Emerson EV3200 Podręcznik Użytkownika

User’s GuideFor theMXBrushless Servo DrivesAmplifier ModelsMX-280, MX-440MX-850, MX-1300, MX-1600Motor ModelsBL-316, BL-340BL-455, BL-490, BL-4120BL-6

Soft startMax. inrush = 19.5A Resistor capacity: 33Ω 150 WBus Control (Shunt) ResistorsMX Series AmplifiersMX-280 MX-440 MX-850 MX-1300 MX-1600Resist

Refer to Section 6.3Pr41 RO Current Limit ValueRange 0 to +100 Resolution 1Displays the current limit value corresponding to whichever is the least of

Pr57 R/W At-Speed Window - upper limitRange +Full Scale Speed (Pr99) Resolution 1 rpmDefault 5 rpmSets the upper limit at which the At-Speed output wi

Default 3000 rpmSets the full scale value range for analog input and sets speed range for digital commands. +/- 10 volts onanalog speed command input

b06 R/W Command Selector - speed/current PDefault 00 Speed command, either analog or digital.1 Current command, either analog or digital.Warning:b06 m

b14R/WPulse / Direction mode PDefault 1 Firmware rev. 2.95 +b14 b17 mode0 0 Pulse / Direction mode1 0 Analog speed command modeX 1 I/O speed pres

0 without ramps1with rampsRefer to Section 4.2b33 RO Alarm Status0 at least one alarm is active1 no alarm activeSee Pr98, b03b38 RO Direction of Moto

1 Terminal modeRefer to Chapter 9.b53 R/W Orient Stop Mode Selector PDefault 00 stop and hold1 orient stop and holdSee Pr37, 27.b55 RO External Trip A

Defines the meaning of the signal given by the 'At-Speed' Status bit b42.1 (relative)The Actual motor speed is compared to the Speed Comman

Summary of Default Values — Numerical ParametersParameter Default Units NameP Pr00 0 rpm Digital speed preset 0P Pr01 0 rpm Digital speed preset 1P Pr

8.3.2 Summary of Defaults — Bit ParametersParameter Default Effect NameP b00 0 disable Security code change enableP b01 0 not Recall saved parametersb

Fast transient burst IEC 801 - 4 Level 3Resolver accuracy (arc min. total spread)Cable length PN 250224 ETWF Belden # 816410 ft 20 20 2050 ft 31 28

8.4.1 Alphabetical Index of Numerical ParametersAcceleration ramp forward Pr09Acceleration ramp reverse Pr10Alarm stored last Pr98Amplifier size code

8.4.1 Alphabetical Index of Numerical ParametersSpeed - full scale Pr99

8.4.2 Numerical Index of Numerical ParametersDigital speed preset 1 Pr00Digital speed preset 2 Pr01Digital speed preset 3 Pr02Digital speed preset 4

8.4.3 Alphabetical Index of Bit ParametersAlarm reset b03Alarm status b33At-speed indication type b96At-speed status b42Command selector speed/current

8.4.3 Alphabetical Index of Bit ParametersSpeed loop saturation status b48Stop command bit b18Stop decel enable b22Stop input status b09Zero speed sta

8.4.4 Numerical Index of Bit ParametersSecurity code change enable b00Recall saved parameters b01Drive enable bit b02Alarm reset b03Drive enable stat

8.4.5 COMBINED ALPHABETICAL INDEX OF NUMERICAL & BIT PARAMETERSAcceleration ramp forward Pr09Acceleration ramp reverse Pr10Alarm reset b03Alarm s

8.4.5 COMBINED ALPHABETICAL INDEX OF NUMERICAL & BIT PARAMETERSI/O digital input status Pr18I/O digital output selector 1 Pr30I/O digital output

9Serial CommunicationsThe serial interface allows direct connection between MX servo drives and a remote hostcomputer or programmable logic controller

Figure 9.2 shows the two serial protocol connections. An RS232 cable for connection to anIBM AT (9 pin) is available from Emerson EMC as Model number

Motor SpecificationsBLM/E-3XXX Torque Speed CurveFor mechanical dimensions see Appendix.BLM/E-4XXX Torque Speed CurveFor mechanical dimensions see App

Control CharactersTo conform to the standard structure of a message, the stages of a message are signalledby control characters. Each character has a

INTERROGATE THE DRIVE - 'Request Data'FormatThe query command consists of a maximum of 9 characters, but may use fewer. The formatmust be c

DRIVE REPLY TO INTERROGATION "Send data"The drive will reply with a message in the following format:| STX | Parameter | Data | ETX

Quick KeystrokesAfter the serial communication has been established to one axis by the first complete query,some data can be acquired with reduced tra

INSTRUCT THE DRIVE - 'Write Data'Data written to a drive controls its operation. A plc or a computer can therefore be incomplete and consta

TERMINAL MODETerminal mode uses a simplified protocol -| EOT | Address | CR |For example, for drive whose address is 02, if the axis selection s

Error MessagesPlain language error messages are returned in Terminal Mode as follows -SYNTAX ERRORMessage string does not comply with format.PARAMETER

SERIAL COMMUNICATIONSPARAMETERSP = Parameter protected by Security CodePr22 R/W Serial Address PRange 1 to 32 Resolution 1Default1Required for all sys

Logic Flow Diagram

2Installation — Mechanical2.1 Location and MountingIP RatingThe drive enclosure conforms to international enclosure specification IP20. This meansth

screws are provided, to ensure a good ground connection to the mounting surfacewhich should itself be bonded to ground.SpacingWhere two or more drives

12Quick StartThis chapter will show people who are experienced with servo drive systems how to getthe system started in a basic analog velocity comman

Suggested Ground bus bar dimensions:Lengthinches(mm)Widthinches(mm)Thicknessinches(mm)<20(500).75(20) .1875 to .2500(5.0 to 6.0)20 - 40(500 - 1000)

Figure 12.58 Grounding Schematic AZ16

In Figure 12.2 note the use of a separate isolated power system ground bus forconnecting the motor power wire shield and the amplifier ground terminal

2.3 EnclosuresIf an enclosure is to be used, it is important to take into account the dimensions of theamplifiers to ensure adequate clearance for ai

Figure 12.3 shows the resolver cable interconnection between the MX amplifier and anEmerson EMC motor.Figure 12.60 Resolver Connections AZ19

Figure 12.4 shows how a motor with a brake should be connected. The system controllerwill have the ultimate decision on when to activate or deactivat

Figure 12.5 shows a quick overview of the control terminal connections of the MXamplifier. For details of their operation refer to Chapters 3 and 4.F

Figure 12.63 Encoder Simulation Connection AZ21

Encoder simulationVersion 2.96 and later have 4 resolution selections available and the selection is madevia Pr68. (The amplifier version is displaye

12.2 Preliminary SettingsPower up the system with the amplifier disabled (B14 disconnected) until the followingparameters are adjusted. NOTE: Rememb

Amplifier Current capacity chartCurrent rating (RMS amps)Amp ModelContinuous MaximumMX-280 2.8 5.6MX-440 4.4 8.8MX-850 8.5 17.0MX-1300 13.0 26.0MX-160

Figure 2.1 shows the mounting hole patterns andair flow requirements. For detailed dimensions,see Appendix.Figure 2.0 MX MountingDimensionsMXAMP

3Installation — Electrical3.1 General InformationSafetyThe voltages present in the supply cables, the output cables and terminals and incertain intern

Table 3.A — Suggested Ground bus bar dimensions:Lengthinches(mm)Widthinches(mm)Thicknessinches(mm)<20(500).75(20) .1875 to .2500(5.0 to 6.0)20 - 40

Figure 3.1 Enclosure WiringAZ33

EMERSON EMC ♦♦♦♦ Subsid.: Emerson Electric Co.1365 Park Road ♦♦♦♦ Chanhassen, Minnesota 55317 ♦♦♦♦ 612/474-1116 Sales612/474-8833 Service (24 h

Figure 3.1 shows pictorially how an enclosure should be wired for best groundingeffectiveness. Notice that the control ground and the high power grou

Figure 3.2 shows schematically how a system ground is wired for best grounding andcable shielding. Notice that the logic common on the MX amplifier i

3.2 EMI Interference3.2.1 IMMUNITYIf the instructions in this manual are observed, MX servo drives exhibit excellentimmunity to interference from exte

In the case of DC coils, a diode is installedacross the coil in a direction that will cause thevoltage transient to be shorted out through thediode.

In the installations that require EMI emissions to be significantly below the acceptableindustrial levels there are methods by which the EMI emissions

In figure 3.5 note the use of a separate isolated power system ground bus forconnecting the motor power wire shield and the amplifier ground terminal.

Figure 3.6 shows how additional suppression is accomplished by smoothing the PWMhigh frequency signals on the motor power cables and the incoming powe

Figure 3.7 shows a ferrite ring being used to reduce line disturbances if necessary inthe installation. The rings are installed by wrapping the bundl

3.3 Power ConnectionsPOWER WIRINGThe power terminals are located on the upper surface of the amplifier. (See FigureO.1.) The MX amplifier design all

3.3.1 FusingThe drive must be protected on the supply side either by dual element fuses (See thefuse ratings chart below) or by suitably-rated three-

CUSTOMER SERVICESEmerson EMC offers a wide range of services to support our customer’sneeds. Listed below are some examples of these services.SERVICE

3.4 Control Connections3.4.1 Control signal wiringThe terminals for the control circuits are on the front, protected by a removable cover(see Figure

and should not run parallel until they are separated by at least 10 to 12 inches.3.4.4 Serial linkFull duplex RS485 (RS 232 compatible) connection is

Figure 3.9 Control Terminals AZ8

POWER TERMINALS3.5.1 Power Terminal Connector A (Models MX-280, MX-440)No Function Type DescriptionA1 Phase A outA2 Phase B out >Output to motorA3

3.5.2 Control Terminals "B" ConnectorNo Name & Function Type DescriptionB1 External trip/Limit Aux.Analog Inputin Auxiliary analog inpu

3.5.2 Control Terminals "B" ConnectorNo Name & Function Type Descriptionon b08B11 Zero volts3Control signals, analog and digital,common

3.5.2 Control Terminals "B" ConnectorNo Name & Function Type DescriptionB23 Sine high in Sine signal from resolverB24 Excitation low ou

3.5.3 Simulated Encoder Terminals CNo Function Type Description[Version 2.31 andearlier modelsonly. Pulse Modeselector.][Version 2.31 and earlier] -

In Figure 3.10 note the use of a separate isolated power system ground bus for connectingthe motor power wire shield and the amplifier ground terminal

Figure 3.11 shows the amplifier modification required if an external shunt resistor is used. The external resistor is connected between terminals A9 a

0 INTRODUCTION AND CONTENTS 1 SPECIFICATIONS - AMPLIFIERS/MOTORS 2INSTALLATION - MECHANICAL 3 INSTALLATION - ELECTRICAL 4 FUNCTIONAL DESCRIPTIONS AN

modification has been made. This removes the risk that a modified drive might later beassumed to be in standard condition especially if it is removed

Figure 3.12 shows a quick overview of the control terminal connections of the MXamplifier. For details of signal operation see the individual connect

Figure 3.13 shows a pictorial connection diagram of the resolver interconnection betweenthe MX amplifier and an Emerson EMC motor.Figure 3.13 Resolver

Figure 3.14 Speed Command Input AZ26

Figures 3.15, 3.16, and 3.17 show the different ways of connecting to digital analog inputon Terminal B1. Terminal B1 has two different functions. I

Figure 3.16 Motor Thermal Sensor Connection AZ29

Figure 3.17 External Current Limit Connection AZ28

Figure 3.18 shows the digital outputs and how they are internally connected to source asignal when in an active state. Each output can drive up to 50

The Drive OK output is active when all the logic supplies are at the correct levels and thereare no Faults that shut down the amplifier output bridge.

Figure 3.20 shows how a motor with a brake should be connected. The system controllerwill have the ultimate decision on when to activate or deactivat

0IntroductionMX servo-drives are designed to operate in one of three command modes - speed, current, or pulse and directioncommand. For details on t

EncodersimulationVersion 2.96 andlater have 4resolutionselectionsavailable and theselection is madevia Pr68. Version 2.31 andearlier have tworesolutio

Figure 3.24 shows how the Pulse and Direction mode of control is connected. See section4.3 for details on implementation.Figure 3.24 Pulse-Direction

RS-485 and RS-232C ConnectionsRS-485 full duplex differential four-wire connection allows a multi-drop links to a maximumof 32 servo drives. The maxi

4Functional Descriptions and ConfigurationsIn reading this chapter it will be found helpful torefer to the Block diagrams in the Appendix.This section

continuous and Peak Current limit, I2t limit. These factors are used to set the amplifier todeliver peak performance with maximum safety. (See USER

• The status of the inputs at terminals B4 and B5 is displayed by Pr18.4.1.3 Acceleration and Deceleration FunctionTo enable, B07=1 To disable, b07=0

4.2 STOP FUNCTIONSThe Stop Function does two things: It stops the motor rotation with or without decel rampsand, it holds the motor position. This m

hard the motor will try to maintain the position. If the motor is forced out of position, itwill increase current to the motor and will continue incr

stepper which can only assume that the motor actually moved. In performing the motion,the amplifier will provide all the power available to achieve t

digital.The analog current command mode is useful in applications where a servo-motor is to beoperated in a "torque helper" type of master/s

Figure O.1

4.5 Current (torque) Limit functionThe power stage of the drive is controlled by the current error signal at the summationpoint where the current fee

4.6 Most-used Configuration SettingsNote:The MX amplifier utilizes motor current phase advance above 3000 rpmwhich enables the motor to easily exceed

4.6.3 Accel/Decel RampingTo activate ramp function b07=1Rotation referenced when viewing the motor face.Table 4.F —Description Parameter Setting Defa

Figure 4.27 Feedback Resolution SelectionAZ14Version 2.31 and earlier, have two resolution selections available - 1024 lines perrevolution (4096 steps

4.8 Outputs4.8.1 Programmable Digital OutputsSelected by Pr30 - output at terminal B7Selected by Pr31 - output at terminal B8For both outputs, data i

4.9 Fault and Alarm HandlingTo the MX amplifier a fault is something that is an un-recoverable situation and in thesecases, the amplifier output is d

dangerous if the operator was investigating the reason for the machine stopping and themachine were to restart on it's own.ATTENTION!The amplifie

Figure 4.28 Power Supply Block Diagram

5Programming Keypad and MXP5.1 Keypad & DisplayThe keypad and display panel of MX servo drives is a demountable module whichincorporates the prog

DisplayA five-panel LED display window responds to the actions of the keys, displaying parameternumbers and values in accordance with a simple protoco

FEATURES OF THE MX SERVO DRIVE• MX amplifiers can be connected directly to three phase line power.• Customizing adjustments to control parameters can

Figure 5.30 Memory Diagram AZ2

5.2 Manipulation of ParametersFor details regarding parameter manipulation through the serial link please refer to Chapter 9after reading this sectio

The settings can be saved from the Working Table to the User Table (EEPROM) by settingb99=1. The contents of the Working Table are lost upon powering

Parameter display time-outIf, during parameter setting, no keystroke is made for approximately 8 seconds, the displayreverts either to rdY if the driv

5.3.1 To set a Security CodeAction EffectPress MODE The mode LED illuminates.The display shows the number of the last parameter tohave been accessed,

5.3.2 To change a Parameter Protected by the Security CodeAction EffectPress MODE The mode LED illuminates.The display shows the number of the last p

6Start-up ProceduresIn reading this chapter it will be found helpful to study andrefer to the Logic diagrams of the control system and theMode Selecto

6.3.1 Maximum CurrentA drive can deliver any level of current up to the maximum for which it is rated. Thismaximum is marked on MX nameplates as Imax

For example, if Imax is 8.8A and Ipk (the desired maximum current) is 5A, then -The resolutionof Pr42 is 1(%), so the value entered would be 57 in thi

Table 6.A — Standard system settings chartCurrent limitsMX Drive BL Motor Pr42 Pr45 Pr55MX-280 316-4 100 28 7340-4 100 44 7MX-440 455-4 100 36 8MX-850

Balanced 3Ø, 3-wire, 50 to 60 Hz Voltage range 380V -10% to 460V +10%Output VoltagesMotor Service voltage (380V to 460V) 3Ø less 10 VACDC bus voltage

6.4PID FunctionThe default values in the PID gains will need to be adjusted to the values that best match themotor and the load. The best starting va

Table 6.B — Standard system settings chartGain settingsMX Drive BL Motor Pr13 Pr14 Pr15MX-280 316-4 11 22 33340-4 14 25 28MX-440 455-4 14 30 30MX-850

values will be applied at the next power up.6.6 Resolver PhasingEmerson motors require a setting of Pr16 = 170.If a complete reset is performed on th

Figure 6.33 Start Up Checkout AZ52

Figure 6.34 Start Up Checkout (Cont'd) AZ52A

After the motion is completed, the display will show the phase difference between the motorand the resolver. Record the value displayed.Select Pr16 a

that b18=0 (default value).6.7.2Motor Function TestsFor the following tests it is recommended that the motor should be mechanically uncoupled,although

6.8.1Zero Speed Calibration (Offset)The applied speed command may sometimes have an offset, causing the motor to turnslowly with a zero command. Inpu

1 - Preliminary SettingsSet b07=0b12=1b18=0Pr58=maximum speed (=Pr99)Pr99=full-scale speed of the motor 1A - for Digital Command systemParameters

Speed may be reduced by decreasing the programmed values of Pr00, Pr01, Pr02,Pr03, or the inversion frequency may be increased by decreasing the value

each additional 100m (328 Ft.).Ventilation / CoolingMX servo amplifiers do not require external fans when mounted vertically as describedin the amplif

Figure 6.36 Overshoot Response AZ39Figure 6.37 Ideal Response AZ39BFigure 6.38 Overdamped Response AZ39A

6.8.3 - Tuning ProcedureEnable the drive by a 24V signal at terminal B14 and by setting b02=1. Wave forms such asthose shown in Figure 6.5 show a dyn

7Diagnostic ProceduresAll read-only (RO) parameters are software 'test points', enabling the user to monitor allsignificant functions of the

shorts in motor leads, verify correct motor and power connections.Et10External trip. b55=1 — Usually motor overtemperature sensorconnection. Inhibit

has torque, develops peakcurrent, may vibrate, andenters I2t region.especially forswapped motorphases.With drive enabled and aspeed command applied,mo

8Parameter DescriptionsProgrammable parameters are used in the MX amplifier to set up for the different modes of operation and to makevarious system a

8.1 Numerical Parameters - DescriptionsPr00 R/W Digital Speed Preset 0 PRange -3000 to +3000 rpm if 200 ≤ Pr99 ≤ 3000-6000 to +6000 rpm if 3200 ≤ Pr99

Pr09 R/W Acceleration Ramp ForwardRange 1 to 3000 ms Resolution 1 msDefault 200 msThis is the slope of the ramp, measured in milliseconds per 1000 rpm

Pr18 RO I/O Digital Input Status (terminals B4 & B5)Range 0 to 3Signals at terminals B4 and B5 -- < 5V = 0> 5V = 1Configuration of Pr18 -Ter

Protects all R/W parameters marked P when Pr25 is set to any integer value >0. They can be read at anytime, but cannot be changed unless the secu