Parker Products ViX250AE manual

V i X250AE V i X500AE Servo Drives User Guide Pa r t No: 1600.313.02 Augus t t, 2003 ( F or software revision 2.0 onwards)[...]

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IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion contr ol equipment is installed and operated in s uch a way that all applic able safety requirements ar e met. It is your r esponsibility as an installer to ensur e that you identify the relev ant safety standards and c omply with them[...]

Product Type: ViX250AE, ViX500AE The above product is in compliance with the requirements of directives • 73/23/EEC Low Voltage Directive • 93/68/EEC CE Marking Directive • 89/336/EEC Electromagnetic Compatibilit y Directive Provided the installation requirements described in this user guide are met, and there are no special requirem ents of [...]

Contact Addresses For engineering For engineering assistance in Euro pe: assistance in German y Parker Hannifin plc Parker Hannifin GmbH Electromechanical Elect romechanical Automation Automation 21 Balena Close P. O. Box: 77607-1720 Poole, Dorset Robert-Bosc h-Str. 22 England, BH17 7DX D - 77656 O ff enbu r g, G e r m any Tel: +44 (0) 1202-699000 [...]

CONTENTS i Contents 1. Introduction............................................................................................................. 1 2. Mechanical Installation ........................................................................................... 5 3. Electrical Installation .......................................................[...]

ii VIX AE SERVO DRIVE USER GUIDE Latest Chang es Sheet This page lis ts important changes occur ring imm ediately before publ ication or betw een issue updates:[...]

1. INTRODUCTI ON 1 1. Intr oduction Product Description Available in tw o power ranges, these digital serv os use field-ori ented control technology to give enhanced dynamic per formance with impr oved efficiency. Housed wi thin an extremel y compact case, the drives ar e suitable for either dir ect panel or DIN r ail mounting. Using full PWM contr[...]

2 VIX AE SERVO DRIVE USER GUIDE Product Variants Digital ser vo drives are available i n two power versions, wit h resolver or encoder feedback. Table 1-1 lis ts the possible combinati ons: Product Code Description ViX250AE 250VA Servo wit h encoder/resolver feedback ViX500AE 500VA Servo wit h encoder/resolver feedback Table 1-1. ViX250/ViX500 Digi[...]

1. INTRODUCTI ON 3 Fit Kits Two fit kits are avai lable for ViX dr ives: 1. VIX-KIT requir ed if you do not purchase motor cables 2. VIX-KIT-NF B required if you do pur chase motor cables VIX-KIT VIX-KIT-NFB Part Number Quantity Description Part Number Quantity Descri ption 1650.937.01 1 Information sheet 1650.937.01 1 Inform a tion sheet 5004.023 [...]

4 VIX AE SERVO DRIVE USER GUIDE Further In formation This user guide contai ns all the necessary i n formation for the effective use of this dr ive. However, to gai n a more in-depth under standing of drive applicati ons and motion control, cons i der attend i ng one of our w o r l d - wi de C usto m er Spec i f i c T r a i n i ng W o r kshops. Exa[...]

2. MECHANICAL INSTALLATION 5 2. Mec hanical Installation Installation Requirements Environment ViX drives oper ate in a temperature range of 0 ° to 40 ° C wi th natural convection, or 50 ° C Max with for ced-air cool ing (see Har dware Reference) , at normal level s of humidity (5-95% non-condensing). The dr ives can tolerate atm o spheric pollu[...]

6 VIX AE SERVO DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 dri ves share the same dim ensions, shown in Figure 2-1. 4,5 98.5 (with connector) 21 4,5 88,1 42 3 10.1 124.7 135 145 5 X1 X3 X4 X5 X2 HV ST FB Figure 2-1. ViX250 & ViX500 Dimensions[...]

2. MECHANICAL INSTALLATION 7 Drive Mounti ng Opti ons If you require a D IN-Rai l mounting Vi X drive use the DIN-Rail clip adapter br acket shown in Figure 2-2. Viewed from the back of the DIN rail Allow 10mm for release 57.2mm 131.2mm 16mm Figure 2-2. DIN-R ail Adapter Bracket Remove the panel mounti ng plate from the back of the drive and attach[...]

8 VIX AE SERVO DRIVE USER GUIDE Motor Mounting Mechani cal Considerati ons Keep motors securel y fixed in position at al l times. Do not test a motor/driv e combination without fir st securing the motor – see the Safety Warning at the front of thi s user guide. CAUTION – risk of equipme nt da mage Do not back drive the mot or, that is use the m[...]

3. ELECTRICAL INSTALLATION 9 3. Electrical Installation Installati on Safety Requi rements ViX drives m eet the requirements of both the European LVD & EM C directiv es when installed accordi ng to the instructions given w ithin this secti on. It is recomm ended the drive be installed in an encl osure to protect it fr om atmospheric contaminant[...]

10 VIX AE SERVO DRIVE USER GUIDE Power Supply Connections Power dri ves from a DC supply derived from an isol ating transformer or a DC power supply (See Power Supply Options later in this section). Note: Pin 10 is at the top of the connector X1 and pin 1 at the bottom. X1 +HV -HV PE +24V 9 8 7 6 5 4 3 2 0V (GND 24v DC) MOTOR CONNECTIONS 10 1 Power[...]

3. ELECTRICAL INSTALLATION 11 Supply Requir e ments Power the ViX dri ves from DC supplies as specifi ed below: Volts Drive Type DC Supply Voltage between DC+ and DC- ViX500 48V to 80V (r ecommended) ViX250 24V to 80V Table 3-1. Drive Supply Voltages WARNING The drive HV supply input is not reverse polarity protected. Reverse polarity connections w[...]

12 VIX AE SERVO DRIVE USER GUIDE Power Supply Options Using the previ ous section, estimate the power requir ed for a single drive or for a group of drives. A set of torque cur ves (Figure 3-2) for various motor /drive combi nations can be used for calculati ng an applications likely pow er requir ements. A single axis usi ng a ViX250, or possibly [...]

3. ELECTRICAL INSTALLATION 13 1.5 1.0 0.5 0 1000 0 1500 2000 2500 3000 PEAK CONT . 3500 4000 4500 ViX250 with BE230D motor rpm Nm PEAK CONT . 2.5 2.0 0.5 1.0 1.5 0 1000 0 2000 3000 4000 5000 6000 ViX500 with BE231G motor rpm Nm PEAK CONT . 5.0 4.0 1.0 2.0 3.0 0 1000 0 1500 2000 2500 ViX500 with BE341G motor rpm Nm 1.5 1.0 0.5 0 1000 0 2000 3000 400[...]

14 VIX AE SERVO DRIVE USER GUIDE XL-PSU Power Supply The XL-PSU is a 250W , power factor corrected, switched m ode power supply. Designed for direct operati on from worl d wide single phase AC input voltages, the suppl y is capable of powering up to tw o ViX250 drives ( see note 1) without the need for an EMC mains input fil ter (see note 2). The u[...]

3. ELECTRICAL INSTALLATION 15 XL-PSU Supply/Dr i ve Connections When used to supply up to two dr ives the power suppl y can be wired as show n in Figure 3-3. -DC +24V P1 P2 N L MAINS INPUT 1 10V-230V~ 50/60 Hz 250V A Power Supply Unit XL GND EXT . BRAKING RES. +DC (80V) HV ST ATUS BRAKING RES. 24V ST ATUS X2 X3 X1 X4 X5 ST HV FB 10 1 10 1 10 mm Min[...]

16 VIX AE SERVO DRIVE USER GUIDE XL-PSU Mounting Information Mount the supply vertically, near the drives it will supply. Both the top 4.5mm diameter fixing hole and the bottom two 4.5m m width fixi ng slots should be used. Allow a mi nimum free space of 50mm both below and above its case and 10mm free space on both sides. Do not mount the supply a[...]

3. ELECTRICAL INSTALLATION 17 PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W (80V/14A) for use w ith ViX and XL series dr ives. The supply requir es a suitably rated transformer suppl ying 50V AC RMS for the HV and 20V AC RM S for the +24V DC. The use of the PL1100 offers the following benef[...]

18 VIX AE SERVO DRIVE USER GUIDE PL1100 EMC Installation Guidelines These EMC instal lation recomm endations are based on the expertise acquired duri ng the development of compli ant applications, which Parker believes are typical of the way, a PL1100 may be used. Provided you have no speci al installation r equirements or untypical operating envir[...]

3. ELECTRICAL INSTALLATION 19 Input (line) Output (load) T o star earth point on the metal backplane T o star earth point 12FC10 T ransformers AC Mains input TO2 5 6 TO 25 5 CABINET BACK PLANE X2 X3 X1 X4 X5 ST HV FB 10 1 55V AC IN 1/3 PH. X2 L1 L2 L3 LINK FOR SINGLE PHASE 20V AC IN 20V AC IN +24V DC OUT Risk of electric shock. High voltage remains[...]

20 VIX AE SERVO DRIVE USER GUIDE SMB Motor Cables The following m otor power and feedback cables are availabl e for ViX drives: Power cable Feedback cable VIX-PWR-XXXX VIX- FDB-XXXX Table 3-3. Moto r Power and Feedback Cables Where XXXX is the length of the cable in cm, up to a m aximum length of 20 m etres in 2.5 metre increm ents. In the case of [...]

3. ELECTRICAL INSTALLATION 21 SMB Motor Connections at the Drive Standard motor pow er cables are pr epared for connection at the drive end as shown i n Figure 3-6. 10 30 50 30 3 40 100 4 5 1 2 Green/yellow Non-insulated boot-lace ferrules Idents 1-5 (to UL94 C0) Heatshrink Sleeving Use relevant sleeving to suit cable diameter Stainless steel &apos[...]

22 VIX AE SERVO DRIVE USER GUIDE SMB Motor Connections at the Motor The motor power connections are made using a 6- way connector. Figure 3-7 shows the connector pin letteri ng and Table 3-5 gives the connectivity. 1 24 3 5 6 View looking into the cable socket Figure 3-7. Motor Power C onnector Pin Identification Drive end identity X1 Motor connect[...]

3. ELECTRICAL INSTALLATION 23 15-way D- type pin reference X2 Motor feedback connector pin Resolver Encoder 1 15 Reserved Inc Enc Z+ 2 16 Reserved Inc Enc Z- 3 (twi n) 7 0V 0V 4 14 REFres+ Reserved 5 (twin) 8 +5V output +5V output 6 7 0V 0V 6 13 Motor overtemp- M otor overtemp- 7 1 SIN- Inc Enc A- 8 2 SIN+ Inc Enc A+ 9 4 Reserve d Comm f-b A0 10 9 [...]

24 VIX AE SERVO DRIVE USER GUIDE 1 W V U GND MAX 150mm X1 2 3 4 5 Figure 3-10. Position of absorbers & moto r wiring details There must be no break i n the 360 ° coverage that the screen provi des around the cable conductors. Use of a through connector m ust retain the 360 ° coverage, possibly by the use of an additional metallic casing where[...]

3. ELECTRICAL INSTALLATION 25 recommend not to bond the cabl e screen to the cabinet at the point of entry . Its function is to return high-fr equency chopping current back to the drive. This m ay require mounting the connector on a sub-panel i nsulated from the m ain cabinet, or using a connector having an insulated internal screen from the connec[...]

26 VIX AE SERVO DRIVE USER GUIDE Motor Selection and Set Up Generally, a ser vo motor is selected together w ith a driv e based on the required speed/torque perform ance suitable for the intended applicati on. The ViX product catalogue carries detai ls of the perform ance of the drive when used with a range of r ecommended servo motor typ es. Perfo[...]

3. ELECTRICAL INSTALLATION 27 Figure 3-11. EASI-V Custom Motor Configuration Window Motor the general name/num ber for the motor. Nominal current continuous cur rent rating of the motor in Amps RMS. (0.1 to 14.4) Number of poles number of m otor poles for a rotary serv o (2 pole/pairs = 4 motor pol es, so enter 4). Resolution post quadrature resolu[...]

28 VIX AE SERVO DRIVE USER GUIDE The Optional Parameters Tab Selecting the optional par ameters tab gives you access to the screen shown in Figur e 3-12. Figure 3-12. EASI-V Custom Motor Optional Parameters[...]

3. ELECTRICAL INSTALLATION 29 Motor Related System Variables Two-system variables control the current supplied to the motor from the drive. Current Clamp (C L) lim its the current output of the dri ve to protect low current motors or to set a particular torque level, and Peak Cur rent (PC) can allow a contr olled boost of motor cur rent when requir[...]

30 VIX AE SERVO DRIVE USER GUIDE Control of I 2 t Parameters The drive inter nal I 2 t parameters are al ways enabled and cannot be adjusted by the user. However, the motor I 2 t settings can be influenced by the choice of parameter s used for the MOTOR comm and. To disable the motor I 2 t settings, set the thermal time constant of the motor to zer[...]

3. ELECTRICAL INSTALLATION 31 Plots of I 2 t Against Dr i ve Current The following gr aphs plot drive current against I 2 t time in seconds for a m oving and stationary motor for both power ver sions of the drive. 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 1 1 12 13 14 15 16 17 18 19 20 0 T ime to trip I 2 t circuit in seconds ViX250 I 2 t functio[...]

32 VIX AE SERVO DRIVE USER GUIDE 0 2 1 4 2 6 3 8 4 10 5 12 6 14 7 16 8 18 9 20 10 1 1 12 13 14 15 16 17 18 19 20 0 T ime to trip I 2 t circuit in seconds ViX500 I 2 t function - moving ViX500 demanded phase current in A rms Figure 3-15.ViX500 I 2 t function - moving 0 2 .2 4 .4 6 .6 8 .8 10 1 12 1.2 14 1.4 16 1.6 18 1.8 20 22 . 2 2 . 4 2.6 2.8 3 3.[...]

3. ELECTRICAL INSTALLATION 33 X2 X3 X1 X4 X5 ST HV FB 24-80V DC 0V / GND Earth 24V DC 10 9 8 7 6 5 4 3 2 1 X1 Power & Motor 0V (GND 24v DC) Motor Earth Motor phase U Motor phase V Motor phase W Motor brake 15 15 10 10 10 10 11 11 9 6 15 11 6 6 6 1 1 1 1 1 5 5 5 5 RS232 9-way socket Control/Aux I/O 15-way socket User I/O 15-way plug Power & [...]

34 VIX AE SERVO DRIVE USER GUIDE Terminal Description X1 Connector X1 is the main pow er and motor connector . Both HV, +24V and the motor phase connections are made to X1. A br ake connection is also pr ovided via X1 pin1. Connector Type The mating connector for X1 is a Wiel and type 213B/, part number 25.323.4053.0 (Parker part number 0405.811) .[...]

3. ELECTRICAL INSTALLATION 35 Motor Brake Control Wiring Certain m otors used with the Vi X drives can be fitted with a holdi ng brake. This enables vertical (Z-dir ection) loads to be held whilst the m otor is de-energised. All brakes ar e fail-safe, that is you need to apply power to the br ake to keep it disengaged. Removing power from a brake w[...]

36 VIX AE SERVO DRIVE USER GUIDE X2 Connector X2 provides the pri mary input connections for the motor feedback device. Different types of feedback device will each require their own unique connections. The standard devices are resolver and digital encoder. Connector Type Connector type is a hi gh-density 15-way D -type socket. Connector Pin Out Co[...]

3. ELECTRICAL INSTALLATION 37 Resolver Interface Specificat ion 12 bit A to D input 4096 r esolution incremental r esolution 5.3arc mins /increm ent averaged over 1 rev absolute accuracy better than + /-30arc mins. Resolver set up For a resolver feedback motor the torque vector i s set correctly as soon as power is appl ied to the drive. The resol [...]

38 VIX AE SERVO DRIVE USER GUIDE Motor Overtemperat ure Sensor The motor overtem perature swit ch input is compatibl e with thermal switches used i n Parker SMB, SME, SM and BE ser vo motors. The input r equires a normally closed sw itch to be connected to GND on X2 pin 3 or 6. If you use a motor wi th no overtemperatur e sensor fitted or one with [...]

3. ELECTRICAL INSTALLATION 39 Reset to R S232 Mode To reset the drive to R S232 mode and to return to factory setti ngs, remove power from the drive, connect X3 pin2 to GN D and restore power. CAUTION This will erase ALL of your user settings and programs in volatile memory. The non- volatile memory will not be overwritten unt il a save command is [...]

40 VIX AE SERVO DRIVE USER GUIDE Inter-dr i ve RS232 Connecti ons Use the RJ45 connector s X6 and X7 to inter-c onnect drives, see RS232 D aisy Chain later in this section. RS232 Connecting Leads R S232 cab l es can be o r de r ed f r om Pa r k er. Va r i ous l engths a r e ava il ab l e as li s ted i n Table 3-11. Part Number Length RS232-EASI-025[...]

3. ELECTRICAL INSTALLATION 41 X4 Connector Connector X4 gives access to the foll owing encoder input and output signals and the differential analogue inputs. Input and output connections are dependent upon the state of system variables EO and EI. Connector Type Connector type is a hi gh-density 15-way D -type socket. Connector Pin Out Connector Pin[...]

42 VIX AE SERVO DRIVE USER GUIDE Encoder Input/Outputs Figure 3-20 show s the circuit detai ls of the encoder inputs and outputs, note the /Z and Z outputs use the same circui t configuration. W ith resolver feedback on X2, the encoder outputs at X4 is simul ated at a resolution of 4096 counts per rev. Encoder inputs using 26LS32 quad differential [...]

3. ELECTRICAL INSTALLATION 43 Figure 3-22 show s the input characteristi c. +10V -10V Commanded velocity Volts Velocity (rps) Dead band Figure 3-22. Analogue Differential Input Characteristic Fault Output The fault output is an independent N PN open-coll ector output, which i s normall y ‘ low ’ active ‘ high ’ . The output ratings ar e +30[...]

44 VIX AE SERVO DRIVE USER GUIDE _______ Energise/Energise You can energise the dri ve by allowi ng this input pin to fl oat high ‘ 1 ’ or by li nking the pin to zero volts, depending upon the i nput ’ s polarity. System variable ES controls the polari ty of this input. The default state of ES r equires X4 input pin 11 to be connected to 0V t[...]

3. ELECTRICAL INSTALLATION 45 When driv en from a high logi c level 24V source, a logic ‘ 1 ’ (+24V logic) will engage the brake and a logic ‘ 0 ’ (transistor off) will releas e the brake . When driv en from a high logi c level 24V sink, a logic ‘ 1 ’ or a high i mpedance state (transi stor off) will engage the brake and an active pull-[...]

46 VIX AE SERVO DRIVE USER GUIDE Analogue Monitor The analogue monitor output on X5 pin 15 can be used to examine tor que, velocity or a ramp test signal depending upon the setting of system variable AM. Figure 3-25 shows the circuit of the output. 1K2 X5 pin 15 0V + - TL074CD Drive Analogue monitor output Figure 3-25. Analogue Monitor Output RJ45 [...]

3. ELECTRICAL INSTALLATION 47 FEM1 CAT5 cable colours X6 CANopen/RS485 1 RX+/TX+ RS485 White/Orange 2 RX-/TX- RS485 Orange 3 Reserved White/Green 4 RS232 Gnd Blue 5 RS232 Gnd White/Blue 6 Reserved Green 7 RS232 Tx White/Brow n 8 Rs232 Rx Brown X7 1 RX+/TX+ RS485 White/Orange 2 RX-/TX- RS485 Orange 3 Reserved White/Green 4 RS232 sense Blue 5 RS232 G[...]

48 VIX AE SERVO DRIVE USER GUIDE Communication Daisy Chain Drives can be ‘ daisy-chained ’ for RS232 operation as show n below. Usi ng this arr angement the drive connected to the controlling PC, via its front panel D-type connector, becomes axis #1. To automaticall y assign addresses, connect all power, motor, feedback and communicati on cable[...]

3. ELECTRICAL INSTALLATION 49 RJ45 Connecting Leads R J 45 li nk cab l es can be o r de r ed f r om Pa r k er. Va r i ous l engths a r e ava il ab l e as li s ted i n Table 3-15. Part Number Length VIX-RJ45- 0025 0.25m VIX-RJ45- 0050 0.5m VIX-RJ45- 0075 0.75m VIX-RJ45- 0100 1.0m VIX-RJ45- 0200 2.0m Table 3-15. RJ45 Connection Lead Types[...]

50 VIX AE SERVO DRIVE USER GUIDE[...]

4. CONTROL OF VIX DRIVES 51 4. Contr ol of ViX Base Drives Overview This section intr oduces you to the operation of the ViX base serv o drive. The dri ve uses a sub-set of ViX commands and system variables to support the drive when connected to an external control ler or an anal ogue input. No program s can be stored in a base drive. The drive use[...]

VIX AE SERVO DRIVE USER GUIDE 52 Table of System Variables Table 4-1 lists system variables in alphabetic order together with their read/write status and range of values stored. Var Name R W Range/default value AB Analogue Deadband Y Y 0 to +255, default = 0 AI Analogue Input Y N - 2047 to +2047 AM Analogue Monitor Mode Y Y 0 = torque m onitor (def[...]

4. CONTROL OF VIX DRIVES 53 Var Name R W Range/default value GI Integrator Gain (steady state) Y Y 0 to 1023 default depends on motor type GP Proportional Gain (stiffness) Y Y 0 to 1023 default depends on motor type GV Velocity feedback Gain (dampi ng) Y Y 0 to 1023 default = 5 IC Input/Output Configurati on Y Y Input pull-up/dow n, output source/s[...]

VIX AE SERVO DRIVE USER GUIDE 54 AB, AI and AO Description AB controls the dead band and AO the offset of the differ ential analogue speed/torque control input. See Differential Analogue Input in the Elect rical Installation section. AM Description Use output 4 (X5 pi n 15) to output an analogue DC voltage between +10V and – 10V to represent the [...]

4. CONTROL OF VIX DRIVES 55 DF Description See drive fault bi t description in Reporting the Status of Variables . EO Description Use encoder outputs (c onnector X4) to supply a step- direction or step- up/step-down signal for use by another dri ve. System param eter EO determines the output as defi ned in Table 4-2. X4 EO=0 EO=1 EO=2 14 STEP+ CW+ [...]

VIX AE SERVO DRIVE USER GUIDE 56 also serves to average the effects of the di gital control loop, reducing the ji tter at standstill and the audible noise. The value of FT shoul d be kept as low as possible. The arbitrary units used to set the value of FT cannot be directl y related to any time val ue. GF Description The opposing action of propor t[...]

4. CONTROL OF VIX DRIVES 57 PC Description See Motor R elated System Variables in Electrical Installation . PE Description PE reports the positi on error, that i s, the difference between PT and PA. PF Description PF reports the step and dir ection position count in m ode position (MP). RV Description Reports the revisi on of software being used by[...]

VIX AE SERVO DRIVE USER GUIDE 58 Reporting the Status of Var i abl e s By examining Table 4-5 you can see that most system variables take a numerical value or record a simpl e ON/OFF state (0 or 1 Flags) . Certain vari ables perform a r eporting function that provides you wi th information on the status of the contr o ller and any drive faults pres[...]

4. CONTROL OF VIX DRIVES 59 Fault Status Reporting Faults are classifi ed into two groups: Drive Faul ts DF (har dware faults present i n the drive) or User Faults UF (user pr ogram faults) Drive Faults Hardware drive faults cause the drive output stage to turn OFF (de-energised). This will cause the Drive LED to turn RED. Once the faul t has been [...]

VIX AE SERVO DRIVE USER GUIDE 60 Bit Number Stop Type DF Information 1 Composite faul t (anything that causes a driv e fault) 2 K T +/-15V supply r ail 3 K R Motor HV under -voltage trip point reached 4 K R Motor HV over -voltage tri p point reached 5 C R V I/O under- voltage trip point reached 6 C R V I/O over- voltage trip point reached 7 K T Enc[...]

4. CONTROL OF VIX DRIVES 61 User Faults Programm ing errors, such as issuing a GO com mand when the dri ve is de-ener gised can cause user faults. The repor t uses a 32-bit word for mat the same as Dri ve Faults. Performing a read UF command will report the current state of any User Faults listed in Table 4-6. Bit Number UF Information 1 Value is o[...]

VIX AE SERVO DRIVE USER GUIDE 62 Servo Control Loop GF GP FT 1 T orque Demand 2 Position Feedback GI + + + - ∫ dt + - Position Demand GV d/dt d/dt Figure 4-1. ViX Servo Control Loop[...]

4. CONTROL OF VIX DRIVES 63 Controlling the Drive ’ s Mode of Operation Mode Operation of the ViX base dr ive is possibl e in three different modes, controll ed by the M (Mode) com mand. These are: • Base servo positi on mode • Base servo torque m ode • Base servo velocity mode Base servo position mode This mode uses the serv o step and dir[...]

VIX AE SERVO DRIVE USER GUIDE 64 Connections 6K Drive connector Description V i X X4 connector Description 1 Step + 12 A + 2 Direction + 13 B + 5 Fault 6 Fault 7 Shutdown (NO) 11 Energi se 9 Step - 7 A - 10 Direction - 8 B – * 13/14 Isolated Gnd/Shutdown (COM) 3G n d * Pins 13 and 14 should be connected together at the 6K Table 4-7. Step/Directio[...]

4. CONTROL OF VIX DRIVES 65 Base servo torque/velocity mode This mode uses the serv o analogue inputs to control the dr ive. Figure 4-3 shows a 6K controller, used for control purposes. A doubl e multi-core cable li nks the 6K and ViX with the connections listed i n Table 4-8. X2 X3 X1 X4 X5 ST HV FB 10 1 F AUL T VELOCITY OR TORQUE MODE Figure 4-3.[...]

VIX AE SERVO DRIVE USER GUIDE 66 Connections V i X X4 connector Description 6K connectors Description 1 Ana1+ 3 - Dr ive Command + 2 Ana1- 6 - D rive Command - 3 0V 9 - Drive I solated Gn d 6 Fault 5 - Dri ve Fault 9 A- out 3 - Encoder A - 10 B- out 5 - Encoder B - 11 Energise 7 - Drive Shutdown (N O) 14 A+ out 2 - Encoder A + 15 B+ out 4 - Encoder[...]

4. CONTROL OF VIX DRIVES 67 Torque Mode Commands For the ViX dri ve issue the follow ing commands: 1MT ;Mode Tor que 1W(ES,0) ;Energ ise input activ e level 1GA INS(0,0,0,0,0) ;Zero all gains 1SV ;Save setting s A vali d MOTOR command is req uired. All GAINS need to be 0.0 For the 6K4 issue the follow ing commands: AXSDEF1111 All ax es are steppers[...]

VIX AE SERVO DRIVE USER GUIDE 68 Brake Operation ViX drives have th e ability to con t ro l a motor hold ing brake via th e X1 pin 1 mo to r brake output. Note, special conditi ons apply to the brake wiring depending upon the br ake supply used, see Motor Brake Cont rol Wiring in the Electrical Installat ion section. Before describing the var ious [...]

4. CONTROL OF VIX DRIVES 69 External Brake Control The base drive (AE ver sion) has a dedicated input (X5 pin10) used for external control of the brake. This input can be dr iven from a high-level l ogic source or si nk, or a low-l evel logic source, see Brake Input Circuit in Electrical Inst allation section. A logic high input is required to appl[...]

VIX AE SERVO DRIVE USER GUIDE 70 Reset (Z) Issuing a reset will engage the brake, at least momentarily, as the system fails safe. Subsequently, the following will happen: • The brake will remain applied in automatic mode until the drive is re-energised. • The brake will be released if the MOTOR command indicates no brake is fitted. 24V Power Fa[...]

5. EASI-V SOFTWARE 71 5. Easi-V Software Computer Requir ements To be able to run Easi- V software, necessary for the control and programming of the Vi X, you will require an IBM ™ compatibl e PC running W indows 95/98/2000/XP ™ , NT4 or M E. The PC needs to be specified to r un Windows ™ w ith at least 16MB of R AM, a VGA monitor , Windows ?[...]

VIX AE SERVO DRIVE USER GUIDE 72 Establish Communi cati ons Before attempting com munication wi th the drive the supplied software needs to be i nstalled on to the PC ’ s internal har d disk drive. Once software install ation is complete, com mands can be downloaded from the PC to the drive to confi rm its oper ation. If Easi-V has al ready been [...]

5. EASI-V SOFTWARE 73 Figure 5-1. Choosing Where to Install Easi-V 6. Once you have selected a destination for Easi -V or have decided to use the default directory, sel e ct NEXT to begin file transfer. 7. Once Easi-V has been loaded, the screen will display a message dialogue box, stating ‘ Setup is com plete. You may run the instal led program [...]

VIX AE SERVO DRIVE USER GUIDE 74 Uninstalling Easi-V To uninstall Easi- V software, use Windows ™ uninstall software facilitie s available with in the Control Panel. Al l components are removed. Software Operation Once installed, Easi- V can be started from the star t menu or by double cli cking its application icon. At startup Easi- V displays t[...]

5. EASI-V SOFTWARE 75 Menu Overview File Fili ng Operations Creates a new edi tor file, or .pr g program file Opens an existing editor file or program Save an editor fil e Save an editor fil e specifing the file nam e Print the editor fi le or contents of terminal buffer Close current acti ve window Exit Easi-V Edit Editing Operati ons Undo a previ[...]

VIX AE SERVO DRIVE USER GUIDE 76 Terminal Terminal on-l ine operations Configure the ser ial comm unications Open/close the termi nal (after testing the connecti on) Configure test buttons [ Edit buffer ] Create an editor file window or term inal buffer [ Log to file ] Open/close file loggi ng terminal buffer actions Utilities Specifi c tools Displ[...]

5. EASI-V SOFTWARE 77 Terminal Menu Sel ecti ons Terminal menu selections control the setup and configuration of communication betw een a PC and driv e. Communicating wi th a Dr i ve The default settings of a new dr ive from pow er-up are R S232 communicati ons with an address setting of #1. Wi re the RS232 communi cation lead as described in the E[...]

VIX AE SERVO DRIVE USER GUIDE 78 Select the required confi guration and, click OK. Then, again from the Ter minal m enu select Connect to start communi cations. Every time C onnect is issued the comm unications link i s tested to establish it i s working cor rectly and the message box ‘ Testing communi cations integrity ’ is flashed on the scre[...]

5. EASI-V SOFTWARE 79 Utilities Men u Selections Utilities menu selections control the way drives are setup and configured for use with a particular motor type. The menu offers two levels of setup, depending upon the skill and experience of the operator . • Guided servo setup (gui des you through setup for a particular m otor type – quick and s[...]

VIX AE SERVO DRIVE USER GUIDE 80 From the drop- down menu select your motor type or perform a custom set-up. Click ‘ Next> ’ . Select the operating mode of the driv e and the direction of rotation requi red for a rotary moto r. Click ‘ Next> ’ .[...]

5. EASI-V SOFTWARE 81 Use this screen to adjust the value of the Peak Current ration (PC). Fo r a pre-defined m otor type use the default value displayed. Keep the Current Clamp (CL) valu e as 100%. Click ‘ Next> ’ . This screen allow s adjustment of the drive ’ s gai n parameters. For drive testi ng purposes keep the default values sugges[...]

VIX AE SERVO DRIVE USER GUIDE 82 Use this screen to configure the brake input to match the output generating the brake signal. The screen also allows selectio n of the type of simulated encoder output or input required. Click ‘ Next> ’ . • High logic l e vel 24V source (IC = 256) [upper box ticked lower blank] ( default) • High logic l e[...]

5. EASI-V SOFTWARE 83 The general configuration screen allows adjustment of motor brake settings, communicati on settings, analogue input control and defines what is monitored by the monitor output. The state of system variable ES can also be set via this screen. Click ‘ Next> ’ . With ES ticked ( ES=1) the dri ve is energised without any co[...]

VIX AE SERVO DRIVE USER GUIDE 84 Servo Setup This facility gives easy access to setting system variables in a more direct manner than Guided Servo Setup. Figur e 5-5 shows a sample screen. Figure 5-5. Other Tab of Servo Setup The buttons displayed along the base of this screen can be used as follows : Upload retrieves the current setti ngs for the [...]

5. EASI-V SOFTWARE 85 Status The Utilities menu axis Status provides a convenient method of examining the double word status bits. The tool gives access to the status of User Faults, Status bits and Drive Faults using a series of tabs, as shown i n Figure 5-6. Figure 5-6. Status Reporting The Status Report can be perm anently displayed dur ing prog[...]

VIX AE SERVO DRIVE USER GUIDE 86 Help EASI-TOOLS has extensive on-line help facilities, which allows you to search for help on a particular topi c either within the main contents or by entering a topic stri ng. All the commands li sted within thi s user guide are available on- line by selecting C ontroller Commands fr om the Help menu.[...]

6. COMMAND REFERENCE 87 6. Command Reference Command Description Each command has a sim ple 1 to 7 character name usual ly an abbreviation of its full descriptive titl e. Listed commands are in alphabetic or der with any non-alphabetic symbol s appearing last. Each individual description will include a one-line header giving the abbreviated name fo[...]

88 VIX AE SERVO DRIVE USER GUIDE A multi- parameter com mand can take the form shown in Figure 6- 2. aGAINS(parameter1,2,3,4,5) Parameters 1,2,3,4 & 5 Command name Address prefix Note: optional parameters are displayed in italics Figure 6-2. Parameter Commands Attention [1] Terminate al l commands wi th a carriage return. A space is not vali d [...]

6. COMMAND REFERENCE 89 Immediate Only Immediate onl y commands are: K, R(UF) , R(DF) and R(ST) The controller acts upon these com mands as soon as they are received. Immediate or Buffered Immediate or buffered commands ar e immediate unless command executi on is being delayed, in whic h case the command is buffer ed. When command execution is bein[...]

90 VIX AE SERVO DRIVE USER GUIDE BRAKE Brake configuration Syntax aBRAKEn(mode,RD,ED) Description n is used to r elease a brake and to cancel any previ ously selected automatic m ode. mode selects the way the brake is used A automatic hol ding brake mode D automatic dynam ic brake mode E external input used for brake (AE vari ant only) M brake mode[...]

6. COMMAND REFERENCE 91 GAINS Gain configuration Syntax aGAINS(GF,GI,GP,GV,FT) Description Issuing a GAINS com mand with no par ameters, produces a ver bose list of all current gains. Par ameters may be set up al l together in one comm and. Alternativel y, gains may be indivi dually set/reported by using the read and write var iable comm ands. GP :[...]

92 VIX AE SERVO DRIVE USER GUIDE H Change direction Syntax Units Range of ‘ n ’ D e fault See also aHn - + or - + STATUS Description The H comm and changes the direction of moti on according to a positive demand signal. A blank value following the H command will be ignored. Properties Immediate, saved by SV Note The drive must be de- energised [...]

6. COMMAND REFERENCE 93 K Kill Syntax Units Range of ‘ n ’ D e fault See also aK - - - OFF, SETUPFB Description The KILL command will perform the following functions: - Abort a SETUPFB command. - Execute an OFF command - Set the fault output This com mand i s used as an im mediate stop and does not attem pt to control deceleration. Properties I[...]

94 VIX AE SERVO DRIVE USER GUIDE M Mode Syntax Units Range of ‘ n ’ D e fault See also aMn - see below - - Description The mode comm and sets up the mode of operation of the drive. The values of n are: P – base servo positi on mode (step and dir ection input) T – base servo torque mode ( analogue torque input) V – base servo velocity m od[...]

6. COMMAND REFERENCE 95 MOTOR Motor Settings Syntax aMOTOR(T ype,Current,Resolution,M ax_vel,Thermal_const,Resistance, Inductance,KT) Description This comm and describes the characteristics of the motor being used to the rest of the drive. The par ameters used are: Type – 0 to 65535 number code, which i n cludes pole count, feedback type, brake a[...]

96 VIX AE SERVO DRIVE USER GUIDE Properties Immediate, saved by SV Note [1] If the thermal time constant is set to zero, the I 2 t protection for the motor is disabled. [2] The motor command can take up to 10 seconds to finish execution. [3] The drive will not be allowed to energise without a valid motor command being executed. R Report system para[...]

6. COMMAND REFERENCE 97 RFS Return to factory settings Syntax Units Range of ‘ n ’ D e fault See also aRFS - - - SV Description Issuing an RFS comm and initialis es the drive to factory defaul t settings. The drive must be de- energised (OFF) for the RFS comm and to be executed. Properties Immediate, saved by SV Note The address is set to axis [...]

98 VIX AE SERVO DRIVE USER GUIDE SETUPFB SETUP motor FeedBack Syntax Units Range of ‘ n ’ D e fault See also aSETUPFB - - - K Description For a correctly wired Parker motor, this command is not required . However, when commissioning problems occur with a motor/drive system, the SETUPFB command can be used to tr oubleshoot motor w iring pr oblem[...]

6. COMMAND REFERENCE 99 STATUS STATUS of Drive Syntax Units Range of ‘ n ’ D e fault See also aSTATUS - - - Description Use this command to check the state of a dri ve. It is intended for set- up purposes rather than for use when a program is runni ng. Properties Immediate or buffered, can ’ t be used in a label led block, not saved by SV Exa[...]

100 VIX AE SERVO DRIVE USER GUIDE SV Save configuration Syntax Units Range of ‘ n ’ D e fault See also aSV - - - Z Description When the SV command is issued, the current drive system variables and configuration ar e stored in non volatil e memory. Fol lowing a reset or power- cycle the settings held in the non-volatile memory will be restored i[...]

6. COMMAND REFERENCE 101 W Write system variable Syntax aW(syst em_variable,value) Description The W comm and allows you to set a specified system variable to a particular value . Refer to the table of system variables for more information. Properties Immediate not saved by SV Example Set system variable TL (Tracking Limit) to 4000 Report the curre[...]

102 VIX AE SERVO DRIVE USER GUIDE System Variables Var Name R W Range/default value AB Analogue Deadband Y Y 0 to +255, default = 0 AI Analogue Input Y N - 2047 to +2047 AM Analogue Monitor Mode Y Y 0 = torque m onitor (default) 1 = velocity moni tor 2 = outputs a triangul ar waveform – 10V to +10V amplitude, w ith a 1 second period AO Analogue O[...]

6. COMMAND REFERENCE 103 Var Name R W Range/default value GI Integrator Gain (steady state) Y Y 0 to 1023 default depends on motor type GP Proportional Gain (stiffness) Y Y 0 to 1023 default depends on motor type GV Velocity feedback Gain (dampi ng) Y Y 0 to 1023 default = 5 IC Input/Output Configurati on Y Y Input pull-up/dow n, output source/sink[...]

104 VIX AE SERVO DRIVE USER GUIDE Drive Faul ts Bit Number Stop Type DF Information 1 Composite faul t (anything that causes a driv e fault) 2 K T +/-15V supply r ail 3 K R Motor HV under -voltage trip point reached 4 K R Motor HV over -voltage tri p point reached 5 C R V I/O under- voltage trip point reached 6 C R V I/O over- voltage trip point re[...]

6. COMMAND REFERENCE 105 Status Bits Bit Number Status Information 9 Motor energised 10 Motor undefined, use MOTOR comm and 16 Duty cycle too high, excessive motor current (I 2 t) 23 Tracking limit is greater than max. all owed position err or 24 Last SETUPFB command failed 25 In motion, 0 for positive moti on, 1 for negative moti on 26 Brake appli[...]

106 VIX AE SERVO DRIVE USER GUIDE Command List Command Description BRAKE Brake configurati on GAINS Gains configuration H Change directi on K Kill M Mode MOTOR Motor settings R Report system parameter RFS Return to factory settings SETUPFB Setup motor feedback STATUS Report status of dri ve SV Save configuration W Write system variable Z Reset[...]

7. MAINTENANCE & TROUBLESHOOTING 107 7. ViX Maintenance and T r oubleshooting Maintenance ViX drive systems do not require any routine maintenance, but occasional checking of the following poi nts is recommended. Motor inspection Periodical ly check the motor to ensur e that the mounting bolts and coupli ngs are tight. Check that the motor cabl[...]

108 VIX AE SERVO DRIVE USER GUIDE Communication Pr obl ems When attempting a C onnect from the Term inal menu, if the connection fails w ith the followi ng error m essage: Figure 7-1. Communications Failure Error M essage Check the followi ng: 1. Ensure the serial por t configuration is set correctly i n EASI-V and you select the correct serial C O[...]

7. MAINTENANCE & TROUBLESHOOTING 109 Drive LED I ndi cators X3 X1 X4 ST HV FB 10 10 11 9 6 15 6 1 1 1 5 5 Red Feedback fault with no HV Orange HV OK and feedback fault Green HV OK Colour Function Red Drive fault Orange Drive OK but de-energised Green Ready (energised) Colour Function Red Comms fault Orange Comms status Green Comms OK Colour Fun[...]

110 VIX AE SERVO DRIVE USER GUIDE Complete LED Diagnosti cs An EASI-V version of this table is available for quick on-line viewing. LED Colour(s) Flash rate Functional description HV green none motor supply OK HV orange none m otor supply under voltage (<16V) HV red none motor supply over vol tage (>96V) HV off - no motor supply ST green none[...]

7. MAINTENANCE & TROUBLESHOOTING 111 Forcing a Har dwar e RFS Pin 2 of serial communications D -type connector X3 is for use as a hardwar e method of forcing a retur n to factory settings. It may be used when i t is not possible to per form an OFF or RFS com mand. To force a hardware RFS follow the procedure detailed below, note you will loose [...]

112 VIX AE SERVO DRIVE USER GUIDE Returning the System If a drive modul e is found to be faulty, you should contact your Parker Autom ation Technology Centre or the machinery manufactur er who supplied the product. Equipment for repair should NOT be returned directly to Parker without prior authorisation. Repairs will be carried out by Parker but w[...]

8. HARDWARE REFERENCE 113 8. Har dware Ref erence Drive Functional Specification – ViX250AE, ViX500AE Parameter Value Maximum output cur rent Maximum continuous power draw n from the supply ViX500: 5A RMS conti nuous 15A RMS peak (2 seconds max.) * ViX250: 2.5A RMS conti nuous 7.5A RMS peak (2 seconds max.) * 6.3A at 80V (500VA) Motor HV supply i[...]

114 VIX AE SERVO DRIVE USER GUIDE Controller Specification Parameter Value Communi cation Data format 8 data bits, 1 start bit, 1 stop bit, no par ity, optional echoback, Xon/Xoff supported Baud rate 9600, or 19,200 Address setting range 1 -255 by software RS232 connection 2 wi re plus ground Brake Input Input levels Logic high 14 - 24V, l ogic low[...]

8. HARDWARE REFERENCE 115 Drive Environment Specification Parameters All drive types Environment Pollution degr ee 2 Operating temper ature range 0 to 40 ° C ambient for natural convection cooling 40 ° C to 50 ° C with for ced air cooli ng of minim um 0.5m/s enteri ng the base of the drive (appr oximately 3.5m 3 /h or 2cfm airflow through the ca[...]

116 VIX AE SERVO DRIVE USER GUIDE[...]

APPENDIX A 117 Appendix A Discrete Power Suppl y Recommendati ons If the XL_PSU is not being used i ndividual Vi X drives can be power ed from transformer /bridge rectifi e r power supplies of the type shown in Figur e A-1. This design suggests suitable component val ues for poweri ng particular dr ive types, but can be adapted to power mor e than [...]

118 VIX AE SERVO DRIVE USER GUIDE The size of transform er required for a servo drive installati on depends very much on the application and on the m aximum shaft power deliv ered by individual motors. It is worth noti ng that in a one-off or low volume appl ication it i s usually pr eferable to be slightly gener ous in sizing the transformer, r a [...]

APPENDIX B 119 Appendix B – Encoder & Resolver Phasing Encoder and Resolver Phasing Diagrams Positive direction is clockwise (CW) when the motor is viewed from the shaft. The commutation di agrams show moti on in the positive CW directi on. However, the drive ’ s internal electr ical position counts down for C W motion. Resolver phasing dia[...]

120 VIX AE SERVO DRIVE USER GUIDE 90 180 270 0 90 180 270 0 90 180 270 0 90 180 270 0 Drive Z index Sin Cos V-U U-W W-V BE resolver phasing diagram[...]

APPENDIX B 121 Encoder phasing di agr ams for the IE Dr i ve Phasing is shown for clockwise r o tation when the motor is viewed fr om the motor mounting flange. Line voltage W- V is defined as X1 pin 2 with respect to X1 pi n 3 Line voltage V-U is defined as X1 pin 3 w ith respect to X1 pin 4 Line voltage U- W is defined as X1 pi n 4 with respect t[...]

122 VIX AE SERVO DRIVE USER GUIDE 0 30 60 90 120 150 180 210 240 270 300 330 360 BE phasing diagram electrical p ostion d egrees W- V V-U U-W Comm A0 Comm A1 Comm A2 IndexZ[...]

INDEX 123 Inde x 2 24V supply requir ements, 11 A A to D converter, 42 AB, AI & AO system variables, 54 Absorber ferrite, 25 AI system variable, 42 AM system variable, 46, 54 ANA1 inputs, 42 Analogue input, 42 Analogue monitor output, 46 AO system variable, 42 B Baud rate changing, 38 Baud rate selection, 78 BE motor cables, 20 BR system variab[...]

INDEX 124 installation di rectory, 73 menu overview , 75 running, 73 software file size, 71 startup, 74 status reporting, 85 uninstall, 74 ED operation, 68 Edit menu, 75 EI system variable, 55 Electrostatic precauti ons, 9 EMC Installation, 18 Encoder input configurati on, 55 output configuration, 55 Encoder phasing diagr ams, 121 Encoder simulated[...]

INDEX 125 feedback connections, 22 feedback connector wir ing, 23 phase contactors, 25 power cable dr ive-end preparation, 21 power connections, 22 safety earth connection, 30 selection, 26 system variables, 30 wire size, 21 Motor inspection, 107 Motor mounti ng precautions, 8 MOTOR settings, 95 Motors optimum types, 26 voltage rating, 30 N Not sav[...]

INDEX 126 Step direction inputs, 55 Step direction outputs, 55 Step up step down inputs, 55 Step up step down outputs, 55 Supply connections, 10 current, 11 volts, 11 SV save configuration, 100 Syntax checking, 89 System variables, 51, 87 reading, 51 reporting status, 58 table of, 52 writing, 51 T Temperature ambient, 115 storage, 115 Terminal menu[...]

CUSTOMER FEEDBACK 127 Customer Feedbac k If you have spotted any errors, om issions or inconsistent inform ation within thi s user guide please let us know. Either use this page (or a photocopy) to describe the err or and Fax. it to the number given bel ow. Alternativ ely, you may phone or em ail the corr ection. Name of user guide: Part number: 16[...]

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VIX AE SERVO DRIVE USER GUIDE X2 X3 X1 X4 X5 ST HV FB 24-80V DC 0V / GND Earth 24V DC 10 9 8 7 6 5 4 3 2 1 X1 Power & Motor 0V (GND 24v DC) Motor Earth Motor phase U Motor phase V Motor phase W Motor brake 15 15 10 10 10 10 11 11 9 6 15 11 6 6 6 1 1 1 1 1 5 5 5 5 RS232 9-way socket Control/Aux I/O 15-way socket User I/O 15-way plug Power & [...]