AXV Manual PDF
AXV Manual PDF
Instruction manual
The information held in this manual may be modified without notice.
SIEI S.p.A. will not be responsible for changes that may occur in the future.
No part of this manual can be reproduced, for any reason, in any form, or by any means
(including recording and photocopying) without the written consent of SIEI S.p.A.
Before the inverter installation, wiring, commissioning and inspection, read this instruc-
tion manual carefully.
Keep the manual in a safe place and available to engineering and installation personnel
when the drive is operated.
SIEI S.p.A. is not responsible for those mistakes that may be found in this manual and for
the damages that they may cause.
2
CONTENTS
3
5. DIMENSIONING CRITERIA .................................................................................... 35
5.1. MOTOR CHECK ..................................................................................................................... 36
5.2. CHECK OF THE DRIVE SIZE ................................................................................................... 37
5.3. APPLICATION EXAMPLE: FLYING CUT ................................................................................. 38
6. MAINTENANCE ..................................................................................................... 41
6.1. CARE .................................................................................................................................... 41
6.2. SERVICE ............................................................................................................................... 41
6.3. REPAIRS ............................................................................................................................... 41
6.4. CUSTOMER SERVICE ............................................................................................................ 41
7. TROUBLESHOOTING ............................................................................................ 43
8. SETTINGS AND COMMISSIONING ...................................................................... 47
8.1. MENU STRUCTURE .............................................................................................................. 47
8.2. PC CONFIGURATOR .............................................................................................................. 58
8.3. COMISSIONING .................................................................................................................... 59
8.3.1. Connection with the PC ............................................................................................... 59
8.3.2. Essential parameters set up ......................................................................................... 60
8.3.3. Example in speed mode configuration .......................................................................... 61
8.3.4. Example in position mode configuration ....................................................................... 62
8.3.5. Example in electrical line shaft configuration ................................................................ 63
8.4. DOWNLOAD FIRMWARE ...................................................................................................... 64
8.5. ENCODER SIN.COS PHASING ............................................................................................... 65
8.6. DIGITAL ENCODER + HALL SENSOR PHASING .................................................................... 66
9. FUNCTION DESCRIPTION .................................................................................... 67
9.1. MONITOR ............................................................................................................................. 67
9.2. DRIVE PARAMETERS ............................................................................................................ 67
9.3. MOTOR PARAMETERS ......................................................................................................... 70
9.4. ENCODER PARAMETERS ...................................................................................................... 70
9.5. RAMP ................................................................................................................................... 71
9.6. SPEED ................................................................................................................................... 73
9.7. CURRENT ............................................................................................................................. 75
9.8. SPEED GAINS ....................................................................................................................... 77
9.9. DIGITAL INPUTS ................................................................................................................... 77
9.10. DIGITAL EXPANSION INPUTS ............................................................................................. 82
9.11. VIRTUAL DIGITAL INPUTS .................................................................................................. 83
9.12. DIGITAL OUTPUTS .............................................................................................................. 85
9.13. VIRTUAL DIGITAL OUTPUTS ............................................................................................... 89
9.14. DIGITAL EXPANSION OUTPUTS .......................................................................................... 90
9.15. ANALOG INPUTS ................................................................................................................ 91
9.16. ANALOG OUTPUTS ............................................................................................................. 95
9.17. ENCODER REPETITION ........................................................................................................ 98
9.18. JOG FUNCTION................................................................................................................... 99
9.19. MULTI SPEED FUNCTION .................................................................................................. 100
9.20. MULTI RAMP FUNCTION .................................................................................................. 102
9.21. POSITION PARAMETER ..................................................................................................... 104
9.21.1. Zero sensor ............................................................................................................. 104
9.21.1.1. Zero search ( Pos 0 search ) .................................................................... 104
4
9.21.2. Position start ........................................................................................................... 107
9.21.3. Value self-acquisition ............................................................................................... 107
9.21.4. Positioner parameters .............................................................................................. 108
9.21.5. Positioner inputs ...................................................................................................... 113
9.21.6. POSITION PRESET .................................................................................................. 113
9.21.7. ZERO CONFIGURATION .......................................................................................... 114
9.22. ELECTRICAL LINE SHAFT .................................................................................................. 120
Connection of the digital encoder ............................................................................... 121
Fast link connection ................................................................................................... 121
9.22.1. ELECTRICAL LINE SHAFT RATIO .............................................................................. 123
9.22.2. ELECTRICAL LINE SHAFT BEND ............................................................................... 124
9.23. FAILURE REGISTER........................................................................................................... 125
9.24. FAILURE QUEUE ............................................................................................................... 127
9.25. ALARM TO MASK ............................................................................................................ 127
9.26. EXPANSION BOARD ......................................................................................................... 129
9.27. SYSTEM ........................................................................................................................... 130
9.28. BRAKING UNIT ................................................................................................................. 130
9.29. DIGITAL OUTPUT RESET ................................................................................................... 131
9.30. UNDERVOLTAGE LIMITS ................................................................................................... 131
10. BLOCK DIAGRAMS .......................................................................................... 133
11. PARAMETER LIST ............................................................................................ 137
EC DECLARATION OF CONFORMITY ....................................................................... 155
LIST OF TABLES
Table 2.3.2.1: Rated power and efficiency .................................................................................... 13
Table 2.3.3.1: Line side current for a continuous service ............................................................... 14
Table 2.3.4.1: Peak and rated current ........................................................................................... 14
Table 3.1.1: Weights and dimensions ............................................................................................ 17
Table 3.2.1: Power loss and thermal capacity ............................................................................... 17
Table 4.1.1: Description of the power terminal strip ...................................................................... 19
Table 4.2.1.1: Description of the C1 terminal strip .......................................................................... 20
Table 4.2.1.1: Description of the C2 terminal strip......................................................................... 20
Table 4.2.3.1: Description of the S1 connector ............................................................................. 21
Table 4.2.4.1: Description of the S2 connector ............................................................................. 21
Table 4.2.5.1: Encoder connections for motors with terminal strip................................................. 22
Table 4.2.5.2: Encoder connections for motors with connector ..................................................... 22
Table 4.3.1: Connections of a serial link ........................................................................................ 23
Table 4.5.1.1: Fuses ..................................................................................................................... 27
Table 4.5.2.1: EMI filters .............................................................................................................. 27
Table 4.7.1.1: Internal braking unit ............................................................................................... 29
Table 4.7.1.1.1: List and technical data of the normalized external resistances ............................. 29
5
LIST OF FIGURES
Figure 2.2.1: Servodrive basic scheme ......................................................................................... 12
Figure 2.3.4.1: Variation % in the developed current according to the ambient temperature (oC).. 15
Figure 3.1.1: Weights and dimensions .......................................................................................... 17
Figure 3.4.1: Mounting distances ................................................................................................. 18
Figure 4.3.1: RS485 serial link ..................................................................................................... 24
Figure 4.4.1: Auxiliary circuits ...................................................................................................... 25
Figure 4.4.2: Typical connection scheme ...................................................................................... 26
Figure 4.6.1: Fast serial communication among the drives ............................................................ 28
Figure 4.7.1: Braking functioning scheme ..................................................................................... 28
Figure 4.7.1.1: Connections for internal and external braking resistor ........................................... 29
Figure 4.7.1.1.1: Braking cycle with a typical triangular profile ..................................................... 30
Figure 4.7.1.1.2: Braking cycle with TBR / TC = 20% .................................................................. 31
Figure 4.7.1.1.3: General braking cycle with triangular profile ....................................................... 32
Figure 9.2.1: Serial port configuration ........................................................................................... 69
Figure 9.5.1: Ramp circuit ............................................................................................................ 71
Figure 9.6.1: Speed reference ....................................................................................................... 74
Figure 9.7.1: Current reference .................................................................................................... 75
Figure 9.15.1: Differential analog inputs ....................................................................................... 93
Figure 9.16.1: Differential analog outputs ...................................................................................... 96
Figure 9.18.1: Jog function ......................................................................................................... 100
Figure 9.19.1: Multi speed function ............................................................................................ 102
Figure 9.20.1: Multi ramp function ............................................................................................. 103
Figure 9.21.1: Home search ....................................................................................................... 108
Figure 9.21.4: Value acquisition function .................................................................................... 109
Figure 9.21.7.1: Home position search active on the positive edge ............................................. 117
Figure 9.21.7.2: Home position search active on the logic level .................................................. 118
Figure 9.21.7.3: Home position search active on the logic level after the first encoder index ....... 119
Figure 9.21.7.4: Home position search active on the logic level after the first encoder index ....... 120
6
AXV - HGB
0. SAFETY INSTRUCTIONS
WARNING !
WARNING - DANGER OF PERSONAL Do not carry out megger tests on the drive or control
INJURIES circuit terminals.
If the drives are not lifted by suitable means, they can
cause severe or fatal damages. The drive has to be lifted
by a trained staff or by using suitable tools. WARNING !
Do not install the drive in places where the tempera-
ture is higher than that allowed by the specifications:
WARNING - DANGER OF ELECTRIC SHOCK the ambient temperature has a great influence on the
Motors and drives have to be ground connected accord- drive life and reliability.
ing to the national electric rules.
WARNING !
WARNING ! When the drive shows an alarm condition, refer to the
Place all the covers before applying voltage to the drive. chapter TROUBLESHOOTING in the instruction
The non-fulfillment of this warning may cause severe manual; the operation can be restarted only when the
personal injuries or death. alarm cause has been removed. Do not reset the alarm
automatically via an external sequence etc.
WARNING !
Remove the bag/s containing anti-condensation agents
while unpacking the drive (if such bags are not removed,
they could end up in the fans or they could obstruct the
cooling openings, thus causing drive overheating).
1. Never open the drive when the power 9. In case the drive remains stored for a
supply network voltage is connected. The period longer than three years, remem-
minimum waiting time before having the ber that the intermediate circuit capaci-
possibility to work on the terminals or tors keep their original features only if
inside the drive is stated in the manual. they are supplied with power within
2. Handle the drive avoiding to touch or three years from the delivery date. Be-
damage any of its parts. The isolation fore commissioning drives which have
distances can not be changed and the been stored for such a long time, it is
coverings and the isolation materials can necessary to supply power to the drives
not be removed. for at least two hours without running
the drive (disable), in order to recover
3. Protect the drive against any unallowed the capacitor original features.
stress (temperature, moisture, impact, etc.).
10. In case a failure occurs, if the drive is
4. No voltage can be applied on the drive disabled but network-connected, the
output (terminals U, V, W). Only one drive accidental movement of the motor shaft
can be connected on the output and no can not be excluded.
direct connection between the drive input
and output (Bypass) is allowed.
5. No capacitive load can be connected to
the drive output (terminals U, V, W) (for
example phase corrections capacitors).
6. Establish the ground connections (PE) via
the appropriate terminals. Variable
frequency drives and AC input filters have
a ground leakage higher than 3.5 mA.
According to EN 50178, in such cases the
ground connection cable (PE1) must
correspond to a specific type and be
doubled for redundancy.
7. The electrical commissioning has to be
carried out by qualified personnel. Such
personnel are responsible for suitable
ground connection and for protection of
the input power wiring according to local
and national guidelines. The motor has to
be protected against any overload.
8. No dielectric strength test has to be
carried out on the drive components. Use
suitable means to measure the signal
voltage (minimum internal resistance 10
kΩ /V).
AXV represents a new concept in motion control - Digital encoder repetition output with three chan-
technology; this very fast servodrive based on the nels (without the complementary ones), 24V
DSP (digital signal processor) VECONTM is aimed open collector.
at providing real-time control of servosystems and it - 3 analog differential inputs (11bits + sign).
is integrated with versatile and innovative power
hardware. - 4 analog outputs (9 bits + sign).
- 8 programmable digital inputs.
2.1.1. In general
The drives of the AXV series are carefully packed in order to assure perfect delivery. The shipping has to
be carried out in a suitable way (see the weight indications). Follow carefully the indications printed on the
packaging.
The drive basic technical data are stated in the code on the identification nameplate.
Example: AXV-460/415-6/9
2.1.3. Nameplate
Make sure that all the data stated on the inverter nameplate correspond to the ordered product.
SIEI SPA
Type : AXV 6 / 9 S/N 99062162
Main Power In : 460 VAC 5A 50/60Hz 3Phase
Main Power Out : 415 VAC 5A 0-400Hz
LISTED
INDUSTRIAL CONTROL EQUIPMENT
The drive switches the constant frequency and voltage of an existing three-phase line into a direct current
bus and obtains a new three-phase output with variable voltage and frequency. This variable three-phase
ouput allows the continous control of the speed of brushless motors.
2 3 4
6 7
1
5 Configurable control section Cards controlling the power section with closed loop.
Commands, references and feedbacks are connected
to them.
Drive disposal
The drives of the Axpact series can be disposed as electronic scraps in accordance with the currently valid
national regulations.
Power:
The power circuit of the AXV drives can be connected to three-phase power supply line, whose range is
included between 200Vac –15% and 460Vac +10%. The drive can also be power supplied with 230Vac
single-phase line, thus decreasing the drive power by 40%.
Line frequency: 40/70 Hz ± 15%
Regulation:
The auxiliary circuits require a min 24Vdc (max 30Vdc) external power supply; the maximum absorbed
current is 600mA.
WARNING ! Voltage less than 24Vdc could generate an internal drive alarm.
2.3.4. Output
The output of the AXV drive is protected against any phase and ground short circuit. The 8 KHz switching
frequency remains constant over the entire speed range.
The maximum developed voltage is stated via the following relation: Vout = Vin x 0.95 (Vac)
The rated value of the output current depends on the line voltage and on the ambient temperature.
Figure 2.3.4.1: Variation % in the developed current according to the ambient temperature (oC)
2.3.5. Performance
The bandwidths of the speed and position loop depends on the load inertia.
3. MOUNTING PROCEDURES
342
325
a 224
The drive dissipated power depends on the different working conditions of the connected motor. The
values of the dissipation stated in the following table refer to operation at continuous rated current. All the
models are provided with an internally powered, internal fan, which is active only in cases where the
temperature is too high. It is controlled by a thermal sensor mounted on the heatsink.
WARNING ! The AXV internal fan starts automatically when the heatsink temperature arrives
at 55°C (internal supply + 24V).
Installation altitude: Up to 1000 m above sea level; for higher altitudes a current
reduction of 4% for every 100 m of additional height applies.
The drive has been designed to be assembled on a wall, on a panel board or enclosure surface and into
safe environments. Figure 3.1.1. shows the drive dimensions and the hole positions. In order to help the
dissipation of the developed heat, vertical mounting is necessary. It is also important to respect the
minimum distances between each drive and the enclosure walls and those between drives placed side by
side, as showed in figure 3.4.1.
100mm
10mm 10mm
200mm
4. ELECTRIC CONNECTION
The power section is made of an innovative AC-AC inverter with a DC bus without electrolytic capacitors.
It is always in a position to supply the required current with the right wave shape according to the IEC 555.
It has 8KHz modulation frequency, internal braking resistance limited only by the duty-cycle, braking
chopper with a rated current, forced ventilation controlled by the drive temperature via a PTC. It is
normally protected against any module overtemperature, overvoltage, overcurrent, short circuit towards
the ground and short circuit between the motor turns. The drive connection is established via a 10-pole
removable connector. As for the motor cable, it is advisable to use a shielded cable with a 80% covering.
Terminal Description
U Motor phase U (A for UL motor blue wire)
V Motor phase V (B for UL motor red wire)
W Motor phase W (C for UL motor yellow wire)
L1 Line phase L1
L2 Line phase L2
L3 Line phase L3
BR- External brake resistor connection
DC+ Positive DC bus
DC- Negative DC bus
External brake resistor connection
BR+
(to use internal brake, connect to DC+)
axv0050
There is no physical limit for the length of the power cables between the drive and the motor, as such
length depends on the cable type, its section, its shielding etc. Anyway, for wiring longer than 25/30
meters, it is advisable to an inductor whose value is higher than or equal to the motor inductance.
The drive connection is established via a 20-pole removable connector. As for the analog signals, it is
advisable to use a shielded cable with a 80% covering.
The relay placed on the drive and coded with RLM, RLO, RLC is programmed with the OK drive
function. The RLO contact closes when the regulation card is power supplied and no anomaly is detected.
In the same way, the RLC contact opens. The contacts revert to a rest position if no power supply is
present or if a failure occurs.
The drive connection is established via a 16-poles removable connector. As for the analog signals, it is
advisable to use a shielded cable with a 80% covering.
(*) Connect only when using a differential mode; they are not necessary for operation.
The drive connection is established via a 9-pole standard D-sub connector. The PC serial port is connected
with a pin to pin 9-wire connection. If the PC is not equipped with a RS485 serial port, it is possible to use
a standard RS232/RS485 converter or the SIEI interface type “PCI 485”.
The AXV drive uses a communication protocol type Slink-3. As for some specific details about the
controls and the figures used to communicate, refer to the Slink-3 specific manual.
RS 485 is multidrop, half duplex and 2500 Vdc isolated, the standard speed is 38400 B/R and the
hardware 1 MB.
Terminate the line at 120 Ohm via a switch on the drive panel.
- the power and control cables of contactors and relays have been placed into different wireways.
AXV
X1
OFF
120
+5V
PE
5 4 3 2 1
9 8 7 6
RS485
K1M
MAINS CONTACTOR
K1M
K2
17 RLO
18 RLC
OK AXV
K2
START / STOP
ON / OFF
ON / START
K0
STOP
K2
OFF
S12
S11
S2
EMERGENCY
EMERGENCY
K0
L01
L00
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
PTC-
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
L1
L2
L3
0V
GND
0V
0V
0V
0V
H1
H2
H3
BR-
DC-
SIN
BR+
DC+
PTC
H1N
H2N
H3N
GND
COS
IANA
SINN
PTC+
ENC I
AUX+
AANA
BANA
ANNA
COSN
ENC I-
ENC B
INANA
HALL 1
HALL 2
HALL 3
ENC A-
ENC B-
BNANA
ABREN
ENC A+
HALL 1-
HALL 2-
HALL 3-
RESEXP
RESEXN
AUX +5V
AXV L1 GND GND GND
SIEI
120
M
0V
0V
DI0
DI1
DI2
DI3
DI4
DI5
DI6
DI7
A00
A01
R0P
R1P
R2P
R0N
R1N
RLC
R2N
AO2
AO3
DO0
DO1
DO2
DO3
RLO
DO4
DO5
DO6
DO7
REA
REB
RLM
REC
GND
+24V
GND
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
X2 X3 X4
FAULT
ENABLE
EXTERNAL
OK RELAY
-10V
+10V
K1M K2 K0
0
FWD
REV
FOR THIS SEE APPROPRIATE CHAPTER
EXTERNAL
SUPPLY
AXV - HGB
4.5. PROTECTION
NOTE! When the terminals of the intermediate circuit (DC+ and DC-) are connected to exter-
nal devices, the protection must be provided via extra rapid fuses. For example in the
following cases:
Coupling of several drives of the intermediate circuit
Connection of external capacitors.
NOTE! The fuse technical data, such as dimensions, weights, dissipated power, fuse blocks
etc., can be found in the manufactures catalogues.
With multi-axis systems it is possible to do a centralized filtration, by installing one filter, of a suitable size,
at the beginning of the drive power supply input. In case such a solution turns out to be possible, use the
AX-S power supply module, which allows, in addition to the filtration, the energy exchange on the com-
mon DC bus and dynamic braking on a single module integrated resistance.
AX-S is available in a single size: 30A.
The X3 and X4 connectors are used for a fast serial communication between drives by using a “field-bus”
system with a dedicated developed protocol (AXV-NET). The drives have to be connected so that the
previous X3 is connected to the following X4 and so on. X3 of the last drive is connected to X4 of the first
one, thus closing the loop. The connectors are telephone type (or type RJ) with 4 poles; also the cable is a
flat telephone type with 4 poles. The maximum allowed cable length is 0.5 meters. Following is a connec-
tion example.
NOTE ! It is available a standard AXV-NET cable with connectors, the length is 300 mm
(SIEI code S7YM4).
X4 X4 X4 X4
X3 X3 X3 X3
During fast deceleration and/or with high inertial loads, the brushless servomotors act as generators; through
the drives they are in a position to recover energy, which flows into the intermediate circuit as direct
current. Such a condition causes a voltage increase in the DC bus; the braking unit is used in order to
prevent the voltage from reaching excessive values. The recovered energy is dissipated into heat in the
braking resistance, thus obtaining short deceleration times.
E
_ R BR
M
BU
All the AXV drives are equipped with an internal braking unit, derived from the IGBT power module; it is
capable of dissipating the drive rated current for short periods. An internal braking resistance is also available,
which is mounted on the drive heatsink and whose average power is 100W. In order to connect the internal
braking resistance, create a jumper between the terminals DC+ and BR+ of the power terminal strip.
When the average braking power is higher than the values stated in the table, it is possible to use an external
braking resistance with a suitable power rating. In order to connect external braking resistance, connect one
end of the resistance to terminal DC+ and the other end to terminal BR- of the power terminal strip.
RBR
BR- BR-
DC+ DC+
DC- DC-
BR+ BR+
NOTE! It is advisable to connect the braking resistance by mounting a safety thermal contact
on the resistor to be inserted into the protection chain.
Table 4.7.1.1.1: List and technical data of the normalized external resistances
Symbol description:
n,P
PPBR
EBR
TBRL t
TCL
TCL Minimum cycle time with a limit operating cycle (braking power = PPBR with a
typical triangular profile)
In order to prevent the resistor from being damaged, an alarm occurs when the operating cycle exceeds the
maximum allowed values.
NOTE! The suggested settings with a specific drive size and a specific resistance model allow a
rated torque braking with duty cycle TBR / T = 20%.
P,n
TBR t
TC
The normalized resistances can be used with settings different from those stated above. Such resistances,
whose technical data are stated in the table 4.7.1.1.1, are sized for an overload equal to 4 times the rated
power for a 10-second period. They can stand an overload able to create the same energy dissipation to a
maximum power level defined by:
1) PMB ≤ 2 ⋅ EBR / TBR where: PMB is the maximum braking power required by the cycle
(see figure 4.7.1.1.3)
x
2)
The cycle average power can not exceed the resistance rated power.
B) If TBR > EBR / PNBR that is in case of long time braking, the following relation is required PMB ≤ PNBR
n,P
PPBR
PMB
TBR t
TC
If one of the above stated rules is not followed, it is necessary, by respecting the braking unit limits stated
in the table 4.7.1.1, to increase the resistance rated power.
P = 0.2 · Jtot · ω2 · f
1
f =
TBR (sec)
When the external braking resistance is installed it is always necessary to carry out some modifications in
the parameters: “SISTEM \ BRAKING UNIT”.
Following are the parameters related to the braking resistance: SISTEM \ BRAKING UNIT
SYS _BRAKE Setting of the braking resistance: it can be internal or external to the Drive. The
parameter default setting is INTERNAL. When the resistance is internal, the
Resistance and Power values are default values.
Here following is a procedure aimed at stating the coordination of a thermal relay for the protection of the
resistor bank belonging to an inverter dynamic braking system in case of a sudden failure (not detected),
when the DC bus power supply is continuous on the braking resistance.
It is anyway important to remember that the drives are supplied with a I2t function for the resistor bank
protection; such a function is in a position to avoid any possible overload.
As stated in the dimensioning procedure for the dynamical braking system, the resistor bank is featured,
with an adiabatic condition, by a possible instantaneous overload defined as Emax BR in [Joule] or as a
product given by Pmax_BR x Tmax_BR [Joule] supplied by the producer. Such parameters are able to define
the resistor overload possibility in case of continuous maximum power peaks.
According to Emax BR and to the peak power value, which the resistor bank is subject to, PPBR = V2BR / RBR
the maximum time for the peak power application is calculated as
Therefore, the time/current curves of the thermal relays are featured by an overload ratio requiring a
thermal relay intervention time lower than Tmax BR . This happens with the most unfavorable condition
caused by a curve dispersion.
Stating with K the overload ratio obtained from the curves, the current value, which the thermal relay has
to be set with, is I term = I PK / k
Now it is necessary to check that the product VBR x Iterm is higher than the average power, which can be
dissipated on the resistor bank; such value is stated during the dimensioning procedure of the braking
system.
In case the above-mentioned conditions are not satisfied, it is necessary to use a thermal relay with a time/
current feature able to obtain a K factor lower than the one stated above.
The thermal relays to be used are those coordinated for the protection of three-phase motors. In this case
it is advisable to use all the three contacts which have to be connected in series.
5. DIMENSIONING CRITERIA
Because of the high performances obtained by the drive/brushless motor set, the dynamic performance of
the entire system is strongly influenced by the mechanic of the system itself.
- the degree of precision depends on the sensor and not on the motor
- the system audible noise, sometimes very strong, does not depend on the motor and/or on the elec-
tronics, but on a mechanical design which is not suitable to the required performances.
- the motor noise is due to continuous acceleration and braking: in such conditions motor overheating
may occur, which may not be due to a too-small motor.
- the passband controlling the drive depends on the mechanics, as it is not possible to stabilize the
electronics less than a period equal to 3 times the ring time of the system mechanical oscillations.
The choice of the mechanical transmission must be carried out, therefore, according to the application. In
mandrel applications, with a significant transmitted power and marginal dynamic performance, common
reducer transmissions are used. In this case, the optimum economical choise.
In case of axis applications, where the system dynamic performance is fundamental, the required torque is
often equal to the sum of the motor and load inertial torques. The use of a reduction ratio in the transmis-
sion reduces, on one side, the load inertia influence, but, on the other, it increases the motor side. In such
applications, therefore, direct coupling is mainly used.
With direct coupling the system dynamics are influenced by the shaft torsional rigidity and by the relative
resonance frequency.
After choosing the motor and the transmission, it is necessary to check the application.
In case of applications whose speed and load are constant or variable for periods longer than the motor
time constant, it is sufficient to check that the maximum load is within the capacity limits stated for the
motor and the drive.
On the contrary, in applications where the load changes according to a faster cycle, do the following:
- Trace a cycle speed/time diagram, remembering that the reaching of a precise position or speed value
requires, apart from the time set by the system limit accelerations, a settling period equal to 3 times the
period of the system passband.
- Refer the system inertia and loads back to the motor axis.
- Calculate the acceleration cycle and the cycle of the relative inertial torques.
- State the cycle torque/time diagram by adding the inertial torques to the loads.
- Calculate from the torque/time diagram the cycle effective torque. If the cycle is made up of n duration
segments t1, t2, ... tn, and of their corresponding torques C1, C2, ... Cn, the cycle effective torque is
given by:
The motor and the electronic have to be checked on the basis of the obtained data.
Such check is carried out with a direct comparison with the peak current via the formula:
Cpk
Idemag = 2
Kt
where:
I demag = motor demagnetization current
C pk = cycle peak torque
Kt = motor torque constant
Check first that the point Ceff , weff is within the area of the motor continuous operating range.
In particular, calculate the motor temperature increase, given by the relation:
Ceff
( ) ( )L
65 2 ωeff 2
∆Tmax = Ln +
Ln Tn ωn 0
where:
Ln = motor rated losses
Tn = motor rated torque
ωn = motor rated speed
L0 = motor rated losses in ωn
If the maximum temperature is higher than the motor maximum, a bigger motor is needed.
In this case, it is necessary to check that at maximum speed, the voltage required by the motor is lower
or equal to that supplied by the drive with the minimum expected power supply voltage. The following
relation must be satisfied:
Cpk C PN
(K ω (
) K )
2 2
Vmax = + Rw +
pk
ωpk Lw ≤ Emin
Kt
e pk
t 2
where:
If such condition is not satisfied, it is necessary to choose a motor with a winding suitable for a higher
speed; in this case a higher current will be needed.
The drive size is chosen according to the torque to be supplied to the motor with a specific winding, from
where the needed energy is derived. The thermal time constant of the drive is only a few seconds,
therefore a current supply longer than 2 seconds has to be considered as continuous current.
The peak and average currents required by the drive are provided by:
Cpk Cave
Imax = Imed =
Kt Kt
where:
The drive must be in a position to develop continuous and peak currents higher than the calculated values;
remember that the drive maximum current must be compared to Imax only if the relative time is lower than
2 seconds; if not, the drive must have a rated current higher than Imax.
As the mechanical transmission system is rather complex, it is necessary to provide a speed stabilization
time Tst with transients to about 150 ms.
The carriage will run across the remaining space during its acceleration and deceleration phase. If these two
spaces are equal:
Assuming that the motor weight is about 20 kilos, the required inertial power is:
The transmission is carried out via a pinion and a rack. The pinion dimensions are:
diameter Dp = 40 mm
length hp = 30 mm
The speed, acceleration and inertia brought to the motor axis are:
Assuming a pinion efficiency equal to 0.95, the maximum torque required to the motor is:
As the cycle effective torque is lower than the motor rated torque, a motor of a bigger size must be chosen.
Repeating the operations for a UL7.19.30 motor with an inertia of 0.0023 kgm2, the obtained average
torque is 14.383 Nm while the effective torque is 17.073 Nm. The motor is therefore suitable for the
application with a high margin.
Given the torque constant Kt = 1.77, the average and maximum current absorbed by the motor are:
The drive size to be used with the present application is therefore AXV 10/14.
6. MAINTENANCE
6.1. CARE
The drives of the AXV series must be installed according to the relevant installation regulations. They do
not require any particular maintenance. They should not be cleaned with a wet or moist cloth. The power
supply must be switched off before cleaning.
6.2. SERVICE
The screws of all terminals on the drive should be re-tightened two weeks after initial commissioning.
This should be repeated each year. If the drives have been stored for more than three years, the capaci-
tance of the intermediate circuit capacitors may have been impaired. Before commissioning these drives, it
is advisable to supply power to the drives for at least two hours in order to regain the capacitor original
ratings. To this purpose apply an input voltage without applying any load on the output.
After these steps, the drive is ready to be installed without limits.
6.3. REPAIRS
Repairs of the drive should only be carried out by qualified personnel (suggested by the manufacturer).
If you carry out a repair on your own, observe the following points:
- When ordering spare parts do not only state the drive type but also the drive serial number. It is also
useful to state the type of the regulation card and the system software version.
- When changing the cards ensure that the positions of switches and jumpers are observed!
7. TROUBLESHOOTING
The L1 LED placed on the drive front side is used as a functioning and alarm diagnostic.
When no alarm occurs on the drive, the LED is lighted up with a green color.
When the RS485 serial line is active on the drive, the LED is lighted up with a yellow color.
In case an alarm occurs, the LED blinks with a color intermittent sequence, stating the alarm origin code.
A 5-blink sequence is developed, followed by a pause and then repeated.
green → 0 x ( 24 ) = 0
green → 0 x ( 23 ) = 0
red → 1 x ( 22 ) = 4
red → 1 x ( 21 ) = 2
red → 1 x ( 20 ) = 1
→ for a total of 7
the alarm code is 7 (Motor Overtemperature).
The alarms 23 and 24 are programmable and they are dedicated only to MDPLC firmware
applications.
MONITOR
20040 ACTUAL SPEED
20041 MOTOR CURRENT
20043 DC LINK VOLTAGE
20044 DRIVE TEMPERATURE
DRIVE PARAMETERS
20000 DRIVE MAXIMUM CURRENT
20021 DRIVE ADDRESS
20023 DRIVE CONFIGURATION
20024 DRIVE BAUDRATE
20025 DRIVE SERIAL CONFIG
20026 DRIVE SER DELAY TIME
18110 DRIVE FAST LINK
20022 DRIVE FIRMWARE
29004 DRIVE ACTUAL CONFIG
MOTOR PARAMETERS
20002 MOTOR NUMBER OF POLES
20003 MOTOR MAXIMUM SPEED
ENCODER PARAMETERS
20010 ENCODER TYPE
20011 ENCODER PULSES
20012 ENCODER SUPPLY
RAMP
21102 RAMP ACC CW
21103 RAMP ACC CCW
21104 RAMP DEC CW
21105 RAMP DEC CCW
21210 RAMP ENABLE
21212 RAMP OUTPUT
SPEED
21200 SPEED REF1
21201 SPEED REF2
21204 SPEED MAX POS
21205 SPEED MAX NEG
21206 SPEED THR
21207 SPEED THR OFFSET
21213 SPEED THR DELAY
CURRENT
22000 T CURR REF1
22001 T CURR REF2
22004 T CURR LIM +
22005 T CURR LIM -
22007 T CURR THR
22009 MAX SPEED CUR LIM
22010 CURR THR DELAY
axv5010
DIGITAL INPUTS
20100 DIGITAL INPUT 0
20101 DIGITAL INPUT 1
20102 DIGITAL INPUT 2
20103 DIGITAL INPUT 3
20104 DIGITAL INPUT 4
20105 DIGITAL INPUT 5
20106 DIGITAL INPUT 6
20107 DIGITAL INPUT 7
20162 DIG IN NEG
20163 DIG IN STATUS
DIGITAL OUTPUTS
20200 DIGITAL OUTPUT 0
20201 DIGITAL OUTPUT 1
20202 DIGITAL OUTPUT 2
20203 DIGITAL OUTPUT 3
20204 DIGITAL OUTPUT 4
20205 DIGITAL OUTPUT 5
20206 DIGITAL OUTPUT 6
20207 DIGITAL OUTPUT 7
20254 DIG OUT NEG
20255 DIG OUT STATUS
ANALOG INPUTS
20300 ANALOG INPUT 0
20301 ANALOG INPUT 1
20302 ANALOG INPUT 2
ANALOG INPUT 0
20310 AN INPUT READ 0
20320 AN INPUT OFFSET 0
20330 AN INPUT ZPOS 0
20340 AN INPUT ZNEG 0
20350 AN INPUT SCALE 0
20360 AN INPUT VALUE 0
ANALOG INPUT 1
20311 AN INPUT READ 1
20321 AN INPUT OFFSET 1
20331 AN INPUT ZPOS 1
20341 AN INPUT ZNEG 1
20351 AN INPUT SCALE 1
20361 AN INPUT VALUE 1
ANALOG INPUT 2
20312 AN INPUT READ 2
20322 AN INPUT OFFSET 2
20332 AN INPUT ZPOS 2
20342 AN INPUT ZNEG 2
20352 AN INPUT SCALE 2
20362 AN INPUT VALUE 2
ANALOG OUTPUTS
20400 ANALOG OUTPUT 0
20401 ANALOG OUTPUT 1
20402 ANALOG OUTPUT 2
20403 ANALOG OUTPUT 3
ANALOG OUTPUT 0
20410 AN OUTPUT WRITE 0
20420 AN OUTPUT SCALE 0
20430 AN OUTPUT OFFSET 0
20440 AN OUTPUT VALUE 0
ANALOG OUTPUT 1
20411 AN OUTPUT WRITE 1
20421 AN OUTPUT SCALE 1
20431 AN OUTPUT OFFSET 1
20441 AN OUTPUT VALUE 1
ANALOG OUTPUT 2
20412 AN OUTPUT WRITE 2
20422 AN OUTPUT SCALE 2
20432 AN OUTPUT OFFSET 2
20442 AN OUTPUT VALUE 2
ANALOG OUTPUT 3
20413 AN OUTPUT WRITE 3
20423 AN OUTPUT SCALE 3
20433 AN OUTPUT OFFSET 3
20443 AN OUTPUT VALUE 3
axv5030
ENCODER REPETITION
20030 ENC PULSES REV
20032 GAIN INDEX STEP
20033 INDEX OFFSET
20034 INDEX OFFSET READ
20035 ENABLE ENC REPETITION
JOG FUNCTION
21000 JOG LIMIT
21001 JOG SET REFERENCE
21002 JOG REFERENCE
21003 JOG ACC CW
21004 JOG ACC CCW
21005 JOG DEC CW
21006 JOG DEC CCW
MULTI RAMP 1
21401 MULTI RAMP ACC CW1
21411 MULTI RAMP ACC CCW 1
21421 MULTI RAMP DEC CW 1
21431 MULTI RAMP DEC CCW 1
MULTI RAMP 2
21402 MULTI RAMP ACC CW 2
21412 MULTI RAMP ACC CCW 2
21422 MULTI RAMP DEC CW 2
21432 MULTI RAMP DEC CCW 2
MULTI RAMP 3
21403 MULTI RAMP ACC CW 3
21413 MULTI RAMP ACC CCW 3
21423 MULTI RAMP DEC CW 3
21433 MULTI RAMP DEC CCW 3
axv5040
POSITION PARAMETER
30010 POS ACC CW
30011 POS ACC CCW
30012 POS DEC CW
30013 POS DEC CCW
30014 POS SPEED
30015 POS CURRENT
30094 POS STOP DEC
30016 POS ACTUAL POS
POS FUNCTION
30000 MEAS UNIT PER REV
30017 POS MINIMUM PRESET
30018 POS MAXIMUM PRESET
30055 POS MINIMUM ABS
30056 POS MAXIMUM ABS
30090 POS PRESET INDEX
30092 POS PRESET SERIAL
30091 POS ABS
30093 POS CONFIGURATION
30080 POS DEST REV
30081 POS DEST POS
FAILURE QUEUE
24200 DRIVE FAULT ( 0 )
24201 DRIVE FAULT TIME ( 0 ) sec.
24220 DRIVE FAULT ( 1 )
24221 DRIVE FAULT TIME ( 1 ) sec.
24240 DRIVE FAULT ( 2 )
24241 DRIVE FAULT TIME ( 2 ) sec.
24260 DRIVE FAULT ( 3 )
24261 DRIVE FAULT TIME ( 3 ) sec.
24280 DRIVE FAULT ( 4 )
24281 DRIVE FAULT TIME ( 4 ) sec.
24300 DRIVE FAULT ( 5 )
24301 DRIVE FAULT TIME ( 5 ) sec.
24320 DRIVE FAULT ( 6 )
24321 DRIVE FAULT TIME ( 6 ) sec.
24340 DRIVE FAULT ( 7 )
24341 DRIVE FAULT TIME ( 7 ) sec.
24360 DRIVE FAULT ( 8 )
24361 DRIVE FAULT TIME ( 8 ) sec.
24380 DRIVE FAULT ( 9 )
24381 DRIVE FAULT TIME ( 9 ) sec.
24400 DRIVE FAULT ( 10 )
24401 DRIVE FAULT TIME ( 10 ) sec.
24420 DRIVE FAULT ( 11 )
24421 DRIVE FAULT TIME ( 11 ) sec.
24440 DRIVE FAULT ( 12 )
24441 DRIVE FAULT TIME ( 12 ) sec.
24460 DRIVE FAULT ( 13 )
24461 DRIVE FAULT TIME ( 13 ) sec.
24480 DRIVE FAULT ( 14 )
24481 DRIVE FAULT TIME ( 14 ) sec.
24500 DRIVE FAULT ( 15 )
24501 DRIVE FAULT TIME ( 15 ) sec.
24520 DRIVE FAULT ( 16 )
24521 DRIVE FAULT TIME ( 16 ) sec.
24540 DRIVE FAULT ( 17 )
24541 DRIVE FAULT TIME ( 17 ) sec.
24560 DRIVE FAULT ( 18 )
24561 DRIVE FAULT TIME ( 18 ) sec.
24580 DRIVE FAULT ( 19 )
24581 DRIVE FAULT TIME (19 ) sec.
24600 DRIVE FAULT ( 20 )
24601 DRIVE FAULT TIME ( 20 ) sec.
24620 DRIVE FAULT ( 21 )
24621 DRIVE FAULT TIME ( 21 ) sec.
24640 DRIVE FAULT ( 22 )
24641 DRIVE FAULT TIME ( 22 ) sec.
24660 DRIVE FAULT ( 23 )
24661 DRIVE FAULT TIME ( 23 ) sec.
24680 DRIVE FAULT ( 24 )
24681 DRIVE FAULT TIME ( 24 ) sec.
PROGRAM ALARM
24100 ALARMS TO MASK
24101 ALARMS TO DELAY
24102 ALARM TO DELAY
axv5080
EXPANSION BOARD
40000 EB TYPE
EB FIELD BUS
40100 EB ADDRESS
40101 EB BAUDRATE
40110 EB CC ENABLED
40111 EB HS ENABLED
40112 EB VHS ENABLED
40102 EB MAX NUM BYTE M->S
40103 EB MAX NUM BYTE S->M
40104 EB CONFIGURABILITY
40105 EB MAYOR FW VERSION
40106 EB MINOR FW REVISION
40107 EB COMPATIBILITY INDEX
40108 EB NUM BYTE M->S
40109 EB NUM BYTE S->M
40113 EB STATUS
40114 EB FAIL CAUSE
EB HS CHANNEL M->S
40400 EB HS M->S ERROR MAP
40401 EB HS M->S ERROR IPA
40402 EB HS M->S ERROR VALUE
40403 EB HS M->S ERROR
EB HS CHANNEL S->M
40500 EB HS S->M ERROR MAP
40501 EB HS S->M ERROR IPA
40502 EB HS S->M ERROR VALUE
40503 EB HS S->M ERROR
SYSTEM
18100 SYS_ IC_P_FAK
18101 SYS _IC_I_ FAK
18102 SYS _IC_D_FA K
BRAKING UNIT
18124 SYS_ OV_CL_LIM
18123 SYS_BRAKE
18107 SYS_P_BRAKE_MAX
18109 SYS_R_BRAKE
UNDERVOLTAGE LIMITS
18125 SYS_UV_V_MIN
18121 SYS_UV_P_FAK
SERVICE
axv5083
8.2. PC CONFIGURATOR
The configurator WIN AXV is a program supplied together with the product.
Its installation requires a PC with a Windows 95 system, with minimum 8 meg RAM. Contact SIEI if you
have another operating system.
The configurator communicates with the drive using the Slink-3 protocol.
Together with the drive parameterization, the configurator allows to download the firmware in order to
create some personalized applications using the MDPLC developing environment.
8.3. COMISSIONING
Before powering up the drive, carry out the following verifications:
- Check the connections with the line L1, L2, L3
- Check the connections with the motor U, V, W
- Check the breaking resistance connection (if present)
- Check the connections with the encoder S2 and/or S1 (if present)
- Check the input connection 24Vdc
- Check the I/O connections
- Check all the drive and motor ground connections
After having checked as shown above, it’s possible now to power the drive; then check:
- Line voltage (max permissible voltage 460Vac + 10%)
- Voltage of the intermediate circuit DC bus (270-350 for input voltage 230Vac, 480-650Vdc for input
voltage 400Vac, 550-715 for input voltage 460Vac; if the measured voltage is not in the indicated
range, check the line voltage)
- Regulation input voltage 24Vdc (term.19-20 of the connector C1) if the voltage is lower than 24Vdc,
the drive may not work, if the voltage is higher than 30Vdc the drive could be damaged.
To perform the correct parameter settings, it’s necessary to use the configurator WIN AXV. Connect the
drive to your PC using the serial communication as suggested in the manual; check the termination resist-
ance switch must be on 120 ohm position. In the Windows menu Start/Programs/Axpact AXV execute the
command WinAxv to start up the configurator. After starting the configurator, open from the File/Open
menu the Basic Vx_xxx.par file, where x_xxx states the version of the Basic firmware.
This file includes the list of all the parameters resident in the drive. The data is split into several windows
and a menu tree, typical of the Windows system, therefore easy to understand. When the Basic file has
opened, the PC will connected automatically with the drive and communicate. If you see no errors after
opening the Basic file, the drive is communicating with the PC (for commands and configurators specifica-
tions refer to the instruction manual of WIN AXV).
MENU PARAMETER
DRIVE CONFIGURATION DRIVE MAXIMUM CURRENT
MOTOR PARAMETERS MOTOR NUMBER OF POLES
MOTOR MAXIMUM SPEED
ENCODER PARAMETERS ENCODER TYPE
ENCODER PULSES
ENCODER SUPPLY
axv5091
It’s now possible to enable the drive and rotate the motor in the function of the inputs configuration and
setup. As an example three types of configurations are described.
Essential setting:
Essential setting:
Essential setting:
The firmware is already installed in the factory during the drives test; normally, therefore, the user only
needs the application file parameters (Basic.par) to configure and set up the drive.
When it’s necessary to use the drive for the dedicated applications, created by the customer, by the specific
program MDPLC, or perform upgrade of the firmware version, it’s possible to perform a firmware download,
from the PC into the drive, through the configurator and the serial communication RS485.
The firmware files have loaded directly into the user’s PC, during the configurator installation of WIN
AXV. They are identified as showed above, normally they are located in the file “Service”.
- In the menu “Parameters/Save parameters” save all the parameters in the drive.
- Reset the drive with the command “reset” configurator, or turn off and on.
At this time the firmware updating has finished, now the user can proceed setting the drive as desired.
Now the drive is set up in the MDPLC mode and it’s ready to receive the dedicated application created
by the specific program.
NOTE ! The drive can be set up in the MDPLC mode only if the user has previously executed
the installation of the program in his own PC. That program, distributed with CDRom,
includes, as well as the compiler IEC1131, and the firmware file Vplc.sre.
The knowledge of the right phase ratio between the current and the motor magnetic angle is fundamental
for the drive performances.
All the motors are factory-phased. If the encoder has to be replaced, for example because of a failure, the
instructions below have to be followed:
5) The motor rotates in a clockwise direction, seen from the motor shaft side, it performs one revolution
and it is torque-stopped in a fixed point (make sure that the motor rotates in a clockwise direction,
otherwise check the wiring).
6) Loosen the encoder regulation screws and rotate the encoder by hand till the 4 digital outputs (DO0-
DO1-DO2-DO3) reach a high logic level.
The digital outputs state the phasing error: DO3 states that the O.k. phasing point has nearly been
reached with a maximum allowed error; a sequential reduction of such error takes DO2 -DO1-DO0 to
a high logic level. The O.k. phasing point has been reached when the DO3-DO2-DO1-DO0 digital
outputs are active.
7) After reaching the O.k. phasing point, fix the encoder mechanically.
8) Give a drive-reset command via the digital input 1.
9) Perform a new phasing command; the motor has to stop in the previously fixed O.k. phasing
point (the DO3-DO2-DO1-DO0 digital outputs HAVE TO BE ACTIVE, otherwise repeat the
points 6 and 7).
10) At the end of the procedure, set, via the BasicV3_000.par file, the Drive configuration (20023)
parameter with Speed (drive SAVE and RESET command) and check the motor functioning
condition.
Such a procedure can be performed via the control panel function on the Win AXV configurator.
1) Free the motor shaft from possible mechanical couplings, in order to let it rotate freely.
Via the BasicV3_000.par file, set the Drive configuration (20023) parameter with ENCODER
PHASING
2) After writing the parameter, give the SAVE and RESET command.
(With this functioning condition, the digital input 0 is default set with the ENABLE command while the
digital input 1 with the RESET command).
3) Enable the digital input 0 via a +24V. The motor rotates in a clockwise direction, seen from the motor
shaft side, it performs one revolution and it is torque-stopped in a fixed point (make sure that the motor
rotates in a clockwise direction, otherwise check the wiring).
4) Loosen the encoder regulation screws and rotate the encoder by hand till the HA POSITION value in
the monitor window reaches 14336. The 14336 value has to be closed to a possible switching with
18432.
5) After reaching the O.k. phasing point, fix the encoder mechanically.
6) Give a drive-reset command via the digital input 1.
7) Perform a new phasing command; the motor has to stop in the previously fixed O.k. phasing point.
8) At the end of the procedure, set, via the BasicV3_000.par file, the Drive configuration (20023)
parameter with Speed (drive SAVE and RESET command) and check the motor functioning
condition.
9. FUNCTION DESCRIPTION
The standard factory-loaded AXV application (or firmware) allows torque, speed, position and electric
shaft regulation. The drive is default supplied with speed regulation parameterization. The four regulation
modes are correlated one with the other and are enabled via a suitable bit parameter which can be
addressed as a digital input.
9.1. MONITOR
DRIVE MAXIMUM CURRENT Setting the drive maximum current output to the motor.
DRIVE ADDRESS Drive address when it is connected via the RS485 serial line.
(*) These bits have to be set at 0 to be compatible with the future versions.
The different functioning modes can be selected also via a suitably programmed
digital input. See the chapter “Digital input programming” for further details.
DRIVE SERIAL CONFIG Configuration of the drive RS485 serial port. It is possible to
select one of the following values:
-32785 (NO parity, 8 data bit, 1 stop bit)
-36919 (Odd parity, 8 data bit, 1 stop bit)
-32823 (Even parity, 8 data bit, 1 stop bit)
-32793 (No parity, 8 data bit, 2 stop bit)
-36927 (Odd parity, 8 data bit, 2 stop bit)
-32831 (Even parity, 8 data bit, 2 stop bit)
Serial port
configuration
command
ATTENTION: The modification of the serial port configuration (Drive baudrate and Drive serial
config parameters) becomes active only after a drive Reset.
It is necessary to configure the drive and the WinAxv configurator in the same way.
Command Target →
→ communication setting →
→ Port (Enter the required parameters by using the same values set in the drive).
DRIVE SER DELAY TIME Setting of the minimum delay between the drive reception of the
last byte and the beginning of its response. Such delay avoids
any conflict on the serial line when the RS485 interface is not set
for an automatic TX/RX switching.
DRIVE FIRMWARE Displaying of the firmware version active on the drive Flash
Eprom.
MOTOR NUMBER OF POLES Setting of the motor pole number. All the motors belonging
to the SIEI ULTRACT series have 8 poles; only the UL2
model has 4.
MOTOR MAXIMUM SPEED Setting of the motor maximum speed (unit of measure Rpm).
The drive maximum speed is limited according to the value set
in this parameter.
The signals coming from the position sensors are mainly used in two points of the brushless motor control
system: to modulate the three stator currents in order to obtain an equivalent field presenting a 90 electric
degree phase shifting as compared to the field of the permanent magnets. They are also used as a feedback
of the speed/space loop. These two functions are usually performed by two different position sensors (at
least at the beginning of the functioning phase before the passing of an index), which are often integrated
into one single encoder. The features of the two sensors are, in fact, different.
In order to keep the stator field in the desired position, it is necessary to know, also at power-on, the
absolute position in the electrical revolution; for this purpose the absolute Sincos sensors (a revolution
sinusoid) are used.
The feedback of the speed/space loop requires the maximum possible resolution; the loop quality defines the
limit of the control loop. To this purpose some incremental traces are used (not absolute) with thousands of
pulses per revolution.
If such traces are analog (pulses with sinusoidal wave), the AXV drive carries out an interpolation inside
the single pulse with a resolution increase of 214, thus obtaining a high precision level and very good
behavior in conditions of low speed and locked shaft.
In the AXV drives, after the passing of the first index, the field modulation is based on the reading of the
sensor with the highest resolution, which becomes absolute since the sensor mechanical position is known.
ENCODER TYPE Setting of the encoder type used for the feedback, to be con-
nected to the S2 connector (standard connection).
Sincos 5 tracks Absolute sine and cosine once per revolution, incremental and
sinusoidal A and B, I zero slot or index.
Digital+Hall Port S2 Hall sensors, incremental digital A-B channel, I zero marker or
index. Encoder connections on S2 connector (25 pins).
Digital+Hall Port S1 Hall sensors, incremental digital A-B channel, I zero marker or
index. Encoder connections on S1 connector (15 pins).
Hall Hall sensors. Connections on S2 connector (25 pins).
Sincos 2 tracks Absolute sine and cosine once per revolution. Connections on
S2 connector (25 pins).
Sin + Hall Hall sensors, sinusoidal incremental A-B channel, I zero marker
or index.
ENCODER SUPPLY Setting of the encoder power supply voltage. In order to balance
possible voltage drops on a long encoder cable, it is possible to
program the power supply level of the encoder itself, so that the
width of the motor response signals is suitable to be read by the
drive. It is possible to program from a minimum of 4.8V to a
maximum of 14.4V. It is usually sufficient to set a value of 5.2V.
9.5. RAMP
The acceleration and deceleration of the speed reference is set by the Ramp acc/dec CW parameters for
clockwise rotation direction and by Ramp acc/dec CCW for counterclockwise rotation direction.
The Fast stop function allows stopping the motor in the shortest possible time in case of emergency. Set a
digital input as Fast/stop.
These parameters are active in the speed control configuration; for a position control application see the
specific paragraph.
Reference =0
Speed max pos
Ramp in=0
Ramp output
The drive behavior after the Start command depends on the parameterization:
- If the ramp circuit is used (Enable ramp = enable) the motor reaches the desired speed with a
set ramp time. If the command is disabled, the drive stops with the deceleration ramp time. If
during the deceleration time a new start command is given, the drive regains the set speed.
- If the ramp circuit is not used (Enable ramp = disable) the motor reaches the desired speed in
the shortest possible time.
When the motor is stopped, the drive is torque-enabled. The drive can be disabled by disabling the
Enable drive command.
In case the Start and Jog+ or Jog- commands are given simultaneously, the start command has the
priority.
RAMP OUTPUT Parameter reading the speed reference on the output of the ramp
block.
Speed
1 2
time(msec/rpm)
3 4
The fast stop command is used in emergency and dangerous situations in order to stop the drive in the
shortest possible time. If a digital input is set as Fast stop, this imput must be high to run in any mode.
The fast stop command must be present before the drive enabling command (Enable command).
By disabling the voltage on this command while the drive is active, it is possible to cause a braking stop
with the shortest possible time.
With a start following a Fast/stop intervention it is necessary to set the Enable digital input with a
low logic status and the Fast/stop digital input with a high logic status; before a jog function can be
performed.
9.6. SPEED
The value of the speed reference determines the value of the motor speed, while the sign defines the
rotation direction.
When the ramp is enabled (parameter Ramp Enable = enable), the speed reference (Speed ref) follows
the time set in the acc and dec parameters (CW - CCW).
The Speed ref1, Speed ref 2, Speed max pos and Speed max neg parameters are active only in the
Speed loop configuration. See the specific paragraph for the Position loop configuration.
* (-1)
Jog ref Multispeed
The total reference is the result of the sum of the values of Speed ref 1 and Speed ref 2 .
SPEED MAX POS Setting of the maximum speed for motor clockwise rotation di-
rection. Unit of measure (rpm).
SPEED MAX NEG Setting of the maximum speed for motor counterclockwise rota-
tion direction. Unit of measure (rpm).
SPEED THR Setting of the threshold value for overspeed. Such threshold is
stated as an absolute value. When the speed is higher than the
value set in this parameter, the digital output set as “speed
threshold” goes to +24V.
Unit of measure (rpm)
SPEED THR OFFSET Offset setting of the zero speed threshold. It states how much
the speed can oscillate around zero before the digital output pro-
grammed as “Speed 0 thr” will be considered as active.
Unit of measure (rpm).
SPEED THR DELAY Setting of the delay time signalizing a “not overcome delayed
speed”. When the motor speed is higher than the value set in
SPEED THR for a time higher than the value of this parameter,
the digital output set with SPEED THR DELAY is brought to
+24V. Unit of measure in seconds (sec).
9.7. CURRENT
The current loop is the fastest control section and has a sampling frequency of 16 KHz.
There are two current loops working simultaneously. The components of the forward and quadrature
current are calculated directly from the phase currents read by the AD converters; both components are
controlled in order to obtain the desired behavior. The quadrature component contributes to the rotating
torque while the forward component is (usually) set at zero.
The operation with current or torque control is active if the Drive configuration parameter is set as
“Current loop”. In this case the motor supplies a torque proportional to the current reference Tcurr ref.
* (-1)
The T curr ref 1 and Tcurr ref 2 parameters are active if the operating mode is selected as Current loop.
The total reference is the result of the sum of the values of T curr ref 1 and Tcurr ref 2.
T CURR THR Setting of the threshold value for maximum current. Such threshold
is stated as an absolute value. When the current is higher than
the value set in this parameter, the digital output set as “Curr
threshold” goes to +24V. Unit of measure : Ampere.
MAX SPEED CUR LIM Setting of the speed limit in torque control. When the motor is
torque controlled, the speed can not exceed the value set in this
parameter.
CURR THR DELAY Setting of the delay time signalizing a “not overcome de-
layed current”. When the current supplied by the drive is
higher than the value set in T CURR THR for a time higher
than the value of this parameter, the digital output set with
CURR THR DELAY is brought to +24V. Unit of measure
in seconds (sec).
ATTENTION: In order to change the gains (proportional, integral and derivative part) of the current
regulator, it is necessary to modifie the parameters in “System” menu.
Change the parameters:
SYS_IC_P_FAK Proportional gain
SYS_IC_I _FAK Integral gain
SYS_IC_D_FAK Derivative gain
GAIN SPEED Speed proportional gain (this value is factory set at 100)
GAIN POS Position proportional gain (this value is factory set at 50)
GAIN INT Position integral gain (this value is factory set at 50)
The AXV drives are supplied with 8 programmable digital inputs on the C1 and C2 terminal strips.
DIG IN NEG This parameter allows to change the logic level of the set
digital inputs. The digital inputs become active when a switch-
ing from a low to a high logic level occurs. Through this bit-
set parameter it is possible to decide whether to change the
logic condition, i.e. active low logic level, inactive high logic
level.
DIGITAL INPUT 7 6 5 4 3 2 1 0
DIG IN NEG 0 0 0 1 1 0 0 0
1 8
axv6046
DIG IN STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 2) of the digital inputs. It is an
hexadecimal parameter.
Example: The digital inputs are:
DIG IN 0 = 1 DIG IN 1 = 1 DIG IN 6 = 1
DIGITAL INPUT 7 6 5 4 3 2 1 0
DIG IN STATUS 0 1 0 0 0 0 1 1
4 3
axv6047
Enable (1) Drive enable command. It is active if high. This is the only input which
must always be configured. When this command is active, the motor is
stopped with torque at zero speed.
Failure reset (2) Alarm Reset command. Momentary input active on the edge. The drive
must be disabled for a reset to occur.
External fault (3) External alarm signal. It is active on the leading edge.
Start/stop (4) Start /stop command. It is active on the leading edge. In the current and
speed configuration this command must be programmed on a digital input.
If its value is high, it starts the drive operation; if its value is low, the drive
will stop. When this command is active, if a speed reference is present,
the motor goes to the set speed.
Fast/stop (5) Emergency stop command. It is active on the leading edge, it stops the
speed command instantly, braking the motor with no decel ramp in the short-
est possible time till zero speed has been reached (see fast/stop paragraph).
Jog+ (6) Jog forward function command. It is active only in the speed and position
configurations. When this input is active, the speed reference and the ramp
times are those set in the Jog parameter menu.
Jog- (7) Jog reverse function command. It is active only in the speed and posi-
tion configurations. When this input is active, the speed reference and the
ramp times are those set in the Jog parameter menu.
Ramp in=0 (8) Ramp In = 0 command. It is active only in the speed and position
configurations. When this input is active (high logic status), it replaces the
present reference with a zero reference and uses the set ramp. This digital
zero keeps the motor rotor stopped in a torque condition, without any
offset drift typical for A/D (analog/digital) converters.
Inverse (9) Inverse command. When the command is active, it changes the motor
rotation direction by following the set ramp.
End Run Reverse (10 ) Clockwise end run command. It is active only in the speed and position
configuration. It only allows, regardless of reference, motor rotation in a
clockwise (CW) direction.
End Run Forward (11 ) Counterclockwise end run command. It is active only in the speed and
position configuration. It only allows, regardless of reference, motor
rotation in a counterclockwise (CCW) direction.
Reference=0 (12 ) Speed reference = 0. It has the same function as Ramp In = 0 but it does
not perform the decel ramp, it stops immediately.
Memo virtual zero (13 ) Storage of the Zero pulse. Momentary input active on the edge. It makes
the Index signal (or zero slot) the present position.
Line Shaft loop (17 ) Select the mode Electrical line shaft control.
Disable An inp 0 (18 ) Command Disabling analog input 0 (both the value and the offset are
disabled). With a high logic level analog input 0 is disabled.
Disable An inp 1 (19 ) Command Disabling analog input 1 (both the value and the offset are
disabled). With a high logic level the analog input 1 is disabled.
Disable An inp 2 (20 ) Command Disabling the analog input 2 (both the value and the offset
are disabled). With a high logic level analog input 2 is disabled.
Virtual DI OK (26) When the virtual digital input 14 (only this one) is set with VIRTUAL
DI OK, all the set Virtual digital inputs are active only if this input is
equal to 1 (high logic level).
Pos-preset 0 (1001) Bit 0 position preset. Active only in the position configuration. When
this digital input is active, the relative value set in the Position Preset is
selected.
Pos-preset 1 (1002) Bit 1 position preset. Active only in the position configuration. When
this digital input is active, the relative value set in the Position Preset
parameters is selected.
Pos-preset 2 (1003) Bit 2 position preset. Active only in the position configuration. When
this digital input is active, the relative value set in the Position Preset
parameters is selected.
Pos-preset 3 (1004) Bit 3 position preset. Active only in the position configuration. When
this digital input is active, the relative value set in the Position Preset
parameters is selected.
Pos-preset 4 (1005) Bit 4 position preset. Active only in the position configuration. When
this digital input is active, the relative value set in the Position Preset
parameters is selected.
Pos-preset 5 (1006) Bit 5 position preset. Active only in the position configuration. When
this digital input is active, the relative value set in the Position Preset
parameters is selected.
Pos-0 search (1007) Command to Search for the zero position. It is active only in the
position configuration. Momentary input active on the risind leading
edge (see Pos config parameter).
When this command is active, the motor starts rotating with a speed set in
the POS SPEED REF 0 parameter (see the commissioning paragraph).
Pos-Start pos (1009) Positioning start command. Momentary input active on the edge (see
Pos config parameter). Initiates the start of a move to new position.
Pos memo 0 (1010) Command Storing the 0 position. Momentary input active on the
rising leading edge, it allows storage of the present position as a zero
position. Such function is normally used in point-to-point self-acquisi-
tion positioning procedures.
Pos memo pos (1011) Position storing command. Momentary input active on the rising
leading edge; it allows storage of the present position as a destination
position. Such function is normally used in point-to-point self-acquisi-
tion positioning procedures.
Pos-abs 0 sensor CW (1012) Command Searching an absolute 0 position CW. If the 0 position
searching function is active, the motor rotates with the reference POS
SPEED REF 0 ; when the Pos-abs 0 search CW digital input becomes
active, the motor moves very slowly in a clockwise direction with the
reference POS SPEED FINE 0 till finding the first encoder zero slot. The
zero position will be stored here.
Pos-abs 0 sensor CCW (1013) Command Searching an absolute 0 position CCW. If the 0 position
searching function is active (1007), the motor rotates with the reference
POS SPEED REF 0 ; when the Pos-abs 0 search CCW digital input
becomes active, the motor moves very slowly in a counterclockwise di-
rection with the reference POS SPEED FINE 0 till finding the first en-
coder zero slot. The zero position will be stored here.
Pos- 0 sensor (1015) Position 0 command. During the zero position searching phase, the
motor is in a rotation condition: when the digital input of “Pos_0 sensor”
becomes active, the motor stops. This position is stored as a zero posi-
tion. If during the stopping phase, the motor stops beyond this point, it
automatically changes its rotation direction and reaches the zero position.
Els-ratio sel bit 0 (2001) Electric Line Shaft function: Preset selection of the bit 0 ratio. This
command is active in the electric Line Shaft configuration. When this
digital input is active, a speed ratio set in the parameters of the Electrical
line shaft function is selected.
Els-ratio sel bit 1 (2002) Electric Line Shaft function: Preset selection of the bit 1 ratio. This
command is active in the electric Line Shaft configuration. When this
digital input is active, a speed ratio set in the parameters of the Electrical
line shaft function is selected.
Els-inc ratio1 (2003) Ratio increasing command. When this command is active, the selected
ratio between master and slave is increased with a time constant defined
by the “Els delta time” and “Els delta ratio” parameters.
Els-dec ratio (2004) Ratio decreasing command. When this command is active, the selected
ratio between master and slave is decreased with a time constant defined
by the “Els delta time” and “Els delta ratio” parameters.
Els-ramp ratio dis. (2005) Ramp disabling command during a ratio switching phase. When this com-
mand is active, the ramp time set via the Els delta ratio parameter (ramp for
ratio switchings) is ignored and the change will be made immediately.
Els bend rec Cw (2006) Command to activate the correction reference (slave drive), bend recover,
in CW rotation.
Els bend rec Ccw (2007) Command to activate the correction reference (slave drive), bend recover,
in CCW rotation.
Inside the drive it is possible to install an optional card for the expansion of the digital inputs and outputs.
This card is supplied with 12 digital inputs and 4 digital outputs.
Together with these 12 + 4 digital I/Os, those on the drive ( 8 + 8 ) are also available.
The programming procedure is the same of the digital inputs.
EXP DIGIT IN STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 0) of the digital inputs on the EB-DIO
expansion card. It is an hexadecimal parameter.
Digital virtual inputs which are not physically present on the terminals but which are available to program
possible commands, Digital input, supported via the serial line.
With an application where some command inputs are supported directly by the serial line (example PLC),
it is always necessary to configure this function on a Virtual digital input.
By programming them in the Virtual digital input parameters, the Digital inputs can be used for the
commands via the terminal strip.
The functionality of a digital input programmed on Digital input or Virtual digital input is the same.
The programming procedure is the same as the one stated for the digital inputs.
VIRTUAL DI STATUS It displays and sets the status of the virtual digital inputs.
Hexadecimal setting.
Programming example:
If the virtual digital inputs have to be enabled via the serial line:
If we set to high logic level : the bit 0 referring to VIRTUAL DIGITAL INPUT 0 =1
the bit 1 referring to VIRTUAL DIGITAL INPUT 1 =1
the bit 2 referring to VIRTUAL DIGITAL INPUT 2 =1
the bit 3 referring to VIRTUAL DIGITAL INPUT 3 =1
VIRTUAL DIG IN 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
VIRTUAL DI STATUS 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1
axv6051
The drive will write in the Virtual DI status parameter the value obtained by adding
VIRTUAL DI AT START Setting of the status of the virtual digital inputs when the drive is
started. Through this parameter it is possible to state if each
configured input will be reset or not at the power-on.
Hexadecimal setting.
1 = The parameter is not reset at each drive starting.
0 = The parameter is reset at each drive starting.
Application example:
If the virtual digital inputs 0 and 2 must be reset at the power-on, it is necessary to:
(reset ) VIRTUAL DIGITAL INPUT 0 Programmed as Pos preset 0
(do not reset) VIRTUAL DIGITAL INPUT 1 Programmed as Pos preset 1
(reset) VIRTUAL DIGITAL INPUT 2 Programmed as Pos preset 2
(donot reset) VIRTUAL DIGITAL INPUT 3 Programmed as Pos preset 3
VIRTUAL DIG IN 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
VIRTUAL DI STATUS 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0
axv6052
it is therefore necessary to write in the Virtual DI reset parameter the value obtained by adding
VIRTUAL DI AT DISABLE Setting of the status of the virtual digital inputs when the drive is
disabled. Through this parameter it is possible to state if each
configured input will be reset or not when the drive is disabled.
Hexadecimal setting.
1 = The parameter is not reset at each drive starting.
0 = The parameter is reset at each drive starting.
See the programming procedure of the VIRTUAL DI START
parameter.
VIRTUAL DI RESET AT FAIL Setting of the virtual digital input condition when a drive alarm
gets active. Through this parameter it is possible to state if each
configured input has to be reset or not when an alarm inter-
venes. Hexadecimal setting.
1 = The parameter is reset when the drive is in an alarm condition
0 = The parameter is not reset when the drive is in an alarm
condition.
The procedure to be followed is the same as the one used for the
VIRTUAL DI START parameter.
The AXV drives are supplied with 8 programmable digital outputs placed on the C1 and C2 terminal strips.
NOTE! It is possible to set all the drive alarms on a digital output. The logic status is
normally low and it becomes high when the drive is in an alarm condition.
DIG OUT NEG This parameter allows to change the logic level of the programmed
digital outputs. The digital outputs usually have a 0 logic level
when they are inactive and they switch to a high logic level when
they become active. Via this bit-mapped parameter it is possible
to choose which output the normal logic level has to be switched
to. Hexadecimal setting.
DIGITAL OUTPUT 7 6 5 4 3 2 1 0
DIG OUT STATUS 0 0 1 1 0 0 1 0
3 2
axv6053
DIG OUT STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 0) of the digital outputs. It is an hexa-
decimal parameter.
Example: the digital outputs are:
DIGITAL OUTPUT 7 6 5 4 3 2 1 0
DIG OUT STATUS 1 1 0 0 1 0 0 0
C 8
axv6054
Drive ready to start ( 1 ) The digital output reaches high logic status when the drive is power
supplied, enabled (enable command active) and no alarm is present.
Drive O.K (2) The digital output reaches high logic status when the drive is power sup-
plied and no alarm is present.
Speed reached (3) Reached speed. The digital output reaches high logic status when the
motor present speed is equal to the reference one with an error set
defined by the SPD THR OFF parameter.
Speed 0 threshold (4) Speed n = 0. The digital output reaches high logic status when the motor
speed is zero with an dead band (positive and negative) defined by the
SPD THR OFF parameter.
Current limit (5) Current limit. The digital output reaches high logic status when the drive
supplied current is equal to the one set in the Drive maximum current
parameter.
Current Threshold (6) Exceeded high current. The digital output reaches high logic status if the
current, both positive and negative, is higher than the value set in the
Curr Thr parameter (Current paragraph).
Speed Threshold (7) Exceeded high speed. The digital output reaches high logic status if the
speed, either positive and negative, is higher than the value set in the
Speed Thr parameter (Speed paragraph).
Position error (10) The drive is in Position error (exceeded the threshold of “Drive max
position error” set in the Service menu).
Fast link Rx (11) On slave drive active during reception of Fast link. This output can be
used only on a slave drive.
UV actived (12) The drive is in undervoltage alarm (the voltage of power supply is lower
than the threshold set in the SYS_UV_V_MIN parameter).
UV active (13) When there is a Main loss condition, it activates the energy recovery,
braking to a stop; in this way the motor can brake in controlled mode.
Speed not 0 thr (14) Speed n = 0. Same meaning of Speed 0 threshold but with an inverted
logic level.
Speed thr delayed (15) Delayed overcome speed. The digital output reaches a high logic level
if the speed, both positive and negative, is higher than the value set in
the SPEED THR parameter for a time higher than the value set in the
SPEED THR DELAY parameter.
Curr thr delayed (16) Delayed overcome current. The digital output reaches a high logic level
if the current, both positive and negative, is higher than the value set in
the CURR THR parameter for a time higher than the value set in the
CURR THR DELAY parameter.
Alarm warning (17) Active alarm. When a previously masked alarm gets active (see the
section referring to the alarm setting), the digital output set as Alarm
warning reaches the high logic level.
Alarm coming (18) Delayed alarm. When a previously delayed alarm gets active (see the
section referring to the alarm setting), the digital output set as Alarm
coming reaches the high logic level.
Bridge short circuit (101) Short circuit alarm of the power module.
Brake short circuit (106) Short circuit alarm in the power section of the braking circuit.
Sequence fault (127) Alarm for a wrong sequence in the drive power supply. The drive is
already enabled when the alarm gets active.
Pos-pos 0 reacheD (1001) Position 0 reached. The digital output reaches high logic status when the
motor present position is equal to the zero position with an dead band
defined by the Pos Thr Off parameter.
Pos- pos reached (1002) Reached position. The digital output reaches high logic status when the
motor present position is equal to the destination position.
Pos-threshold (1003) Position threshold. The digital output reaches high logic status if the
position is higher than the value set in the POS THR parameter.
Pos-pos Abs threshold (1004) Absolute position threshold. The digital output reaches high logic sta-
tus if the position is higher than the value set in the POS ABS THR
parameter.
Pos Zero found (1005) Found zero position. The digital output reaches high logic status at the
end of the zero searching phase. It keeps the high logic status till the drive
looses its zero position .
Pos-thr near 1 (1006) Reached position threshold 1. The digital output reaches the high logic
status when the motor present position is equal to the destination position
minus the Pos thr near 1 parameter.
Pos-thr near 2 (1007) Reached position threshold 2. The digital output reaches the high logic
status when the motor present position is equal to the destination position
minus the Pos thr near 2 parameter.
Pos-out of limits (1008) A value has been set up out of range Pos min/max preset. If a value
required is out of range, it is not executed and the digital output pro-
grammed as Pos out of limit changes to high logic status.
Virtual digital outputs, which are not physically present on the terminals but which are available to set
possible Digital outputs to be read via the serial line or the field bus.
By setting the Virtual digital outputs, the Digital outputs on the terminal strip are still available.
The function performed by a digital output programmed on a Digital output or on a Virtual digital
output is the same.
The programming procedure is the same as the one stated for the digital outputs.
VIRTUAL DO RESET AT FAIL Setting of the virtual digital output state when a drive alarm gets
active. This parameter allows to state, when an alarm condition
intervenes, which virtual output, corresponding to the set bit, is
brought to a 0 logic level. Hexadecimal setting.
1 = The output does not change its logic level
0 = The output is reset and set with 0.
VIRTUAL DO SET AT FAIL Setting of the virtual digital output state when a drive alarm gets
active. This parameter allows to state, when a drive alarm inter-
venes, which virtual digital output, corresponding to the set bit,
is brought to a high logic level. Hexadecimal setting.
As a setting example see VIRT DI START.
1 = The output does not change its logic level
0 = The output is reset and set with 0.
VIRTUAL DO STATUS Only-reading parameter stating the present condition of the vir-
tual digital outputs (high logic level 1 and low logic level 0).
Hexadecimal setting.
It is possible to install inside the drive an option card for the expansion of the digital inputs and outputs.
Such card is supplied with 12 digital inputs and 4 digital outputs. (They are added to the standard ones).
EXP DIG OUT STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 2) of the digital outputs set on the
EB-DIO expansion card.
The drives of the AXV series are supplied with three +/-10V differential analog inputs , a 12-bit A/D
converter .
AN INPUT READ 0 Parameter reading the analog input. Unit of measure : Volt.
AN INPUT OFFSET 0 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN INPUT ZPOS 0 Writing parameter for the setting of a positive reference thresh-
old, under which the analog value is set to 0.
Unit of measure : Volt.
An ‘inp scale 2
C2 Disable An 2
An inp value 2 (V)
R2P
+ x
R2N
An inp read 2 (V)
AN INPUT ZNEG 0 Writing parameter for the setting of a negative reference thresh-
old, under which the analog value is set to 0.
Unit of measure : Volt.
AN INPUT SCALE 0 Writing parameter for the setting of a multiplicative factor of the
analog signal.
AN INPUT VALUE 0 Parameter reading the real value of the analog input.
Unit of measure : Volt.
AN INPUT READ 1 Parameter reading the analog input. Unit of measure : Volt.
AN INPUT OFFSET 1 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN INPUT ZPOS 1 Writing parameter for the setting of a positive reference thresh-
old under which the analog value is set to 0.
Unit of measure : Volt.
AN INPUT ZNEG 1 Writing parameter for the setting of a negative reference thresh-
old under which the analog value is set to 0.
Unit of measure : Volt.
AN INPUT SCALE 1 Writing parameter for the setting of a multiplicative factor of the
analog signal.
AN INPUT VALUE 1 Parameter reading the real value of the analog input.
Unit of measure : Volt.
AN INPUT READ 2 Parameter reading the analog input. Unit of measure : Volt.
AN INPUT OFFSET 2 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN INPUT ZPOS 2 Writing parameter for the setting of a positive reference thresh-
old under which the analog value is set to 0.
Unit of measure : Volt.
AN INPUT ZNEG 2 Writing parameter for the setting of a negative reference thresh-
old under which the analog value is set to 0.
Unit of measure : Volt.
AN INPUT SCALE 2 Writing parameter for the setting of a multiplicative factor of the
analog signal.
AN INPUT VALUE 2 Parameter reading the real value of the analog input.
Unit of measure : Volt.
T curr ref 1 (1) Current 1 reference signal (active in the current loop configuration).
T curr ref 2 (2) Current 2 reference signal (active in the current loop configuration).
Speed max pos (5) Signal setting the maximum speed with a clockwise rotation direction.
Speed max neg (6) Signal setting the maximum speed with a counterclockwise rotation
direction.
Speed limit (7) Signal setting the maximum speed with a clockwise and a counterclockwise
rotation direction.
T curr lim + (9) Signal setting the limit of the maximum positive current.
T curr lim - (10) Signal setting the limit of the maximum negative current.
T curr limit (11) Signal setting the limit of the maximum positive and negative current.
Max speed curr lim (12) Signal for the speed limit with a torque control.
Pos speed ref 0 (14) Speed reference during the zero search.
Multi speed 1 (17) Analog input of Speed 1 reference for the multi-speed function.
Multi speed 2 (18) Analog input of Speed 2 reference for the multi-speed function.
Multi speed 3 (19) Analog input of Speed 3 reference for the multi-speed function.
Els RB spd ref (20) Analog signal to set the bend recover reference in electrical line shaft
mode.
Els ratio (0) (21) Analog signal to set the active ratio (ratio 0) with an electric axis mode.
Els ratio (1) (22) Analog signal to set the active ratio (ratio 1) with an electric axis mode.
Els ratio (2) (23) Analog signal to set the active ratio (ratio 2) with an electric axis mode.
Els ratio (3) (24) Analog signal to set the active ratio (ratio 3) with an electric axis mode.
The drives of the AXV series are supplied with 4 +/-10V differential analog outputs and a 10-bit A/D
converter.
An out scale 2
An out value 2 (V)
4 AO3
x +
AN OUTPUT WRITE 0 Parameter reading the analog output. Unit of measure : Volt.
AN OUTPUT SCALE 0 Writing parameter for the setting of a multiplication factor of the
analog signal.
AN OUTPUT OFFSET 0 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN OUTPUT VALUE 0 Parameter reading the real value of the analog input.
Unit of measure : Volt.
AN OUTPUT WRITE 1 Parameter reading the analog output. Unit of measure : Volt.
AN OUTPUT SCALE 1 Writing parameter for the setting of a multiplication factor of the
analog signal.
AN OUTPUT OFFSET 1 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN OUTPUT VALUE 1 Parameter reading the real value of the analog input.
Unit of measure : Volt.
AN OUTPUT WRITE 2 Parameter reading the analog output. Unit of measure : Volt.
AN OUTPUT SCALE 2 Writing parameter for the setting of a multiplication factor of the
analog signal.
AN OUTPUT OFFSET 2 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN OUTPUT VALUE 2 Parameter reading the real value of the analog input. Unit of
measure : Volt.
AN OUTPUT WRITE 3 Parameter reading the analog output. Unit of measure : Volt.
AN OUTPUT SCALE 3 Writing parameter for the setting of a multiplication factor of the
analog signal.
AN OUTPUT OFFSET 3 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN OUTPUT VALUE 3 Parameter reading the real value of the analog input.
Unit of measure : Volt.
Actual speed (1) Analog signal proportional to the actual motor speed. With a scale factor
equal to 1, the analog output supplies 10V when the speed is equal to the
Motor Maximum speed parameter.
Motor current (2) Analog signal proportional to the actual current supplied by the drive.
With a scale factor equal to 1, the analog output supplies 10V when the
current is equal to the Motor Peak current parameter.
Output voltage (3) Analog signal proportional to the drive output voltage. With a scale
factor equal to 1, the analog output supplies 10V when the voltage is
equal to 1250 V.
Dc link voltage (4) Analog signal proportional to the Voltage of the DC+/ DC- drive inter-
mediate circuit (DC Bus). With a scale factor equal to 1, the analog
output supplies 10V when the voltage is equal to 1250 V.
Drive temperature (5) Analog signal proportional to the drive internal temperature.
With a scale factor equal to 1, the analog output supplies 10V when the
temperature is equal to 128 °C.
ATTENTION :
The drive internal fan is normally stopped.
It gets active when the temperature exceeds 55°C.
Ramp output (6) Analog signal proportional to the output of the ramp circuit.
With a scale factor equal to 1, the analog output supplies 10V when the
output voltage of the ramp circuit is equal to the Motor Maximum
speed parameter.
+10V (7) +10V Analog signal. Signal available for possible potentiometer connec-
tions for the drive references. Unit of measure : Volt.
-10V (8) -10V Analog signal. Signal available for possible potentiometer connec-
tions for the drive references. Unit of measure : Volt.
Position error (9) Analog signal proportional to the position error. The analog output reaches
10V when the position error is equal to the “Drive max pos error A0”
parameter (32200 Service menu).
The signal coming from the encoder and used as a feedback for the speed/space loop can be repeated on
the S1 port with a desired ratio. This port can be configured both as an input (frequency reference, coming
from the master encoder, for the electric axis) and as an output.
The repetition can be enabled/disabled via the software (in order to avoid possible failures the S1 connec-
tor is default configured as an input).
The maximum repetition frequency is 500 kHz; if such frequency is exceeded, a drive alarm occurs as the
counting storage can not be assured.
The index can be repeated with an pulse pass with a limit of 131070 pulses.
It is possible to set the position of the first repeated index pulse as compared to the first master index after
the index repetition has been enabled.
The following indexes will be repeated with a frequency set independently of the master index.
ENC PULSES REV Parameter setting the pulse/revolution number for the encoder
simulation signal.
GAIN INDEX STEP Parameter setting the gain for the simulation of the zero slot.
It states the pulse frequency with which the encoder index is
repeated. For example, 100 means that a zero index is obtained
every 100 repeated pulses.
INDEX OFFSET Parameter setting the offset for the simulation of the zero slot
signal. With this parameter it is possible to program the position
of the first repeated index pulse as compared to the first master
index, after the index repetition has been enabled. The following
indexes will be repeated with the set frequency (Gain index
step parameter) independently of the master index.
INDEX OFFSET READ Parameter reading the offset of the zero slot simulation.
Encoder only Signal for the encoder repetition enabled only for the sig-
nals A-Aneg and B-Bneg. The index signal is disabled.
Encoder+index Signal for the encoder repetition enabled for all signals:
A-Aneg, B-Bneg, C-Cneg.
In the speed control configuration it is possible, by programming the suitable “Jog+” and/or “Jog-” digital
inputs, to replace the speed reference Speed ref with the jog reference.
The Jog function requires the Start command.
In case the Start and Jog+ or Jog- commands are assigned simultaneously, the start command has the
priority.
JOG LIMIT Parameter setting the maximum reference limit for the jog
function. Unit of measure : rpm .
JOG SET REFERENCE Jog function reference, which can be set also via an analog in-
put. Its percentage value states the jog reference.
Unit of measure : % .
JOG REFERENCE Only-reading parameter. It shows to the motor the actual jog
speed reference.
JOG ACC CW Setting of the clockwise acceleration time (active on the Jog +
reference).
JOG ACC CCW Setting of the counterclockwise acceleration time (active on the
Jog - reference).
JOG DEC CW Setting of the clockwise deceleration time (active on the Jog +
reference).
JOG DEC CCW Setting of the counterclockwise deceleration time (active on the
Jog - reference).
As an alternative to the Speed ref analog reference (in the speed control configuration), it is possible to
enable the Multispeed function. Enabling some digital inputs configured as Multi speed sel bit.. it is
possible to recall up to seven fixed speeds set in the Multi speed xx parameters.
The references can be supplied with signs, so that their definition allows to set also the desired rotation
direction.
In case the digital inputs programmed as Speed sel bit are all at 0, the reference Speed ref 1/2 remains
active.
Jog+ Jog-
Speed ref1 (rpm)
+
Jog ref (rpm)
MULTI SPEED INDEX Reading parameter if Multi speed serial = Digital input. It
states the currently used speed reference.
Reading/writing parameter if Multi speed serial = Parameter.
Setting of the multi speed reference.
MULTI SPEED SERIAL Parameter for the selection of the commands enabling the multi
speed references.
0 = Digital input Reference selection via digital input
1 = Parameter Reference selection via the
Multi speed index parameter
It is also possible to select up to 3 analog references as Multi speed (see paragraph analog input), which can
be recalled via the selection of three digital inputs.
Reference =0
Ramp output
The Multiramp function allows to recall up to three different ramps (in addition to the main ramp). The
acceleration and deceleration times can be set in an independent way. The recall of the desired ramp is
carried out via a / two digital signals programmed as Ramp sel bit 0 and ramp sel bit 1.
The selection of each different ramp allows the reference to follow the new ramp during the acceleration
and deceleration phase.
MULTI RAMP INDEX Reading parameter if Multi ramp serial = Digital input.
It states the used ramp.
Reading/writing parameter if multi speed ramp = Parameter.
Setting of the multi-ramp selection.
MULTI RAMP SERIAL Parameter for the selection of the multi-ramp enabling commands
0 = Digital input Ramp selection via digital input
1 = Parameter Ramp selection via the Multiramp
index
MULTI RAMP ACC CCW 1 Time 1 setting of the counterclockwise acceleration (msec/rpm).
MULTI RAMP DEC CCW 1 Time 1 setting of the counterclockwise deceleration (msec/rpm).
MULTI RAMP ACC CCW 2 Time 2 setting of the counterclockwise acceleration (msec/rpm).
MULTI RAMP DEC CCW 2 Time 2 setting of the counterclockwise deceleration (msec/rpm).
MULTI RAMP ACC CCW 3 Time 3 setting of the counterclockwise acceleration (msec/rpm).
MULTI RAMP DEC CCW 3 Time 3 setting of the counterclockwise deceleration (msec/rpm).
WARNING ! In order to carry out correct positioning procedures of the desired position, it is
always necessary to have initially set the drive in a 0 position (or home position).
After finding the home position, each climbing leading edge of the “Pos 0 search”
input takes the axis back into the desired position.
If you need to reset the effective 0 position, it is necessary to delete the found home
flag, the drive or the alarms must be reset, or disable the drive.
The zero search phase can be carried out with different modes:
A - Via a digital input programmed as: Pos Abs 0 sensor CW (absolute 0 search CW in clockwise direction)
1) Enable the drive: “Enable” digital input with a high logic status
3) The motor, when the drive receives the Pos 0 search command, starts rotating with the reference Pos
speed reference 0. When the Pos Abs 0 search CW digital input intervenes, Pos speed fine 0 becomes the
active speed reference (clockwise rotation direction).The motor stops when the “POS ZPOS” position is
detected as compared to the encoder index. This position is acquired as a zero position.
(DI) Enable
(DI) Pos 0
search
(DI) Pos
Abs sensor
Cw
Index
encoder
Pos speed
reference 0
Pos speed
fine 0
(DO)Pos
Zfound
B - Via a digital input programmed as: Pos Abs 0 search CCW (absolute 0 search CCW in
counterclockwise direction).
1) Enable the drive: “Enable” digital input with a high logic status.
2) Enable (high logic status ) a digital input programmed as Pos 0 search.
3) The motor, when the drive receives the Pos 0 search command, starts rotating with the reference
Pos speed reference 0. When the Pos ABS 0 search CCW digital input intervenes, Pos speed fine
0 becomes the active speed reference (counterclockwise rotation direction). The motor stops when
the “POS ZPOS” position is detected as compared to the encoder index. This position is acquired as
a zero position.
(DI) Enable
(DI) Pos 0
search
(DI) Pos
Abs sensor
Ccw
Index
encoder
Pos speed
reference 0
Pos speed
fine 0
(DO) Pos
Zfound
C - Search procedure equal to mode A and B, with the possibility to add an offset after having reached
the index.
When necessary due to machine limitations it is possible to change the 0 point (correspond to the
encoder index). Within one revolution of the motor it’s possible to put in an offset with the parameter
Pos Z pos.
That number is from 0 up to the pulses number * 214 (for example with 2048 pulses per round: Pos
Z pos from 0 up to 33554432).
When the procedure A/B has finished, upon reaching the index the motor will continue to move till the
reaching of the position inserted with Pos Z pos.
Moreover, it’s possible to modify the 0 machine position adding an offset of n rotations with the
parameter Pos Z rev offset.
When the procedure A/B has finished, at the reaching of the index the motor will continue to move till
the reaching of the position inserted with Pos Z rev offset.
It’s possible to use both the parameter Pos Z pos and Pos Z rev offset.
(DI) Enable
(DI) Pos 0
search
(DI) Pos
Abs sensor
Cw
Index
encoder
Pos speed
reference 0
Pos Pos Z Rev
Z Pos offset
Pos speed
fine 0
(DO)Pos
Zfound
After the zero position has been found, each rising leading edge of the Pos 0 search input takes the axis
back to the zero position stored with the reference Pos speed Ret 0.
If a new zero position search sequence has to be performed, the found zero flag can be cancelled by
resetting the drive and the alarms or by disabling the drive.
Index enc.
sensor Ccw
Pos abs 0
sensor Cw
Pos abs 0
0
Pos 0 search Enc
Pos Z Rev
Pos speed max 0 Ramp Offset Pos Z pos
At the end of the zero search phase it is possible to carry out the position start. The motor, when the drive
(enabled) receives the Pos start pos command, starts rotating with the reference Pos speed and reaches
the set value.
There are 64 registers where it is possible to store the desired values and to recall them via digital inputs
programmed as Pos preset bit 0,1,2,3,4,5. (They are used to state in a binary way the positioning value. It
is not necessary to use them all. If they have not been programmed, the bits are set at 0).
For each value of the first 8 registers it is possible to set a maximum speed and a personalized acceleration
and deceleration ramp. As for the other registers, the speed, the acceleration and deceleration ramp is the
same for them all.
Pos memo pos: it stores the present position as a value xx . The register where the value has to be
stored is stated by the Pos Preset Index parameters if the Pos Preset serial parameter has been set as
Parameter, or by the digital input if Pos Preset serial has been set as Digital Input .
Pos index Position set Ramp set Speed set Pos current
Pos acc/dec 0 Pos speed 0
Preset 0
Preset 1 Pos acc/dec 1 Pos speed 1
Pos zero search
Pos serind 2
3
Pos acc/dec 2 Pos speed 2
Pos acc/dec 3 Pos speed 3
Pos acc/dec 4 Pos speed 4
Pos MU
per rev
Pos acc/dec 5 Pos speed 5
Ramp
Pos acc/dec 6 Pos speed 6
Pos acc/dec 7 Pos speed 7
Pos speed ret 0
Pos abs Preset 63
Pos acc/dec pos (8..63) Pos speed (8..63)
Pos preset 0
Pos preset 1
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 0
Pos preset 1
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 2 Retourn to 0 position
POS ACC CW Setting of the clockwise acceleration time during the positioning
procedures (ramp time active for the positions set by the regis-
ters 8 to 63). Unit of measure : msec/rpm .
POS ACC CCW Setting of the counterclockwise acceleration time during the po-
sitioning procedures (ramp time active for the positions set by
the registers 8 to 63). Unit of measure : msec/rpm .
POS DEC CW Setting of the clockwise deceleration time during the positioning
procedures (ramp time active for the positions set by the regis-
ters 8 to 63). Unit of measure : msec/rpm .
POS DEC CCW Setting of the counterclockwise deceleration time during the po-
sitioning procedures (ramp time active for the positions set by
the registers 8 to 63). Unit of measure : msec/rpm .
POS SPEED Setting of the speed reference during the positioning procedures
(active for the positions set by the registers 8 to 63).
POS CURRENT Setting of the maximum current during the positioning proce-
dures (active for all positions set by the registers 0 to 63).
POS ACTUAL POS Read-only parameter. It states the motor present position as com-
pared to the zero position. It is active only at the end of the zero
search phase. Unit of measure : user unit.
MEASURE UNIT PER REV Setting of the space covered by the encoder during one revolu-
tion. Parameter used to state the position in engineering units.
Unit of measure : user unit.
POS MINIMUM PRESET Parameter stating the minimum value to be set in the different
position registers. Unit of measure : user unit.
In case the setting of a position is lower than this value, such
setting is not accepted.
POS MAXIMUM PRESET Parameter stating the maximum value to be set in the different
position registers. Unit of measure : user unit.
In case the setting of a position is higher than this value, such
setting is not accepted.
POS MINIMUM ABS Minimum absolute position setting. When set to 0 it is not enabled.
If the user writes a position out of range, the command is not
activated and the drive activates the digital output Pos-out of
limits (1008).
POS MAXIMUM ABS Maximum absolute position setting. When set to 0 it is not enabled.
If the user writes a position out of range, the command is not
activated and the drive activates the digital output Pos-out of
limits (1008).
POS PRESET INDEX Reading parameter if Pos preset serial = Digital input.
Reading/writing parameter if Pos preset serial = Paramater.
It states which position preset is currently used.
POS PRESET SERIAL Parameter selecting the enabling commands of the position
registers.
0 = Digital input Register selection via digital input
1 = Parameter Register selection via the Pos preset index parameter.
POS ABS This parameter states if the positioning values make reference to
the zero position or to the actual position. (Relative or absolute
moves).
bit 0 Set with bit 0 = 1; the digital output configured as Pos reached
(reached position) remains with a high logic status only if the
Pos start pos digital input is in a high logic status condition.
Pos reached
Pos reached
Bit 1 Set with bit 1 = 1; by disabling the Pos start pos command during
a positioning phase, the motor stops with the ramp time Pos dec
CW/CCW
Bit 2 Set with bit 2 = 1; by disabling the Pos start pos command during a
positioning phase, the motor stops as fast as possible (without ramp).
Bit 3 Set with bit 3 = 1; by disabling the Pos start pos command during a
positioning phase, the motor stops with a ramp time set in the Pos
stop dec parameter.
Note If bit 1, bit 2, bit 3 are all equal to 0, it is not possible to stop the motor
during the positioning phase (only by disabling the drive), as the pos
start pos command is active on the climbing leading edge.
Bit 4 Set with bit 4 = 1; even though the drive is disabled (enable drive
command), the 0 position remains stored. In order to reset the 0 posi-
tion storage, it is necessary to disable the power supply on the regula-
tion card.
Bit 4 = 0 When the drive is disabled, the zero position is lost and it is
therefore necessary to perform a new 0 search sequence.
Bit 5 Set with bit 5 = 1; the zero sensor (digital input programmed as Pos 0
sensor CW/CCW) is active on the sensor output leading edge (stand-
ard configuration bit 5 = 0, sensor active on the rising leading edge).
Bit 6 Set with bit 6 = 1; the zero sensor (digital input programmed as Pos
0 sensor CW/CCW) is active on the high logic level.
Bit 7 Set with bit 7 = 1; the zero sensor (digital input programmed as Pos
Abs 0 sensor CW/CCW) is active on the low logic level.
Bit 8 Set up bit 8 = 1; it starts the search mode of the home position only
after having passed the first encoder index.
This procedure is necessary in applications where the feedback en-
coder is of digital type with Hall sensor and there is the possibility of
finding the 0 position before executing at least one motor turn.
Programming example
If bit 0 is to be enabled (reset of pos reached ), the bit 1 (pos stop ) and the bit 6 (sensor active on the high
logic status) are necessary:
bit 0 = 1
bit 1 = 1
bit 6 = 1
POS CONFIGURATION 11 10 9 8 7 6 5 4 3 2 1 0
Bit 0 0 0 0 0 1 0 0 0 0 1 1
0 4 3
axv6056
Therefore, in the Pos configuration parameter it is necessary to set the value 043H.
POS DEST REV Read-only parameter (valid only for debug ); it states the revolutions to the
destination position.
POS DEST POS Read-only parameter (valid only for debug ); it states the position in the revo-
lution of the destination position.
POS ABS THR Setting of the threshold signalizing the “overcome position” referred to the zero
position. When the position is higher than the value set in this parameter, the
digital output programmed as “Pos Abs threshold” reaches +24V.
Unit of measure : user unit .
POS THR Setting of the threshold signalizing the “overcome position” referred to the last
positioning: if the positioning procedure is carried out in a clockwise direction
and the present value is higher than the one set in this parameter + the starting
one, the “position threshold” output is set. When the positioning procedure is
carried out in a counterclockwise direction and the present value is lower than the
starting one - the one set in this parameter, the “position threshold” is set.
POS THR OFF Offset setting of the zero speed threshold. It states how far the position can oscillate
around the zero position before considering active the digital output programmed as
“Speed 0 thr”. Unit of measure : user unit .
POS THR NEAR 1 Reached position threshold 1. The digital output reaches high logic status when
the motor present position is equal to the destination position minus the Pos thr
near 1 parameter.
POS THR NEAR 2 Reached position threshold 2. The digital output reaches high logic status when
the motor present position is equal to the destination position minus the Pos thr
near 2 parameter. “Speed 0 thr”. Unit of measure (u.u.).
Pos preset 0...5 They are used to state in a binary way the positioning value.
It is not necessary to use them all.
If they have not been programmed, the bits are at 0.
Pos-0 search If set at 1 the drive reaches the home value, if such value has been previ-
ously found. If not, the ramp block becomes active till a 0 sensor input
intervenes.
See paragraph 9.21.3.
Pos-Start pos The drive carries out a positioning procedure with the presently selected
value. The zero position has been found previously.
POS PRESET (0...7) Setting of the position value in the register (0...7).
Unit of measure : user unit.
POS SPEED (0...7) Maximum speed setting during the positioning phase of pre-
set 0...7. Unit of measure : rpm .
(Active if the Pos speed analog input is not programmed).
If this value is set with 0 (rpm) the Pos speed parameter in the
Position parameter menu becomes active.
POS ACC (0...7) Setting of the acceleration time during the positioning phase of
preset 0...7. Unit of measure : msec /rpm .
POS DEC (0...7) Setting of the deceleration time during the positioning phase of
preset 0...7. Unit of measure : msec /rpm .
POS PRESET (9...62) Setting of the position value in the register 9...62.
Unit of measure : user unit .
POS SPEED FINE 0 Speed reference while searching the home absolute position.
POS ZREV OFFSET Motor cycle number that the user can “plus” POS Z POS
parameter, to do an offset homing position.
POS SPEED RET 0 Speed reference while returning to the home position.
POS DSPEED RET 0 Establish the increase of the speed reference for every complete
motor turn, while the axis gets back to 0.
It’s used to avoid high speed of the motor during short moves.
Example:
POS DSPEED RET 0 = 100
POS SPEED RET 0 = 1500
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva anche Index = tacca di
ricerca di zero = positivo di zero = attivo sul fronte senza il primo index encoder zero encoder
Start motore
Index
Ingresso digitale fine corsa
sensore di zero programmato:
Pos abs 0 sensor Cw
Index
Ingresso digitale fine corsa
sensore di zero programmato:
Pos abs 0 sensor Ccw
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva anche Index = tacca di
ricerca di zero = negativo di zero = attivo sul fronte senza il primo index encoder zero encoder
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva anche Index = tacca di
ricerca di zero = positivo di zero = attivo sul livello senza il primo index encoder zero encoder
Index
Ingresso digitale fine corsa
sensore di zero programmato:
Pos abs 0 sensor Ccw
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva anche Index = tacca di
ricerca di zero = negativo di zero = attivo sul livello senza il primo index encoder zero encoder
Index
Ingresso digitale fine corsa
sensore di zero programmato:
Pos abs 0 sensor Cw
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva solo se Index = tacca di
ricerca di zero = positivo di zero = attivo sul livello passato il primo index encoder zero encoder
x
D) start all’interno del sensore
index enc non passato
x
B) start all’interno del sensore
index enc passato
x
x
D) start all’interno del sensore
index enc non passato
Figure 9.21.7.3: Home position search active on the logic level after the first encoder index
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva solo se Index = tacca di
ricerca di zero = negativo di zero = attivo sul livello passato il primo index encoder zero encoder
x
D) start all’interno del sensore
index enc non passato
x
B) start all’interno del sensore
index enc passato
x
C) start fuori dal sensore
index enc non passato
x
D) start all’interno del sensore
index enc non passato
Figure 9.21.7.4: Home position search active on the logic level after the first encoder index
In the configuration Electrical line shaft it is possible to provide synchronism between 2 or more motors.
The master encoder can be connected to the door S1 (connector 15 poles front AXV) or it is possible to
use the fast link (AXV-NET).
Moreover, it is possible to save into the drive up to 4 ratios selectable through 2 programmed digital input
as Els ratio sel bit 0,1. Whatever ratio is actually selected, it is possible to increase/decrease by two
programmed digital inputs as Els inc ratio and Els dec ratio.
ELS PULS REV MASTER Set up number pulses per turn of the master encoder present on
the connector S1 or on the fast-link.
ELS DELTA TIME This parameter is used together with the programmed digital
input as Els inc ratio and Els dec ratio.
It defines the change rate of the set ratio.
Measurement unit (sec). This parameter is used together with
the parameter Els delta ratio.
Example: when the inputs Els Inc /Dec ratio are active, the
ratio changes the set value by Els Delta ratio (es. 0.002) within
the set time in the parameter Els Delta time (es 0.1 sec).
ELS MASTER SEL Set up to define the reference source of the master encoder.
Encoder Master encoder door S1.
Fast link Connectors X3-X4.
ELS DELTA RATIO Define how much the ratio should vary every cycle of slow task
(8msec).
Example: if through the digital input a new ration is selected
changing from 1.000 up to 2.000 the changes is not immediate
but follow a ramp profile with a set increase in this parameter.
If els delta ratio imposed: 1.000 means a variation of 1.000 every
8msec, therefore it changes to the new ratio in 8msec.
ELS POSITION ERROR Max position error allowed. Measurement unit encoder pulses
for 214.
AXV Master: connector S1 connects the channels A-Aneg, B and Bneg and 0V to the connector S1 slave.
Set up: enable the encoder repetition, parameter Enable anc repetition and program the correct pulses
number with the parameter Enc pulses rev.
AXV Slave: connector S1 connect the channels A-Aneg, b and Bneg and 0V to the connector S1 master.
WARNING : Before connecting the connector S1 on the slave operation verify the parameter Enable
enc repetition is set to disable. The factory set up is disable.This parameter is automati-
cally disabled when the drive is set in mode Electric line shaft and configured as slave.
S1 S1
Master Slave
WARNING : The main supply (+24V) for the regulator AXV of the master and slave must be
the same with 0V connected together.
X X
3 4
Master Slave
In applications with a drive master and n drive slave it is possible to make a connection with fast link X3
(master) -X4 (slave) because from the connector X3 there is always the master encoder frequency.
X X X
4 4 4
X X X X
3 3 3 3
The drive slave 1,2,3 are all synchronized with the drive master.
In applications where it is necessary to synchronize the drive in cascade, master –slave, where the previous
is always the master of the next it is necessary to use both the encoder repetition and the fast link.
X X X X
4 4 4 4
X X X X X
3 3 3 3 3
S S S S S
1 1 1 1 1
It is possible to load into the drive up to 4 ratios selectable through 2 programmed digital input as Els ratio
sel bit 0,1 or from configurator.
ELS ACT RATIO Read parameter, show the value of actually selected ratio.
ELS RATIO INDEX Read parameter if Els ratio serial = Digital input.
Shows which ratio is actually in use.
Parameter reading/writing if Els ratio serial = Parameter
Set up of the ratio selection (ratio 0, 1, 2, 3).
ELS RATIO SERIAL Parameter for the selection of the enable commands Els ratio.
Through an external command it is possible to increase/decrease the motor slave speed momentarily to
create a phase offset or “bend” in the shaft.
For a fixed time the motor slave is not in synchronism with the master, because its reference is modified.
At the end of the fixed time by parameter or when the digital input is not longer present, the slave gets back
in synchronism with the master.
The modifing speed can be set on an analog input or fixed by parameter.
ELS RB SPEED MAX Parameter to set up the max limit of speed reference for the
bend recover function.
Measurement unit : rpm .
ELB RB SPEED REF Reference for bend recover function, settable also from an ana-
log input (Els Rb Spd Ref).
Expressed in % show the speed reference to add to the synchro-
nism reference.
ELS RB ACC Acceleration time during the speed change. Increase the speed
of the set revolutions number in the parameter every 8 msec.
Measurement unit : seconds .
ELS RB DEC Deceleration time during the speed change. Decrease the speed
of the set revolutions number in the parameter every 8 msec.
Measurement unit : seconds .
BRAKE DESATURATION Short circuit alarm in the braking circuit (alarm code 6).
INVALID FLASH PARMS Invalid flash parameter alarm (alarm code 11).
BAD FLASH DEVICE Alarm on a non preset flash (alarm code 12).
BRAKE ERROR Brake Alarm (usually brake threshold too low) (alarm code 15).
EB-BUS LOSS Bus communication alarm at a HS or VHS level (alarm code 26).
FIRST ALARM This parameter shows the code of the first intervened alarm
(alarm code 40).
DRIVE FAULT ( XX ) It shows the code of the intervened alarm. The last alarm acti-
vated by the drive is set in position 24 (drive fault 24), therefore
the queue is moved in an upward direction (i.e. the first alarm of
the queue is automatically cancelled).
DRIVE FAULT TIME ( XX ) sec. It states the time in which the XX alarm has been activated. It is
stated in seconds and refers to the drive lasting hours (service \
service counter-total power on time menu).
ALARMS TO MASK This parameter allows to mask the intervention of some alarms
thus making them inactive. It is an hexadecimal alarm.
When the masked alarm gets active, the drive goes on function-
ing properly (the OK relay does not change its state) and the
digital output programmed as ALARM WARNING changes its
logic level.
This parameter is default set with: 19000000H (it means that the Pos.error, fast link and EBbus loss
parameters are excluded).
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 9 0 0 0 0 0 0
axv6057
ALARMS TO DELAY This parameter allows to set the intervention of some alarms
thus making them active with a delayed effect.
Hexadecimal parameter
When the parameter with a delayed setting becomes active, the
drive goes on functioning properly (the OK relay does not change
its state) and the digital output set as ALARM COMING changes
immediately its logic condition. After the time set in the Alarms
delay parameter (sec.) has been overcome, the drive reaches a
stop condition signalizing, via the multi-function led, the active
alarm.
This parameter is default set with: 00000000H (it means than no alarm has been set with a delayed
effect).
Example for a parameter setting: the aim is to delay the intervention of the Motor overtemp and
Heatsync overtemp alarms.
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0
0 0 0 0 0 0 4 8
axv6058
ALARMS TO DELAY (sec.) Setting of the delay time for the drive to stop after an alarm
intervention. The programming procedure for the alarm to be
delayed has to be performed in the ALARMS DELAY pa-
rameter.
EB TYPE This parameter shows the expansion card installed on the AXV
drive.
EBDIO old : the EBDIO card is a first generation card; this
value must be set.
EBDIO : last generation EBDIO card. An automatic recogni-
tion procedure is performed.
EB-PDP : EB-PDP card for Profibus field bus
EB-DN : EB-DN card for Device-Net field bus
EB-COP : EB-COP card for Can Open field bus
WARNING! The recognition procedure of the expansion cards is always automatically performed.
If the parameter is set as EB-DIO old, no research is carried out.
All parameters referring to the programming procedure of the Profibus expansion card are listed in the
EB-PDP card manual.
9.27. SYSTEM
The current loop is controlled by a PID loop; the maximum control band is 5 kHz.
The gains of this loop are factory set with some default values, in order to allow the AXV drive to control,
in the right way, a large motor range.
For advanced applications such values have to be optimized according to the used motor.
Parameters required for the optimization of the internal or external braking resistance system
(see paragraph 4.7.1 Braking unit)
The parameters are described in the paragraph 4.7.1.3.
These parameters allow to state the logic level of the digital outputs when an alarm intervenes.
SYS_DO_RESET_AT_FAIL This parameter allows to set the digital outputs with a low logic
level when an alarm intervenes.
Bit-mapped parameter with a value hexadecimal setting.
0 = the output does not change
1 = the output is set with 0V
The bits 0...7 refer to the DO0...7 digital outputs of the AXV
drive, the bits 16...19 refer to the digital outputs of the EB-DIO
card.
SYS_DO_SET_AT_FAIL This parameter allows to set the digital outputs with a high logic
level when an alarm intervenes.
Bit-mapped parameter with a value hexadecimal setting.
0 = the output does not change
1 = the output is set with +24V
The bits 0...7 refer to the DO0...7 digital outputs of the AXV
drive, the bits 16...19 refer to the digital outputs of the EB-DIO
card.
Parameter
Internal variable
0V
DI1
DO3
DI0
DI3
DI4
DI5
DI6
DI7
DO0
DO1
DO5
DO6
DO7
DI2
DO2
DO4
+24V
Drive O.K. Failure
Drive fault FAILURE Failure reset
External fault
Disable drive
Analog input An inp Z pos0 (V)
C1 An inp scale0
Disable An0 Ramp enable Jog enable
An inp value 0(V)
ROP Reference =0
+ Jog+ Jog- Speed max pos
x Speed ref1(rpm)
RON Inverse End run forward Ramp in=0
End run rev
An inp. Read 0 (V) Speed ref(rpm) Ramp output
An inp Z neg 0(V)
An inp offset 0(V) +
* (-1)
4 AO3
Cao x +
Current limit
Motor
current An out write2 (V)
An out offset2 (V)
133
134
+
+ + Inv.park transf.
Ki Pwm
+
-
+
+
Ki
Mod.
Current loop -
Park transf
Speed loop Id
Position loop
Gain pos
Line shaft loop Iq
Gain int AANA
BANA
High speed IANA
Gain speed deflux 0V
Motor flux angle SINN
algorithm Encoder COSN
Analog speed ref. Gain acc
H1
+ H2
Position ref. H3-
- 0V
Target +
Actual PTC+
position + - Xn RESEXN
position 0V
register + - register ANNA
BNANA
- INANA
SIN
COS
SIEI
Absolute
0V
position H1N
H2N
H3N
SENSOR CONNECTOR S2
ABREN
RESEXP
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
AUX+
X n.n position
command from
Enc puls rev electric gear
master
0V
HALL 1-
HALL 1
HALL 2
Els delta time HALL 3
AUX +5V
ENC A+
PTC
ENC I-
Actual ratio HALL 2-
Ratio 0 HALL 3-
Els ratio index ENC A-
1 ENC B-
2 ENC I
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Ratio 3
&
Zero found
Pos preset 0
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 1
Pos preset 0
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 0
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 1
Pos preset 1
AXV - HGB
Index enc.
Pos abs 0
sensor Cw
Pos abs 0
sensor Ccw
0
Pos 0 search Enc
Pos reached
POSITION BLOCK
135
AXV - HGB
Via the serial line, the number of the parameter index to be brought to a high logic
level is:
SAVE PARAMETER = 18011
RESET DRIVE = 18010
EC DECLARATION OF CONFORMITY
-2- Intended only for professional assemblers who have a level of technical
Complex component competence to correctly install. Does not have intrinsic function for the
end user.
only for professional assemblers
- No EC Declaration of conformity - No CE marking
[clause 4.7 (2nd and 3rd §) and clause 4.7a]
- PDS should comply with IEC-22G/21/CDV
The manufacturer of the PDS (or CDM/BDM) is responsible for the provision of
A PDS (or CDM/BDM) installation guidelines that will assist the manufacturer of the apparatus, system or
of the Restricted Distribution class installation to achieve compliance.
sold to be included as part of an The resulting EMC behaviour is the responsibility of the manufacturer of the
apparatus, system or installation apparatus, system, or installation, for which its own standards may apply.
-4-
Apparatus / system Has an intrinsic function for the final user and placed on the market as a
[clause 4.4 and 4.5] single commercial unit.
- EC Declaration of conformity required - CE marking required
(A) PDS(s) or (CDM/BDM) (for the apparatus or system)
of the Unrestricted Distribution
class Resulting EMC behaviour is the responsibility of the manufacturer of
in finished item(s). the apparatus or system.
Associates