actuell presentation gb ax5000

8/15/2019 Actuell Presentation GB AX5000

1/120

29.Oct.2007 Rudolf W. Meier 1

AX5000 – Motion control for high dynamicpositioning


2/120


AX5000 | Digital Compact Servo Drive


3/120


AX5000 | Technical highlights

high-speed capt re inp ts !!"s or #0"s

$ide voltage range !00 % &'0 ( AC

integrated mains filter

integration of safety f nctions )optional*restart loc+T$inSA, . intelligent safety f nctions for Motion Control in prep. .

compact design for simple control ca/inet installation

)for 00 mm depth*

AX-1ridge – the 2 ic+ connection system for po$er s pply3 DC lin+and control voltage

varia/le cooling concept

)fanless3 forced cooling3 cold plate*


4/120


AX5000 | therCAT optimi4ed

therCAT – high performance system comm nication in drive control

Short cycle time and synchrony therCAT $or+ing drivesigh precision synchrony /y Distri/ ted-Cloc+sighspeed-6atch $ith Time-Stamp3 e7g7 8print mar+ control o ter $e/9

:ltra- igh speed- Comm nication pdate time.!00 drives in !00 "s!000 shared ;rotocol3 hard$are and the Topologies ma+e it possi/le to detect theindivid al 2 ality of each lin+


5/120


AX5!?? | !-channel Servo Drive

!-a?is Servo Drive for motorsp to !# A rated c rrent


6/120


AX5!?? | Technical data

)!* Irms for max. 7 s)#* internal /ra+e resistor

Technical data AX5!0! AX5!0 AX5!0@ AX5!!# AX5!!' AX5!#5

ated o tp t c rrent ! ? ! A ! ? A ! ? @ A ! ? !# A ! ? !' A ! ? #5 Aated s pply voltage ! ? !00 % ? &'0 (AC Bea+ o tp t c rrent )!* &35 A 35 A ! A #@ A @ A 0 A

ated connected load for

S!-operation!3# +(A #35 +(A 5 +(A !0 +(A !5 +(A #03' +(A

Contin o s /ra+ingpo$er )#* 50 F 50 F !50 F e?tern e?tern e?tern

ma?7 /ra+ing po$er )#* #3' +F


7/12029.Oct.2007 Rudolf W. Meier 7

AX5#?? | #-channel Servo Drive

#-a?is Servo Drive for t$o motors $ith a total c rrent p to !# A7



AX5#?? | Technical data

Technical data AX5#0! AX5#0 AX5#0@

ated o tp t c rrent # ? !75 A # ? A # ? @ Aated s pply voltage ! ? !00 % ? &'0 (AC Bea+ o tp t c rrent )!* 35 A !# A #@ A

ated connected load forS!-operation #35 +(A 5 +(A !0 +(A

Contin o s /ra+ingpo$er )#* 50 F !50 F 50 F

ma?7 /ra+ing po$er )#* #3' +F

)!* ;rms for ma?7 s)#* ;nternal /ra+e resistor



AX5000 | Cycle times and cloc+ fre2 encies

Different cycle times for vario s application re2 irements !7#5 "s c rrent control loop for high dynamic linear motors in prep. . & + 4 fre2 ency for minim m po$er dissipation

therCAT)minim m*

>osition loop Speed loop C rrent loop ;G1T s$itching Motor ca/le

!7#5 "s !#5 "s !#5 "s !7#5 "s !@ + 4 # + 4

@#75 "s !#5 "s !#5 "s @#75 "s ' + 4 !@ + 4

@#75 "s !#5 "s !#5 "s !#5 "s & + 4 ' + 4


10/12029.Oct.2007 Rudolf W. Meier 1 0

AX5??? | ,eat res

Motor feed/ac+.esolver

>o$er s pply!00 ( AC 7777 &'0 ( AC

Stat s display3 e7 g7a?is identifier orerror message

Motor feed/ac+.

Sin



X0@. Digitale ;-Stop

# ;np t H-Stop

;np t &

& ;np t 5

5 ;np t @ Capt re Capt reA?is !

@ ;np t Capt re Capt reA?is #

;np t ' or = tp t rror

0( Gro nd



AX5000 | Digital inp ts

H m/er. inp ts<

! ;



AX5??? | Comm nication

ighspeed- therCAT- as system / sS C=S->rofile ; C@!&E! for Servo drives implemented

=ther field / s /y e?ternal Gate$ays



AX5??? | =ptions

=ptional slots for interface /oards.safety for Motion Control )Slot !*additional feed/ac+ interface3 e7g7 SS; )Slot #*;



AX5000 | M lti feed/ac+ interface

all common feed/ac+ systems on-/oard –no additional interface necessary

esolver in prep. .TT6 encoder in prep. .Sin s $ave ! (pp in prep. .

nDAT3 single and m lti t rniperface3 single nd m lti t rn

1iSS3 single nd m lti t rns pport of electronic motor name plates



M lti-,eed/ac+-;nterface

>in Signal. high resol tion ,eed/ac+

nDATJ5( GHD :>JE( GHD :>J5(

S;H AB S;H AB S;H AB

& :>J5( n7c7 :>J5(

5 DXB )Data* DXB )Data* n7c7@ n7c7 :>JE( n7c7

, H- :>JE( , H-

' C6KB )Cloc+* n7c7 n7c7

E ,C=S 1- ,C=S 1- ,C=S 1-

!0 GHDJSense n7c7 GHDJSense!! ,S;H A- ,S;H A- ,S;H A-

!# :>J5(JSense n7c7 :>J5(JSense

! DX- )Data* DX- )Data* n7c7

!& HB HB HB

!5 C6K- )Cloc+* n7c7 n7c7



X0 . #& (DC S pply

Control voltage s pply /y connector X 7 The #&( s pply has t$o lines3 inthis $ay /ra+e and control s pply can /e handled separately7 ;n case of

n sed :p please connect :p-:s7 1y connecting motor holding /ra+eplease pay attention on voltage tolerance7

Klemmstelle Signal

:p #& (DC -0 < B!5 . >eripherie)4717 sep7 1remseinspeis ng*

:s #& (DC B



Main po$er

X0!. >o$er inp t-from single phase !00 (AC p to -phase &'0 (AC7 ;n case of single phases pply connect phase to 6! and H to 6 7

Terminal Connection

-phase !-phase

6! >hase 6! >hase 6!

6# >hase 6# n7c7

6 < H >hase 6 He tral $ire

> >rotective earth >rotective earth



X! )A*3 X# )1*. Motor terminal

Terminal Signal

: Motor :

( Motor (

F Motor F

> Sch t4leiter

Shield Shield



AX5000 | Motor terminal

= tp t )Ch!* . mechanical /ra+e;np t )Ch!* . motor temperat re

= tp t )Ch#* . mechanical /ra+e;np t )Ch#* . motor temperat re

Motor o tp t )Ch!*

Motor o tp t )Ch#*



X0#. DC 6in+ 1 s< L$ischen+reis

1y terminal X#3 DC / s co pling or direct DC po$er s pply is possi/le7



AX5000 | Active DC lin+

DC lin+ a tomatically connected only for regenerative energy flo$short circ it proof DC lin+ connectiondistri/ ted /ra+ing /y sing all connected /ra+ing resistorse?ternal chopper mod le for high regenerative energy in prep.



AX5000 | (aria/le cooling concept

ma?7 operation temperat re. 50 Cfanless operation p to # ? A or ! ? @ Atemperat re controlled forced cooling3 starting at# ? @ A or ! ? !# Ainternal air flo$ channel separated from electronic parts3/y th s no contaminationCold >late in prep.

plane /ac+ plane for cold plate assem/lythere/y realisation of protection class ;> @5



AX5??? | System mod les

AX500! | DC lin+ e?pansion in prep./ra+e energy can /e stored and re sed forne?t acceleration processshort-circ it proof can /e com/ined $ith m lti-a?is systems thro ghAX-1ridge

therCAT interface for parameterisation anddiagnosis

AX50#0 | 1ra+e mod le in prep.$ith internal #50 F /ra+ing resistor and activecoolingintegrated /ra+e chopper for e?ternal /ra+ingresistor p to @ +F

therCAT interface for parameterisation and

diagnosisAX50&0 | nergy recovery mod le in prep.

mains inverter for feeding /ra+e energy /ac+ intothe s pply net$or+

therCAT interface for parameterisation anddiagnosis



AX5E?? | AX-1ridge 2 ic+ connection system

Connection mod le

AX5E0!

AX5E0!

Connection.s pply or DC-lin+ voltage and#& ( DC forcontrol

AX5E!!

connection mod le$ith po$er rail systemfor m lti-a?is systemsc rrent carryingcapacity p to '5 Aaccording to :6



AX5000 | Stat s display

Advantages.comforta/le device diagnosis and maintenancea?is identifier for t$o channel devices

display of a?is stat s and errors3 also $itho t therCAT comm nicationerror messages as plain te?t

# ro$s ? !@ characters$ith /ac+light



S C=S->rofile for servo drives

To /ring the motion control to an e?isting standard the S C=S – >rofile; C @!&E! $as implemented7This offer the ser an easy and optimal set p7

Sercos S- and >- >arameter.

This S C=S profile differs t$o main gro ps of parameter7

The standard parameter e7g7 .S-0-000! HC Cycle time )THcyc*

>rod ct specific parameter e7g7 .>-0-000! S$itching fre2 ency of the ;G1T mod le


28/120

29.Oct.2007 Rudolf W. Meier 2 8

The storage concept

Compared to the AX#000 the modified drive parameter are not storedinside the Drive3 there is only the defa lt set p as part of the Drivefirm$are7e7g7 /y changing the parameter NMotor8 the ne$ set p has to /e add tothe NStart p 6ist87After Nsaving8 the NStart p 6ist8 and 8Activate config ration9 it /ecomesa part of the System Manager file 7tsm and $ill /e handled from thesystem manager7


29/120


Drives lin+ing – ,irst motion

e2 irements.• Control voltage. #& (DC• therCAT- master connection• T$inCAT Config Mode

The first step is to scan the / s for therCAT devices.


30/120



Select the EtherCAT-Interface


31/120



- Scan for /o?es

Ja = Yes

Nein = No

- Add the Drives to the HC

- Ho 8,ree n9


32/120



Tap OSettingsO

All detected A?is are displayed nder HC- Config ration7The AX5000 is sho$n as 8S C=S Drive97The comm nication profile is So )Sercos over therCAT*7


33/120



The TC Drive Manager7

The TC Drive Manager gives all the reso rces to handle the drive set p and theparameter7 1y the men tree yo have access to device and drive dataPs7 ;n caseof t$in a?is li+e AX5#?? a?is dataPs selecta/le as canal A and channel 17

Set p in theN>o$er Management8:main:Brng:-rngDisa/le N >hase rror Detection8>ress NDo$nload8


34/120



Scan motor andfeedback.

After this steps motorand Feedback type isshown


35/120



:nter NMotor and ,eed/ac+8 $ird der angeschlossene Motor a s derMotordaten/an+ ge$Qhlt7


36/120



The pper part of the Start p6ist sho$s defa lt andchanged parameters < ;DHs7

The lo$er part sho$s all the

;DHs modified /y theTCDriveManager7

Add this /y N Accept All“ and8OK” to the Start p 6ist7

And 8Activate config ration9


37/120



The final is to NCalc late8 and NDo$nload8 the scaling7


38/120



Now the first move is possible !


39/120


Set p saving in three steps. !7 in NStart p 6ist8

1. “Accept All”

. “!"”


40/120


Set p saving in three steps. #7NActivate config ration8

Acti#ate confi$%ration


41/120


Set p saving in three steps. 7 in TSM file


42/120


Drive t ning preparations

Set%p preparations for speed controller t%nin$&

'ery short ramps () *ms+ are possible by this option of “Setpoint ,enerator -ype”.


43/120



Set “Filter -ime Act%al 'elocity ( /-1+” to *.


44/120



Selection of short A00 and 20 ramps and nearly no Jerk limitation.


45/120



Selection of short 3amp4 and 3amp/ . Switch off tacho filter and inte$ral part.


46/120



For 5Step response“ estimation we ha#e to mapp the act%al c%rrent (-or6%e feedback #al%e+ into therocess data7s.


47/120



-he act%al c%rrent is a part of the rocess ata.


48/120



Switch off the position controller "#=*


49/120



Scope #iew preparations


50/120



8asic 5Scope 'iew“ selection by 5Achse1.scp“.

Add c%rrent to Scope.


51/120


Drive t ning

9p from 8%ild 1:1; there#ersin$ se6%ence ispossible as p%re speed


52/120


Drive t ning – Speed-controller 8step response9

-n = * "p = *<


53/120



-n = * "p = *<


54/120



-n = * "p = 1


55/120



-n = * "p = 1


56/120



-n = "p = 1


57/120



%rin$ the step response keep the c%rrent awayfrom sat%ration.


58/120



/Summary of speed controller tuning:

- Switch off all filter and Tn.- Raise up Kp to the final point without overshoot

- Raise Tn up to !-"! # overshoot.- Activate filter accordin$ re%uirements.


59/120


Drive t ning – >osition-controller

The position controller gain should be scaled toreach less following error and specified saddlingtime.This procedure can be watched by„TwinCat ScopView”.The System Manager generates the positionsetpoint.

The position controller


60/120



ight scaling of K(


61/120



K( to high


62/120



K( to lo$


63/120


Device- , n+tionen

arameter handlin$ of the A> ??& 3eset


64/120


Device- ;nfo

ri#e “Firmware” / * = released @ = test #ersion

ardware 'ersion c= control / boardB p = power/B d = dri#er/B f = frond/B o = optionB s = saf


65/120


Device- ;nfo

2?port f%nction for de#ice info


66/120


Device- ;nfo

C NBNameBAct'al%eBSet'al%eB9nitFirmware CnfoBBBBS/*/**:*B ersteller/'ersionBFirmware& #1.*1 (8%ild *** + D 8ootloader& #1.*1 (8%ild *** +BBS/*/*1E:BSercos interface #ersionB'* .*:BB

/*/*: EB rod%ct0odeD3e#isionNoBA> *:/****/***;BB/*/*: B0ompile time and dateBSep ** < 1 &:;&EGBB/*/*: ;B3elease notesBBBardware CnfoBBBB

S/*/**:1B ardware/'ersionBc&***1 p&***1 d&***1 f&*1** o&//// s&////BBS/*/*11*BAmplifier peak c%rrentB1 .***BBAS/*/*11 BAmplifier rated c%rrentB;.***BBAS/*/* **BAmplifier warnin$ temperat%reB *.*BBH0S/*/* *:BAmplifier sh%t down temperat%reBG*.*BBH0S/*/*E: B!peratin$ time dri#e controlBG E*E;BBsS/*/*E:;B!peratin$ time power sta$eBE GGGBBs

/*/**@*B0hannel peak c%rrentB1 .***BBA/*/**@1B0hannel rated c%rrentB;.***BBA


67/120


>o$er- Management

ifferent information7s of act%al #al%es


68/120


>o$er- Management


69/120


>o$er- Management in NTa/le (ie$8


70/120


Display

ifferent display modesare possible

efa%lt settin$&


71/120


>arameter

- Controller =vervie$

The set p of each controller goes from the 8inside9 )C rrant Controller*to the 8o tside9 )>osition Controller*7


72/120


C rrent Controller :nit

Kp and Tn of the c rrent controller are set /y the Motor defa lt parameters7


73/120


(elocity Controller :nit

The scaling 8rad9 is fi?7The perigon is # R radian or @0 degree That is.


74/120


>osition Controller :nit

“ roportional $ain” and “'elocity Feed Forward” in the position controller


75/120


Scope

Cmportant note to do / scope f%nction/


76/120


Scope

,or the scope f nction please select. 8 na/le ADS Server8 and8Create sym/ols87

d d


77/120


Motor and ,eed/ac+

1: Feedback options

Di i l 6i


78/120


Digital ;


79/120


Digital ;rocess data8 e7g7 the ;


80/120


Digital ; t 6i t


81/120


>arameter 6ist

1y the N>arameter 6ist8 there is access to the a?is parameter7

T$o forms are possi/le7Sho$ in gro ps.

> t 6i t


82/120


>arameter 6ist

=r ;DH listed7

> / it ti


83/120


>ro/e :nit - =peration

-he robe 9nit $i#es the possibility to select different latch and “ omin$” alternati#es.

>ro/e :nit =peration3 >osition 6atch


84/120


>ro/e :nit - =peration3 >osition 6atch

Cn case of 5position latch“ the robe 9nit can confi$%redin that way&



85/120



I%ltiple?er selection



86/120



Select 5 robe control“ and 5 robe 1 enable“< now the latch startDstart is possible.

-he latched #al%e is displayed here.



87/120



Add latched #al%e to 5 rocess data7s“

>ro/e :nit =peration3 8 oming9


88/120


>ro/e :nit - =peration3 8 oming9

Reference &ovement

Ct is possible to do omin$ by -win0at %sin$ the robe/9nit of A> ***. -he probe %nit confi$%rationsho%ld be done in the “Start%p ist”< it is also possible d%rin$ a?is operation.

So that -win0at is able to control the probe/%nit by C N S/*/*E* and S/*/*E*; it has to mapp into thereal/time/control and stat%s bit . -his is done by the C N S/*/*:*: and S/*/*:* entry.

0onfi$%ration of real/time/control/ and stat%s/bit& K

>ro/e :nit =peration3 8 oming9


89/120



Add C N S/*/*:*: %nd C N S/*/*:* to “Start%p ist”



90/120



-he latched dri#e position is stored in C N S/*/*1:* “ robe #al%e 1 positi#e ed$e“ orin C N S/*/*1:1 5 robe #al%e 1 ne$ati#e ed$e. !ne of this selected #al%e is cyclic( by the A-/-ele$ram + assi$ned to the N0.

0onfi$%ration of S/*/*:*: and S/*/*:* with&



91/120



Selection of 3eference Iode



92/120





93/120


>ro/e :nit peration3 8 oming9

1& Feedback 5Lero inde?“ detection.

ro/e :nit - =peration3 8 oming9


94/120


>ro/e :nit peration3 8 oming9

0han$e direction by 8it B Cnp%t e? .

andled by 5b0alibration0am“ in I0 !I2.


95/120

Channel c rrent config ration


96/120


Channel c rrent config ration

S-0-00 -55 Secondary operation mode


97/120


S 0 00 55 Secondary operation mode

Secondary operation modes are selectable by the 0ontrolwordO

Disa/le device channel


98/120


Disa/le device channel

e.$. to %se only channel feedback

rror reaction


99/120


o eact o

Phat sho%ld happen after error detection.

ard$are na/le


100/120


$

6imit s$itch config ration


101/120


$ g

T= )1T1* , nction


102/120


) ,

Display Motor $or+ing load /y >-0-00@


103/120


p y g y @

-his f%nction has to be enabled by C N /*/**; (3eaction =1+

Man al =peration


104/120


p

1ra+e operations

Drive Commands


105/120


e7g7 Motor feed/ac+ connection chec+

Diagnostics and error history


106/120


g y

;DH-De/ gger


107/120


Direct ;DH access

XM6 handling


108/120


6ocation of motor defa lt parameter file )motor7?ml*7

Soft$are pdate


109/120


To load a new firmware !!!.efw file"# please bring dri$e into „%ootstrap& mode.

,eed/ac+ set p


110/120


3ead Feedback type strin$ by “0opy” from 1 * in 5 arameter ist“ e.$. en$QA :;/**1@AF.*>8C*

Steps to do a feedback formatting:

,eed/ac+ set p


111/120


%n 1; in 5 ri#e 0ommend“ and select “Name plate type” 8eckhoff SI

,eed/ac+ set p


112/120


,i#e “Feedback type” by aste< than /Iotor #endor/< /Serial N%mber/ and /Iotor type/and sa#e by the se6%ence& / ownload R assword (A> ***+ R ownload / Start / Attention' (ait for status messa$e )Executin$* und )Succeeded*

,eed/ac+ set p


113/120


,i#e any an$le in 1;1

And sa#e by the se6%ence& / ownload R assword R ownload / Start /

,eed/ac+ set p


114/120


Cncrement this co%nter by 1And sa#e by the se6%ence& / ownload R assword R ownload / Start /

,eed/ac+ set p


115/120


3%n 1;* by pressin$ “ owenload” and “Start”

to brin$ the rotor in the ad %stment position.

,eed/ac+ set p


116/120


3ead the 5Act 'al%e“ of “Iechanical comm%tation offset” from G

,eed/ac+ set p


117/120


,i#e this an$le ( E*< + in 1;1 and sa#e by the se6%ence&

/ ownload R assword R ownload / Start /

,eed/ac+ set p


118/120


3estart by the se6%ence& 58ootstrap“ than 5!p“

>rogramming e?ample


119/120


Io#e A?is 1 and by $i#in$ analo$ setpoint.

The ,inal


120/120

Than+ ,ou for ,our attention.

actuell presentation gb ax5000

Documents