Baumuller b maXX BM2500 Manuals

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Baumuller b maXX BM2500 Operating Manual

Baumuller b maXX BM2500 Operating Manual (822 pages)

Parameter

Brand: Baumuller | Category: Measuring Instruments | Size: 11.65 MB

Table of Contents

Table of Contents

3
- Prodrive Power Unit
  3
- Torque Monitoring
  3
- Prodrive Analog Outputs
  5
- Current Controller Adaption
  7
- Prodrive Current Controller
  7
- Prodrive DC Link Controller
  7
- Prodrive Flux Controller
  7
- Two-Level Controller with Relative Thresholds
  7
- Two-Level-Controller with Absolute Thresholds
  7
- 1 General
  
  11
  - Information about the Parameter Manual
    11
  - Explanation of Symbols
    12
  - Limitation of Liability
    13
  - Copyright
    13
  - Other Applicable Documents
    14
  - Guarantee Conditions
    14
  - Customer Service
    14
  - Terms Used
    14
- 2 Commissioning Bm25Xx
  
  15
- 3 Commissioning Bm3Xxx
  
  45
  - Safety Information
    46
  - Voltage Test
    47
  - Requirements for the Electrical Supply
    47
  - Preparations
    48
  - Communication Via the Service Cable
    51
  - Communication Via Ethercat
    52
  - Switch-On Sequence
    57
  - Performing the Commissioning
    58
    
    Prodrive: Rastlage Suchen, Antriebsmanager
    73
- 4 Description of the Software Modules and Parameters
  
  77
  - Cycle Times of the Software Modules
    77
  - Structure of the Parameter Overviews
    78
  - System
    80
  - System Control
    80
  - Parameter Overview
    80
  - Description of the Parameters
    81
  - Display
    90
  - Parameter Overview
    90
  - Description of the Parameters
    90
  - Configuration
    91
  - Power Unit
    91
  - Prodrive Power Unit
    92
  - Parameter Overview
    92
  - Description of the Parameters
    94
  - Motor
    111
  - Motor Identification Plate
    111
  - Torque Limits
    111
    
    A) Asynchronous Motor: Torque Limit above B) Asynchronous Motor: Overlap of Several Limits
    112
  - Torque Monitoring
    113
  - Torque Threshold
    113
  - Maximum Permissible Speed (Electrical Conditioned)
    114
  - Prodrive Motor
    115
  - Parameter Overview Motor
    115
    
    Prodrive Motor General
    115
  - Description of the Parameters
    118
    
    Modes of the "Max. Torque Current 19.8 at the Synchronous Motor
    121
    
    A) Field Current Dependence (External Total Current Limit Is Not Assumed)
    121
    
    B) External Total Current Limit Dependence (Field Weakening Is Not Assumed)
    121
    
    Max. Torque Current" Modes 19.8 at the Asynchronous Motor  A) Field Current Dependence (no External Total Current Limit Is Assumed).  B) External Total Current Limit Dependence (Field Weakening Is Not Assumed)
    122
  - Synchronous Motor
    148
  - Prodrive Synchronous Motor
    148
  - Asynchronous Motor
    149
  - Prodrive Asynchronous Motor
    149
  - Lh-Characteristic
    149
  - Prodrive Lh-Characteristic
    151
  - Parameter Overview Lh-Characteristic
    151
  - Description of the Lh-Characteristic Parameters
    152
  - Synchronous Motor with Interior Permanent Magnet
    153
  - Control
    153
  - Commissioning
    154
  - Identification of the Nonlinear Parameters
    155
  - Field Weakening at IPMSM
    155
  - Parameter Overview
    157
  - Description of the Parameters
    158
  - Encoder
    162
  - Encoder Monitoring
    163
  - Prodrive Encoder
    166
  - Encoder Optimization
    166
  - Encoder Correction
    167
  - Encoder Accuracy and Excentricity
    170
  - Resolver Synchronization
    171
  - Parameter Overview
    172
  - Description of the Parameters
    174
  - Autotuning of Current Controller
    199
  - Prodrive Autotuning of the Current Controller
    200
  - Parameter Overview
    200
  - Description of the Parameters
    201
  - Autotuning of Position / Speed Controller
    207
  - Ks Determination
    207
  - Prodrive Ks Determination
    210
  - Parameter Overview Ks Measurement
    210
    
    Prodrive Ks Measuring
    210
  - Description of the Ks Measurement Parameters
    211
  - Autotuning Asynchronous Motor
    215
  - Identification Lh Characteristic
    215
  - Digital Inputs
    216
  - Prodrive Digital Inputs
    216
    
    Only (138.1 Bit 1 = 1, Bit 3 = 0)
    216
  - Parameter Overview
    217
  - Parameter Description
    217
  - Digital Outputs
    222
  - Prodrive Digital Outputs
    222
  - Parameter Overview
    222
  - Description of the Parameters
    223
  - Analog Inputs
    226
  - Description of the Analog Inputs
    226
  - Prodrive Analog Input
    228
  - Parameter Overview
    228
  - Description of the Parameters
    228
  - Analog Outputs
    230
  - Description of the Analog Outputs
    230
  - Prodrive Analog Outputs
    230
  - Parameter Overview
    231
  - Description of the Parameters
    232
  - Filter
    236
  - Prodrive Filter
    236
  - Prodrive Filter
    239
  - Parameter Overview
    239
  - Description of the Parameters
    240
  - Fieldbus Communication
    244
  - Parameter Ids for the Real Time Lists
    247
  - Access Counter for each Real Time List
    247
  - Parameter Overview
    247
  - Description of the Parameters
    248
  - Measuring Encoder Function
    256
  - Prodrive Measuring Encoder
    258
    
    Parameter Overview
    258
  - Description of the Parameters
    259
  - Freely Programmable PID Controller
    270
    
    Parameter Overview
    271
    
    PID Controller Functional Diagram
    271
    
    Controller 1
    271
  - Description of the Parameters
    273
  - Master-Slave Torque Coupling
    280
    
    Structure of the Control of the Torque Coupling at Connecting the Torque Coupling as Torque Additional Set Value
    282
  - Parameter Overview
    284
  - Description of the Parameters
    285
  - Friction Compensation
    291
  - Description of the Friction Compensation
    291
  - Identification of the Friction Torque Curve
    294
  - Parameter Overview
    294
  - Description of the Parameters
    295
  - Synchronization
    298
  - Parameter Overview
    298
  - Description of the Parameters
    298
  - Configurable Status Word
    301
  - Parameter Overview
    302
  - Description of the Parameters
    303
  - Softdriveplc
    307
  - Overview Softdriveplc
    307
  - Function
    307
  - Limitations
    308
  - Tasks
    309
  - Programming Interface
    309
  - Parameter Overview
    310
  - Description of the Parameters
    311
  - DS402 Factor Group
    318
  - General Information
    318
    
    Factor Group Effect of Position Weighting
    320
    
    Factor Group Effect of the Speed and Acceleration Weighting
    321
  - Prodrive DS402
    323
  - Parameter Overview
    323
    
    Prodrive Factor Group and Touch Probe DS402
    323
  - Description of the Parameter
    325
    
    Management
    330
  - Drive Management
    330
    
    State Machine of the Device Controller
    334
  - Parameter Overview
    340
  - Description of the Parameters
    341
  - Data Set Management
    362
  - General
    362
  - Command Interface
    362
  - Organization of the Parameters in the Data Sets
    363
  - Delivered State
    364
  - Switch-On Behavior
    364
  - Changing, Loading, Copying and Storing Parameters
    364
  - Identification of Parameter Set and Data Sets
    364
  - Functions of the Data Set Management System
    365
  - Data Set Commands and Possible Error Messages
    366
  - Changeover to Data Set 1 to 7
    368
  - Overview of the Data Set Management Commands
    368
  - Parameter Overview
    369
  - Description of the Parameters
    370
  - Brake Management
    374
  - Description of the Brake Management System
    374
  - Brake Watchdog
    379
  - Prodrive Brake Management
    380
  - Parameter Overview
    380
  - Description of the Parameters
    381
  - Error Management
    386
  - Parameter Overview
    386
  - Description of the Parameters
    387
  - Signal Bus
    391
  - Messages on the Signal Bus
    391
  - Supply Ready for Use
    391
  - Chopper Resistor on
    391
  - Prodrive Signal Bus
    392
  - Parameter Overview
    392
  - Description of the Parameters
    392
  - Set Value Manager
    394
  - Parameter Overview
    395
  - Description of the Parameters
    395
  - Set Value Generators
    399
  - Ramp Function Generator
    399
  - Optional Interpolation of the Ramp Function Generator Input Set Value
    403
  - Prodrive Ramp Function Generator
    405
  - Parameter Overview
    406
  - Description of the Parameters
    408
  - Set Value Generator
    417
  - Parameter Overview
    417
    
    Speed Set Value Sequence for Set Value Generator
    417
  - Description of the Parameters
    418
  - Error Reaction Controlled Stop
    421
  - Error Reaction Return Motion
    422
  - Parameter Overview
    422
  - Description of the Parameters
    423
  - Cam Generator
    426
  - Time Control Via the Table Index
    426
  - Time Control with Virtual Master Axis
    426
  - Parameter-Controlled Processing
    427
  - Setting Options of Cam Generator
    428
  - State Machine of the Cam Generator
    431
  - Limiting of Output Value
    432
  - Handling the Cam Data
    432
  - Parameter Overview
    433
  - Description of the Parameters
    433
  - Motor Potentiometer
    437
  - Parameter Overview
    437
  - Description of the Parameters
    438
  - Controllers
    441
  - Position / Speed Controller
    441
    
    Block Diagram of the Speed Controller When in Speed Control (18.4 = 13)
    443
    
    Block Diagram of the Position /Speed Controller When in Position Control (18.4 = 12)
    444
    
    Physical Units in the Control Circuit
    445
    
    Block Diagram of the Position / Speed Controller When in Torque Control
    445
  - The Factor Ks
    446
    
    Block Diagram of the Position / Speed Controller Module When in Synchronous Operation with a Real Master Shaft
    446
  - Position / Speed Controller Adaption
    447
  - Cyclical Ks Adaption
    448
  - Prodrive Position / Speed Controller
    449
  - Parameter Overview of Position / Speed Controller
    451
  - Description of the Parameters
    453
  - Current Controller
    469
  - Current Prediction
    469
  - Dead Time Compensation
    469
  - Torque Current Limiting
    470
    
    Torque Current Limit "Lsq" at the "Current Mode" of the Synchronous Motor
    472
    
    A) Dependent of the Field Current (the External Total Current Limit Is Assumed)
    472
    
    B) Dependent of the External Total Current Limit (Field Weakening Is Not Assumed)
    472
    
    B) Dependent of External Total Current Limit (Field Weakening Is Not Assumed)
    473
    
    Torque Current Limit "Lsqlim" at "Standard Load Mode" of the Asynchronous Motor
    473
    
    A) Dependent of the Field Current (External Total Current Limit Is Not Assumed).  B) Dependent of External Total Current Limit (Field Weakening Is Not Assumed)
    473
    
    A) Dependent of the Field Current (External Total Current Limit Is Not Assumed)
    473
    
    B) Dependent of the External Total Current Limit (Field Weakening Is Not Assumed)
    475
  - Feedforward
    477
  - Current Controller Adaption
    477
  - Pulse Width Modulation
    478
  - Prodrive Current Controller
    479
  - Overview of Current Controller Parameters
    481
  - Description of Current Controller Parameters
    482
    
    Current Controller
    482
  - DC Link Controller
    490
  - Description of the DC Link Controller
    490
  - Prodrive DC Link Controller
    490
  - Reactive Current Brakes
    490
  - Short Circuit Brake
    491
  - Parameter Overview of the DC Link Controller
    491
  - Description of the DC Link Controller Parameter
    492
  - Field Weakening Controller
    494
  - Breakdown Torque
    498
  - Parameter Overview
    501
  - Description of the Field Weakening Parameters
    502
  - Two-Level Controller
    506
  - General
    506
  - Two-Level Controller with Absolute Thresholds
    507
  - Two-Level Controller with Relative Thresholds
    508
  - Combination of the Operating Modes Absolute and Relative Thresholds
    508
  - Sign-Independent Monitoring
    510
  - Linking of the Controller Output with the Target Parameter
    510
  - Parameter Overview of the Two-Level Controller
    511
  - Description of the Two-Level Controller Parameter with Absolute Thresholds
    512
  - Description of the Two-Level Controller Parameter with Relative and Absolute Thresholds
    514
  - Flux Controller
    518
  - Prodrive Flux Controller
    518
  - Parameter Overview of the Flux Controller
    518
  - Description of the Flux Controller Parameters
    519
  - Controller Adaptations
    520
  - Parameter Overview of the Controller Adaptations
    521
  - Description of the Controller Adaptations Parameters
    521
  - Adaption EMF Feed Forward
    523
  - Adaption Torque Monitoring
    524
  - Ks Adaption
    525
  - Adaption of the Saturation
    526
  - Compensation Dead Time Voltages
    527
  - Temperature Adaption Motor Resistances
    527
  - Temperature Adaption Slip Frequency
    527
  - Operating Modes
    530
  - Operating Modes General
    530
  - Moving to Positive Stop Command
    531
  - Prodrive General Parameters
    534
  - Parameter Overview
    534
  - Description of the Parameters
    535
  - Target Position Setting (Positioning) Mode
    549
  - Controlling the Positioning
    549
  - Positioning Data
    550
  - Bits in the Control Word / Status Word
    551
  - Actions on the Rising Edge of "New Set Value
    552
  - Sequence of Events for Positioning Handshake with "Single Set Value
    552
  - Sequence of Events for Handshake with "Set of Set Values
    554
  - Hardware Limit Switches
    555
  - Software Limit Switches
    557
  - Target Specifications
    557
  - Change of Operating Mode to Positioning
    558
  - Halting a Running Positioning Task
    558
  - Aborting a Running Positioning Task
    559
  - Set Value Profiles
    559
  - Comparison of Motion Profiles for Positioning
    560
  - Control by Means of the "Start Positioning" Method
    562
  - Parameter Overview
    566
  - Description of the Parameters
    567
  - Operating Mode Homing
    583
  - Procedure of a Homing under Consideration of Zero Pulse or Zero Angle
    583
  - Shifting the Zero Angle
    584
  - Maximum Distance for Zero Pulse Detection
    584
  - Procedure of a Homing to Switch Only
    584
  - Homing Without Setting the Home Position
    585
  - Automatic Setting of the Absolute Value Offset at Homing
    586
  - Notes
    586
  - Homing Method 1 (Neg. Limit Switch)
    587
  - Homing Method 2 (Pos. Limit Switch)
    587
  - Homing Methods 3 and 4 (Pos. Zero Point Changeover Switch)
    588
  - Homing Methods 5 and 6 (Neg. Zero Point Changeover Switch)
    589
  - Homing Methods 7 to 14 (Reference Switch)
    590
  - Homing Methods 15 and 16 (Reserved)
    591
  - Homing Methods 17 to 30 (Without Zero Pulse or Zero Angle)
    591
  - Homing Methods 31 and 32 (Reserved)
    592
  - Homing Methods 33 and 34 (Zero Pulse Only)
    592
  - Homing Method 35 (Set Home Position Only)
    593
  - Manufacturer Specific Homing Methods
    593
  - Command Set Home Position
    594
  - Parameter Overview
    594
  - Description of the Parameters
    595
  - Manual Drive Operation
    603
  - Parameter Overview
    604
  - Description of the Parameters
    604
  - Operation Mode Spindle Positioning (M19 Command)
    607
  - Parameter Overview
    611
  - Description of the Parameters
    612
  - Position Control with Synchronous Set Value Specification
    616
  - Parameter Overview
    617
  - Description of the Parameters
    618
  - Operating Mode Synchronous Operation
    627
  - Parameter Overview
    629
  - Description of the Parameters
    630
  - Operating Mode Notch Position Search
    639
  - Prodrive Notch Position Search
    641
  - Parameter Overview
    641
  - Description of the Parameters
    642
  - Notch Position Search with the Injection Method
    645
  - Parameter Survey and Parameter Description
    645
  - Error Response at Notch Position Search 2
    645
  - Sensorless Control for Synchronous Machines
    646
  - General Constraints of Sensorless Control with the Injection Procedure
    647
  - Commissioning at the Sensorless Operation of the Synchronous Machine
    647
  - Vibration Damping
    648
  - Motor Diagnosis
    648
  - Parameter Overview
    649
  - Description of the Parameters
    650
  - Sensorless Control for Asynchronous Motors (Open Loop)
    655
  - Sensorless Control
    655
  - Catch on Fly
    656
  - Parameter Overview
    657
  - Description of the Parameters
    658
  - Operating Mode U-F Characteristic
    660
  - Compensating Controller for Acceleration
    661
  - Current Control
    662
  - Parameter Overview
    662
  - Description of the Parameters
    664
  - Operation Mode Coupled Operation
    669
  - Transmission of Master Axis Position
    671
  - Transmission of the Curve Data
    672
  - Changing the Chaining Sequence
    673
  - Definition of the Starting Segment
    674
  - Synchronization
    674
  - Use of the Output-Sided Gear
    676
  - Overlaying Using an Additional Movement
    676
  - Intermediate Buffering of Curve Segments
    677
  - Real Master Axis
    679
  - Flexible Segments
    680
  - Parameter Overview
    680
  - Description of the Parameter
    682
  - Diagnosis
    690
  - Parameter Overview Diagnosis
    690
  - Description of the Diagnosis Parameters
    691
  - Oscilloscope Function
    700
  - Parameter Overview
    700
  - Software Function FFT Analyzer
    707
  - Parameter Overview
    707
  - Description of the Parameters
    708
  - Optimization
    714
  - Automatic Controller and Filter Setting
    714
  - Torque Ripple Compensation
    715
  - Parameter Overview
    715
  - Description of the Parameters
    716
  - Monitoring
    717
  - Field Angle Monitoring
    717
  - Parameter Overview
    717
  - Description of the Parameters
    717
  - Position Error Monitoring
    719
  - Parameter Overview
    719
  - Description of the Parameters
    720
  - Overload Monitoring of the Power Unit
    723
  - Ixt Model
    723
  - Temperature Model
    727
  - Real Power Limit
    730
  - Temperature Monitoring of the Motor
    731
  - Overload Monitoring of the Motor
    731
  - General Information
    731
  - Speed Variable L T Overload Monitoring
    735
  - Monitoring of the Single Phases
    738
- 5 Error Messages and Troubleshooting
  
  741
  - Behavior in Case of Errors
    741
  - Monitoring Functions
    742
  - Monitoring Function - Explanations
    744
  - Error Detection
    746
  - Error Handling
    746
  - Error Reset
    746
  - Error Descriptions
    747
- 6 Summary of All Parameters
  
  771
- Anhang A - Abbreviations
  
  807
- Table of Figures
  
  809
Table of Figures

810
- Index
  
  815
- Overview of Revisions
  
  819
  - Document No.: 5.12001.07 of
    820

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