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Camozzi DRVI Series Use And Maintenance Manual

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Series DRVI
USE AND MAINTENANCE MANUAL
ETHERNETIP V 1.7

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  • Page 1 Series DRVI USE AND MAINTENANCE MANUAL ETHERNETIP V 1.7...

  • Page 2: Table Of Contents

    4.1.5.3 Proximity homing: positive direction ....20 4.1.5.4 Proximity homing: negative direction + zero encoder ..21 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 3 6.4 Acyclic data ......... . . 41 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 4 7.6.1.6 Absolute position section ......63 7.6.1.7 Relative position section ......64 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 5 7.8.2 Firmware update ........72 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 6: Chapter 1 General Recommendations

    For all situations not contemplated in this manual and in situations in which there is the risk of potential damage to property, or injury to persons or animals, contact Camozzi for advice. Do not make unauthorised modifications to the product. In this case, any damage or injury to property, persons or animals will be the responsibility of the user.

  • Page 7: Product Storage And Transport

    The product may only be used in observance of the specifications provided; if these requirements are not met, the product may only be used upon authorisation by Camozzi. Follow the indications shown on the identification plate. 1.3 Limitations of use Do not exceed the technical specifications given in Paragraph 2 (General characteristics and con- ditions of use) and in the Camozzi general catalogue.

  • Page 8: Ecological Information

    1.5 Ecological Information In the event of maintenance, or replacement of worn parts, exclusively use the original Camozzi kits and ensure that operations are performed by specialised and authorised personnel. Other- wise product approval will be rendered invalid. 1.5 Ecological Information At the end of the product’s life cycle, it is recommended to separate the materials for recycling.

  • Page 9: Chapter 2 Introduction

     Failure to observe the information contained in this manual can result in injury or equipment damage. Please contact Camozzi Automation S.p.A. for technical assistance. PRODUCT SPECIFICATIONS AND DATA ARE SUBJECT TO CHANGE WITHOUT NOTICE. © Camozzi Automation S.p.A. All rights reserved.

  • Page 10: Chapter 3 Technical Data

     Install fuses for power supply cable in accordance with the electrical requirements of the equipment (be careful about inrush currents). A recommended fuse value is T4A. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 11: Wiring

    To reduce EMC issues, use twisted and shielded cables. The shield should be connected to ground on the power supply side. 3.2.3 Encoder The motor shaft position is measured using an absolute magnetic encoder. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 12: Electrical Connections

    – USB (Micro-B) NOTE: All connectors are screw type. During the wiring phase, be careful not to tighten the connectors too forcefully. The use of tools to tighten the connectors is absolutely not recommended. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 13: Power Supply

    Main power supply Main power ground Logic power supply Logic power ground Camozzi connector receptacle: CS-LF05HC, straight connector M12 5-poles male. CS-LF04HB, straight connector M12 5-poles male (Pin 5 is not connected). CS-LF05HB-D200, cable with straight M12 5-poles male connector, length 2m.
  • Page 14 Digital ground +24V Auxiliary +24 V output, max 130 mA NOTE: the EXT PROXY is usually used to connect the optional limit switch sensor, whilst the PROXY HOMING is used for the homing zero position 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 15 0.5 A hold current) 7, 8 FRONT PROXY Digital input (24 V) for front proximity 9, 10 REAR PROXY Digital input (24 V) for rear proximity Digital ground +24V Auxiliary +24 V output, max 130 mA 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 16: Sto (Not Certified)

    3.3 Electrical connections Camozzi connector receptacle: CS-LM12HC, circular connector field attachable M12 12-poles (male) A-coded. CS-LO12HC-0025, straight connector M12 12-poles (male) and two M8 female (proximity), length 25 cm. CS-LM12HC-D500, straight connector M12 12-poles (male), length 5m. Digital inputs are bidirectional: in Figure is represented the input hardware stage.

  • Page 17: 4, 5 - Ethernet Fieldbus Interface

    (PORT 1, PORT 2). Table 3.8: 4, 5 - Fieldbus connector pinout. Signal Function Symbol Transmission data (+) Reception data (+) Transmission data (-) Reception data (-) 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 18: Usb Interface

    3.4 LED indicators Camozzi Ethernet fieldbus cables: CS-SB04HB-D100, co-molded cable with straight M12D 4-poles male connector, length 1m. CS-SB04HB-D500, co-molded cable with straight M12D 4-poles male connector, length 5m. CS-SB04HB-DA00, co-molded cable with straight M12D 4-poles male connector, length 10m.
  • Page 19 2 BLINK Servo ON 1 BLINK VL / VDC UVLO or OVLO error 2 BLINK Over temperature or I T error 3 BLINK STO error 4 BLINK Homing error / internal error / proximity lost 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 20: Holding Brake

    NOTE: this type of brake is not a dynamic one: if you need a brake that automatically ensure you to stop immediately the movement with the maximum allowable load, you have to use an appropriate external brake. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 21: Chapter 4 Operation Modes

    Initial speed = 0 RPM Target speed = 60 RPM (target given at t = 0 s) Target speed = 0 RPM (target given at t = 2 s) Figure 4.1: Speed profile example. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 22: Positioning

    Target deceleration = 60 RPM / s Figure 4.2: Positioning profile example. In Figure are represented both the position (continuous line) and speed (dashed line) profiles per unit (position / 360 ° and speed / 60 RPM). 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 23: Relative Positioning

    Negative torque slope = 1000 mA / s Initial torque = 0 mA Target torque = 1000 mA (target given at t = 0 s) Target torque = 0 mA (target given at t = 2 s) 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 24: Jog

    4.1 Fieldbus Modes Figure 4.4: Torque (current) profile example. 4.1.4 Jog The JOG mode allows to control the drive in speed mode using two bits of the controlword 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 25: Homing

    If the proximity is surpassed because of the inadequate speed / deceleration combination, the homing procedure is interrupted and a homing error is returned. 4.1.5.3 Proximity homing: positive direction Proximity search in positive direction (refer to Figure 4.7). 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 26: Proximity Homing: Negative Direction + Zero Encoder

    If the proximity is already detected on the start of the homing procedure, the motion will start with the ”homing speed out” phase. If the proximity is surpassed because of the inadequate speed / deceleration combination, the homing procedure is interrupted and a homing error is returned. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 27: Proximity Homing: Positive Direction + Zero Encoder

    Homing torque in positive direction (refer to Figure 4.11). In this mode the motor rotates in the positive direction of the movement, with the velocity set to ”homing speed search”, until it stops against the end of the line and the I T reaches the homing set value. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 28: Torque Homing: Negative Direction + Zero Encoder

    I T reaches the homing set value. At this point the motor rotates in the opposite direction, with the velocity set to ”homing speed out”, until it finds the zero encoder. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 29: Homing Offset

    This value could be positive or negative and all subsequent absolute movements shall be taken relative to this new zero position. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 30: Digital Input Mode

    Figure 4.14: Extreme positions of cylinder.  Each proximity sensor is linked to one single positions, be careful not reverse them. The input IN FW and IN BW are used to command forward or backward movement respectively. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 31: Functioning

    REAR PROXY or FRONT PROXY is reached drive error occurs  Self-holding of input IN FW and IN BW can be enabled using UVIX Figures 4.16 4.17 show combinations of signals for two different self-holding settings. 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 32 FORWARD MOVE BW BACKWARD Figure 4.16: Signal combination example with self-holding enabled. IN FW IN BW FRONT PROXY REAR PROXY position BACKWARD MOVE MOVE UNKNOW BACKWARD Figure 4.17: Signal combination example with self-holding disabled. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 33: Error Handler

    The proxy lost error is handled differently than other drive errors. Also in this case is necessary to raising both input IN FW and IN BW to reset error, after reset the drive moves in the opposite direction to re-find the proximity (using custom values of acceleration, deceleration and velocity). 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 34: Chapter 5 Other Features

    Chapter 6,controlword bit7 ).) and it takes effect for all the modes of operation. The current limit value is configured using the fieldbus interface and it can be changed in real-time using the Target torque 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 35: Save And Restore Actual Position

    (with a small tolerance) and in this case restore the position. With this procedure it should not be necessary to do the homing procedure every time you turn it on and motor can continue from the situation at shutdown. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 36: Chapter 6 Ethernet/Ip Protocol

    Example: a position target of 36000, when the drive is configured as ”only motor”, corresponds to one turn of the shaft in a clockwise direction. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 37: Startup Parameters

    The ”Homing parameters” allows to set the Homing speeds (fast and slow) and the acceleration (regard- ing it, in case of using the startup parameters by PLC, the value is unique for all homing accelerations In and Out, whilst using UVIX is possible to set 4 different values). 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 38: Cyclic Data

    T limit value Actuator type Only motor Custom Actuator Homing parameters Fast speed Slow speed acceleration/deceleration 6.3 Cyclic data In Table and Table are shown the cyclic data exchanged between the drive and the PLC. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 39: Control Word

    DINT Actual position ACTUAL_TORQUE Actual torque (current) INPUTS WORD Inputs GPIOs status 6.3.1 Control word The drive states are changed by means of the CONTROL_WORD variable. Following is given a description of its bitfield: 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 40 TARGET_TORQUE = 1000 is set, the drive current will be limited to 1 Ampere, in all the modes of operation. The JOG_LEFT and JOG_RIGHT bits allow to control the JOG mode according to the truth Table 6.8. Notice that these bits work only when the drive is in JOG mode operation. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 41: Mode Operation

    START_MOV bit, otherwise the ”command refused” warning is returned. To enable speed operation, the START_MOV bit of the control word must be set to ”1”. Consecutive speed targets can be given, also interrupting an executing target, provided that the START_MOV bit is high. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 42: Pos_Rel, Pos_Abs

    Invalid command (previous state persists) 6.3.3 Output GPIO The OUTPUT_GPIO variable allows the control of the output located on the I/O connector (refer to Section 3.3.2). The output state changes according to the values in Table 6.9. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 43: Target Position

    (refer to the Paragraph 6.1). 6.3.9 Status word The drive states are monitored by means of the STATUS_WORD variable. In Table 6.10 is given a descrip- tion of its bitfield. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 44: Actual Mode Operation

    The only warnings that auto-reset are the ”homing missing” and the ”command refused” ones. Errors are divided into two categories: hard and soft. Soft errors are considered less severe and they cause a controlled stop of the motor rotation by triggering the command QUICK_STOP. 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 45 Non volatile memory fault T fault Homing execution error Software limits error 30 ... 31 RESERVED NOTE: Temperature warnings don’t affect the drive functionality, but they indicate the hot surface of the motor and/or the drive. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 46: Actual Speed

    Type Access PDO Mapping Default Value 6040h Controlword 6041h Statusword 6060h Mode of operation 6061h Mode of operation display 6064h Position Actual Value 606Ch Velocity Actual Value 6071h Target torque Continued on next page. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 47: Acyclic Parameters Descriptions

    6.4.1.5 6064h Position actual value For object description refer to Section 6.3.13. 6.4.1.6 606Ch Velocity actual value For object description refer to Section 6.3.12. 6.4.1.7 6071h Target torque For object description refer to Section 6.3.8. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 48: 6077H Torque Actual Value

    For object description refer to Section 6.3.7. 6.4.1.15 6087h Torque slope This object shall indicate the configured rate of change of torque (current). The value shall be given in units of per thousand of rated torque (current) per second. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 49: 6099H Homing Speeds

    Slow homing speed = speed used to start from the zero proximity and to find the index pulse. 6.4.1.17 609Ah Homing acceleration This object shall indicate the configured acceleration and deceleration to be used during homing oper- ation. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 50: Chapter 7 Uvix

    Uvix 7.1 Introduction Camozzi’s proprietary environment, called UVIX, allows the user to monitor and configure all new gen- eration Camozzi devices (Camozzi Smart Devices) that support connection to it. Devices can be connected to UVIX via USB or Ethernet. This system has been implemented with a web-based architecture so that information can be accessed straightforwardly using a browser.

  • Page 51: General Information

    Figure 7.1: Main page of the UVIX interface. Select the DRVI device to view the general status information and details 7.4. Furthermore, it is possible to set the DRVI parameters and to communicate with the device in real-time (Commissioning). 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 52: Status Information

    7.3 Status information 7.3 Status information Image of the DRVI series. Assigned name of the device. Identification number of the device (17 chars). Family name of the device: Series Integrated Foc Drive. Subtype of the device family: Stepper/BLDC and Nema23/Nema24.

  • Page 53: Details

    Product part number: drive descriptive code. Busy state: True or False. Total count power on: incremented every time device is turned on. Homing state: Present or Not present. Self Holding: True or False. Output GPIO: On or Off. 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 54 7.4 Details Figure 7.3: Section for the variables monitored by the DRVI device. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 55: Alarms

    , Alarm not active VBUS under voltage. VBUS over voltage. VLOG under voltage. VLOG over voltage Motor temperature. Drive temperature. Homing not done. Target speed not reached. Target position not reached. Invalid command. Position limit reached. 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 56 7.4 Details Figure 7.4: Section for the alarms monitored by the DRVI device. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 57: Commands

    . The history of the commands sent to the DRVI since the communication with UVIX was started can be viewed under Last Commands Figure 7.5: Section for the commands managed by the DRVI device. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 58: Errors History

    Graph UVIX window and can be set in the Communication section 7.5.3 of configuration page 7.5. Depending on the choice of Graph UVIX window, a different sampling period for the variables is set. 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 59 I2t are graphed over the same observation interval. Figure 7.8: Section for graphing variables over time. In this example flag is not set, so Actual torque current and I2t are graphed over different observation intervals. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 60: Configuration

    Actuator maximum stroke measured in mm (such value must be greater than Actuator max speed measured in mm / s. Actuator max acceleration measured in mm / s Actuator max deceleration measured in mm / s Figure 7.9: Section for actuator configuration. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 61: Motion

    Digital Input Mode: No or Yes. Enable or disable the Digital Input Mode (4.2). Target torque limit for Digital Input Mode measured in mA . Available only if Digital Input mode is enabled. Figure 7.10: Section for motion configuration. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 62: Communication

    Figure 7.11: Section for communication configuration. 7.5.4 GPIO In the GPIO section (represeted in Figure 7.12) it is possible to set the polarity of the I/O. Figure 7.12: Section for I/O polarity. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 63: Commissioning

    Mode operation selector (7.6.1.1). Command of the movement (7.6.1.2) depending on operation mode selected. Mode operation section (7.6.1.3), depending on operation mode selected. PID configuration section, see Chapter 7.6.3. Reset errors and warnings: Reset Alarm. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 64: Mode Operation Selector

    None is selected. Each mode operation has its own section (except for None), so there are five Mode operation sections: Homing section 7.6.1.4 Speed section 7.6.1.5 Absolute position section 7.6.1.6 Relative position section 7.6.1.7 Torque section 7.6.1.8 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 65: Homing Section

    Proximity left Proximity right Proximity left + zero encoder Proximity right + zero encoder Torque left Torque right Torque left + zero encoder Torque right + zero encoder Figure 7.15: Section of the homing parameters. 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 66 Homing ”search” parameters (e.g.: Homing speed search) are the ones used to find the proximity (or the end of the line), while ”out” parameters (e.g.: Homing speed out) are the ones used to exit from the proximity (or the end of the line). 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 67: Speed Profile Section

    Target speed measured in RPM or mm / s. Target acceleration measured in RPM / s or mm / s Target deceleration measured in RPM / s or mm / s Torque limit enable No, Yes. Target torque limit measured in mA. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 68: Absolute Position Section

    Target acceleration measured in RPM / s or mm / s Target deceleration measured in RPM / s or mm / s Target position measured in angular degrees or mm. Torque limit enable No, Yes. Target torque limit measured in mA. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 69: Relative Position Section

    Target acceleration measured in RPM / s or mm / s Target deceleration measured in RPM / s or mm / s Target position measured in angular degrees or mm. Torque limit enable No, Yes. Target torque limit measured in mA. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 70: Torque Profile Section

    Figure 7.19: Section of the torque profile parameters. The torque profile section is composed of: Target torque (current) measured in mA. Target slope acceleration measured in mA / s. Target slope deceleration measured in mA / s. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 71: Digital Input Mode Commissioning Page

    Reset errors and warnings: Reset Alarm. Command of the servo is not visible, because in Digital Input mode device is always servo on. Com- mand of the movement is not visible because the movement is controlled by the inputs. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 72: Jog Section

    The parameters on the left are dedicated to forward movements, the other parameters on the right is dedicated to backward movements. Note: in Digital Input mode it is possible to set torque limit, but this must be done in configuration, within the Motion section 7.5.2. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 73: Pid Configuration Section

    High Load KP speed 1000 2000 3000 KI speed KP position Table 7.3: PID values for DRVI-24ST022 (Nema24). Default Low Load Medium Load High Load KP speed 1000 1500 KI speed KP position 0,05 0,06 5000061715 Ver 1.7 Camozzi Automation S.p.A.
  • Page 74 KP speed (UVIX) = 10000 ; KI speed (UVIX) = 1000 ; KP position (UVIX) = 1 they are actually set at: KP speed = 1000,0 ; KI speed = 1,000 ; KP position = 0,1. 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 75: Ethernetip Configuration

    Figure 7.23: Section of the EthernetIP parameters configuration. The fieldbus default values are shown in Table 7.4. Table 7.4: Fieldbus default values. Parameter Value Station name IP address 192.168.0.3 Mask 255.255.255.0 Gateway 0.0.0.0 5000061715 Ver 1.7 Camozzi Automation S.p.A.

  • Page 76: Uvix Usb Gateway

    The DRVI can be connected to a PC via a USB cable. This connection - subject to prior installation of UVIX on the PC - allows you to communicate with the module through the Camozzi USB Gateway. 7.8.1 Main page Toolbar: for managing all the functionalities of the USB Gateway.

  • Page 77: Firmware Update

    7.8 UVIX USB Gateway 7.8.2 Firmware update  Before carrying out this operation, you must contact Camozzi support. The USB Gateway allows you to update the firmware of the DRVI module through the window found under Tools -> Device Upgrade (NO DFU) (see Figure 7.25).
  • Page 78 A Camozzi Group Company c a m o z z i . c o m Contacts Camozzi Automation S.p.A. Customer Service Società Unipersonale Tel. +39 030 3792790 service@camozzi.com REGISTERED OFFICE Via R. Rubattino, 81 Export Department 20134 Milano Tel. +39 030 3792253 Italy sales@camozzi.com...

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