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Baumuller b maXX BM5800 Parameter Manual

Baumuller b maXX BM5800 Parameter Manual (816 pages)

Multi-axis controller

Brand: Baumuller | Category: Controller | Size: 14 MB

Table of Contents

Table of Contents

3
- Prodrive Asynchronous Motor
  3
- Prodrive Lh-Characteristic
  3
- Prodrive Power Unit
  3
- Prodrive Synchronous Motor
  3
- Switch-On Sequence
  3
- Torque Monitoring
  3
- 1 General
  
  5
  - Prodrive Ramp Function Generator
    5
  - Prodrive Brake Management
    5
  - Prodrive Flux Controller
    7
  - 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
  
  15
  - Safety Information
    16
  - Voltage Test
    17
    
    Danger Areas During Electrical Installation
    17
  - Requirements for the Electrical Supply
    18
  - Preparations
    18
  - Communication Via Ethercat
    20
    
    Setting Fixed IP Addresses
    21
    
    Proethercat Download
    22
    
    Prodrive: Find Device
    23
    
    Prodrive: Device Selection with Ethercat Communication
    24
    
    Prodrive: Start Window
    25
  - Switch-On Sequence
    26
  - Performing the Commissioning (Using Axis 1 as an Example)
    27
    
    Prodrive: Project Tree for Drive Manager
    27
    
    Prodrive: Drive Manager
    28
    
    Prodrive: Project Tree for Power Unit
    29
    
    Prodrive: Project Tree for the Encoder
    31
    
    Prodrive: Encoder 1 Configuration
    32
    
    Prodrive: Project Tree for Motor - General
    33
    
    Prodrive: Motor Database
    33
    
    Prodrive: Selecting the Motor
    34
    
    Prodrive: Motor-General
    35
    
    Prodrive: Motor-Synchronous
    36
    
    Prodrive: Parameter List - Motor Type
    36
    
    Prodrive: Project Tree for Dataset Management
    37
    
    Prodrive: Drive Manager for Axis
    45
  - Cycle Times of the Software Modules
    47
  - Cycle Times at Axis Units
    47
  - Structure of the Parameter Overviews
    49
  - System
    51
  - System Control
    51
  - Parameter Overview
    51
  - Description of the Parameters
    52
  - Configuration
    61
  - Power Unit
    61
  - Prodrive Power Unit
    62
  - Parameter Overview
    62
  - Description of the Parameters
    64
  - Motor
    81
  - Motor Identification Plate
    81
  - Torque Limits
    81
    
    A) Asynchronous Motor: Torque Limit above B) Asynchronous Motor: Overlap of Several Limits
    82
  - Torque Monitoring
    83
  - Torque Threshold
    83
  - Maximum Permissible Speed (Electrical Conditioned)
    84
  - Prodrive Motor
    85
  - Parameter Overview Motor
    85
  - Description of the Parameters
    88
    
    Modes of the "Max. Torque Current 19.8 at the Synchronous Motor
    92
    
    A) Field Current Dependence (External Total Current Limit Is Not Assumed)
    92
    
    B) External Total Current Limit Dependence (Field Weakening Is Not Assumed)
    92
    
    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)
    93
    
    Torque Current Limit
    109
  - Synchronous Motor
    120
  - Prodrive Synchronous Motor
    120
  - Torque Ripple Compensation
    120
    
    Torque Ripple Compensation
    121
  - Asynchronous Motor
    123
  - Prodrive Asynchronous Motor
    123
  - Lh-Characteristic
    123
  - Prodrive Lh-Characteristic
    125
  - Description of the Lh-Characteristic Parameters
    126
  - Synchronous Motor with Interior Permanent Magnet
    128
  - Control
    128
  - Commissioning
    129
  - Identification of the Nonlinear Parameters
    130
  - Field Weakening at IPMSM
    130
  - Torque Ripple Compensation at IPMSM
    133
  - Parameter Overview
    133
  - Description of the Parameter
    134
  - Encoder
    138
  - Length Measuring Devices
    139
  - Encoder Monitoring
    140
    
    Sin 2 Cos 2 Monitoring and Field Angle Monitoring of a Synchronous Machine
    143
  - Prodrive Encoder
    144
  - Encoder Optimization
    144
  - Encoder Correction
    145
  - Encoder Accuracy and Excentricity
    148
  - SSI Digital Configuration
    149
  - Resolver Synchronization
    150
  - Encoder Angle Via Fieldbus
    151
  - Parameter Overview
    152
  - Description of the Parameters
    155
  - Autotuning of Current Controller
    181
  - Prodrive Autotuning of the Current Controller
    182
  - Parameter Overview Autotuning of the Current Controller
    182
  - Description of the Parameters
    183
  - Autotuning of Position / Speed Controller
    189
  - Ks Determination
    189
  - Prodrive Ks Determination
    193
  - Parameter Overview Ks Measurement
    193
    
    Prodrive Ks Measuring
    193
  - Description of the Ks Measurement Parameters
    194
  - Control Loop Analysis
    198
  - Autotuning Asynchronous Motor
    202
  - Identification Lh-Characteristic
    202
  - Digital Inputs
    203
  - Digital Inputs at Axis Units
    203
  - Parameter Overview
    203
  - Description of the Parameters
    204
  - Fieldbus Communication
    207
  - Parameter Ids for the Real Time Lists
    210
  - Access Counter for each Real Time List
    210
  - Parameter Overview
    210
  - Description of the Parameters
    211
  - Measuring Encoder Function
    220
  - Prodrive Measuring Encoder
    222
  - Parameter Overview
    222
  - Description of the Parameter
    224
  - Customizable PID Controller
    240
  - Parameter Overview
    241
    
    PID Controller Functional Diagram
    241
  - Description of the Parameters
    243
    
    Only
    244
  - PT 1 Filters
    251
  - Temporal Features of the Filters
    251
  - Parameter Overview
    251
  - Description of the Parameters
    252
  - Master-Slave Torque Coupling
    253
    
    Structure of the Control of the Torque Coupling at Connecting the Torque Coupling as Torque Additional Set Value
    255
  - Parameter Overview
    258
  - Description of the Parameters
    259
  - Gantry Functions
    265
  - Parameter Overview
    265
  - Description of the Parameters
    265
  - Synchronization
    268
  - Parameter Overview
    268
  - Description of the Parameters
    268
  - Configurable Status Word
    271
  - Parameter Overview
    273
  - Description of the Parameters
    273
  - DS402 Factor Group
    277
  - General Information
    277
    
    Factor Group Effect of Position Weighting
    279
    
    Factor Group Effect of the Speed and Acceleration Weighting
    280
  - Prodrive DS402
    282
  - Parameter Overview
    282
  - Description of the Parameter
    284
  - Management
    289
  - Drive Management
    289
  - States of the Device Control System of the Axis Unit
    289
  - Introduction to the Description of the Device Control System
    291
  - State Machine for the Device Controller of the Axis Units
    292
    
    State Machine for the Device Controller of the Axis Unit
    292
  - State Transitions in the Device Controller of the Axis Units
    293
  - Parameter Overview
    298
  - Description of the Parameters
    299
  - Data Set Management
    317
  - Command Interface
    317
  - Organization of the Parameters in the Data Sets
    318
  - Delivered State
    318
  - Switch-On Behavior
    319
  - Changing, Loading, Copying and Storing Parameters
    319
  - Identification of Parameter Set and Data Sets
    319
  - Functions of the Data Set Management System
    320
  - Data Set Commands and Possible Error Messages
    321
  - Changeover to Data Set 1 to 7
    323
  - Parameter Overview
    324
  - Description of the Parameters
    325
  - Brake Management
    329
  - Description of the Brake Management System
    329
  - Brake Watchdog
    334
  - Prodrive Brake Management
    335
  - Parameter Overview
    335
  - Description of the Parameters
    336
  - Error Management
    341
  - Parameter Overview
    342
  - Description of the Parameters
    343
  - Set Value Manager
    347
  - Parameter Overview
    347
  - Description of the Parameters
    348
  - Set Value Generators
    353
  - Ramp Function Generator
    353
  - Optional Interpolation of the Ramp Function Generator Input Set Value
    354
  - Parameter Overview
    361
    
    Ramp Function Generator Page in Prodrive
    361
  - Description of the Parameters
    362
  - Set Value Generator
    373
  - Parameter Overview
    373
    
    Speed Set Value Sequence for Set Value Generator
    373
  - Description of the Parameters
    374
  - Error Reaction Controlled Stop
    377
  - Error Reaction Return Motion
    378
  - Parameter Overview
    378
  - Cam Generator
    382
  - Time Control Via the Table Index
    382
  - Time Control with Virtual Master Axis
    382
  - Parameter-Controlled Processing
    383
  - Setting Options of Cam Generator
    384
  - State Machine of the Cam Generator
    387
  - Limiting of Output Value
    388
  - Handling the Cam Data
    388
  - Parameter Overview
    389
  - Description of the Parameters
    390
  - Motor Potentiometer
    394
  - Parameter Overview
    394
  - Description of the Parameters
    395
  - Controllers
    398
    
    Block Diagram of the Set Value Manager
    400
    
    Block Diagram of the Position Controller
    401
    
    Block Diagram of the Speed Controller
    402
    
    Block Diagram of the Position / Speed Controller Module When in Operating Mode Current Control
    403
    
    Block Diagram of the Position / Speed Controller Module When in Synchronous Operation with a Real Master Shaft
    403
  - Position / Speed Controller
    404
  - The Factor Ks
    404
    
    Physical Units in the Control Circuit
    404
  - Position / Speed Controller Adaption
    405
  - Cyclical Ks Adaption
    406
  - Acceleration Feedforward
    406
  - Friction Compensation
    407
    
    Prodrive Friction Torque Compensation with PT Filter and Response
    410
  - Compensation of the Torque Ripple
    415
  - Prodrive Position / Speed Controller
    416
  - Parameter Overview of Position / Speed Controller
    418
    
    Prodrive Position Speed Controller Adaption
    418
  - Description of the Parameters
    422
  - Filter of the Torque Current Set Value
    441
  - PT 1 Filter and Notch Filter
    441
  - Polynomial Filter
    441
  - Setting Options of the Polynomial Filter
    442
  - Other Filters
    444
  - Parameter Overview
    445
  - Description of the Parameters
    447
  - Current Controller
    453
    
    Current Controller
    454
    
    Overviewing the Voltages before and after the PWM
    455
  - Current Prediction
    456
  - Dead Time Compensation
    456
  - Torque Current Limiting
    457
    
    Torque Current Limit "Lsqlim" at the "Standard Load Mode" of the Synchronous Motor Bit 3 = 0)
    458
    
    A) Dependent of the Field Current (an External Total Current Limit Is Not Assumed).  B) Dependent of External Total Current Limit (Field Weakening Is Not Assumed)
    458
    
    Torque Current Limit "Lsq" at the "Current Mode" of the Synchronous Motor
    459
    
    A) Dependent of the Field Current (the External Total Current Limit Is Assumed)
    459
    
    B) Dependent of the External Total Current Limit (Field Weakening Is Not Assumed)
    459
    
    Torque Current Limit "Lsqlim" at "Standard Load Mode" of the Asynchronous Motor
    460
    
    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)
    460
    
    A) Dependent of the Field Current (External Total Current Limit Is Not Assumed)
    460
  - Feedforward
    462
    
    B) Dependent of the External Total Current Limit (Field Weakening Is Not Assumed)
    462
  - Current Controller Adaption
    463
  - Pulse Width Modulation
    464
  - Prodrive Current Controller
    465
  - Overview of Current Controller Parameters
    467
  - Description of Current Controller Parameters
    468
  - DC Link Controller
    478
  - Description of the DC Link Controller
    478
  - Prodrive DC Link Controller
    478
  - Reactive Current Brakes
    478
  - Short Circuit Brake
    479
  - Parameter Overview of the DC Link Controller
    479
  - Description of the DC Link Controller Parameter
    480
  - Field Weakening Controller
    483
  - Breakdown Torque
    487
  - Parameter Overview Field Weakening
    491
    
    Torque Threshold
    491
  - Description of the Field Weakening Parameters
    492
  - Flux Controller
    497
  - Prodrive Flux Controller
    497
  - Parameter Overview of the Flux Controller
    497
  - Description of the Flux Controller Parameters
    498
  - Controller Adaptations
    499
  - Parameter Overview of the Controller Adaptations
    500
  - Description of the Controller Adaptations Parameters
    501
  - Adaption EMF Feed Forward
    503
  - Adaption Torque Monitoring
    504
  - Ks Adaption
    505
  - Adaption to the Saturation
    506
  - Compensation Dead Time Voltages
    507
  - Temperature Adaption Motor Resistances
    507
  - Temperature Adaption Slip Frequency
    507
  - Operating Modes
    510
  - Operating Modes General
    510
  - Moving to Positive Stop Command
    511
  - Prodrive Positioning
    514
  - Parameter Overview
    514
  - Description of the Parameter
    515
  - Operating Mode Target Position Setting
    529
  - Controlling the Positioning
    529
  - Positioning Data
    529
  - Bits in the Control Word / Status Word
    531
  - Actions on the Rising Edge of "New Set Value
    532
  - Sequence of Events for Positioning Handshake with "Single Set Value
    532
  - Sequence of Events for Handshake with "Set of Setpoints
    534
  - Hardware Limit Switches
    535
  - Software Limit Switches
    537
  - Target Specifications
    537
  - Change of Operating Mode to Positioning
    538
  - Halting a Running Positioning Task
    538
  - Aborting a Running Positioning Task
    539
  - Set Value Profiles
    539
  - Comparison of Motion Profiles for Positioning
    540
  - Control by Means of the "Start Positioning" Method
    542
  - Parameter Overview
    546
  - Description of the Parameter
    547
  - Operating Mode Homing
    563
  - Procedure of a Homing under Consideration of Zero Pulse or Zero Angle
    563
  - Shifting the Zero Angle
    564
  - Maximum Distance for Zero Pulse Detection
    564
  - Procedure of a Homing to Switch Only
    565
  - Homing Without Setting the Home Position
    565
  - Automatic Setting of the Absolute Value Offset at Homing
    566
  - Notes
    566
  - Homing Method 1 (Neg. Limit Switch)
    567
  - Homing Method 2 (Pos. Limit Switch)
    567
  - Homing Methods 3 and 4 (Pos. Zero Point Changeover Switch)
    568
  - Homing Methods 5 and 6 (Neg. Zero Point Changeover Switch)
    569
  - Homing Methods 7 to 14 (Reference Switch)
    570
  - Homing Methods 15 and 16 (Reserved)
    571
  - Homing Methods 17 to 30 (Without Zero Pulse or Zero Angle)
    571
  - Homing Methods 31 and 32 (Reserved)
    572
  - Homing Methods 33 and 34 (Zero Pulse Only)
    572
  - Homing Method 35 (Set Home Position Only)
    573
  - Manufacturer Specific Homing Methods
    573
  - Command Set Home Position
    574
  - Parameter Overview
    574
  - Description of the Parameter
    575
  - Manual Drive Operation
    583
  - Parameter Overview
    584
  - Description of the Parameter
    584
  - Operation Mode Spindle Positioning (M19 Command)
    587
  - Parameter Overview
    591
  - Description of the Parameters
    592
  - Operating Mode Position Control
    596
  - Parameter Overview
    597
  - Description of the Parameter
    598
  - Operating Mode Synchronous Operation
    607
  - Parameter Overview
    610
  - Description of the Parameter
    611
  - Operating Mode Notch Position Search
    621
  - Prodrive Notch Position Search
    623
  - Parameter Overview Notch Position Search
    624
  - Description of the Notch Position Search Parameters
    624
  - Operating Mode U-F Characteristic
    628
  - Compensating Controller for Acceleration
    629
  - Current Control
    630
  - Parameter Overview
    631
  - Description of the Parameter
    632
  - Operation Mode Coupled Operation
    637
  - Transmission of Master Axis Position
    639
  - Transmission of the Curve Data
    640
  - Changing the Chaining Sequence
    641
  - Definition of the Starting Segment
    642
  - Synchronization
    642
  - Use of the Output-Sided Gear
    644
  - Overlaying Using an Additional Movement
    645
  - Intermediate Buffering of Curve Segments
    645
  - Real Master Axis
    647
  - Flexible Segments
    648
  - Parameter Overview
    648
  - Description of the Parameter
    650
  - Operating Mode Current Control
    659
  - Prodrive OM Current Control
    660
  - Motor Operating Mode
    661
  - Sensorless Control for Synchronous Machines
    661
  - General Constraints of Sensorless Control with the Injection Procedure
    662
  - Commissioning at the Sensorless Operation of the Synchronous Machine
    662
  - Vibration Damping
    663
  - Motor Diagnosis
    663
  - Parameter Overview Sensorless Synchronous Motor
    664
  - Description of the Sensorless Synchronous Motor Parameters
    665
  - Sensorless Control for Asynchronous Motors (Open Loop)
    670
  - Sensorless Control, at Stator Flux Oriented
    670
  - Catch on Fly
    672
  - Parameter Overview Sensorless Asynchronous Motor
    673
  - Description of the Sensorless Asynchronous Motor Parameters
    673
  - Diagnosis
    675
  - Parameter Overview Diagnosis
    675
  - Description of the Diagnosis Parameter
    676
  - Oscilloscope Function
    686
  - Parameter Overview
    686
  - Description of the Parameter
    687
  - Function FFT Analyzer
    694
  - Parameter Overview
    695
  - Description of the Parameter
    696
  - Monitoring
    702
  - Field Angle Monitoring
    702
  - Parameter Overview
    702
  - Description of the Parameter
    703
  - Position Error Monitoring
    704
  - Parameter Overview
    704
  - Description of the Parameter
    705
  - Overload Monitoring of the Power Unit
    708
  - Ixt Model
    708
  - Temperature Model
    708
  - Temperature Monitoring of the Motor
    714
  - Overload Monitoring of the Motor (I 2 T)
    716
  - General Information
    716
  - Monitoring of the Single Phases
    723
  - Behavior in Case of Errors
    725
  - Monitoring Functions
    726
  - Monitoring Function - Explanations
    728
  - Error Detection
    730
  - LED Assignment Wit 8 Leds (2 Columns)
    730
  - LED Assignment Wit 2 Leds (1 Column)
    731
  - Error Handling
    731
  - Error Reset
    731
  - Error Descriptions
    732
- 5 Summary of All Parameters
  
  758
  - Controller
    760
- Appendix A - Abbreviations
  
  801
List of Illustrations Table of Figures

803
- Table of Figures
  
  803
  - Index
    809
- Overview of Revisions
  
  813

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