 6 STOPPING PWM with deceleration until zero speed Indicates the drive status. Homing register NOME DESCRIZIONE NOTE Defines the homing type according to the CanOpen CIA402 standard.
  • Page 56 7 – Modbus Register Defines the time limit to the data exchange during the homing procedure. If this limit is exceeded an error signal is Homing max generated time out Equivalent to P157 parameter RW 16-bit unsigned integer Defines the current limit during the homing procedure.

  • Page 57: Cia402 - Servodrive Application Profile

    8 – Cia402 Application Profile 8 CiA402 – Servodrive application profile 8.1.1 Supported modes The following mode of operations are supported by the servodrive implementation Mode of operation encoding PROFILE POSITION MODE PROFILE VELOCITY MODE PROFILE TORQUE MODE HOMING MODE INTERP.
  • Page 58 8 – Cia402 Application Profile The common bits (fr/eo/qs/ev/so) provide state transitions: Bit 8 (h) provide halt function which behaviour is operation mode specific. Operation specific bits are summarized in the next table 6040h Profile Profile Profile Homing Interp. position velocity torque bit4...
  • Page 59 8 – Cia402 Application Profile The encoding of standard bits (sod/qs/f/oe/so/rtso) is defined in the following table: bit 4 = ve: is set if power 24V voltage is supplied. bit7 = w: is not used bit9 = rm: is always set Operation specific bits are summarized in the next table 6041h Profile...

  • Page 60: Position/Speed/Torque Scaling

    8 – Cia402 Application Profile In the following image you can see a more graphical representation of both the Control word and Status Word various bits. 8.1.3 Position/speed/torque scaling Position scaling is managed using a manufacturer specific mechanism. By changing servodrive parameters is possible to set the relation from position pulses and “position units”...

  • Page 61: Profile Position

    8 – Cia402 Application Profile Furthermore, is possible to set the polarity of the position and the speed information; the position scaling is not accessible via CanOPEN but the position scaling defined via parameter is applied to all position objects that are specified as “Position units”.
  • Page 62 8 – Cia402 Application Profile  Halt option code (605Dh): halt will always happen using profile deceleration  Position range objects (607B): positioning will always happen inside the range given by Position limit objects, position wrap is not possible  End velocity is always zero rpm (6082h) ...

  • Page 63: Profile Velocity

    8 – Cia402 Application Profile 8.1.5 Profile velocity Optional feature NOT IMPLEMENTED:  Sensor code (6069h); the velocity is derived from the position information  Sensor selector code (606Ah); position sensor cannot be selected  Max slippage (60F8h) is not implemented since the max slippage control does not make sense for servodrive ...

  • Page 64: Profile Torque

    8 – Cia402 Application Profile 8.1.6 Profile torque Optional feature NOT IMPLEMENTED:  Torque profile type (6088h) is not supported, profile is always torque-trapezoidal 8.1.7 Homing Implemented homing types:  Negative/positive switches (1, 2)  Home + index (3,4,5,6)  Home on the right + index (7,8,9,10) ...

  • Page 65: Interpolated Mode (Optional)

    8 – Cia402 Application Profile Touch-probe function 60B8h bit 2..3 and 6..15 are reserved and should be left to zero. Touch-probe status 60B9h bit 3..15 are not used and will be read as zero. Operation: 1. Touch-probe is armed via Bit0 of Function; capture can happen on first event or continuously (Bit1 of Function) and on rising or falling edge of the DIN1 input.

  • Page 66: Cyclic Synchronous Position Mode (Optional) - Only On Ethercat/Powerlink

    8 – Cia402 Application Profile SYNC SYNC SYNC SYNC time time time time Send PdoRx Send PdoRx Send PdoRx Setpoint(K+2) Setpoint(K+3) Setpoint(K+1) MASTER Compute: Compute Compute Setpoint(K+1) Setpoint (K+2) Setpoint (K+3) Comunication deadline PosError(K-2) PosError(K-1) PosError(K) Setpoint(K+1) to slave Comunication deadline Measure(K-1) to master PdoTx PdoTx...

  • Page 67: Cyclic Synchronous Velocity Mode

    8 – Cia402 Application Profile Figure 22 Using the offset objects, master can give feedforward actions in the inner loops of the servodrive allowing, for example, load torque compensation. The following optional functionalities are not supported in the CSP implementation: ...

  • Page 68: Emcy Codes

    8 – Cia402 Application Profile • 3010h: tension value • 6061h: mode of operation display Trasm type: 255 + event time 100ms PDOTX3 COB-ID: 0380h + NODEID – Disabled by default PDOTX4 COB-ID: 0480h + NODEID – Disabled by default EMCY codes The following table summarizes the emergency codes emitted by the servodrive whenever an alarm is detected.

  • Page 69: Touch-Probe Positioning

    8 – Cia402 Application Profile The DBS family provide some extension to the standard touch probe mechanism. 8.4.1 Touch-probe positioning This function allows to modify on the fly the trajectory of the on-going positioning in order to reach the position related to the touch-probe event. This function is available when profile position is active. The touch-probe positioning allows the following operation: ...

  • Page 70: Touch-Probe Modulo Positioning

    8 – Cia402 Application Profile 8.4.2 Touch-probe modulo positioning This function is similar to the previous but allows to manage positioning by means of “modulo” position. This allows for example to deal with circular axis where the same point can be reached in a given position P1, in the next modulo P1+MOD, after two modulo P1+2*MOD etc.
  • Page 71 8 – Cia402 Application Profile Is worth noting that depending on kinematic constraints (profile velocity, acceleration, deceleration), the position that can be reached without inverting the direction could be farther than the position in the next modulo. This example clarifies the scenario: ...

  • Page 72: Canopen / Ethercat / Powerlink

    9 – CanoOpen/ECAT/Powerlink 9 CanOpen / EtherCAT / PowerLink Note: available only for drivers equipped with CanOpen/Modbus RTU, CanOpen over EtherCAT or Ethernet PowerLink. (DBS55/---/C; DBS55/---/ETH; DBS55/---/EPL). Overview The present document describes the adherence of the Minimotor stack to the following specification: CanOPEN ...

  • Page 73: Time Protocol

    9 – CanoOpen/ECAT/Powerlink 9.2.3 TIME protocol The time protocol is NOT supported. 9.2.4 PDO protocol The implementation supports up to 4 Pdo TX and 4 Pdo RX; each object can map up to 8 objects; mapping can be done only using the whole size of the object (i.e. is not possible to map 8 bit of a 32 bit object). The following transmit type are implemented for PDO TX: Trasmission type PDO is emitted when changes after SYNC is received...

  • Page 74: Object Dictionary

    9 – CanoOpen/ECAT/Powerlink Object dictionary Object dictionary is divided in the following sections: Range oggetti Funzioni 1000h ... 1FFFh Communication profile area 2000h ... 21FFh Manufactor parameter area 3000h ... 3FFFh Manufactor specific object area 6000h ... 67FFh Profiled objects Other areas are unused;...

  • Page 75: Manufacturer Parameter Area

    9 – CanoOpen/ECAT/Powerlink 1C0C DLL_CnLossSoC_REC 1C0D DLL_CnLossSoA REC 1C0E DLL_CnSpCJitter REC 1C0F DLL_CnCRCError REC 1C10 Sync manager 0 config 1C11 Sync manager 1 config 1C12 Sync manager 2 config Sync manager 3 config (*2) 1C13 DLL_CnSocJitterRange (*2) 1C14 DLL_CnLossOfSocTolerance 1C32 Output sync parameters 1C33 Input sync parameters...

  • Page 76: Manufacturer Specific Area

    9 – CanoOpen/ECAT/Powerlink 9.3.3 Manufacturer specific area This area contains several object that allows to read/write manufacturer specific data. Index Access Data type mappable Ain0 value 3000 INT16 -32768 ... 32768 Digital input bit0: digital input0 bit1: digital input1 bit2: 3001 UINT16 digital input2 bit3:...

  • Page 77: Profiled Objects

    9 – CanoOpen/ECAT/Powerlink 3035 Acceleration dc y (milli-G) UINT16 3036 Acceleration dc z (milli-G) UINT16 3037 Istantaneous Acceleration x (milli-G) INT16 3038 Istantaneous Acceleration y (milli-G) INt16 3039 Istantaneous Acceleration z (milli-G) INT16 9.3.4 Profiled objects The range 6000h ... 67FFh of objects are defined as specified by CiA402; refer to the application area for further information.
  • Page 78 9 – CanoOpen/ECAT/Powerlink 606E Velocity window time 606F Velocity threshold 6070 Velocity threshold time 6071 Target torque 6072 Max torque 6073 Max current 6074 Torque demand value 6075 Motor rated current 6076 Motor rated torque 6077 Torque actual value 6078 Current actual value 6079 Dclink voltage...
  • Page 79 9 – CanoOpen/ECAT/Powerlink 6099 Homing speed 6099.0 – number of subidx (2) 6099.1 – Switch speed 6099.2 – Index speed 609A Homing acceleration 60B0 Position offset 60B1 Velocity offset 60B2 Torque offset 60B8 Touch-probe function 60B9 Touch-probe status 60BA Touch-probe positive edge latched position 60BB Touch-probe negative edge latched position 60C0...

  • Page 80: Ethernet Ip

    10 - EthernetIP 10 Ethernet IP Note: available only for drivers equipped with Ethernet IP optional board (55/---/EIP). 10.1 Overview This document outline the conformance of the Ethernet/IP and CIP stack implemented in the servodrive; the following documents applies except otherwise stated: •...

  • Page 81: Com Object - 0X64

    10 - EthernetIP 10.2.1 COM object – 0x64 Instance Attribute ID Name Data Type Unit meas. Access 0x01 Revision UINT 0x01 Software edition UINT 0x02 Software CRC UDINT Save parameters 0x10 NOTE: to save parameter, value UDINT 0x65766173 should be written 10.2.2 PAR object –...

  • Page 82: Misc Object - 0X66

    10 - EthernetIP 10.2.3 MISC object – 0x66 Instance Attribute ID Name Data Type Unit meas. Access 0x01 Revision UINT 0x00 Analog input 0 UINT 0x01 Digital inputs UINT 0x02 Digital outputs UINT 0x03 Heatsink temperature UINT 0.1 °C 0x30 0x05 Board temperature UINT...
  • Page 83 10 - EthernetIP thousand-th 0x71 Target torque of rated thousand-th 0x72 Max torque of rated thousand-th 0x73 Max current of rated 0x75 Motor rated current DINT milliA 0x76 Motor rated torque DINT milliNm thousand-th 0x77 Torque actual value of rated thousand-th 0x78 Current actual value...

  • Page 84: Process Data

    10 - EthernetIP 10.3 Process data *** DBS55 firmware referenced by this document: v4.032 *** There are four possible configuration of the Ethernet IP process data.  Default: the standard process data implementing the profile velocity/torque/position/homing  A: Standard process data with the possibility to read Digital and Analog inputs and command via fieldbus the Digital Out.

  • Page 85: Layout A

    10 - EthernetIP see Dsp402  Assembly 0x65 (Target to Originator, DBS55 outputs - PLC inputs) Assembly length : 20bytes Offset Type Attribute Class Instance Attribute Default Meaning 0x00 StatusWord 0x67 0x60 0x41 0250h see Dsp402 0x02 PositionActualValue 0x67 0x60 0x64 position units 0x06...
  • Page 86 10 - EthernetIP 0x1C PositionLimit.Neg 0x67 0x60 0x7D.1 -2147483648 position units 0x20 PositionLimit.Pos 0x67 0x60 0x7D.2 +2147483647 position units 0x24 HomingOffset 0x67 0x60 0x7C position units SetQuota 0x28 HomingMethod 0x67 0x60 0x98 see Dsp402 0x29 Padding Byte bit0: DOUT1 bit1..15: not used 0x2A Digital output 0x67...

  • Page 87: Layout B

    10 - EthernetIP 10.6 Layout B The configuration for process data is the following:  Assembly 0x64 (Originator to Target, DBS55 inputs - PLC outputs) Assembly length : 50bytes Offset Type Attribute Class Instance Attribute Default Meaning 0x00 ControlWord 0x67 0x60 0x40 0000h...

  • Page 88: Layout C

    10 - EthernetIP  Assembly 0x65 (Target to Originator, DBS55 outputs - PLC inputs) Assembly length : 40bytes Offset Type Attribute Class Instance Attribute Default Meaning 0x00 StatusWord 0x67 0x60 0x41 0250h see Dsp402 0x02 PositionActualValue 0x67 0x60 0x64 position units 0x06 TorqueActualValue 0x67...
  • Page 89 10 - EthernetIP 0x06 TorqueLimit 0x67 0x60 0x72 1000 x 0.1% Trq 0x08 TargetVelocity 0x67 0x60 0xFF 0x0C TargetTorque 0x67 0x60 0x71 x 0.1% Trq ProfilePosition 0x0E ModeOfOperation 0x67 0x60 0x60 see Dsp402 0x0F Padding Byte 0x10 ProfileVelocity 0x67 0x60 0x81 +3000 0x14...

  • Page 90: Layout D

    10 - EthernetIP 0x08 VelocityActualValue 0x67 0x60 0x6C 0x0C VDclink 0x67 0x30 0x10 x 0.1V 0x0E ModeOfOperation 0x67 0x60 0x60 see Dsp402 0x0F Padding Byte see DBS 0x10 ActualAlarm 0x67 0x30 0x08 Manual -32768 ... 0x12 Analog Input 0x67 0x30 0x00 32767 Bit0: DIN1...
  • Page 91 10 - EthernetIP 0x20 PositionLimit.Pos 0x67 0x60 0x7D.2 +2147483647 position units 0x24 HomingOffset 0x67 0x60 0x7C position units SetQuota 0x28 HomingMethod 0x67 0x60 0x98 see Dsp402 0x29 Padding Byte bit0: DOUT1 bit1..15: not used 0x2A Digital output 0x67 0x30 0x02 Note: P015=10 required for fieldbus operation...
  • Page 92 10 - EthernetIP Acceleration rms x 0X16 0x67 0x30 0x31 (milli-G) Acceleration rms y 0x18 0x67 0x30 0x32 (milli-G) Acceleration rms z 0x1A 0x67 0x30 0x33 (milli-G) 91 / 107...

  • Page 93: Profinet

    11 – Profinet 11 ProfiNET Note: available only for drivers equipped with ProfiNET optional board (55/---/EPN). 11.1 Overview This document outline the details of the Profinet implementation for Minimotor DBS55 integrated servomotor. By enabling Profinet/DSP402 “reference mode”, the servodrive is commanded by means of CanOPEN DSP402 state machine and profiles.
  • Page 94 11 – Profinet 0x0F ** not used ** 0x10 ActualAlarm 3008h.0 see alarm table  PLC Outputs (42byte) Offset Type Attribute CIA402 object Default Meaning 0x00 ControlWord 6040h.0 0000h see Cia402 0x02 TargetPosition 607Ah.0 position units 0x06 TorqueLimit 6073h.0 1000 x 0.1% Trq 0x08 TargetVelocity...

  • Page 95: Process Data - Layout A

    11 – Profinet 11.5 Process data – Layout A  PLC Inputs (22byte) Offset Type Attribute CIA402 object Default Meaning 0x00 StatusWord 6041h.0 0250h see Cia402 0x02 PositionActualValue 6064h.0 position units 0x06 TorqueActualValue 6077h.0 x 0.1% Trq 0x08 VelocityActualValue 606Ch.0 0x0C VDclink 3010h.0...

  • Page 96: Process Data - Layout B

    11 – Profinet 0x14 ProfileAcc 6083h.0 P008 rpm/s 0x18 ProfileDec 6084h.0 P009 rpm/s 0x1C Negative Pos Limit 607Dh.1 -2^31 position units 0x20 Positive Pos Limit 607Dh.2 +2^31-1 position units 0x24 Homing offset 607Ch.0 position units 0x28 Homing method 6098h.0 see Cia402 0x29 ** not used ** bit0: DOUT1...
  • Page 97 11 – Profinet TouchProbe rising edge 0x18 60BAh.0 position units position TouchProbe falling 0x1C 60BBh.0 position units edge position  PLC Outputs (46byte) Offset Type Attribute CIA402 object Default Meaning 0x00 ControlWord 6040h.0 0000h see Cia402 0x02 TargetPosition 607Ah.0 pulses 0x06 TorqueLimit 6073h.0...

  • Page 98: Process Data -Layout C

    11 – Profinet 11.7 Process data –Layout C  PLC Inputs (22byte) Offset Type Attribute CIA402 object Default Meaning 0x00 StatusWord 6041h.0 0250h see Cia402 0x02 PositionActualValue 6064h.0 position units 0x06 TorqueActualValue 6077h.0 x 0.1% Trq 0x08 VelocityActualValue 606Ch.0 0x0C VDclink 3010h.0 x 0.1V...

  • Page 99: Process Data - Layout D

    11 – Profinet 0x14 ProfileAcc 6083h.0 P008 rpm/s 0x18 ProfileDec 6084h.0 P009 rpm/s 0x1C Negative Pos Limit 607Dh.1 -2^31 position units 0x20 Positive Pos Limit 607Dh.2 +2^31-1 position units 0x24 Homing offset 607Ch.0 position units 0x28 Homing method 6098h.0 see Cia402 0x29 ** not used ** bit0: DOUT1...
  • Page 100 11 – Profinet Bit0: DIN1 Bit1: DIN2 Bit2: DIN3 0x14 Digital Input 0x67 0x30 0x01 Bit3: DIN4 Bit4: DIN5 Bit5..15: not used Acceleration rms x 0X16 0x67 0x30 0x31 (milli-G) Acceleration rms y 0x18 0x67 0x30 0x32 (milli-G) Acceleration rms z 0x1A 0x67 0x30...
  • Page 101 11 – Profinet see Dsp402 0x29 ** not used ** bit0: DOUT1 bit1..15: not used 0x2A Digital output 0x67 0x30 0x02 Note: P015=10 required for fieldbus operation 100 / 107...

  • Page 102: Homing Types

    12 - Homing types 12 Homing types Note: available only for drivers equipped with CanOpen/Modbus RTU optional board. 12.1 Type 1: Homing on anticlockwise limit switch and index pulse (resolver zero). The initial direction of movement is anticlockwise towards the (anticlockwise) limit switch if this is inactive. The reference (home) position is on the first index pulse (resolver zero) to the right of the anticlockwise limit switch, when the value on the latter switches to low.

  • Page 103: Type 3 And 4: Homing On The Positive Home Switch And Index Pulse (Resolver Zero)

    12 - Homing types 12.3 Type 3 and 4: homing on the positive Home Switch and Index Pulse (resolver zero) The initial direction of movement depends on the state of the home switch. The reference (home) position is on the index pulse (resolver zero) to the left (type 4) or right (type 3) of the switching point of the home switch.

  • Page 104: Type 5 And 6: Homing On The Negative Home Switch And Index Pulse (Resolver Zero)

    12 - Homing types 12.4 Type 5 and 6: homing on the negative Home Switch and Index Pulse (resolver zero) The initial direction of movement depends on the state of the home switch. The reference (home) position is on the index pulse (resolver zero) to the left (type 6) or right (type 5) of the switching point of the home switch.

  • Page 105: Type 7, 8, 9, 10, 11, 12, 13, 14: Homing On The Home Switch And Index Pulse (Resolver Zero)

    12 - Homing types 12.5 Type 7, 8, 9, 10, 11, 12, 13, 14: homing on the Home Switch and Index Pulse (resolver zero) The initial direction of movement is clockwise for types 7 to 10 and anticlockwise for types 11 to 14, except when the Home Switch is high at the beginning of movement.

  • Page 106: Types 33 And 34: Homing On Index Pulse (Resolver Zero)

    12 - Homing types Index Pulse Home Switch Ccw Limit Switch Figure 28 12.6 Types 33 and 34: Homing on Index Pulse (resolver zero). Index Pulse Figure 29 With Homing type 33, initial motion direction is counter clockwise; vice versa, with type 34 it is clockwise. The reference position (Home Position) is on the first Index Pulse (resolver zero) found in the direction selected.

  • Page 107: Warranty Conditions

    13 - Warranty Conditions 13 Warranty Conditions We recommend reading this document closely and ensuring you have understood it before purchasing the product. Contact the manufacturer directly with any queries. The manufacturer guarantees its products from defects in materials and/or workmanship for a period of twelve (12) months (unless otherwise specified in contractual documentation) from the date of delivery.

  • Page 108: Disclaimer

    14 - Disclaimer 14 Disclaimer The manufacturer shall not be liable:  For determining the suitability of the product to meet the customer's needs; this shall remain the responsibility of the customer themselves  For the use of this product as a safety device for machinery which represents a hazard to persons or property ...

  • Page 109: Appendix A - Wirings

    Appendix A - Wirings APPENDIX A - Wirings A.1 – Analogic Input The analogic input on CN2 can be used for different funcation. One of which is to be a torque or velocity setpoint for the DBS drive to follow in busless command. The input configuration must be selected with the P034 parameters from BSI software.

  • Page 110: Collegamento -10V÷+10V

    Appendix A - Wirings A.1.2 Collegamento -10V÷+10V A command between -10 V and + 10V is typical of PLC output. It’s useful when commanding both velocity direction without a direction command. PLC Analog ±10V Output -REF +REF A.1.2 Collegamento 4-20mA The current analogue digital input is motor custom feature to be requested explicitally during the order phase.

  • Page 111: Appendix B - Fieldbus Examples

    Appendix B – Program examples APPENDIX B – Fieldbus Examples The DBS Products supports 6 Fieldbuses: CanOpen, Modbus, Profinet, PowerLink, EthernetIP, and EtherCAT. This makes it usable on a wide ranges of PLCs manufacturers. You can download some application and demo example programs from the following links: ...

  • Page 112: Appendix C - Piv Tuning

    Appendix C – PI tuning APPENDIX C – PIV tuning Minimotor DBS Servomotor has an internal PIV controller, which can be regolated by the end user. This tuning can be done with our BSI software, changing parameters P237, P238, P253. Using the fieldbus uoi can access the same parameters using the acyclic communication or SDO, at the 20EDh,20EEh, 20FDh addresses.
  • Page 113 Appendix C – PI tuning DBS default values are fine for most applications, but in some cases some manual tuning is required. Positioning Stable - Non stable 50000 45000 40000 35000 30000 25000 20000 15000 10000 5000 Stable Position Non stable position Instability can lead to strong oscillations, which can cause non controllable motion from the machine.
  • Page 114 Appendix C – PI tuning The control system can be bandwidth starved in some application. To increase it, decrease the P252 parameter, the speed filter time costant. This will increase bandwith and by tuning the gain properly it enables the desired behaviour to be reached over more demanding applications.

  • Page 115: Appendix D - Accelerometer

    Appendix D – Accelerometer APPENDIX D – Accelerometer The DBS product family has an 3-axis MEMS accelerometer on board. Its job is to monitor vibrations on the servomotor. This monitoring enables the possibility of predictive maintenance on the servomotor and the machine intself. Its main technical characteristics are: ...

  • Page 116: General Knowledge On Vibrations

    Appendix D – Accelerometer General knowledge on Vibrations The DBS family accelerometer output data is in the time domain. You can derive different characteristics from it.  Peak-to-peak: it indicates the wave maximum excursion, connected to the severity of the mechanical stress or the mechanical backlash.
  • Page 117 Appendix D – Accelerometer Figure 1 - DBS at 3000 rpm (50 hz) The analysis of the vibration spectrum is complex and different from application to application. It’s outside the scope of this manual to give a complete guide on how to analyze the vibration spectrum. Sampling The most important element to have a good data acquisition is to corretlcy choose the data sampling rate.
  • Page 118 Mini Motor S.p.a. Via E.Fermi, 5 42011 Bagnolo in Piano (RE), Italy Tel. +39 0522 951889 Fax. +39 0522 952610 info@minimotor.com www.minimotor.com...

This manual is also suitable for:

Dbs 55/50Dbs 55/100

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