Posidrive fds 4000 инструкция на русском

FDS
FREQUENCY INVERTER
POSIDRIVE®
FDS 4000
Installation and Commissioning Instructions
It is essential to read and comply with these
instructions prior to installation and
commissioning.
MANAGEMENTSYSTEM
certified by DQS according to
DIN EN ISO 9001, DIN EN ISO 14001
Reg-No. 000780 UM/QM
POSITIONING CONTROL
VECTOR CONTROL
SYNCHRONOUS
OPERATION
TECHNOLOGY
SV. 4.5
07/2003
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
Table of Contents
Table of Contents
1.
Notes on Safety
1
2.
Technical Specifications
2
3.
Physical Installation
3
3.1
3
4.
Installation Site
Electrical Installation
3
4.1
4.2
4.3
4
4
4
EMC-Compatible Installation
FI Circuit Breaker
DC Link Coupling
5.
Conn. Assignment - Control Portion
5
6.
Inverter Exchange, Compatibility
6
6.1
6.2
Option Boards EA4000, GB4000
FDS 1000, 2000
6
6
Operator Control and Programming
6
7.1
7.2
7.3
6
6
7
7.
8.
9.
Status Indication
Parameterization
Password
Commissioning
8.1 Primary Parameters
7
7
8.2
8.3
8.4
8.5
8.6
8.7
7
8
8
8
8
9
Motor Type
Reference Value via Keyboard
Analog / Frequency Reference Value
Fixed Ref. Values (Digital Ref. Values)
Brake Control
Parameter Transmission
Special Functions
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
Binary Inputs BE1 to BE5 (BE6 to BE10)
Torque Limits
Operating Range
Parameter Record Selection
Motor Potentiometer
Speed Feedback
Acknowledgment of Faults
Motor Startup
Control via PC
10. Positioning Control
9
9
9
9
10
10
10
11
11
11
12
10.1 Function Overview
10.2 Connections
10.3 Destination Positioning and Proc. Blocks
10.4 Absolute / Relative Positioning
10.5 Commissioning
10.5.1 Limited Traversing Range
10.5.2 Continuous Trav. Range (Rotary Axis)
10.6 Reference Point Traversing
10.7
Position Controller
10.8
Process Block Chaining
10.9
Simple Examples
12
12
13
14
14
14
15
15
16
16
17
10.10
Emergency Off
18
10.11
Ext. Rotary / Linear Path Measurement
19
10.11.1
10.11.2
10.11.3
10.12
Encoder
Adjustment of Motor / Ext. Meas. System
External Encoder and Posi Parameters
Posi Switching Points
11. Technology
11.1
11.2
11.2.1
11.2.2
11.2.3
11.2.4
11.2.5
PID Controller
Winders
Diameter Sensor on AE1/AE2
Indirect Tension Control at M-Max Limit
Winding with Compensating Roller
Winding with Tension Sensor
Compensation of Fault Variables
12. Synchronous Running, El. Gearbox
12.1
12.2
12.3
12.4
12.5
12.6
12.7
12.8
Function Overview
Connection of Encoder
Connection of Inputs and Outputs
Commissioning of Slave
Angle Deviation
Angle and Speed Sync. Running
Emergency Off
Reference Point Traversing - Slave
19
19
19
20
20
20
21
21
21
22
22
22
22
22
23
23
23
24
24
24
24
13. Parameter Description
25
14. Option Boards
55
14.1
14.2
14.3
Option Board GB4001 and EA4001
Option Board Ext. 24 V Power Supply
Option Board SSI-4000
55
56
57
15. Result Table
58
16. Operating States
59
17. Faults/Events
60
18. Block Circuit Diagram - Sync. Running 62
19. Block Circuit Diagram - Ref. Val. Proc. 63
20. Parameter Table
64
21. Accessories
67
21.1
21.2
21.2.1
21.2.2
21.2.3
21.3
21.3.1
Accessories Overview
67
Braking Resistor
70
Allocation of Braking Resistor to FBS/FDS 70
Braking Resistor FZM/FZZM (Dimensions) 70
Braking Resistor VHPR (Dimensions)
71
Output Derating / Output Filter
71
Allocation of Output Derating / Output
71
Filter to FBS/FDS
21.3.2 Output Derating RU (Dimensions)
71
21.3.3 Output Filter MF (Dimensions)
71
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
1. Notes on Safety
1
NOTES ON SAFETY
To prevent avoidable problems from occurring during commissioning and/or operation, it is essential to
read and comply with this entire instruction manual before starting installation and commissioning.
Based on DIN EN 50178 (once VDE 0160), FBS/FDS-series frequency inverters are defined as electronic
power equipment (BLE) for the control of power flow in high-voltage systems. They are designed exclusively to
power three-phase-current, asynchronous machines. Handling, installation, operation and maintenance must be
performed in accordance with valid and/or legal regulations, applicable standards and this technical
documentation.
The frequency inverter are products of the restricted sales class (in accordance with IEC 61800-3. Use of this
products in residential areas may cause high-frequency interference in which case the user may be ordered to
take suitable measures.
The user must ensure strict adherence to these standards.
The safety notes and specifications stated in additional sections (items) must be adhered to by the user.
Caution! High touch voltage! Danger of electric shock! Danger of death!
Never under any circumstances may the housing be left open or connections disconnected when the power is
on. Disconnect the power plug of the frequency inverter and wait at least 5 minutes after the power voltage has
been switched off before opening the frequency inverter to install or remove option boards. Correct configuration
and installation of the inverter drive are prerequisites to correct operation of the frequency inverter. Only
appropriately qualified personnel may transport, install, commission and operate this device.
Pay particular attention to the following:
• Permissible protection class: Protective ground; operation only permitted when protective
conductor is correctly connected. The devices may not be operated directly on IT networks.
• Installation work may only be performed in a voltage-free state. When work has to be done on the drive,
inhibit the enable and disconnect the complete drive from the power network. Adhere to the 5 safety
regulations.
• Discharge time of the DC link capacitors > 5 minutes
• Do not penetrate the interior of the device with any kind of object.
• When performing installation or other work in the switching cabinet, protect the device against falling
objects (e.g., pieces of wire, flexible leads, metal parts and so on). Conductive parts may cause short
circuiting or device failure on the frequency inverter.
• Before commissioning, remove all extra coverings to prevent the device from overheating.
The frequency inverter must be installed in a switching cabinet which does not exceed the maximum ambient
temperature (see technical data).
Only copper wiring may be used. For use in the U.S.A., see table 310-16 of the National Electrical Code (NEC)
for line cross sections to be used at 60 °C or 75 °C.
STÖBER ANTRIEBSTECHNIK accepts no liability for damages caused by non-adherence to the
instructions or applicable regulations.
The motor must have an integral temperature monitoring device or external motor overload protection must be
used.
Only suitable for use on power networks which cannot supply more than a symmetric, nominal short-circuit
current of 5000 A at 240 V ac / 480 V ac.
Notes:
Subject to technical changes for improvement of the devices without prior notice. This documentation
is solely a product description. It is not a promise of features in the sense of warranty rights.
1
2
5)
3)
Model 2 / BG II
Model 3 / BG III
3 x 3.5 A
3 x 2.1 A
36 W
3 x 3.5 A
1.5 kW
1 x 16 AT
see
FBS / BGI
3 x 7.0 A
1.5 kW
3 x 16 AT
3 x 10 A
4.0 kW
3 x 20 AT
3 x 12 A
5.5 kW
3 x 0 V up to connection voltage
3 x 10 AT
3 x 5.5 A
2.2 kW
3 x 22 A
11 KW
3 x 25 AT
3 x 35 AT
(L1-L3) 3 x 400 V
4)
+28%/-55% / 50/60 Hz
3 x 16 A
7.5 kW
3 x 50 AT
3 x 32 A
15 kW
≥ 200 Ω;
max. 640 W const.,
max. 3,2 kW für 1 s
≥ 100 Ω;
max. 1,28 kW const.,
max. 6,4 kW für 0,5 s
4 kHz (adjustable up to 16 kHz with current derating of 46% at 16 kHz, 75% at 8 kHz)
200 % / 2 sec , 150 % / 30 sec
3 x 50 AT
3 x 39 A
18.5 kW
≥ 30 Ω;
max. 21 kW const.,
0 - 200 Hz (vector control: 0 - 100 Hz; spindles: 0 - 400 Hz at B20=0V/f-control and B24=8 kHz) / resolution of 0.01 Hz
3 x 6 AT
(L1-L3) 3 x 400 V
4)
+28%/-55% / 50/60 Hz
3 x 2.1 A
0.75 kW
88 W
IP 20
150 W
3.2
4.3
180 W
220 W
290 W
420 W
12.8
15
max. 10
186 x 410 x 268
12.4
5
12.3
14.6
6.4
14.5
3)
Clock pulse frequency 4 kHz, motor cable shielded and applied on both sides
4)
Power networks ≠ 400 V: Low voltage limit (A35) and A36 may have to be adjusted.
5
Line circuit breaker - tripping characteristic D in accordance with EN 60898
For UL conformity, use class RK1 fuses:
1~: Bussmann KTN-R (200 to 240 V)
3~: Bussmann KTS-R (380 to 500 V)
max. 4.0
100 W
max. 2.5
77 W
98 x 300 x 268
50 W
98 x 300 x 176
53 W
Relative humidity of 85%, no condensation
-20 °C to +70 °C, Max. change, 20 K/h
Up to 55° C with power reduction of 2.5% /° C
0° to 45° C for nominal data
3 x 63 AT
3 x 44 A
22 kW
FDS 4300/B*
13
15.2
500 W
13.2
15.4
550 W
0 to +40 °C f. nom. data,
50 m, proportionately shorter when several motors are used. Longer lengths or parallel installation to encoder cable with output derating.
EN 61000 -4 -2, -3, -4, -5/residential and industrial zoning
Integrated network filter for compliance with RFI suppression in acc. w. EN 55011, classes A + B/residential and industrial zoning
1 x 10 AT
≥ 100 Ω;
max. 320 W const.,
max. 1,8 kW für 1 s
1 x 6 AT
(L1-N) 1 x 230 V
4)
+20%/-55% / 50/60 Hz
0.75 kW
0.37 kW
FBS 4008/B FBS 4013/B FDS 4014/B FDS 4024/B* FBS 4028/B* FDS 4040/B* FDS 4070/B* FDS 4085/B* FDS 4110/B* FDS 4150/B* FDS 4220/B* FDS 4270/B*
Model 1 / BG I
* = Externally ventilated (integrated fan)
1)
For nominal connection voltage, clock pulse frequency 4 kHz,
4-pin asynchronous machine, motor cable shielded 50 m
2)
With S1, clock pulse frequency 4 kHz
- without packing
- with packing
Dimensions
W x H x D (in mm)
Core cross section
2
(in mm ) Motor
cable/power cable
Weight (in kg)
Protection rating
Power loss
Storage
temperature
Humidity during
operation
Ambient
temperature
Interference
immunity
Permissible
length of motor
cable, shielded
RFI suppression
Clock pulse
frequency
Braking resistance,
limit data, brake
chopper)
Imax
Output frequency
Output voltage
Power fuses
Connection
voltage
Recommended
1)
motor power
Nominal
2)
current IN
Type of device
Model
POSIDRIVE® FDS 4000
ANTRIEBSTECHNIK
STÖBER
2. Technical Specifications
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
3. Physical Installation
4. Electrical Installation
3
PHYSICAL INSTALLATION
Dimension in mm
Frequency inverter,
base plate
BG I
BG II
BG III
Height
h
300
300
410
Width
w
98
98
186
d1
176
268
268
d2
158
250
250
a
282,5
282,5
392,5
above
c
---
---
150
below
b
70
70
150
Depth
Vertical
Horizontal
Base plate,
mounting holes
Min. free space
between adjacent units
Top/bottom: 100 (min.)
Right/left: 1 (min.)
Screws
M5
d1 = Device depth including plug connector
EMC terminal only for
control cables
3.1
Installation site
•
•
•
•
Operate only in closed switching cabinet.
Install inverter only in vertical position.
Avoid installation over heat-producing devices.
Ensure sufficient air circulation in switching cabinet.
(Minimum free space of 100 mm over and under the
device!).
4
ELECTRICAL INSTALLATION
• Keep installation site free of dust, corrosive fumes and all liquids (in
accordance with soil degree 2 in accord. with EN 60204/EN 50178).
• Avoid atmospheric humidity.
• Avoid condensation (e.g., by anti-condensation heaters).
• Use unpainted mounting plates with conductive surface (e.g.,
unpainted) to conform with EMC regulations.
Chap. 14
Screw housing directly
to unpainted
mounting plate.
EMC terminal for
control lines on
bottom
Positor line can be
installled with motor
cable (max. of 30 m).
Secure shield with a
clamp to mounting
plate near the inverter.
3
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
4. Electrical Installation
Power section X11
Terminal Designation
FBS
FDS
--
L1
L1
L2
N
L3
PE
PE
U
Function
Circuiting
Power connection:
FBS
L1 – N: 1 x 230 V +20% / -55% 50/60 Hz
Single-phase connection (FBS)
FDS
L1 – L3: 3 x 400 V +28% / -55% 50/60 Hz
Protective conductor, power
Protective conductor, motor/motor cable shield
under FDS on mounting plate (see page 3)
Three-phase connection (FDS)
Motor connection U, V, W
V
W
R1 (+R)
R2 (R)
Adhere to sequence
DC link potential (+)
Conn. of ext. braking resis.
Ö Activation by A20 required
With the external brake resistor, we recommend usin
types with integrated overcurrent relays to prevent
thermal damage caused by overload.
Power
Shield connection: See page 3.
U–
DC link potential (–), see remarks
* Remarks: Plug connector for DC link availabe as accessory (see chap. 22). Not available for 1 ~ FBS, BG I
4.1
EMC-Compatible installation
Basic rules
y Install control and power cables separately (> 20 cm).
y Install power, encoder and motor cables in separate spaces.
y Central grounding point in immediate vicinity of the inverter.
All shields and protective conductors of motor and power
cables are applied here over a large area.
y Reference value cables must be shielded and, if necessary,
twisted in pairs.
y Connect shield of control lines on one side to the reference
ground of the reference value source (PLC, controller, etc.).
Motor cable
y Use shielded cables. Apply shield on both sides.
y Use motor derating when cables are longer than 50 m.
y Motor derating is recommended when cables are installed
parallel to encoder lines.
4.2
FI circuit breaker
Network phases and directly grounded conductor are connected to the protective conductor with Y capacitors. When voltage
is present, a leakage current flows over these capacitors to the
protective conductor. The greatest leakage current is created
when a malfunction occurs (asymmetric feeding over only one
phase) and power-on (sudden change in voltage). The
maximum leakage current caused by asymmetric powering is
18 mA for FDS inverters (power voltage of 400 V).
In connection with frequency inverters, only universal-currentsensitive, fault current circuit breakers may be used if the application permits circuit breakers with increased tripping current
(e.g., 300 mA) or selective circuit breakers (switch-off delay).
Use of several devices on one FI circuit breaker is not
recommended.
4.3
DC link coupling
Coupling of devices of the same design:
All coupled devices must be connected to one common power
fuse. The following table shows you which fuse to select.
Maximum possible drive power is limited by the common fuse.
If more power is required, proceed as for coupling devices of
differing design.
4
FDS
Power Fuse
Max. Drive Power
BG1
3 x 10 AT
4.0 kW
BG2
3 x 20 AT
8.5 kW
BG3
3 x 63 AT
30 kW
Coupling of devices of differing design:
Each device has its own power fuse based on its technical
specifications (chap. 2). In addition, each device must be
protected on the DC link in R1 (U+) and U- with the same
current strength. The fuse must be suitable for a voltage of
500 V DC. Lines with lengths of 20 cm and longer must
be shielded.
Brake resistor: Only connect to one device (the largest).
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
5. Connection Assignment - Control Portion
Term.
A (+)
B (-)
1
Internal voltage supply
+10 V ±5%, max 3 mA
2 (+)
Analog input AE1
0 to ±10 V
Ri = 25 kΩ, 10bits+sign
Ta = 4 msec
3
Control terminal strip X1
4 (-)
Analog input AE1,
inverted
AE2 function can be programmed under F20
External current
External voltage
external
±10V
GROUND
external
+
510Ω
external
X1
internal
1
2
3
4
0 - ±20mA
GROUND
internal
1
2
3
4
+
Analog ground
Reference potential for terminals A, B and X1.1
to X1.5
7
Ground 12 V
Reference potential for terminal X1.15
GROUND
8
Digital ground
Reference potential for inputs X1.9 - X1.14
9
Enable
Ta = 4 msec
Enable power section. See also param. F38.
Consider halt magnetization (B25, F00=22).
L level:
< +8 V
10
Input BE 1
* 8:halt
15
1
2
3
4
5
6
Remarks:
REF.VALUE1
AE1
510Ω
Tech. data
of binary
inputs:
14
internal
+10V
1 max
3mA
2
+
3
510Ω
4
5
ANALOG
6
>4kΩ
AE1 function can be
programmed under F25.
6
13
Potentiometer
X1
X1
Analog output
Function can be programmed under F40.
0 to ±10 V, Ri = 1 kΩ
10bits+sign, Ta = 4 msec Time constant, low pass, 10 msec
12
Terminal strip X2
Analog input current
0 to ±20 mA
Ri = 510 Ω, 10bits+sign
Circuiting
5
11
1
Function
Analog input AE2
0 to ±10 V
Ri = 25 kΩ, 10bits+sign
Ta = 4 msec
H level:
>/= +12 V
X1
external
ENABLE
BE1
internal
6
ANALOG GND
7
12 V GND
DIGITAL
8
GND
9
10
11
12
13
14
+12V
15 max
20mA
Freely programmable, floating inputs. Function
BE2
Input BE 2
is specified with parameters F31 to F35.
BE3
* 6:Direction of rotation Scan time T = 4 msec. If an incremental
Voltage limits:
a
BE4
encoder is used, max. input frequency on BE4
Input BE 3
BE5
to BE5 is 80 kHz. With certain positioning
* 1:RV-select0
-10 V to +32 V
functions
(e.g.,
Posi:next)
BE3
is
without
delay.
Input BE 4
Interference
* 2: RV-select1
* Default setting of the inverter
immunity
Important:
Input BE 5
EN 61000-4
With ext. 24 V addressing,
* 0:inactive
do not insert jumper
Can be used to address binary inputs X1.9 to
Internal voltage
between X1.7 and X1.8.
X1.14.
If
so,
reference
ground
of
the
binary
1
source
Connect external ground
inputs (X1.8) must be jumpered with 12 V
12 V, 20 mA
to X1.8.
ground (X1.7).
Motor
- Temperature sensor
(PTC)
- Thermal contact
(3.2 V, 1 mA max.)
Relay 1
max. 6 A/250 V AC
6 A/30 V DC ohm. load
1 A/30 V DC ind. load,
switching time 15
msec
Ta = 4 msec
Relay 2 (=BA2)
Same tech. spec. as
relay 1
Ta = 4 msec
Connection for one to six positor lines (thermal
motor protection). Lines can be installed with
the motor cable up to 30 m.
If positor lines are not used with a motor,
terminals X2.1 to X2.2 must be jumpered.
If a non purely ohmic load is connected,
the relay contacts must be provided with a
protective circuit. Use an external
coupling relay when greater loads must be
switched frequently.
Indicates that frequency inverter is ready for
operation (i.e., relays closed)
Function can be programmed with F10.
Life expectancy (no. of switches):
Physical: min. of 10,000,000 times
100 000 times at 250 V AC, 6 A
300 000 times at 30 V DC, 2 A (ohm. load)
More frequent signal changeÆUse optional binary outputs!
Additional relay output, (e.g., for brake control)
Function can be programmed with F00 (= F81).
For brake control, see chap. 8.6.
Ta = Scan time
VZ = Sign
Short circuit resistance. Caution: A short circuit may cause a processor reset.
5
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
6. Inverter Exchange, Compatibility
7. Operator Control and Programming
6
INVERTER EXCHANGE, COMPATIBILITY
6.1
Option boards EA4000, GB4000
The following information applies when old boards (EA4000
and GB4000) are replaced by new boards (EA4001 and
GB4001) () chap. 14.1) or when inverters with these boards
are replaced.
FDS software and hardware version (parameter E51)
• New EA4001 and GB4001 option boards will not run on old
devices. New option boards require software and hardware
release 4.5 or later.
• Old EA4000 and GB4000 option boards will also run with
newer software (4.5 or later).
(B20=1), the post ramp reference value is indicated as the
speed for vector control with speed feedback (B20=2) of the
actual speed measured.
The first line of the display can also be customized. A function
selected via C50 (e.g., power) is divided by C51 and provided
with the unit in C53 (e.g., "items/min"). The unit can only be
specified via FDS Tool. The number of positions after the
decimal point is provided by C52.
In position mode (C60=2), the position is shown in the first line
when speed feedback is present. The second line indicates
the operational status.
Position
Encoder connection HTL (EA4000 + GB4000)
• Old: Inverted encoder tracks remain free.
• New: Inverted tracks must be connected.
Encoder connection TTL (EA4000 + GB4000)
• Old: Direct connection to the terminals
• New: The terminating resistance must be adjusted with
sliding switch.
Encoder power, TTL encoder (EA4000 + GB4000)
• Old: Can be switched between 5 V and 16 V
• New: Fixed at 18 V. Cannot be switched!
Encoders that are suitable for a voltage of 18 V must be
used. An external 5 V powerpack can be used as an
alternative.
Plug connector X21 for EA4000 (chap. 14.1)
• Old: 7 terminals
• New: 9 terminals ("A" and "B" are new.)
The right-hand portion (terminals 1 to 7) remains
unchanged. Terminals A and B remain free.
Parameterization
• Old: F39 for X20 increments
• New: H22 for X20 increments, H20 for X20 function
6.2
FDS 1000, 2000
Before replacing devices, please request detailed instructions
from STÖBER Service.
7
OPERATOR CONTR. AND PROGRAMMING
7.1
Status indication
Moving
Oper. status
(see chap. 16)
7.2
Process blk. no.
Parameterization
• Return to prev. menu level
• Reject changes
• Acknowledgement of malfunctions (A31=1)
• Select various menu levels
• Accept changes
• Parameter selection
• Edit parameters
• Group selection
To program, press the
key (Enter). The menu consists of
several groups which are identified with the letters A, B, C
and so on. Select the groups with the arrow keys (i.e.,
and
). Press the
key again to access the parameters of the
selected group.
The parameters are designated with the group letters and a
number (e.g., A10 or D02).
Parameter
no.
Only for parameter
record no. 2
Parametername
In its default setting, the display is set up as shown below.
Speed
Current
Clockw.
Oper. status
(see chap. 16)
Brake
chopper
active
Parameter record
no. 2 active
All possible operational states are listed in chapter 16. If is lit
up, this means that the inverter is using parameter record no.
2. If parameter record no. 1 is active (default setting), no
special indication is made. appears when the brake chopper
is activated.
C51 can be used to convert the speed (e.g., to gear output). In
control mode V/f control (B20=0) and sensorless vector
6
Value
Parameters are selected with the
and
keys. To change
a parameter, press the
key again. The flashing value can
and
. The changes take effect
now be edited with
immediately. To retain the changed value, press the
key.
To reject the change, press the Esc key. To return from
parameter selection to the group letters, press Esc . To return
to the status display, press Esc again.
Parameter changes must be saved with A00=1 (save
parameters) before the device is turned off.
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
8. Commissioning
Status
display
A..
inverter
If no temperature sensor exists, X2.1 and X2.2 must be
jumpered. The internal 12 V voltage on X1.15 can be used to
power the control signals. This requires a jumper between
X1.7 and X1.8. Motor and inverter must be adjusted to each
other. To do this, select the appropriate motor type in
parameter B00. See chap. 8.2.
rpm
clockwise
B..
motor
C..
machine
8.1
Parameter
groups
Primary parameters
When connected to the power supply, the status display
shows status "0:Ready for operation." If "12:Inhibited" is
shown instead, the enable must be removed. The following
parameters must then be specified.
control mode
V/f-control
Parameter
selection
motor-type
Parameter
input
motor-type
Accept change
Reject change
• A20: (braking resistor type) if present
• B00: (motor type stated on nameplate). See chapter 8.2.
• B20: (control mode) can usually be left at "1:Sensorless
Value
Vector." Speed accuracy and dynamics are better here than
flashes
classic V/f control (B20=0).
For vector control with n feedback, see chapter 9.6.
• C00: (min. speed), C01 (max. speed)
• D00, D01: Acceleration and deceleration ramp
• D02: Speed at 100% reference value (10 V on AE1)
After power-on, the inverter only shows the most important
parameters which are required for commissioning. The
extended menu level is activated with A10=1 for the solution
of complex drive tasks.
A10=2:service; Access to rarely used service parameters
"Check entries" is started with A02=1. Any contradictions in
the parameterization are reported.
Ö Remember to save the parameters with A00=1 before
turning off the power.
Both the normal menu and the expanded menu do not show
parameters which are not related to the current task.
8.2
Example: When a predefined STÖBER motor
(e.g., 100K∆2.2kW) is selected in parameter B00
(motor type), parameters B10 to B16 (poles to
cos PHI) are not shown.
Approximately 50 sec after the last key was pressed, the
device returns automatically to the status display. This return
can be prevented with A15=0 (auto return inactive).
Fieldbus: Most of the parameters pertaining to the fieldbus
can only be set on the PC with FDS Tool.
7.3
Password
The parameters can be protected against unauthorized
change. To do this, enter a password (an up to 4-digit number
but not zero) in parameter A14, and save it with A00=1.
Password protection is inactive if A14=0. Parameter A14 can
only be accessed in the extended menu with A10=1.
On a protected device, the parameters can only be changed
after the correct password has been entered in A13.
8
COMMISSIONING
The power connections (i.e., power supply and motor) must
first be correctly wired in accordance with chap. 4. Before
initial commissioning with a reference value potentiometer, the
following circuiting must be made:
• Reference value specification via potentiometer
(X1.2 - X1.4). See chap. 5.
• Enable (terminal X1.9)
• Temperature sensor (terminals X2.1 and X2.2). See chap. 5.
>4 kΩ
Enable
Motor type
Most 4-pole STÖBER motors can be specified directly in the
B00 parameter:
Example: For drive C613_0630 D100K 4 TF (100 K,
4-pole motor), either "17:100KY2.2kW" or
"18:100KD2.2kW" is entered in B00 depending on
the circuiting (i.e., star or delta).
Ö When a concrete motor type is specified, no further
settings (e.g., break point, nominal current and similar) are
necessary.
The following applies to STÖBER motors up to a size of 112
(i.e., 4 kW):
With the star connection (i.e., Y), the nominal voltage is
reached at 50 Hz, while with the delta connection (i.e., ∆) the
nominal voltage is reached at 87 Hz. With the star connection,
full motor torque is available up to 50 Hz, while with the delta
connection full motor torque is available up to 87 Hz. The delta
connection is used for motors starting with size 132. Full
torque is available up to 50 Hz (with power connection
3 x 400 V / 50 Hz).
If motors are not predefined (e.g., motors of other
manufacturers or the number of poles is not 4), B00 must be
set to "0:user defined." Parameters B10 to B16 must be set
manually based on the motor's nameplate. FDS Tool has an
external motor data base for non-Stöber, user-defined
motors. Your own motors can be added to the motors which
are predefined there.
B00=0 must be used for motors with special winding
(e.g., motor 132 with 230/400 V). The V/f characteristic
curve (i.e., the relationship between voltage and
frequency) is specified by the parameters B14 (nominal
voltage) and B15 (nominal frequency). Additional specification
of the break point is not necessary. As the frequency rises, the
voltage increases past B14 up to the available power voltage
or A36.
The motor must then be sized with B41=1 as shown below.
(Continue on next page.)
7
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
8. Commissioning
1.
2.
3.
Ö
Ö
Set B41=1. Default display is 0%.
Activate enable. Measuring begins.
When 100% is reached, remove enable. Measurement is
concluded.
Save parameters with A00=1 before turning off the power.
When the FDS-Tool is used, the edited parameters must
be stored on the inverter before autotuning.
8.3
Reference value via keyboard
For a function test during commissioning, it is sufficient to
connect enable input X1.9 and the terminals for temperature
sensors X2.1 and X2.2. The speed is specified with the keyboard. Set A50=1 (tip active), and activate A51 with
so that
the speed reference value flashes. Speed A51 is used until
or Esc is pressed. The speed can be changed
the next time
with
and
.
An alternate method when A50=1 is flashing (entry after ) is
to use the
and
keys to move the drive (classical tip
mode). The tipping speed can be adjusted with A51 (set
A50=0 beforehand or the drive will start running).
The frequency inverter can also be operated directly via
Controlbox without extra circuiting. The device is enabled with
and ON
. You can then
the keys manual operation
continue with the direction keys
and . The tipping speed
can also be adjusted here with A51 (set A50=0 first, or the
drive will start).
8.4
Analog/frequency reference value
With the default setting, the speed can be specified
immediately via the reference value on analog input AE1 (e.g.,
via potentiometer, cf. chap. 5). The following parameters are
important:
AE1- AE1- AE1level offset gain
4
AE1
E10
F26
F27
AE1function
F25
+
0
5
n = Speed [rpm]
RV= Reference value [%]
e.g.% of 10 V)
• D02: n (RV-Max)
n
RV
(max. RV) max
RVD02
D03
offset
D06
10
+
n
D02
n (max. RV)
SW
D04
n (min. RV) D05
D03
RV-min RV-max
Speed at maximum reference value
(10 V, 20 mA or f-max)
• E10: AE1
level Indication in % of the final
value (final value=10 V or 20 mA)
With the extended menu (A10=1), the following parameters
are also available.
• D03: refVal-Max.
Maximum reference value in % of
the final value (final value=10 V,
20 mA or f-max). For example, with
D03=50%, the speed set in D02 is
achieved at 5 V or 10 mA.
• D04: n (RV-Min.)
Speed at minimum reference value
• D05: refVal-Min.
Minimum reference value in % of
the final value
• D06: refVal-offset
Offset on AE1 in % of the final value
Parameters D02 to D05 can be used to specify as desired the
relationship between the analog reference value (usually the
voltage) and the speed in the form of a reference value
characteristic as shown below.
8
Possible reference values are voltage (100%=10 V), current
(100 %=20 mA or frequency (f-max=100%=parameter F37).
The frequency reference value is activated by F35=14. The
frequency signal must be available on BE5. Frequency
reference value and speed feedback cannot be used at the
same time. The ramps for the analog and frequency reference
value are specified by D00 and D01. D92=1 negates the
reference value. When D07=1, the controller enable depends
on the reference value. See block circuit diagram of the
reference value processing in chapter 19.
8.5
Fixed reference values (digital ref. val.)
Up to 7 fixed reference values (FRV) can be defined.
Switchover is binary-coded via binary inputs. With the default
setting, inputs BE3 and BE4 are provided for the selection of
three fixed reference values.
BE4 BE3
Reference Value
L
L Analog / frequency
L
H Fixed ref. value 1, D12
H
L Fixed ref. value 2, D22
H
H Fixed ref. value 3, D32
E60
0
1
2
3
Ramps
D00,D01
D10,D11
D20,D21
D30,D31
The speed in D12, D22, etc. is entered in motor rpm. The
input signals are fed to a reference value selector and binary
decoded there. The result of the binary decoding (i.e., 0 to 7)
is indicated in parameter E60.
Ö If the result of binary decoding is 0 (E60=0, i.e., L level on
all inputs of the RV selector), the analog/frequency
reference value is also taken into consideration.
The binary inputs can be allocated as desired to the input
signals of the reference value selector. With the default
setting, F33=1 (BE3 function=RV select0) and F34=2 (BE4
function=RV select1) apply. RV select0 and RV select1
correspond to bits 0 and 1 of the binary reference value
selector. If no binary input is assigned to one of the three
refVal select signals, this signal is considered low. To use all 7
fixed reference values, input BE5 could be programmed to
F35=3 (RV select2), for example. The selected ref. value is
negated with D92=1 (i.e., the direction of rotation is reversed).
The fixed ref. value number can be specified directly with D09.
8.6
Brake control
Relay 2 is programmed with F00=1 for brake control. The
brake is applied under the following conditions.
• Removal of the enable. Watch F38=1.
• Halt. One BE must be programmed to HALT (e.g., F31=8).
• Quick stop (e.g., with BE function "9:quick stop")
• Halt or quick stop with BE functions "clockwise V3.2" and
"counter-clockwise V3.2" (both signals on "L" or "H")
• Fault. Watch F38=2.
• During specific process block positions. See group L..
The brake can be released manually with BE function
"32:brakeRelease."
After release on, remember that halt magnetization must first
be established (≤ 500 msec). The BA-function 22:RVready“ is
used to report the time of the halt magnetization.
During operation without speed feedback (i.e., B20 < 2), F01
and F02 are used to define the speed limit to open and close
the brakes.
Halt
n ref.
value
Brake
Released
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
9. Special functions
With vector control (B20=2), F00=1 can be used for full brake
control in lifting systems. The release time F06 and application
time F07 of the brakes must be specified with an additional
amount for the relay delay time (10 to 30 msec). When one of
the above events occurs, the drive remains controlled for the
time F07. During traversing, startup is delayed by the time F06.
The magnetizing current can be turned off or reduced ("econo
mode," parameter B25) when halt is active or when processblock-specific brake control is used during positioning.
24 V brakes may not be controlled directly with relay 2.
Use an external auxiliary relay instead!
8.7
Parameter transmission
Using the Parabox, a Controlbox or the FDS Tool PC
software, parameters can be transferred quickly between
inverters or between inverter and a PC.
Write data to Parabox:
• Connect Parabox to sub D plug connector
X3 of the first device.
• Values are written to Parabox with A03=1.
PA R A B O X
Read data from Parabox:
• Connect Parabox to the new device.
• Values are read from Parabox with A01=1 and, at the same
time, saved safe from power failures.
• A40=1 reads Parabox without saving afterwards.
Controlbox offers memory space for the
parameters of up to 7 devices. The inverter data
are written to Controlbox as shown below.
• Select the memory space number (1 to 7) in
A03 (write Parabox).
.
• Press
The data are read from Controlbox to the inverter in a similar
manner.
in A01 (read Parabox
• Select memory space number with
& save).
• There is no automatic saving with A40 (read Parabox).
9
SPECIAL FUNCTIONS
9.1
Binary inputs BE1 to BE5 (BE6 to BE10)
With the default setting, the binary inputs which can be
programmed as desired have the following meaning:
• BE1 = 8:Halt
• BE2 = 6:Direction of rotation (left/right)
• BE3 = 1:RV select0 (bit 0, fixed reference value decoding)
• BE4 = 2:RV select1 (bit 1, fixed reference value decoding)
• BE5 = 0:Inactive
The function of the binary inputs is specified via the
parameters F31 to F35.
Option board EA4001 offers five additional binary inputs. The
function of the binary inputs is specified via the parameters
F60 to F64 in the extended menu (A10=1).
BE1function
1:RV select 0
2:RV select 1
3:RV select 2
28:syncReset
29:wind.setD-Ini
without a connection to a BE signal are internally given an
L-level signal.
9.2
Torque limits
There are several methods of limiting motor torque.
• With the default setting, C03 (M-Max 1) is the current torque
limit in % of the nominal motor torque.
• A binary input (assign BE function "10:torque select" via one
of the param. F31 to F35) can be used to switch between
the two torque limits C03 (M-Max 1) and C04 (M-Max 2).
• During startup mode C20=2 (cycle characteristic), switching
between C03 (M-Max 1) and C04 (M-Max 2) is automatic.
M-Max 1 is used during constant travel, while M-Max 2 is
used during acceleration phases.
• Analog input AE1 or AE2 can also be used to limit torque.
Set parameter F25=2 or F20=2. 10 V represent 100% of
nominal motor torque. Other scaling factors can be set with
F22 (AE2-gain) or F27.
• C04 (M-Max 2) always takes effect for a quick stop.
The actually effective torque limit is calculated from the
minimum of the various limit values. It can be scanned in
parameter E62.
Ö Torque limitation is the most precise in speed feedback
mode. Accuracy here is +5% of nominal torque. In the
classical control mode V/f control (parameter B20=0),
torque calculation is not very accurate with low speeds and
small loads. Results with control mode Sensorless Vector
Control (B20=1, default setting) are better than with V/f
control.
Particularly in control mode Sensorless Vector Control, the
dynamics can be improved by estimating the ratio of inertia
C30 (J-mach/J-motor) and setting it accordingly. C30=0
(default setting) applies if the driven inertia is low or it the gear
ratio is high.
Ö We all know that the relationship between current and
torque is not easy to determine for asynchronous motors.
Since an FDS inverter is able to calculate the torque from
available measured data, the maximum torque is specified
and not the maximum current. Maximum available torque
is always limited by the maximum inverter current.
9.3
Operating range
Freely programmable comparators can be used to
simultaneously monitor 3 measured values (i.e., "operating
range"). The first 2 values (speed and torque) are fixed. The
third value can be selected as desired with C47. The limit
values are specified with the following parameters.
• C41, C42: n-Min, n-Max
• C43, C44: M-Min, M-Max
• C45, C46: Measured value "X" (specified in C47)
C48=1 monitors the absolute value of measured value "X"
(C47). C48=0 also includes the sign. Parameter C49 specifies
whether monitoring is also to take place during acceleration
phases and enable-off. When at least one of the limits is
exceeded, this can be signaled on a binary output with the
"6:operation range" function (e.g., F00=6). Another use is the
control of process-block chaining (cf. J17=4).
If only one or two of these range monitoring options are used,
the limits of the unused ranges must be set to their limit values
(e.g., C43=0% and C44=400% when torque monitoring is not
required).
When several inputs are connected to one function, the
signals are either AND or OR-linked (F30 BE-logic). Functions
9
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
9. Special functions
9.4
Parameter record selection
9.5
The FDS inverter supports two separate parameter records.
Specification of the active parameter record is performed in
one of the following ways.
• Externally via a binary input (A41=0)
• Internally via a keyboard (A41=1 or 2)
The active parameter record is indicated in E84. To specify via
a binary input, one of the parameters F31 to F35 must be set
to "11:paraSet-select" in both parameter records. Selection
never takes place unless the power section is deactivated.
The parameters of both parameter records can be indicated
and programmed regardless of which parameter record is
currently active. A11 (paraSet Edit) is used to specify the
parameter record (1 or 2) to be edited. When parameters of
the 2nd record are involved (A11=2), a is indicated to the
right of the parameter number.
Certain parameters (e.g., operation input, A30) are only
available once, and a is then not indicated next to the
parameter number. This applies to all parameters of group A,
the display parameters of group E (e.g., torque, utilization and
similar), and positioning (groups I, J, and L).
Example of time behavior with quick stop for enable-off
(F38=1. For release, see also F31=11).
Signals for
Enable
Speed
LOW min. 4 msec
Ramp D81
(F38>0 !)
11:Parameter record
F31
(Input)
F00
7:Parameter record
(Output)
F00 32:Param.active
(Output)
A41 or E101.5
E84 or E100.14
Power pack
Conversion ...
fieldbus control
E101.6
E100.31
Duration 100 to
800 msec
E100.15
When autostart is active (A34=1), the switchover takes place
immediately when the edge of the signal “11:Paraset” occurs.
Enabling is automatically deactivated internally.
Parameter records can be copied via A42 and A43 (copy
paraSet). A42: copy paraSet 1 > 2 to "1:active" overwrites
parameter record 2 with the values of parameter record 1.
Ö Usually, the first parameter record should be set up first.
The parameters are copied to parameter record 2 with
A42=1 (active). A11=2 is then used to switch to parameter
record 2 and edit the necessary values there. After
completion, all parameters are saved with A00=1.
Remember: When the mode (C60) is switched from position
to speed, the actual position during C60=1 is only partially
calculated. This means the reference position is lost when you
switch back (I86→0). Exception: SLVC with C60=1, VC with
C60=2.
With electronic drives, the internal variables like the current
angle of deviation are retained when a parameter record is
switched (prerequisite: C60 remains the same). However, the
parameters of group G.. are switched.
10
Motor potentiometer
The "motorpoti function" can be used to steplessly increase or
decrease the motor speed via two binary inputs:
• Two binary inputs are programmed to "4:motorpoti up" or
"5:motorpoti dwn" via F31 to F35.
• The "motorpoti function" is activated with D90=1.
• When the key is pressed, the speed is changed in
accordance with ramps in D00 and D01. When the
"motorpoti function" is active (D90=1), most of the
parameters of group D (reference values) are not indicated.
• The maximum speed corresponds to the value set in C01.
• D90=2 causes the motor potentiometer to be added to the
normal reference value.
• The reference value generated by the motor potentiometer
is set to C00 (n-Min) if both binary inputs are high.
• With D91=0, the reference value which was approached last
is stored non-volatilely.
• With D91=1, the motor potentiometer reference value is
reset with enable-off.
9.6
Speed feedback
Standard FDS inverters support speed feedback via an incremental encoder (24 V). Control mode B20=2 (vector control
with 2-track feedback) provides precise and highly dynamic
control of speed and torque (i.e., asynchronous servo drive).
To commission speed feedback, proceed as shown below.
„ Wiring (without option board)
Incremental encoder tracks A and B are connected to
binary inputs BE4 and BE5. The power supply for the
encoder (+24 V) must be provided externally. The encoder
can be connected to the inverter directly (recommended) or
with conventional terminal blocks.
Encoder
Pin
1
3
4
5
6
8
9
10
12
Color of
Encoder
STÖBER
Binary input Connection
Signal
Cable
Yellow
/B
Pink
C
Input BE3*
X 1.12
Gray
/C
Brown
A
Input BE4
X 1.13
White
/A
Green
B
Input BE5
X 1.14
-Shield
Shield terminal
Blue
0V
External 0 V
X 1.8
Red
+VB
External 24 V
---
* Only evaluated by POSI software if I31=1.
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
9. Special functions
Required components
1
External
voltage supply
Only connect
zero pulse
when required
15 to 30 V, 150 mA
filtered
+24V 0V
1 External 24 V DC supply
2 Terminal strip X1 on FDS
3 Terminal blocks
4 Shielded cable
5 Shielded encoder cable
Only when
> 20 cm X1
2
8 Digital Ground
N
A
B
12 BE 3
13 BE 4
14 BE 5
4
3
Pink
Brn
Grn
Rd
blue
Connect cable with bared shield
over wide area to mounting plate
or the EMC terminal.
5
1
9
8
7 View of the sol12 dered side of the
6
plug connector
2
10
3
4
11
5
• With regard to EMC requirements, it is better to connect
tracks A, B and C directly and not with terminal blocks.
• F34=14 and F35=15 are used to program binary inputs BE4
and BE5 for speed feedback. Activate extended menu with
A10=1 before.
• If necessary, F36 can be used to change the increment
number of the encoder (default setting: 1024 ppr).
• If necessary, connect encoder zero pulse to BE3 (F33=14)
for positioning (C60=2).
„ Connecting the encoder to option board
GB-4001 or EA-4001
• For wiring on plug connector X20, see chapter 14.1. Pay
particular attention to parameters B26=1 (motor encoder =
X20) and H22 (X20 increments).
„ External encoder behind the gearbox
• The motor can also always be controlled with an encoder
directly on the machine.
• The number of increments converted to the motor shaft
must be entered in F36 or H22. (SSI4000: see
chap. 10.11.1.)
• F49 (BE-gear i) and H23 (X20) can only be used for
positioning control (see chap. 10.11.2).
Caution: A connection between motor and external
encoder in which there is vibration, play or slip may
cause problems with control. The resolution converted
to the motor shaft should be at least 500 increments.
Checking the wiring
• In control mode U/f control or Sensorless Vector (B20=0
or 1), let motor rotate, and make a note of the speed (with
sign). Look at the actual speed in parameter E15 (n-Encoder). The speed should be similar to that shown in the
status indication. In particular, the sign must be the same.
Possible problems
Sign is wrong: Check motor connection (sequence of the
phases), and reverse signals A and B of the encoder, if
necessary.
0 rpms indicated in E15: Is I VB=24 V applied to the
encoder with the correct polarity? Is the grounding
connection okay? Are there any other wiring errors? Are
F34 and F35 programmed correctly? Is B26=0 for BE4/5
encoder or B26=1 for encoder on X20? Signals A and B can
be checked separately. Stop the motor, and look at
parameter E13. Even the slightest motor rotation (e.g., by
turning the fan wheel manually) must cause the level of BE4
and BE5 to change.
Activating vector control
• Stop motor, and select control mode B20=2 (vector control).
• Let motor rotate. If problems occur, check the above items
again.
• Save parameters with A00=1.
Ö If the sign of speed feedback is wrong, the motor rotates
slowly and does not react to reference values. Or the fault
"33:overcurrent" is reported.
• The dynamics of the speed control circuit are primarily
dependent on parameters C31 (n-controller Kp) and C32 (ncontroller Ki). They determine proportional and integral gain
of speed control. Excessive gain causes the motor to vibrate,
while insufficient gain reduces dynamics. The default setting
can usually be retained. If necessary, adjust C31 first. C32
affects the "load capability."
When large external masses or overswings are involved,
C32 may have to be reduced during positioning (2 to 30%).
9.7
Acknowledgment of faults
The table of possible faults is located chap. 17. Faults are
acknowledged in the following ways.
• Enable: Change from L to H level on the enable input, and
then back to L. Always available.
Caution! Drive starts
• Esc key (only when A31=1)
• Auto reset (only when A32=1)
up immediately.
• Binary input (F31 to F35=13)
Parameters E40 and E41 can be used to scan the last 10
faults. Value 1 represents the last fault. FDS Tool can be used
to assign as desired the inverter reaction (e.g., fault, warning,
message or nothing) to certain events. Cf. chap. 17.
}
9.8
Motor startup
• The auto-start function can be used to permit the
drive to start up immediately after the power is
turned on (cf. chap. 16).
• Before the auto-start A34=1 is activated, it must
be ensured that the automatic startup cannot
cause hazardous system states!
• C20=1 (load start), C21 and C22 can be used to specify an
overload to be tolerated when sluggish machines start up
(V/f control).
• C20=2 (cycle characteristic) is used to obtain optimum
acceleration with Sensorless Vector Control (B20=1). For
more information, see also parameter C30 and chapter 9.2.
9.9
Control via PC
The FDS Tool software can be used to control the frequency
inverter with a PC. The inverter is connected to the PC with
sub D plug connector X3 (RS 232-C interface) and FDS cable
G3 (cat. no. 41488).
With its integrated FDS Scope feature (oscilloscope function),
FDS Tool permits eight different measured variables to be
recorded at the same time to optimize the drive.
11
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
10. Positioning Control
10.1
Housing
PIN
1
2
3
4
5
6
7
8
9
Function
+10 V, 200 mA
Rx (RS232)
View of
soldered
side
Tx (RS232)
SG
-
FDS cable G3, cat. no. 41488
Connection cable between the serial interface of the PC
(Notebook) and serial interface X3 of the FDS. Only applies to
FDSs with a sealed keyboard. Do NOT replace with a
conventional serial connection cable. Such cables can only be
used with a special adapter (cat. no. 41489).
The +10 V on pin 1 is exclusively to power a Kommubox
and/or a Controlbox.
Caution: A brief short circuit against ground can cause a brief
reset of the processor.
The RS232 interface can be used to create a low-cost network
of several inverters with an „RS232 ring“:
FDS
FDS
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
Function overview
8 positions can be programmed as 8 process blocks.
Destination travel is precise to the increment.
Continuous position control with following error monitoring
Parameterization in units (e.g., degrees and mm)
Resumption of interrupted process blocks possible
Change in destination possible during traversing
Reference point travel with several modes
Sequence programming possible via process block chaining
(e.g., "Go to pos. 1, wait 2 sec, go on to pos. 2, wait for
signal and return")
Tip mode (inching)
Teach-in function
Speed override via analog input possible
Any gear ratios are precisely calculated with fractions. No
drifting with continuous axes.
Continuous referencing for continuous axes
"Electrical cam" function switches digital output within
programmed position range.
Hardware and software limit switch
Rotary attachment function
Path specification via analog input possible
Brake control for lifting systems
SSI absolute value encoder (also continuous operation)
10.2
Connections
The standard device without option board is used for simple
applications.
Applications with greater demands on binary inputs require the
use of the EA 4001 option board. The EA 4001 expansion
offers a convenient encoder connection, 24 V external voltage
supply, 5 binary inputs and 3 binary outputs.
An analog input or fieldbus can be used to adjust positioning
speed steplessly. Called "speed override," this function is not
only useful during commissioning but also for tipping mode,
changes in the number of pulses of a machine, and so on.
BE6 to BE10
Networking with an RS232 ring is supported by FDS Tool.
BA4, BA3,BA1
The RS232 ring can be used to control the inverters by
communication via USS protocol.
24 V DC,
ext. voltage
For more information on the USS protocol, see the USS
documentation (no. 441564).
0-10 V
10
POSITIONING CONTROL
The basic model of the FDS 4000 frequency inverter offers
integrated positioning control. A motor with a built-on
incremental encoder or SSI encoder is the prerequisite for
precise and reproducible positioning. In "Vector Control" mode
(B20=2), the motor provides the characteristics of an
asynchronous servo drive.
Positioning can also be used without encoders in control mode
SLVC (Sensorless Vector Control).
12
Can be used
as desired
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
10. Positioning Control
The following functions for binary inputs (parameters F31 to
F35 and F60 to F64) are important:
• RV-select0 to 2: Binary coded position selection. Process
block 1 is selected with "000," and process block 8 is
selected with "111."
• 8:halt: Rising edge interrupts running motion with the
current process block ramp. Since tip mode (i.e., inching)
via binary inputs is not possible unless halt is active, halt
switches between tip and automatic operation.
• 9:quick stop: Rising edge interrupts positioning with
maximum acceleration I11.
• 16:posi.step: When a chain of process blocks is being
used, posi.step starts the consecutive process blocks. A
movement which is in progress is not interrupted (→ I40).
• 19:posi.start: Starts the just selected process block. A
movement which is in progress is always interrupted.
• 20:posi.next: Only for chained process blocks. If
programmed appropriately (cf. J17=3), immediately
concludes the running process block, and starts the next
one. A remaining path which is to be traveled after posi.next
occurs can be defined. See chapter 10.8.
• 17:tip+, 18:tip-: Tip mode (i.e., inching)
• 21:stop+, 22:stop-: Limit switch
• 23:reference input: Reference switch connection
• 24:start reference: Starts reference point traversing
• 25:teach-in: Actual position is assumed in the just selected
process block.
Ö The binary inputs can be inverted via F51 to F55 and F70
to F74. (→ wire-break-proof connection).
Removal of the enable always causes a quick stop with
maximum acceleration I11.
Analog inputs AE2 and AE1 (par. F20 and F25)
• 1:additional RV: Relative traversing paths are multiplied by
(100% + level). Example: 0 V → no offset (i.e., 100% of the
traversing path).
• 4:RV-factor: Relative traversing paths are multiplied by
level. Example: 0 V → no motion (i.e., 0% of the traversing
path)
• 5:override: The programmed positioning speed can be
changed online via potentiometer ("speed override" function
for CNC controllers), for example.
• 6:posi. offset: An offset can be added to the current
position online via AE2. Cf. parameter I70.
Binary outputs (par. F00, F80, F81, ... )
• 3:Ref Val reached: Location in position window I22. Signal
appears when drive "in position."
• 8:electrical cam: Signal appears when the actual position
is located between parameters I60 and I61. Signal is used
as message to other modules, for example.
• 9:Following error: Signal appears when the maximum
following error in I21 is exceeded.
• 10:Position active: Drive is in position control waiting for
posi.start or posi.step. No process block and no process
block chain being processed.
• 13: referenced: Drive is referenced.
• 19:s-memory1 to 21:s-memory3: Output the memory
locations which are set by the posi-switching points during
process-block movements (chap. 10.12).
• 23:RV-ackn.0 to 25:RV-ackn.2: Binary coded response
message of the active I82 process block. Cf. diagram in
chap. 10.3.
Ö A fieldbus also offers a simple and easy way to access
these signals. Status and control bits (E100 and E101) are
just two examples. For details, see documentation of the
fieldbus.
10.3
Destination positioning / process blocks
Each position to be traveled to is described by several
parameters. Together these parameters make up a process
block. Eight process blocks are available. This permits 8
different positions to be approached. Process block no. 1 is
described by parameters J10 to J18, while the second process block is described by parameters J20 to J28, and so on.
Proc. block 8: J80 to J88
Proc. block 2: J20 to J28
Proc. block 1: J10 to J18
J10: Dest. position
J11: Relative/absolute
J12: Speed
J13: Acceleration
....
A process block can be selected in the following ways.
• J02=1...8. The entered value corresponds to the particular
process block.
Entry of the value "0" permits selection of
the process block via "reference value-select" entry.
• Via "reference value-select” inputs;
With J02=0 the process block can be selected via the inputs
"Ref. Value select 0" to "Ref. Val. select 2". The binary
combination "000" selects process block no. 1; "111" selects
process block no. 8.
The response of the current process block occurs as shown
below.
• In parameter I82 ("active process block")
• In the 2nd line of the operational display
• Binary coded via binary outputs "23:RV-ackn.0“ to "25:RVackn.2". The selected process block is shown inverted until
the movement begins.
When a process block is started, the active block is not
output inverted (binary coded like the RV-select signals) as
long as posi.start, posi.step or posi.next is queued.
If a process block cannot be started (e.g., see "51:refused",
chap. 17 Faults/Events), the selected block continues to be
output inverted. This also happens when a movement is
terminated.
RV-ackn..=
/RV-select
Posi.start or posi.step=1:
RV-ackn....=act. proc. block
RV-ackn..=
/RV-select
Posi.start
RV-select 0
RV-ackn.0
RV-select 1
RV-ackn.1
In-position
Movement
Change is
ignored.
Ö When the position is specified directly by fieldbus,
process block 1 (J10) receives special treatment.
The inverter does not acknowledge the write access until
all internal conversions are complete and the inverter is
"ready to start." Parameter E124 ("start.pos 1") is also
available via the fieldbus. J10 is written here and then
started automatically after conversion is complete. Output
signal "32:parameters active" indicates the end of a
parameter conversion.
13
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
10. Positioning Control
10.4
Absolute / relative positioning
One of 4 possible traversing methods (parameters J11, J21,
J31 and so on) can be assigned to each process block.
• Relative
• Absolute
• Continuous, positive
• Continuous, negative
A relative path always refers to the current location (chain
dimensions).
An absolute position refers to a fixed reference point (i.e.,
machine zero point) which is determined with reference
traversing. See chapter 10.6. For this reason, an absolute
position always requires reference traversing. Any start
commands given without reference traversing are answered
by the inverter with "51:refused".
When a process block is defined as continuous and a start
command is given, the axis continues to move in the specified
direction until a signal arrives from the outside (e.g., posi.next
or posi.start). The speed can be adjusted via an analog input
(e.g., set the AE2 function F20=5:Override for this.)
Successful conclusion of a movement is signaled via the output signal reference value-reached (F00=3 and F80=3). This
signal appears when the actual position lands in the position
window (destination ±I22) for the first time. The signal is not
withdrawn until the next traversing command is given.
10.5
Commissioning
This section only covers the drive with encoder feedback
(B20=2).
Important: Before positioning control is activated, speed
control must be commissioned (chapter 9.6) and, if necessary,
optimized with FDS Scope.
Positioning control is activated with
C60=2:Position
The status indicator changes and displays the actual position
in the first line.
Act. position
Brake chopper active
If B20≠2, the first line continues to show speed and current.
While process blocks are being processed, the lower line also
indicates the number of the active process block.
Position
travers
Oper. status
(See chap. 16)
Process block no.
Important: If you want to change the location of the decimal
point in the position display via I06 (I06=decimal point shift),
do this at the beginning of commissioning since the
significance of all positions is changed.
14
Limited position range (I00=0)
M
Limited traversing range means that the permissible area of
movement is restricted by end stops or similar. Safety requires
that limit switches be provided. If the inverter is not equipped
with a sufficient number of free inputs (i.e., operation without
an option board), the limit switches must be evaluated by a
higher level controller. The primary parameters are listed
below:
• I00=0 Limited traversing range
• I05: Unit of measurement (e.g., mm, degree (°) and inch,
user
• I06: Number of decimal places
• I07: Distance per encoder revolution (e.g., mm/U)
• I10: Maximum speed (e.g., mm/sec)
• I11: Maximum acceleration (e.g., mm/sec2)
• I12: Tip mode speed
Important: Since some parameters in groups I and J (e.g.,
paths or accelerations) may assume very large values, the
keys can be used to directly select the tens exponent to be
changed. Only the individual digit flashes and not the entire
keys can be used to increment/decrement
number. The
the value by the selected tens exponent:
position
Single digit flashing
Changes with
Digit selection with
Ö Before starting testing, check the limit switches, and
decouple the drive from the machine if necessary.
The enable can now be activated as the first test. The display
indicates
17: posi.active .
ready
Oper. status
(See chap. 16)
10.5.1 Limited traversing range
The position control loop functions, and the current position is
maintained. During the next step, the drive is moved via tip
mode (i.e., inching mode). Set parameter J03=1 for this. The
keys can be used to traverse the drive.
Ö The speed can also be changed during traversing via
analog input AE2 (F20=5).
The next step is the commissioning of reference traversing.
See chap. 10.6. Software limit switches I50 and I51 can be
programmed with a reference axis (I86=1). The software limit
switches prevent movement to positions outside I50 and I51.
A short relative movement (J11=0) can be specified for testing
purposes in J10 (destination position process block 1). The
speed is entered in J12, while the ramps are entered in J13
and J14. J00=1 can be used to start and monitor the
movement. Do not forget the enable.
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
10. Positioning Control
10.5.2 Continuous traversing range (rotary axis)
Unlimited position range (I00=1)
The most important feature of a continuous traversing area is
the cyclic repetition of certain positions for movement in one
direction (e.g., hand on a clock).
Rotary axis function: Selecting I00=1:unlimited means that
the actual position is only counted up to circular length I01
(e.g., 360°). After reaching this value, you start over again with
zero. When both directions are permitted (I04=0 and I03=1),
the shortest path is taken for movement from point A to point
B (absolute target specification) → direction optimization.
Gear ratio: Parameters I07 and I08 can be used to specify the
exact gear ratio (using the tooth numbers). This prevents
drifting away with relative positioning. Cf. examples in
chap. 10.9.
Direction of rotation: When both directions are permitted
(I04=0), the shortest path (I03=1, direction optimization
active) is taken for movement from A to B with absolute target
specification. However, when the process block is changed on
the fly, the original direction of rotation is retained. Restriction
of the permissible direction of rotation (I04) affects all process
blocks and manual traversing. Another method is to deactivate
direction optimization with I03=0. To then be able to traverse
an absolute destination in the negative direction of rotation,
you must enter the destination with a negative sign while
taking the modulo calculation into consideration. Example:
After -270° is entered, the drive rotates counterclockwise to
position 90°.
10.6
are used. I31 is used to determine the (search) direction when
reference point traversing is started. If the reference switch (or
limit switch) is active, the direction is reversed. Cf. example 2
on the next page. The correct value for I31 can be tested by
inching the axis (parameter J03), for example. The status of
the binary inputs can be scanned in E12, E13 and E19.
When only one direction of rotation (I04) is permitted, the drive
traverses up to the rising edge of the reference switch in
direction I04 at speed I33. Referencing direction I31 is ignored
in this case.
The zero pulses of the incremental encoder are only evaluated
when I35=1. With inverters without option boards, the zero
track is connected to BE3.
Usually the zero track cannot be used with continuous axes
unless the mechanics have an even-number ratio.
Specification of two speeds (i.e., I32 and I33) is primarily an
advantage for long linear axes.
The acceleration during reference point traversing is ½ of the
maximum acceleration in I11. When the reference point is
detected, the actual position is set to I34 (i.e., reference
position), and the drive brakes until it is at a standstill. The
distance required for reversal or braking is generally
1 v²
Distance = ------2a
with
V: speed
a: Acceleration (I11/2 here).
After reference point traversing has been concluded, the drive
remains where it is after the required braking distance
2
(I33 /I11) and does not return to the reference position. Cf.
above. The AE2 "override" function (F20=5) changes the
speed and also the braking distance.
Reference point traversing
When the position is measured with an incremental encoder,
the actual position is not known when the power is turned on
(power supply or external 24 V). A defined starting position is
achieved with reference point traversing. When an absolute
value encoder is used, only one drive referencing procedure is
required for commissioning and when an inverter is replaced.
Absolute movements can only be performed in referenced
status. The referenced state is signaled with I86=1 and can be
output on the binary output.
Reference point traversing is parameterized with I30 to I38.
The primary parameters are listed below.
•
•
•
•
•
•
I30: Type of reference point traversing
I31: Direction of reference point traversing
I32: High-speed reference point traversing
I33: Low-speed reference point traversing
I35: Zero-pulse incremental encoder - evaluation
I37: Automatic reference point traversing at power-on
There are three ways to start reference point traversing.
• Automatically (I37=1 or 2)
• Signal on binary input (F31 ...=24)
• Inching with J05=1
Reference mode I30 specifies the required initiators or the
functions for binary inputs. I30=3:def.home is frequently used
to set the machine zero point when absolute value encoders
15
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
10. Positioning Control
Example 1: I30=0:ref.input, I31=0:positive
Reference switch
fast (I32)
Zero pulses
Incremental
encoder
When the power or the external 24 V voltage supply fails, the
information on the reference position is lost. After power
returns, I37=1 is used to automatically trigger reference point
traversing with the first start command (i.e., posi.start or
posi.step).
After a reference point traversing procedure has been
concluded, you can automatically move to any initial position
by programming parameter I38 (ref. block) to the number of
the parameter record to be moved to.
Slow (I33)
10.7
Since the reference switch divides the total traversing
area into two halves, no other switches are required.
Example 2: I30=0:ref.input, I31=0:positive
Position controller
To minimize following error deviation (i.e., difference between
reference value and actual position), the FDS uses speed
precontrol. The maximum permissible following error deviation
specified in I21 is continuously monitored. The position
controller is running continuously during the entire movement.
Reference value generator
Reference switch
v
Active
Posi.
speed
I88
v-ref.
value
x
I25
Reference direction
reversed
Zero pulses
Incrementalencoder
Slow (I33)
Fast (I32)
S ramp
I16
x-ref.
value
Posioffset
I84
X20-gear
ratio
The direction defined in I31 is reversed if the reference
switch is active at the beginning.
n-speed
forward feed
x
Following
error
n-post
E07 ramp
+
H23
x-actual
I08
x H23* x 60
I07
I23
I20
deadband Kv factor
n-motor
E08
-
Speed
controller
C31=Kp
C32=Ki
C35=Kp (n=0)
* H23 (X20 gear ratio factor): Example of position control via X20
Example 3: I30=0:ref.input, I31=0:positive
Stop input +
Reference switch
The gain of position control I20 (i.e., the "stiffness" of control)
is called the "Kv factor."
Parameter I16 (S-ramp) can be used to parameterize reverselimited traversing profiles and prevent high-frequency
excitation by a low pass. Time constant I16 corresponds to a
low-pass limit frequency of fg=2π/I16.
Fast (I32)
10.8
Zero pulses
Incrementalencoder
The reference switch (i.e., cam) only reacts briefly.
A limit switch is used for the reversal..
Example 4: I30=1:limit input, I31=0:positive
Next block parameters J16, J26, J36 and so on can be used
to chain process blocks into sequences. For example, at the
end of one process block, this can be used to automatically
move to an additional position (i.e., next block). The following
parameters apply to the 1st process block.
• J16 next block. If J16=0, then no chaining.
• J17 next start. Specifies how next block J16 is to be started.
• J18 delay. Applies when J17=1:with delay
For details on J17, see the parameter table.
Stop input +
Fast (I32)
Zero pulses
Incrementalencoder
A limit switch can be used for referencing instead of a
reference switch.
16
Process block chaining
Example 1: With a rotary attachment, 60° steps are
performed in a continuous cycle with 1-sec
pauses in between.
Solution:
J10=60°
(Path)
J11=0:relative
(Position mode)
J16=1
(Next block no. 1)
J17=1:with delay
(Next start with delay)
J18=1.000 sec
(delay of 1 sec)
Ö Process block no. 1 starts itself.
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
10. Positioning Control
Example 2: Three fixed positions are always traversed in the
same order (pick and place).
Solution:
J10, J20, J30=Destination specification
J11=J21=J31=1:absolute
J16=2, J26=3, J36=1 (chaining)
J17=J27=J37=0:posi.step
Ö The movements are triggered by the rising edge of the
posi.step signal.
Example 3: A conveyor belt is to stop after exactly 100 mm
following a sensor signal.
Solution:
J11=2:endless positive
J16=2
(Next block no. 2)
J17=3:posi.next
(Next start)
J20=100 mm
J21=0:relative
Posi.next signal
Tips:
• An operational status of 17:posi.active indicated on the
display means that no process block and no chain of
process blocks (i.e., sequential program) is being executed
at the moment. The drive is under position control. The
posi.start and posi.step signals have the same effect here.
• The inverter assumes the basic state "17:posi.active" when
the enable is turned off and on.
• The "17:posi.active" state can also be output on binary
outputs or relay 2.
10.9
Simple examples
Without the option board, 5 digital inputs are available. Of
these, BE4 and BE5 are required for the connection of the
encoder. Some examples of how the remaining three inputs
can be used are listed below:
Example 1: Belt drive (i.e., endless movement). Four different
feed lengths are traversed relatively.
Solution:
Ö The posi.start signal starts process block no. 1. The drive
continues to run until the rising edge of the posi.next signal
after which a branch is made to process block no. 2. When
posi.next is connected to BE3, the reaction occurs without
a delay time. If the J17=3:posi.next setting is not made,
posi.next is ignored! Cf. example 4.
Example 4: Positioning of a shelf handling device. The exact
destination position is specified by a light barrier
which is triggered briefly at each shelf. Until just
before the destination, the signals of the light
barrier must be ignored. We will assume that the
destination is located between 5.1 m and 5.4 m.
Solution:
The approximate position is traveled to with block no. 1:
J10=5.1m
(Approximate position)
J11=1:absolute
J16=2
(Next block no. 2)
J17=2:no stop
(Next start)
Posi.next is activated with block 2 (J27):
J20=5.4 m
(Maximum position)
J21=1:absolute
J26=3
(Next block no. 3)
J27=3:posi.next (Next start)
The braking distance is defined in block 3:
J30=0.05 m
(Braking distance)
J31=0:relative
Fahrsatz 3
BE2
0
0
1
1
Block
1
2
3
4
Process Block Parameter
J10, J12, J13, J14
J20, J22, J23, J24
J30, J32, J33, J34
J40, J42, J43, J44
Ö The traversing method (e.g., J11, J21, J31 and so on)
remains set to "0:relative" for all blocks. The selected
process block is indicated in I83.
Example 2: Linear axis with end stops. Two fixed positions
are traversed absolutely.
Solution:
BE1
0
1
BE1: RV-select0 (F31=1)
BE2: posi.start (F32=19)
BE3: ref.input
(F33=23)
Position
1
2
Process Block Parameter
J10, J12, J13, J14
J20, J22, J23, J24
Ö The traversing method (J11 and J21) for both process
blocks is "1:absolute." After power-on, reference point
traversing is automatically executed by I37=1 with the first
posi.start command. The reference switch must have the
characteristics shown in example 1 of chapter 10.6.
Example 3: Belt drive (endless movement) with stop at pulse
(i.e., defined braking distance).
Solution:
Posi.Next Signal
Fahrsatz 2
BE1
0
1
0
1
BE1: RV-select0 (F31=1)
BE2: RV-select1 (F32=2)
BE3: posi.start (F33=19)
BE1: posi.start (F31=19)
BE3: posi.next (F33=20)
J11=2:endless positive
J17=3:posi.next
J20=...(braking distance)
Ö We recommend applying the posi.next signal to BE3
Fahrsatz 1
Ö Process block no. 1 is started with posi.start. Just before
the probable destination and without an intermediate stop,
a switch is made to process block no. 2 where the
posi.next signal is armed. Process block no. 3 is triggered
with posi.next, and the braking distance specified in J30 is
executed. If the posi.next signal fails to appear (e.g., light
barrier is defective), the drive remains stopped in position
J20.
(F33=20) so that the delay time of 4 msec is omitted.
Evaluation of posi.next is activated with J17=3.
For additional details on posi.next, see chapter 10.8 (chaining
of process blocks).
17
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
10. Positioning Control
Example 4: A rotary attachment is to be positioned
continuously and without drift in 60° increments.
A STÖBER K302 0170 with i=16.939393... is to
be used as the gearbox. The exact ratio is
i=3354/198.
M
Solution:
i=
Solution:
3354
198
The rotary attachment rotates precisely 360° x
198 ÷ 3354 per encoder revolution. Thus,
I07=71280, and I08=3354. The path is
programmed in degrees (J10=60°). The circular
length I01 is 360°.
The first part of the movement is handled by
process block no. 1. Without stopping, the system
switches in time to process block no. 2 before the
end position (J16=2) and J17=2). The speed
remains the same (J12=J22). When the torque
limit (working area) specified by C44 is exceeded,
the system switches to process block no. 3
(J26=3 and J27=4). In our example, the working
area is limited by the maximum torque C44. See
following diagram.
Acceleration
torque
Rising pressing
force
Example 5: A toothed belt drive is to move continuously and
without drift in fixed increments (41 catches per
circular length). The toothed disk has 23 teeth,
while the belt has 917 teeth. For gearbox, see
above. o.
41 catches
Return travel
Process block 3
Process block 1 process block 2
J17=2
J24=4
23 teeth
Solution:
917 teeth
To obtain a precise solution, 1/41 of the circular
length is taken as the unit of distance (I05=0).
One unit of distance corresponds to the feed by
exactly one catch. The belt drive rotates precisely
198 ÷ 3354 x 23 x 41 ÷ 917 units of distance per
encoder revolution. Thus, I07=186714, and
I08=3075618. The path is programmed in units of
distance=1/41 of the circular length. The circular
length I01 is 41 units.
Example 6: A conveyor belt drive with slip is to move in fixed
increments continuously and without drift.
Exactly 41 catches are distributed over a circular
length of 4 m.
41 Mitnehmer
10.10 Emergency off
If the power is cut off from the inverter with the emergency off
switch, all information on the position is lost. When the inverter
goes on again, the power must be referenced again.
A movement that has been interrupted by an emergency off
can be continued and completed with a 24 V power supply
from an option board under the following conditions.
• The HALT signal becomes active at least 4 msec before the
enable is removed.
• The HALT signal remains present until power returns and
the enable is active.
Another method of interrupting and continuing a process block
is to use the sequence of signals shown below.
EMER-OFF
Operation
i=16.94
R=0.1m
Solution:
0
Ref. Schalter
The distance per encoder revolution is 2πR/i.
Thus I07=37.09 mm/U. Drift is prevented by
continuous referencing (I36=1) or the posi.next
signal.
Important: The distance to be traveled (e.g.,
J10) multiplied by the number of catches (41)
must precisely equal the circular length I01. If not,
the drive will drift away even with continuous
referencing. If necessary, I01 and I07 must be
adjusted accordingly. The reference switch
should be located between two catches.
Important: When continuous referencing I36=1 is
used, I07 must always be rounded off to the next
higher number.
Example 7: Screw/press controller
Starting at a certain position, the torque is to be
monitored. When a limit is exceeded, a return to
the start position is made.
18
HALT
Enable
Pow.
Interruped
movement is
completed with
posi.step .
Relay 1
Parameter I19=1 can be used to specify that an enable-off will
lead to "23:interrupted." The interrupted process block can
then be completed with posi.step. With the default setting
(I19=0), removal of the enable causes sequence control to be
reset (status "17:posi.active“).
Process blocks with chaining „without stop“ (J17=2) can only
be terminated (status „17:posi.active“).
POSIDRIVE® FDS 4000
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ANTRIEBSTECHNIK
10. Positioning Control
10.11 Extern. rotary/linear path measurement
There are two ways to perform positioning with an "external"
measuring system mounted directly on the machine.
1. Positioning is performed with the external measuring
system. The motor is controlled by its own encoder
(standard case).
2a) Incremental measuring systems: The number of increments per motor revolution is rounded to a whole number
("round" function in the formula below) and parameterized
as H221 encoder increments (example for input X20).
H22=Round (measuring increments per motor revolution)
The rounding error is offset by the "gear factor" of the
encoder (H23 gear i).
H23 =
H22
Meas. incr. per motor rev.
2b) SSI measuring systems: Here, two different cases must
be distinguished between.
a) Measuring increments per revolution > 128∗N
b) Measuring increments per revolution ≤ 128∗N
Important: When the motor is controlled with its own
encoder, the external measuring system must supply at
least 30 measuring increments/rotation (converted to the
motor shaft).
With N=1 for 24-bit encoders and N=2 for 25-bit encoders
Case (a): Only H23 (gear i) must be adjusted.
2. The external measuring system handles both position and
motor control. The measuring system is parameterized as
motor encoder (→ B26). Conversion to the motor shaft is
handled by the "gear factor" (e.g., H23 for encoder on X20).
H23 =
1
Case (b): H22 (X20 increments) must also be adjusted.
H22=Round (measuring increments per motor revolution /
(4∗N))
H23 =
Important: A connection between motor and encoder
which is subject to vibration, play or slip usually creates
practically insurmountable problems. The resolution
(converted to motor shaft) must have at least 500
increments (optimum > 1000).
N x 4096
Meas. incr. per motor rev.
4 x N x H22
Meas. incr. per motor rev.
Example: With a 24-bit SSI measuring system, 43.6
measuring increments per motor revolution result in Round
(43.6/4)=111. Therefore, H22=30 and H23 = (4∗30/43.6) =
2.752 must be set.
M
10.11.1 Encoder
The encoder for position control is selected with I02 while the
encoder for motor control is selected with B26. The following
table lists the possible interfaces with supply voltages (UB) and
parameters for the number of increments (Inc/R), and the
gearbox factors between motor and encoder (gear i).
Remarks
X20 TTL + HTL incremental
encoder*, SSI encoder*
BE HTL incremental
encoder
UB
18 V
Inc/R
H22
Gear-i
H23
-
F36
F49
* With option boards (chap. 14)
10.11.2 Adjustment of motor/ext. measuring system
The movement of the external measuring system must be
adjusted to the motor shaft. First, the increments of the
encoder and its gear factor must be parameterized. This is
done in two steps as shown by the example of an external
encoder on X20 (set H20=2:encoder in - chap. 14).
1)
Ink./U.
E07
n-postramp
x
I08
x H23* x 60
I07
H22
y
Posi
Act. position
I07
I08
x
10.11.3 External encoder and posi parameters
The encoder for position control is selected with I02. I07 / I08
mathematically specifies the path per encoder revolution (one
encoder revolution = rounded number of increments in H22 as
shown in chap. 10.11.2). Example of linear measuring system:
A measuring increment of 0.07 mm and a spindle incline of
20 mm/revolution results in H22 = Round (20/0.07) = 286.
Thus, one "encoder revolution" is 286 * 0.07 = 20.02 mm.
I07=20.02 mm and I08=1R apply accordingly.
To prevent control vibrations caused by mechanical friction or
play, deadband I23 can be used to deactivate position control
within a narrow area.
Determine number of measuring increments per motor
revolution (1 measuring increment = 1 scaling increment
on the measuring scale or one increment of a rotary encoder). Example: One measuring increment of 0.07 mm
and a spindle incline of 20 mm/revolution results in
20/0.07 = 285.71 measuring incr. per motor revolution.
1
If the H22 calculation < 30, set H22=30. The difference is offset
when H23 is calculated.
19
POSIDRIVE® FDS 4000
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11. Technology
10.12 Posi switching points
The posi switching points can be used to generate signals on
binary outputs during movement. In contrast to the "electrical
cam" which is always active between positions I60 and I61,
the posi switching points are only evaluated during the running
process blocks (movement) in which they were activated (L11,
L12).
There are 4 posi switching points (S1 to S4). Each of these
switching points can be used in several process blocks. Up to
two switching points can be selected in one process block.
Parameters L11 and L12 are used to select two switching
points for process block no. 1.
L11
L12
Parameter
Switching pt. A
Switching pt. B
Possible Values
"0:inactive," "1:switch S1,"
to "4:switch S4"
The characteristics of the switching points are specified in
group N.. For example, the first switching point (S1) is
described with N10 to N14.
Parameter
N10 S1-position
N11 S1-method
N12 S1-memory1
N13 S1-memory2
N14 S1-memory3
Possible Values
Example: 113.00 mm
„0:absolute," "1:rel.to start" or
"2:rel.to endpos“
Selection: "0:inactive," "1:set,"
"2:clear," "3:toggle*"
Switching points S1 and S2 are assigned to process block 2 in
the L.. group.
L21 = Switching point S1, L22 = Switching point S2
Output BA2 is assigned to S-memory1 with F00=19.
Example 2: A paint pistol moves back
and forth between two points. The
inverter is to turn the pistol on/off with
binary output BA1. Since it takes a
long time to react, the pistol must be
turned on ahead of time at distance a
after the start of the process block
and must be turned off at distance b
before the end of the process block.
FDS
Solution: Two process blocks
(position up and position down) and two switching points are
required. The first switching point activates switching memory
1 ("S-memory1"). The second switching point deactivates the
same memory.
Switching Point S1
Switching Point S2
N10=a (distance a)
N11=1:rel.to start
N12=1:set S-memory 1
N20=b (distance b)
N21=2:rel.to endpos
N22=2:clear (S-memory 1)
The same switching points are parameterized in both process
blocks.
Process Block 1
Process Block 2
* Toggle = Change state each time switch is changed
(i.e., "L" - "H" - "L" - "H" and so on)
L11 = Switching point S1
L12 = Switching point S2
The switching point position can be defined absolute (e.g.,
1250.0 mm) or relative to the beginning or end of the running
process block (N10, N11).
F80=19 assigns output BA1 to S-memory 1.
11
TECHNOLOGY
The switching points have no direct effect on the outputs.
Instead, up to 3 switch memories can be set, reset or toggled
in each switching point. Each binary output can be
programmed to one of these three switching memories.
F80=20:S-memory2 outputs S-memory 2 on output BA1.
11.1
PID controller
Proc. blk 1
L21 = Switching point S1
L22 = Switching point S2
The PID controller on analog input AE2 can be used as a
technology controller for compensating rollers, pressure,
throughput and similar. It is activated with G00=1.
AE2 AE2 lowpass AE2 AE2
level
offset gain
PID
control
AE2
AE2
offset2 function
Proc. blk 2
Max. of two
Switching pt. Switching pt.
Switching pt.
switching
S1
S2
S4
points per
process block.
One switching
point can
S-memory
S-memory
S-memory
control all 3
1
2
3
S-memories.
Each output can
be programmed
to one
S-memory.
Binary outputs
BA function
Example 1: In process block 2, binary output 2 (relay 2) is to
be set 150 mm before the destination position and reset when
the destination position is reached.
Solution: Two switching points are required (S1 and S2).
Switching point S1 activates switch-memory 1 ("S-memory1")
while switching point S2 deactivates the same memory.
Switching Point S1
N10=150 mm
N11=2:rel.to endpos
N12=1:set S-memory 1
20
Switching Point S2
N20=0 mm
N21=1:rel.to enpos
N22=2:clear S-memory 1
AE2 scaled
PID-Ki
AE2
scaled 2
PID contrl
limits
PID-Kp
PID-Kp2
BE function "26:disablePID"
PID
standard
deviation
PID-Kd
AE1
level
PID
limit
Relay 2
(F00=11)
AE1
AE1 AE1 function
offset gain
„11:PID-reference“
AE1 scaled
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
11. Technology
There are four ways to compare reference and actual values.
11.2.1 Diameter sensor on AE1/AE2
• Use of differential input AE2. The two signals are connected
to "+" and "-" in relation to analog ground.
• A fixed reference value can be defined in F21 (AE2 offset).
• AE1 can be programmed to F25=11:PID-reference.
• PID-reference via fieldbus (E121).
Winders or unwinders with constant circumferential speed.
The diameter sensor is connected to the analog input. The
primary parameters are listed below:
The low pass filter (smoothing, time constant F23) suppresses
undesired high-frequency oscillations. The output of the PID
controller is usually used as an additional reference value
(F20=1). The binary input function "26:disable PID" (F31 to
F35) deactivates the controller. The controller output (i.e.,
adjustment variable) can be limited by G04 and G05. Active
limitation can be signaled on relay 2 (F00=11), for example.
This can be used to indicate a malfunction in the process
(e.g., tearing of wound material).
Important: Enable-off sets the output of the PID controller and
the I portion to zero.
11.2
•
•
•
•
Parameters F21 and F22 are used to assign the values D-Min.
and D-Max. to the related sensor voltages U-Min. and U-Max
• F21 = - U-Min. ÷ 10 V x 100%
• F22 = 10 V ÷ (U-Max. - U-Min.) x 100%
AE2
function
Winders
AE2
level
Diameter
sensor
v=const.
vref.val.
F=const.
4
Winding with
compensating
rollers via speed offset
and PID controller on
AE2
Winding with direct
tension control with
tension sensor
on AE2
Master
drive
Fsoll
vmaster
3
D-Min. D-Max.
AE2
AE2 AE2
AE2
offset gain lowpass offset2
D-Min.
D-act.
0 to 100% =
D-Min. to D-Max.
No. Task
1
Winding with diameter
sensor at constant
speed v = const
Winding with indirect
tension control at the
M-max. limit.
(AE2 offset)
(AE2 factor)
Since the reference value decreases with increasing diameter
in accordance with the reciprocal value 1/D, the control reference value is the highest possible speed with an empty roll.
The standard models of series FDS 4000 frequency inverters
contain functions for solving simple winding tasks (i.e., reel
drives). This functionality is only available together with speed
feedback (B20=2). The following tasks are supported. :
2
F20=7:wind.diameter (for AE1: F25)
G10=1:n mode
G11=0:AE2-measured
G12 winder D-Min., G13 winder D-Max.
vmaster
F=const.
add.
RV
vmaster
v-master
Fref.val.
F=const.
vmaster
Master
drive
Master
drive
vmaster
When a material is wound and unwound, the speed
progresses in reverse proportion to the diameter (n ∼ 1/D). If
there is no diameter sensor (tasks 2 to 4), the diameter is
calculated by the inverter as D ∼ v-master / n-motor (G11=1)
or obtained by integration of the roller deviation (G11=2). The
maximum change in speed of the diameter is provided by
G16. The current diameter is indicated in parameter G19
(actual winding diameter). This can be output on the monitor
output with F40=5. Depending on the task, the winding drive
uses the following modes.
• Speed-controlled, G10=1:n mode (tasks 1 + 3).
• At the M-max. limit, G10=2:M-Max mode (tasks 2 + 4).
Simple tasks can also be solved with rotating field magnets.
Cf. AE2 function F20=8:M-rot.magnet.
Speed referene value
(e.g. of AE1 or
fixed reference value
D-ist
n-ref. value
11.2.2 Indirect tension control at Mmax limit
Winders or unwinders with constant tension without extra
sensors. The winding speed is specified by a master drive.
The master reference value must be such that it precisely
corresponds to the motor speed required there for D-Min. (i.e.,
empty roll). The master reference value must always be
positive. See E10 (AE1 level). If necessary, the direction of
motor revolution must be adjusted with D92.
The winding drive calculates the diameter in accordance with
D ∼ v-master ÷ n-motor and affects the torque limit in
proportion to D. The torque limit on AE2 or C03 is the greatest
possible torque with a full roll. The primary parameters are
listed below:
•
•
•
•
•
•
•
G10=2:M-Max mode
G11=1:n-line/n-motor
G12 Winding D-Min., G13 winding D-Max
G14 Winding D-ini
F20=2:torque-limit or C03
D92 Reference value negation
G15 Override reference value
The speed reference value of a winder must always be greater
than the master reference value so that the drive runs at the
torque limit. This is ensured with the override reference value
G15 which is added to the master reference value. In contrast,
an unwinder should never be allowed to start running
automatically in the direction of unwinding. For this reason, the
master reference value of AE1 is never provided unless it is a
positive number.
Override reference value G15 ensures that the material is
tensed when the master reference value=0 (i.e., the unwinder
attempts to rotate slowly against the direction of winding. The
direction of motor revolution can be adjusted with D92 or via a
binary input. Cf. F31=6. The following figure illustrates how
this process functions (see on the following page).
21
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
12. Synchronous Running, El. Gearbox
Torque limit
(e.g. of AE2
or C03
tension reduction
M-Max.
D-act.
D-Max.
D-Min. D-Max.
n-motor,
(e.g. of BE4, BE5
D-Min.
D-act
Master
ref. value,
(e.g. of AE1)
n-ref. value
AE1
level
Override-SW
11.2.3 Winding with compensating roller
Winders or unwinders with constant tension provided by a
compensating roller. The position of the compensating roller is
measured and controlled via a PID controller on AE2. The
winding speed is specified by a master drive. The winding
drive calculates the diameter in accordance with D ∼ v-master
÷ n-motor and multiplies both the master reference value and
the offset reference value with 1/D. The primary parameters
are listed below.
G10=1:n mode
G11=1:n-line/n-motor
G12 Winding D-Min., G13 winding D-Max
G14 Winding D-ini
G00=1 (PID controller active)
G01 PID controller Kp, G02 PID controller Ki.
F20=1:additional reference value
Block circuit diagram:
D-Min. D-Max.
n-Motor,
e.g., of BE4, BE5
D-Min.
D-act
Master of ref. value
(e.g., of AE1)
AE2 AE2
offset gain
Position
of comp.
roller
n-ref. value
D92, BE
AE2
function
Instead of using G11=1:n-line/n-motor to calculate the
diameter, G11=2:roller can also be used for a compensating
roller. The deviation of the roller is measured with an analog
input (F20=12:wind.roller). A speed feedback is not required.
Integration of the diameter is controlled by the positive or
negative deviation of the roller.
22
Tasks similar to winding with compensating roller but with the
following differences.
• G10=2:M-Max mode
• F20=2: torque-limit
• G15 Override reference value
When winding with tension sensors, it is often a good idea to
use an external PID controller with integration and precontrol
of the tension reference value.
Tension
ref. val.
AE2,
M-Max.
Before the winding process starts, the initial diameter must be
set to G14 via a binary input (e.g., F31=29 for BE1). When
the power is turned off, the current diameter (D-act) is saved
in non-volatile memory.
Incorrect calibration of the master reference value will cause
D-act to drift away. If the master reference value is too high
(e.g., due to D02 being too high), D-act will also be too high!
G17 can be used to parameterize tension reduction with
increasing diameter.
•
•
•
•
•
•
•
11.2.4 Winding with tension sensor
Actual
tension
PID
disable
11.2.5 Compensation of fault variables
The effects of friction and inertia on the traction can be
compensated for. The torque limit is offset by the friction used
with G40 and G41.
Compensation of inertia: The inertia torque of the full roll at DMax must be converted to the motor shaft and entered in C30
as a ratio of the inertia torque of the motor. The acceleration is
obtained by differentiation of the encoder signal. The result
can be smoothed with G42.
The variable diameter may also affect the gain of the speed
controller. The gain between C31*C35 at D-Min and C31 at DMax changes in proportion to the square of the diameter. The I
portion is affected in the same way.
12
SYNCHRONOUS RUNNING, EL. GEARBOX
Using the synchronous running functionality, you can precisely
synchronize two shafts. Different gear ratios are calculated
without rounding errors. There are two signal sources which
can be used as master.
• Incremental encoders (e.g., on a master drive)
• "Frequency" and "sign" signals (stepper motor simulation,
only with GB4001 and EA4001 and H20=3)
There are 3 ways to handle the slave.
• FDS inverter with encoder feedback (B20=2) and an option
board for the second encoder input (normal case)
• FDS inverter with SLVC (B20=1). For applications that do
not require a high degree of accuracy.
• FDS inverter with V/f control (B20=0). For exact angle
synchronous running with reluctance motors.
The electronic gearbox on the slave runs in mode
C60=1:speed. Activation is handled by parameter G20.
12.1
•
•
•
•
•
•
•
•
•
•
Function overview
Precise speed and angle ratio
Gear ratio can be set as fraction
Following error monitoring
Free wheeling via binary input
Precontrol for high dynamics
No stationary angle error
Angle offset via binary or analog inputs
Fine adjustment of the gear ratio possible via AE2
Angle synchronous running with reluctance motors
Master signals of the incremental encoder or as frequency +
sign (stepper motor format)
See chapter 18 for the block circuit diagram for synchronous
running.
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
12. Synchronous Running, El. Gearbox
12.2
Connection of encoder
There are several ways to wire the master-slave connection.
The primary factor is the level of the incremental encoder used
(i.e., 5 V or 24 V).
With an FDS master with a 24 V motor encoder, the
conventional encoder connection to BE4 and BE5 is usually
used. Encoder tracks A and B and the reference ground are
looped through to the slave.
Master
Option
GB4001
or
EA4001
Ref. value
Slave
The following information applies to the slave.
• The connection of the motor encoder is specified in B26.
• The input for master signals is specified in G27.
• When the encoder is connected to BE4/BE5, the inputs
must be programmed to F34=14:encoder signal A and
F35=15:encoder signal B.
• When the encoder is connected to X20, H20=2 must be set.
• If several slaves are supplied with TTL signals via
EA/GB4001 over X20, each slave has a power requirement
of 30 mA at 5 V (voltage drop, optocoupler ≈2 V, series
resistance 100 Ω).
If the master supplies the position as frequency and sign
(stepper motor simulation), evaluation is performed with the
EA4001 or GB4001 option board (H20=3).
Sign
Enabl.
Frequency
Enabl.
FDS 4000
24V=
X1
Depending on the type, the master incremental encoder is
able to drive 10 to 20 slaves (see chap. 5 for technical
specifications of the BEs).
The GB4001 option board can also be used with the master.
The TTL/HTL-adjustable encoder output X21 of the GB4001
option can address up to 5 HTL slaves. The output signals on
plug connector X21 must be set to the HTL level as shown in
the configuration below (chap. 14.1). In the default setting,
TTL signals are output.
Master
Slave
Enabl.
GND
Enabl.
1
2
3
4
5
1)
Signals of the master
Slave Connector
Master
Motor
X20
BE4 + 5
BE4 + 5
X20
BE4 + 5
X20
X20
BE4 + 5
2)
*
*
f=frequency
sgn=sign
*Chap. 14.1
M
12.3
Connection of inputs and outputs
Compare block circuit diagram in chap. 18.
Binary outputs (parameters F00 and F80, F81)
• 12:sync.diff.; The synchronous difference exceeds limit
value G24.
The master pulses usually have HTL level and arrive at the
slave via inputs BE4 and BE5. Other configurations are also
conceivable.
Encoder Signals
1)
2)
Master
Slave
5V
5V
5V
24 V
24 V
5V
24 V
24 V
24 V
24 V
24V
GND
Enabl.
BE1
BE2
BE3
BE4
BE5
3
4
5
sgn
6
f
Binary inputs (parameters F31 to F35)
• 12:ext fault;
• 17:tip +; The slave is shifted to the positive direction in
relation to the master. The speed is the result of the current
speed reference value (AE1 or fixed reference value).
• 18:tip -; Same as "17:tip +" but in the negative direction.
• 27:syncFreeRun; Switch off synchronous running to run the
drive with the analog reference value, for example.
• 28:syncReset; Current synchronous difference G29 is reset.
GB4001
Caution: Set output voltage on
X21 to HTL (chap. 14.1)
GB4001
X20
X20
Par.
G27
Par.
B26
1
0
0
1
0
1
1
0
Motor encoder slave
Analog inputs AE2 (parameters F20, F25):
• 5:Override; The gear ratio is affected during operation
(change every 250 msec).
• 13:sync.offset; Slave position is changed via analog voltage
(100% = G38).
• 14:Sync. n-RV; External speed precontrol with analog
reference value.
12.4
Commissioning of slave
• Specify mode C60=1:speed for slave.
• Commission slave separately from master (speed reference
value).
• Activate el. gearbox with G20=1 or G20=2.
• Specify input for master signals in G27.
• Parameterize input for master signals
(X21: H20 to H23; BE4/5: F34=14, F35=15, F36).
• Specify speed ratio G22/G21.
• Direction of rotation can be changed with D92.
23
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
12. Synchronous Running, El. Gearbox
12.5
Angle deviation
12.7
Emergency off
The current deviation between master and slave is indicated in
G29. The angle of deviation is reset when:
The following measures are helpful in minimizing divergence
of master and slave when the power goes off.
•
•
•
•
• Select master low voltage limit A35 higher than that of the
slave.
• Set master quick stop to F38=2.
• Link intermediate circuits between master and slave.
• Adapt master quick stop ramp (D81) and torque limits (C04)
on the master and slave to the mass ratios.
When voltage is turned on (power and 24 V) if G20<3
Always for BE function "28:SyncReset"
For enable, halt and quick stop. See G25.
For BE function "27:SyncFreeRun." See G25.
The angle controller multiplies synchronous difference G29
with G23 (Kp.). The resulting speed offset is limited to ±G26
(n-correction-Max).
A continuous angle shift between master and slave can be
implemented with the BE functions Tip + and Tip -. The speed
difference is the current speed reference value (i.e., analog
input AE1 or the fixed reference value). Another way to shift
the angle is the AE function "13:synchron-offset."
The dynamic angle deviation during acceleration is reduced
with speed precontrol.
• Usually, the master increments are differentiated and added
as speed forward feed to the speed reference value.
Advantage: No extra wiring required
Disadvantage: The master must move first before the slave
can react. The speed obtained by differentiation is
smoothed with a low pass. (T=G22/G21 * F36/H22*4 msec if
G27=0:BE-encoder. Otherwise T= G22/G21 * H22/F36 *4
msec. In addition: T ≥ 16 msec).
• The "14:Synchron reference value” function can be used to
directly switch the speed reference value (post ramp) from
the master to the analog input of the slave (F20=14). The
function of the analog output F40=11:E07 n-postRmp can
be used for this with the master. No ramp can be
parameterized on the slave for the external precontrol. If the
analog reference value is circuited in parallel on master and
slave, no ramps may be active on the master.
12.6
Angle and speed synchronous running
With angle synchronous running (G20=2), all angle deviations
are acquired and adjusted. However, this is not always
desired. In speed synchronous running mode (G20=1), the
angle controller can be partially or completely deactivated.
The following setting is used to limit synchronous difference
G29 to the value G24.
G20=1:speed synchron run
G23>0 (Kp synchronous running)
Although the speed ratio is precisely adhered to, the slave
never attempts to catch up with a synchronous difference over
G24. This is similar to a mechanical safety notching coupling.
Make the following selection for pure speed synchronization.
G24=0
The speed ratio is not mathematically precise.
24
Turning off the power while the enable is active causes the
fault "46:low voltage". After power returns, a device
initialization is performed which may take several seconds.
Ö We recommend removing the enable at the same time the
power is removed so that the inverter does not go into
"fault mode".
12.8 Reference point traversing - slave
Reference point traversing permits you to automatically put
the slave into a defined initial position.
Reference point traversing is specified with parameters G31 to
G35. Reference point traversing is started with a binary input
(function F31=24:Start ref.).
Reference input
Fast (G32)
Zero pulses
Incremental
encoder
Slow (G33)
The drive moves at speed G32 in direction G31 until the
reference switch (reference input) on a BE becomes active
(function F31=23:Ref.input). The angle deviation is reset, and
the drive halts.
If only one direction of revolution is permitted (C02), the drive
moves in direction C02 at speed G33 until the rising edge of
the reference switch. The reference direction (G31) is ignored
in this case.
The current speed reference value ramps are used for
referencing (i.e., usually D00 and D01).
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
A.. Inverter
Para. No. Description
parameter:
A00 1) Save
0: inactive;
1: The parameters of both parameter records are saved in non-volatile memory. Saving is triggered when the
value changes from 0 to 1. "A02 check parameter" is then performed automatically.
Read
parabox & save: Read parameters from Parabox or Controlbox and save in non-volatile memory. The
A01•
inverter recognizes automatically what is connected to X3.
With Parabox: Set to "1:active;" and press
.
With Controlbox: First select desired data record (1 to 7), and then press
.
"A02 check parameter" is started automatically. When read errors occur (e.g., Parabox disconnected while
being read accessed), all parameters are rejected, and the settings last saved with A00 are restored.
0: inactive
1: active (for Parabox);
1 to 7 for Controlbox (number of the data record)
1)
Check
parameter:
Parameterization
is
checked
for correctness. For possible results, see chap. 15.
A02
0: inactive;
1: active; Parameters of the parameter record to be edited (see A11) are checked for the following.
- Adherence to the value range
- (n-Max ÷ 60) x encoder incr. < 80 kHz. [(C01 ÷ 60) x F36 < 80 kHz]
- Correct programming of the binary inputs (F31 to F35)
- If control mode "vector-controlled with 2-track feedback" has been selected with B20=2 and no option board
(B26=0) is being used, BE4 must be programmed to encoder signal A (F34=14) and BE5 must be
programmed to encoder signal B (F35=15).
1)
Write
to parabox: Write data of the inverter to external data medium (Parabox, Controlbox)
A03
0: inactive;
1 to 7; The parameters of both parameter records are copied from the inverter to Parabox (Controlbox). For
handling, see A01.
1)
Default
settings: All parameters are reset to their default settings.
A04•
0: inactive;
1: active; The procedure is triggered when the value changes from 0 to 1.
Menu level: Specifies the parameters which can be accessed by the user
A10
0: standard; Parameters which can be accessed are highlighted in gray in the parameter table (see chap. 21).
All parameters remain in effect including those in the "1:extended" menu level.
1: extended; Access to all parameters
2: service; Access to rarely used service parameters. Small print (e.g., A37).
Parameter set edit: Specifies the parameter record to be edited. The parameter record to be edited (A11) and
A11
the active parameter record (status indication) do not have to be identical. For example, parameter record 1 can
be edited while the inverter continues operation with parameter record 2. See also chapter 9.4.
1: parameter set 1; Parameter record 1 is edited.
2: parameter set 2; Parameter record 2 is edited.
Language: When the language is changed, FDS-Tool-specific texts U22, U32, U42 and U52 are reset to the
A12
default setting. This also applies to C53 and I09.
0: German;
1: English;
2: French
Set password: Password is requested. If a password is defined in A14, this must be entered here before
A13
parameters can be changed. See chapter 7.3.
Edit password: Definition and modification of the password. 0 means that no password has been set. All other
A14
values are valid passwords. See chapter 7.3. A defined password can only be read out via FDS Tool.
Auto-return: Permits automatic return from the menu to the status indication. In edit mode (i.e., the edited
A15
parameter is flashing), there is no automatic return to the status indication.
0: inactive;
1: active; If 50 seconds pass without a key being pressed, the display jumps back to the status indication.
Braking resistor type: Specification of the braking resistor type
A20
0: inactive; Braking transistor is deactivated. Too much braking energy causes fault "36:overcurrent"
1: user defined; For resistor values, see A 21, A22 and A23. Entering A20=1 and A22=0 automatically extends
the braking ramps when DC link voltage is too high.
2: 300Ohm0.15kW
3: 200Ohm0.15kW
4: 100Ohm0.15kW
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
25
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
A.. Inverter
Para. No. Description
5: 100Ohm0.6kW
6: 30Ohm 0.15kW
7: 30Ohm 0.6kW
A21
A22
A23
A30•
A31
A32
A33
A34
A35
A36
A37
A40•1)
P
A20 1 to 7: This information is used to create a thermal model which determines the
maximum permissible power which can be dissipated with the braking resistor.
This protects the braking resistance from thermal overload.
A thermal overload causes the fault "42:Temp.BrakeRes”
Brake resistor resist.: Only with A20=1 (user defined), resistance value of the braking resistor used
Value range in Ω:: Depends on type, up to 600
Braking resistor rating: Only with A20=1 (user defined), capacity of the braking resistor used. Entering A22=0
KW automatically extends the ramps when DC link voltage is too high (if no braking resistor is connected, the
fault "36:Highvoltage" is avoided.).
Value range in kW: 0 to 150
Braking resistor therm.: Only with A20=1 (user defined), thermal time constant of the braking resistor
Value range in sec: 0.1 to 40 to 100
Operation input: Specifies the origin of the control signals (i.e., enable, direction of rotation and reference
value)
0: control interface (X1); Control signals (e.g., enable and so on) are generated via the X1 terminals. All binary
inputs must be programmed accordingly. Fieldbus operation without Drivecom profile.
1: serial (X3); Control signals (e.g., enable and so on) are generated from the PC (FDS Tool software). The
inverter is connected to the PC via sub D plug connector X3 (RS 232-C interface). See chapter 9.9. Remote
control via the PC requires that the enable input (X1.9) be high.
2: fieldbus; The inverter is put into a drive-compatible mode for operation with communication. The device is
either controlled exclusively via the bus (the BEs should be set to "0:inactive" or in mixed operation). Signals
from the BEs (e.g., halt and limit switch (stop+, stop -) take priority over the fieldbus signals. If the control is
performed only via the fieldbus, the input functions (i.e., F20, F25, F31 to F35, and F60 to F64) must be set to
"0:inactive." Control of the drive via fieldbus requires that the enable input (X1.9) be high.
Esc-reset: Use the Esc key to acknowledge faults while they are being indicated.
0: inactive;
1: active; Faults can be acknowledged with Esc .
Auto-reset: Faults which occur are acknowledged automatically.
0: inactive;
1: active; The inverter acknowledges some faults automatically. See chapter 17. Faults can be automatically
acknowledged three times within a time period of 15 minutes (default setting). A fourth fault is not
acknowledged automatically. Instead, relay 1 opens, and the fault must be acknowledged in some other way
(i.e., enable, binary input F31 to F35=13, or Esc key A31). The automatic acknowledgment counter is
reset. After three unsuccessful attempts at acknowledgment, the inverter ignores automatic acknowledgment
and malfunctions. The time period for automatic acknowledgment can be parameterized from 1 to 255 min.
Time auto-reset: Time period for automatic acknowledgment. See A32.
Value range in min: 1 to 15 to 255
Auto-start: Before you activate auto-start A34=1, check to determine whether safety requirements permit an
automatic restart. Use only permitted when the standards or regulations pertaining to the system or machine are
adhered to.
0: inactive; After power-on, the enable must change from L level to H level to enable the drive (→ message
"12:inhibited"). This prevents the motor from starting up unintentionally (i.e., machine safety).
1: active; When auto-start is active, the drive can start running immediately (if enabled) after the power is turned
on.
Low voltage limit: If the inverter is enabled and the DC-link voltage is less than the value set here, the inverter
assumes fault "46:low voltage. " With three-phase devices, A35 should be approximately 85% of the network
voltage so that any failures in a phase can be compensated for.
Value range in V: Single phase: 120 to 300, three phase: 150 to 350 to 570
Mains voltage: Maximum voltage provided to the motor by the inverter. Usually the power voltage. Starting at
this voltage, the motor runs in the field weakening range. This specification is important for optimum adjustment
in control modes "sensorless vector-control" (B20=1) and "vector-control" (B20=2).
Value range in V: Single phase: 140 to 230 to 250, three phase: 220 to 400 to 480
Reset memorized values: The six different following error counters E33 to E38 (e.g., maximum current,
maximum temperature and so on) are reset.
Read parabox: Read parameters from a Parabox or Controlbox without automatic storage
0: inactive;
1 to 7: active; For how it works, compare A01.
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
26
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
A.. Inverter
Para. No. Description
Select parameter set: Two parameter records are available. These can be selected via the binary inputs or
A41
directly via A41. The selected parameter record does not become active until the enable has been removed and
after a maximum of 300 msec have passed. Some parameters retain their validity in both parameter record 1
and parameter record 2 (e.g., the posi. parameters in I, J and L). Parameters which can be programmed
separately in parameter record 2 are indicated by a between the coordinate and parameter name. See
chapter 7.1.
0: external; The active parameter record is selected via binary inputs BE1 to BE5. At least one of the parameters F30 to F34 must be set to 11 (parameter set-select) in both parameter records. Parameter record 1 is
active when a LOW signal is present on BE. Parameter record 2 is active when a HIGH signal is present on
BE.
1: parameter set 1; The inverter uses parameter record 1. External selection is not possible.
2: parameter set 2; The inverter uses parameter record 2. External selection is not possible.
Caution: Parameter A41 is only provided for testing purposes. It is not saved with A00=1. Use a BE or the
E101 parameter (bus access) if you want to switch parameter records during operation.
1)
Copy parameter set 1>2: Copies parameter record 1 to parameter record 2. The old values of parameter
A42•
record 2 are overwritten. The procedure is started when the value changes from 0 to 1.
The result is always "0:error free." The new parameter assignment must be stored in non-volatile memory with
A00.
0: error free;
1)
Copy
parameter set 2>1: Same as A42 except parameter record 2 is copied to parameter record 1
A43•
0: error free;
Tip: Only when C60≠2 (run mode≠position). Permits commissioning with minimum circuiting of the control
A50
terminal as long as A51 is entered.
0: inactive; Normal operation
1: active; The controller only requires a high signal on the "enable" input. All other binary control signals have
and
keys can be used to accelerate the drive counterclockwise or
no function when C60<2. The
clockwise to the speed set in A51. Since an enable is generated which has a higher priority than the
additional enable, operation remains possible even when additional-enable = low via fieldbus.
Tip
reference value: Only when C60≠2 (run mode≠position). Reference value for speed for commissioning
√
A51
without external circuiting of the control inputs. The "enable" input must be high! The current actual speed is
shown on the right of the display. When A50=1 and A51 is in input mode (value flashing), A51 becomes active
as continuous reference value. For behavior of enable and BEs, see A50.
Value range in rpm: -12000 P ... 300 P ... 12000 P
Key hand function: Can be used to disable the MANUAL
key on Controlbox for turning local operation
A55
on/off. For additional information, see Controlbox documentation (no. 441479).
0: inactive;
key has no function.
1: local;
key activates local operation. Device enabling is then handled exclusively by the keys "green I“
and "red 0“
and
keys can be used to move backward and forward in the status display. Active
. The
local operation and active enable are indicated by LEDs on Controlbox. The reference speed results from
A51 for speed mode and from I12 for POSI.
CAUTION: When local operation is disabled with the
key (LED goes off), the drive immediately switches
back to the queued control signals (i.e., danger of unintentional startup!).
A80
Serial address: Only when A10=2. Address for communication via X3 with FDS Tool and with master via USS protocol (see
®
®
documentation: USS coupling for POSIDRIVE and POSIDYN , no. 441564)
Value range: 0 to 31
A82
CAN-baudrate: Sets the baud rate for the Kommubox CAN bus. Cf. CAN bus documentation no. 441562.
0: 10 kBit/s
2: 50 kBit/s
4: 125 kBit/s
6: 500 kBit/s
8: 1000 kBit/s
1: 20 kBit/s
3: 100 kBit/s
5: 250 kBit/s
7: 800 kBit/s
Busaddress: Specifies the device address for use with the fieldbus (i.e., Kommubox). For permissible value
range, see documentation of the applicable Kommubox. A83 has no effect on device programming via PC with
FDS Tool or via the RS 232 interface with the USS protocol.
Value range: 0 to 125
Profibus baudrate: When the FDS is used with the PROFIBUS-DP Kommubox, the baud rate found on the bus
is indicated (!) here. Cf. PROFIBUS-DP documentation no. 441535.
0: not found
3: 45,45 kBit/s
6: 500 kBit/s
9: 6000 kBit/s*
1: 9,6 kBit/s
4: 93,75 kBit/s
7: 1500 kBit/s
10: 12000 kBit/s*
2: 19,2 kBit/s
5: 187,5 kBit/s
8: 3000 kBit/s*
* Available starting with Kommubox hardware version 06.2000
A83
A84
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
27
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
B.. Motor
Para. No. Description
Motor-type: Motor selection from the motor data base. The STÖBER system motor used is specified with
B00•
B00=1 to 29. B00=0 (user defined) is used for special windings or motors of other manufacturers.
0: user defined; Number of poles, P, I, n. V, f and cos PHI must be specified in B10 to B16. It is essential to
perform and store B41 (auto-tuning). Auto-tuning of the motor determines the winding resistors. This is
required for optimum adjustment between inverter and motor.
1: 63K Y 0.12kW
11: 80L Y 0.75kW
17: 100K Y 2.2kW
23: 132S D 5.5kW (400/690 V)
2: 63K D 0.12kW
12: 80L D 0.75kW
18: 100K D 2.2kW
24: 132M D 7.5kW (400/690 V
3: 63M Y 0.18kW
13: 90S Y 1.1kW
19: 100L Y 3kW
25: 132L D 9.2kW (400/690 V)
4: 63M D 0.18kW
14: 90S D 1.1kW
20: 100L D 3kW
26: 169M D 11kW (400/690 V)
5: 71K Y 0.25kW
15: 90L Y 1.5kW
21: 112M Y 4kW1)
27: 160L D 15kW (400/690 V)
6: 71K D 0.25kW
16: 90L D 1.5kW
22: 112M D 4kW1)
28: 180M D 18.5kW (400/690V)
7: 71L Y 0.37kW
29: 180L D 22kW (400 / 690 V)
8: 71L D 0.37kW
9: 80K Y 0.55kW
All necessary data are stored for these types of motors in a data base.
10: 80K D 0.55kW
This permits optimum adjustment between motor and inverter. Parameters
1)
Only STÖBER motors with
B10 to B16 are not shown.
230 V / 400 V (∆/Y) winding.
With 400 V / 690 V (∆/Y) winding, select B00=0 (user setting).
An "*" on the display means that at least one of the parameters (B53, B64 and B65) differs from the default
setting of the STÖBER motor data base. FDS Tool also offers an external data base for motors of other
manufacturers.
Poles: Calculated from the nominal speed of the motor p=2 (f x 60/nNom). Internally, the controller works with
B10•
frequencies. Correct speed indication requires entry of the number of poles.
Value range: 2 to 4 to 16
P-nominal: Nominal power as per nameplate.
B11•
Value range in kW: 0.12 ... (depends on type)
I-nominal: Nominal current as per nameplate. Remember type of connection (Y/∆) of the motor must
B12
correspond to B14.
Value range in A:0 ... (depends on type)
n-nominal: Nominal speed as per nameplate.
B13
Value range in rpm: 0 to (depends on type) to 12000P (P Depends on pole number B10; fmax = 400 Hz)
V-nominal: Nominal voltage as per nameplate. Remember type
B14•
Field weakenof connection (Y/∆) of the motor must correspond to B12.
ing range
Value range in V: 0 to (depends on type) to 480
B16
P
f-nominal: Nominal frequency of the motor as per nameplate. The
B14
slope of the V/f curve and thus the characteristics of the drive are
specified with parameters B14 and B15. The V/f curve determines (V-nom.)
the frequency (F15: f-nominal) at which the motor is operated with
the nominal voltage (B14: V-nominal). Voltage and frequency can
be increased linearly to more than the nominal point. The upper
voltage limit is the power voltage which is present. STÖBER system
motors up to model 112 offer the capability of star/delta operation.
Operation with 400 V ∆ makes it possible to increase power by the
factor √3 and provide an expanded speed range with constant torque.
With this type of connection, the motor has increased current requirements.
The following must be ensured:
– The frequency inverter is designed for this power (P∆ = √3 x PY).
– B12 (I-nominal) is parameterized to the appropriate nominal motor
current (I∆Nom = √3 x IYNom).
Value range in Hz: 10 to 50 to 330
cos PHI: The cos Phi of the nameplate of the motor is required for control.
Value range: 0.50 to (depends on type) to 1
Nom. point
√
√
√
√
√
B15 (f-nom.)
∆ circuit
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
28
√
Y circuit
Motor circuits
B15•
A36
(V-mains)
√
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
B.. Motor
Para. No. Description
Control mode: Specifies the type of motor control.
B20•
0: V/f-control; V/f control changes voltage and frequency proportionally to each other so that machine flow
remains constant. Utilized, for example, when reluctance motors or several motors are used with one inverter.
1: sensorless vector-control (SLVC); Vector control without feedback. Much better speed accuracy and
dynamics. B31, B32 and C30 can be used to manipulate dynamic reactions.
2: vector-control feedback; Vector control with feedback. The signals of the speed feedback are evaluated by
the inverter via binary inputs BE4/BE5, or an option board (plug connector X20). First case: B26=0, F34=14
and F35=15 must be parameterized. Second case: B26=1 and H20=2 must be parameterized. For
commissioning, see chap. 9.6.
V/f-characteristic: Effective regardless of the control mode selected in B20.
B21•
0: linear; Voltage/frequency characteristic is linear. Suitable for all applications.
1: square; Square characteristic for use with fans and pumps
V/f-gain: Offset factor for the slope of the V/f curve
B22 V/f gain
B22
The slope for V/f-gain=100% is specified by V-nom. (B14)
A36
and f-nom. (B15).
(V-mains)
Nom. point
Value range in %: 90 to 100 to 110
B14
(V-nom)
Boost: Only effective when B20=0 (V/f-control)
B23
Boost means an increase in voltage in the lower speed range
B23
(Boost)
which provides more startup torque. With a boost of 100%,
nominal motor current begins flowing at 0 Hz. Determination
of required boost voltage requires that the stator resistance of the
B15
motor be known. If B00=0 (user defined), it is essential to perform B41 (autotuning).
(f-nom.)
If B00=1 to 29, the stator resistance of the motor is specified by the motor selected.
Value range in %: 0 to 10 to 400
Switching frequency: The noise emission of the drive is reduced by changing the switching frequency.
B24•
However, since increasing the switching frequency also increases loss, permissible nominal motor current (B12)
must be reduced if the switching frequency is increased.
At a switching frequency of 16 kHz and VMains = 400 V, the inverter is able to supply a continuous current of 46%
of its nominal current. At 8 kHz, it can supply 75%. For applications starting with 200 Hz, the switching
frequency must be set to 8 kHz. Starting with software version 4.5B, the clock pulse frequency is automatically
reduced based on the thermal model (E22).
Value range in kHz: 4, 6, 8 to 16 (adjustable in 2 kHz increments)
Halt flux: Only if B20≠2. B25 specifies whether the motor remains powered during halt and quick stop when the
B25•
brakes have been applied. Particularly useful for positioning. Cf. parameter L10. After a HALT, the motor
remains fully powered for the time B27. Output signal "22:ready for reference value“ indicates that the magnetic
field is being generated.
0: inactive; When the brakes are applied (halt, quick stop or due to process block with L10=1, for example),
power is withdrawn from the motor, and the motor is demagnetized. The advantage of this is improvement of
thermal motor balance since the motor has time to cool off during the pauses. The disadvantage of this is the
increased time required for remagnetization (i.e., rotor time constant, approx. 0.5 sec). The inverter
automatically determines how much time is required and adds this to brake release time F06.
1: active; Default setting. Magnetization current flows through the motor and speeds up reaction to brake
release. Disadvantage: The motor heats up, and the magnetization current can be up to 40% of the nominal
current depending on the size of the motor.
2: 75%; Current reduced to 75%. Otherwise same as B25=0.
3: 50%;
4: 25%;
Motor-encoder: Only if B20=2 (vector control). B26 specifies which encoder input will be used for motor
B26•
control. The encoder increments are specified with F36 or H22. Regardless of B26, the master encoder is set
for synchronous operation (G20=1) with G27 and the POSI encoder (C60=2) is set with I02.
0: BE-Encoder; Motor encoder (24 V) is connected to binary inputs BE4 and BE5. Remember F34=14 and
F35=15 as well as F36 (BE increments)!
1: X20; Motor encoder (5 V or 24 V) on option slot X20 (option boards GB4000, EA4000, SSI4000, GB4001 and
EA4001). Remember H20=2:Encoder In and H22 (X20 increments).
Time
halt flux: When a reduction of halt flux B25 occurs, the full magnetization current is still retained for time
B27
B27 when the brakes are applied and the power pack is active (e.g., HALT signal or process block-specific).
Value range in sec: 0 to 255
√
√
√
√
√
√
√
√
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
29
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
B.. Motor
Para. No. Description
Addit.motor-operation: Only if B20=0 (V/f-control). For multiple-motor operation. Permits an additional motor
B30
to be connected to the enabled inverter. Motor voltage is briefly reduced to prevent overcurrent switchoff.
0: inactive;
1: active;
Oscillation damping: When idling, large motors may tend to sympathetic vibration. Increasing the parameter
B31
B31 damps these oscillations when B20=2:SLVC. Values from 60 to 100% are suitable for difficult drives.
With B20=2:Vector Control, B31 limits the possibility, during generator operation, of using the increase in the
rise of DC link voltage to increase magnetization and thus braking torque. This can have a positive effect on
smoothness of running when the drive is alternating between motor and generator operation at a constant
higher speed.
Value range in %: 0 to 30 to 100
SLVC-dynamics: B32 can be used to manipulate the speed at which SLVC reacts to changes in load.
B32
B32=100% means greatest dynamics.
Value range in %: 0 to 70 to 100
1)
Phase test:
B40•
0: inactive;
1: active; Tests motor symmetry in increments of 60°. The following points are checked:
- Connection of phases U, V and W
- Symmetry of the winding resistance of the phases U, V and W. If a winding resistor deviates by ±10%, the
inverter reports "19:symmetry".
- Type of connection of the motor. If a STÖBER system motor has been selected with parameter B00=1 to 28,
the type of connection of the selected STÖBER system motor (i.e., star/delta) is compared with that of the
connected motor. Deviations are reported with "20:motorConnect." The function is started when the level
on the input enable (X1.9) changes from low to high. Exiting the parameter requires another low signal on
the enable.
1)
Autotuning:
Determination of the stator resistance B53. Important for optimum motor control.
B41•
0: inactive;
1: active; Stator resistance B53 is measured. The function is started when the level on the input enable (X1.9)
changes from low to high. Exiting the parameter requires another low signal on the enable. A00=1 is used to
save the measuring results in non-volatile memory. The HALT signal may not be present and the extra
enable must be present.
B00=0. Be sure to autotune motor or enter R1-motor B53 directly. Important for optimum adjustment of inverter
and motor.
B00=1 to 29, autotuning of the motor is not required. Values are stored in the motor data base.
B53
B64
B65
R1-motor: Stator resistance of the motor winding, R1=Ru-v/2. Usually only entered for non STÖBER motors or autotuning with
B41. In the Y circuit, B53 directly corresponds to the branch resistance. In the ∆ circuit, 1/3 of the branch resistance must be
entered. With STÖBER motors, B53 should usually not be changed. The resistance of a cold coil must be entered with an
extra 10% (factor 1,1). R1 is required for correct functioning of the vector control (SLVC and VC). Value is adjusted with B41
(autotuning). An "*" indicates deviation from the STÖBER motor data base.
Value range in Ω: 0.01 to depends on type to 327.67
Ki-IQ (moment): Only when B20=2. Integral gain of the torque controller.
Value range in %: 0 to depends on type to 400
Kp-IQ (moment): Only when B20=2. Proportional gain of the torque controller.
Value range in %: 0 to depends on type to 400
√
√
√
√
√
√
C.. Machine
Para. No. Description
n-Min: Only if C60≠2 (run mode≠position). Minimum permissible speed. The speed is related to the motor shaft
C00
speed. Reference values less than n-Min are ignored and raised to n-Min.
Value range in rpm: 0 to C01
n-Max: Maximum permissible speed. The speed is related to the motor shaft speed. Reference values over
C01
n-Max are ignored and limited to n-Max.
Value range in rpm: C00 to 3000 P to 12000 P (P = depends on poles B10; fmax = 400 Hz)
Perm. direction of rotat.: Only if C60≠2 (run mode≠position). Determines the permissible direction of rotation.
C02•
The direction of rotation can be specified via the binary inputs.
0: clockwise & counter-clockwise;
1: clockwise;
2: counter-clockwise;
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
30
√
√
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
C.. Machine
Para. No. Description
M-Max 1: Maximum torque in % of nominal motor torque. The active torque limit can be further reduced with an
C03
analog input (see F25=2). If the maximum torque is exceeded, the controller responds with the message
"47:drive overload." See also remarks for C04.
Value range in %: 0 to 150 to 400%*
* Value is limited by the maximum inverter current.
M-Max 2: Additional torque limit. You can switch between C03 and C04 with a binary input (F3..=10:torque
C04
select) or automatically when startup mode= cycle characteristic (C20=2). See chap. 9.2.
Remarks: Since C04 is always active for a quick stop, C04 ≥ C03 should usually apply!
Value range in %: 0 to 150 to 400%*
* Value is limited by the maximum inverter current.
Skip
speed
1:
Only
if
C60≠2
(run
mode≠position).
Prevents prolonged use of the drive in a frequency range
C10
which produces mechanical resonance. The drive goes through the entered speeds and tolerance band of
±0.4 Hz with the decel-quick ramp (D81). The four "skip speeds" can be specified next to each other.
P
(P depends on poles B10; fmax = 400 Hz)
Value range in rpm: 0 to 12000
Skip speed 2: See C10.
C11
Value range in rpm: 0 to 12000 P
Skip speed 3: See C10.
C12
Value range in rpm: 0 to 12000 P
Skip speed 4: See C10.
C13
Value range in rpm: 0 to 12000 P
Startup mode: Determines the startup behavior of the drive
C20•
0: standard; Default setting. Separate from control mode (B20).
1: load start; Only if B20=1 (sensorless VC). For machines with increased breakaway torque. The motor torque
is increased to M-load start (C21) during the time t-load start (C22). After expiration of this time, the inverter
uses the standard ramp again.
2: cycle characteristic; Effective separately from the control mode (B20).
- Automatic switch between the specified torque limits M-Max 1 (C03) and M-Max 2 (C04). M-Max 1 applies
during constant travel. M-Max 2 applies during the acceleration phase.
- If B20=1 (sensorless vector control), a torque precontrol procedure is performed (i.e., the inverter calculates
the required torque from the motor type specified (B00) and the ratio of load/motor inertia (C30). This
calculated torque is then given to the drive.
3: capturing; Only if B20=1. A rotating motor is connected to the inverter. The inverter determines the actual
speed of the motor, synchronizes itself, and specifies the appropriate reference value.
M-load start: Only if C20=1 (load start). Specification of the torque for the load start.
C21
Value range in %: 0 to 100 to 400
t-load start: Only if C20=1. Time for the load start with the torque defined in C21.
C22
Value range in sec: 0 to 5 to 9.9
J-mach/J-motor: Ratio of the inertia of load to motor. This factor is effective for all control modes and is
C30
important for optimization between inverter and motor (i.e., dynamics). Entry is not mandatory.
√
√
√
√
√
√
√
√
√
√
Remarks: In winding mode, the effective inertia torque is calculated for C30 ≥ 1.5 to the fourth power with the winding
diameter for compensation of the acceleration torque. The following applies: J (D-Min) = 1.5 * J-motor, J (D-Max)= C30 *
J-motor. The torque supplied by the drive is increased so that traction remains constant and extra torque is available for
acceleration.
C31
Value range: 0 to 1000
n-controller Kp: Only if B20=2 (vector control with feedback).
Proportional gain of the speed controller. The internal gain also
depends on the number of poles (default setting is for 4 poles).
Remarks: In winding mode (G10>0), the Kp gain with the winding diameter is
quadratically reduced from C31 for D-Max down to C31*C35 for D-Min.
Value range in %: 0 to 60 to 400
C32
C35
C40
P
√
n-controller Kp
n-post
ramp
n-contr. Ki
M-ref.val.
n-motor
√
n-controller Ki: Only if B20=2. Integral gain of the speed controller. Reduce C32 when overswinging occurs in
the target position.
Value range in %: 0 to 30 to 400
n-control. Kp standstill:
Without winders: C31 and C32 are multiplied by C35 as soon as the motor speed drops below C40.
With winders: The formulas described under C31 and C32 apply.
Value range in %: 5 to 100
n-window: If F00=3 (relay 2 as signal relay for "3:reference value-reached") or F00=2 (relay 2 as signal contact
for speed "2:standstill"), the reference value is considered achieved in a window of reference value ±C40, and
relay 2 closes. A halting brake is not activated as long as [n] > C40.
P
Value range in rpm: 0 to 30 to 300
√
√
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
31
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
C.. Machine
Para. No. Description
Operating range n-Min: Parameters C41 to C46 can be used to specify an operating area. An output (F00=6)
C41
can be used to signal that these values have been exceeded. All area monitoring procedures are performed at
the same time. If area monitoring is not required, the minimum parameters must be set to the lower-limit values,
and the maximum parameters must be set to the upper-limit values. Cf. chapter 9.3. When C49=0, operatingrange monitoring is suppressed when the motor is not powered and during acceleration/braking procedures.
When C48=1, amount generation is activated.
Value range in rpm: 0 to C42
Operating range n-Max: See C41.
C42
P
P
(P depends on poles B10; fmax = 400 Hz)
Value range in rpm: C41 to 6000 to 12000
Operating range M-Min: See C41.
C43
Value range in %: 0 to C44
Operating range M-Max: See C41.
C44
Value range in %: C43 to 400
Operating range X-Min.: See C41. Monitors range defined in C47.
C45
Value range in %: -400 to 0 to C46
Operating range X-Max.: See C41. Monitors range defined in C47.
C46
Value range in %: C45 to 400
Operating range C45/C46: Defines the range to be monitored.
C47
0: E01 P-motor;
5: E22 i2t-device;
10: E71 AE1-scaled;
1: E02 M-motor;
6: E23 i2t-motor;
11: E72 AE2-scaled;
2: E10 AE1-level;
7: E24 i2t-braking resistor;
12: E73 AE2-scaled 2;
3: E11 AE2-level;
8: E62 actual M-Max;
13: E14 BE5-frequency RV
4: E16 analog-output1-level;
9: E65 PID-error;
14: E08 n-motor; (% ref. to C01)
Operating range of amount C47:
C48
0: absolute; First, the amount is generated from the signal selected in C47.
Example: C47=AE2; C45=30%; C46=80%. The operating range is -80% to -30% and +30% to +80%.
1: range; The signal selected in C47 must be located in range C45 to C46.
Example: C47=AE2, C45= -30%, C46= +10%. The operating range is -30% to +10%.
Operating
range accel&ena:
C49
0: inactive; During acceleration or deactivated enable, the "operating range" signal for the binary outputs is set
to "0"=ok. The three ranges are only monitored during stationary operation (compatible with device software
V 4.3).
1: active; The operating range is always monitored..
Display function: Only if C60≠2 (operating mode≠position). Parameters C50 to C53 can be used to design the
C50
first line of the display as desired. See chapter 6.1. Eight characters are available for a number, and 8
characters are available for any unit. Display value=raw value/display factor.
0: n2 & I-motor;
1: E00 I-motor; The inverter supplies the actual motor current in amperes as the raw value.
2: E01 P-motor; The inverter supplies as the raw value the actual active power as a percentage of the nominal
motor power.
3: E02 M-motor; As the raw value, the inverter supplies the actual motor torque as a percentage of the nominal
motor torque.
4: E08 n-motor; The inverter supplies the actual speed in rpm as the raw value. If V/f control (B20=0) and
sensorless vector control (B20=1), the frequency (i.e., motor speed) output by the inverter is indicated. Only
with vector control with feedback (B20=2) is the real actual speed indicated.
Display factor: Only if C60≠2. Raw value (C50) is divided by the value entered here.
C51
Value range: -1000 to 1 to 1000
Display decimals: Only if C60≠2. Number of positions after the decimal point for the value in the display.
C52
Value range: 0 to 5
Display text: Only if C60≠2 (operating mode≠position) and if C50>0. Text for customer-specific unit of measure
C53
in the operating display (e.g., "units/hour"). Maximum of 8 positions. Can only be entered with FDS Tool.
Run mode
C60•
1: speed; Reference value for speed, conventional operating mode.
2: position; Position control activated. When enable signal on X1.9, the position controller is turned on, and the
current position is maintained. Full functionality of the position controller is only available with incremental
encoders (B20=2). If C60=2, group "D. reference value") is completely faded out.
When the mode is switched from speed to position, the reference position is lost. With the SSI-4000 option
board, a non-acknowledgeable fault ("37:n-feedback") is triggered after the switch to C60=2. → Save values
with A00, and turn power off and on.
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
32
√
√
√
√
√
√
√
√
√
√
√
√
√
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
D.. Reference Value
Group D is not shown in run mode C60=2:position.
Para. No. Description
Reference value accel: Acceleration ramp for analog reference value inputs. Is only used for specification of
D00
reference value via terminal strip X1 and motor potentiometer.
− Voltage, current via analog input 1 (X1.2 to X1.4)
− Frequency via binary input BE5 (X1.8 to X1.14)
− Motor potentiometer via the binary inputs (D90=1)
Value range in sec/150 Hz * D98: 0 to 3 to 3000
Reference value decel: Deceleration ramp for analog reference value inputs. Is only used for specification of
D01
reference value via terminal strip X1 and motor potentiometer.
− Voltage, current via analog input 1 (X1.2 to X1.4)
− Frequency via binary input BE5 (X1.8 to X1.14)
− Motor potentiometer via the binary inputs (D90=1)
Value range in sec/150 Hz * D98: 0 to 3 to 3000
2)
Speed
(max. ref. value)2): Parameters D02 to D05 can be used to specify as desired the relationship between
D02
analog reference value and speed with a reference value characteristic curve.
D02: Speed achieved with the maximum reference value (D03)
P
P
(P Depends on pole number B10; fmax = 400 Hz)
Value range in rpm: 0 to 3000 to 12000
2)
Reference value-Max. : Reference value to which the speed (max. RV) (D02) is assigned. Percentage of the
D032) analog
reference value (10 V=100%) at which the maximum speed (D02) is achieved.
Value range in %: D05 to 100
(min. ref. value)2): Speed achieved with minimum reference value (D05).
D042) Speed
P
(P Depends on pole number B10; fmax = 400 Hz)
Value range in rpm: 0 to 12000
2)
Reference value-Min. : Reference value to which the speed (min. RV) (D04) is assigned. Percentage of the
D052) analog
reference value (10 V=100%) at which the minimum speed (D04) is achieved.
Value range in %: 0 to D03
value offset2): Corrects an offset on analog input 1 (X1.2 to X1.4). When the ref. value is 0, the
D062) Reference
motor may not be permitted to rotate. If a revolution occurs anyway, this value must be entered with reversed
sign as the offset (e.g., if param. E10 shows 1.3%, D06 must be parameterized to -1.3%). The value range is
±100%. While the ref. value offset is being entered, the current value of the analog input is shown at the same
time.
Value range in %: -100 to 0 to 100
2)
Reference value enable2): When the minimum reference value (D05) is set to a value greater than 1%, an
D07•
enable can be derived from the reference value output.
0: inactive;
1: active; An additional enable is derived from the reference value on analog input 1. If the reference value
enable is high, the output is greater than or equal to the minimum reference value (D05). If the reference
value enable is low, the output is less than the minimum reference value (D05).
Monitor reference value2). Monitors reference value output. Monitors for wire break. Ref. value monitoring will
D082) only
function if the minimum reference value specified in D05 is greater than or equal to 5% (D05 > 5%).
0: inactive;
1: active; If the reference value output is 5% less than the minimum permissible reference value (D05), the
inverter shows "43:RV wire brk."
reference value no.: Selection of a fixed reference value
D092) Fix
0: external selection via binary inputs and BE functions RV-select 0 to 2
1 to 7: fixed selection of fixed reference value. BE inputs are ignored.
12): Up to 7 fixed reference values/ramp records can be defined per parameter record. Selection is made
D102) Accel
via the binary inputs. At least one binary input must be programmed to reference value selector
(e.g., F31=1:RV-select0). The reference value selector is used to assign the fixed reference values or ramp
records to the signals of the binary inputs. The result of the binary coding is shown in E60 (0 to 7). The ramp
records accel 1 to 7 / decel 1 to 7) are only active in connection with the assigned fixed reference values 1 to 7.
Accel 1: Acceleration time for ramp record 1 as related to 150 Hz.
No. Accel Decel Reference Value
Value range in sec/150 Hz * D98: 0 to 6 to 3000
2)
2)
Decel
1
:
Deceleration
time
for
ramp
record
1
as
related
to
150
Hz.
D00
D01
0
Analog, freq,..
D11
Value range in sec/150 Hz * D98 : 0 to 6 to 3000
D10
D11
1
Fixed RV 1
Fix reference value 12): Selection is made parallel to ramp record 1.
D122) (Accel
D20
D21
2
Fixed RV 2
1 / decel 1) via the binary inputs
..
..
..
..
P
P
P
Value range in rpm: -12000 to 750 to 12000
.
.
.
.
D202)
Accel 22): Acceleration time for ramp rec. 2 as related to 150 Hz.
Value range in sec/150 Hz * D98: 0 to 9 to 3000
7
D70
D71
√
√
√
√
√
√
√
√
√
√
√
√
√
√
Fixed RV 7
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
33
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
D.. Reference Value
Group D is not shown in run mode C60=2:position.
Para. No. Description
22): Deceleration time for ramp rec. 2 as related to 150 Hz.
D212) Decel
Value range in sec/150 Hz * D98: 0 to 9 to 3000
2)
Fix
reference value 22): Selection is made parallel to ramp rec. 2.
D22
(Accel 2/decel 2) via the binary inputs
Value range in rpm: -6000 to 1500 to 6000
2)
Accel
32): Acceleration time for ramp rec. 3 as related to 150 Hz.
D30
Value range in sec/150 Hz * D98: 0 to 12 to 3000
2)
Decel
32): Deceleration time for ramp rec. 3 as related to 150 Hz.
D31
Value range in sec/150 Hz * D98: 0 to 12 to 3000
reference value 32): See D12.
D322) Fix
Value range in rpm: -12000P to 3000P to 12000P
42): Acceleration time for ramp record 4 as related to 150 Hz.
D402) Accel
Value range in sec/150 Hz * D98: 0 to 0.5 to 3000
2)
Decel
42): Deceleration time for ramp record 4 as related to 150 Hz.
D41
Value range in sec/150 Hz * D98: 0 to 0.5 to 3000
2)
Fix reference value 42): See D12.
D42
Value range in rpm: -12000P to 500P to 12000P
52): Acceleration time for ramp record 5 as related to 150 Hz.
D502) Accel
Value range in sec/150 Hz * D98: 0 to 1 to 3000
2)
Decel
52): Deceleration time for ramp record 5 as related to 150 Hz.
D51
Value range in sec/150 Hz * D98: 0 to 1 to 3000
2)
Fix reference value 52): See D12.
D52
Value range in rpm: -12000 P to 1000 P to 12000 P
62): Acceleration time for ramp record 6 as related to 150 Hz.
D602) Accel
Value range in sec/150 Hz * D98: 0 to 2 to 3000
2)
Decel
62): Deceleration time for ramp record 6 as related to 150 Hz.
D61
Value range in sec/150 Hz * D98: 0 to 2 to 3000
2)
Fix
reference value 62): See D12.
D62
Value range in rpm: -12000 P to 2000 P to 12000 P
72): Acceleration time for ramp record 7 as related to 150 Hz.
D702) Accel
Value range in sec/150 Hz * D98: 0 to 2.5 to 3000
72): Deceleration time for ramp record 7 as related to 150 Hz.
D712) Decel
Value range in sec/150 Hz: 0 to 2.5 to 3000
2)
Fix
reference value 72): See D12.
D72
Value range in rpm: -12000 P to 2500 P to 12000 P
Ramp shape:
D80
0: linear;
1: ´S´ ramp; Smoother acceleration/deceleration.
Decel-quick: Quick stop ramp. Effective if a binary input is programmed to quick stop (F3..=9) or parameter
D81
F38>0. When a quick stop is triggered by the binary inputs, the drive is decelerated with the deceleration ramp
set here. In position mode (C60=2), quick stop is performed on ramp I11.
Value range in sec/150 Hz * D98: 0 to 0.2 to 3000
Reference value source: See block circuit diagram in chap. 19.
Motor Poti
D90•
BE4 BE5
0: standard reference value;
RV
1: motor potentiometer; Two binary inputs can be used to simulate a "motor
L
L
Constant
potentiometer." This requires that one binary input be programmed to
H
L
Larger
"4:motorpoti up" and another binary input to "5:motorpoti dwn"
L
H
Smaller
(e.g., F34=4 and F35=5). Only ramps D00 and D01 can change the speed.
H
H
0
2: motor potentiometer+reference value; The reference value for speed of the
motor potentiometer function is added to the "standard" reference value
(i.e., analog input, fixed reference values). When D90=1, only the motor potentiometer reference value is
used. The ramps selected with the binary inputs are used, and the motor potentiometer reference value
changes with RV-accel/RV-decel (i.e., D00 and D01).
Motorpoti
function: Only if D90≠0 (reference value source≠standard RV)
D91
0: non-volatile; The reference value which was approached is retained both when the enable is removed and
when the power is turned off/on.
1: volatile; The reference value is set to 0 when the enable becomes low or the power for the drive is turned off.
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
34
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
D.. Reference Value
Group D is not shown in run mode C60=2:position.
Para. No. Description
Negate reference value: See block circuit diagram in chap. 19.
D92
0: inactive;
1: active; The reference value channel is negated. Corresponds to a reverse in direction of rotation. Not related
to the selected reference value.
RV-generator: For commissioning and optimizing the speed controller.
D93
0: inactive; Normal reference value selection.
1: active; ±A51 is specified cyclically as reference value. The time can be set in D94.
Ref. val. generator time: After this period of time, the sign of the reference value changes when D93=1:active.
D94
Value range in msec: 0 to 500 to 32767
D98
√
√
√
Ramp factor: If D98<0 and speed mode (C60=1), all ramps (e.g., D00) are shortened by one or two powers of ten. This
makes very sensitive setting of short ramps possible.
-2: *0.01 All ramp times shortened by factor of 100.
-1: *0.1 All ramp times shortened by factor of 10.
0: *1
Factory setting. Ramps unchanged.
E.. Display Values
Para. No. Description
E00
E01
E02
E03
E04
E05
E06
E07
E08
E09
E10
E11
E12
E13
E14
E15
E16
E17
E18
I-motor: Indicates the active motor current in amperes.
P-motor: Indicates the current power of the motor in kW and as a relative percentage in relation to nominal
motor power.
M-motor: Indicates the current motor torque in Nm and as a relative percentage in relation to nominal motor
torque.
DC-link-voltage: Indicates the current DC-link voltage.
Value range for single-phase inverters: 0 to 500 V
Value range for three-phase inverters: 0 to 800 V
V-motor: Indicates the current motor voltage.
Value range for single-phase inverters: 0 to 230 V
Value range for three-phase inverters: 0 to 480 V
f1-motor: Indicates the current motor frequency in Hz.
n-reference value: Only if C60=1 (speed). Indicates the current ref. val. for speed in relation to the motor shaft.
n-post-ramp: Only if C60=1. Indicates the current speed in relation to the motor shaft after the ramp generator.
Reflects the actual speed characteristic under consideration of the selected ramp. Cf. chap. 10.7.
n-motor: Indicates the current motor speed.
Rotor position: Only if B20=2:vect.feedback. Accumulates the increments of the motor encoder. With SSI
encoders, the encoder position read from the encoder is entered during device startup. Digits in front of the
decimal point indicate whole revolutions. The three positions after the decimal point are fractions of one motor
revolution. This position is available in all run modes.
AE1-level: Level of the signal present on analog input (AE) 1 (X1.2 to X1.4). ±10 V is 100%.
AE2-level: Level of the signal present on analog input (AE) 2 (X1.A to X1.B). ±10 V is 100%.
ENA-BE1-BE2-level: Level of the enable inputs (X1.9), binary input 1 (X1.10) and binary input 2 (X1.11). Low
level is represented by 0, and high level is represented by 1.
BE3-BE4-BE5-level: Level of binary inputs 3, 4 and 5 (X1.12 to X1.14). Low level is represented by 0, and high
level is represented by 1.
BE5-frequence ref. value: If binary input 5 is parameterized to frequency reference value specification
(F35=14), reference value output can be monitored here. 0% corresponds to a frequency specification of 100 Hz
on BE5. 100% corresponds to the maximum permissible frequency reference value as entered under F37.
n-encoder: If speed feedback is connected to BE4 and BE5 and BE5 is not parameterized to the frequency
reference value, the actual encoder speed can be monitored here. The display is not related to the control mode
set under B20. When using the option board, remember B26=1.
Analog-output1-level: Indicates the level on the analog output (X1.5 to X1.6). ±10 V corresponds to ±100%.
Relay 1: Status of relay 1 (ready for operation).
0: open; For meaning, see parameter F10.
1: closed; Ready for operation.
Relay 2: Status of relay 2. The function of relay 2 is specified with parameter F00.
0: open;
1: closed;
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
35
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
E.. Display Values
Para. No. Description
E19
E20
E21
E22
E23
E24
E25
E26
E27
BE15...BE1 & enable: The status of the binary inputs including the option board is shown as a binary word.
Device utilization: Indicates the current load of the inverter in %. 100% corresponds to the nominal capacity of
the inverter.
Motor utilization: Indicates the current load of the motor in %. Reference value is the nominal motor current
specified under B12.
i2t-device: Level of the thermal device model (i.e., i2t model). If utilization is 100%, the fault message
"39:tempDev.i2t" appears. After being turned on, the inverter sets E22=80%.
i2t-motor: Level of the thermal motor model (i.e., i2t model). 100% corresponds to full utilization. The thermal
model is based on the design data specified under group B (motor) (e.g., continuous operation (S1 operation)).
i2t-braking resistor: Level of the thermal braking resistor model (i.e., i2t model). 100% corresponds to full
utilization. The data of the braking resistor are specified with A20 to A23.
Device temperature: Current device temperature in °C. Is set to +25 °C when the FDS is powered with +24 V
from an option board while the power supply (230 V or 400 V) is not present.
Binary output 1: Only present when an option board exists (E54=1 or 2).
E30
BA15..1&Rel1: Status of all binary outputs as binary word. BA15 to BA1 are indicated from left to right. Relay 1
is indicated to the far right.
n-ref. value raw: Speed reference value before the offset ref. values and the reference value limitation. This is
the master reference value for the winder and the free-wheeling reference value for synchronous running.
Run time: Indicates the current run time. Run time means that the inverter is connected to the power supply.
E31
Enable time: Indicates the active time. Active time means that the motor is powered.
E32
Energy counter: Indicates the total power consumption in kWh.
E29
E33
E34
E35
E36
E37
E38
E40
E41
E42
Vi-max-memorized value: The DC-link voltage is monitored continuously. The largest value measured is saved
here in non-volatile memory. This value can be reset with A37→1.
I-max-memorized value: The motor current is continuously monitored. The largest value measured is stored
here in non-volatile memory. This value can be reset with A37→1.
Tmin-memorized value: The temperature of the inverter is continuously monitored. The smallest value
measured is stored here in non-volatile memory. This value can be reset with A37→1.
Tmax-memorized value: The temperature of the inverter is continuously monitored. The greatest value
measured is stored here in non-volatile memory. This value can be reset with A37→1.
Pmin-memorized value: The active power of the drive is continuously monitored. The smallest value measured
is stored here in non-volatile memory. This value can be reset with A37→1.
Pmax-memorized value: The active power of the drive is continuously monitored. The largest value measured
is stored here in non-volatile memory. This value can be reset with A37→1.
Fault type: This parameter allows you to make a selection from archived faults. The inverter stores the last 10
faults in the order in which they occurred. The number of the fault is indicated at the top right. 1 indicates the
latest fault, and 10 indicates the oldest fault. The type of fault is shown in plain text in the bottom line. Proceed
key. The number (1 to 10) of the
as follows to select which of the 10 faults will be indicated. Press the
indicated fault flashes in the top line. The type of fault is indicated in plain text in the bottom line
(e.g., "31:short/ground"). The arrow keys can then be used to select the desired fault number.
Fault time: The run time at the time of the selected fault is indicated. Selection is the same as for E40.
Fault count: Number of faults of the type of fault selected. Proceed as follows to select the type of fault. Press
key. A fault code and the fault appear in plain text (e.g., "31:short/ground") in the bottom line. The arrow
the
keys can then be used to select the desired type of fault. The number of faults of this event is shown in the top
line (0 to 65,535).
E45
Control word: Control of Drivecom device state machine during fieldbus operation with Kommubox.
E46
Status word: Status of the device during fieldbus operation with Kommubox. See fieldbus documentation.
E47
n-field-bus: Reference value speed during fieldbus operation with Kommubox.
E50
E51
Device: Indication of the exact device type (e.g., FDS 4024/B).
E52
Device-number: Number of the device from a manufactured series. Same as the number on the nameplate.
E53
Variant-number
P
Software-version: Software version of the inverter (e.g., V4.5).
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
36
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
E.. Display Values
Para. No. Description
Option-board: Indication of the option board detected during initialization.
E54
0: none; No option board or external 24 V power supply missing.
1: GB 4000;
3: 24 V supply;
5: SSI 4000;
7: EA 4001;
2: EA 4000;
4: ASI 4000;
6: GB 4001;
Identity-number: Number assigned by the user as desired from 0 to 65535. Can only be write-accessed with
E55
FDS Tool or fieldbus.
E56
Parameter set ident. 1: Indicates whether parameters in parameter record 1 were changed. Can be used to detect
unauthorized manipulation of parameters. The parameter record ID does not change when the actions “B40 phase test” and
“B41 autotuning” are executed.
0: all values are default settings (A04=1).
1: Specified value during initialization by FDS Tool.
2 to 253: Customer specification/configuration with FDS Tool. Status without change.
254: When parameters are changed via fieldbus or via the USS protocol, E56 and E57 = 254 are set.
255: At least one parameter value was changed with the keyboard (Controlbox or device).
E57
Parameter set ident. 2: Same as E56 but for parameter set 2.
E58
Kommubox: Type of Kommubox for fieldbus communication which is installed on X3 and was automatically
detected.
Reference value selector: Indicates the result of the binary
Reference
RV select
Proc.
E60
coding of the fixed reference values. Selection is binary via
Block
Value
2
1
0
inputs BE1 to BE5. At least one binary input must be
0
0
0
0
Analog, freq,..
1
parameterized for the reference value selector (F3..=1 to 3).
0
0
1
1
Fix. ref. val. 1
2
The result of the binary coding is indicated with the digits 0
0
1
0
2
Fix. ref. val. 2
3
to 7. A fixed reference value/ramp record is assigned to this
0
1
1
3
Fix. ref. val. 3
4
result.
1
0
0
4
Fix. ref. val. 4
5
A fixed reference value can also be specified directly with
1
0
1
5
Fix. ref. val. 5
6
D09. However, E60 is not affected by D09. In position mode
1
1
0
6
Fix.
ref.
val.
6
7
(C60=2), E60 indicates the result of process block
1
1
1
7
Fix. ref. val. 7
8
specification with binary inputs (E60=0 → proc. block1).
Additional ref. value: Current additional reference value to be added to the reference value being used. Can
come from AE2 (F20=1), AE1 (F25=1) or the fieldbus. See block circuit diagram in chap. 19.
Actual M-max: Currently effective M-Max as a minimum from M-Max 1 (C03), M-Max 2 (C04), and the torque
resulting from the level on AE2, if the AE2 function is parameterized for torque limit (F20=2) or power limit
(F20=3) or is from the fieldbus.
PID-controller limit: Only if G00=1 (i.e., PID controller is active).
0: inactive;
1: active; The PID controller output is limited to G04 or G05.
PID control deviation: Difference between analog input 2 signal after smoothing, offset and factor and E121
PID reference.
E60
E61
E62
E63
E65
E71
E72
E73
E80
E81
E82
E83
E84
E100
AE1 scaled: AE1 signal after offset and factor. E71= (E10 + F26) * F27. Cf. block circuit diagram in chap. 19.
AE2 scaled: AE2 signal after offset and factor. E72= (E11 + F21) * F22
AE2 scaled 2: AE2 signal after smoothing, offset and factor as well as PID controller and offset 2.
E72= ( PID ( (E11 + F21) * F22 ) ) + F24. Cf. block circuit diagram in chap. 19.
Operating condition: Indicates the current operating state as shown by the operational display. Cf. chapter 16
(operating states). Useful for fieldbus poling or serial remote control.
Event level: Indicates whether a current event is present. The type of event is indicated in E82. Useful for
fieldbus poling or serial remote control.
0: inactive; No event is present.
1: message;
2: warning;
3: fault;
Event name: Indicates the current event/fault. Cf. chap. 17. Useful for fieldbus poling or serial remote control.
Warning time: The time remaining until the fault is triggered is indicated for the active warnings. This time can
be changed via FDS Tool. Useful for fieldbus poling or serial remote control.
Active parameter set: Indicates the current parameter record. Cf. chapter 9.4. Useful for fieldbus poling or
serial remote control.
1: parameter set 1;
2: parameter set 2;
Parameters E100 and above are used to control and parameterize the inverters by fieldbus. For details, see the
documentation of your fieldbus system.
P
Speed depends on pole number B10; fmax = 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available when D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
37
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
F.. Control Interface
Para. No. Description
Relay2-function: Functions of relay 2 (X2.5 to X2.6).
√
F00
0: inactive;
1: brake; Used to control a brake. See F01, F02 and F06 and F07. See also chap. 8.6.
2: standstill; Output active (relay closes) when speed 0 rpm ±C40 is reached.
3: reference value-reached; When C60=1 (speed mode): output is active when speed reference value is
within ±C40. When C60=2 (run "position" mode), refVal-reached means "in position." The signal appears
when reference value specification is concluded (i.e., end of ramp) and the actual position is located within
target window ±I22. The signal is not withdrawn until the next start command. When enable-off occurs,
"RefVal-reached" is reset when window I22 is exited or I21 (following error) is exceeded. "RefVal-reached"
then remains low.
This function cannot be used with process block changes via chaining "no stop" (J17=2).
4: torque-limit; Relay closes when the active torque limit is reached. See E62.
5: warning; Relay closes when a warning occurs.
6: operation range; Relay closes when the defined operational range (C41 to C46) is exited.
7: active parameter set; Only works when F00=7 is parameterized in both parameter records. Low signal (i.e.,
relay open) means that parameter record 1 is active. High signal (i.e., relay closed) means that parameter
record 2 is active.
The signal arrives before the new parameter record takes effect and can be used, for example, for contacter
control for a two-motor drive. Cf. chap. 9.4.
8: electronic cam 1; Only applicable when C60=2 (run mode "position"). Signal appears when the actual
position is located between the boundaries I60 and I61. Useful for starting actions on other drives or modules.
9: following error; Only applicable when C60=2. Maximum following error I21 was exceeded. The reaction to a
following error (e.g., fault, warning, and so on) can be parameterized via FDS Tool.
10: posi.active; Only applicable when C60=2. Signal only appears when positioning control is in the basic
status "17:posi.active" (i.e., no process block and no chaining being processed). This can be used to signal
the end of a chaining sequence, for example.
11: PID-controller limit; Signals restriction of the output of the PID controller to the value G04.
12: synchron difference; Signals that the maximum synchronous angle difference G24 has been exceeded.
13: referenced; Only if C60=2 (position control). Output is high while the drive is being referenced
(i.e., reference point traversing has been successfully concluded).
14: clockwise; Speed n>0. For zero crossing, hysteresis with C40.
15: fault; A fault has occurred.
16: inhibited; See run mode "12:inhibited" in chap. 16.
17: BE1; Route binary input to binary output. In addition to galvanic isolation, also used to read binary inputs via
ASi bus.
18: BE2; Cf. selection "17:BE1."
19: Switch-memory 1; Output switch memory S1. Each of the "posi switching points" defined in Group N.. can
be used to control 3 switch memories (S1, S2 and S3) simultaneously.
20: Switch-memory 2; Output switch memory S2.
21: Switch-memory 3; Output switch memory S3.
22: ready for reference value; The drive is powered. Magnetization is established. Reference value can be
specified.
23: reference value-ackn.0; In position run mode: When no posi.start, posi.step or posi.next signal is queued,
the RV-select signals are output inverted (monitoring with wire Example for "32:parameters active“ when
break detection). Otherwise active process block I82 is output. writing parameters via fieldbus:
See time diagram in chap. 10.3.
Send
Parameter
24: reference value-ackn.1; See "23:reference value-ackn.0."
Reply
accepted
parameter
25: reference value-ackn.2; See "23:reference value-ackn.0."
26: inactive;
27: inactive;
32:parameters active
28: BE3; Cf. selection "17:BE1."
29: BE4;
30: BE5;
31: BE6;
32: parameters active; Low signal means internal parameter conversions not completed. Useful for the
handshake with a higher level controller when converting parameter records, and similar.
Brake release: Only if F00=1 (brake) and B20≠2 (control mode≠ vector-control with feedback), otherwise F06.
√
F01
If the reference value exceeds the set speed value, the brake releases (relay 2=closes).
Value range in rpm: 0 to 300*
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
38
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
F.. Control Interface
Para. No. Description
Brake set: Only if F00=1 (brake) and B20≠2 (control mode≠ vector-control with feedback), otherwise F07.
F02
When the drive is halted to a standstill by a "halt" or a "quick stop" command, the brake is applied when the set
speed value is passed below (relay 2=opens).
Value range in rpm: 0 to 300*
Relay 2 t-on: Only if F00>0. Causes a delay in switch-on of relay 2. Can be combined with all functions of
F03
relay 2. The related function must be present for at least t-on so that the relay switches.
Value range in sec: 0 to 5.024
Relay
2 t-off: Only if F00>0. Causes a delay in switch-off of relay 2. Can be combined with all functions of
F04
relay 2.
Value range in sec: 0 to 5.024
Relay 2 invert: Only if F00>0. Permits the relay-2 signal to be inverted. Inversion occurs after the function
F05
switch-on/switch-off delay (F04/F03). Can be combined with all functions of relay 2.
Value range: 0 to 1
t-brake
release: Only if F00=1 (brake) and B20=2 (vector-control with feedback). Defines the amount of time
F06
the brake is released. F06 must be selected approximately 30 msec greater than the time t1 in section M of the
STÖBER MGS catalog. When the enable is granted or the halt/quick stop signal is removed, startup is delayed
by the time F06. See also B25.
Value range in sec: 0 to 5.024
t-brake set: Only if F00=1 (brake) and B20=2 (vector-control with feedback). Defines the time the brake is
F07
applied. F07 must be selected approximately 30 msec greater than the time t1 (MGS catalog). When the enable
and halt/quick stop is removed, the drive still remains under control for the time F07.
Time t1 ⇒ scanning time t21
t21 varies with switching on AC or DC side!
Value range in sec: 0 to 5.024
Relay 1-function: Relay 1 is closed when the inverter is ready for operation. The opening of the relay can be
F10
controlled by scanning the status of relay 1 via parameter E17.
0: fault; Relay is open when a fault occurs.
1: fault and warning; Relay open when a fault or warning occurs.
2: fault and warning and message; Relay open when a fault, warning or message occurs. If auto-reset
(A32=1) is active, the switching of the relay is suppressed until all auto-acknowledgment attempts have been
exhausted.
Quick stop end: Only if C60=1. F19 is available starting with SV 4.5E. It specifies when the quick stop ramp
F19
can be concluded.
0: Standstill; With the rising edge of the quick stop signal (or removal of the enable for F38>0), the drive brakes
down to standstill ("zero reached" message) even when the quick stop signal (or enable off) was only briefly
queued.
1: No stop; When the quick stop signal disappears or the enable returns, the drive immediately accelerates
again to the current reference value.
AE2-function:
Function of analog input 2 (X1.A to X1.B). Caution: F20 ≠ F25 must be true.
F20•
0: inactive;
1: additional reference value; Additional reference value input. Takes effect regardless of which operation
input is selected. Is added to the running reference value (A30). 100% control of AE2 is 100 Hz (3000 rpm for
4-pole motor). Can be scaled with F21 and F22.
2: torque-limit; Additional torque limit. 10 V=nominal motor torque. Active torque limit is the minimum from
M-Max 1 (C03), M-Max 2 (C04) and the level on analog input 2.
3: power-limit; External power limit whereby 10 V=nominal motor power.
4: reference value-factor; The main reference value on AE1 is multiplied by the RV-factor (10 V=100%). Also
applicable to relative movements in run mode C60=2:Position.
5: override; In positioning mode (C60=2), the current positioning speed is changed via AE2 during traversing.
0 V=standstill! 10 V=programmed speed if F22=100%. During synchronous running (G20>0), the speed ratio
is changed via override.
6: posi.offset; Only effective in positioning mode (C60=2). An offset based on the voltage on AE2 is overlaid on
the current reference value position. The ratio of path/voltage is specified with I70.
7: winding diameter; Only effective if G10=1 (winding operation active).
8: rotation field magnet moment; Torque control for rotation field magnets. V/f-control (B20=0) is used. The
speed is set to the nominal value via the fixed reference value, for example. F20=8 can be used to affect the
motor voltage via AE2. Since torque corresponds to the square of the motor voltage, this voltage is weighted
with the root of the AE2 signal.
9: n-Max; Limitation of the maximum speed via external voltage.
√
√
√
√
√
√
√
√
√
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
39
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
F.. Control Interface
Para. No. Description
10: reference value; Ref. value for speed or torque (AE1 is typically parameterized to "10:reference value”).
F20•
11: PID-reference; Second input of the PID controller. This can be used to generate the standard deviation
Continuation
from two analog inputs. Cf. block circuit diagram in chap. 11.1.
12: winder roller; Only effective for winder software (G10>0) when the diameter is calculated by integration of
the roller deviation (G11=2).
13: synchron offset; Only effective for synchronous running (G20>0). The current slave position is overlaid
with an angle offset corresponding to the voltage on the analog input. The angle/voltage ratio is specified in
G38. Cf. block circuit diagram in chap. 18.
14: synchron reference value; Speed precontrol during angle synchronous running (G20>0) via external
analog voltage. The slave can be supplied with the same speed reference value as the master. This
minimizes dynamic angle deviation. Cf. block circuit diagram in chap. 18.
AE2-offset: An offset on analog input 2 (X1.A to X1.B) can be corrected. To do this, jumper terminals X1.A and
F21
X1.B. Then observe the AE2 level in parameter E11, and enter it with the reverse sign in parameter F21. For
example, if parameter E11 indicates 1.3%, F21 must be parameterized to -1.3%. The value range is ±100%.
Value range in %: -100 to 0 to 100
AE2-gain: The signal present on analog input 2 is added to the AE2 offset (F21) and then multiplied by this
F22
factor. Depending on F20, F22 is scaled as shown below.
F20= 1 ⇒ 10 V = F22 x 100 Hz (3000 rpm)*
F20= 2 ⇒ 10 V = F22 x nominal motor torque
F20= 3 ⇒ 10 V = F22 x nominal motor power
F20= 4 ⇒ 10 V = F22 x multiplication with 1.0
F20= 5 ⇒ 10 V = F22 x programmed positioning speed
F20= 6 ⇒ 10 V = F22 x path in I70
* With 4-pole motor: 100 Hz is
F20= 7 ⇒ 10 V = F22 x (D-Max – D-Min). See chapter 11.2.1.
3000 rpm.
F20= 8 ⇒ 10 V = F22 x nominal motor voltage
With other motors: Speed
F20= 9 ⇒ 10 V = F22 x 100 Hz (3000 rpm)*
must be converted.
F20=10 ⇒ 10 V = F22 x 100% input of ref. val. curve
B10=2 → 100 Hz = 6000 rpm
F20=11 ⇒ 10 V = F22 x 100%
B10=6 → 100 Hz = 2000 rpm
F20=12 ⇒ 10 V = F22 x 100% for G11=2
F20=13 ⇒ 10 V = F22 x G38
F20=14 ⇒ 10 V = F22 x 100 Hz (3000 rpm)*
Example: If F20=1 and F22=50%, the offset is 1500 rpm with 10 V and AE2.
Note: The gain of the PID controller (G00=1) is multiplied by F22.
Value range in %: -400 to 100 to 400
AE2-lowpass: Smoothing time constant. Useful for setting up control loops via AE2 (with or without a PID
F23
controller) to avoid high-frequency oscillation.
Caution: High time constants will make the control loop unstable.
Value range in msec: 0 to 10000
AE2-offset2: An additional offset after multiplication by F22. Used when the reference value is to be multiplied
F24
between 95% and 105% via AE2, for example.
Value range in %: -400 to 0 to 400
AE1-function: See F20 AE2 function. Caution: Parameters F25 and F20 may not be equal! F25≠F20.
F25
Value range: 0 to 10 to 14
AE1-offset: Cf. F21.
F26
Value range in %: -400 to 0 to 400
AE1-gain: Cf. F22.
F27
Value range in %: -400 to 100 to 400
BE-logic: Logical link when several BEs are programmed for the same function.
F30
0: OR;
1: AND;
BE1-function: All binary inputs can be programmed as desired. Selection points 0 to 13 and those
F31•
greater than 16 are identical for all binary inputs. If the same function is used by several BEs, F30 can be used
to program a logical link. Inversion can be performed with F51 to F55 and F70 to F74.
0: inactive;
1: reference value-select 0; Binary coded selection of fixed reference values or process blocks. The result of
the reference value selection is indicated in E60.
2: reference value-select 1; See above.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
40
√
√
√
√
√
√
√
√
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
F.. Control Interface
Para. No. Description
3: reference value-select 2; See above.
F31•
4: motorpoti up; If D90=1, two binary inputs can be used to simulate a motor potentiometer. One BE must be
Continuation
programmed as "4:Motorpoti up," and another BE must be programmed as "5:Motorpoti dwn." See also D90.
5: motorpoti down; Same as "4:Motorpoti up."
6: direction of rotation; Negation of the current reference value.
7: additional enable; BE provides the function of an additional enable (i.e., a fault can also be acknowledged
via this additional enable). The drive is not enabled unless a high signal is present on the "enable" input
(X1.9) and the binary input.
8: halt; With high signal, drive is slowed with the selected deceleration ramp. If F00=1, the brake is then applied.
Ramps: Analog RV specification/motor potentiometer: D01; fixed reference values: D12 to D72;
Positioning: process block ramp.
9: quick stop; When a rising edge occurs, the drive is slowed with the selected decel-quick ramp (D81). The
brake is then applied if F00=1. A brief high pulse (≥4 msec) on the binary input is sufficient to trigger the quick
stop. A drop in quick stop is impossible until speed C40 is passed below. Cf. also F38. Caution: Torque limit
C04 is always active for quick stop.
10: torque select; Switches between the torque limits M-Max 1 (C03) and M-Max 2 (C04).
Low signal=M-Max 1. High signal = M-Max 2.
11: parameter set-select; A parameter record can only be selected via BE if A41=0. This means that this
binary input must be set to 11 in both parameter records. A low signal means that parameter record 1 is
selected. A high signal means that parameter record 2 is selected. The selected parameter record does not
become active until the enable is removed. Cf. chap. 9.4.
12: extern fault; Permits fault messages of the periphery to be evaluated. The inverter evaluates a rising edge
on the binary input and assumes "44:ext.fault." If several binary inputs are programmed for external fault,
the rising edge can only be evaluated when a low signal is present on the other binary inputs programmed
for "12:ext.fault."
13: fault reset; A fault which is no longer queued can be acknowledged with a rising edge. If several binary
inputs are programmed for acknowledgment, the rising edge can only be evaluated when a low signal is
present on the other binary inputs programmed with "13:faultReset."
14: counter-clockwise V3.2; By programming F31=14 and F32=14, the direction of rotation specification can
be simulated by inverters with the V3.2 software. In this case, the functions "direction of rotation," "halt," and
"quick stop" may not be assigned to other binary inputs.
BE1
BE2
Command
0
0
Quick stop (if F38≠0) or halt (F38=0)
0
1
Clockwise rotation
1
0
Counterclockwise rotation
1
1
Halt
15: inactive;
16: posi.step; 1 pulse (t ≥ 4 msec) starts the movement without interrupting the positioning procedure in
progress. Primarily used for manual next-block procedures with process-block chaining. Cf. J17=0 and J01.
17: tip +; Manual traversing in the positive direction (tipping). HALT (selection 8) must be active. For manual
speed with posi, see I12. When synchronous running is active (G20>0), TIP+ or TIP- is used to add the
current speed RV to the movement of the slave (angle offset). Otherwise no meaning in speed run mode.
In speed operating mode (C60=1), the operational state "22:tip" appears on Controlbox and the motor stops
as called for in "8:halt" (n=0).
18: tip -; Manual traversing in the negative direction.
19: posi.start; 1 pulse (t ≥ 4 msec) starts the movement. Terminates any positioning procedure in progress,
and proceeds to the new destination (i.e., changing destination on the fly). Process block selection via BEs
(RV-select) or J02.
20: posi.next; (With chained process blocks) 1 pulse (t ≥ 4 msec) interrupts the running process block and
starts the next one. Important: A braking path can be defined there, for example. Evaluation of posi.next
must be programmed specifically to the process blocks. Cf. J17=3:posi.next. Otherwise the drive will not
react to posi.next! If posi.next is parameterized to BE3, the signal is recorded without a time delay (i.e., high
repetition accuracy).
21: stop +; Limit switch at the positive end of the traversing area. In position mode, the limit switch causes a fault.
22: stop -; Limit switch at the negative end of the traversing area. In speed mode, the dir. of rotation is disabled.
23: reference input; Input for reference switch (I30=0).
24: start reference; Change in edge from low to high starts reference point traversing. See also I37=0.
25: teach-in; With a rising edge, the target position of the currently selected process block is overwritten with
the present actual position and stored in non-volatile memory. See also J04.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
41
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
F.. Control Interface
Para. No. Description
26: disable PID-controller; PID controller on AE2 is disabled and the integrator is reset. Cf. chap. 11.1.
F31•
27: synchron free-run; The reference value for synchronous running is disconnected. The drive can be moved
Continuation
as desired via analog input AE1, for example. Speed adjustment is performed on the current reference
value ramp (e.g., D00).
28: synchron reset; The angle deviation of synchronous-run control is reset. Cf. chap. 18.
29: set initial winding diameter;
30: to 31: inactive;
32: brake release; Manual brake control via a BE (higher priority than the internal brake function).
BE2-function: 0 to 13 and starting with 15, see F31. 14:clockwise V3.2;
F32•
Value range: 0 to 6 to 32
BE3-function: 0 to 13 and starting with 15, see F31. The "20:posi.next“ and "23:reference input“ signals are
F33•
acquired immediately on BE3 during continuing reference point traversing.
14: encoderSignal 0; Only if B20=2 (vector-control with feedback). The "zero signal" (= track "C," one pulse per
rotation) of the incremental encoder. This signal is used for reference point traversing in position mode and
is not a requirement for the "vector-control with feedback" function.
Value range: 0 to 1 to 32
BE4-function: 0 to 13 and starting with 15, see F31.
F34•
14: encoderSignal A; Only if B20=2 (vector-control with feedback). The "A signal" of the incremental encoder.
Value range: 0 to 2 to 32
BE5-function: 0 to 13 and starting with 16, see F31.
F35•
14: frequency-RV; The inverter is parameterized to the frequency reference value specification. Analog input 1
(X1.2 to 4) is ignored. The maximum frequency entered under F37 corresponds to a reference value output
of 100%. Frequencies under 1 Hz are interpreted as 0% output. The frequency RV is further processed
internally with the reference value characteristic (D02 to D05) and the ramp generator (D00/D01). Instead of
"frequency reference value," the synchronous running function (G20>0) can also be used together with
specification of frequency + sign (chap. 12).
15: encoderSignal B; Only if B20=2 (vector control with feedback). This is the "B signal" of the incremental
encoder. This signal is a mandatory requirement for the function "vector control with feedback."
Value range: 0 to 32
BE-increments: When an incremental encoder is used on BE4 and BE5, the number of increments per
F36•
revolution must be entered here. If the incremental encoder is not mounted on the motor shaft, the step-down
ratios may have to be considered. When external encoders (i.e., not on the motor) are used, remember F49.
Value range in I/R: 30 to 1024 to 4096
Fmax
frequency-ref. value: Only if binary input 5 is parameterized to frequency reference value (F35=14).
F37•
Maximum permissible frequency. Frequency F37 corresponds to a reference value output of 100%.
The fixed minimum frequency of 100 Hz corresponds to a reference value output of 0%.
Value range in kHz: 3 to 51.2
Quick stop: Only if C60≠2 (run mode≠position). F38 controls the automatic triggering of quick stop under
F38
certain operating conditions (brake on quick stop ramp D81).
0: inactive; Quick stop can only be triggered by the BE function "9:Quick stop."
1: enable and clockwise/counter-clockwise; Important for use of two direction-of-rotation inputs (i.e.,
clockwise and counterclockwise) on BE1 and BE2. Quick stop is triggered when BE1 is low and BE2 is low or
when the enable is removed (also reference value enable D07 or additional enable via BE).
2: fault and enable; In addition to the BE function "9:Quick stop," removal of the enable and "non-dangerous"
faults (e.g., "46:Low voltage") causes the quick stop.
During positioning (C60=2), quick stop is always triggered with F38=2.
Analog-output1-function: Functions of analog output X1.5 - X1.6. A voltage of ±10 V is available on the
F40
terminals. The resolution is 19.5 mV, and the scanning time is 4 msec.
0: inactive;
1: E00 I-motor; Indication of motor vector current, 10 V=nominal inverter current, unipolar.
2: E01 P-motor; Indication of motor active power, 10 V=nominal motor power (B11), bipolar.
3: E02 M-motor; Indication of motor torque, 10 V=nominal motor torque, bipolar.
4: E08 n-motor; Indication of motor speed, 10 V=n-max (C01), bipolar.
5: G19 D-actual.; Indication of the diameter (winder), 10 V=Dmax (G13).
6: winder actual tension; Output of current winder tension. F-tension=(M-act./M0 x (D-max/D-act.) 100%.
7: +10V; Fixed value (e.g., for powering a potentiometer).
8: -10V; Fixed value (e.g., for powering a potentiometer).
9: winder tension setpoint; Tension reference value for winding at torque limit (G10=2).
10: motor potent. value; 10 V = n-Max (C01), unipolar.
11: E07 n-post-ramp; 10 V = n-Max (C01), bipolar.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
42
√
√
√
√
√
√
√
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
F.. Control Interface
Para. No. Description
Analog-output1-offset: Offset of analog output X1.5 - X1.6.
F41
Value range in %: -400 to 0 to 400
Analog-output1-gain: The raw value specified via F40 is offset with F41 and multiplied by factor F42. Example:
F42
If F40=1 and F42=50%, then 5 V on the analog output=nominal inverter current.
Value range in %: -400 to 100 to 400
Analog-output1-absolute: An absolute value (amount) is generated for the output signal.
F43
0: inactive;
1: active;
BE-gear ratio: Only if C60=2. Conversion of an external posi encoder to the motor shaft.
F49
Caution: Parameter has no effect on the speed calculation for motor control (vector control). It is only used to
convert the position of an external encoder.
The following must apply: F49 = number of motor revolutions/number of encoder revolutions. If this formula
results in values over 32.767, the number of encoder increments in F36 must be divided by a suitable factor
(e.g., 2). The result of the above formula is then also divided and entered in F49. See also chapters 10.11.2.
Value range: 0 to 1 to 32.767
to BE5-invert
F51 to BE1-invert
0: inactive; No inversion.
F55•
1: active; Input is inverted. Useful for the HALT signal or limit switch, for example.
BE6-function: Additional inputs only available with option boards. Selection via F31: BE1 function (exception:
F60•
F60=14:inactive).
Value range: 0 to 32
BE7-function:
See F60.
F61•
Value range: 0 to 32
BE8-function: See F60.
F62•
Value range: 0 to 32
BE9-function: See F60.
F63•
Value range: 0 to 32
BE10-function. See F60.
F64•
Value range: 0 to 32
BE11-function: See F60. BE11 to BE14 are only available with option board ASI-4000.
F65•
Value range: 0 to 32
BE12-function: See F60.
F66•
Value range: 0 to 32
BE13-function: See F60.
F67•
Value range: 0 to 32
BE14-function:
See F60.
F68•
Value range: 0 to 32
to BE10-invert: Cf. F51 to F55 (only available with option boards).
F70... BE6-invert
0: inactive; no inversion.
F74•
1: active; Input is inverted.
BA1-function: Function of binary output 1 on an option board
F80
1: inactive;
2 to 32: Selection values in acc. w. parameter F00 (relay2-function).
Relay2-function: Selection values in acc. w. parameter F00.
F81
Value range: 0 to 32
BA3-function: Selection values in acc. w. parameter F00. Only available with option boards.
F82
Value range: 1 to 32
BA4-function: Selection values in acc. w. parameter F00.
F83
Value range: 1 to 32
BA5-function: Selection values in acc. w. parameter F00.
F84
Value range: 1 to 32
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
G.. Technology
Para. No. Description
PID-controller: Activates the PID controller on input AE2. Cf. chapter 11.1.
G00•
0: inactive;
1: active;
√
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
43
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
G.. Technology
F-ten.
Para. No. Description
PID-controller Kp: Only if G00=1 (i.e., PID controller active). Loop gain. The total gain of the control loop is
G01
also affected by F22 (AE2 gain) in addition to G01. Cf. block circuit diagram in chap. 11.1.
Value range: 0 to 0.3 to 100
PID-controller Ki: Only if G00=1 (i.e., PID controller active). Gain of I in 1/sec. Example: If G02=0.2 x 1/sec,
G02
then a 20% higher constant input signal is integrated within one second.
Value range in 1/sec: 0 to 10
PID-controller Kd: Only if G00=1 (i.e., PID controller active). Gain of D in msec.
G03
Value range in msec: 0 to 1000
PID-controller limit: Only if G00=1 (i.e., PID controller active). Adjuster-variable limit. For scaling, see F22.
G04
Asymmetric limits can be specified with G04 and G05 (e.g., from -10% to +30%). Upper and lower limit values
are automatically (internally) sorted correctly. Value range in %: -400 to 400
PID-controller limit2: See G04.
G05
Value range in %: -400 to 400
PID-controller Kp2: Pure proportional gain of the PID controller. Effective parallel to I and D portion.
G06
Value range: 0 to 1 to 10
Winding operation: Activates the winding functions (speed reduction based on diameter).
G10•
0: inactive;
1: n mode; Speed adjustment in accordance with n~1/D. No effect on torque limit M-Max.
2: M-Max mode; Maximum torque is reduced based on DAct./DMax.
Diameter: Only if G10≠0 (winding operation active). Specifies the type of diameter definition.
G11
0: AE-measurement; Diameter sensor 0 to 10 V is connected to AE2.
1: n-line/n-motor; For traction or compensating roller controllers. The diameter is calculated from the ratio of
control speed and motor speed. The control speed (i.e., speed reference value) always refers to an empty
reel (i.e., the smallest diameter).
2: roller; The diameter is calculated with an overtravel ramp based on E122 (from fieldbus or via analog input
function "12:winder roller"). If E122 > 5%, G19 is increased by ramp G16. If E122 < -5%, G19 is decreased by
ramp G16. Otherwise G19 remains constant.
Min. winding diameter: Only if G10≠0 (winding operation active). Diameter of an empty reel.
G12
Value range in mm: 10 to 3000
Max. winding diameter: Only if G10≠0 (winding operation active). Diameter of a full reel.
G13
Value range in mm: 10 to 100 to 3000
Begin.
winding diameter: Only if G10≠0 (winding operation active). Initial diameter. Must be set via a binary
G14
input with the function "29:wind.setD-ini" (F31 to F35).
Value range in mm: 10 to 3000
Overdrive ref. value: Only if G10≠0 (winding operation active). G15 is added to the control reference value
G15
while winding at the torque limit (G10=2) so that M-limit is triggered and the winding material remains taunt.
Value range in rpm: -12000 P to 0 to 12000 P
Diam.calculator ramp: Only when G10>0. Integration speed of the diameter calculation.
G16
G11=0: no function
G11=1: limitation of the integration speed for G19
G11=2: ramp with which the diameter is changed when -5% < E122 < +5%.
Value range in mm/sec: 0 to 10 to 100
100%
Tension reduction: Only when G10>0. Reduction of tension as diameter
G17
increases. When min. diameter D-Min, winding with 100% tension. Up to
D-Max: tension reduced linearly up to (100% - G17).
Value range in %: 0 to 100
D-Min
G19
G20•
P
√
√
√
√
√
√
√
√
√
√
√
√
√
D-Max
Actual. winding diameter: Only if G10≠0 (winding operation active). Indication of the current diameter.
Electronic gear: Only when C60=1:speed. Activates the "electronic gear/synchronous running" function
√
(chap. 12). See block circuit diagram in chap. 18.
0: inactive;
1: speed synchron run; G24 limits the effect of the angle controller. Cf. chap. 12.6.
2: angle synchron run
3: angle + save; Same as G20=2. Exception: The angle of deviation is stored non-volatilely 100 msec after each
enable-off. It is then also available after power off/on. See also G25).
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
44
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
G.. Technology
Para. No. Description
Speed master: Only if G20>0 (electronic gear active). The slave speed is calculated from nSlave=G22/G21 x
G21
nMaster. The increments of the incremental encoders are specified with F36 and H22. If G21=1 and G22=2, the
slave is twice as fast as the master. We recommend keeping increments F36 and H22 the same or selecting
both as powers of 2 (e.g., 512 and 1024). Otherwise, the number range of G21 and G22 is reduced based on
G21 x inc_master x 4 < 231 and G22 x inc_slave x 4 < 231.
Value range: 1 to 2147483647
Speed slave: Only if G20>0 (electronic gear active). See G21. At a speed ratio of 1:1, G21=G22=1 must be
G22
parameterized. The direction of rotation can be changed with D92. Value range: 1 to 2147483647
Kp synchron: Only if G20>0 (electronic gear active). Gain of the angle controller in 1/sec. Typical values are 10
G23
to 60. G23=0 activates speed synchronous running. The slave then no longer attempts to catch up with the
master (e.g., after a blockage). Instead, the mathematically precise speed ratio is only ensured within the
window ±G24. When G23=0 and G24=0, the master encoder is only used as a speed reference value, and the
ratio set in G22/G21 is not precisely maintained mathematically. Cf. chapter 12.5.
Value range in 1/sec: 0 to 30 to 100
Max. synchron. difference: Only if G20>0 (electronic gear active). Maximum angle of deviation between
G24
master and slave (following error). When this value is exceeded, a signal is generated on the output (cf. F00 or
F80=12:synch.diff.), but no fault is triggered. This can be performed with external wiring and the input function
"12:ext.fault" (F31 to F35).
Value range in °: 0 to 3600 to 30000
Synchron reset: Only if G20>0. Defines conditions for resetting the current synchronous deviation.
G25
0: with BE; Reset only possible with BE function "28:SyncReset" (always possible).
1: enable & BE; Reset also with removal of the enable as well as with halt and quick stop.
2: free run & BE; Reset only with BE functions "27:syncFreeRun" and "28:SyncReset."
3: enable & free run & BE; All methods above will cause a reset.
The synchronous deviation is always set to zero when the device is turned on. (Exception: G20=3. Reset is only
performed when the stored deviation exceeds 15°).
n-correction-Max: Only if G20>0 (electronic gear active). G26 limits the output of the angle controller.
G26
Important when large angle deviations must be reduced (e.g., when the free-run function is used).
P
P
Value range in rpm: 0 to 3000 to 12000
Synchronous encoder: Only if G20 > 0. Signals of the master arrive over this interface.
G27
0: BE-encoder; Master signals are connected to binary inputs.
1: X20; Master signals arrive over plug connector X20.
n-Master: Only if G20>0. For monitoring during commissioning. Speed of synchronous encoder as per G27.
G28
Value range in rpm: ± 12000 P
Synchron difference: Only if G20>0 (electronic gear active). Indication of the current synchronous deviation in
G29
degrees as related to the slave motor. n-controller Ki>0 is required for a synchronous deviation near 0.
Speed feed forward: Speed precontrol for synchronous running. When G30=100%, no following error is used
G30
when speed is constant (synchronous deviation is zero). With dynamic movements, G30 must be reduced (50 to
80%). Otherwise the slave will overswing.
Value range in %: 0 to 80 to 100
Reference direction: Only if G20>0. Starting direction to look for the reference point. Referencing searches for
G31
a reference cam. Cf. I30=0:Ref.input in positioning mode and the examples in chap. 10.6. Synchronous
deviation is reset at the reference position. Other ways of resetting the synchronous deviation include the BE
signal "28:Synchron Reset" or automatically with parameter G25.
0: positive;
1: negative;
Reference speed fast: Only if G20>0. Speed for first phase of referencing (rough traversing).
G32
Value range in rpm: 0 P to 1000 P to 12000 P
Reference speed slow: Only if G20>0. Speed for final phase of referencing.
G33
Value range in rpm: 0 P to 300 P to 12000 P
Ref.encoder signal 0: Only if G20>0. Referencing to zero pulse of the motor encoder. Do not use for
G35
continuous mode with an odd-number gear ratio.
0: inactive;
1: active;
Synchronous offset: Only if G20>0. An offset distance based on the voltage on an analog input can be added
G38
to the current slave position. 10 V corresponds to the angle entered under G38.
Value range in °: -214748364.8 to 0 to 214748364.7
√
√
√
√
√
√
√
√
√
√
√
√
√
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
45
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
G.. Technology
Para. No. Description
Static friction torque: Only if G10>0. Offset of the static friction (i.e., the friction (coulomb) independent of the
G40
speed). Value is converted to the motor shaft.
Value range in Nm: 0 to 327.67
Dynamic friction torque: Only if G10>0. Offset of the speed-proportional
Friction
G41
friction. Value converted to the motor shaft at 1000 rpm.
G41*n
Value range in Nm/1000 rpm: 0 to 327.67
G40
√
√
n
G42
T-dyn lowpass: Only if G10>0. Torque for acceleration/deceleration can be offset dynamically. The load/motor
inertia ratio with a full reel (D-Max) must be entered for this in parameter C30. The acceleration portion to be
offset is obtained by differentiation of the speed. G42 specifies the related smoothing time constant.
Value range in msec: 0 to 50 to 10000
√
H.. Encoder
Para. No. Description
X20-function:
H20•
0: inactive;
1: inactive; (same function as H20=2 but without wire-break monitoring).
2: encoder In; Connection of an incremental encoder with ROD signals. Wire-break monitoring active.
3: stepmotor In; Stepper motor input function. Track A is the sign (low = positive, high = negative). Track B is the
counting frequency (chapters 12.2 and 14.1).
4: inactive;
5: SSI master; Connection of an SSI encoder (absolute value encoder). Note: SSI encoders can be used for
both motor control and POSI. The absolute position for POSI can only be read from the encoder when the
device starts up. If H20 is reparameterized and H20 was or is now H20=5, this triggers fault "37:n-feedback“
which cannot be acknowledged. Save values with A00, and turn basic device off/on.
Encodersim.
increments: Only with option board GB4001
H21
Scaling ratio of the encoder signals output on X21
0: 1:1; Signal of the incremental encoder remains unchanged.
1: 1:2; Frequency is divided by 2.
2: 1:4; Frequency is divided by 4.
3: 1:8; Frequency is divided by 8.
4: 1:16; Frequency is divided by 16.
X20-increments: Number of increments for incremental encoders. With SSI encoders, the range of H23 (X20
H22
gear ratio) can be expanded with H22. See chap. 10.11. H22=1024 is the neutral setting.
Value range in I/R: 30 to 1024 to 4096
X20-gear ratio: Only if C60=2. Conversion of an external posi encoder to the motor shaft.
H23
Caution: Parameter has no effect on the speed calculation for motor control (vector control). It is only used to
convert the position of an external encoder. The following must be true: H23 = number of motor revolutions /
number of encoder revolutions. If this formula results in values greater than 32.767, the number of encoder
increments in H22 must be divided by a suitable factor (e.g., 2). The result of the above formula is then also
divided and entered in H23. See chapters 10.11.2.
With SSI encoders, the gear ratio is expanded by setting H22 to a value other than 1024.
Value range: 0 to 1 to 32.767
SSI-invert: Reverse sign for external SSI encoders. Wrong sign → unstable control loops.
H60
0: inactive; Clockwise revolution of motor shaft while facing the shaft (A side) counts as positive.
1: active; Counterclockwise revolution of motor shaft counts as negative.
SSI-coding: Entry as per encoder data sheet. STÖBER motors: "0:gray." Cf. chap. 14.3.
H61
0: gray;
1: binary;
SSI-data bits: Entry as per encoder data sheet. STÖBER motors: 25 Bit. Cf. chap. 14.3.
H62
Value range: 24 to 25
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
46
√
√
√
√
√
√
√
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
I.. Posi. Machine
Para. No. Description
Parameter record switchover cannot be used for the parameters of groups I, J and L. To save memory space, they are only
present once.
I00
I01
I02
I03
I04
I05
I06
I07
I08
Position range:
0: limited; The area of movement is limited by end stops or similar mechanisms. Software limit switches I50 and
I51 are active.
1: unlimited; Unlimited movement (e.g., roller feed, rotary attachment or belt drive). No physical end positions.
The position values repeat themselves cyclically with the circular length I01 (e.g., with a rotary attachment,
you start at 0° again after reaching 360°). When absolute positioning is used, the shortest path is selected
unless only one dir. of rotation is permitted. If a new destination is selected with Posi.Start while a movement
is in progress, the old direction of rotation is retained. This function is known as the "rotary axis function."
Circular length: Only if I00=1 (continuous axis). Maximum value for the actual position
360°
0°
starting at which the position is counted from zero again (e.g., 360 degrees, modulo function).
31
Value range in I05: 0 to 360 to 31 bits (=2 encoder increments after quadruple evaluation)
Posi.encoder: Position control is usually performed by the encoder mounted on the motor (I02=2). A second
encoder (e.g., also linear measuring system) can be used to prevent slip or inaccuracies caused by the
mechanics. Calibration of an external measuring system is described in chap. 10.11.
0: BE-encoder; HTL encoder on binary inputs.
1: X20; Incremental or SSI encoder on input X20.
2: Motor-encoder; The encoder selected with B26 (motor feedback).
Direction optimization: Only if I00=1. Activate/deactivate automatic direction optimization for absolute process
blocks ("rotary axis" function). In contrast to the permissible direction of revolution I04>0, manual traversing is
always permitted in both directions. Cf. chap. 10.5.2.
0: inactive; The direction of rotation depends on the sign of the destination position (e.g., J10). When the
circular length is I01=360°, the same position is approached with J10=90° and J20= -270° as with 90°. In the
latter case, however, the direction of rotation is negative.
1: active; Absolute process blocks are approached over the shortest path.
Move direction: Only if I00=1. For continuous axes with only one physically permissible direction of movement.
Movements in the wrong direction are answered with the message "51:Refused." Reference point traversing is
performed completely with the speed I33. A reverse in direction does not occur.
0: positive & negative; Both directions are permitted.
1: positive; Only the positive direction is permitted. (Also applies to manual traversing.)
2: negative;
Measure unit selection: The unit of measure does not yet mean a conversion. The numerical relationship
between the physical mechanics and the indicated position is provided by I07 and I08.
0: user (I09); The unit (4 characters) can be programmed as desired with FDS Tool. See also I09.
1: increments; Encoder increment based on quadruple evaluation (i.e., quadrature pulses).
2: °; Degrees
3: millimetre;
4: Inch;
Decimal digits: Number of decimal positions for the display and the entry of position reference values, speeds,
accelerations and I07.
Important: Since a change in I06 will cause a shift in the decimal point and thus a change in the affected
values, I06 should be programmed at the very beginning of commissioning.
Example: If I06 is reduced from 2 to 1, values such as 12.27 mm are changed to 122.7 mm. The reason for this
lies in the error-free rounding used by the positioning software.
Value range: 0 to 2 to 3
Way/revolution numerator: For consideration of the gear ratio between machine and encoder I02. For external
position measurement, cf. chap. 10.11. The number of decimal positions corresponds to I06. The posi. direction
of rotation can be changed with negative values in I07.
Example: With a gear ratio of i=12.43 and an angle specification on the drive shaft, then I07=360°/12.43
R=28.96°/R. For higher requirements, precision can be increased to almost any amount with I08.
Example: 12.34567 mm/R corresponds to I07=12345.67 and I08=1000. Cf. also chap. 10.9.
Value range in I05: -31 bits to 360 to 31 bits
Way/revolution denomin.: Counter I07 is divided by denominator I08. A mathematically precise gear ratio can
thus also be calculated as a fraction (e.g., toothed gearing and toothed belt transmission).
Important for external encoders that are not mounted on the motor shaft: One "encoder revolution" must be
related to one motor revolution.
Value range in R: 1 to 31 bits
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
47
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
I.. Posi. Machine
Para. No. Description
Measurement unit: Only if I05=0 (user unit). Indication of the unit of measure defined as desired by the user
I09
with FDS Tool. Up to 4 characters can be used.
Max.
speed: Unit/sec.
I10
Works simultaneously with the maximum motor speed in C01. The actual speed limit corresponds to the lower
of the two parameters. When a higher feed speed is specified, the value is limited to I10 or C01 without causing
the following error.
Value range in I05/sec: 0 to 10 to 31 bits
Max.
acceleration: Units/sec2. With quick stop, the drive decelerates with I11. The acceleration for manual (I12)
I11
and reference point traversing (I33, chap. 10.6) is also derived from I11 (i.e., each is ½ of I11).
2
Value range in I05/sec : 0 to 10 to 31 bits
Tip
speed:
Units/sec.
Speed
during manual operation (J03). As with all speeds, it can be changed via analog
I12
input AE2 (F20=5:Override). Acceleration during manual operation is ½ of I11.
Value range in I05/sec: 0 to 180 to 31 bits
Accel-override: Permits modification of the set ramps via AE2 (F20=5:Override).
I15
0: inactive; Ramps are not changed by override. Standard setting.
1: active; Ramps are changed by override. Only recommended in exceptional cases (e.g., process block
chaining without stop to generate simple n(x) speed profiles.
Caution: The override value affects acceleration to the power of two. Danger of overload when override
> 100%. During ramps, changes in accel-override are only adjusted slowly in a background task.
When Accel-Override (I15=1) is activated, the override value should not be decreased to 0%. This would make
the ramp infinitely long and the drive would never stop!
S-ramp: Reverse limitation through square sinus ramp. The generated acceleration profile is smoothed with the
I16
specified time constant. Positioning takes a little longer.
Value range in msec: 0 to 32767
ENA-interrupting: In the default setting, removal of the enable causes the position controller to be reset (status
I19
"17:posi.active"). Particularly during continuous positioning, it is important that interrupted process blocks can be
concluded after emergency off or similar. I19 offers particularly simple process block interruption. See also
chap. 10.10.
0: inactive; Enable-off resets the positioning controller.
1: active; Enable-off while process block is running causes status "23:interrupted." The interrupted process
block is completed with Posi.step. Not possible for process blocks which are chained without Stop (J17=2).
Kv-factor:
Gain of position controller (only P characteristic) with unit of 1/sec. The Kv factor is also known as
I20
the speed gain. In actual practice, the Kv factor is sometimes specified with the unit m/min/mm which is exactly
0.06 x 120. See also block circuit diagram in chap. 10.7.
Value range in 1/sec: 0 to 30 to 100
Max. following error: The output function (F00=9:follow.error) is activated when the following error defined in
I21
I21 is exceeded. The Windows program FDS Tool can then be used to specify as desired the reaction to the
exceeded following error as a fault (default setting), warning or message.
Value range in I05: 0 to 90 to 31 bits
Target window: Window for the output signal "reference value reached" (F00=3:RefVal-reached). I22 must be
I22
greater than I23!.
Value range in I05: 0 to 5 to 31 bits
Dead band pos. control. "Dead zone" of the position controller. Useful to prevent idle-state oscillation
I23
particularly when an external position encoder is used and there is reversal play in the mechanics. Cf. chap.
10.7. Caution: I23 Dead band must be smaller than target window I22!
Value range in I05: 0 to 31 bits
Speed feed forward: Switches the calculated speed profile to the output of the position controller (chap. 10.7).
I25
If there is overswinging in the destination position, I25 and C32 must be reduced.
Value range in %: 0 to 80 to 100
Reference mode: For details on reference point traversing, see chapter 10.6.
I30
0: reference input; When searching for the reference point, the reference input is the determining factor (i.e.,
the BE function "23:Reference input" must be parameterized).
1: stop input; The function of the reference input is fully covered by the stop switch (i.e., BE function
"21:Stop +" or "22:Stop -" must be parameterized). When the starting direction is positive (I31=0), positive
"Stop +" is required. Triggering the wrong stop switch causes a fault.
2: encoder signal 0; Only of interest for drives without a gearbox. Used to align the motor shaft to a defined
position.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
48
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
I.. Posi. Machine
Para. No. Description
3: define home; BE function "24:Start ref." or "J05 → 1" immediately sets the actual position to I34 without
I30
performing an additional movement. For example, this can be used to set the actual position to zero at all
Continuation
times (enable must be active).
4: posi.start; Each posi.start signal causes reference position I34 to be set. This can be used, for example, to
indicate the actual distance as the current position with relative positioning and offset of the traversing path
via analog signal ("1:additional reference value“ and "4:reference value-faktor“).
Reference direction: Initial direction to take when searching for the reference point. Cf. chapter 10.6.
I31
If only one direction is permitted (I04>0), the reference traversing direction depends on I04 and not I31.
0: positive;
1: negative;
Reference speed fast: Speed for the first phase of reference point traversing (i.e., determining the rough area).
I32
Omitted when only one direction of rotation (I04) is permitted. Only the slow speed (I33) is then used for this
type of reference point traversing.
Value range in I05/sec: 0 to 90 to 31 bits
Reference speed slow: Speed for the final phase of reference point traversing. Switching between I32 and I33
I33
is automatic. Cf. figures in chapter 10.6 The acceleration during reference point traversing is I11/2.
Value range in I05/sec: 0 to 4.5 to 31 bits
Reference position: Value which is loaded to the reference point (e.g., provided by the reference switch or the
I34
stop switch) as the actual position. The drive stops after reference point traversing. The position is determined
by brake ramp I11/2. Cf. chapter 10.6.
Value range in I05: -31 bits to 0 to 31 bits
Ref.encoder signal 0: Only if I36=0 and I30≠2. Referencing to zero pulse of an incremental encoder.
I35
0: inactive; Zero pulse is not evaluated. Referencing to the edge of the stop or reference switch. Important for
continuous axes with transmissions, for example. Also useful when there are not enough binary inputs and
demands on accuracy are not high.
1: active; Standard for precision drives. Zero track must be connected.
Continuous reference: Only for continuous axes (I31=1). Used for fully automatic compensation of slip or
I36
inexact gear ratio. After the reference points are traversed for the first time, actual position I80 is always
overwritten with reference position I34 each time the reference switch is passed over in direction I31 (but only in
this direction!). Since the path which is still to be traversed is corrected, the axis is able to perform any number
of relative movements in one direction without drifting, even when drives have slip. If the reference switch is
connected to BE3, the signal is processed immediately.
Remember: When I36=1, the other edge of the reference switch is evaluated than for I36=0 during reference
point traversing. Circular length I01 must be as close as possible to the path between two reference signals
(e.g., after one belt rotation, the same position must be indicated). Check actual position I80 during a rotation
with I36=0, and adjust I07 if necessary. The distance per rotation I07 must always be rounded to the next higher
number to prevent undesired counterclockwise offsets. The reference switch should not be triggered during a
deceleration ramp since a negative offset would cause a counterclockwise movement.
Important: Target window I22 must be greater than the maximum physical inaccuracy!
0: inactive;
1: active;
Power-on reference: Automatic reference point traversing after power-on.
I37
0: inactive;
1: posi.start; After power-on, the inverter assumes operating mode "24:ref.wait." The first posi.start or posi.stop
signal starts the reference point traversing procedure.
2: automatic; Reference point traversing is started automatically as soon as the enable appears.
Reference block: Number of the process block (i.e., 1 to 8) which is to be automatically started at the end of
I38
reference point traversing. This can be used to put the drive into a defined position after the reference points
have been traversed.
Speed and acceleration are taken by process block I38.
0: standstill. No automatic start.
1 to 8: Number of the process block to be executed.
Posi.-step memory: Helpful during relative positioning of continuous axes.
I40
0: inactive; Posi.step signals during a movement are ignored.
1: no stop; Posi.step signals which arrive during a movement cause the current destination position to be
changed immediately. The process block specified by the reference block or, if no reference block is defined,
the currently selected process block takes over. Example: Two additional posi.step signals arrive during a
relative movement of 100 mm. The drive then moves precisely 300 mm without stopping.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
49
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
I.. Posi. Machine
Para. No. Description
Software-stop -: Only if I00=0 (limited position range). Effective only when axis is referenced. Positioning
I50
control rejects traversing jobs outside the software limit switches (message "51:Refused"). Manual-traversing
and continuous process blocks are stopped at the software stops.
Caution: Software stops do nothing to compensate when the permissible position range is exceeded due to a
change on the fly to a process block with slower ramps!
Value range in I05: -31 bits to 10000000 to 31 bits
Software-stop +: Only if I00=0 (limited position range). Effective only when axis is referenced.
I51
Value range in I05: -31 bits to 10000000 to 31 bits
Electronic cam 1 begin: In the positioning area between I60 and I61, the el.cam signal (relay 2, F00=8)
I60
becomes high. "Electronic cam" only functions in the referenced state. Cf. also the related function "operating
range" in chapter 9.3.
Value range in I05: -31 bits to 0 to 31 bits
Electronic cam 1 end: See I60.
I61
Value range in I05: -31 bits to 100 to 31 bits
Position-offset: A correction path corresponding to the voltage on AE2 can be added to the current reference
I70
value position (F20=6). 10 V corresponds to the path specified in I70. Useful, for example, for creating
complicated x(t) profiles which are generated by a PC as voltage. After activation of the inverter (i.e., enable),
the current offset value is approached at the manual speed I12. The reference value from AE2 is then supplied
without restrictions, and the AE2 low pass can be used for smoothing.
Value range in I05: 0 to 31 bits
Actual
position: Read only. Indication of the actual position.
I80
Value range in I05: ±31 bits
Target position: Read only. Indication of the current reference value position.
I81
Value range in I05: ±31 bits
Active process block: Read only. Indication of the currently active block during block processing (traverse,
I82
wait) and during standstill at a process block position. The approached process block is indicated in I82 as long
as the "RV reached" signal (i.e., in position) is present. When the drive in not in a process block position (e.g.,
after power on, manual traversing or termination of a movement), I82=0 applies.
When I82>0, the signals "23: reference value-ackn.0" to "25: reference value-ackn.2" can indicate the active
process block in binary coded format ("000" for process block 1 - i.e., I82=1). Cf. chap. 10.3.
Selected process block: Read only. Indication of the block selected via binary inputs or J02. This process
I83
block would be executed with the posi.start signal. Cf. also chap. 10.3 and F00=23.
Following error: Read only. Indication of the current position deviation. Cf. I21 and F00=9.
I84
Value range in I05: ±31 bits
In position: Read only. Indication of output signal F00=3:refVal-reached.
I85
0: inactive; Drive moving or destination position not reached.
1: active; See output signal F00=3:refVal-reached and I22 target window.
Referenced: Read only. Indication of output signal "13:referenced." For ref. point traversing, see chap. 10.6.
I86
0: inactive; Drive not referenced. No absolute positioning possible.
1: active; Drive referenced.
Electronic cam 1: Read only. Indication of output signal "8:electronic cam 1."
I87
0: inactive; Current position is outside I60 and I61.
1: active; Current position is within I60 and I61.
Speed: Read only. Indication of the current actual value of the positioning speed with unit. Cf. chap. 10.7.
I88
Value range in I05/sec: ±31 bits
J.. Posi. Command (Process Blocks)
Para. No. Description
Posi.start: 0→1. Starts the currently selected process block. The block is selected via binary inputs (RV-select
J00
0 to 2) or J02. Since posi.start interrupts positioning procedures in progress, it has the highest priority. The J00
parameter corresponds to the BE function posi.start.
Posi.step: 0→1. With process block chaining, posi.step is used to start the next programmed block when this is
J01
not started automatically (e.g., via J17=1:with delay). This is done without regard to the RV-select inputs, for
example. In operating state "17:posi.active," (standstill, no process block being processed -> I82=0), posi.step
starts the currently selected process block the same as posi.start (see above). Posi.step never interrupts a
running movement (exception: I40=1). Delays between process blocks (J18) are prematurely concluded by
posi.step. If a movement is interrupted with halt or quick stop (operating state "23:interrupt."), posi.step
completes the interrupted process block.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
50
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
J.. Posi. Command (Process Blocks)
Para. No. Description
Process block number: Selection of the process block which can be started at all times with posi.start.
J02
0: external selection via binary inputs and the BE functions F31=RV-select 0 to 2. See also I83.
1 to 8: fixed selection of the process block. RV-select signals are ignored.
Tip-mode: Manual operation via the device keyboard. See also F31=17 and F31=18.
J03
0: inactive;
1: active; The drive can be positioned with the
and
keys.
Teach-in: 0→1 starts the action (i.e., triggered manually). The current actual position is used as the destination
J04
of the currently selected process block and stored non-volatilely. Example: Normally, the desired position is
approached manually and then accepted with teach-in. See also F31=25.
Start reference: 0→1 starts the action (i.e., triggered manually). Reference point traversing can also be started
J05
via a binary input or automatically after power-on. See I37 and chapter 10.6 and F31=24.
Position: Position specification. The value can also be changed during traversing, but the change does not take
J10
effect until the next posi.start command (if internal conversion has been concluded). Cf. F00=32.
Value range in I05: -31 bits to 0 to 31 bits
Position mode: There are 4 modes. Cf. chapter 10.4.
J11
0: relative;
1: absolute;
2: endless positive; With "continuous" position modes, destination position J10 can be disregarded.
3: endless negative;
Speed: Unit/sec. Caution: If you enter a value greater than the maximum speed I10 in J12, the actual traveling
J12
speed is limited to I10.
Value range in I05/sec: 0 to 1000 to 31 bits
Accel: Acceleration unit/sec2. Caution: If the values J13 and J14 exceed the maximum acceleration I11,
J13
acceleration during movement is limited to I11. Software version 4.5: If the direction of rotation must be changed
during a change in process blocks on the fly, the entire reversal procedure is performed with the Accel ramp
(J13).
Value range in I05/sec2: 0 to 1000 to 31 bits
Decel: Deceleration, unit/sec2.
J14
Value range in I05/sec2: 0 to 1000 to 31 bits
Repeat number: Only available if J11=0:relative.
J15
If necessary, a relative movement can be repeated several times based on the value J15. With J17=0, posi.step
is waited for after each partial movement. With J17=1, the partial movements are run through automatically.
Delay J18 is inserted between the movements. J15=0 means no repetition (i.e., one single movement).
Value range: 0 to 254
Next block: Chaining of process blocks. Specification of a process block to which a jump is to be made at the
J16
end of the movement or after a posi.next signal.
0: stop; No process block chaining.
1 to 8: Number of the next process block. Cf. chapter 10.8.
Next start: Only if J15≠0 or J16≠0. J17 defines when and how the branch is made to next block J16.
J17
0: posi.step; Continued movement via posi.step function (rising edge). Cf. J01.
1: with delay; Automatic continued movement after delay J18 expires. In contrast to J17=2, an intermediate
stop is also always performed with J18=0. Delays between process blocks (J18) are prematurely concluded
by posi.step.
2: no stop; When the reference position reaches the target position J10, the speed is adjusted without halting
(on-the-fly process block change without intermediate stop!). Drive travels to J10 without braking and then
changes to process block J16. Also useful for generating n(x) speed profiles with support points in up to 8
positions. Cf. I15 (no "refVal-reached" signal (F00=3) is output here. Cf. chapter 10.8, example 4. When
process blocks are terminated with HALT of enable off, resumption of the terminated movement is not
possible with posi.step.
3: Posi.next; The block change is performed on the fly with the posi.next function. If J17≠3, posi.next has no
effect. See also example 3 in chap. 10.8.
If the next block is relative, it refers to the actual position at the time the process block changed.
4: Operation range; The block change is performed on the fly when the operating range (C41 to C46) is exited.
Compare example 7 (press/screw) in chapter 10.9.
If the next block is relative, it refers to the actual position at the time the process block changed.
When a block change is performed on the fly without intermediate stop (J17=2, 3, 4), no refVal-reached signal
(in position) is generated.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
51
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
13. Parameter Description
J.. Posi. Command (Process Blocks)
Para. No. Description
Delay: Parameter only available if J15≠0 or J16≠0 and J17=1. Otherwise not shown.
J18
Delay before the repetition of relative movements (J15≠0) or before automatic change to the next record
(J17=1:with delay). After expiration of the delay time, movement is automatically resumed. A delay can be
terminated (i.e., shortened) with the posi.step signal (rising edge).
Value range in sec: 0 to 65.535
Ö The process block no. 2 - no. 8 are identical. Process block no. 2 is at J20 - J28, process block no. 3 at J30 J38 etc.
L.. Posi. Command 2 (Expanded Process Block Parameters)
Para. No. Description
Brake: Definition for process block no. 1. Only if F00=1. Process block-related brake control (e.g., for lifting
L10
systems). After reaching destination position J10, you can apply the brake controlled via relay 2.
0: inactive; Destination position is held by the motor (i.e., position control). Brake is only applied when enable,
halt, quick stop or fault is missing.
1: active; After the destination position is reached, the brake is automatically applied. The next start command is
delayed by the time F06 (brake release). With B25=0 and applied brake, power can be disconnected from the
motor so that it can cool off while waiting, for example.
Switch
A: Selection of the first switching point for process block no. 1. Up to two switching points ("switch A"
L11
and "switch B") can be used in each process block. Each of the four switching points defined in group N.. can be
used in various process blocks. Cf. chap. 10.12.
0: inactive;
1: switch S1;
2: switch S2;
3: switch S3;
4: switch S4;
Switch B: Selection of the second switching point for process block no. 1. Cf. L11.
L12
Value range: 0 to 4
Ö Extended process block parameter are identical for all process blocks. Process block no. 1 is located at L10 ... L12, process
block no. 2 at L20 ... L22, and so on.
M.. Menu Skip (Menu jump destinations)
Para. No. Description
F1-jump to: Parameter provided by the F1 function key for editing. Depending on the device function, some
M50
parameters may not be shown and cannot be selected.
Value range: A00 to E50 to N44
F1-lower limit:
M51
Value range: depends on the parameter selected in M50
F1-upper limit:
M52
Value range: depends on the parameter selected in M50
Ö The jump destinations F2 to F4 are designed identically. Jump destination F2 is in M60 to M62, and so on.
If several jump destinations (M50; M60; M70 or M80) are parameterized to the same coordinates (e.g., J10), the lower, upper
limit of the lowest jump destination takes effect.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
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13. Parameter Description
N.. Posi. Switches
For description, see chap. 10.12.
Para. No. Description
S1-position: Position of switching point S1. With relative specifications (N11>0), the absolute value is
N10
generated internally.
Value range in I05: -31 bits to 0 to 31 bits
S1-method: Reference of position N10
N11
0: absolute; Switching point is triggered when position N10 is traveled over.
1: rel.to start; Switching point is triggered after a distance of (N10) (absolute value) after the starting point.
2: rel.to endpos; Switching point is triggered at a distance of (N10) before the destination position.
S1-memory1: When switch S1 is approached, switch memory 1 can be affected.
N12
0: inactive;
1: set; Switch memory 1 is set to high.
2: clear; Switch memory 1 is set to low.
3: toggle; Switch memory 1 is inverted (Low → High → Low → ...).
S1-memory2: Behavior of switch memory 2. Cf. N12.
N13
Value range: 0 to 3
S1-memory3: Behavior of switch memory 3. Cf. N12.
N14
Value range: 0 to 3
Ö Posi switching points S2 to S4 are set up identically. Switching point S2 is located at N20 to N24, and so on.
U.. Protective Functions
Para. No. Description
Level low voltage: Is activated when the value U00 set in A35 is passed below.
U00
2: warning; after expiration of the tolerance time in U01, the device assumes fault mode (for E46, see chap. 17).
3: fault; the device assumes malfunction mode (for E46, see chap. 17) immediately after the value in A35 is
passed below.
Time
low voltage: Can only be set with U00=2:warning. Defines the time during which triggering of
U01
undervoltage monitoring is tolerated. After expiration of this time, the device assumes fault mode.
Value range in sec: 1 to 2 to 10
Level temp. limit mot. i2t: Parallel to the monitoring of the positor line in the motor, the FAS simulates the
U10
motor temperature via an i²t model. The percentage of load of the motor is indicated in parameter E23. If the
value in E23 is greater than 100%, U10 is triggered.
0: off; device does not react when U10 is triggered.
1: message; triggering of U10 is only indicated. The device continues to be ready for operation.
2: warning; after expiration of the tolerance time in U11, the device assumes fault mode (for E45, see chap. 17).
U11
U20
U21
U22
U30
U31
Time temp. limit mot. i2t: Can only be set with U10=2:warning. Defines the time during which the triggering of
i²t monitoring is tolerated. After expiration of the set time, the device assumes fault mode.
Value range in sec: 1 to 30 to 120
Level drive overload: If the calculated torque in static operation exceeds the current M-Max in E62, U20 is
triggered.
0: off; device does not react when U20 is triggered.
1: message; triggering of U20 is only indicated. The device continues to be ready for operation.
2: warning; after expiration of the tolerance time in U21, the device assumes fault mode (for E47, see chap. 17).
3: fault; the device immediately assumes fault mode (for E47, see chap. 17) after U20 is triggered.
Time drive overload: Can only be set with U20=2:warning. Defines the time during which an overload of the
drive is tolerated. After expiration of the set time, the device assumes fault mode.
Value range in sec: 1 to 10 to 120
Text drive overload: The entry "drive overload" can be varied to suit user-specific requirements.
Value range: 0 to “drive overload” to 11
Level acceleration overload: If the calculated torque exceeds the current M-Max in E62 during the
acceleration ramp, U30 is triggered.
0:off; device does not react when U30 is triggered.
1: message; triggering of U30 is only indicated. The device continues to be ready for operation.
2: warning; after expiration of the tolerance time in U31, the device assumes fault mode (for E48, see chap. 17).
3: fault; the device immediately assumes fault mode (for E48, see chap. 17) after U30 is triggered.
Time acceleration overload: Can only be set with U30=2:warning. Defines the time during which drive
overload during acceleration is tolerated. After expiration of the set time, the device assumes fault mode.
Value range in sec: 1 to 5 to 10
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
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POSIDRIVE® FDS 4000
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13. Parameter Description
U.. Protective Functions
Para. No. Description
Text acceleration overload: The entry "acceleration overload" can be varied to suit user-specific requirements.
U32
Value range: 0 to ”acceleration overload” to 11
Level break overload: If the calculated torque exceeds the current M-Max in E62 during the deceleration ramp,
U40
U40 is triggered.
0: off; device does not react when U40 is triggered.
1: message; triggering of U40 is only indicated. The device continues to be ready for operation.
2: warning; after expiration of the tolerance time in U41, the device assumes fault mode (for E49, see chap. 17).
3: fault; the device immediately assumes fault mode (for E49, see chap. 17) after U40 is triggered.
Time break overload: Can only be set with U40=2:warning. Defines the time during which an overload of the
U41
drive during deceleration is tolerated. After expiration of the set time, the device assumes fault mode.
Value range in sec: 1 to 5 to 10
Text break overload: The entry "break overload" can be varied to suit user-specific requirements.
U42
Value range: 0 to ”break overload ” to 11
Level operating range If one or more of the parameters C41 to C46 are violated, U50 is triggered.
U50
0: off; device does not react when U50 is triggered.
1: message; triggering of U50 is only indicated. The device continues to be ready for operation.
2: warning; after expiration of the tolerance time in U51, the device assumes fault mode (for E50, see chap. 17).
3: fault; the device immediately assumes fault mode (for E50, see chap. 17) after U50 is triggered.
Time operating range: Can only be set with U50=2:warning. Defines the time tolerated outside the work area.
U51
After expiration of the set time, the device assumes fault mode.
Value range in sec: 1 to 10 to 120
Text operating range: The entry ”operating range” can be varied to suit user-specific requirements.
U52
Value range: 0 to ”operating range” to 11
Level following error: If the value in I84 exceeds the value of I21, U60 is triggered.
U60
0: off; device does not react when U60 is triggered.
1: message; triggering of U60 is only indicated. The device continues to be ready for operation.
2: warning; after expiration of the tolerance time in U61, the device assumes fault mode (for E54, see chap. 17).
3: fault; the device immediately assumes fault mode (for E54, see chap. 17) after U60 is triggered.
Time following error: Can only be set with U60=2:warning. Defines the time during which the value in I21 is
U61
exceeded. After expiration of the set time, the devices assumes fault mode.
Value range in msec: 0 to 500 to 32767
Level posi. Refused: If the target position is located outside software stops I50 and 51 or an absolute process
U70
block is started in an unreferenced state (I86=0), U70 is triggered.
0: off; device does not react when U70 is triggered.
1: message; triggering of U70 is only indicated. The device continues to be ready for operation.
2: warning; after expiration of the tolerance time of 1 sec, the device assumes fault mode (for E51, see chap. 17).
3: fault; the device immediately assumes fault mode (for E51, see chap. 17) after U70 is triggered.
P
Depends on pole number B10; fmax = 400 Hz. With a 4-pole motor:, this is 12000 rpm at 400 Hz.
•
The power pack must be turned off before these parameters can be changed.
Italics These parameters are sometimes not shown depending on which parameters are set.
1)
See result table in chap. 15.
2) Only available if D90≠1
Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.
Parameters marked with a "√ " can be parameterized separately from each other in parameter record 1 and 2.
54
POSIDRIVE® FDS 4000
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14. Option Boards
14.1 Option Board GB 4001 and EA 4001
GB4001
EA4001
Purpose: Encoder connection TTL or HTL (can be switched),
5 additional binary inputs, 1 binary output, external 24 V supply
for encoder and inverter
Application: Positioning, synchronous running
* Bin. output
BA2 is
contained in
basic device
as
relay2/BA2.
Connection of
incremental
encoder
TTL or HTL
Caution:
Fixed
encoder
power
supply
UB = 18 V
Uext. 24 V
Terminals: Plug connectors X20 and X21 on top of device
Bin. output. BA4*
Bin. output. BA3*
Ground
Bin. output. BA1
Uext. 24 V
Connection of
incremental
encoder
TTL or HTL
Encoderoutput
TTL or HTL
Ground
Binary output BA1
Purpose: Encoder connection TTL or HTL and buffered
encoder output TTL or HTL (can be switched), one binary
output, external 24 V supply for encoder and inverter
Application: High-quality encoder connection, synchronous
running
Terminals: Plug connectors X20 and X21 on top of device
EA-4000-compatible
Plug connector X21: Buffered encoder output for GB4001
Plug connector X21: I/O expansion for EA4001
1: Reference ground, connected internally with X20.7 + X20.9
2: BA1, binary output
Techical data, BA1:
3: / C Inverted encoder track C
4: C Encoder track C (zero track) L level ≤ 1 V at 20 mA,
Ri = 10 Ω
5: / B Inverted encoder track B
H level = Uext – 4 V at
6: B Encoder track B
20 mA, Ri = 120 Ω
7: / A Inverted encoder track A
8: A Encoder track A
A: BA4, Binary output, for data see BA1 (left)
B: BA3, Binary output
1: 0 V Ref. ground
2: BA1, Bin. output
3: BE10, Bin. input
4: BE9, Bin. input
5: BE8, Bin. input
0 V on X21.1, X20.7 and X20.9 are
6: BE7, Bin. input
connected but galvanically isolated
from X1.8 device ground!
7: BE6, Bin. input
Encoder output: Imax = 20 mA. Resolution can be set in 5
stages (1/1 to 1/16) with parameter H21.
The encoder output can be switched between 5 V
(plant setting) and 24 V (HTL) with a sliding switch
in the middle of the board.
Technical data - binary inputs:
L level: ≤ +8 V, H level: ≥ +12 V
Voltage limits: -10 V to +32 V, Ri = 2.3 kΩ, Ta = 4 msec
All BEs and BAs are equipped with optocouplers and are
galvanically isolated from the basic device. Reference ground
= terminal 1.
Plug connector X20: Connection of incremental encoder and ext. 24 V with GB4001 and EA4001
1: /C
Inverted encoder track C (zero track)
Connection of TTL
2: C
Encoder track C (zero track)
and HTL encoder
3: /B
Inverted encoder track B (inv. frequency*)
Gray
4: B
Encoder track B (frequency*)
Pink
5: /A
Inverted encoder track A (inv. sign*)
Yellow
6: A
Encoder track A (sign*)
Green
7: 0V
Encoder power supply UB, con. internally with X20.9
White
8: UB
Encoder power supply, UB = 18 V, 200 mA
The three sliding switches are
Brown
used to switch the terminating
9: 0V
External voltage supply
Blue
resistors on tracks A, B and C
10: 24V External voltage supply, 20.4 V to 28.8 V DC,
Red
between
1.6
kΩ
(HTL
max. of 0.5 A
Max. frequency = 500 kHz, min. pulse duration = 500 nsec
encoder, plant setting) and
120 Ω for TTL encoder.
PIN no. on STÖBER motor
Use shielded cable!
* Terminating resistance can
be switched for HTL and TTL.
Important: The negated tracks must be connected. All three tracks are monitored for wire break (fault "37:n-feedback“). This
does not apply to the evaluation of the stepper motor signals. The signal rise time from 10% to 90% of the level must be ≤ 2
µsec. The type of option board is automatically recognized and indicated in parameter E54. The external 24 V voltage supply
(terminals 9 and 10) must be connected and must already be present when the inverter is turned on.
H20=2:encoder in specifies the X20 function as input for incremental encoder. The motor encoder must be set to B26=1:X20
with vector control via X20. The signals "direction" and "sign" can be used with H20=3:Stepmotor In as reference value for the
electronic gearbox (activation with parameter G20).
Interference immunity: EN 61000-4-4. All cables shielded.
Cables: Use original STÖBER cables!
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POSIDRIVE® FDS 4000
14. Option Boards
14.1 Option Board GB 4001 and EA 4001
14.2 Option Board for Ext. 24 V Power Supply
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ANTRIEBSTECHNIK
Connection of shield for option board (view from above)
1 or 2 shielded
cables
1 or 2 shielded
cables
Model 3
1 or 2 shielded
cables
Attach shield
here!
Sharp edges
Danger of injury
Mount carefully with suitable tool
(e.g., pliers).
Keep this area free
Model 2
Keep this area free.
Model 1
Keep this area free.
Attach shield
here!
Use the included EMC clip to attach the shield to the housing. See figures below. Press the clip together, and push it into the slit
on the housing. Do not obstruct the marked area above the heat dissipater. Pliers can be used for demounting. Attachment of
the shield is essential for EMC compliance.
Attach
shield
here!
Remarks:
Holding bracket for mounting of the option board must
be installed (Id. no. 43096).
Voltage selection encoder output (GB4001 only)
The voltage is selected with a sliding switch in the middle of
the board. Default setting is 5 V (TTL). The actual voltage can
be measured between terminals 7 and 8 on connector X21.
Add the note "GB output = 24 V (HTL)" to your order if you
want this default setting (only with boards installed).
Only
GB4001
encoder
output
Mounting the option board
• The option board has usually been installed on delivery.
• If you have to install an option board yourself, open the
housing (i.e., disconnect 2 screws on the front).
• Insert board in the upper portion of the housing at a slight
angle. See figure.
• Remember to check the sliding switch for voltage
adjustment.
• Caution: Be sure to use vertical position. Incorrect insertion
by one pin row will damage the hardware.
Mounting without
connector
Encoder
output
14.2 Option Board - Ext. 24 V Power Supply
20.4 V to 28.8 V DC
Max. of 200 mA
Caution: Use vertical position!
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14. Option Boards
14.1 Option Board SSI-4000
SSI-4000
Purpose: Connection of multi-turn, absolute-value encoders with synchronous-serial interface (SSI) for positioning tasks
In addition: 5 binary inputs and 4 binary outputs plus external 24 V power supply for fieldbus systems
Primary parameters:
H20=5:SSI-master (X20 function = SSI)
Ext. 24 V
SSI
encoder
Binary
inputs
GND
Binary
outputs
Terminals: Plug connector X20 and X21 on top of device
SSI encoder on STÖBER system motor
B26=1:X20 (motor encoder on X20)
External encoder, incremental encoder on motor (chap. 10.11)
H23 X20-gear i
(H23=n-motor / n-encoder)
H22 X20-increm. (only change if n-motor / n-encoder > 32)
H60 SSI-invert
(change when control is unstable)
H61 SSI-coding (gray or binary)
H62 SSI-data bits (24 or 25)
I02 = 1:X20
(Posi-Encoder)
Fault "37:n-feedback“ may occur with the parameterization. It
can only be acknowledged by turning off power and 24 V.
Don't forget: Save parameters with A00=1 first !
Plug connector X21: I/O expansion
1:
2:
3:
4:
5:
6:
7:
8:
9:
10:
BA5*
BA4*
BA3*
BA1
GND
BE10
BE9
BE8
BE7
BE6
Bin. output 5
Bin. output 4
Bin. output 3
Bin. output 1
Ground
Bin. input 10
Bin. input 9
Bin. input 8
Bin. input 7
Bin. input 6
→ Par. F84
→ Par. F83
→ Par. F82
→ Par. F80
→ Par. F64,
→ Par. F63,
→ Par. F62
→ Par. F61
→ Par. F60
For tech. data
of bin. outputs,
see chap. 14.1,
GB4001
Technical data of the inputs
• L level ≤ +8 V, H level ≥ +12 V, Ri = 1.5 kOhm
• Ground connected internally on X21.5, X20.5 and X20.7 but
galvanically isolated from the basic device
• Voltage limits: -10 V to +32 V
• Interference immunity: EN 61000-4-4
Inversion F74
Inversion F73
Inversion F72
Inversion F71
Inversion F70
All lines must be
shielded!
* BA2 is contained in the basic device as "relay2/BA2"
(parameter F00 / F81).
Plug connector X20: SSI encoder
1: CLKP+ (RS 422, 5 V)
2: CLKP3: Data+ (RS 422, 5 V)
4: Data5: 0 V encoder
6: UB encoder (18 V DC, 200 mA)
7: 0 V ext. voltage
8: 24 V ext. power
(20.4 to 28.8 V = 0.5 A)
(SSI encoder with supply voltage 11 to 30 V)
Cables
• Use original STÖBER cables with double
shielding!
• Do not connect "gray" and "pink" flexible
leads.
• Twist CLKP and DATA in pairs and shield.
Apply inner shield only to device.
• Apply outer shield on both sides.
(1) CLKP
(8) /CLKP
(6) DATA
(5) /DATA
(10) 0 V
(12) UB = 18 V
Yellow
Green
White
Brown
Blue
R = 120 Ω
Red
In parentheses: Pin no. on STÖBER motor
Supported: Multi-turn encoders with 4096 revolutions and 4096 or 8192 increments per revolution (24 or 25 data bits, can be set
in parameter H62). Parameter H22 (X20-increments) is usually left at 1024 (factory setting). The clock pulse frequency is
250 kHz. Gray or binary coding can be set in parameter H61.
A continuous zero point setting can be used with all available reference traversing modes (e.g., mode I30=3:define home). A
(power failure proof) electronic gearbox on the inverter permits absolute position acquisition during 262,144 revolutions (4096 x
64) with linear axes or an unrestricted traversing area for continuous axes with any gearbox. When these capabilities are used,
the zero position must be referenced again when the inverter is replaced.
The so-called multiple transmission of SSI encoders is used to detect faults. Each position is called twice. If the information
does not match (e.g., due to EMC), fault "37:n-feedback" occurs. This fault can only be acknowledged by turning the power and
24 V off. Encoders without multiple transmission are also permitted.
Fault "37:n-feedback" also occurs when you switch the operating mode to position (C60→2).
Important note on commissioning: It is absolutely essential that the sequence of motor phases (U, V, W) be adhered to! If the
wrong phase sequence is used, the drive revolves slowly with high current and does not react to the reference value.
57
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15. Result Table
Result Table
The result of actions (e.g., save parameter (A00=1)) is indicated on the display. Possible results are listed below.
0: Error free
The data were transferred correctly.
1: Error!
General error (e.g., no Parabox connected when A01=1)
2: Wrong box
Software version of Parabox is not compatible (V 2.0 to 3.2).
3: Invalid data
Parabox contains invalid data. Write Parabox again, and repeat the procedure.
5: OK (adjusted)
Software version of Parabox and inverter differ in several parameters. Confirm with the
Message does not affect functionality of the inverter.
key.
6: OK (adjusted)
Software version of Parabox and inverter differ in several parameters. Confirm with the
Message does not affect functionality of the inverter.
key.
9: BE encoder signal
F34=14 and F35=15 must be set when F26=0:BE-encoder and control mode "vector control with 2channel feedback" has been selected with B20=2.
10: Limit
Value outside the value range
11: f(BE) > 80 kHz
Only if B20=2 and B26=0. Maximum frequency on BE exceeds permissible limit value of 80 kHz.
(n-Max/60) x incremental encoder > 80 kHz, or (C01/60) x F36 > 80 kHz.
12: X20 ?
H20 must be parameterized correctly with option boards EA4001, GB4001 and SSI-4000.
13: BE cw/ccw
Programming F31=14 and F32=14 can be used to simulate the direction of rotation of inverters with
software 3.2. The functions "direction of rotation," "halt," and "quick stop" may not be assigned to other
BEs.
14: Canceled
• Parabox actions A40/A41 could not be executed correctly.
• Action canceled (e.g., due to removal of enable). The current exceeded the permissible maximum
value (e.g., short circuit or ground fault) during "autotuning" or "phase test" (B40, B41).
15: R1 too high
A stator resistance measured during "autotuning" (B41) was too high. Motor is circuited incorrectly.
Motor cable is defective.
16: Phase fault U
Error in phase U
17: Phase fault V
Error in phase V
18: Phase fault W
Error in phase W
19: Symmetry
Error in symmetry of phases U, V and W. Deviation of a winding resistor by ±10%.
21: Enable ?
The enable must be present for actions J00/J01/J05.
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16. Operating States
Operating States
The operating state is indicated in the display and can be queried under E80 during fieldbus access.
0: Ready
Inverter is ready.
1: Clockwise
Fixed positive speed
2: Counter-clockwise
Fixed negative speed
3: Acceleration
Acceleration procedure in progress (Accel)
4: Deceleration
Deceleration procedure in progress (Decel)
5: Halt
Halt command present
6: n < n-Min
Reference value < n-Min (C00)
7: n > n-Max
Reference value greater than minimum of C01 and E126 (via analog input or fieldbus)
8: Illegal direction
Specified direction of rotation is not the permissible direction of rotation (C02).
9: Load start
Load start is active (C21, C22).
10: Capturing
Capturing is active.
11: Quick stop
Quick stop is being performed.
12: Inhibited
This state prevents the drive from starting up unintentionally. Effective for:
• Drive is turned on (power on) with enable=high (only if A34=0).
• A fault is acknowledged with a low-high change in enable.
• Opened load relay (no power and DC link below 130 V)
• When the option board powers the basic device externally with 24 V (no network voltage)
• When A30=2:fieldbus and the fieldbus sends an "inhibit voltage" control command, or the enable
terminal becomes low, or a quick stop is concluded
13: Serial (X3)
Parameter A30=1 parameterized. Inverter is controlled by the PC via serial interface.
14: Enabled
Only available with DRIVECOM profile. Bus connection.
15: Self test
A self test is being performed on the inverter. During startup with ext. 24 V, "15:Self test" is
indicated until power-on.
16: Fault
The inverter's power pack is disabled.
17: Positioning-active
Position control is active. Waiting for a start command. Basic state of positioning control.
18: Moving no.
Processing a traversing job. Drive is moving. No. is the current process block (I82).
19: Delay no.
For process block chaining with defined delay or for repetition of relative movements. During a
stop between two sequential jobs, the signal "in position" is generated, but the display shows
"delay."
20: Wait no.
For process block chaining with defined manual start (i.e., wait for posi.step signal)
21: Referencing
During reference point traversing
22: Tip
During manual traversing
23: Interrupted
After an interrupted process block (i.e., halt or quick stop) with the option of continuing with the
posi.step signal. Posi.step is then used to move to the original destination position regardless of
whether the drive has been moved in the meantime. See chap. 10.10.
24: Reference wait
Wait for posi.start or posi.step signal to trigger reference point traversing after power on (I37=1).
25: Stop input
Drive is positioned on stop input and can only be moved out of this position with manual or
reference point traversing.
26: Parameter inhibit
During data transmission from PC to inverter, software on the PC deactivates the inhibit.
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POSIDRIVE® FDS 4000
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17. Faults / Events
Faults / Events
When faults occur, the inverter is no longer able to control the drive and is disabled. An entry is made in the fault memory
(E40/E41), and relay 1 (ready for operation) releases. If installed when the fault occurs, the Parabox is written automatically.
Certain events (cf. last column of the table below) can be declared via FDS Tool as faults, messages, warnings or not effective.
Auto
FDS
Reset Tool*
The hardware overcurrent switch-off is active.
31: Short/ground
• Motor requires too much current from the inverter (e.g., interwinding fault or
overload).
When the inverter is enabled, an internal check is performed. A short circuit triggers a
fault.
32: Short/gr. int.
• An internal device fault has occurred (e.g., IGBT modules are defective).
• Acceleration times too short. Lengthen ramps in group D.
• Check torque limits C03 / C04.
- Which torque limits are in effect? See chapter 8.2.
- Reduce torque limits C03/C04 set to maximum value by approx. 10 %.
33: Overcurrent
√
• Optimize parameter C30 (ratio of the moments of inertia).
• With vector control (B20=2): encoder connected incorrectly to motor or to no motor
at all.
The non-volatile data memory (NOVRAM) is defective or software version is time34: Hardw. fault
limited.
Monitors the load and functions of the microprocessor.
35: Watchdog
This malfunction may also be caused by EMC problems (e.g., shield of the motor cable
√
or PE conductor not connected at all or connected incorrectly).
DC-link voltage too high
• Power too high
• Reverse powering of the drive while braking (no brake resistor connected, brake
36: High voltage
√
chopper deactivated with A20=0:inactive or defective)
• Braking resistor with too low resistance value (overcurrent protection)
• Automatic ramp extension at Umax is possible with A20=1 and A22=0.
With EA4001 / GB4001: Wire break on one of the three encoder tracks
With SSI-4000:
Caution:
• Device startup with SSI-4000:
With SSI-4000, the
- No encoder connected
fault can only be
- Encoder does not respond within 4 sec.
acknowledged by
- Option board without 24 V
37: n-feedback
power or 24 V off.
- No SSI-4000 option board on the device
• In operation with SSI-4000
- Errors during double transfer (EMC problems ??)
- Option board fails.
- Change of H20 to/from SSI master
- Change of C60 to "2:position“ and I02=SSI-encoder
The temperature E25 measured by the device sensor is greater than the limit value.
38: tempDev.sens
• Temperature of environment/switching cabinet is too high.
The i2t model calculated for the inverter has reached 100% of the thermal load.
39: TempDev.i2t
• Inverter is overloaded.
• Temperature of the environment/switching cabinet is too high.
The data in non-volatile memory are incomplete (power was turned off during "A00
40: Invalid data
save values." Load data record again to the device, or check the parameters in the
menu and execute A00 again.
Excessive temperature indicated by the motor temperature sensor. Connection
terminal X2.1 to X2.2.
41: Temp.motorTMP
• Motor is overloaded. Use external ventilation
• Temperature sensor not connected (if not present, jumper -> X2.1 - X2.2)
42: Temp.brakeRes
The i2t model for the braking resistor reaches 100% thermal load.
√
Only if the reference value is calculated with the reference value characteristic
(reference value specification via analog input 1 or frequency reference value), and
reference value monitoring is activated (D08=1).
43: RV wire brk
√
• The reference value output is 5% less than the minimum permissible reference value
(D05).
Can be tirggered by binary input or fieldbus (F31=12)
44: Ext.fault
* Events can be programmed with FDS Tool as messages, warnings or faults, or can be completely deactivated.
60
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
17. Faults / Events
Faults / Events
When faults occurIN, the inverter is no longer able to control the drive and is disabled. An entry is made in the fault memory
(E40/E41), and relay 1 (ready for operation) releases. If installed when the fault occurs, the Parabox is written automatically.
Certain events (cf. last column of the table below) can be declared via FDS Tool as faults, messages, warnings or not effective.
Auto
FDS
Reset Tool*
45: OTempMot.i2t
The motor is overloaded.
√
DC-link voltage is below the limit value set in A35.
• Drops in the power supply.
• Acceleration times are too short (ramps, D ..).
46: Low voltage
√
√
• Fault is also triggered when option board is used (24 V external supply) when the
power supply drops while the enable is active.
• Failure of a phase with 3~ connection.
The maximum torque permitted for static operation has been exceeded. The
permissible torque is limited by parameters C03 and C04 and the possible torque
47: Device overl.
√
√
limitation via analog input. See F20=2 or F25=2 and chap. 9.2.
Same as "47:Device overload" except for an acceleration procedure. M-Max 2 (C04) is
48: Accel.overl.
√
√
permitted for the acceleration procedure with "cycle characteristic" startup (C20=2).
49: Decel.overl.
Same as "47:Device overlaod" except for a deceleration procedure
√
√
The operating area defined under C41 to C46 has been exited. See also chap. 9.3.
50: Operat.area
√
√
Only for positioning (C60=2). Posi.start or posi.step was not accepted and the RVreached signal ("in position") is reset.
• Destination position is located outside software limit switches I50 and I51.
51: Refused
√
√
• In non-referenced status (I86=0), no absolute positions (e.g., J11=1) are traveled to.
• The direction of rotation in the current process block is not the same as the
permissible direction I04.
• Fault during communication between inverter and FDS Tool during remote control
52: Communication
via PC
√
• Communication fault during fieldbus operation (Kommubox)
A limit switch connected via a BE input has been triggered, or the traversing area
permitted by software limit switches I50 and I51 has been exited. During referencing at
53: Stop input
the limit switch (I30=1), a reversal of the limit switches will cause a fault.
The maximum following error (i.e., deviation between actual position and reference
value position) permitted by I21 has been exceeded.
54: Follow. error
√
Possible causes: Motor overload, too much acceleration or blockage
• When option board EA4001 (EA-4000) or GB4001 (GB-4000) is used, the external
24 V voltage is not present or the card is defective. No fault if enable is deactivated.
• No option board found (e.g., if B26=1:Option (X20)
55: OptionBoard
When functions of an option board (binary inputs, encoder) are parameterized, an
option board is requested. Check parameters B26, G27, I02. Check F31 to F35 and
F60 to F68 and change to "0:inactive" if necessary.
The events checked in the "FDS Tool" column can be parameterized with FDS Tool as messages, warnings or faults in the
√ group U.. protective functions.
Acknowledgment of faults:
• Enable: Change from low to high level on the enable input.
Always available.
• Esc -key (only if A31=1).
Caution! Drive starts
• Auto-reset (only if A32=1).
up immediately!
• Binary input (F31 to F35=13).
}
Parameters E40 and E41 can be used to scan the last 10 faults (i.e., value 1 is the last fault). FDS Tool can then be used to
indicate under "S.. fault memory" many details on the last faults which occurred.
61
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
18. Block Circuit Diagram Synchronous Running
AE2 (AE1)
extern speed feed forward
14:synchron ref. value
n-ref. value raw
AE2function
AE1 (AE2)
actual speed ref. value e.g. of AE1 / AE2, fix ref. value or bus
10:
add.-RV
el. gear
tip +
RV-gain
offset
(displacement
tip -
direction
of
rotation
synchronous
encoder
direction
of rotation
AE2gain
n-slave
n-master
AE2offset2
5:override
synchron reset
n-motor
(slave)
AE2-function
intervension in
250-m sec
clock pulse
synchron
difference
Kp
el. gear
max. synchron
difference
C60=1
Run mode = speed
synchron free-run
62
el.
gear
n-korr.
max.
message
synchron
difference
(relays2, BA1)
synchron free-run
BE4/BE5
master
increment
X20
X20Inc.
F20 ≠ 14 &
F25 ≠ 14
limitation
negate
ref. value
reset
BEIncrement
synchron
offset
displacement
AE2function
negate
Ref. Value
speed feed
forward
n-master
13:sync.offset
AE1 (AE2)
6
8
X1.14
7
digital
inputs
BE1, BE2, …
X1.11
BE4
invert
F54
+/–
F34
BE4
function
BE1invert
F51
+/–
F31
BE1
function
+
F26
0 1
0 1
2
2
AE1
scaled
E71
F27
AE1
gain
3
3
PID
D07
D08
D05 D03
D72
D22
D12
1
D00:RV accel
D01:RV decel
D91:motorp. func.
7
0 to 7
E60
ref.val.
selector
0 to 7
2
1 0
0
F
0
+
1
0,2
1
2
0
D90
ref. value
source
E29
n-ref. val.
raw
10:torque select
1
install.
ref. val.
RV-gen.
time
D94
A51
electronic G20
gear
winding
operation G10
0
0
D70
D71 fix ref. value 7
D00 D01 analog, freq,..
D10 D11 fix ref. value 1
D20 D21 fix ref. value 2
High
torque select
(M-Max2)
1
High
Low
E06
0 R/min
D93 RVgenerator
E62
n-post
E07 ramp
E61
D81
= Parameter,
programmable
= Parameter,
read only
Legend
D81
decel-quick:
quick stopramp
C10 … C13
skip speeds
Low High
Accel,
Decel
rampes
(groups D..)
D80 ramp
shape
J
act. M-Max
automatic selection
if C20=2 (cycle characteristic)
n-ref.value
A50 installation
Min.
I
BE.. - function=
10:torque select.
AE-function
9: n-Max
C02
perm.dir.
of rotation
C00
n-Min
C01
D92
+/–
n-Max
negate
ref. value
1
C04
Block circuit diagram
synchronous running
see chapt. 18
M-Max2
Low
1/nist
The BE..-functions “6:dir. of rotation“, “8:halt“
and “9:quick stop” may not be set for BE1 and BE2
if BE3=14:ccw V3.2 and BE4=14:cw V3.2
7
0
1
2
H
M-Max1 C03
synchronous
running
winder
G
Vmotor
no. Accel Decel reference value
ramps
E61
1: additional ref. value
4: referene value-factor
7:winding diameter
2:torque-limit
3:power-limit
8:rot. field magnet moment
ORing
6:direction of rotation (if F33=14 and F34=14 corresp. ccw if only
BE3=high / cw if only BE4=high)
of inputs
with
same
8:halt (if F33=14 and F34=14; halt if BE3=BE4=high)
function
9:quick stop (if F33=14 and F34=14 and F38=1; quick stop if BE3=BE4=low or enable off)
motorpoti
0
1
2
3
4
5
6
7
no.
3
2
A30
0
F20
AE2
scaled 2
E73
E
operation
input
F24
AE2
offset2
reference value-selector
RV sel... reference value
2 1 0
0 0 0 Analog, freq,..
0 0 1 Fix ref. value 1
0 1 0 Fix ref.value 2
0 1 1 Fix ref.value 3
1 0 0 Fix ref.value 4
1 0 1 Fix ref.value 5
1 1 0 Fix ref.value 6
1 1 1 Fix ref.value 7
D04
D02
n
0
G00 to G04
monitor ref. value
5:motorpoti down
4:motorpoti up
D09
Fix-RV
no.
3: RV select 2
2: RV select 1
1
RV characteristic
7:winding diameter
6:posi.offset
5:override
4:RV-factor
3:power-limit
2:torque-limit
1:additional RV
0:inactive
1: RV select 0
0
D
G00
RV
monitor
enable ref. value
E72
AE2 skaled
F22
RV
offset
D06
AE1 function
F25
10: RV
9:n-Max
8:inactive
E14
F37
F35=14
t
F21
C
AE2 AE2
offset gain
Block circuit diagram
PID-controller see chap. 11.1
BE5-freq-RV
E10
5
F23
AE2 lowpass
fmax
AE1
offset
4
B
E11
Fieldbus (Drivecom)
F35 BE5
function
7
6
9
8
AE1
level
5
4
3
2
1
KOMMUBOX
3
frequence
ref. value
on BE5
AE1
B
A
2
X3: RS 232
serial
interface
Fieldbus
analog
input 2
A1
AE2
level
fix reference value
AE2
funktion
winder (n-ref. val.)
PIDcontroller
POSIDRIVE® FDS 4000
ANTRIEBSTECHNIK
STÖBER
19. Block Circuit diagram Reference Value Processing
63
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
20. Parameter Table
Parameter
A.. Inverter
A00 Save parameter
A01
Read parabox & save
A02
Check parameter
A03
A04
A10
Menu level
A11
Parameter set edit
A12
Language
A13
A14
DS
Entry
Parameter
DS
Entry
Parameter
DS
B64
Ki-IQ (moment)
[%]
*
D52 Fix ref. value 5
[%]
B65
Kp-IQ (moment)
[%]
*
D60 Accel 6
[sec/150Hz]
[%]
D61 Decel 6
[sec/150Hz]
[%]
C.. Machine
C00 n-Min
[rpm]
0
Write to parabox
[%]
C01 n-Max
[rpm]
3000
D70 Accel 7
[sec/150Hz]
2,5
Default settings
[%]
C02 Perm. dir. of rotation
0
D71 Decel 7
[sec/150Hz]
2,5
0
0
[rpm]
D62 Fix ref. value 6
C03 M-Max 1
[%]
150
D72 Fix ref. value 7
C04 M-Max 2
[%]
150
D80 Ramp shape
[rpm]
[rpm]
2
2
2000
2500
0
C10
Skip speed 1
[rpm]
0
D81 Decel-quick
Set password
C11
Skip speed 2
[rpm]
0
D90 Reference value source
0
Edit password
C12
Skip speed 3
[rpm]
0
D91 Motorpoti function
0
Skip speed 4
[rpm]
0
D92 Negate reference value
0
0
D93 RV-generator
0
[sec/150Hz]
A15
Auto-return
1
C13
A20
Braking resistor type
0
C20 Startup mode
A21
Brak. resistor resist.
[Ω]
600
C21 M-load start
[%]
100
A22
Brak. resistor rating
[kW]
*
C22 t-load start
[s]
5
D98 Ramp factor
A23
Brak. resistor therm
[sec]
40
C30 J-mach/J-motor
0
A30
Operation input
0
C31
n-controller Kp
[%]
60
E.. Display Values
E00 I-motor
A31
Esc-reset
1
C32
n-controller Ki
[%]
30
E01
P-motor
[kW]
0
C35
n-control. Kp standstill
[%]
100
E02
M-motor
[Nm]
15
C40 n-window
[rpm]
30
E03
DC-link-voltage
[V]
C41 Oper. range n-Min
[rpm]
0
E04
V-motor
[V]
C42 Oper. range n-Max
[rpm]
A32
Auto-reset
A33
Time auto-reset
A34
Auto-start
A35
Low voltage limit
[min]
0
1~120
[V]
3~350
1~230
[V]
3~400
D94
Ref. val. generator time [msec]
[A]
6000
E05
f1-motor
[%]
0
E06
n-reference value
[rpm]
C44 Operat. range M-Max
[%]
400
E07
n-post-ramp
[rpm]
C45 Operat. range P-Min
[%]
0
E08
n-motor
[rpm]
C46 Operat. range P-Max
[%]
400
E09
Rotor position
[U]
0
E10
AE1-level
[%]
[%]
C43 Operat. range M-Min
[Hz]
Mains voltage
A37
Reset memorized values
A40
Read parabox
A41
Select parameter set
A42
Copy para set 1>2
[%]
C48 Operat. range C47 abs
0
E11
AE2-level
A43
Copy para set 2>1
[%]
C49 Operat. range accel&ena
0
E12
ENA-BE1-BE2-level
A50
Installation
BE3-BE4-BE5-level
A51
Install. ref. value
A55
Tip function key
[%]
C47 Operat. range C45/C46
[rpm]
C50
Display function
0
E13
300
C51
Display factor
1
E14
BE5-freq. ref. value
1
C52
Display decimals
0
E15
n-encoder
Serial address
0
C53 Display text
A82
CAN-baudrate
1
C60 Run mode
1
A83
Busaddress
0
Relay 2
Profibus baudrate
D.. Reference Value
D00 RV accel
[sec/150Hz]
E18
A84
3
E19
BE15...BE1 & enable
D01 RV decel
[sec/150Hz]
D02 Speed (max. RV)
B10
Poles
B11
P-nominal
B12
I-nominal
B13
B14
B15
f-nomial
B16
cos PHI
*
B20
Control mode
B21
V/f-characteristic
B22
V/f-gain
[%]
100
D12 Fix ref. value 1
B23
Boost
[%]
10
D20 Accel 2
B24
Switching freq.
[kHz]
4
D21 Decel 2
B25
Halt flux
1
D22 Fix ref. value 2
B26
Motor-encoder
B27
Time halt flux
B30
Add. motor-operation
B31
Oscillation damping
[%]
[rpm]
A80
B.. Motor
B00 Motor-type
E16
Analog-output-level
E17
Relay 1
[%]
3
E20
Device utilization
[rpm]
3000
E21
Motor utilization
[%]
[%]
100
E22
i2t-device
[%]
[%]
4
D03 Ref. value-Max.
[kW]
*
D04 Speed (min. RV)
[rpm]
0
E23
i2t-motor
[%]
[A]
*
D05 Ref. value-Min
[%]
1
E24
i2t-braking resistor
[%]
n-nominal
[rpm]
*
D06
[%]
0
E25
Device temperature
[°C]
V-nominal
[V]
*
D07 Ref. value enable
0
E26
Binary output 1
[Hz]
50
D08 Monitor ref. value
0
E27
BA15...BA1 & Relais 1
D09 Fix reference value no.
0
E29
n-ref. value raw
1
D10 Accel 1
[sec/150Hz]
6
E30
Run time
[h,m,sec]
0
D11 Decel 1
[sec/150Hz]
[h,m,sec]
Ref. value offset
[rpm]
6
E31
Enable time
750
E32
Energy counter
[sec/150Hz]
9
E33
Vi-max-memo value
[sec/150Hz]
9
E34
I-max-memo value
[A]
1500
E35
Tmin-memo value
[°C]
[rpm]
[rpm]
[kW]
[V]
0
D30 Accel 3
[sec/150Hz]
12
E36
Tmax-memo value
[°C]
[sec]
0
D31 Decel 3
[sec/150Hz]
12
E37
Pmin-memo value
[kW]
0
D32 Fix ref. value 3
3000
E38
Pmax-memo value
[kW]
[%]
30
D40
Accel 4
[sec/150Hz]
0,5
E40
Fault type
70
D41
Decel 4
[sec/150Hz]
0,5
E41
Fault time
[rpm]
500
E42
Fault count
[rpm]
B32
SLVC-dynamics
[%]
B40
Phase test
[%]
D42 Fix ref. value 4
B41
Autotuning
[%]
D50 Accel 5
[sec/150Hz]
1
E45
Control word
B53
R1-motor
[Ω]
D51 Decel 5
[sec/150Hz]
1
E46
Status word
*
0,2
500
0
A36
64
1000
Entry
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
20. Parameter Table
Parameter
E47
n-field-bus
E50
E51
DS
[rpm]
Entry
Parameter
DS
Entry
Parameter
DS
F55
BE5-invert
0
H23
X20-gear ratio
Device
F60
BE6-function
0
H60
SSI-invert
0
Software-version
F61
BE7-function
0
H61
SSI-coding
0
E52
Device-number
F62
BE8-function
0
H62
SSI-data bits
25
E53
Variant-number
F63
BE9-function
0
E54
Option-board
F64
BE10-function
0
I.. Posi. Machine
I00 Position range
E55
Identity-number
F65
BE11-function
0
I01
E56
Parameter set ident. 1
F66
BE12-function
0
I02
Posi-encoder
2
E57
Parameter set ident. 2
F67
BE13-function
0
I03
Direction optimization
1
E58
Kommubox
F68
BE14-function
0
I04
Move direction
0
Measure unit selection
2
Decimal digits
2
1
Circular length
[I05]
E60
Reference value selector
F70
BE6-invert
0
I05
E61
Additional ref. value
[rpm]
F71
BE7-invert
0
I06
E62
Actual M-max
[%]
F72
BE8-invert
0
I07
Way/rev. numerator
E63
PID-controller limit
F73
BE9-invert
0
I08
Way/rev. denomin.
E65
PID-error
[%]
F74
BE10-invert
0
I09
Measurement unit
E71
AE1 scaled
[%]
F80
BA1-function
1
I10
E72
AE2 scaled
[%]
F81
Relay2-function
0
I11
Tip speed
Max. speed
[I05/sec]
10
Max. accel.
[I05/sec²]
10
[I05/sec]
180
AE2 scaled 2
F82
BA3-function
1
E80
Operating condition
F83
BA4-function
1
I15
Accel-override
E81
Event level
F84
BA5-function
1
I16
S-ramp
E82
Event name
I19
ENA-interrupting
E83
Warning time
G.. Technology
G00 PID-controller
E84
Active parameter set
G01 PID-controller Kp
F.. Control Interface
F00 Relay2-function
360
1
E73
[%]
[I05]
360
[R]
I12
0
[msec]
0
0
0
I20
Kv-factor
[1/sec]
30
0,3
I21
Max. following error
[I05]
90
G02 PID-controller Ki
[1/sec]
0
I22
Target window
[I05]
5
0
G03 PID-controller Kd
[msec]
0
I23
Dead band pos. control [I05]
0
80
F01
Brake release
[rpm]
0
G04 PID-controller limit
[%]
400
I25
Speed feed forward
F02
Brake set
[rpm]
0
G05 PID-controller limit2
[%]
-400
I30
Reference mode
0
F03
Relay2 t-on
[sec]
0
G06 PID-controller Kp2
1
I31
Reference direction
0
F04
Relay2 t-off
[sec]
0
G10 Winding operation
0
I32
Ref. speed fast
[I05/sec]
90
F05
Relay2 invert
0
G11 Diameter
0
I33
Ref. speed slow
[I05/sec]
4,5
F06
t-brake release
[sec]
0
G12 Min. winding diam.
[mm]
10
I34
Reference position
F07
t-brake set
[sec]
0
G13 Max. winding diam.
[mm]
100
I35
Ref. encoder signal 0
0
F10
Relay1-function
0
G14 Beg. winding diam.
[mm]
10
I36
Continuous reference
0
[%]
[I05]
0
F19
Quick stop end
0
G15 Overdrive ref. value
[rpm]
0
I37
Power-on reference
0
F20
AE2-function
0
G16 Diam.calculator ramp [mm/s]
10
I38
Reference block
0
F21
AE2-offset
[%]
0
G17 Tension reduction
[%]
0
I40
Posi.-step memory
F22
AE2-gain
[%]
100
G19 Winding act. diam.
[mm]
I50
Software-stop -
F23
AE2-lowpass
F24
AE2-offset2
F25
AE1-function
F26
AE1-offset
F27
AE1-gain
0
[I05]
-10000000
10000000
[msec]
0
G20 Electronic gear
0
I51
Software-stop +
[I05]
[%]
0
G21 Speed master
1
I60
Electr. cam begin
[I05]
0
10
G22 speed slave
1
I61
Electronic cam end
[I05]
100
[%]
0
G23 Kp synchron
0
[%]
100
[1/sec]
30
I70
Position-offset
[I05]
[°]
3600
I80
Actual position
[I05]
3
I81
Target position
[I05]
[rpm]
3000
I82
Active process block
0
I83
Selected process block
I84
Following error
G24 Max. sync. difference
F30
BE-logic
0
G25 Synchron reset
F31
BE1-function
8
G26 n-correction-Max.
F32
BE2-function
6
G27 Synchronous encoder
F33
BE3-function
1
G28 n-Master
F34
BE4-function
2
G29 Synchron difference
[°]
0
I85
In position
F35
BE5-function
[%]
80
I86
Referenced
F36
BE4/BE5-increment
0
I87
Electronic cam 1
F37
fmax freq.-ref. val.
Speed
F38
Quick stop
F40
Analog-output-function
F41
Analog-output-offset
[%]
F42
Analog-output-gain
[%]
[rpm]
[I05]
0
G30 Speed feed forward
[I/R]
1024
G31 Reference direction
[kHz]
51,2
G32 Reference speed fast [rpm]
1000
I88
0
G33 Reference speed slow [rpm]
300
0
G35 Ref.encoder signal 0
0
J.. Posi. Command
J00 Posi.start
0
G38 Synchronous offset
[°]
0
J01
Posi.step
100
G40 Static friction torque
[Nm]
0
J02
Process block number
Tip-mode
F43
Analog-output1-absolut
0
G41 Dyn. friction torque [Nm/100rpm]
0
J03
F49
BE-gear ratio
1
G42 T-dyn lowpass
50
J04
Teach-in
F51
BE1-invert
0
J05
Start reference
F52
BE2-invert
0
H.. Encoder
H20 X20-function
1
F53
BE3-invert
0
H21 Encodersim. increments
0
F54
BE4-invert
0
H22 X20-increments
[msec]
[I/R]
1024
Entry
1
[I05/sec]
0
= Standard menu level. Cf. para A10
Extended menu level: A10=1
DS
= Default setting
*
= Depends on type
65
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
20. Parameter Table
Parameter
DS
Entry Process Block 1 - 8
Block 1
J10 to J18
J..0
Position
J..1
Position mode
[I05]
J..2
Speed
[I05/sec]
1000
J..3
Accel
[I05/sec2]
1000
J..4
Decel
[I05/sec2]
1000
J..5
Repeat number
0
J..6
Next block
0
J..7
Next start
J..8
Delay
Block 2
J20 to J28
Block 3
J30 to J38
Block 4
J40 to J48
Block 5
J50 to J58
Block 6
J60 to J68
Block 7
J70 to J78
Block 8
J80 to J88
L30 to L32
L40 to L42
L50 to L52
L60 to L62
L70 to L72
L80 to L82
0
0
0
[sec]
Parameter
0
DS
Entry
L.. Posi. Command 2 (Expanded Process Block Parameters)
L10 to L12
L..0
Brake
0
L..1
Switch A
0
L..2
Switch B
0
Parameter
DS
L20 to L22
Entry
M.. Menu Skip (Menu jump destinations)
M50
F1-jump to
M51
F1-lower limit
M52
F1-upper limit
Jump to F1
M50 to M52
Jump to F2
M60 to M62
Jump to F3
M70 to M72
Jump to F4
M80 to M82
Switch S1
N10 to N14
Switch S2
N20 to N24
Switch S3
N30 to N34
Switch S4
N40 to N44
E50
Parameter
DS
Entry
N.. Posi. Switches
N..0
S..-position
N..1
S..-method
[I05]
0
N..2
S..-memory1
0
N..3
S..-memory 2
0
N..4
S..-memory 3
0
Parameter
0
DS
U.. Protective Functions
U00
Level low voltage
3
U01
Time low voltage
2
U10
Level temp. limit mot. i2t
1
U11
Time temp. limit mot. i2t
30
U20
Level drive overload
1
U21
Time drive overload
10
U22
Text drive overload
drive
overload
U30
Level acceleration overload
U31
Time acceleration overload
1
5
U32
Text acceleration overload
acceleration
overload
U40
Level break overload
U41
Time break overload
5
U42
Text break overload
break
overload
1
U50
Level operating range
1
U51
Time operating range
10
U52
Text operating range
operating
U60
Level following error
3
U61
Time following error
500
U70
Level Posi.refused
1
66
Entry
= Standard menu level. Cf. para A10
Extended menu level: A10=1
DS
= Default setting
*
= Depends on type
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
21. Accessories
21.1
Accessories overview
Id. No. Designation
Connector for DC link (only FDS)
Remark
Chap. 4
41770 BG1
41771 BG2
43414 Option board EA4001
Encoder connection TTL or HTL (can be switched),
5 additional binary inputs, 3 binary output, external
24 V supply for encoder and inverter.
Chap. 14.1
43415 Option board GB4001
Encoder connection TTL or HTL and buffered
encoder output TTL or HTL (can be switched), one
binary output, external 24 V supply for encoder and
inverter.
Chap. 14.1
43211 Option board SSI-4000
Chap. 14.3
Connection of multi-turn, absolute-value encoders
with synchronous-serial interface (SSI) for
positioning tasks. In addition: 5 binary inputs and
4 binary outputs plus external 24 V power supply for
fieldbus systems.
43090 Option board ext. 24 V power supply
External supply unit for converter and field bus
option (communication box). Parameterisation and
diagnostics can be performed at the device even
without 400 V mains voltage.
Chap. 14.2
43199 Option board ASI-4000
The option pcb contains an AS-i 4E/4A + 2E-P
module. It offers a simple and safe possibility for
connection to the AS interface.
ASi documentation:
43096 Holding bracket for option boards (only BG3)
Chap. 14.1
Publ. no. 441509 (german)
67
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
21. Accessories
68
Id. No. Designation
Remark
40021 CAN bus, Kommubox
Interface module for CAN bus with CANopen profile
CIA/DS-301.
CAN bus documentations:
Publ. no. 441532 (german)
Publ. no. 441562 (english)
40022 Profibus-DP, Kommubox
Interface module for Profibus-DP.
Profibus-DP documentations:
Publ. no. 441525 (german)
Publ. no. 441535 (english)
27350 Parabox
Using Parabox, parameters can be transfered
between two inverters or between inverter and PC.
Chap. 8.7
Publ.- CD LIBRARY
no.
This CD-ROM contains:
441893
• Sample applications,
• Documentation,
• FDS-Tool (PC program for programming,
operation and observation of the converters.)
• Feldbus datas
Download from:
http://www.stoeber.de
41488 Connection cable G3
PC <-> FDS connection cable with 9-pin sub D plug
connector, plug connector /socket.
Chap. 9.9
FDS-Tool documentations:
Publ. no. 441349 (german)
Publ. no. 441409 (english)
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
21. Accessories
Id. No. Designation
Remark
42224 External operator, CONTROLBOX
Operating unit for parameterisation and operation of
the converters. Connecting lead (2 m) is included in
the scope of supply.
Controlbox documentations:
Publ. no. 441445 (german)
Publ. no. 441479 (english)
Publ. no. 441651 (french)
42225 External operator,
in a built-in DIN housing 96x96 mm
see above
Protection rating IP54
42558 PC adapter with power pack
Power supply for Controlbox for direct data
exchange with the PC.
Chap. 7
42583 PC adapter with PS/2 connector
Power supply via PS/2 interface for Controlbox for
direct data exchange with the laptop.
Chap. 7
44969 Inrush-current limiter ESB10
Inrush-current limiting for operation of several
inverter at one contactor.
Applicative for the mounting on a mounting rail
(35 mm) according to DIN EN 60175 TH35.
ESB10 documentation
Publ. no. 441705 (german)
69
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
21. Accessories
21.2
Braking resistor
21.2.1 Allocation of braking resistor to FBS/FDS 4000
FZM
FZMU
FZZM
VHPR
VHPR
135x35
100 W
300 Ω
200x35
150 W
300 Ω
200x35
150 W
100 Ω
400x65
600 W
100 Ω
400x65
600 W
30 Ω
400x65
1200 W
30 Ω
Id. No.
40374
40375
25863
49010
49011
41642
45972
45973
44316
FBS 4008/B
42004
-
-
X
-
-
-
-
X
-
FBS 4013/B
42005
-
-
X
-
-
-
-
X
-
FDS 4014/B
42007
X
X
-
-
-
-
X
-
-
FDS 4024/B
42008
X
X
-
-
-
-
X
-
-
FBS 4028/B
42006
-
-
X
X
-
-
-
X
X
FDS 4040/B
42009
-
-
X
X
-
-
-
X
X
FDS 4070/B
42010
-
-
X
X
-
-
-
X
X
FDS 4085/B
42011
-
-
X
X
-
-
-
X
X
FDS 4110/B
42012
-
-
-
-
X
X
-
-
-
FDS 4150/B
42013
-
-
-
-
X
X
-
-
-
FDS 4220/B
42014
-
-
-
-
X
X
-
-
-
FDS 4270/B
42075
-
-
-
-
X
X
-
-
-
FDS 4300/B
43095
-
-
-
-
X
X
-
-
-
Type
VHPR150V VHPR150V VHPR600V
150 W
150 W
600 W
300 Ω
100 Ω
100 Ω
21.2.2 Braking resistor FZM(U) / FZZM (dimensions)
FZM(U)
FZM
FZZM
FZZM
R
R
M
O
H
øD
L
K
X
K
U
K
U
U
M
Type
FZM 135x35
FZM 200x35
FZMU 400x65
FZZM 400x65
LxD
135 x 35
200 x 35
400 x 65
400 x 65
H
77
77
120
120
K
4.5 x 9
4.5 x 9
6.5 x 12
6.5 x 12
M
157
222
430
426
O
172
237
485
446
R
66
66
92
185
U
44
44
64
150
X
7
7
10
10
0.6
0.7
2.2
4.2
Weight [kg]
[dimensions in mm]
70
POSIDRIVE® FDS 4000
STÖBER
ANTRIEBSTECHNIK
21. Accessories
21.2.3 Braking resistor VHPR (dimensions)
VHPR150V
150 W
300 Ω
Typ
VHPR150V
150 W
100 Ω
VHPR600V
600 W
100 Ω
L
212
212
420
C
193
193
400
B
40
40
60
A
21
21
31
D
4.3
4.3
5.3
500 ±10
E
8
8
11.5
F
13
13
19.5
Approx. 310
Approx. 310
Approx. 1300
Weight [g]
[dimensions in mm]
21.3
Output derating / output filter
21.3.1 Allocation of output derating / output filter to FBS/FDS 4000
Output derating
Type
RU 775 / 5 Aeff
Output filter
RU 774 / 13 Aeff
RU 778 / 25 Aeff
MF1 / 3.5 Aeff
MF2 / 12 Aeff
28206
28207
28208
43213
43214
42004
X
-
-
X
-
FBS 4013/B
42005
X
-
-
X
-
FDS 4014/B
42007
X
-
-
X
-
FDS 4024/B
42008
X
-
-
X
-
FBS 4028/B
42006
-
X
-
-
X
FDS 4040/B
42009
X
-
-
-
X
FDS 4070/B
42010
-
X
-
-
X
FDS 4085/B
42011
-
X
-
-
X
FDS 4110/B
42012
-
-
X
-
-
FDS 4150/B
42013
-
-
X
-
-
FDS 4220/B
42014
-
-
-
-
FDS 4270/B
42075
-
-
-
-
FDS 4300/B
43095
-
-
-
-
Id.-No.
FBS 4008/B
Omitted or 2 x RU
778 parallel
21.3.2 Output derating RU (dimensions)
Output
derating
Type
RU 775 / 5 Aeff
RU 774 / 13 Aeff
RU 778 / 25 Aeff
W x H x DT (in mm)
70 x 160 x 55
105 x 240 x 80
90 x 350 x 90
Max. line cross section
6 mm2 (rigid) or 4 mm2 (flexible)
21.3.3 Output filter MF (dimensions)
Output filter
MF1 / 3.5 Aeff
MF2 / 12 Aeff
A
93
120
B
71
86
C
96
111
D
43 to 51
47 to 56
FDS
Screw
exists
already.
Motor
71
Additional information under:
Presented by:
STÖBER ANTRIEBSTECHNIK
GmbH + Co. KG
GERMANY
Kieselbronner Strasse 12 · 75177 Pforzheim
Postfach 910103 · 75091 Pforzheim
Fon +49 (0) 7231 582-0, Fax +49 (0) 7231 582-1000
Internet: http://www.stoeber.de / e-Mail: [email protected]
- Subject to change without prior notice -
STÖBER . . . The Drive for Your Automation
© 2003 STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
Publication no. 441408.03.00 · 07.2003
http://www.stoeber.de

®

POSIDRIVE

FDS 4000

13. Parameter Description

C.. Machine

Para. No. Description

Operating range n-Min: Parameters C41 to C46 can be used to specify an operating area. An output (F00=6)

C41

can be used to signal that these values have been exceeded. All area monitoring procedures are performed at

the same time. If area monitoring is not required, the minimum parameters must be set to the lower-limit values,

and the maximum parameters must be set to the upper-limit values. Cf. chapter 9.3. When C49=0, operating-

range monitoring is suppressed when the motor is not powered and during acceleration/braking procedures.

When C48=1, amount generation is activated.

Value range in rpm: 0 to C42

Operating range n-Max: See C41.

C42

Value range in rpm: C41 to 6000

Operating range M-Min: See C41.

C43

Value range in %: 0 to C44

Operating range M-Max: See C41.

C44

Value range in %: C43 to 400

Operating range X-Min.: See C41. Monitors range defined in C47.

C45

Value range in %: -400 to 0 to C46

Operating range X-Max.: See C41. Monitors range defined in C47.

C46

Value range in %: C45 to 400

Operating range C45/C46: Defines the range to be monitored.

C47

0: E01 P-motor;

1: E02 M-motor;

2: E10 AE1-level;

3: E11 AE2-level;

4: E16 analog-output1-level;

Operating range of amount C47:

C48

0: absolute; First, the amount is generated from the signal selected in C47.

Example: C47=AE2; C45=30%; C46=80%. The operating range is -80% to -30% and +30% to +80%.

1: range; The signal selected in C47 must be located in range C45 to C46.

Example: C47=AE2, C45= -30%, C46= +10%. The operating range is -30% to +10%.

Operating range accel&ena:

C49

0: inactive; During acceleration or deactivated enable, the «operating range» signal for the binary outputs is set

to «0»=ok. The three ranges are only monitored during stationary operation (compatible with device software

V 4.3).

1: active; The operating range is always monitored..

Display function: Only if C60≠2 (operating mode≠position). Parameters C50 to C53 can be used to design the

C50

first line of the display as desired. See chapter 6.1. Eight characters are available for a number, and 8

characters are available for any unit. Display value=raw value/display factor.

0: n2 & I-motor;

1: E00 I-motor; The inverter supplies the actual motor current in amperes as the raw value.

2: E01 P-motor; The inverter supplies as the raw value the actual active power as a percentage of the nominal

motor power.

3: E02 M-motor; As the raw value, the inverter supplies the actual motor torque as a percentage of the nominal

motor torque.

4: E08 n-motor; The inverter supplies the actual speed in rpm as the raw value. If V/f control (B20=0) and

sensorless vector control (B20=1), the frequency (i.e., motor speed) output by the inverter is indicated. Only

with vector control with feedback (B20=2) is the real actual speed indicated.

Display factor: Only if C60≠2. Raw value (C50) is divided by the value entered here.

C51

Value range: -1000 to 1 to 1000

Display decimals: Only if C60≠2. Number of positions after the decimal point for the value in the display.

C52

Value range: 0 to 5

Display text: Only if C60≠2 (operating mode≠position) and if C50>0. Text for customer-specific unit of measure

C53

in the operating display (e.g., «units/hour»). Maximum of 8 positions. Can only be entered with FDS Tool.

Run mode

C60•

1: speed; Reference value for speed, conventional operating mode.

2: position; Position control activated. When enable signal on X1.9, the position controller is turned on, and the

current position is maintained. Full functionality of the position controller is only available with incremental

encoders (B20=2). If C60=2, group «D. reference value») is completely faded out.

When the mode is switched from speed to position, the reference position is lost. With the SSI-4000 option

board, a non-acknowledgeable fault («37:n-feedback») is triggered after the switch to C60=2. → Save values

with A00, and turn power off and on.

P

Speed depends on pole number B10; f

•

The power pack must be turned off before these parameters can be changed.

Italics These parameters are sometimes not shown depending on which parameters are set.

1)

See result table in chap. 15.

Parameters which are included in the normal menu scope (A10=0). For other parameters, select A10=1:extended or A10=2:service.

Parameters marked with a «

32

P

P

to 12000

(

5: E22 i2t-device;

6: E23 i2t-motor;

7: E24 i2t-braking resistor;

8: E62 actual M-Max;

9: E65 PID-error;

= 400 Hz. With a 4-pole motor, this is 12000 rpm at 400 Hz.

max

√

» can be parameterized separately from each other in parameter record 1 and 2.

P

depends on poles B10; f

max

2) Only available when D90≠1

STÖBER

ANTRIEBSTECHNIK

= 400 Hz)

10: E71 AE1-scaled;

11: E72 AE2-scaled;

12: E73 AE2-scaled 2;

13: E14 BE5-frequency RV

14: E08 n-motor; (% ref. to C01)

√

√

√

√

√

√

√

√

√

√

√

√

√

√

Показаны 1 — 23 из 23 товаров

Показаны 1 — 23 из 23 товаров

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Воспользуйтесь нашим онлайн-каталогом, чтобы найти другие товары т.к. в них находится больше чем 300 000 000 лотов со всего мира,
которые мы тоже можем заказать для Вас.

Гарантия на stober 4000 posidrive fds4024b

   Купив у нас Вы гарантированно получите свою покупку как указано в описании и в самые короткие сроки! Мы организуем доставку по всей России и СНГ ( доставка в Беларусию,Украину,Казахстан и т.д.) .
Вы также можете воспользоваться нашим каталогом для поиска других товаров ( более 300 миллионов товаров со всего мира ) , которые мы тоже можем заказать для Вас.
Мы предлагаем супер-цену на stober 4000 posidrive fds4024b, а также Вы бесплатно получаете возможность воспользоваться нашей расширенной программой защиты покупателя и бесплатной доставкой. Цена указана в рублях на все товары в этой категории окончательна .
Все заказы застрахованы на 5 000 000 (пять миллионов рублей) в СК «Гелиос».

Случайный отзыв о нашей работе

   Я от всей души признательна всем работникам службы доставки Sndle!!!В наше не стабильное время. когда сплошь обман и невыполнение обещаний, эти ребята реально работают на совесть!Заказывала солнечную панель,штука не дешевая,ждала 3,5 месяца и даже (что уж там скрывать -истерила)считая,что точно кинут и не доставят.Но ошибалась.Панель пришла в отличном состоянии!!!Спасибо вам ребята за труд и терпение!. Автор Эльвира Юрко. Дата 2022-05-14. Населенный пункт: г.Иваново