KEB COMBIVERT F6 Programming Manual
  1. Manuals
  2. Brands
  3. KEB Manuals
  4. Servo Drives
  5. COMBIVERT F6
  6. Programming manual

KEB COMBIVERT F6 Programming Manual

Hide thumbs Also See for COMBIVERT F6:
1
2
3
4
Table Of Contents
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
Table of Contents

Advertisement

Quick Links

COMBIVERT F6/S6
PROGRAMMING MANUAL
| Control
Applikation / Compact / Pro – V3.0
Translation of the original manual
Document 20294260 EN 00

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the COMBIVERT F6 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for KEB COMBIVERT F6

Summary of Contents for KEB COMBIVERT F6

  • Page 1 COMBIVERT F6/S6 PROGRAMMING MANUAL | Control Applikation / Compact / Pro – V3.0 Translation of the original manual Document 20294260 EN 00...
  • Page 2 © 2022 KEB Automation KG...

  • Page 3: Preface

    The hardware and software described in this ducument are products of KEB. The infor- mation contained in this document is valid at the time of publishing. KEB reserves the right to update this document in response to misprints, mistakes or technical changes.

  • Page 4: Laws And Guidelines

    Laws and guidelines Laws and guidelines KEB Automation KG confirms with the EC declaration of conformity and the CE mark on the device nameplate that our device complies with the essential safety requirements. The CE mark is located on the name plate. The EU declaration of conformity can be...

  • Page 5: Table Of Contents

    Overtemperature unit (OHI) ....................64 Overtemperature motor (dOH) ..................65 Motor protection switch OH2 ..................... 68 Fieldbus watchdog ......................72 Maximum current ......................73 Effective motor load ......................74 Maximum acceleration or deceleration ................75 © 2022 KEB Automation KG...
  • Page 6 Overview of the ru parameters ..................189 Speed displays ......................193 Position displays......................195 DC link displays ......................196 Current displays ......................196 Torque displays......................196 Power/Energy Displays ....................197 Status displays ......................198 ru75 global drive state ..................... 198 © 2022 KEB Automation KG...
  • Page 7 Control mode (with encoder / encoderless) ..............335 Model control (ASM and SM) ..................345 DC link voltage compensation ..................357 Identification ........................358 Deadtime compensation ....................367 Switching frequency adjustment and derating ..............372 Interrupt structure of the software ................... 374 © 2022 KEB Automation KG...
  • Page 8 Variable operands (not available for compact cards) ............. 461 Generation of the linked function blocks ................. 462 Generation of the internal outputs................... 463 Inversion of the digital output state ................. 465 Overcurrent of the digital outputs ..................465 Analog inputs ........................ 466 © 2022 KEB Automation KG...
  • Page 9 9 Object directory ................487 Glossary ......................... 487 Display of parameters in COMBIVIS 6 ................ 488 For information on how to connect to the different object dictionaries on a KEB device, see chapter 9.5 ..........................488 Communication in this manual ..................489 KEB specific parameters and standard - conform parameters ........
  • Page 10 Copyright 10.3 Fieldbus interface ......................509 General information about the fieldbus interface ............509 Use of KEB diagnostic tools via the fieldbus interface ........... 509 10.4 COMBIVIS 6 process data assistant ................510 Process data assistant for VARAN ................. 510 Process data assistant for EtherCAT ................
  • Page 11 Figure 50: Cyclic synchronous position mode ................164 Figure 51: Example interpolation ....................165 Figure 52: Position precontrol ...................... 167 Figure 53: Cyclic synchronous velocity mode - principle ............. 168 Figure 54: Cyclic synchronous velocity mode ................169 © 2022 KEB Automation KG...
  • Page 12 Figure 109: Torque limit in the lower speed range ............... 412 Figure 110: Position control overview ..................416 Figure 111: KP reduction in the position controller ..............420 Figure 112: Structure position / speed control ................422 © 2022 KEB Automation KG...
  • Page 13 Table 3-1: Used terms and abbreviations ..................19 Table 4-1: Overvoltage level ......................82 Table 4-2: Permanent damage due to overvoltage ................ 82 Table 4-3: Switching threshold for braking transistor ..............117 Table 6-1: Selection of tested encoders..................224 © 2022 KEB Automation KG...

  • Page 14: Basic Safety Instructions

    ➢ Read all parts of the instructions for use! ➢ Observe the safety and warning instructions! ➢ If anything is unclear, please contact KEB! Target group This part of the instructions for use is intended exclusively for persons in design and development who are entrusted with the design and programming of applica- tions.

  • Page 15: Validity Of This Manual

    Is only valid in connection with the instruction manual Contains safety-related supplements and requirements for opera- tion in safety-related applications Contains references to standards that must also be observed The safety manual only applies to inverters with certification © 2022 KEB Automation KG...

  • Page 16: Electrical Connection

    ➢ Securing a unit solely with software-supported functions is not suffi- cient. It is imperative to install external protective measures (e.g. limit switch) that are independent of the drive controller. ➢ Secure motors against automatic restart. © 2022 KEB Automation KG...

  • Page 17: Product Description

    Product features 3 Product Description Product features This manual describes the parameterization of the • Device series: COMBIVERT F6 / S6 • Hardware: Control board C(ompact) Control board A(pplication) Control board P(ro) • Software: Version 3.0 Functional overview • Operation of asynchronous and synchronous machines •...

  • Page 18: Used Terms And Abbreviations

    IP xx Degree of protection (xx for level) Node address (Also Node ID) Describes in this document the identification number with which a KEB device is addressed via the KEB own protocol DIN66019. Silicon temperature sensor (polarised) LW heat exchanger...

  • Page 19: Table 3-1: Used Terms And Abbreviations

    Term used in the safety technology (EN 61508-1…7) for the size of error probability per hour Synchronous sensorless closed loop. Operation with synchronous motor model without encoder Table 3-1: Used terms and abbreviations © 2022 KEB Automation KG...

  • Page 20: Motion Control

    24V control voltage applied; voltage power unit can be applied. Voltage power unit applied; no torque at the motor Voltage power unit applied; torque can be applied (flux build-up, speed search etc.) Torque at the motor 1fghfh Figure 1: State machine © 2022 KEB Automation KG...
  • Page 21 / Endless protection active is set. (For a more detailed description of the individual states, see chapter If the minimum off time of the unit is up, the drive changes into state Start opera- tion active. © 2022 KEB Automation KG...
  • Page 22 Fault: State Fault is reached when: • The error response is completed. shutdown operation active State shutdown operation active is reached when: • Bit switch on is reset in state Operation enabled. © 2022 KEB Automation KG...

  • Page 23: Changes Of The State Machine

    = „0: disable drive function“ set as direct shutdown (shutdown option code = „0: direct“). or co32 state machine properties Mode shutdown mode Removal of bit 1 enable voltage always leads to an immediate shutdown of the modulation. © 2022 KEB Automation KG...

  • Page 24: Control Word

    Operation mode specific • combined handling of controlword bits and digital input functions Manufacturer specific, currently supported function: • Open brake 1 => Opening of the motor brake (depending on co21 brake con- trol mode © 2022 KEB Automation KG...
  • Page 25 The effective controlword can be changed by the protection functions. (see chapter 4.3.1.2.2 Error reaction) st14 active controlword displays the controlword that results after evaluation of the stop reactions. This control word is decisive for the behaviour of the state machine. © 2022 KEB Automation KG...

  • Page 26: Statusword

    13 Following error at active position controller Manufacturer specific => Special function (Power Off, Suppressed manufacturer spec. 14 Error) active manufacturer spec. 15 Braking state (=> Chapter 4.2.7 Status of the brake control) © 2022 KEB Automation KG...

  • Page 27: Display Of The Actual State

    Display of the actual state The current state of the state machine can be read out directly. Index Id-Text Name Note actual state of the state machine (KEB spec. object)ob- 0x210C st12 state machine display ject) 0x210D st13 state and error display...

  • Page 28: Affect The Behaviour Of The State Machine

    Affect the behaviour of the state machine The behaviour of the state machine can be affected via parameter co32 state ma- chine properties. Index Id-Text Name Function 0x2520 co32 state machine properties KEB spec. Object © 2022 KEB Automation KG...
  • Page 29 4.8.2.3 Controlword in the velocity mode If the fault response ramp is used for Shutdown, Disable operation or Quickstop, also the variable change of the torque limit can be used via co61. © 2022 KEB Automation KG...

  • Page 30: Brake Control

    The max. permissible current for the brake is 2A. If a fault current is exceeded, error 68 "ERROR" overcurrent brake is triggered. The response threshold of the error is between 2.5A and 4A. Thus the brake control is short-circuit protected. © 2022 KEB Automation KG...

  • Page 31: Functionality

    The deceleration times are used in the second function block and out of it the con- trol signal of the brake (Sig) and the assumed brake condition (Val) are generated. These values can be displayed via the st04 brake ctrl status. 1fghfh Figure 2: Function brake control © 2022 KEB Automation KG...

  • Page 32: Characteristics Of The Brake Control

    (Ref) always to 1. At mode = 3 value (Cmd) of the state machine is used, 0 in bit 15 of the control word sets the setpoint (Ref) always to 0. © 2022 KEB Automation KG...
  • Page 33 ➢ If you know the exact load torque, you can achieve best results with pre torque, without movement when opening the brake. ➢ 5-Step or Hf-Detect are suitable methods for the rotor position detection when the holding brake is closed; cvv is unsuitable when the brake is closed. © 2022 KEB Automation KG...
  • Page 34 A power-on is required after changing these settings. Control type F6-A / S6-A with safety module type 3: The complete configuration of the safe brake control occurs via the special editor for the KEB safety module. © 2022 KEB Automation KG...

  • Page 35: Influence Of The Brake Control On The State Machine

    Waiting time of Sig↓ to Val↓ Status of the brake control The status of the brake control can be displayed via the following object: Index Id-Text Name Function 0x2104 st04 brake ctrl status Status of the brake control © 2022 KEB Automation KG...
  • Page 36 10ms. Control type K: 1 means that the brake output has been activated (brake open). The statusword bit displays only the state of the switch, the 24V supply of the brake is not monitored. © 2022 KEB Automation KG...

  • Page 37: Errors And Warnings

    0x1000 reset E. motorprotection Error motor protection function can be reset 0x1000 Temperature sensor in the motor (e.g. PTC or KTY) ERROR drive overheat 0x4310 has triggered reset ERROR drive overheat Overtemperature motor decreased 0x4310 © 2022 KEB Automation KG...
  • Page 38 / de27) 0x1000 ERROR enc. intf. version Invalid version of the encoder interface 0x1000 ERROR overcurrent PU Overcurrent 0x1000 Max. acceleration/deceleration setting exceeded ERROR max acc/dec (monitoring especially necessary for cyclic synchro- 0x1000 nous operating modes) © 2022 KEB Automation KG...
  • Page 39 Maximum available time between the occurrence of ERROR OH ramp 0x1000 an overtemperature error and the modulation ERROR OHI ramp 0x1000 switching off has expired ERROR 24V supply low 24V supply has dropped to a value lower than 18V 0x1000 © 2022 KEB Automation KG...
  • Page 40 "speed search" and ERROR speed search and rotor de- "system position measurement" functions, only in 0x1000 tection encoder mode The temperature of the sub-mounted braking resis- ERROR overheat braking resistor 0x1000 tor has exceeded the error level © 2022 KEB Automation KG...
  • Page 41 ERROR limit switch reverse reaction 0x2A50 pn80 safety stop mode 0x2A51 pn81 warning OH stop mode 0x2A52 pn82 warning OHI stop mode 0x2A56 pn86 E.AnIn stop mode 0x2A59 pn89 warning brOH stop mode * = Default value © 2022 KEB Automation KG...
  • Page 42 This can lead to unwanted operating states (e.g. permanent change between start and stop). • Reaction 0: fault The drive changes directly into state fault, the modulation is switched off and the drive coasts down © 2022 KEB Automation KG...
  • Page 43 If the fault is no longer present, the EnableOperation Bit in active controlword (st14) is set again according to the controlword internal (co31). An error reset is not necessary. © 2022 KEB Automation KG...
  • Page 44 Quickstop Reac- tion Active is left automatically. • Reaction 9: fault, auto retry The reaction corresponds to value 0 with the following difference: If the malfunc- tion/error signal becomes inactive, the error resets itself. © 2022 KEB Automation KG...
  • Page 45 After this time has elapsed, or if the selected terminating condition for the fault re- action (pn46 fault reaction end src) is activated, the drive changes into state Fault. The following picture shows an exemplary process of a fault reaction: © 2022 KEB Automation KG...

  • Page 46: Figure 3: Process Of A Fault Reaction

    (e.g. in order to relieve a shaft) before the modulation is then switched off. Which torque limit shall be active during fault reaction can be selected in co61 0...5. © 2022 KEB Automation KG...
  • Page 47 6…8 zero cs12 without function max torque cs12…cs16 without function charact. (dr only limiting characteristic effective group) co62 torque limit from co62 384… reserved © 2022 KEB Automation KG...
  • Page 48 Bit 9,10 dM/dt = 512 = on and change of the torque limit with co63 dM/dt Limit [Mn%/ms] = 7.00 % ���� [ % ] ���� [ ���� ] = = 10 ����63 © 2022 KEB Automation KG...

  • Page 49: Figure 4: Example Co63

    Errors and warnings 1fghfh Figure 4: Example co63 © 2022 KEB Automation KG...

  • Page 50: Automatic Reset Of Errors

    Often the occurrence of an error leads to the switch off of the inverter by an exter- nal control. In order that the control can react differently to the special case of "mains voltage failure", it is possible to suppress the error display/output. © 2022 KEB Automation KG...

  • Page 51: Warnings

    Bits 5 "no quick stop", 6 "switch on disabled" and 14 "special function" are set in statusword (0x2100 st00, 0x6040). Warnings Additionally to the errors which always lead to drive stop, the drive can display warnings. Warnings have no reaction to the drive. The existance of a warning can © 2022 KEB Automation KG...
  • Page 52 Errors), if "warning" is programmed as error response for the appropriate error. If "Error" is selected as response in the associated stop mode, the corresponding status is displayed in ru01. In addition the following warning messages can be displayed: © 2022 KEB Automation KG...
  • Page 53 ERROR state WARNING blockade Warning drive blockade WARNING PUready Warning power unit not ready WARNING overheat The temperature of the sub-mounted braking resistor has exceeded the braking resistor warning level © 2022 KEB Automation KG...

  • Page 54: Protection Functions

    OL counter always has to re- turn to zero. The maximum utilization of an inverter can be reached, although the OL counter reaches a maximum value of less than 5% percent. 1fghfh Figure 5: OL-counter © 2022 KEB Automation KG...

  • Page 55: Figure 6: Overload Characteristic

    7 is set in the status word. The error or warning can be reset when the OL counter has reached the value of * pn03 OL warning level / © 2022 KEB Automation KG...

  • Page 56: Overload Power Components (Ol2)

    The inverter normally outputs at least rated current as continuous current at 0Hz output frequency and rated switching frequency. The maximum current is available from maximum 10 Hz as standard. Detailed information can be found in the instal- lation manual for the corresponding power unit housing size. © 2022 KEB Automation KG...

  • Page 57: Figure 7: Overload (Ol2) Limiting Characteristic

    OL2 current limit increases the load of the power module and reduces the lifetime of it. The increase of the OL2 limit can be activated with parameter is17 temperature de- pendent OL2 offset. © 2022 KEB Automation KG...
  • Page 58 The increase of the OL2 limit is adjustable in 2 steps: ► basic current (0 = off) No increase over the actual OL2 curve is possible. There is no dependence be- tween heat sink temperature and OL2 current. ► moderate increase ("1“ moderate) © 2022 KEB Automation KG...

  • Page 59: Figure 8: Increase Ol2 For 60A Rated Current And 40°C

    F6 housing 3 with 60A rated current and 4 kHz rated switching frequency at ru72 act. switch freq 4 kHz and a heat sink temperature (ru25[1] heatsink tempera- ture 1) of 40°C. 1fghfh Figure 8: Increase OL2 for 60A rated current and 40°C © 2022 KEB Automation KG...
  • Page 60 7 is set in the status wort. The error and the warning can be reset, if the value of the OL2 counters is less than 80% of the warning level. © 2022 KEB Automation KG...

  • Page 61: Figure 9: Characteristic Of The Current Limit In Relation To The Time

    Characteristic of the current limit in relation to the time when operating at the cur- rent limit for different values of is20 OL2 prot gain. The higher the factor, the steeper the descent of the current limit when the OL2 counter reaches the safety factor. © 2022 KEB Automation KG...

  • Page 62: Overtemperature Heatsink (Oh)

    110: ERROR time OH. If these 2 seconds are too small to ensure a meaningful completion of the machine cycle, a warning level pn07 OH warning level can be programmed. © 2022 KEB Automation KG...

  • Page 63: Figure 10: Overtemperature Heatsink (Oh)

    (5 °C). T [°C] T (OH) pn07 Warning Error No exception E.OH reset E.OH T(OH): device-dependent switch-off temperature pn07: adjustable OH warning level 1fghfh Figure 10: Overtemperature heatsink (OH) © 2022 KEB Automation KG...

  • Page 64: Overtemperature Unit (Ohi)

    OHI warning level can be programmed. Upon reaching this temperature, bit 3 is set in ru02 warning bits and with respective setting of the warning mask also bit 7 in the status word. © 2022 KEB Automation KG...

  • Page 65: Overtemperature Motor (Doh)

    PTC according to DIN EN 60947-0 Resistance Description Display ru28 < 750 Ω T1-T2 closed PTC closed 0.75…1.5kΩ reset resistance Transition T1-T2 open => closed 1.65k…4kΩ response resistance Transition T1-T2 closed => open >4kΩ T1-T2 open PTC open © 2022 KEB Automation KG...
  • Page 66 (subindex 33) to (subindex 34) in 32 equidistant steps. The corresponding temperatures can be calculated with an EXCEL table if the sen- sor characteristic can be mapped by the trend line. The trend line function is used © 2022 KEB Automation KG...

  • Page 67: Figure 11: Sensor Calculation By Excel

    Figure 11: Sensor calculation by Excel ➢ Since not all sensor characteristic curves can be emulated by a cor- CAUTION responding trend line, it must be checked whether the trend line mapps the characteristic curve with sufficient accuracy. © 2022 KEB Automation KG...

  • Page 68: Motor Protection Switch Oh2

    The motor protection function works integrating, i.e. times with overload of the mo- tor are added, times with underload are subtracted. After triggering of the motor protection function the new triggering time reduces, unless the motor was not operated for corresponding time with underload. © 2022 KEB Automation KG...

  • Page 69: Figure 12: Tripping Motor Protection Switch

    Min. response threshold of the motor protection dr38 SM prot. min. Is/Id 0x2226 function The motor protection function is dependent on the actual speed (n), the actual ap- parent current (Is), the maximum current and the motor protection parameters (dr34…dr38). © 2022 KEB Automation KG...

  • Page 70: Figure 13: Dependence Of The Motor Protection Function

    [%] dr35 (SM prot time min Is/Id) dr36 (SM prot time Imax) Min: dr38 (SM prot min Is/Id) Max: dr12 (max current %) 1fghfh Figure 14: Dependence of the tripping time © 2022 KEB Automation KG...

  • Page 71: Figure 15: Determination Of The Motor Protection Function Data From The Characteristics Of The

    The triggered error by the motor protection function can be reset at 98%. _____ Motor in operating condition _____ Recommended current limit _ _ _ _ cold motor 1fghfhMotor Figure 15: Determination of the motor protection function data from the characteristics of the motor man- ufacturer © 2022 KEB Automation KG...

  • Page 72: Fieldbus Watchdog

    A detailed description of the functionality of the fieldbus watchdog can be found from version 3.0 in the Programming Manual | Fieldbus systems. Programming manual | Fieldbus systems can be downloaded from the KEB website. Registration is required. © 2022 KEB Automation KG...

  • Page 73: Maximum Current

    ➢ Parameter is35 is a Power-On Parameter. i.e. a change of the value is only effective after restart. Limitations can be considered separately by the inverter or the motor with dr12 is11. © 2022 KEB Automation KG...

  • Page 74: Effective Motor Load

    The display area for the effective utilization is limited to max. 8-fold rated motor current. If the actual motor current exceeds this value, the result behind the PT1 filter is limited. Short peaks in the motor current are detected and evaluated, only the effective utilization is limited. © 2022 KEB Automation KG...

  • Page 75: Maximum Acceleration Or Deceleration

    This selection of the actual speed value also determines the display in ru83 DiffSpeed. display the 4 differences (ru84 – actual speed), (ramp output – ru83[1] ru83[4] actual speed) etc. The selection of "actual speed" for this display is also done via pn41. © 2022 KEB Automation KG...
  • Page 76 As soon as the differential speed is no longer > 150 rpm, the error flag is reset => reset is possible and is executed immediately in this case. • green graph: The counter is decremented, but not reset immediately => short- ened recovery time © 2022 KEB Automation KG...

  • Page 77: External Error / Warning Triggering

    On devices with safety module type 3 or higher, the SS1 or 0x2A50 pn80 tion SS2 function can directly execute the reaction set in pn80. See also the instruction manual of the safety module. © 2022 KEB Automation KG...

  • Page 78: Error Underpotential (Up / Puready)

    The reduced charging time is activated with Auto Retry UP. 4: reduced charg- (For a description of the function, see chapter 4.3.2.2 Automatic fault reset UP) This reduced charging time is only selectable for Auto-Retry UP / LTready. © 2022 KEB Automation KG...
  • Page 79 (pn 76 E.UP2 delay time) ru04 supply has not reached the state "4: run“. unit state The software ST (Bit 0 and 1 of co31 internal control word ) and the state of the STO inputs is considered as ST. © 2022 KEB Automation KG...
  • Page 80 However, if bit 0 or bit 3 is also set to zero when the restart is carried out, the alternative ramp is also deac- tivated. This alternative ramp only applies to the first acceleration process after AutoRetry UP/PUready. © 2022 KEB Automation KG...
  • Page 81 If the setpoint speed at the start of the alternative ramp is zero, the standard ramp is also reactivated pn84[3] auto retry UP acceleration for [s-2] 0x2A54 SubIdx 3 Value Plaintext Function 0: off no alternative ramp 0 .. 1747626666 0,00 .. 17476266,66 Definition of the alternative ramp © 2022 KEB Automation KG...

  • Page 82: Overvoltage

    400V 690V 1410 5 seconds 1425 5 seconds 1440 5 seconds 1455 1.48 seconds 1470 625 ms 1485 320 ms 1000 1500 185 ms 1010 1515 117 ms Table 4-2: Permanent damage due to overvoltage © 2022 KEB Automation KG...

  • Page 83: Overspeed (Error Overspeed / Error Overspeed (Emf))

    ����72 = ∗ ∗ 1000 ∗ ���� �� 14 100% The response to the error is defined with pn71 E. overspeed (EMF) st. mode. ➢ These errors are only triggered when the modulation is switched NOTICE © 2022 KEB Automation KG...

  • Page 84: Encoder Monitoring

    "encoder missing". When the encoder monitoring is switched off (or programming only to warning), it can only be reached, that the drive in operating modes which do not require an encoder, do not change into malfunction. This allows eventually an emergency operation. © 2022 KEB Automation KG...

  • Page 85: Limit Switch

    0-active. If a quickstop reaction is selected in parameters pn78 / pn79, quickstop must be activated in co32, otherwise there is no reaction. The quickstop reaction can be de- fined via the "quickstop option code". © 2022 KEB Automation KG...
  • Page 86 The reaction when the limit switch is reached is set via parameters pn78 and pn79. If "Warning" or "Ignore" are not selected as limit switch reaction, reaching the limit switch always finishs the active positioning. Thus, the set position is set to the © 2022 KEB Automation KG...
  • Page 87 "ERROR override forward" or "ERROR over- ride reverse". This error can only be detected if the modulation is still active. It can be reset when the modulation is deactivated. © 2022 KEB Automation KG...

  • Page 88: Input Phases Failure Detection

    If the UPS mode is active (chapter 4.4.21 UPS mode ), the phase failure detection is generally deactivated. © 2022 KEB Automation KG...

  • Page 89: Motor Phase Failure Detection

    (co27[2] error level information). Sub- Index Name Function Index phase check control Configuration of the motor phase failure detection 0x251B phase check mode Selection procedure for failure detection error level information Detection quality © 2022 KEB Automation KG...
  • Page 90 Presetting and evaluation of a high-frequency signal Based on the parameterized inductance, an excitation HF voltage voltage is calculated with which a current of 0.05 * dr03 rated current shall be reached, at the Hf fre- quency © 2022 KEB Automation KG...
  • Page 91 In addition to a real phase failure, incorrect parameterization of the motor data such as inductance, rated voltage of the motor, rated current of the motor can also lead to triggering of the phase failure errorru01 22: ERROR ident. © 2022 KEB Automation KG...

  • Page 92: Ups Mode (Not Available For Compact Cards)

    Power off function The status "Power off active" is reached when the event "Mains power failure de- tected" occurs: • The DC link voltage drops below a preset level. • Currently no further starting conditions. © 2022 KEB Automation KG...

  • Page 93: Figure 18: Motor Operation

    During motor operation, power is taken from the mains and converted into move- ment in the motor. The DC link voltage remains constant in this operating state, no energy is converted into heat in the braking resistor. 1fghfh Figure 18: Motor operation © 2022 KEB Automation KG...

  • Page 94: Figure 19: Regenerative Operation

    Since the DC link is no longer recharged from the mains, the DC link voltage drops. If the undervoltage limit is undercut, the CDM switches off with undervoltage error. The connected motor coasts down. 1fghfh Figure 20: Motor operation without power-off function © 2022 KEB Automation KG...

  • Page 95: Figure 21: Regenerative Operation In Case Of Mains Power Failure

    1fghfh Figure 22: Control to constant DC link voltage The deceleration of the motor results from the energy stored in the rotating masses of the motor and the power requirement of the external DC loads. © 2022 KEB Automation KG...
  • Page 96 (co-group) and the standard torque limit (cs-group). 4.4.22.4 End of power-off function The deactivation time expires when the setpoint speed NULL is reached in the stopping mode. Afterwards the status changes to "Fault". © 2022 KEB Automation KG...
  • Page 97 Ctrl (target setpoint =0 rpm, ramp values from co48-59). The stopping speed level UINT16 standard torque limit is applied (cs group). This level must not [Nn%] be below the model shutdown level, otherwise control is no longer possible (ds group). © 2022 KEB Automation KG...
  • Page 98 DC link is overloaded. Remedy: Equate both levels. Index Subidx IDtxt Name 3920h cu32 power-off . option code Name Function 0 = Power – Off function deactivated Activated 1 = Power – Off function activated 1..15 reserved © 2022 KEB Automation KG...
  • Page 99 The following state transitions are possible when the power-off function has been terminated: • Fault (after expiry of the deactivation time) A change to the state "Switch on disabled" can be made at any time using the com- mand "Disable Voltage". © 2022 KEB Automation KG...

  • Page 100: Figure 23: Circuit Diagram Of The Dc Control (Ppz=Number Of Pole Pairs)

    (e.g. 200%). Thus, the Uic controller is driven into the re- generative torque limit. A brake transistor, for example, is required to pre- vent shutdown due to overvoltage. © 2022 KEB Automation KG...

  • Page 101: Minimum Switch-Off Times

    8: at manual requires a protection time (OC, OL2, OP, OP2). Then the protection reset time is the minimum time that is always observed. If pn85[2] is higher than the protection time, pn85[2] is used. © 2022 KEB Automation KG...
  • Page 102 2 minutes, the activation of the modulation was perma- endless protection nently prevented. Restart is only possible by switching off the 24V time supply or the high voltage. © 2022 KEB Automation KG...

  • Page 103: Blockade Handling

    The speed that would be valid if it were not suppressed by the blockade reaction can be seen in parameter ru86 standard set speed. The state of the blockade monitoring is displayed in pn87[6]. (See chapter 4.4.24.3 Blockade display). © 2022 KEB Automation KG...
  • Page 104 The ramp is not affected by this setting, the torque limit is just not lowered further. The drive changes to the state "blockage reaction finished" at the end of pn87[4] blockage reaction time. © 2022 KEB Automation KG...
  • Page 105 "jerking" of the drive, the torque is con- tinuously reduced. However, the torque reduction does not take place at the linearly decreasing torque limit, but the interventions of the control are visible. © 2022 KEB Automation KG...
  • Page 106 The condition setpoint above pn87[2] detection speed level blockage detection time and actual value below pn87[2] is met and the timer for running pn87[3] detection time is running. © 2022 KEB Automation KG...
  • Page 107 The current and the torque are no longer affected by the blockage. The internal setpoint is held at zero. © 2022 KEB Automation KG...

  • Page 108: Monitoring Of The Load

    Up to the rated speed, the reference for the actual thermal torque is dr09 rated torque, then the thermal perma- limit thermal limit nently available torque is reduced according to a 1/x function, independent of the motor type . (Thermal load) © 2022 KEB Automation KG...
  • Page 109 The reference of the application load can be defined with the setting of application reference (bit 4,5). The actual torque used for the load calculation is always the motor torque regard- less of any gear factors. © 2022 KEB Automation KG...
  • Page 110 It can be parameterized whether the DC link voltage influences the value of the thermal load. 4.4.25.3 Resulting display The maximum value of the 3 loads (motor/inverter, application, thermal load of the motor) in % with 0.1% resolution is displayed in ru80 relative load. © 2022 KEB Automation KG...
  • Page 111 2A58[3] pn88[4] active thermal limit 2A58[4] Value Display Note 0,0%… Display of the reference values for the load calculation in % 0… 10000 1000,0 % of the rated motor torque dr09. Resolution 0.1 % © 2022 KEB Automation KG...
  • Page 112 For IPM and synchronous reluctance motors the display can only be used condi- tionally. Since the torque depends on both current components Id and Iq, which are changed by the control during operation, the reference torque can change perma- nently. © 2022 KEB Automation KG...

  • Page 113: Quickstop

    The drive complies with this setting by increasing the field-generating current. For all motor types there is a limitation, either in the max. achievable speed or the minimum current generates additional heating. © 2022 KEB Automation KG...
  • Page 114 A ramp can be specified via this parameter in order to com- pensate the missing current or to change the sign in the stabilizing current. ramping time Setting instructions: Mode 1: > 10ms Mode 2: < 10ms © 2022 KEB Automation KG...

  • Page 115: Figure 24: Minimum Current Course

    Figure 24: Minimum current course SM/IPM without encoder with ramp time (tr, fc32[3]) and Imin=20% of rated motor current, speed leakage values via stabilisation current (here ds38=100%, ds35=50%, ds36=10%, ds37=20%). The speed hyteresis results from ds37 + (ds37-ds36). © 2022 KEB Automation KG...

  • Page 116: Braking Transistor

    However, provided that the mains input voltage does not increase upon completion of the precharging of the DC link. The default values for the braking transistor threshold are depending on the volt- age class of the inverter. © 2022 KEB Automation KG...

  • Page 117: Table 4-3: Switching Threshold For Braking Transistor

    The braking transistor can generally only be activated when the precharging is = "4: run“). completely finished (ru04 supply unit state Exception: If the deactivation of the input thyristors is triggered by OP2, the braking transistor remains active. © 2022 KEB Automation KG...
  • Page 118 Bit 0..2 can be used to prevent deactivation of the voltage-dependent braking tran- sistor control. The activation of the braking transistor by a digital input can additionally also be made dependent on the modulation with bit 3..5. © 2022 KEB Automation KG...

  • Page 119: Braking Transistor Protective Functions

    This overload case must be considered when selecting / protecting the resistor. ➢ Activation for too long (especially with input-dependent instead of voltage-dependent control) can lead to overheating and destruction of the braking resistor. © 2022 KEB Automation KG...

  • Page 120: Power And Temperature Calculation At The Braking Resistor

    Filter time without sub-mounted braking resistor: TFil- resistor ter = 48 * basic Tp (at Tp = 62.5us TFilter is = 48 * 62.5us = 3ms) Filter time with sub-mounted braking resistor: TFilter = 64 * basic Tp © 2022 KEB Automation KG...

  • Page 121: Sub-Mounted Braking Resistor Protection

    Braking transistor Sub-mounted braking resistor protection If an inverter contains a KEB sub-mounted braking resistor, data (e.g. resistance value and temperature limits) are stored for the resistor in de86 build in brake re- sistor. A non-zero value in de86[2] means that a braking resistor download is present and activated.
  • Page 122 Thus, the cooling time for the sub- mounted braking resistor is also unknown. The calculated temperature of the braking resistor is stored every 5 seconds. Af- ter switching on again, the display of the resistance starts with the last stored value. © 2022 KEB Automation KG...

  • Page 123: Fan Control

    ID fan full speed temp 0x351D Value Meaning 0: LT Value Fan reaches maximum speed with default setting (power unit-dependent) 0.1…°C Maximum speed level in °C. The upper limit depends on the respective power unit. © 2022 KEB Automation KG...

  • Page 124: Fan Control S6-A / S6-K

    The digital outputs Out 1 and Out 2 on the terminal block X2A, as well as the volt- age outputs 24V OUT and the 24V encoder supply are short circuit protected. However, the current is not limited to the maximum permissible value (=> installa- tion manual), but it is a thermal protection. © 2022 KEB Automation KG...

  • Page 125: Control Type P

    Short circuit of a 24V voltage output 105 “ERROR overcurrent en- Short circuit of the 24V encoder supply coder” Control type P Description of the digital outputs see installation manual of the Pro control board © 2022 KEB Automation KG...

  • Page 126: Operating Modes

    The correct function of the drive is only ensured if control grid and setpoint setting are synchronized. This is displayed with bit 8 (synchronous) in the sta- tus word. © 2022 KEB Automation KG...

  • Page 127: Operating Mode 1: Profile Position Mode

    Fault reset Halt Sets setpoint 0, finishes a positioning Change on Setpoint is not supported 10…14 Operation mode specific Manufacturer-specific, without function Manufacturer-specific, Open brake 1 opens the motor brake (depending on co21 brake control mode © 2022 KEB Automation KG...

  • Page 128: Figure 25: Profile Positioning Mode (1)

    Thus, a positioning can be started directly from operation with speed setpoint. Con- versely, it can be changed directly after positioning with final speed to the speed setpoint. 4.8.1.2.1 Overview profile positioning mode with FIFO 1fghfh Figure 25: Profile positioning mode (1) © 2022 KEB Automation KG...

  • Page 129: Figure 26: Profile Positioning Mode (2)

    Operating modes 1fghfh Figure 26: Profile positioning mode (2) 4.8.1.2.2 Single positioning (single set-point) Bit 4 : setpoint Bit 12 : Setpoint acknowledge Bit 10 : Target reached 1fghfh Figure 27: Single positioning © 2022 KEB Automation KG...

  • Page 130: Figure 28: Multi Positioning

    Restart in a positioning (Change set immediately) Bit 4 : New set-point and Bit 5 : Change set immediately Bit 12 : Setpoint acknowledge Bit 10 : Target reached 1fghfh Figure 29: Restart of a positioning © 2022 KEB Automation KG...
  • Page 131 4.8.1.3.1 Single positioning If value -1 "off" is set in ps42 next index, a position can be selected with ps46 start index, which is then approached with the next start positioning command. © 2022 KEB Automation KG...
  • Page 132 Thereby position setpoints are also possible, which can not be reached with com- pliance of the current setpoint ramps. The index positions must be corrected by way that the distance to the new set position can also be reached with the valid ramps. © 2022 KEB Automation KG...
  • Page 133 Simple setpoint setting with ps40 in this position index within single rotation of Approach of an absolute position within one revolution of encoder A enc A considering the gear factor of ec24 ec25 © 2022 KEB Automation KG...
  • Page 134 Value Name Note Relative positioning always occurs from the internal set position. Even set position with multiple positioning, no errors can add up. actual position Relative positioning always occurs relative to the actual position © 2022 KEB Automation KG...
  • Page 135 Value Name Note The limits of ps18 ps19 have only effect on the non-linear torque pre-control with linear value range The value range for the round table function is defined with ps18 and ps19. © 2022 KEB Automation KG...

  • Page 136: Figure 30: Ramps In Profile Position Mode

    Figure 30: Ramps in profile position mode The behaviour of the ramp generator can be adapted to the requirements of the application via object ps60 ramp mode. Index Id-Text Name Function 0x2E3C ps60 ramp mode Operational performance of the ramp generator © 2022 KEB Automation KG...
  • Page 137 In addition to the ramps in the Ps parameters, fault reaction, shutdown or standard ramps can also become effective. Observe setting of co32. The ramp generator is described in more detail in chapter 4.8.2.4 Ramp generator Velocity mode. © 2022 KEB Automation KG...
  • Page 138 Three inputs are required in order to display the 5 numbers (0, 1, 2, 3, 4) digitally binary (000 ,001 ,010 ,011 ,100 ). The inputs I1, I2, I3 are selected • di21 index input = 7: I1 + I2 + I3 © 2022 KEB Automation KG...
  • Page 139 (ps42 next index [ ] = -1 "off“). If a loop is programmed (last index points to start index), bit 10 target reached is never set. • in stop-after-each-index-mode the current target position has been reached. © 2022 KEB Automation KG...

  • Page 140: Figure 31: Motor Encoder With Initiator At Rotary Table

    Enc A Initiator 1fghfh Figure 31: Motor encoder with initiator at rotary table In this example the value range of the rotary table is monitored only by an initiator. A non-integer gear factor can be compensated. © 2022 KEB Automation KG...

  • Page 141: Figure 32: Motor Encoder With Encoder And Initiator At Rotary Table

    4.8.1.13.3 Operation with motor model and encoder with initiator at rotary table Gear Combivert F6 Circular ASCL / SCL table Enc B Enc A Encoder 1fghfh Figure 33: Operation with motor model and encoder with initiator at rotary table © 2022 KEB Automation KG...

  • Page 142: Operating Mode 2: Velocity Mode

    The following figure shows the principle function. 1fghfh Figure 34: Velocity mode - overview The yellow elements indicate the KEB specific objects, the orange-colored objects indicate the appropriate objects of the CiA402 profile. The function of the individual objects can be influenced by different other function blocks.

  • Page 143: Figure 36: Target Speed Limitation

    VL velocity max amount rev (vl07) 1fghfh Figure 36: Target speed limitation 4.8.2.3 Controlword in the velocity mode The properties of some controlword bits depend on the OperationMode. In velocity mode they are defined as follows: © 2022 KEB Automation KG...

  • Page 144: Figure 37: Ramp Generator

    The ramp generator supports linear ramps and those with linearly increasing accel- eration (s-curves). Furthermore the behaviour can be parameterized flexible when changing the direction of rotation. co.53 co.54 co.49 co.48 co.59 co.55 co.56 co.52 co.51 co.50 co.57 co.58 1fghfh Figure 37: Ramp generator © 2022 KEB Automation KG...
  • Page 145 0x6083 profile acceleration [inc s-2]. The increments per revolution result from the co03 position rot scale. If required, 0x6083 can be set to the acceleration and deceleration values of all ramps with the options from co32 and xx60. © 2022 KEB Automation KG...
  • Page 146 The acceleration in the previous example should be reached after one second. r = Δa/Δt In our case with constant jerk it is: r = a / t = 16.67s / 1s = 16.67 s © 2022 KEB Automation KG...
  • Page 147 6…7 same jerk ues. co53 co55..co59 have no function. The four jerk values for the reverse direction of rotation are 192: rev = for taken over from the forward direction of rotation. co56..co59 have no function © 2022 KEB Automation KG...

  • Page 148: Figure 38: S-Curve Type = 0: Continuous S-Curve

    In acceleration there is a jump to 0 at this point. ① ③ ② Setpoint (vl20 vl target velocity) Acceleration (defined by co48…co59) Ramp output value (ru06 ramp out display) 1fghfh Figure 39: s-curve type = 4: abort in s-curve © 2022 KEB Automation KG...

  • Page 149: Figure 40: Pass Zero Type = 0: Not Zero

    (vl20 vl target velocity) Acceleration (defined by co48…co59) Ramp output value (ru06 ramp out display) 1fghfh Figure 41: pass zero type = 8: zero The acceleration is reduced to 0 when the ramp output changes the sign. © 2022 KEB Automation KG...

  • Page 150: Figure 42: Calculation Example

    ��2 = 2.08�� − 1 + 4.17�� − 2 ∗ 2�� = 10.42�� − 1 The formulas are also valid for the case if there is no constant acceleration. Then there is no smooth transition of the s-curves. In this case t is 0. © 2022 KEB Automation KG...

  • Page 151: Operating Mode 6: Homing Mode

    Bits 10 (target reached), 12 (homing attained) und 13 (homing error) are set in the status word by the homing mode. Error-free homing is stored internally and can be monitored via the switching condi- tion 54 "Homing done" (e.g. via a digital output). © 2022 KEB Automation KG...
  • Page 152 5…6 reserved Fault reset Fault reset Halt Sets setpoint 0, finishes a zero search 9…14 Operation mode specific Manufacturer-specific, without function Manufacturer-specific, Open brake 1 opens the motor brake (depending on co21 brake control mode © 2022 KEB Automation KG...
  • Page 153 (CiA 0x6099 [2]) speed during search for Setpoint speed on driving free 0x6099 zero homing speeds [2] of the home switch 0x3104 (CiA 0x609A) homing acceleration Adjustment of the ramps in the hm04 0x609A homing acceleration [s-2] homing mode © 2022 KEB Automation KG...

  • Page 154: Figure 43: Homing - Method 1

    Then the drive moves to the next zero signal of the encoder. At this point the drive stops and the homing offset is transferred to the actual posi- tion. Method 17 corresponds to method 1, but without zero signal search. © 2022 KEB Automation KG...

  • Page 155: Figure 44: Homing - Method 2

    Method 2 (18) Homing to the positive limit switch and zero track 1fghfh Figure 44: Homing – Method 2 4.8.3.5.3 Method 3 and 4 (19,20) Homing to the positive home switch and zero track 1fghfh Figure 45: Homing – Method 3 and 4 © 2022 KEB Automation KG...

  • Page 156: Figure 46: Homing - Method 5 And 6

    Operating modes 4.8.3.5.4 Method 5 and 6 (21, 22) Homing to the negative home switch and zero track 1fghfh Figure 46: Homing – Method 5 and 6 © 2022 KEB Automation KG...

  • Page 157: Figure 47: Homing - Method 7 To 14 (23 To 26)

    Figure 47: Homing – Method 7 to 14 (23 to 26) 4.8.3.5.6 Method 17 up to 30 Homing without zero track These methods behave exactly like methods 1 to 14, except that the zero signal of the encoder is not considered. © 2022 KEB Automation KG...

  • Page 158: Figure 48: Homing - Method 33 And 34

    With the setting "-32768: auto“ the optimal value for the shifting of the virtual zero pulse is automatically calculated from the position distance in hm21. © 2022 KEB Automation KG...
  • Page 159 The position for forward direction is stored in hm12, the coder reverse direction position is stored in hm13. source The source for the touch probe can be selected via the 0x60D0 object 0x60D0. © 2022 KEB Automation KG...
  • Page 160 Negative edge at the digital input or zero im- negative negative edge pulse at reverse direction of rotation was rec- edge stored ognized and position stored in hm13 © 2022 KEB Automation KG...

  • Page 161: Cyclic Referencing

    The encoder is mounted on the motor, so the position is specified as motor posi- tion. The total gear ratio results to: 9∗13 One revolution of the rotary table = 117 / 7 = 16.714 motor revilutions. © 2022 KEB Automation KG...
  • Page 162 = 3 The higher the position resolution (co03) is selected, the lower the error and thus the correction value. Therefore at least co03 = 16 => 1 revolution corresponds to 65536 should be used. © 2022 KEB Automation KG...

  • Page 163: Operating Mode 8: Cyclic Synchronous Position Mode

    The following figure shows the principle function. 1fghfh Figure 49: Cyclic synchronous position mode - overview The yellow elements indicate the KEB specific objects, the orange-colored objects indicate the appropriate objects of the CiA402 profile. © 2022 KEB Automation KG...

  • Page 164: Figure 50: Cyclic Synchronous Position Mode

    Then the position setpoints are interpolated to the cycle time of the internal control grid. The used method can be selected via the object co10. Index Id-Text Name Function 0x250A co10 position interpolator Determines the used interpolation method © 2022 KEB Automation KG...

  • Page 165: Figure 51: Example Interpolation

    Due to the minimum required 4 points, the position setpoint is delayed by the triple cycle time in fb10. The cycle time is three times between the 4 points. Each addi- tional point corresponds to a delay of another cycle time in fb10. © 2022 KEB Automation KG...
  • Page 166 Example: co10 = 4: B-Spline, 4points avg + actual value fb10 = 1ms ≈ 0.5 * 4ms + 1ms ≈ 2500µs…3000µs => co13 © 2022 KEB Automation KG...

  • Page 167: Figure 52: Position Precontrol

    This can be caused either by reaching of a torque or current limit (parameterized limit ac- or hardware-dependent). tive drive fol- Value 0: The drive does not follow the specification of target position. lows com- mand Value 1: The drive follows the setpoint setting of target position. value © 2022 KEB Automation KG...

  • Page 168: Operating Mode 9: Cyclic Synchronous Velocity Mode

    1fghfh Figure 53: Cyclic synchronous velocity mode - principle The yellow elements indicate the KEB specific objects, the orange-colored objects indicate the appropriate objects of the CiA402 profile. The function of the individual objects can be influenced by different other function blocks.

  • Page 169: Figure 54: Cyclic Synchronous Velocity Mode

    Index Id-Text Name Function Determination of the speed resolution for setpoints and ac- 0x2502 co02 velocity shift factor tual values in co, st and pr parameters in the cyclic operat- ing modes. © 2022 KEB Automation KG...
  • Page 170 With a cycle time of 2ms and B-spline interpolation of 4 points, there is a delay of 2ms * (4-1) = 6ms. Additionally to the interpolated speed setpoint, the speed interpolator also gener- ates the corresponding torque profile. © 2022 KEB Automation KG...
  • Page 171 Value 0: The drive does not follow the setting of target velocity velocity offset. mand Value 1: The drive follows the setpoint setting of target velocity velocity offset. value © 2022 KEB Automation KG...

  • Page 172: Operating Mode 10: Cyclic Synchronous Torque Mode

    The setpoint is interpolated to the cycle time of the internal control grid. The used method can be selected via the object co12. Index Id-Text Name Function 0x250C co12 torque interpolator Interpolation of the torque setpoint © 2022 KEB Automation KG...
  • Page 173 Pt1-time Pt1 time torque reference The active setpoint for torque control is displayed in ru23 Index Id-Text Name Function Control set torque 0x2C17 ru23 reference torque (resolution constant 0.1% rated torque dr09) © 2022 KEB Automation KG...
  • Page 174 The following still apply • application-specific limitations (cs12..cs16 bzw. 0x6072, 0x60E0, 0x60E1) • physical limiting characteristic of the motor (motor data, ds11) • torque limits resulting from maximum currents (motor data, is parameters, inverter limit values) © 2022 KEB Automation KG...
  • Page 175 The changeover is indicated in statusword bit12 (0: setting of target torque torque offset). The sign of the maximum speed is taken from the sign of the torque setpoint. The signed maximum speed is displayed in parameter ru06 ramp out display. © 2022 KEB Automation KG...

  • Page 176: Figure 56: Transfer Torque Setpoint Telegram -> Current Controller

    In torque-controlled mode, the integral part of the Pi speed controller is precharged with ZERO if the actual speed and the preset set torque have the same sign. 4.8.7.9 Structure overview 1fghfh Figure 56: Transfer torque setpoint telegram -> current controller © 2022 KEB Automation KG...

  • Page 177: Figure 57: Torque Control And Overspeed Interception

    Operating modes 1fghfh Figure 57: Torque control and overspeed interception © 2022 KEB Automation KG...

  • Page 178: Operating Mode -2: Jog Mode In The Cm Customer Modes Group

    ( - 2 : jog mode) 0x3B23 cm35 jog positive jog mode in positive direction 0x3B24 cm36 jog negative jog mode in negative direction 0x3B25 cm37 activate jog speed 2 Selection of the second speed © 2022 KEB Automation KG...
  • Page 179 Speed 2 in positive direction of rotation cm44 jog speed 2 negative 0x3B2C Speed 2 in negative direction of rotation Maximum step distance in jog mode when step size 0x3B2D cm45 jog step distance limitation is active. © 2022 KEB Automation KG...
  • Page 180 Maximum deceleration at FOR direction of rotation (pos. speeds) [s-2] jog acceleration rev 0x3B32 cm50 Maximum acceleration at REV direction of rotation (neg. speeds) [s-2] jog deceleration rev 0x3B33 cm51 Maximum deceleration at REV direction of rotation (neg. speeds) [s-2] © 2022 KEB Automation KG...
  • Page 181 0: continous s- s-curve Function => Graphics in co mode curve type 4: abort in s-curve pass zero 0: not zero Function => Graphics in co mode type 8: zero Bit 4 … 7 see co60 © 2022 KEB Automation KG...

  • Page 182: Figure 59: Drive Profiles In Jog Mode

    For the special case that the jog step mode is activated while jog is already active, the jog positive edge at this input also initializes the step limitation. 1fghfh Figure 59: Drive profiles in jog mode © 2022 KEB Automation KG...
  • Page 183 A software end position (pn18, pn19) has responded, the setpoint switch 64 : sw limit has been limited. 4.8.8.4 Current motorpoti setpoint Index Id-Text Name Function Setpoint currently selected by the motor poti function. 0x3B3E cm62 motor poti actual value -100,00% … 100,00% © 2022 KEB Automation KG...

  • Page 184: Operating Mode-Independent Functions

    The speed or position interpolator calculates the torque for precontrol, based on the acceleration profile and the mass moment of inertia of motor and load. Therefore, the correct setting of dr32 cs17 must be ensured. © 2022 KEB Automation KG...

  • Page 185: Figure 60: Torque Limit In All Quadrants

    (cs16) torque limit mot for (cs13) Velocity (n) torque limit mot rev (cs14) torque limit gen for (cs15) absolute torque (cs12) absolute torque (cs12) 1fghfh Figure 60: Torque limit in all quadrants © 2022 KEB Automation KG...
  • Page 186 Example: = 20 “B-Spline, 4 Points + target value” applies: co10 three setpoints must be preset before the changeover via co19. The fourth setpoint is set simultaneously with the changeover to operating mode 8. © 2022 KEB Automation KG...

  • Page 187: Synchronisation

    ➢ The behavior of the synchronization differs depending on the active fieldbus system. Detailed information can be found in the Programming Manual | Fieldbus Systems. ➢ The Programming manual | Fieldbus systems can be downloaded from the KEB website. Registration is required. © 2022 KEB Automation KG...

  • Page 188: Optimizing The Pll

    SYNC bit is set in st00. This behavior can now be changed with fb12 until a required character- istic occurs. The changed values of fb11 fb12 have only an effect when fb10 is written again. © 2022 KEB Automation KG...

  • Page 189: Display Parameters

    Peak value of the DC link voltage 0x2C10 ru16 act. output voltage Output voltage 0x2C11 ru17 modulation grade Modulation grade Internal image of the digital inputs (after processing) (=> 7.1 0x2C12 ru18 dig. input state Digital Inputs) © 2022 KEB Automation KG...
  • Page 190 Upper 16bit of the direct position value gearless pos low [3] Lower 16bit of the direct position value State of the digital inputs (before processing) 0x2C29 ru41 dig. input terminal state (=> 7.1 Digital Inputs) © 2022 KEB Automation KG...
  • Page 191 Value of the analog output in % (100% = 10V) Current torque referred to a limit value 0x2C50 ru80 relative torque displays (Description => Chapter 5.6 Torque 0x2C51 ru81 act torque Actual torque (identical ru24) in Nm © 2022 KEB Automation KG...
  • Page 192 (smoothing according to 0x2C57 ru87 ramp out value cs19; see point in Figure 60) © 2022 KEB Automation KG...

  • Page 193: Speed Displays

    / 0 = filter switched off) Difference speed displays: Index Id-Text Name Function Difference between setpoint speed and actual speed Description see previous chapter: 0x2C53 ru83 diff. speed [1]..[4] ru parameters 5.1 Overview of the and Figure 60 © 2022 KEB Automation KG...

  • Page 194: Figure 61: Auxiliary Representation For The Calculation Of Ru83[]

    Speed displays 1fghfh Figure 61: Auxiliary representation for the calculation of ru83[] © 2022 KEB Automation KG...

  • Page 195: Position Displays

    Actual position / resolution defined by co03 0x2124 st36 following error Actual following error / resolution defined by co03 0x2130 st48 rho actual value Electrical position / 65536 = 1 electr. period = 360° electr. © 2022 KEB Automation KG...

  • Page 196: Dc Link Displays

    The final limits can be different due to the influence of dr09 rated 0x2C24 ru36 act torque lim gen for the limiting characteristic or the operation mode (e.g. torque fault reaction ramp). act torque lim gen 0x2C25 ru37 © 2022 KEB Automation KG...

  • Page 197: Power/Energy Displays

    The power display can be filtered via "display power PT1“ is34 ➢ The display of ru82[1] ru82[3] is only valid in closed-loop opera- NOTICE tion in the state "operation enabled“! In open-loop operation or other states any values can be displayed. © 2022 KEB Automation KG...

  • Page 198: Status Displays

    1 * 2 + 1 * 4 + 16 * 2 + 256 * 0 + 6 * 65536 + 0 * 1048576 = 393254dez. = 00060026hex. 5.8.1.1 State for modulation release (4 bits) With these 4 bits it can be determined what is currently missing for modulation re- lease. © 2022 KEB Automation KG...
  • Page 199 State (8 Bit) The actual ru01 error message is displayed in these 8 bits. The value is identical to ru01, but it is multiplied with 256 to be displayed in bits 8...15 of ru75. © 2022 KEB Automation KG...
  • Page 200 = forward acceleration or reverse deceleration negative acceleration = reverse acceleration or forward deceleration © 2022 KEB Automation KG...
  • Page 201 Mult. Plaintext Meaning Indication that the modulation is switched off due to an error, but the error bit in the 67108864 error bit suppression active statusword and the error display in ru01 are not set. © 2022 KEB Automation KG...

  • Page 202: Ru76 Drive State

    The DC link in the power unit has not been charged. The voltage is be- E.uic low the UP level. ru04 is unequal to 4 "run“ E.STO At least one STO input is not set. => ru18 Reserved © 2022 KEB Automation KG...
  • Page 203 Valu Mult. Plaintext Notes Voltage-/frequency characteristic Operation with encoder without motor model 12…14 Operation with encoder and motor model 4096 Enc+Model Operation without encoder with motor model (SCL / ASCL) Model 4…7 reserved © 2022 KEB Automation KG...
  • Page 204 Notes Set speed 0 zero speed Forward acceleration forward acc Forward deceleration forward dec Forward constant run forward const 15…17 32768 Reverse acceleration reverse acc Reverse deceleration reverse dec Reverse constant run reverse const reserved © 2022 KEB Automation KG...

  • Page 205: De115 Global Drive State Mask

    Masking of single bits of ru75 Single bits of ru75 ru76 can be switched off with this object. Example: de115 = 0x0F0000. Only the ramp state is visible in ru75 with this set- ting. All other bits are suppressed. © 2022 KEB Automation KG...

  • Page 206: Ru30 Sacb Comm State

    Communication initialized 524288 Communication is running 1048576 Error initialization power unit CPU2 21 … reserved 8388608 Communication with power unit CPU2 deactivated (power unit not switched on) 24 … Status SACB communication with the encoder interface © 2022 KEB Automation KG...
  • Page 207 SACB comm state 0x2C1E Value Function 16777216 Encoder interface found 33554432 Communication active All bits are set (value 25658240): Communication OK 67108864 Communication initialized 134217728 Communication is running 268435456 Error initialization encoder interface 29 … reserved © 2022 KEB Automation KG...

  • Page 208: Operating Hours Counter

    0x2064 de100 hour counter Operating time in hours 0x2065 de101 mod hour counter Operating time in hours when modulation is switched on System counter Index Id-Text Name Function 0x2123 st35 system counter Continuous 250us counter © 2022 KEB Automation KG...

  • Page 209: 5.10 Error Displays And Counter

    OC error count 0x2067 de103 OL error count Number of errors (is stored non-volatile, if storage is not de- 0x2068 de104 OP error count activated) 0x2069 de105 OH error count 0x206a de106 OHI error count © 2022 KEB Automation KG...

  • Page 210: Error Memory

    0. The latest entry is always stored in index 1, the old- est entry is stored in index 16 which is deleted with the next error. The standardisation of the corresponding parameter must be observed for the in- … terpretation of the values in ud13 ud14 © 2022 KEB Automation KG...

  • Page 211: 5.11 Inverter Data

    Unique identification number of the safety 0x2026 de38 safety serial number functionality Part 1 0x2027 de39 saved safety type Saved type of the safety module Unique identification number of the safety 0x2028 de40 safety production info functionality Part 2 © 2022 KEB Automation KG...

  • Page 212: Product Code

    Device type F6 (1…9) control type P with encoder interface 0x00800003 The range 0x00700000 to 0x0070FFFF is reserved for device type S6. de09 product code 0x2009 Value Device type 0x00700000 S6 control type K 0x00700001 S6 control type A © 2022 KEB Automation KG...

  • Page 213: Device Type, Software Version And Date

    Control K / hardware 8448 8…15 (Exception: a hardware revision for control type P) VARAN type With control type A or P the fieldbus type is independent of the 12288 Control A hardware 16384 Control P © 2022 KEB Automation KG...
  • Page 214 0x2035 Date format Value Display YYYY.MM.DD = YYYY*10000 + MM * 100 + The decimal value representing the date is dis- (year, month, played directly without separators day) Example: Software date 20.01.2016 => display: 20160120 © 2022 KEB Automation KG...

  • Page 215: Power Unit Identification

    Capacity of the capacitors in the DC link Value at which the braking transistor is activated voltage- dependent in the default setting. de36 braking transistor default level Value "zero" means that the device does not contain a braking transistor. © 2022 KEB Automation KG...

  • Page 216: Serial Numbers

    FS related hardware. Unwritten parameters are for internal use only. © 2022 KEB Automation KG...

  • Page 217: Motor Control

    But it is physically the same and is a digital signal, which is 1-active only at a certain signal period and 0-active otherwise. Thus it forms reference points at non-absolute encoders, which must first be passed in order to be able to evaluate them. © 2022 KEB Automation KG...

  • Page 218: Encoder Types

    This position deviation is corrected, i.e., the incremental counted position is shifted again to the absolute position. An error message is triggered if these position devi- ations appear so often that they can not be corrected any more. © 2022 KEB Automation KG...
  • Page 219 The incremental signals and the encoder set is indicated with the order designa- tion, which is also on the nameplate of the encoder. The order designation "EnDat22" must not be confused with the command set "EnDat 2.2". © 2022 KEB Automation KG...

  • Page 220: Figure 62: Order Designation

    Which Hiperface encoders are currently supported, is described in chapter 6.1.2.6, "Display detected encoder type", page 226. © 2022 KEB Automation KG...
  • Page 221 These BiSS encoders do not allow memory access or have no memory. As a re- sult, all required values for communication must be adjusted via parameters (pa- rameter: 6.1.6.6, "The digital data word", Page 245) © 2022 KEB Automation KG...

  • Page 222: Figure 63: Structure Data Word Biss

    If the COMBIVIS plaintext for ec17 contains the manufacturer name and the en- coder type (e.g. 65 "BiSS Hengstler Acuro AC36 Singleturn"), there is an encoder © 2022 KEB Automation KG...
  • Page 223 Type designation Type Heidenhain EQI1317, ECN1313, EQI1329, EnDat Single and Multiturn rotary en- EQI1331, EQI1337, EQN1337, coder EQN1325, ROQ425 ERN1188, ERN1387 SinCos with absolute track ECN1313 SinCos with SSI EBI135 EnDat Multiturn with battery buffering © 2022 KEB Automation KG...

  • Page 224: Table 6-1: Selection Of Tested Encoders

    1Vpp signals. The selection of an encoder type with or without zero signal means that the zero signal is evaluated or not evaluated, independent whether the encoder actually provides a zero signal. © 2022 KEB Automation KG...
  • Page 225 Linear encoder with TTL signals and without reference marks Linear encoder with TTL / HTL signals and periodic reference marks Linear encoder with TTL / HTL signals and distance-coded reference marks Inductive sensors (only for F6P and S6P devices) © 2022 KEB Automation KG...
  • Page 226 Whether the detected signal is actually a zero signal can be checked by activating an encoder type with zero signal. During the encoder identification, the described checks (in the previous item) of the zero signal are executed then. © 2022 KEB Automation KG...
  • Page 227 Hiperface without 1Vpp signals Hiperface TTK70 Hiperface TTK70 (must be calibrated) Hiperface SEL 37/52 multiturn Hiperface TTK50 BiSS not supported type BiSS mode C singleturn unidirectional without el. nameplate BiSS mode C multiturn unidirectional without el. nameplate © 2022 KEB Automation KG...

  • Page 228: Position Resolution Of Different Encoder Types

    The different internal functions (e.g. speed calculation, current control) use the full value range of the position detection to a maximum of 32 bit per revolution. © 2022 KEB Automation KG...
  • Page 229 For evaluation of the Endat encoder from the previous example, the position within one revolution has a resolution of 11 bit at ec16 = 10 "Endat digital". © 2022 KEB Automation KG...

  • Page 230: Scan Time Snd Speed Fluctuations

    The greater the scan time, the lower the speed fluctuation. From these two mathematical correlations there is a minimal fluctuation of the speed, which always occurs at fluctuation of the position by 1 increment and it can be calculated as follows: © 2022 KEB Automation KG...
  • Page 231 The speed fluctuations can be reduced by increasing the scan time. This also reduces the achievable dynamic of the speed control circuit and thus of the drive. © 2022 KEB Automation KG...

  • Page 232: Status Parameters Of The Encoder Interface And Encoder

    = 5 "enc initialisation" for BiSS means, that no electronic nameplate has been recognized and the interface tries to connect the encoder with the SSI parameters. 6.1.6.6 As soon as a correct response has been recognized by the encoder, the © 2022 KEB Automation KG...

  • Page 233: Parameters For The Encoder Adjustment

    Parameters for the encoder adjustment 6.1.6.1 Belonging of parameters to encoder type Only certain parameters are necessary for the respective adjusted encoder type. The status parameters ec00 ec19 are always valid for all encoder types. © 2022 KEB Automation KG...
  • Page 234 SSI clock freq.   ec44 SSI abs. allocation     ec46 encoder read/write     ec47 status encoder r/w     ec50 virtual rounds for linear enc. - © 2022 KEB Automation KG...
  • Page 235 BiSS unidirectional or BiSS encoders without electronic nameplate. This parameter has no influence for BiSS encoders with electronic nameplate. © 2022 KEB Automation KG...
  • Page 236 Interface to the encoder From this table it can been seen, that operation of Resolver, Endat and BiSS (with el. nameplate) directly after default set loading it is only possible with the setting of ec16. © 2022 KEB Automation KG...
  • Page 237 - When the unit is switched off the encoder shall not be turned more than a quarter revolution. Non-absolute encoders: The setting of this value is not possible ("data invalid") for non-absolute encoders (e.g., TTL and SinCos without absolute track). © 2022 KEB Automation KG...
  • Page 238 This value also determines how the linear positions and speeds are converted into rotative positions and speeds and displayed in e.g. ru33 and ru09. Further information: 6.1.7, „Operation of absolute linear encoders“, page 251 © 2022 KEB Automation KG...
  • Page 239 When the encoder detection is finished after the drive has started, the value of ec31 (the position of the zero signal in encoder increments) is 667, i.e.: 60° 60° ec31 = ec29 ∙ 4 ∙ = 1000 ∙ 4 ∙ = 667 360° 360° © 2022 KEB Automation KG...

  • Page 240: Figure 64: Distance-Coded Reference Marks At Heidenhain

    At the beginning of the scale is the first reference mark (here is an excerpt from the Heidenhain documentation): 1fghfh Figure 64: distance-coded reference marks at Heidenhain They are structured like this: © 2022 KEB Automation KG...

  • Page 241: Figure 65: Distance-Coded Reference Marks

    Mode position calculation ec35 pos. calc. mode Index Id-Text Name Function 0x2823 Defines different settings for position calcula- ec35 pos. calc. mode 0x4823 tion. © 2022 KEB Automation KG...
  • Page 242 Speed scan time ec26 speed scan time This parameter determines the time between the measured positions wherefrom the speed is generated. Index Id-Text Name Function 0x281A ec26 speed scan time Scan time for speed 0x481A © 2022 KEB Automation KG...
  • Page 243 Gear factor numerator ec24 gear numerator Position and speed are multiplied with this value. ec24 gear numerator 0x2818 / 0x4818 Value Meaning 0…65535 Multiplier for position and speed © 2022 KEB Automation KG...
  • Page 244 Special case SinCos encoder with absolute track without zero signal Here the incremental position is compared with the absolute position. The maxi- mum deviation is fixed (mechanically) adjusted to 16° and can not be changed. © 2022 KEB Automation KG...
  • Page 245 Only the number of bits that also belong to the position is set here, i.e. no error bits. The total length of the position value is then ec40 SSI singleturn res. ec41 SSI multiturn res. © 2022 KEB Automation KG...
  • Page 246 = 13 is displayed, i.e. 11 bits for the signal periods + 2 bits for the high-resolu- tion. Which BiSS encoders have an el. nameplate or not, is described here in more de- tail: => 6.1.2.3 "Supported encoders", page 219 © 2022 KEB Automation KG...
  • Page 247 The following frequencies can be selected: ec43 SSI clock freq. 0x282B / 0x482B Value Clock frequency 100 kHz (156 kHz) 500 kHz 1 MHz (833 kHz) The values in brackets apply if Endat is adjusted on the other encoder channel. © 2022 KEB Automation KG...
  • Page 248 Without this setting, position deviations of one signal period (4 increments) can oc- cur at higher signal frequencies, which can be toggled by the position correction function. © 2022 KEB Automation KG...
  • Page 249 Index Id-Text Name Function 0x2824 ec36 several encoder functions Several encoder functions 0x4824 After setting a bit, the respective function is triggered and the bit is deleted after this function is terminated. © 2022 KEB Automation KG...
  • Page 250 (SM) ec23 The reference between rotor position and zero position of the attached encoder system is created by the system position. This system position is preset in the factory setting for standard KEB motors. © 2022 KEB Automation KG...

  • Page 251: Operation Of Absolute Linear Encoders

    This means, for example, zero setting of the position in the encoder with ec36 saving and reading of motor data with ec46 in the encoder will work in the same way if the encoder supports them. © 2022 KEB Automation KG...
  • Page 252 In the case of distance-coded reference marks, the base distance is set here. (More about the reference signals, see 6.1.8 „Operation of non-absolute linear en- coders (with and without reference marks)“, page 254) ec29 is dependent on the used encoder. © 2022 KEB Automation KG...
  • Page 253 With digital encoders, instead of the length of one sine period, the resolution of the digital position (also called measuring step) must be used, i.e. how far the measur- ing value must be turned that the position increases by 1. © 2022 KEB Automation KG...

  • Page 254: Operation Of Non-Absolute Linear Encoders (With And Without Reference Marks))

    For distance-coded reference marks, the reference mark track consists of many reference marks that all have a different distance from each other. From these dis- tances, the absolute reference can be calculated if two adjacent reference marks have been passed. © 2022 KEB Automation KG...

  • Page 255: Operation Of Endat Multiturn Encoders With Battery Buffering

    Zero setting of the revolution counter in the encoder With bit 2 "clear multiturn rounds for battery-buffered EnDat encoder" of ec36, the revolution counter in the encoder can be set to zero, i.e. subsequently the counted © 2022 KEB Automation KG...

  • Page 256: Error And Warning Messages

    But Endat with 1Vss is adjusted as encoder type. Is the communication ok? The encoder identifier (from word 14 of the manufacturer pa- EnDat: unsupported type rameters) is not supported. EnDat: unsupp. version EnDat version is neither 2.1 nor 2.2 and is not supported. © 2022 KEB Automation KG...
  • Page 257 Already during the initialization, not all encoder signals have Sin/Cos: init error been recognized (recognized encoder types are displayed in ec17). Sin/Cos: reference signal not Reference signal is not recognized since some revolutions, but recognised anymore it was already valid. TTL-/HTL encoder © 2022 KEB Automation KG...
  • Page 258 BISS comm: para CRC err ble, encoder evaluation or encoder. BISS: pos. read err BISS: pos. invalid BISS: enc err bit BISS: CPU watchdog err Resolver Resolver: signal err One or both signals are invalid. Hiperface © 2022 KEB Automation KG...
  • Page 259 Maximum frequency of the output signals is exceeded (500 TTL output: frequency too high kHz). TTL output: Channel A position The position of channel A, which shall be output at channel B invalid is invalid, e.g. because an error has been triggered. © 2022 KEB Automation KG...
  • Page 260 Communication to the encoder is too long and cannot be enc. sync. comm. is longer than completed in the control grid. This encoder cannot be sync cycle safely evaluated because no current position can be cal- culated in the faulty cycles. © 2022 KEB Automation KG...
  • Page 261 If the error still occurs after switching off and on again, there is a hardware problem with the Bit 28 encoder. The encoder must be referenced again if it cannot be ensured that the whole revolutions are still correct. © 2022 KEB Automation KG...
  • Page 262 16 bits of ec18. Some error sources are the same as the alarm bits in the lower 16 bits of ec18, i.e. they are set simultaneously and also mean the same. © 2022 KEB Automation KG...
  • Page 263 After changing or connecting the buffer battery, the warning can be reset by switching the en- coder type in ec16 off and on again. Bit4 Reference point reached Bit 5-15 Not yet defined BiSS Hengstler Acuro : Error bit in position data word OptoAsic temperature exceeded or fall below © 2022 KEB Automation KG...

  • Page 264: Store Data In The Encoder

    Data are written to the encoder or read by the encoder. The read data are not conform with a valid format for KEB. No data will be data invalid transferred. basic data Data from the KEB-F5 Definition are found and transferred in the encoder.
  • Page 265 The extended (enhanced) format is always used when writing the data to the en- coder. This is defined by way that the data of the F5 format (basic) remain accessi- ble. An encoder written in the "enhanced" format can be read out with F5 devices. © 2022 KEB Automation KG...

  • Page 266: Encoder Serial Number

    E.enc A changed stop mode is activated for encoder A or pn74 E.enc B changed stop mode for encoder B, the adjusted response is triggered, as soon as ec48 und ec49 are different. © 2022 KEB Automation KG...

  • Page 267: Assignment Of The Encoder Channels

    Channel A is always used as default setting for speed control. The source for a position control can be selected with co04 position source. © 2022 KEB Automation KG...

  • Page 268: Motor Parameterization

    (ru01 = 21). This error can only be reset when the data are transferred with dr99. dr-parameters can be changed and activated by writing on dr99 while the drive is in state "opera- tion enabled". © 2022 KEB Automation KG...
  • Page 269 Star ( Y ) Phase value * 2 Delta ( Δ ) Phase value * 2/3 The dr parameters differ in nameplate data, equivalent circuit data (determined of data sheet or auto-ID) and application-specific data. © 2022 KEB Automation KG...

  • Page 270: Asynchronous Motor

    If the value dr32 (which is writ- ten before cs17) is now set to zero by parameter backup, there are many error messages. © 2022 KEB Automation KG...

  • Page 271: Figure 66: Equivalent Circuit Diagram Motor

    (e.g.) requires a lower speed limit. During the identification steps at standstill the motor may be moved slightly by the test signals. σ1 σ2' 1fghfh Figure 66: Equivalent circuit diagram motor © 2022 KEB Automation KG...
  • Page 272 (=> Chapter 6.2.10 Field weakening). The default values are generally sufficient for an initial start-up. dr13 breakdown torque % 0x220D Value Note 0…6000.0 % Maximum torque at start of field weakening © 2022 KEB Automation KG...
  • Page 273 Cooling type (self or separately cooled) dr39 ASM prot. mode 0x2227 The overtemperature motor protection is parameterized with this objects (=> Chap- ter 4.4.5 Overtemperature motor (dOH) and chapter 4.4.6 Motor protection switch OH2 ). © 2022 KEB Automation KG...
  • Page 274 (kg*cm^2) speed controller (together with cs17 inertia load). dr07 rated cos(Phi) Determination of the magnetizing current (if it is not known, the default value of dr07 can be used). © 2022 KEB Automation KG...
  • Page 275 19 "off“ be carried out by writing on cs99. Alternatively cs99 and the speed controller can be adapted manually. • The torque and current limits are set to 100% (default). © 2022 KEB Automation KG...
  • Page 276 Setting of the maximum current for control (defines the safety distance to the overcurrent switch-off threshold) Ramps co48…co51 Values for acceleration / deceleration co52…co59 Values for the jerk in different ramp phases co60 General parameterization of the ramp generator © 2022 KEB Automation KG...
  • Page 277 Deadtime compensation The deadtime compensation should be switched on for operating modes with mo- tor model. Switching conditions The output management (determination of the switching conditions, assignment, filtering, etc.) is carried out in the do parameters. © 2022 KEB Automation KG...

  • Page 278: Synchronous Motor

    The speed for identification is determined by dr44. This value must only be ad- justed if the application only allows low speed (e.g.). With the identification steps at standstill the motor can be moved easily by the test signals. © 2022 KEB Automation KG...

  • Page 279: Figure 67: Equivalent Circuit Diagram Synchronous Motor

    (=> Chapter 6.2.13 Saturation characteristic (SM)). dr11 max torque % 0x220B Value Note 0…6000 % Maximum permissible torque in% of rated torque © 2022 KEB Automation KG...
  • Page 280 The expected DC link voltage, which is dependent on the mains voltage (√2 * ) or the AFE voltage should be entered in this object (=> Chapter 6.2.10.4.2 mains DC link voltage dependence). dr28 uic reference voltage 0x221C Value Note 200…830V DC reference voltage in V © 2022 KEB Automation KG...
  • Page 281 SM prot. recovery time tection function counter needs to count from 100% to 0%. The overtemperature motor protection is parameterized with this objects (=> Chap- ter 4.4.5 Overtemperature motor (dOH) and chapter 4.4.6 Motor protection switch OH2 ). © 2022 KEB Automation KG...
  • Page 282 4…5 ished reserved to standstill current reserved reserved overwrite system 6…7 offset Function not available no overwrite (ec-group) reserved © 2022 KEB Automation KG...
  • Page 283 SCL identification mode 3 "cvv without turning". dd01 SCL rotor detection 0x3601 Function Value Function overwrite no overwrite 6…7 system offset (ec-group) reserved reserved © 2022 KEB Automation KG...
  • Page 284 (= motor alignment time + decay time of the vibration caused by the alignment) Possible errors: dr57 ident error info 0x2239 Value Note Meaning rotor det. cvv curr. Current stiff could not be executed © 2022 KEB Automation KG...
  • Page 285 12° via the encoder system. Otherwise an error is triggered. At high cogging torque the rotor often goes into the desired position with a residual error. This error is partly corrected in this mode. © 2022 KEB Automation KG...
  • Page 286 (a level of 5% should be selected as starting value). The information content can be different at different rotor positions. Therefore sev- eral different electrical positions should be tested at start-up. © 2022 KEB Automation KG...
  • Page 287 "five step" mode (e.g. 3%). Several different electrical positions should be tested for the reliability of the rotor position detection at start-up. ➢ An operation with sine-wave filter is not possible parallel to this func- NOTICE tion. © 2022 KEB Automation KG...
  • Page 288 = 0 => Switching off the modulation, the measured system offset under consideration of friction is displayed. dd00 = 0 => rotor detection mode = off © 2022 KEB Automation KG...
  • Page 289 With pronounced IPM characteristics of the motor (Lq>>Ld) it is reasonable to switch off the stabilisation current and the stabilisation term (ds30). The stator resistance adaptation is internally deactivated with activation of the HF injection. © 2022 KEB Automation KG...
  • Page 290 (dr54 = 1). Values within the correct order of magnitude must be preset for the equivalent cir- = 2 "motordata stored“. cuit data in order that the inverter reaches the status dr02 © 2022 KEB Automation KG...
  • Page 291 19 "off“ and the speed by writing on cs99. Alternatively cs99 controller can be adapted manually. • The torque and current limits are set to 100% (default). © 2022 KEB Automation KG...
  • Page 292 = 0. The adjustment of dd00 is different if an en- coder without absolute position is used (see chapter 6.2.3.5 System offset). Ac- cept the identified data with dr99 = 0 and parameterize the controllers. © 2022 KEB Automation KG...
  • Page 293 Setting of the maximum current for control (defines the safety distance to the overcurrent switch-off threshold) Ramps co48…co51 Values for acceleration / deceleration co52…co59 Values for the jerk in different ramp phases co60 General parameterization of the ramp generator © 2022 KEB Automation KG...
  • Page 294 Deadtime compensation The deadtime compensation should be switched on for operating modes with mo- tor model. Switching conditions The output management (determination of the switching conditions, assignment, filtering, etc.) is carried out in the do parameters. © 2022 KEB Automation KG...

  • Page 295: Structure Overview

    Motor parameterization Structure overview 1fghfh Figure 68: Structure overview motor model © 2022 KEB Automation KG...
  • Page 296 Current control (Chapter 6.2.6 ) Precontrol of the current controller • Current control (Chapter 6.2.6 ) Voltage limitation • Maximum voltage (Chapter 6.2.10.3 ) Actual values current controller • Measurement / model currents (Chapter 6.2.7 ) © 2022 KEB Automation KG...
  • Page 297 System offset (Chapter 6.2.3.5 ) Encoder evaluation • encoder Parameterization of the encoder system (Chapter Interface to the 6.1) • System offset (Chapter 6.2.3.5 ) Control mode • Control mode (with encoder / encoderless) (Chapter 6.2.15 ) © 2022 KEB Automation KG...
  • Page 298 Rotor position detection in operation at SCL (hf injection) (Chapter 6.2.3.6 ) Maximum set current setting • Currentlimitations (Chapter 6.2.8 ) Cogging (SM) • Cogging torque compensation (SM) Current (Chapter 6.2.14 ) Position control • Source selection for the position control (Position controller source Chapter 6.5.3.3) © 2022 KEB Automation KG...

  • Page 299: Magnetizing Current

    The actual calculation is based on the accuracy of the type plate data, especially of the rated current. dr08 magnetizing current % 0X2208 Value Meaning Current is calculated automatically 0.1…100% Magnetizing current in % of the rated motor current © 2022 KEB Automation KG...

  • Page 300: Figure 69: Generation Of The Magnetizing Current

    Motor parameterization 6.2.5.1.1 Generation of the magnetizing current (overview) 1fghfh Figure 69: Generation of the magnetizing current © 2022 KEB Automation KG...

  • Page 301: Figure 70: Generation Of The D-Component

    IPM-Motor torque(ru23) actual flux C-Sinus-Filter- Compensation stabilisation current act. value (ru08) ds35 ds36 ds37 dr02 Figure 70: Generation of the d-component © 2022 KEB Automation KG...
  • Page 302 Checking of the system position (the motor may not offer torque through cur- rent injection in the d-axis). A negative magnetizing current is required in the field weakening. This current is automatically given via the maximum voltage controller (=> Chapter 6.2.10 Field weakening). © 2022 KEB Automation KG...
  • Page 303 Reference value for the x-axis (float32 [Nm]] Operation without encoder feedback: At operation without encoder feedback (SCL), the table mo05 must be filled with zeros when the high-speed model (ds30) is selected. The optimum apparent cur- rent is given automatically. © 2022 KEB Automation KG...

  • Page 304: Current Control

    The adjustment of ds14 becomes only effective if a recalculation of the current con- troller is started via dr99 = 0 or after restarting the inverter, if dr99 is set to 0 "store motordata,init reg". © 2022 KEB Automation KG...
  • Page 305 In this mode it is imperative to set the maximum Id current in parameter dr29. The current controller priority is changed depending on the auto select operating point. Initial setting for ASM (ASM) © 2022 KEB Automation KG...
  • Page 306 Activation level of the anti windup limitation of the current con- trollers. Raising the AW level can increase the dynamic range. anti windup speed 0x2410 ds16 level (Parameter is only effective if value 32 "compression + dynamic decoupling" is selected in ds04 for priority). © 2022 KEB Automation KG...

  • Page 307: Measurement / Model Currents

    Value Function Notes observer Observer for model currents on / off Index Id-Text Name Function 0x2407 ds07 observer factor Defines the influence of the observer The default value must only be changed in exceptional cases. © 2022 KEB Automation KG...
  • Page 308 In these applications it is recommended to set the time to zero. 0x2406 ds06 omega decoupling time Filter time for the decoupling. © 2022 KEB Automation KG...

  • Page 309: Currentlimitations

    The d-current and the currents which identify the motor parameters are always lim- ited by the switching frequency-dependent short-time current limit at 0Hz (inde- pendent on the adjustment of is14) (=> Chapter 4.4.2 Overload power components (OL2)). © 2022 KEB Automation KG...

  • Page 310: Torque Adjustment

    (subindex 1 and 2). It is also defined whether the offset values are determined on the basis of the mo- mentary values or of smoothed values (PT1 filter). (Subindex 3 and 4) © 2022 KEB Automation KG...
  • Page 311 • start speed [1] = 5 % dr04 • end speed [2] = 130 % dr04 • ident torque source [3] = 1: PT1 filtered • ident speed source [4] = 0 : raw © 2022 KEB Automation KG...
  • Page 312 Thus, fsw0 is always the lowest switching frequency defined by is22, fsw3 is the highest one. For the identification, the speed mo38 [1] start speed (= moxx torque torque offset data fswx => starting speed [2]) is approached first. Offset measurement occurs when the speed is stable. © 2022 KEB Automation KG...

  • Page 313: Figure 71: Procedure Of The Offset Measurement

    The measurement can be cancelled manually at any time with mo35 torque offset ident = 0: off. In addition, the measurement is aborted by deactivation of the modulation - e.g. by an inverter error (see ru01). © 2022 KEB Automation KG...
  • Page 314 (by parameter mo35). If the torque offset identification has been carried out successfully, the result of the measurement can be seen in parameters mo39...mo42 torque offset data fswx and mo43...mo46 torque offset array fswx. © 2022 KEB Automation KG...
  • Page 315 / data status fsw1 / data status fsw2 / data status fsw3 0x3827 [1]...0x382A [1] Valu Plaintext Function 0: Not Available The torque offset values for the switching frequency are not available 1: Available The torque offset values for the respective switching frequency are valid © 2022 KEB Automation KG...
  • Page 316 (e.g. maximum current of inverter and motor, maximum possible / per- missible torque of the motor) remain unaffected by the compensation characteris- tic. © 2022 KEB Automation KG...

  • Page 317: Figure 72: Simplified Representation Of The Torque Offset Compensation

    Figure 72: simplified representation of the torque offset compensation If torque setpoints / precontrol values are directly preset (co15 (CiA 0x6071) target torque co18 (CiA 0x60B2) torque offset), no torque offset is added to these values. © 2022 KEB Automation KG...

  • Page 318: Field Weakening

    "runs away" or the con- trollers are badly adjusted, the safe response is 0: fault. If the speed measurement is decelerated (smoothing by Pt1 and scan time) this deceleration must be considered and pn70 must be selected lower. © 2022 KEB Automation KG...

  • Page 319: Figure 73: Field Weakening Range Asynchronous Motor

    / Torque limiting characteristic Chapter 6.2.10.4). Parameter Name blue characteristic red characteristic dr28 Uic reference voltage 565V 565V dr05 rated voltage 400V 230V dr25 breakdown speed [%] 100% 100% 1fghfh Figure 73: Field weakening range asynchronous motor © 2022 KEB Automation KG...
  • Page 320 2% lower than the maximum modula- tion grade (fc04). Higher differences can also be required dependent on fc04 max. modulation grade 0x3704 the desired dynamics. Limit for maximum voltage controller fc05 Umax reg limit 0x3705 © 2022 KEB Automation KG...

  • Page 321: Figure 74: Maximum Voltage Controller

    = 6%, if the controller is inside the limit Time 20ms = 0.02s = 100 / 6 / 0.02 = 833 %Irated / %U / second => Ki (fc02) must be selected >833%, be- cause the voltage limitation is to be avoided. © 2022 KEB Automation KG...

  • Page 322: Figure 75: Limit Value At Synchronous Motors

    Figure 75: Limit value at synchronous motors 6.2.10.3.2.2 Limit value at asynchronous motors The limit value at asynchronous motors is selected by way that the set flow by the controller can be reduced always about 75%. © 2022 KEB Automation KG...
  • Page 323 Uic reference voltage the field weakening range and the limiting characteristic in With higher DC link voltages, the limiting characteristic would shift to higher speeds, correspondingly lower DC link values lead to lower speeds. © 2022 KEB Automation KG...

  • Page 324: Figure 76: Maximum Torque Depending On The Dc Link Voltage For The Synchronous Motor

    DC link voltage. A shifting to higher speeds, with higher DC link voltage, does not take place. That means, the characteristic is only shifted if the DC link voltage is lower than dr28 "uic reference voltage“. © 2022 KEB Automation KG...

  • Page 325: Figure 77: Adjustment Of The Torque Limiting Characteristic

    (ds11 torque mode bit (0,1) = 1). ds11 torque mode 0x240B Function Value Plaintext Notes field weak curve for SM Adjusts itself automatically depending on 0…1 limit the selected motor type 1/x² for ASM © 2022 KEB Automation KG...
  • Page 326 % in % of the motor rated torque. The speed value is entered in dr25 breakdown speed % in % of the rated field weakening speed . This is calculated as follows: © 2022 KEB Automation KG...

  • Page 327: Figure 78: Limit Characteristic Curve

    (*1) only data sheets can be used where a limit characteristic is specified considering the optimum field weakening. In this case the limit characteristic is approximately a 1/x characteristic curve. No speed/torque data pair can be read from the green characteristic curve. 1fghfh Figure 78: Limit characteristic curve © 2022 KEB Automation KG...

  • Page 328: Figure 79: Safety Distance To The Limit Characteristic

    ➢ The drive is uncontrollable if this missing torque due to the limiting characteristic cannot be compensated by the speed controller. ➢ All torque limits must be selected high enough that the position error can always be compensated. © 2022 KEB Automation KG...

  • Page 329: Flux Controller (Asm)

    ASM flux reg. limit Flux controller limit in % of the rated motor current (dr03) fc18 fc20 fc16 fc19 FluxCurve Tr/25 sdRef mrRef mrRefN Flux controller frequency mrAct 1fghfh Figure 80: Flux controller (ASM) © 2022 KEB Automation KG...

  • Page 330: Adaption

    In the asynchronous machine, the adaptation constant depends on the rotor time constants. Adaptation occurs above 50% of the rated speed in regenerative operation or 6.25% in motor operation, if at least 25% of the rated active current is flowing. © 2022 KEB Automation KG...

  • Page 331: Saturation Characteristic (Sm)

    The saturation must only be taken into account when the motor is driven so far into saturation that, due to the strongly changed motor parameters, also the controllers must be adjusted (=> Chapter 6.2.6 Current control) or the torque accuracy shall be improved under load. © 2022 KEB Automation KG...

  • Page 332: Figure 81: Torque Constant Depending On The Active Current

    3 characteristics: no-load operation nominal setpoint max. value red characteristic = internal course of the saturation characteristic Iq/In Active motor current / rated current 1fghfh Figure 81: Torque constant depending on the active current © 2022 KEB Automation KG...
  • Page 333 3,4 = 0 or bit 7,8 = 0. Currently the inductances can only be changed according to the saturation charac- teristic (EMF proportional). Then the adapted inductance values are considered by the decoupling, the motor model and used by the torque calculation. © 2022 KEB Automation KG...

  • Page 334: Cogging Torque Compensation (Sm)

    0% [rpm] 0x3815 PT1 time for current control loop mo22 cogging PT1 time 0x3816 emulation. Do not change! COMBIVIS 6 provides an online wizard for parameterization of the compensation. © 2022 KEB Automation KG...

  • Page 335: Control Mode (With Encoder / Encoderless)

    Voltage-/frequency characteristic encoder, with- Operation with encoder without motor model con- out model trol encoder, with 0…3 Operation with encoder and motor model model no encoder Operation without encoder with motor model (ASCL/SCL) 4…15 reserved © 2022 KEB Automation KG...
  • Page 336 The ratio of the smoothing times for encoderless oper- ation (ds28) and operation with encoder (ec26/2 + ec27) should be in the range of 1/16….16. © 2022 KEB Automation KG...
  • Page 337 The rated motor speed (dr04 rated speed) is required to calculate the number of pole pairs. Since all setpoint specifications must be made in revolutions per minute, the required frequency is only reached if dr04 is correctly parameterized. © 2022 KEB Automation KG...
  • Page 338 Two ranges with different voltage rise can be defined by using dr47 ASM v/f F1 dr46 ASM u/f V1. If the additional point of support shall not be used, dr47 must be set to zero. Then parameter dr46 has no function. © 2022 KEB Automation KG...
  • Page 339 A modulation factor of 100% means, that the amplitude of the motor voltage (phase-phase voltage) is equal to the DC link voltage. The effective value of the motor voltage can be increased over 100%. The output voltage then deviates from the sinusoidal form. © 2022 KEB Automation KG...
  • Page 340 = 15 Hz DC link voltage is00 compensation mode compensation is02 Uic comp voltage limit = 400V Maximum modulation grade fc04 max. modulation grade = 100% DC link voltage: ru14 act. Uic voltage = 620 V © 2022 KEB Automation KG...

  • Page 341: Figure 83: V/F - Influence Of The Additional Setpoint

    From this additional setpoint the characteristic runs straight to the defined nominal point dr05 rated voltage / dr06 rated frequency. In the second section, the characteristic is flatter than the v/f characteristic without an additional setpoint. © 2022 KEB Automation KG...

  • Page 342: Figure 84: V/F - Influence Of The Dc Link Voltage Compensation

    Uic voltage / rated DC link voltage = 620V / 565V = 1.1 Voltage at 50Hz in graphic: 362V to 330V = 1.1 6.2.15.1.6.3 Influence of the maximum degree of modulation 1fghfh Figure 85: v/f – Influence of the maximum degree of modulation © 2022 KEB Automation KG...

  • Page 343: Figure 86: V/F - Influence Of Dr48 V/F Characteristic Mode

    Motor parameterization 6.2.15.1.6.4 Influence of dr48 v/f characteristic mode Boost: dr45 ASM v/f boost = 20% 1fghfh Figure 86: v/f - Influence of dr48 v/f characteristic mode © 2022 KEB Automation KG...
  • Page 344 ASCL emf adaption ds12 bit 4-5 Tr adaption ds12 bit 4-5 estimated current control ds04 bit 6 stabilisation current ds30 bit 0 stabilisation term ds30 bit 1 deviation ds04 bit 6 observer ds04 bit 7 © 2022 KEB Automation KG...

  • Page 345: Model Control (Asm And Sm)

    ASiCL and motor operation. The error in the stator resistance is important for the stability of the operation, by way there are deviations from the real speed under load. 512…768 reserved © 2022 KEB Automation KG...
  • Page 346 "low speed control" range, which sets the actual value to 0x2430 ds48 model ctrl min acc/dec [s^2] the setpoint. The minimum acceleration / deceleration is parameter- ized in this parameter. © 2022 KEB Automation KG...
  • Page 347 With deactivation of the model in encoderless operation ((A)SCL) it is switchted to the model replacement („low speed ctrl“ Bit 6…7). ds41 © 2022 KEB Automation KG...

  • Page 348: Figure 87: Model Deactivation Depending On The Motor Type

    The model deactivation occurs when the actual value is below the model deacti- vation threshold (ds46). With deactivation of the model in encoderless operation ((A)SCL) it is switchted to the model replacement („low speed ctrl“ Bit 8…9). ds41 © 2022 KEB Automation KG...

  • Page 349: Figure 88: Model Deactivation Depending On The Motor Type

    The PI component of the speed controller is stopped when the model is switched off until the actual value has reached the setpoint and the state constant run (in 10 ms grid) is detected. Then the PI component is set to ZERO. © 2022 KEB Automation KG...

  • Page 350: Figure 89: Model Deactivation Depending On The Motor Type

    The magnetizing current setpoint is calculated identically to the closed-loop opera- tion and is controlled by a current controller in the d-axis. The active current adjusts itself automatically, thus "boost and slip" is set. © 2022 KEB Automation KG...
  • Page 351 DEC => regenerative => upper limit constant The stator resistance adaption is done with a constant factor factor (ds63 [7] ASiCL Rs adaption factor). Only useful for applica- (ds63[7]) tions in which the drive is motor or generator driven only. © 2022 KEB Automation KG...
  • Page 352 Note: The inertia and dynamics of the load change are also taken into account in the de- sign, thus parameterization, here only dependent on the rotor time constant, can only serve as a guide value. © 2022 KEB Automation KG...

  • Page 353: Figure 90: Torque Limit Depending On The Setpoint Value

    1fghfh Figure 90: Torque limit depending on the setpoint value The estimated speed is idealized displayed, in reality there can be more deviations between real and estimated (calculated) speed. © 2022 KEB Automation KG...

  • Page 354: Figure 91: Stabilisation Current Depending On Speed

    0x2425 ds37 rent ds35 ds37 ds36 actual speed [% dr04] ds35 50% rated motor current ds36 5% rated speed ds37 10% rated speed Figure 91: Stabilisation current depending on speed © 2022 KEB Automation KG...

  • Page 355: Figure 92: Model Stabilisation Term Depending On Motor Speed

    The term time (ds33) is calculated from the motor data and should not be changed. ds32 ds32 2 * ds32 2 * ds32 actual speed [% dr04] Default value ds32 20% rated motor speed 1fghfh Figure 92: Model stabilisation term depending on motor speed © 2022 KEB Automation KG...
  • Page 356 The stator resistance adaption is done with a constant factor factor (ds18[4] Rs adaption factor). Only useful for applications in (ds18[4]) which the drive is motor or generator driven only. The settings in ds12 adaption mode for the stator resistance have priority © 2022 KEB Automation KG...

  • Page 357: Dc Link Voltage Compensation

    3. That means, changes in the DC link voltage have no effect on the behavior of the current control. The maximum output voltage of the current controller is limited in mode 3 to the value of is02. © 2022 KEB Automation KG...

  • Page 358: Identification

    The single identification can always be used if a complete automatic measurement has been executed and only single parameters should be identified new. This can © 2022 KEB Automation KG...
  • Page 359 ASM rotor resistance Measurement of the rotor resistance (asynchronous mo- (Rr) tor) Measurement of the inductance of a synchronous motor ASM sigma ind./SM or the leakage inductance of an asynchronous motor with ind. (ampl.Mod) the "Amplitude-Modulation” procedure © 2022 KEB Automation KG...
  • Page 360 Measurement of the EMF running error The identification was aborted with error ident ctrl nop Internal interim status ready The identification has been completed wait state Internal interim status rotor detection (cvv) rotor detection (hf detection) © 2022 KEB Automation KG...
  • Page 361 Rotor position identification according to "constant volt- rotor detection (five step) age vector", "hf detection" or "five-step" procedure run- ning (=> see Chapter 6.2.3.5 System offset) least square ident (RsPre) IGBT-model + Rs ident IGBT-model + Rs background calc. © 2022 KEB Automation KG...
  • Page 362 (dr54=8). Also an incor- rectly set speed controller or too slow ramp times for the ramp-up can lead to er- rors in the identification of the main inductance. © 2022 KEB Automation KG...
  • Page 363 (selectable in dr56) should not be reached with this frequency, it is reduced by half. Significant noise development is to be expected on some motors due to the test signal. Here the current level dr56 should be reduced to 20% (e.g.). © 2022 KEB Automation KG...
  • Page 364 EMF out of range (upper limit) ident EMF > limit SM counter volt- EMF out of range (lower limit) age (Emf) ident EMF < limit 61 EMF/Lh, speed Identification speed not reached (oscillation or limitation) <> ref. © 2022 KEB Automation KG...
  • Page 365 Cause: real phase failure The inductance is calculated from the Hf signal and the maxi- mum / minimum value is determined. Error limit: Lmax / Lmin > 142 LeastSquareHf, differenz > limit Cause: real phase failure © 2022 KEB Automation KG...
  • Page 366 The rotor position identification by "five step" or "hf detection" can also be done during the identification. However, it is better to do it beforehand, because the cur- rent for the detection of the position can be optimally adjusted then (=> Chapter 6.2.3.5 System offset). © 2022 KEB Automation KG...

  • Page 367: Deadtime Compensation

    Selection of the compensation mode is07 deadtime comp mode 0x3507 Adjustment of the dead time characteristic (only for e-func- is08 comp limit fact 0x3508 tion) is09 comp current fact 0x3509 Values should always be set to 100% © 2022 KEB Automation KG...
  • Page 368 IGBT model due to the overall design (e.g. cable lengths used). ident IGBT- These optimized values can be determined with the identifi- model cation (dr54 ident). In this mode, these values determined in the application are used for compensation. © 2022 KEB Automation KG...
  • Page 369 IGBT model due to the overall design (e.g. cable lengths used). These optimized values can be determined with the identification (dr54 ident). The result of the identification is displayed in parameter is04 in subindices 1...3. © 2022 KEB Automation KG...
  • Page 370 The factor is effective only in combination with the use of the IGBT model (factory setting or identified). Index Idx text Name Function is04 deadtime IGBT-model Identification IGBT parameters Subidx 0x3504 The compensation can be weakened with this factor. safety factor 100% corresponds to full compensation. © 2022 KEB Automation KG...
  • Page 371 0x3507 Func- Value Plaintext Notes tion measured values Dead time compensation on measured actual variables source reference values Dead time compensation on setpoints © 2022 KEB Automation KG...

  • Page 372: Switching Frequency Adjustment And Derating

    (sinus filter dr53). These limits have priority to the settings of is10 switching frequency is16 min. derating frequency. The output frequency-dependent short-time current limits reduce at increased switching frequency (=> Chapter 4.4.2 Overload power components (OL2)). © 2022 KEB Automation KG...
  • Page 373 (ru25 SubIdx 1 heatsink temperature 1) exceeds the temperature for switching frequency reduction while the switching frequency is higher than the derating lower limit, then the switching frequency is reduced to the next lower stage. © 2022 KEB Automation KG...

  • Page 374: Interrupt Structure Of The Software

    The slowest grid ("slow irq") contains all functions that are not particularly time-criti- cal (e.g. load and overload monitoring), but which nevertheless require a fixed pro- cessing grid. © 2022 KEB Automation KG...
  • Page 375 62.5µs, the average interrupt is called every 8 X 62.5µs = 500µs. Smaller grids for the middle interrupt level can only be set under certain conditions due to the time load of the control card: © 2022 KEB Automation KG...
  • Page 376 2 kHz. This means that, de- spite a current controller cycle of 62.5 µs, the voltage can only be changed every 250 µs (with switching frequency group 0: 62.5 µs). © 2022 KEB Automation KG...
  • Page 377 12 kHz, 6 kHz, 3 kHz, 1.5 kHz 2 ms 14 kHz, 7 kHz, 3.5 kHz, 1.75 kHz 10 kHz, 5 kHz, 2.5 kHz, 1.25 kHz 4 ms Is possible with all settings of is22 for all switching frequencies © 2022 KEB Automation KG...
  • Page 378 Mean value of the runtime of the slow interrupt in µs. 0x2962 aa98 max time slow irq Drag pointer of aa96. ERROR runtime is triggered, if the value in aa98 exceeds the 0x2963 aa99 error level slow irq limit value of aa99 defined by KEB. © 2022 KEB Automation KG...
  • Page 379 Number and type of process data aa98 max time slow too long Special functions: Coolant management Power-dependent speed limitation "Error runtime" can be reset by a reset in the controlword. © 2022 KEB Automation KG...

  • Page 380: Hardware/Software Current Control

    (dr64). It is calculated from the motor/filter data. The current that flows into the capacitor is calculated depending on the output volt- age and frequency and preset inverted in the reactive current setpoint (this setting is not possible in v/f operation). © 2022 KEB Automation KG...

  • Page 381: Figure 94: Connection Example Sinus Filter

    < 4kHz fout < 0.8 kHz fout <1.6 kHz fout = output frequency fk = critical frequency (dr64) 6.2.23.3 Parameterization Sinus Filter DriveUnit Synchronous Motor Lsin Rsin Csin 1fghfh Figure 94: Connection example sinus filter © 2022 KEB Automation KG...
  • Page 382 ZERO, this value is used internally. Star connection: Csin / 2 sinus filter dr52 cap. UV 0x2234 [uF] Csin =C Delta connection: Csin = 3 * C © 2022 KEB Automation KG...
  • Page 383 Then the parameterization of is10 has no ef- dr53 min. switch. 0x2235 fect. freq. Example: is10 = 4kHz dr53 = 8kHz de33 = 8kHz => switching frequency = 8kHz © 2022 KEB Automation KG...
  • Page 384 Alternatively, the filter coefficients can be preset directly via ds17 . Thereby the filter can be adjusted with any characteris- tic. Band-pass filter activation current bit 3 "bandpath filter = on“! 0x2404 ds04 Activate the bandpath filter in ds04 mode © 2022 KEB Automation KG...
  • Page 385 However, the actual torque is calculated from the calculated motor currents and should therefore correspond to the real shaft torque. © 2022 KEB Automation KG...

  • Page 386: Speed Search

    Ramp setpoint at decelera- LD(I) Limitation of the current velocitiy v/f* tion (DEC) Limitation of the DC link Ramp setpoint at decelera- LD(U) velocitiy voltage tion (DEC) *) only useful in v/f, but active in all control modes © 2022 KEB Automation KG...
  • Page 387 The maximum current is formed from the following parameters: dr12 max. current is11 max current [de28%], is35 set current limit, is14 overload protect mode and (only when DC braking is active) ds62[4] max.DC current © 2022 KEB Automation KG...
  • Page 388 LA (I)-Stop (*1) Imax or the rate of current rise is too high. (*1) The maximum current "Imax" is formed from the following parameters: dr12 max. current %, is11 max current [de28%], is14 overload protect mode © 2022 KEB Automation KG...

  • Page 389: Dc Braking

    Mode of operation cycle syn position cycle syn velocity DC braking is available for: • operation mode 2: velocity mode • control mode v/f or ASCL • Motor type: Asynchronous motor © 2022 KEB Automation KG...
  • Page 390 Start of DC braking when the target speed (ru05 set value speed display) and the actual speed (ru08 actual value) are below 1024 level the level (ds62[7] braking speed level [%Nn]). The condition is that the actual speed has been once above the level. © 2022 KEB Automation KG...
  • Page 391 [%Nn]. To ensure that the DC braking is safely activated with the setting 128: on + speed level, the waiting time before the modulation switch-off (pn45 fault reaction time) must be configured accordingly. © 2022 KEB Automation KG...
  • Page 392 DC braking is less than 5% of the rated motor speed, the minimum switch-off time is omitted and the DC voltage is immediately switched to the motor. © 2022 KEB Automation KG...

  • Page 393: Figure 95: Motor De-Excitation Time Ascl

    Actual speed >= rated motor speed => The flux is reduced to 20% of the rated flux The set flux is linearly interpolated between these two speed points. 1fghfh Figure 95: Motor de-excitation time ASCL © 2022 KEB Automation KG...
  • Page 394 The time of DC braking is determined by ds.62[6] braking time. When using a digital input for control and selection of ds62[2] Bit 3…4 digital input = 8: state the duration of the DC braking is determined by the digital input. © 2022 KEB Automation KG...

  • Page 395: Speed Controller

    Speed controller Speed controller Overview switch (cs27) switch (cs21) cs21 1fghfh Figure 96: Speed controller overview © 2022 KEB Automation KG...

  • Page 396: Pi-Speed Controller

    Therefore the mass moment of inertia of the entire system dr32 inertia motor (kg*cm^2) + rigidly coupled load cs17 inertia load (kg*cm^2) must be entered. © 2022 KEB Automation KG...
  • Page 397 = 10.0 = 10 %Mn / rpm means: ➢ at speed deviation of 1 rpm, 10% of the motor rated torque is output from the controller as proportional component ➢ the rated torque is output at a deviation of 10 rpm © 2022 KEB Automation KG...

  • Page 398: Variable Proportional Factor ((System Deviation)

    = 1.5 => no limitation => total proportional gain = (1 + 0.5) * cs01 = 1.5 * 1.2 = 1.8 => Maximum proportional gain = (1 + cs04) * cs01 = 2.5 * cs01 © 2022 KEB Automation KG...

  • Page 399: Variable Proportional/Integral Factor (Speed)

    KI = 87.5% M /(rpm * s) at 300rpm KP = 1.5% M /rpm at 300rpm rated rated KI = 50% M /(rpm * s) from 400rpm KP = 1% M /rpm from 400rpm rated rated © 2022 KEB Automation KG...

  • Page 400: Speed Controller Adjustment Via Process Data

    P=cs25, I=cs26 cs25 affects proportional and cs26 affects integral gain. If the Ki is set to zero by the controller weakening, the integral part is also deleted. © 2022 KEB Automation KG...

  • Page 401: Determination Of The Mass Moment Of Inertia

    = 0,26s Beschleunigungsmoment delta M = 662Nm Zeit [s] 1fghfh Figure 100: High-run test with COMBIVIS 0, .6 �� �� [ ���� ∗ ���� ] = 95493 ∗ 662 ���� ∗ = 40886 �������� 402 ���� © 2022 KEB Automation KG...

  • Page 402: Speed Controller Pt1 Output Filter

    The filter time is adjusted in parameter (cs20 torque ref PT1 time). A longer time causes a stronger smoothing of the active current signal, but also a lower dynamic control behaviour and increased oscillation. © 2022 KEB Automation KG...

  • Page 403: Torque Precontrol

    (cs17) (dr32) acceleration / deceleration dependent torque speed reference signal to switch cs21 before ref speed filter Delay pretorque factor (cs24) time = cs23 1fghfh Figure 102: Torque precontrol mode 1 © 2022 KEB Automation KG...

  • Page 404: Figure 103: Torque Precontrol Mode 2

    An excessively decelerated precontrol can operate even against the speed control- ler output and lead to vibration. The parameter for the precontrol filter is valid for mode 1 and mode 2. © 2022 KEB Automation KG...

  • Page 405: Figure 104: Torque Precontrol Smoothing

    Speed controller 1fghfh Figure 104: Torque precontrol smoothing © 2022 KEB Automation KG...
  • Page 406 Scaling of the gain of the speed controller with the factor from co37(φ) speed control reduc- 0: off 1: on with the factor from co37 2: on with the factor from co43 © 2022 KEB Automation KG...

  • Page 407: Figure 105: Not Linear Torque Precontrol

    Value [1] of the arrays is valid for the position with the value of ps18. Index [64] is not used in this operating mode. With increasing position, after [63] it is interpolated to [1] again. © 2022 KEB Automation KG...
  • Page 408 The value of the maximum value of the first derivative of J (φ) in [kgcm ] is directly set in co39. The data for the arrays co37, co38 co40 can be determined from simulation data for the actual application. For further information and tools, please contact KEB. © 2022 KEB Automation KG...
  • Page 409 For optimization, separate adjustments can then be made for the speed con- troller depending on the application. When the homing function is active, speed control reducing mode 0 is always used, i.e. the gain is always performed with the minimum value of array co37. © 2022 KEB Automation KG...

  • Page 410: Speed Setpoint Deceleration

    (Filter time + controller reciprocal of amplifi- cation time). pretorque value PT1 filter (cs19) speed controller ru06 reference speed value (from spline interpolator / ramp generator) speed ru08 measurement (ec26, ec27) real motor speed 1fghfh Figure 107: Speed setpoint deceleration © 2022 KEB Automation KG...

  • Page 411: Figure 108: Optimal Precontrol Behaviour

    As shown in the figure for the structure of the position and speed control (Chapter 6.6) there are three Pt1 elements (cs18 ref position PT1 time, cs19 ref speed PT1 time cs20 torque ref PT1-time) to adjust the three control circuits. © 2022 KEB Automation KG...

  • Page 412: Torque Limits

    0 (value programmed 0x2425 ds37 max. speed for stab. current in ds35). Default value: ds34 ds35 50% rated motor current ds36 5% rated speed ds37 10% rated speed Figure 109: Torque limit in the lower speed range © 2022 KEB Automation KG...

  • Page 413: Application-Dependent Torque Limits

    If different torque limits are required, enter these limits in parameters cs14…cs16 (= torque limit for different operating ranges). A special torque limit can additionally be set for the emergency stop (fault reaction ramp) (=> Chapter 4.3.1.2.5 Error reaction/stop_function torque limit). © 2022 KEB Automation KG...
  • Page 414 (mot. forward) is preset via the bus address 270Eh (value 1000 => 100% => Mn) cs14 (mot. reverse) = -1: mot.forward = cs13 cs15 (gen. forward) = 90% cs16 (gen. reverse) = -1: gen. forward = cs15 © 2022 KEB Automation KG...

  • Page 415: Position Control

    (bit). Parameters st33 position actual value st37 demand position are influenced by the referencing and the position range limits (ps18 / p19). © 2022 KEB Automation KG...

  • Page 416: Figure 110: Position Control Overview

    (CiA 0x607D [1]) min software position limit) are checked at the start of the positioning. ➢ The positioning is not carried out if the set value is outside of these limits. In this case, no error or warning is issued. © 2022 KEB Automation KG...
  • Page 417 (CiA 0x607B [1]) min position range limit . In the negative direction accordingly. This position limit is displayed only in st33 and st37. All other positions are not af- fected by the limits. © 2022 KEB Automation KG...

  • Page 418: Position Control Mode

    Position controller The position controller is active with the default setting of ps00 in the operating mode cyclic synchonous position mode and also in the profile positioning mode. It is defined with the following parameters: © 2022 KEB Automation KG...
  • Page 419 The limitation of the position controller refers to the motor speed. It is no longer converted with the gear factor. 6.5.3.1 Standard position controller ps01 KP position controller 0x2E01 Value Meaning 0.0…6500.0 rpm Gain factor ps01 KP position controller determines proportional gain of the position controller. © 2022 KEB Automation KG...

  • Page 420: Figure 111: Kp Reduction In The Position Controller

    If a very high position rigidity is only required at standstill, the gain (Kp) of the posi- tion controller can be increased with ps02 KP zero speed position ctrl at a profile setpoint speed of 0 rpm. © 2022 KEB Automation KG...

  • Page 421: Following Error

    If the limit of ps12 (CiA 0x6065) following error window is exceeded and addition- ally the preset time in ps13 (CiA 0x6066) following error time out has elapsed, bit 13 "following error“ is set in the status word. © 2022 KEB Automation KG...

  • Page 422: Structure Position / Speed Control

    Structure position / speed control Structure position / speed control 1fghfh Figure 112: Structure position / speed control © 2022 KEB Automation KG...

  • Page 423: 7 I/O Functions

    (i.e. after filtering, inverting, bus setting, etc.). ru41 di01 di00 Terminals di02 ru18 1fghfh Figure 113: Digital inputs block diagram © 2022 KEB Automation KG...

  • Page 424: Terminal State

    Virtual input (can only be set via the di parameters) 16384 STO-1 Channel 1 from the safety module 32768 STO-2 Channel 2 from the safety module 1 means the input is on high level (24V). © 2022 KEB Automation KG...

  • Page 425: Selection Of The Input Source

    The terminal block is always used as source for inputs STO-1 and STO-2. The selection of the source is done for each input via 2 successive bits in di01 dig. input src. sel. The meaning of this source selection is identical for each input. © 2022 KEB Automation KG...

  • Page 426: External Setting Of The Input State

    Internal image of the digital inputs (after processing such as 0x2C12 ru18 dig. input state e.g. inversion) Only the inputs I1..I8 and IA..ID can be inverted. An inversion of the STO inputs is not possible. © 2022 KEB Automation KG...

  • Page 427: Filter For The Digital Inputs

    In addition to the terminals and the software outputs, inputs can also be set via co00 (CiA 0x6040) controlword or address 0x6040. This allows functions to be activated (e.g. brake chopper control) which can other- wise only be activated via digital inputs. © 2022 KEB Automation KG...
  • Page 428 Input state controlword input 1 controlword inputs 8192 CW 2 Input state controlword input 2 Channel 1 from the safety 16384 STO-1 module Can not be changed by the input block Channel 2 from the safety 32768 STO-2 module © 2022 KEB Automation KG...

  • Page 429: Figure 116: Di28 Cw Input 1

    • in di28[1] set bit 1: copy bit 12 to cw input 1 • the assignment of the controlword input to the function, activation of the DC braking, must be made in ds61 1fghfh Figure 116: di28 cw input 1 1fghfh Figure 117: ds61: cw input 1 © 2022 KEB Automation KG...
  • Page 430 This can cause an unwanted permanent func- tion activation ➢ The option deactivate braking transitor in error case in connection with suitable parameterization of the watchdog error can provide a remedy. © 2022 KEB Automation KG...

  • Page 431: Overview Of The Evaluation Of Digital Inputs

    Digital Inputs Overview of the evaluation of digital inputs 1fghfh Figure 118: Structure: Evaltuation of the digital input status © 2022 KEB Automation KG...

  • Page 432: Functions Of The Digital Inputs

    Selection of the input which shall be used as strobe signal for in- 0x3218 di24 strobe input dex generation. index strobe de- 0x3219 di25 Definition of the strobe dependency of the index generation pendency © 2022 KEB Automation KG...
  • Page 433 CB input). The status of the digital inputs is taken from parameter ru18 digital input state. The status of the controlword bits influenced via digital inputs is visible in in di29 digital input controlword. © 2022 KEB Automation KG...

  • Page 434: Figure 119: Digital Input Controlword

    Digital Inputs 1fghfh Figure 119: digital input controlword The control via the fieldbus controlword (0x2500 or 0x0x6040) and the digital in- puts can also be combined by parameters co28 combined controlword mask co29 source connect type. © 2022 KEB Automation KG...
  • Page 435 (func- tion type 0 definition, function type 1 definition = 0..3). Additionally it is defined with which controlword bits it is possible to switch between the connection types (function nr selector = 0..3). © 2022 KEB Automation KG...
  • Page 436 The bits defined by the combined controlword mask are serially evalu- NOTICE ated. This means: a connection defined in combined controlword mask is overwritten by another connection defined in combined controlword mask [2] © 2022 KEB Automation KG...

  • Page 437: Figure 120: Digital Input Controlword

    Digital Inputs 1fghfh Figure 120: digital input controlword © 2022 KEB Automation KG...
  • Page 438 Bit 8 (0x0100h) is set in the internal controlword via active halt input. Bit 8 is set to zero with inactive halt input. The function of the "halt“ bit depends on the operating mode. © 2022 KEB Automation KG...
  • Page 439 (0x2500 or 0x6040). 3. The "enable Operation" bit should be set by default via digital input I3 and via the controlword (0x2500 or 0x6040). However, the control should be able to deacti- vate the digital input influence. © 2022 KEB Automation KG...
  • Page 440 = 1: choose type with bit 11 If bit 11 is zero, bit 4 in co31 is set via co00, if bit 11 is "one", the status of bit 4 in co31 is equal to the status of the digital input. © 2022 KEB Automation KG...
  • Page 441 If bit 12 is zero, bit 3 is set in co31 via digital input I3 or the corresponding bit in co00; if bit 12 is "one", the status of bit 3 in co31 is only dependent on co00. © 2022 KEB Automation KG...
  • Page 442 The index is internally limited to 255. Therefore, a maximum of 8 inputs can be selected for indexing. Example for index calculation: Inputs I1, I3 and I5 are selected in di21 for index selection: © 2022 KEB Automation KG...

  • Page 443: Figure 121: Example For The Index Filter

    If a filter time is entered, a new index is only accepted as valid index if it remains constant for the adjusted time. 1fghfh Figure 121: Example for the index filter After the unfiltered index has remained constant for the filter time (4ms), it is accepted as a valid index. © 2022 KEB Automation KG...

  • Page 444: Figure 122: Example Index Generation With Edge-Active Strobe

    All inputs defined as strobe must have the status "0". Only then a positive edge is possible. 2: static If the total strobe signal is active, the filtered index is set as active index strobe 1fghfh Figure 122: Example index generation with edge-active strobe © 2022 KEB Automation KG...

  • Page 445: Figure 123: Overview Index Generation With Filters And Strobe

    Digital Inputs 7.1.9.3.4 Total structure strobe generation 1fghfh Figure 123: Overview index generation with filters and strobe © 2022 KEB Automation KG...

  • Page 446: Overview Of The Input Functions

    ID input function 0x322A di42 STO1 input function 0x322B di43 STO2 input function Several functions can be assigned to an input. Then the parameter value is the sum of the associated functions of an input. © 2022 KEB Automation KG...
  • Page 447 PID deactivation input input function refer to fade out input an73: PID fade out input the respective parame- ter which they are as- USV enable input pn43[2]: USV enable input signed to. strobe input di24: strobe input © 2022 KEB Automation KG...

  • Page 448: Digital Outputs

    (de13 ctrl hardware type -> hw version = 5 or 6 => .. + safety re- lay) For a more detailed description of the digital outputs, please refer to the installation man- © 2022 KEB Automation KG...

  • Page 449: Functional Overview

    Display internal digital outputs The result of the internal digital outputs (= result of the comparator level) can be read out via object ru19. Index Id-Text Name Function 0x2C27 ru19 internal output state Display internal digital outputs © 2022 KEB Automation KG...

  • Page 450: Source Selection For The Digital Outputs

    Source selection of the output state It can be selected from the 4 sources below for the outputs O1-O4 (control type K) or O1- O2 (control type A), as well as OA-OC and the relay. © 2022 KEB Automation KG...
  • Page 451 Output state is transferred from do10 flag Output state is transferred from the comparator level Relais 16384 Output state is 1 14…15 source 32768 Output state is 0 49152 ext. src. Output state is transferred from do10 16…31 reserved © 2022 KEB Automation KG...

  • Page 452: External Setting Of The Output State

    As an intermediate level, the 8 "flags" (F1...F8) can be linked to max. 4 "connected flags" (CF1...CF4). The type of linkage is selected in do18 AND operation for connected flags. The 8 "flags" plus the 4 "connected flags" can be read out in parameter ru88 complete flags state. © 2022 KEB Automation KG...

  • Page 453: Figure 125: Comparator Level

    The type of linkage (OR / AND) is set with do19 AND operation for output. The resulting internal output state is displayed in ru19 internal output state. 7.2.8.4 Structure overview 1fghfh Figure 125: Comparator level © 2022 KEB Automation KG...

  • Page 454: Function Blocks

    Number of flags 0x260F Value Function no function blocks are calculated 1 ... 8 function blocks are generated. Function blocks that are not calculated lead to the value 1..8 0 for the respective flag F1..F8 © 2022 KEB Automation KG...
  • Page 455 1 Heatsink temperature [in °C] (ru25[1]) drive temperature (ru28) Motor temperature [in °C] (only when using a KTY sensor) statusword (st00) Value of the status word position actual value (st33) Actual position according CIA402 standard © 2022 KEB Automation KG...
  • Page 456 A less or equal than B Selection opera- 0…3 A equal B A AND B / TRUE, , if min 1 bit is set A OR B / TRUE, if min 1 bit is set © 2022 KEB Automation KG...
  • Page 457 [1] = 18 “dig. input state (ru18)” do01 flag operand A [1] = 28 “level 2 (do06)” do02 do01 flag operand B do06 flag level 2 [1] = 7 [1] = 3 “AND” do03 flag operator mode © 2022 KEB Automation KG...
  • Page 458 If an output shall only be set if several conditions are fulfilled simultaneously, the single flags must be assigned AND-operated to an output (programmable with do19 AND opera- tion for output and the select flag parameters do20…do27) © 2022 KEB Automation KG...
  • Page 459 (B - H/2) < A < (B + H/2) B - H/2 outside ± H TRUE B - H A > (B + H) or A < (B - H) between H and H/2 unchanged TRUE FALSE TRUE FALSE © 2022 KEB Automation KG...

  • Page 460: Figure 126: Filter For The Comparison Operation

    Switching the filter output occurs only at counter reading = 0 (clearing the filter output) or at counter reading = adjusted filter time (setting the filter output). Times are rounded to ms. 1fghfh Figure 126: Filter for the comparison operation © 2022 KEB Automation KG...

  • Page 461: Variable Operands (Not Available For Compact Cards)

    "no mask"). This makes it possible, for example, to isolate only the 0…2^31 - 1 Selection mask relevant bits (e.g. the ramp status) from ru75 global drive state and perform a comparison on them. The position of the bits in "read para" is not changed © 2022 KEB Automation KG...

  • Page 462: Generation Of The Linked Function Blocks

    AND operation for connected flags 0x2612 Value Name Function Flags selected for CF1 are OR linked Flags selected for CF1 are AND linked Flags selected for CF4 are OR linked Flags selected for CF4 are AND linked © 2022 KEB Automation KG...

  • Page 463: Generation Of The Internal Outputs

    AND-connected (output is set if all Invert flag 8 assigned flags are set). invert linked function blocks 1 The type of connection is defined in do19. 2048 invert linked function blocks 4 © 2022 KEB Automation KG...
  • Page 464 Definition flag 2 (I2 set => Bit 1 ru18 set): = 18 “dig. input state (ru18)” do01 flag operand A = 28 “level 2 (do06)” do02 flag operand B do06 flag level 2 © 2022 KEB Automation KG...

  • Page 465: Inversion Of The Digital Output State

    0x2C01 Value Function Error overcurrent Brake Error overcurrent out1 Error overcurrent out2 Error overcurrent out3 Error overcurrent out4 Error overcurrent encoder Error overcurrent 24V (overcurrent on the 24V outputs of the control terminal) © 2022 KEB Automation KG...

  • Page 466: Analog Inputs

    (+/-10 V) or current inputs (+/-20 mA, 4…20 mA). Analog input 3 is always 0...10V voltage input. Index Id-Text Name Function +/-10V, +/-20mA, 4…20mA 0x3300 an00 AN1 interface selection +/-10V, +/-20mA, 4…20mA 0x330a an10 AN2 interface selection © 2022 KEB Automation KG...

  • Page 467: Input Level Of The Analog Inputs

    Offset X for the analog signal 0x3310 an16 AN2 offset X 0x3307 an07 AN1 offset Y Offset y for the analog signal Out = gain * (In – OffsetX) + OffsetY 0x3311 an17 AN2 offset Y © 2022 KEB Automation KG...

  • Page 468: Calculation Of Ref And Aux

    Calculation of AUX and REF 0x2C30 ru48 analog REF display Display of the internal REF value from the analog values in % 0x2C31 ru49 analog AUX display Display of the internal AUX value from the analog values in % © 2022 KEB Automation KG...

  • Page 469: Mapping Of Ref And Aux

    The analog setpoint is standardized and by way adapted to the required value range of the objects with an32 REF norm fact an35 AUX norm fact. The values are written with the same standardization functions, over which the objects are accessible also via bus system. © 2022 KEB Automation KG...

  • Page 470: Pid Process Controller

    PID process controller To use the system it is often necessary to equip the drive controller with an internal pro- cess controller. This can be used to built up pressure or temperature controls, for exam- © 2022 KEB Automation KG...

  • Page 471: Figure 128: Pid Controller

    Output value of the PID controller -400.0% ... 0x2C37 ru55 PID output value 400.0% Input variables, limits and output are standardized in the same way as the analog values. 100.0% corresponds internally 4096. Value range +/-400.0% or +/- 16384. © 2022 KEB Automation KG...
  • Page 472 Function Direct setting of the setpoint via this object. Always ac- 0x3341 an65 PID reference offset tive, is added to the selectable setpoint source. 0x3342 an66 PID reference source Setpoint selection for the PID controller © 2022 KEB Automation KG...
  • Page 473 Definition of the actual value selection in the PID process controller: Index Id-Text Name Function 0x3343 an67 PID actual value setting Digital actual value setting via this object 0x3344 an68 PID act value source Actual value selection for the PID controller © 2022 KEB Automation KG...
  • Page 474 Analog Out display is the actual value source. ANOUT1 4096 → 100% an44 ANOUT2 display is the actual value source. ANOUT2 4096 → 100% an47 ANOUT3 display is the actual value source. ANOUT3 4096 → 100% © 2022 KEB Automation KG...
  • Page 475 PID preload disable PID value. no reset fade out func- Selection how the fade out func- 26…27 set fact to 1 tion tion shall be initialized. reset fact to 0 © 2022 KEB Automation KG...
  • Page 476 PID fade out time controller output. 7.3.6.7 Scaling the output value The PID controller output can be mapped to any objects with an30 ref and aux function. (See chapter 7.3.4 Calculation of REF and AUX) © 2022 KEB Automation KG...

  • Page 477: Analog Output

    100°C Virtual analog outputs The description of the virtual analog outputs can be found at 7.3.6.2 Virtual analog out- puts. They are used to extend the flexibility of the PID technology controller and analog preset. © 2022 KEB Automation KG...

  • Page 478: Status Led

    Safety status (only for control type A or P) VCC: Voltage supply NET ST: Network / fieldbus state (e.g. CAN, EtherCAT, VARAN, …) DEV ST: Inverter / unit status Status (OK, error, without power supply) OPT: for optional functions © 2022 KEB Automation KG...

  • Page 479: Function Of The Status Leds When Switching On

    During this time, the two LEDs flash yellow. NET ST DEV ST The control is ready for operation after further 3s and the status LEDs change to their ac- tual function. © 2022 KEB Automation KG...

  • Page 480: Fieldbus State (Net St)

    DEV ST LED with continuous light DEV ST LED flashes FS Status (control type A and P) The description of the function of the FS ST LED (status LED safety module) occurs in the safety manual for the corresponding module. © 2022 KEB Automation KG...

  • Page 481: Timer

    "Timer" is not called. A maximum of 2 timer units can be used. The upper limit of do30 is thus set to 2. © 2022 KEB Automation KG...

  • Page 482: Parameter

    0x2628 do40 timer end value End value at which the counter is stopped Display of the counter value 0x2C59 ru89 timer value (identical parameter for the display in ms or events) © 2022 KEB Automation KG...

  • Page 483: Configuration Of The Counting Unit

    / ru20: Bit 0 = O1 / .. / Bit 3 = O4 / Bit 4 = OA / .. / Bit 6 = OC / Bit 7 = Relay ru20 ru18: Bit 0 = I1 / .. / Bit 7 = I8 / Bit 8 = IA / .. / Bi11 = ID / Bit12/13 = CW1/CW2 / Bit 14/15 = STO1/STO2 ru18 © 2022 KEB Automation KG...

  • Page 484: Selection Of The Reset Bit

    Bit 5/6 count mode you can select which edge is to be counted. (e.g. count mode 0: positive edge => A positive edge of the selected bit causes a counting pulse). © 2022 KEB Automation KG...

  • Page 485: Selection Of The Bit For Reversing The Direction Of Rotation

    Since the timer value does not contain any deci- mal places, the comparison with do06 is also always sufficient. When the final value is reached, the counter does not reset automatically but remains at the final value. © 2022 KEB Automation KG...

  • Page 486: Overview Of The Counter Structure

    Parameter Overview of the counter structure Figure 129: Timer / counter structure © 2022 KEB Automation KG...

  • Page 487: Object Directory

    0x6040 CiA402 object The parameters of a KEB inverter are collected in object dictionaries. Then they are sorted into groups (st, co, …) and according to their parameter index. Access to an object dictionary allows access to the contained parameters. For access to a KEB object dictionary the KEB software tool COMBIVIS studio 6 is recommended.

  • Page 488: Display Of Parameters In Combivis 6

    Information to establish a connection between COMBIVIS and a KEB device can be found in the COMBIVIS 6 description and in the help menu of COMBIVIS 6. For information on how to connect to the different object dictionaries on a KEB device, see chapter...

  • Page 489: Communication In This Manual

    Parameters that conform to a specific standard are listed in the pr: com profile objects group. Most of the parameters are identical to KEB specific objects and provide access to the same object only at a different address. © 2022 KEB Automation KG...

  • Page 490: Ethercat Conform Parameters

    KEB specific parameters and standard - conform parameters EtherCAT conform parameters KEB devices type F6 and S6 are certified EtherCAT slaves. All objects required for certifi- cation are supported. The objects for setting the process data mapping, the Sync Man-...
  • Page 491 KEB specific parameters and standard - conform parameters CanOpen KEB specific Index Subidx Name Index Subidx Idx text 0x3103 hm03 0x60E0 positive torque limit value 0x270D cs13 0x60E1 negative torque limit value 0x270E cs14 0x60F4 following error actual value 0x2124...

  • Page 492: Figure 131: Interpolation

    KEB specific parameters and standard - conform parameters 9.3.2.2.2 Communication Index Subidx Name affects on KEB specific object: 0x60C2 interpolation time period fb10 sync intervall interpolation time period [SubIdx 1] * 10^ interpolation time period [SubIdx 2] results in the synchronous cycle time in [s].

  • Page 493: Parameter Conform To Other Fieldbus System Standards

    1 = 1rpm (resolution of the velocity modes) Parameter conform to other fieldbus system standards Other fieldbus systems which are supported on KEB devices of type F6 and S6 are VARAN on control type K and PROFINET, POWERLINK and EtherNetIP on control type...

  • Page 494: Volatile And Non-Volatile Parameters In The Object Dictionary

    Volatile and non-volatile parameters in the object dictionary Volatile and non-volatile parameters in the object dictionary Parameters in the KEB object dictionary are stored either permanently in the device (non- volatile) or until the next reset (volatile). Read-only parameters display only the actual operating state and are therefore only stored in volatile memory.

  • Page 495: Save Mode And Status Of The Non-Volatile Memory

    Therefore the download ends only when the storing is completed. Additionally the setting ofco07 non volatile memory state 0, causes that the memory delay is set to 0 until the next change of co07 non volatile memory state to 1. © 2022 KEB Automation KG...

  • Page 496: Resetting Of The Non-Volatile Parameters

    COMBIVIS. A waiting time of 20s should always be sufficient. 1fghfh Figure 132: Loading of default values in download lists ▪ Complete the download list with the other required parameters. © 2022 KEB Automation KG...

  • Page 497: Checksum

    2 0x2913 aa19 user parameter 3 No function in the firmware, 0x2914 aa20 user parameter 4 included in the checksum 0x2915 aa21 user parameter 5 0x2916 aa22 user parameter 6 0x2917 aa23 user parameter 7 © 2022 KEB Automation KG...

  • Page 498: Return Codes At Parameter Accesses

    For requests via the diagnostic interface, the return code is a KEB-specific value. The possible values are described below. The KEB specific return code is converted into a fieldbus specific value for SDO requests via the fieldbus interface. The fieldbus-specific values are described in the...
  • Page 499 Return code 14: Function not possible The request is currently not possible. Some parameters can only be written with modula- tion switched off. In this case a request with modulation switched on is acknowledged with return code 14. © 2022 KEB Automation KG...

  • Page 500: 10 Communication

    ➢ The diagnostic interface is not intended for permanent operation of the de- vice. ➢ The different versions of the real-time Ethernet interface NOTICE in control type K are based on different hardware. Therefore the selection of the real-time Ethernet proto- col must be observed when ordering. © 2022 KEB Automation KG...

  • Page 501: 10.2 Diagnostic Interface

    The diagnostic interface is used to connect the F6 / S6 device with diagnostic tools, such as COMBIVIS. KEB DIN66019-II is used as protocol. This is an asynchronous serial protocol with the following basic data: 1 start bit, 7 data bits, 1 parity bit (even), 1 stop bit.
  • Page 502 Node address of the application object dictionary Default value = 2 ➢ A standard KEB device of control type P does not yet have a separate appli- cation object directory in the actual software version. 10.2.1.1.3 Node address of the debugger A debugger object directory is available on the devices of control type P from which addi- tional information can be read out.
  • Page 503 An operator connected to the device via the diagnostic interface requires (for optimal op- eration) information about the characteristics of the diagnostic interface and the object directory. "Operator config data“. These are provided via the structure de10 de10 operator cfg data 0x200A Subidx Meaning Note Structure length byte © 2022 KEB Automation KG...
  • Page 504 0x2B0E software version addr 0x200A [4] Description Default value: Format: 0xSSSSIIII (highword = subindex, lowword = index) 0x00002010 software date addr 0x200A [5] Description Default value: Format: 0xSSSSIIII (highword = subindex, lowword = index) 0x00002011 © 2022 KEB Automation KG...
  • Page 505 Format: 0xSSSSIIII (highword = subindex, lowword = index) 0x00022B6C EoE gateway address object 0x200A [18] Description Default value: Format: 0xSSSSIIII (highword = subindex, lowword = index) 0x00032B6C Subindex 11 to 18 exists only for P cards. © 2022 KEB Automation KG...

  • Page 506: Configuration Of The Diagnostic Interface On The Devices Of Control Type A And K

    10.2.2.1 DIN66019 node id In the KEB DIN66019-II protocol, each node is identified by its own node address. Each node has a separate object directory. On the devices of control type A and K there is only one object directory. Thus there is one DIN66019-II node and one variable node address per device.
  • Page 507 Description Default value: Bit 31 = service 31 …… Bit 0 = service 0 0x00244003 supported services (63-31) 0x200A [7] Description Default value: Bit 63 = service 63 …… Bit 32 = service 32 0x00000000 © 2022 KEB Automation KG...

  • Page 508: Communication Modes

    ▪ Fault ▪ Switch on disabled If the drive is in another operating state, the attempt to change into the KEB-FTP mode is acknowledged with "Operation not possible". The communication mode controlled via de10 only refers to the diagnostic interface.

  • Page 509: 10.3 Fieldbus Interface

    For the fieldbus systems CANopen, VARAN and POWERLINK it is not possible to work with KEB diagnostic tools via the fieldbus interface. ➢ If there are several DIN66019 nodes on a KEB device, as for example on the devices of the control type P, incoming DIN66019 telegrams are transmitted...

  • Page 510: 10.4 Combivis 6 Process Data Assistant

    10.4 COMBIVIS 6 process data assistant Process data mapping can be adjusted via the process data assistant in COMBIVIS 6. COMBIVIS 6 uses the KEB specific objects to describe the process data mapping for set- ting the data. At this all limit conditions are automatically observed: •...

  • Page 511: Process Data Assistant For Ethercat

    COMBIVIS 6 process data assistant Process data assistant for EtherCAT 1fghfh Figure 134: Process data assistant for EtherCAT Process data assistant for CAN 1fghfh Figure 135: Process data assistant for CAN © 2022 KEB Automation KG...

  • Page 512: 10.5 Connection To The File System

    10.5 Connection to the file system The drive controller has a file system to store the recipe (download) files. COMBIVIS 6 contains the program KEB FTP, which allows access to these files via the diagnostic interface. => See also the help contained in COMBIVIS 6.

  • Page 513: Figure 137: Disconnect The Connection To The Inverter

    If the time out time of 10s expires after writing de10[9]=1 without creating an FTP connec- tion, the FTP mode is automatically left again. If the connection has been established, the recipe files can be copied via KEB-FTP into the file system of the inverter.

  • Page 514: 11 Special Functions

    INT16 16384 -16384 16384 9285 speed INT16 actual speed 16384 INT16 actual torque inverter tempera- INT16 °C ture motor tempera- INT16 °C ture inverter tempera- UINT16 ture UINT16 relative load UINT16 reference speed 65535 3000 © 2022 KEB Automation KG...

  • Page 515: Power Limitation

    20000 1000 speed hysteresis 2621440 ✓ 302Fh INT32 ud47 40960 8192 for ramp out speed level for 2621440 ✓ 3030h INT32 ud48 40960 8192 cont calc dyn vel limit state ✓ 3031h INT16 ud49 display © 2022 KEB Automation KG...

  • Page 516: Liquid Cooling Management

    Plaintext Notes activate Activation of the controller HS_1 The selected temperatures are used as actual values for the PI controller. Setting depends on inverter hardware. HS_2 Currently, the setting must always be 2: HS_1 HS_3 © 2022 KEB Automation KG...

  • Page 517: Figure 141: Overview Controller Motor Cooling

    Activation of the controller The PWM control setting is preset manually The display of ud55[5] ud55[11] also displays the manually preset manual setting value. ud55[2] ref value Value Meaning 0 .. 100 °C Set temperature of the motor © 2022 KEB Automation KG...

  • Page 518: Manual Setting

    / ud55 [9] PWM end value are not considered. Only ud53 / ud55 [7] PWM period ud53 / ud55 [10] PWM minimal pulse length remain effective. 11.3.3.1 Parameterization of the PWM 1fghfh Figure 142: Structure PWM for cooling control © 2022 KEB Automation KG...
  • Page 519 Control setting of the PWM in % 0 .. 100,00% At the beginning of each new PWM period the actual control setting is calculated from the average of all PI controller output values of the last period. © 2022 KEB Automation KG...

  • Page 520: Signal Output

    [5] PI control out is output via the analog output. always: Scaling factor: 100% controller output = 10V analog output The gain / offset of the analog output can be adjusted with an39 .. an41. © 2022 KEB Automation KG...

  • Page 521: 12 Safety Modules

    "fs: safety drive profile parameters (FSoE):“- and in the "pa: PROFIsafe parameters“ group. fs: safety drive profile parameters (FSoE): Index Name affects on KEB specific object: Type 3 Type 5 ● ● Resolution of objects which are time-...
  • Page 522 Safety module objects Index Name affects on KEB specific object: Type 3 Type 5 ● ● Support of the error acknowledge- 0x6630 Restart_Ack (support) ment function. ● ● 0x6640 STO support Support STO ● ● If another safety function detects an...
  • Page 523 Safety module objects Index Name affects on KEB specific object: Type 3 Type 5 ● Number of supported instances of 0x66B8 SLI support SLI. (8 pieces) ● The upper position limit. This value is 0x66BA S_UL_SLI_32 Bit the adjusted position window / 2nd unit revolutions.
  • Page 524 Safety module objects Index Name affects on KEB specific object: Type 3 Type 5 ● Information about the safety module. This information includes: 1. COMBIVIS CRC: The CRC of the configuration data in the safety module. 2. Parameter main version: This...
  • Page 525 Safety module objects Index Name affects on KEB specific object: Type 3 Type 5 ● ● Communication parameter. These parameters include: 1. Version (version number is always 1.) 2. Safety Slave Address. The safety module address set in the configuration data.
  • Page 526 Safety module objects pa: PROFIsafe parameters: Index Name affects on KEB specific object: Type 3 Type 5 ● 1. Status byte of the PROFIsafe telegram (from SM3) PROFIsafe device frame 2. First part of the CRC2 of the 0x3D00 elements status word 3.

  • Page 527: 12.4 Safety Module Diagnostic Objects

    Safety Wizard. They are for diagnostic purposes only. Subindices 1 to 14 are identical for safety modules 3 and 5. Subindices 15 to 18 are only available in safety module 5. © 2022 KEB Automation KG...
  • Page 528 (or performing a power-on reset). To change the time, only subindex 11 of the above-mentioned safety module-specific parameter group must be set to "1". Then the time is transferred from pa- © 2022 KEB Automation KG...
  • Page 529 3 and 8, whereas sub-index 6 contains the details of categories 0, 5, 6, and 7. The value of the sub-index that is not required is filled with "0" (the plaintext for "0" is conse- quently invalid in this case). © 2022 KEB Automation KG...
  • Page 530 0x3C1D sm29 Time slice per 62.5µs grid for more precise error time slice per 62.5 µs analysis details of "(bus) safety Details of the safety function request function request“ details of "error“ Error details © 2022 KEB Automation KG...

  • Page 531: 12.5 Safety Module Statusword

    SLI activation SDLC Safe Door Lock SDLC door release SDLC door release BCF1 Brake ControlFeedback 1 BCF2 Brake ControlFeedback 1 FB1W Feedback Warning 1 FB2W Feedback Warning 2 BR1T+ Brake Test Plus BR1T- Brake Test Minus © 2022 KEB Automation KG...

  • Page 532: Recipe Management (Storage Of Parameter Files In The Drive Controller)

    Each number may only exist once in the file system. If there are still several lists with the same ID in the file system, the first recipe will be used. Example: A recipe with motor data should be available under ID 5:  Possible name for the list: #005#_Motordownload_1.dw5 © 2022 KEB Automation KG...

  • Page 533: Limitations

    ► The maximum number of parameters per list is limited by the size of the file sys- tem. ► In the KEB file system, each file always occupies a multiple of the block size of the storage medium (64Kbyte). With 1MB free memory, a maximum of 1024KB/64KB = 16 files can be stored (if the files are not larger than 64KB each).

  • Page 534: 13.3 Parameter Structure

     CW 1 starts #013#, CW 2 starts #014# The hardware inputs I1 to I8, the software inputs IA to ID and the control word inputs CW 1 and CW 2 can be used. Use of the STO inputs is not possible. © 2022 KEB Automation KG...

  • Page 535: Binary Coded Recipe Selection

    1 to 239 are permitted for recipe selection. If the index is above this value, it is treated as index = 0. © 2022 KEB Automation KG...

  • Page 536: Parameter "Start Recipe

    ID of the last / currently selected recipe. The number is displayed power on recipe (#pon#) even if the corresponding recipe was not found or the download was aborted due to errors. default recipe (#def#) Parameter ud07[2] download status provides the following information: © 2022 KEB Automation KG...
  • Page 537 Corresponds to the error codes of the object dictionary data invalid read only invalid password If errors are ignored during the download (depending on parameter ud02) this parameter contains information about the error which occurred last. © 2022 KEB Automation KG...

  • Page 538: 13.4 Operating Conditions

    The recipe management processes entries which contain a write request for a pa- rameter (values WA/WO/RW in column "R/W"). Only write requests with index/subindex addressing are processed. (Default for all gener- ation 6 devices). All other entries (blank lines, pause, RO, set-addressed entries) are skipped. © 2022 KEB Automation KG...

  • Page 539: 14 Annex

    Inverter type means: F6 or S6, C(ompact) / A(pplication) or P(ro- fessional) control board. The overview contains a list of the parameter addresses, as well as the associated de- fault values, resolutions, units and limits. Note to further documentation. https://www.keb.de/nc/suche?tx_solr%5Bq%5D=param- eterliste+30 © 2022 KEB Automation KG...

  • Page 540: 14.2 History Of Changes

    New function => Motor phase failure detection Absolutely observe: 7.1.9.3 Change in the index definition. Maximum 8 inputs selectable in di21. Function ex- tension of the index generationStrobe dependency 13.3.3 New function: Binary coded recipe selection 4.8.2.4.1 0x6083 profile acceleration © 2022 KEB Automation KG...
  • Page 541 4.4.16 Description of the effect of pn26 = 0 was wrong => protection function is not switched off via pn26 but only via pn27. 8.3.3 Correction of the table and the value range to do33 © 2022 KEB Automation KG...
  • Page 543 Internet: www.keb.de E-Mail: info@keb.at Internet: www.keb.at Brazil KEB SOUTH AMERICA - Regional Manager Poland KEB Automation KG Rua Dr. Omar Pacheco Souza Riberio, 70 Tel: +48 60407727 CEP 13569-430 Portal do Sol, São Carlos Brasilien Tel: +55 16 E-Mail: roman.trinczek@keb.de...

This manual is also suitable for:

Combivert s6

Table of Contents

Save PDF