The Guide book for L7N Drive (Operating by XGT(PN8B) 21.Feb, 2014 SI team/wonkee Son LS Mecapion

Transcription

1 The Guide book for L7N Drive (Operating by XGT(PN8B) 21.Feb, 2014 SI team/wonkee Son LS Mecapion 1

2 Contents 1. Model name 2. Wiring 3. Connect PLC and Servo 4. Operation parameters settings 5. Servo parameters settings 6. Test operation 7. PLC ladder program 2

3 Motor Model Model Name APM FB 04 A M N 2 Servo Motor Motor Shape S : Solid shaft H : Hollow shaft B : Assembly F : Flat L : L7 only Motor Capacity R3 : 30[W] R5 : 50[W] 01 : 100[W] 02 : 200[W] 03 : 300[W] 04 : 400[W] 05 : 450[W] 06 : 550/600[W] 07 : 650[W] 08 : 750/800[W] 09 : 850/900[W] 10 : 1.0[kW] 150 : 15.0[kW] 220 : 22.0[kW] 300 : 30.0[kW] 370 : 37.0[kW] Shaft Cross-section N : Straight K:One-sided round key(standard) D : D Cut T : Tapering R:Double-sided round key H : Hollow Shaft Encoder Type Flange Size A : 40 Flange B : 60 Flange C : 80 Flange D : 100 Flange E : 130 Flange F : 180 Flange G : 220 Flange H : 250 Flange J : 280 Flange Rated RPM A : 3000 [rpm] D : 2000 [rpm] G : 1500 [rpm] M : 1000 [rpm] Quadrature(Pulse Type) A : Inc [P/R] B : Inc [P/R] C : Inc [P/R] D : Inc [P/R] E : Inc [P/R] F : Inc [P/R] G : Inc [P/R] Serial Biss (Communication Type) N : 19bit S-Turn Abs. M : 19bit M-Turn Abs. (18bit SA M-Turn Abs) Oil Seal and Brake Non-existent :None included 1 : Oil Seal attached 2 : Brake attached 3 : Oil Seal, Brake attached 3

4 Drive Model Model Name L7 N A 004 B Series Name Servo Series L7 : L7 VS : VS VP : VP Communication Type S: Standard I/ O Type N : Network Type Input Voltage A : 220Vac B : 400Vac Capacity 001 : 100W 002 : 200W 004 : 400W 008 : 750W 010 : 1.0Kw 020 : 2.0kW 035 : 3.5Kw 050 : 5.0kW 150 : 15.0KW Encoder Type A: Incremental B: Serial (Communicatio n Type) 4

5 Power Supply Wiring Wiring Note1) Servo Drive DC Reactor Encode r 3 4 Note2)External Regenerative resistance Note1) It takes approximately one to two seconds to output an alarm signal after turning on the main power(3phase AC220V). Accordingly, press and hold the main power ON switch for at least two seconds. Note2) Check the B and BI short-circuit terminals and the L7NA001B-L7NA004B (50 W, 100 Ω), L7NA008B ~ L7NA010B (100 W, 40 Ω), and L7NA020B ~ L7NA035B (150 W, 13 Ω) regenerative resistors before use. If the regenerative capacity is high because of frequent acceleration and deceleration, open the short-circuit pins (B, BI) and connect an external regenerative resistor to B and B+ 주 3) Remove approximately 7-10 mm of the sheathing from the cables for the main circuit power and attach crimp terminals. (Maker : SEOIL) 100[W]~400[W] : UA-F1510, 800[W] ~400[W]: UA-F2010, 2[kW] ~3.5[kW]: UA-F4010 5

6 System Configuration Wiring System configuration for L7N Drive is as below Using XG5000 as PC program (Possible to download from LSIS web site ) EtherCAT Master IN Slave 1axis, 2axis... N axis IN - Status LED - 1. L/A IN, L/A OUT LED - Off : Communication is not connected. - On : Communication is connected but not available. - Flickering : Communication is connected and available. 2. RUN LED - Off : L7N is the state of INIT. - On : L7N is the Operational state. OUT OUT - Unconnected state - - Connected state - - Display of state of STO Plug on CN6 Connector - * If STO is unconnected, the drive can not be Servo ON. * STO(Safe Torque Off) Slave 1 axis Slave 2 axis Slave N axis 6

7 Assembling Lan Cable and STO Plug Wiring 1. Assembling EtherCAT LAN Cable 1. Twist-Pair wire for + and - signals. 2. Solder Shield on RJ45 Plug. 3. Check end of node between connectors by multi-tester. 2. Assembling L7N STO Plug Dummy - L7N Motor operation test can be done without wiring actual cable for STO Plug. - Wire Plug pins as below before assembling in order to do operation without STO Wiring. 1pin 4pin 2pin 5pin 3pin 6pin 7

8 CN1 Wiring Wiring CN1 Wiring PCON : When the contact is on, the speed control loop transfers the mode from PI control to P control. Improvement of fast response as prohibiting overshoot of transient response GAIN2 : When gain 2 contact is ON, it transfers from gain 1 to gain 2 A-RST : Alarm reset HOME : connects the origin sensor to return to the origin POT : Forward (CCW) rotation prohibited NOT : Reverse (CW) rotation prohibited PROBE1, PROBE2 : The probe signal to rapidly store the position value ALARM : Outputs a signal when an alarm occurs. In Normal operation status, the signal is output. When alarm occurs, the signal is off READY : This signal is output when the main power is established and the preparations for servo operation are complete ZSPD : Outputs a signal when the current speed drops below the zero speed. BRAKE: Outputs signals to control the brake when the servo is turned on or off INPOS : Outputs a signal when the device reaches the specified location INSPD : Outputs a signal when the device reaches the specified speed 8

9 STO Function Wiring Safety function : STO(Safe Torque Off)function is embedded to protect users in dangerous areas STO(Safe Torque Off) : By input signals from Safety equipment such as safety controller and safety sensor connected CN6, Motor is stopped Operation method for signals of safety function Setting /HWBB1 /HWBB2 EDM L7N display window STO status 1 OFF OFF ON STO 2 ON OFF OFF STO 3 OFF ON OFF STO 4 ON ON OFF Normal operation Pin Name Number 3 /HWBB1-4 /HWBB1+ 5 /HWBB2-6 /HWBB2+ 7 EDM+ 8 EDM- Function For hard-wired base block inputs Performs a base block (block torque) on signal off. Outputs the pilot circuit status. 9

10 Creating new project Connect PLC and Servo 1. XG-PM is installed automatcially when XG5000 is installed 2. XG-PM is open when Positioning control is selected on XG

11 Creating Project Connect PLC and Servo 1. Write project name after opening New project on the project name 2. Select PLC and CPU Type 3. Select Module Type and click OK 11 11

12 Creating Project Connect PLC and Servo 1. After creating New Project, PC and PLC can be communicated by clicking connect on Online tap.

13 Communication PC and PLC Connect PLC and Servo 1. If Communication between PC and PLC is successful, PLC and servo communication function will be activated 2. Servo parameter will be activated after executing Network servo auto-connect at first. After that execute All servo station setting in order to reconect servo drive Note) Network servo autoconnect will initialize parameters <The state of 7 Segment and LED before connecting > 1. There is no display of operation mode on 7 Segment 2. L/A in LED is ON 13

14 Communication PC and PLC Connect PLC and Servo 1. If servo drive and PLC are connected, servo parameters and function for operation motor will be activated 2. If multi-axes is connected, servo parameters will be activated as the same number as the connected multi-axes <The state of 7 Segment and LED after connection servo > 1. Operation Mode is displayed on 7 Segment (P=Position Mode) 2. L/A in LED is Flickering and Run LED is ON 14

15 Open current project from PLC Connect PLC and Servo 1. To open current project from PLC, after executing XG-PM, execute Open from PLC 2. After connecting setting, Click OK button 15

16 Open current project from PLC Connect PLC and Servo 1. If the open from PLC is successful, position data and parameters are read except servo parameters 2. Connect to Servo 3. Read Project <The state of 7 Segment and LED before connecting > 1. There is no display of operation mode on 7 Segment 2. L/A in LED is ON 16

17 Operation parameters setting Operation parameters setting Set basic operation parameters in order to operate servo motor 1) Set Encoder pulses per a rotation.(19bit= 524,288) 2) Set Travel per rotation. Ex) if lead value is 5mm, input the value 5000um 3) Possible to set rpm and mm/s for speed command unit 4) Set the speed limit properly 5) For the case of multi-turn absolute encoder, select Absolute Encoder at Encoder Select This function is using for in order to remember current position after turning off power. 17

18 Operation parameters setting Operation parameters setting Jog operation parameters can be set on the last menu 18

19 Servo parameters settings Servo parameters settings 1. Double click Servo Parameter in order to see the list of the parameters 2. Select and change parameters. 3. Check Servo Parameter change during operation in order to change parameters during operation. - The values of Parameters can be displayed in Dec and Hex.

20 Servo parameters settings Servo parameters settings 1. Execute Read project after servo parameters on the menu ( OK Click after selecting the connecting axis) 2. After executing read project, possible to see stored parameters from Servo 3. If it is initial setup, set Motor ID, Encoder type and Encoder pulse numbers for the case of Multi-turn absolute. For the case of Single-turn absolute, setting Motor ID, Encoder type, Encoder pulse numbers automatically

21 Servo On Servo parameters settings 1. Click Servo ON icon after the end of setting servo parameters and operation parameters 2. When servo is on, the window of System View is created, Possible to see Command position, Current position, Command position, Command Speed, Current Speed (Need High speed counter to see these parameters for L7S Drive) Servo ON

22 System View Servo parameters settings 1. Possible to see the servo drive name and OS version when servo information is clicked 2. When Alarm occurs in Servo Drive, if Reset Servo Error is clicked, servo alarm is reset

23 Point operation TEST operation Point operation 1. Set total point No and No. of data and sequence on point operation in the point Command tab after setting operation data 2. Operate point operation after selecting write in the online tab, checking position data and clicking OK.

24 Jog operation TEST Operation 1. When operating Jog, the motor will be operated as operation parameter. 2. When executing Inching operation, the motor will be moved as the values of defined position.(click Run after setting value of position.) 3. Direct start : As input the value of position, speed, Dwell, M Code, Accel/Decel, Operation type, Possible operation test 4. Indirect start : As selecting the step number in Position data, Possible Operation test.

25 Homing Mode Servo parameters settings Homing Mode[0x6098] : Homing Mode Value Details 0 Disabled 1 Homing using the index pulse and reverse limit contact 2 Homing using the index pulse and forward limit contact 7 to 14 Homing using the index pulse and home contact 24 Same as method 8 (does not use the index pulse) 28 Same as method 12 (does not use the index pulse) 33, 34 Homing to the index pulse 35 Homing to the current position 28. Initial direction CW, Homing on the Negative limit switch and positive home switch Initial direction is CW direction and it is home position when Positive Home Switch is on

26 Basic function configuration Servo parameters settings Basic Function Configuration[0x200D] : Bit Function Value Details CCW (Forward direction ), CW 0 Sets the servo drive 0 (Reverse direction) direction CW(Forward direction), 1 CCW(Reverse direction) 1 4 Sets the servo lock function Set the multi-turn encoder 0 Not use 1 Use 0 1 Use the multi-turn encoder as multi-turn Use the multi-turn encoder as single-turn Ex) To use multi-turn encoder as single-turn, In put the value, 16 by decimal or 10 by Hexadecimal in the index[0x200d].

27 Basic settings for input signal definitions Servo parameters settings Basic settings for input signal definitions Object CN1 Pin Default Allocation Number Input Index Bit Signal DI6(7) DI5(8) DI4(14) DI3(12) DI2(14) DI1(13) 0x to 3 PCON x to 7 GAIN x to 11 A-RST x to 15 HOME x to 3 P-OT x to 7 N-OT Default Setting Value 0x4000 0x0065 Ex) HOME, P-OT and N-OT are allocated for Default setting value for CN1 input signal. To use A-RST(Alarm Reset), Input the value, 0x4300 in the index [0x2200] Probe input signal is always allocated. Not need to be allocated.

28 Input signal logic setting Servo parameters settings Input signal logic setting[0x2204] : Bit Function Value Details 0 B Contact 0 DI#1 input logic setting 1 A Contact 0 B Contact 1 DI#2 input logic setting 1 A Contact 0 B Contact 2 DI#3 input logic setting 1 A Contact 0 B Contact 3 DI#4 input logic setting 1 A Contact 0 B Contact 4 DI#5 input logic setting 1 A Contact 0 B Contact 5 DI#6 input logic setting 1 A Contact Ex) As Basic input signal is all A contact, The value is 0x003F for Hexadecimal To change N-OT, P-OT for B contact, Input the value, 0x000F in the index [0x2204]

29 Basic settings for output signal definitions Servo parameters settings Basic settings for output signal definitions Object Index Bit Output Signal CN1 Pin Default Allocation Number DO4(1,2) DO3(19,20) DO2(17,18) DO1(3,4) 0x to 3 ALARM x to 7 READY x to 11 ZSPD x to 15 BRAKE x to 3 INPOS x to 7 INSPD x to 11 WARN x to 15 RESERVED Default Setting Value 0x4321 0x0000 Ex) ALARM, READY, ZSPD, BRAKE are allocated for Default setting value for CN1 output signal. To be allocated INPOS in the place of ZSPD, input the value, 0x4021 in the index [0x2202], 0x0300 in the index [0x2203]

30 Output signal logic setting Servo parameters settings Output signal logic setting[0x2205] Bit Function Value Details 0 B Contact 0 DO#1 output logic setting 1 A Contact 0 B Contact 1 DO#2 output logic setting 1 A Contact 0 B Contact 2 DO#3 output logic setting 1 A Contact 0 B Contact 3 DO#4 output logic setting 1 A Contact Ex)To change First Bit for B contact, Input the value, 0x0004 in the index [0x2205]

31 Absolute encoder reset Servo parameters settings Absolute Encoder Reset [0x2702] : Type "rset" ( ) to save the offset in the EEPROM inside the drive. The absolute encoder resets after a few milliseconds. When the absolute encoder reset is complete, the multi-turn data (0x260F) and single-turn data (0x260D) resets to 0. Check whether the actual position value (0x6064) becomes 0 to confirm the reset. 1) The case of Absolute Encoder Reset - Initial operation - After replacement of battery - When encoder cable is separated from Servo Drive - when the alarm related of Absolute encoder occurs

32 Current offset Servo parameters settings Current offset[0x2703] : 1) This function is that the current of U/V/W phase is calibrated automatically. 2) The offset of U/V/W phase is stored in 0x2013, 0x2014, 0x2015. If the value of offset is too large in normally, AL-15 will be occurred 3) In the case of under 7.5kW drive(small and medium capacity), the current of W phase is not calibrated. This parameter is not used Current Offset will be calibrated by writing rset( ) in Sub-Index 1. *Not possible to reach Store Parameters in PN8B. Possible to reach in TwinCAT 2703:01 = 0x

33 Store parameters Servo parameters settings Store Parameters[0x1010] : 1) All parameters are stored when save is written to Sub-Index1 2) Communications are stored when save is written to Sub-Index2 3) CiA402 parameters are stored when save is written to Sub-Index 3 4) L7N parameters are stored when save is written to Sub-Index 4 ASCII e v a s Hex 0x65 0x76 0x61 0x73 *Not possible to reach Store Parameters in PN8B. Possible to reach in TwinCAT

34 Restore default parameters Servo parameters settings Restore Default Parameters [0x1011] : 1) All parameters are reset when load is written to Sub-Index 1 2) Communication parameters are reset when load is written to Sub-Index 2 3) CiA402 parameters are reset when load is written to Sub-Index 3 4) CiA402 parameters are reset when load is written to Sub-Index 3 *Turn the power off and then back on to restore the default values ASCII d a o l Hex 0x64 0x61 0x6F 0x6C * *Not possible to reach Store Parameters in PN8B. Possible to reach in TwiCAT

35 Homing speed/acceleration Servo parameters settings Homing Speed [0x6099] : This sets the homing speed in user-defined units 1) 0x6099:01 Switch search speed, setting the speed to search target switch for origin return 2) 0x6099:02 Zero search speed, setting the speed to search index signal Homing Acceleration [0x609A] : This sets the homing acceleration in user-defined units. 1) 0x609A: Homing Acceleration * Target speed[mm/s] = (Pulse number per one rotation of Motor) * Setting speed[rpm] / 60 ex) Target speed : 600rpm, Encoder pulse number : = *(600/60) = [mm/s] * Acceleration time= Target speed[mm/s]/acceleration[s], ex) Target speed: , Acceleration: => Acceleration time : 0.1S

36 Home Offset Servo parameters settings Home Offset [0x607C] : This sets the offset value for the origin of the absolute encoder or absolute external scale and the zero position of the actual position value (Position actual value, 0x6064) If Home offset is set 2000, after homing operation, home is moved as much as the value of offset

37 PLC ladder program PLC ladder program PLC Ladder Program 1)Jog operation 2)Current state Command: XSRD Slot. No Axis. No Memory. Address

38 PLC ladder program PLC ladder program PLC Ladder Program 3)Network connection/disconnection Slot. No Axis. No Command : XECON The command for network connection, connecting between PN8B and L7N by EtherCAT Command : XDCON The command for network disconnection, disconnecting between PN8B and L7N by EtherCAT 4)Servo On/Off Command : XSVON the command that gives Servo ON to L7N Servo drive connected with PN8B by EtherCAT. Command : XSVOFF the command that gives Servo OFF to L7N Servo drive connected with PN8B by EtherCAT.

39 PLC ladder program PLC ladder program PLC Ladder Program 5)Homing Mode Slot. No Axis. No Command : XORG As Homing start command, it is operated when Ready signal is on, Servo on signal is on, no servo alarm 6)Error Reset(Axis Error/Servo Error) Slot. No Axis. No Common Error Reset Command : XCLR Axis Error Reset Command : XSCLR Servo Error Reset

40 PLC ladder program PLC ladder program PLC Ladder Program 7) Torque operation and Stop Axis Compari son Current position Slot. No Slot. No Axis. No Torque value Axis. No Torque slope Deceleration time Command : XTRQ Slot.No:0, Axis.No:1 Target torque : 20%, Torque slope:1000ms 8) Direct start & Indirect start Command : XSTP When Current position is over 0 Position, Slot.No:0, Axis.No:1 =>Stop by 500ms deceleration. Slot. No Axis. No Target speed Dwell M Code Control Word Command : XDST Direct start operation Target position Slot. No Axis. No Step. No Command : XIST The command that requests position operation by upper controller using CSP Mode in L7N Drive Set the step operation in position data of XG- PM for Indirect start

41 PLC ladder program PLC ladder program PLC Ladder Program 9)Parameter Write (Home Offset) Slot. No Axis. No Index Sub Index Size of Data Data Write Method Command : XSVPWR the command that changes parameters on CoE object in L7N Drive. 10)Parameter Read (Home Offset) Slot. No After 4S,T1010 ON Axis. No Index After 4S,T1010 ON Sub Index Size of Data Command : XSVPRD The command that read data from Object in L7N Drive

42 Revision History Number Date issued Revised content Version Number Notes 42