instrukcje obsługi do serw AMK
AMKASYN
Servo inverters KE/KW and KU
Parameter description
Version: 2007/16
Part No.: 26249
Rights reserved to make technical changes.
Table of contents
1
ABBREVIATIONS
10
2
INDEX
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3
ILLUSTRATIONS
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4
FORMULA
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5
TABLES
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6
OVERVIEW
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Parameter – ID numbers
Instanced parameters
Parameter structure
Scaling
Parameter groups
Cyclical display of system values
Application examples
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SYSTEM PARAMETERS
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ID00265 Language
ID32795 Source UE
ID32796 Source RF
ID32799 Configuration of peripherals
ID32813 Parameter set allocation
ID32821 Password
Command via Parameter
ID32903 DC-Bus enable (UE)
ID32904 Controller enable (RF)
ID32913 Clear error (FL)
ID33730 System booting
ID33732 System reset
ID32942 Service control
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MOTOR PARAMETERS
ID00109
ID00111
ID00113
ID00114
ID00116
ID00141
ID32769
ID32770
ID32771
ID32772
ID32774
ID32775
ID32776
ID32827
ID32834
ID32841
Maximum current
Motor nominal current
Maximum speed
Motor overload threshold
Motor encoder resolution
Motor type
Magnetizing current
Magnetizing current
Nominal torque
Nominal speed nN
Rotor time constant TR
Motor pole number
Sine encoder periods
Flux-generating current feedback value
Torque-generating current feedback value
Motor encoder list
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ID32842
ID32843
ID32920
ID32934
ID32953
ID32935
ID32768
ID32959
ID32960
ID32961
ID33102
ID34045
ID34046
ID34049
ID34050
ID34051
ID34052
ID34094
ID34095
ID34096
ID34151
ID34152
ID34153
ID34160
ID34161
ID34162
ID34164
ID34165
ID34166
ID34167
ID34168
ID34176
ID34177
ID34178
ID34179
ID34180
9
OPERATION MODES AND COMMAND VALUE SOURCES
ID32800
ID32801
ID32802
ID32803
ID32804
ID32805
10
AMK main operation mode
AMK Secondary operation mode 1
AMK Secondary operation mode 2
AMK Secondary operation mode 3
AMK Secondary operation mode 4
AMK Secondary operation mode 5
TORQUE PARAMETERS
ID00080
ID00082
ID00083
ID00084
ID00085
ID00126
ID32777
ID32989
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User data encoder list
Service command
Motor overload time
Pulse encoder periods
Encoder type
Standstill voltage
Nominal motor voltage
Resolver offset
Motor encoder gear input
Motor encoder gear output
Motor overload indication
Inductance LQ
Inductance LD
KP current Q
TN current Q
KP current D
TN current D
Rise time Software commutation
Final software commutation
Standstill current motor
Q current regulator KP
D current regulator KP
Maximum speed motor
Part number motor
Production date motor
Serial number motor
Terminal resistance Rtt
Hold. torque brake
Temperature sensor motor
Terminal inductance Ltt
Time Imax motor
External sine encoder period
Lower threshold current adaptation
Upper threshold current adaptation
Gradient KpQ
Gradient TnQ
Torque command value [% MN] (can be changed online)
Positive torque limit [% MN] (can be changed online)
Negative torque limit [% MN] (can be changed online)
Torque feedback value
Torque polarity
Torque limit Mdx [% MN] (can be changed online)
Torque at 10V at A1 [%MN]
Torque filter time T1 for command value display [ms]
VELOCITY PARAMETERS
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ID00036 Velocity command value [rpm] (can be changed online)
ID00038 Positive velocity limit [rpm] (can be changed online)
ID00039 Negative velocity limit [rpm] (can be changed online)
ID00040 Velocity feedback value
ID00043 Velocity polarity
Speed controller
ID00100 Velocity gain KP (can be changed online)
ID00101 Velocity integral time TN (can be changed online)
ID00102 Speed controller differentiation time Td (rate time)
ID00124 Zero velocity window [rpm] (can be changed online)
ID00125 Velocity limit nx [rpm] (can be changed online)
ID00157 Velocity window [rpm] (can be changed online)
ID00209 DZR lower adaptation limit [rpm]
ID00210 DZR upper adaptation limit [rpm]
ID00211 DZR gain adaptation [%]
ID00212 DZR integral time adaptation [%]
ID32778 Velocity at 10V at A1 [rpm] (can be changed online)
ID32779 Velocity offset at A1 [rpm] (can be changed online)
ID32780 Acceleration ramp TH [ms] (can be changed online)
ID32781 Deceleration ramp TL [ms] (can be changed online)
ID32782 Deceleration ramp RF inactive [ms]
ID32928 Time filter 1 [ms]
ID32929 Time filter 2 [ms]
ID32932 Barrier frequency [Hz]
ID32933 Bandwidth [Hz]
ID32991 U/f startup [%]
ID34158 Soft breaking
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POSITION PARAMETERS
ID00049
ID00050
ID00055
ID00103
ID00104
ID00115
ID00117
ID00121
ID00122
ID00123
ID00159
ID32811
ID32824
ID32922
ID32958
13
Positive position limit [incr.] (can be changed online)
Negative position limit [incr.] (can be changed online)
Position polarity
Modulo value [incr.]
Position loop KV [rpm] (can be changed online)
Position feedback type
External encoder resolution [incr.]
Gear input revolutions [U]
Gear output revolutions [U]
Feed constant [mm/U]
Excessive error [incr.]
Encoder type option
Following distance
Residual distance window [incr.]
Cycle time 16 bit position setpoint value
POSITIONING PARAMETERS
ID00041
ID00051
ID00057
ID00136
ID00137
ID32956
ID00147
ID32926
ID32936
ID00150
Homing velocity [rpm] (can be changed online)
Position feedback value
In position window [incr.]
Positive acceleration [U/s²] (can be changed online)
Negative acceleration [U/s²] (can be changed online)
Additional acceleration value
Homing parameter (can be changed online)
AMK homing parameter (can be changed online)
Window
Reference offset 1 (can be changed online)
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ID00153
ID34070
ID32990
ID00173
ID00169
ID00180
ID00154
ID32925
ID00222
ID32940
ID34074
ID34075
ID34076
ID34077
ID34078
ID34079
ID34080
ID34081
14
SYNCHRONOUS RUNNING PARAMETERS
ID00225
ID32927
ID00228
ID00230
ID00268
ID00278
ID32892
ID32893
ID32952
ID32994
ID32995
15
absolute angle position [incr.] (can be changed online)
Homing signal distance
NK shift
Marker position A
Probe control parameter (can be changed online)
Relative spindle position (can be changed online) [incr.]
Spindle positioning parameter (can be changed online)
AMK spindle positioning parameter
Spindle positioning speed [rpm] (can be changed online)
High homing velocity [rpm]
Homing counter 1
Actual counter 1
Homing counter 2
Actual counter 2
Homing counter 3
Actual counter 3
Homing counter 4
Actual counter 4
Synchronous parameter (can be changed online)
AMK synchronous parameter (can be changed online)
Angle synchronous window [incr.] (can be changed online)
Synchronous offset [incr.] (can be changed online)
Synchronous angle position [incr.] (can be changed online)
Synchronous additive position [incr.] (can be changed online)
Pulse divider (can be changed online)
Pulse multiplier (can be changed online)
Position synchronous window [incr.]
Modulo synchronous master
Operation mode SWQ1
BINARY INPUTS
ID32873 Input port address 1
ID32968 Input port address 2
ID32977 Input port address 3: Fixed assignment " 32 "
Binary inputs for input port 1
ID32874 Port1 Bit0
ID32875 Port1 Bit1
ID32876 Port1 Bit2
ID32877 Port1 Bit3
ID32878 Port1 Bit4
ID32879 Port1 Bit5
ID32880 Port1 Bit6
ID32881 Port1 Bit7
Binary inputs for port 2
ID32969 Port2 Bit0
ID32970 Port2 Bit1
ID32971 Port2 Bit2
ID32972 Port2 Bit3
ID32973 Port2 Bit4
ID32974 Port2 Bit5
ID32975 Port2 Bit6
ID32976 Port2 Bit7
Binary inputs for input port 3 (BE1 … BE4)
ID32978 Port3 Bit0: Preassigned with " RF controller enable "
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ID32979
ID32980
ID32981
ID34100
ID34101
ID34102
ID34103
ID34104
ID34105
ID34106
ID34107
ID34108
ID34109
ID34110
ID34111
ID34112
ID34113
ID34114
ID34115
ID34116
16
Port3 Bit1: Preassigned with " FL delete error "
Port3 Bit2: Preassigned with " UE inverter on "
Port3 Bit3: Preassigned with " homing run "
Binary input word
Binary input word 1
Binary input word 2
Binary input word 3
Binary input word 4
Binary input word 5
Binary input word 6
Binary input word 7
Binary input word 8
Binary input word 9
Binary input word 10
Binary input word 11
Binary input word 12
Binary input word 13
Binary input word 14
Binary input word 15
Binary input word 16
BINARY OUTPUTS
ID32846 Output port address 1
ID32855 Output port address 2
ID32864 Output port address 3: Fixed assignment " 544 "
Binary outputs output port 1:
ID32847 Port1 Bit0
ID32848 Port1 Bit1
ID32849 Port1 Bit2
ID32850 Port1 Bit3
ID32851 Port1 Bit4
ID32852 Port1 Bit5
ID32853 Port1 Bit6
ID32854 Port1 Bit7
Binary outputs output port 2:
ID32856 Port2 Bit0
ID32857 Port2 Bit1
ID32858 Port2 Bit2
ID32859 Port2 Bit3
ID32860 Port2 Bit4
ID32861 Port2 Bit5
ID32862 Port2 Bit6
ID32863 Port2 Bit7
Binary outputs port 3 (BA1 … BA4)
ID32865 Port3 Bit0: Preassigned with " QRF "
ID32866 Port3 Bit1: Preassigned with " SBT "
ID32867 Port3 Bit2: Preassigned with " nfeedback = ncommand "
ID32868 Port3 Bit3: Preasigned with " In position "
ID34120 Binary output word
ID34121 Binary output word 1
ID34122 Binary output word 2
ID34123 Binary output word 3
ID34124 Binary output word 4
ID34125 Binary output word 5
ID34126 Binary output word 6
ID34127 Binary output word 7
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ID34128
ID34129
ID34130
ID34131
ID34132
ID34133
ID34134
ID34135
ID34136
17
ANALOGUE OUTPUTS
ID32787
ID32789
ID32791
ID32788
ID32790
ID32792
ID32897
ID32898
ID34037
ID34038
18
Source analogue channel 1
Source analogue channel 2
Source analogue channel 3
Final value analogue channel 1
Final value analogue channel 2
Final value analogue channel 3
Analogue Input A1
Analogue Input A2
Analogue input 1 offset
Analogue input 2 offset
INVERTER PARAMETERS
ID00110
ID00112
ID00158
ID00206
ID00207
ID32785
ID32786
ID32836
ID32837
ID32890
ID32964
ID32965
ID32966
ID32967
ID32997
ID32999
ID33100
ID33101
ID33116
ID33117
ID34048
ID34055
ID34148
ID34149
19
Binary output word 8
Binary output word 9
Binary output word 10
Binary output word 11
Binary output word 12
Binary output word 13
Binary output word 14
Binary output word 15
Binary output word 16
Inverter peak current Kx [A]
Nominal current Kx [A]
Power limit Px [VA] (can be changed online)
Drive on delay
Drive off delay
Kx message 16 (can be changed online)
Kx message 32 (can be changed online)
DC Bus voltage
UZ (DC Bus voltage) monitoring
Pulse multiplier
Software pulse forwarding source
SIWL NIP distance
SIWL output resolution
SIWL input resolution
SIWL maximum frequency
Converter overload threshold [0.1%]
Actual power value
Converter overload indication [0.1%]
Internal temperature
External temperature
PWM-Frequency
EF Type
Voltage regulator proportional component KP
Voltage regulator integral action time TN
GENERAL PARAMETERS
ID00001
ID00002
ID00017
ID00026
ID00030
ID00096
ID00130
NC cycle time
SERCOS cycle
List of all operation data
Configuration list status bits
Software version
Slave identifier SLKN
Probe value positive edge
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141
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ID00131 Probe value negative edge
ID00144 Status word
ID00179 Probe status
ID00182 Manufacturer status
ID00269 Memory mode
ID00270 List of temporary parameters
ID00270 List of temporary parameters – service supplement
ID00390 Diagnosis number
ID32773 Service switch
ID32838 Setpoint list
ID32839 Actual value list
ID32938 Customer variable 1
ID32948 Kx message (4 · 32 bits)
ID32992 Dead time compensation 16-bit position setpoint value
ID32993 Dead time compensation 32-bit position setpoint value
ID32998 Setpoint switch
Commanding variables
ID34000 Variable 0
ID34001 Variable 1
ID34002 Variable 2
ID34003 Variable 3
ID34004 Variable 4
ID34005 Variable 5
ID34006 Variable 6
ID34007 Variable 7
ID34008 Variable 8
ID34009 Variable 9
ID34010 Variable 10
ID34011 Variable 11
ID34012 Variable 12
ID34013 Variable 13
ID34014 Variable 14
ID34015 Variable 15
ID34016 Variable 16
ID34017 Variable 17
ID34018 Variable 18
ID34019 Variable 19
ID34047 Dead time measurement [0.001 ms]
ID34058 Active power network [W]
ID34059 Time filter power network active power [ms]
ID34071 System name
ID34072 Data record name
ID34144 Nominal voltage effective [V]
ID34145 Line current effective [A]
ID34154 Start marker
ID34155 Marker window
ID34157 Dead time compensation
ID34171 Event filter
ID34172 PLC Project info
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168
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169
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170
SCALING PARAMETERS
ID00086
ID00093
ID00094
ID00044
ID00045
Torque scaling parameter
Torque scaling factor
Torque scaling exponent
Velocity scaling parameter
Velocity scaling factor
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ID00046
ID00076
ID00077
ID00078
ID00079
ID00160
ID00161
ID00162
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Velocity scaling exponent
Position scaling parameter
Position scaling factor for linear motion
Position scaling exponent for linear motion
Rotation resolution
Acceleration scaling parameter
Acceleration scaling factor
Acceleration scaling exponent
COMMUNICATION PARAMETERS
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180
183
183
184
186
187
187
188
ID32949 SBUS participant address
ID34023 BUS station address
ID34024 Bus transmission rate [kbit/s]
ID34025 BUS mode
ID34026 BUS mode attribute
ID34027 BUS failure characteristic
ID34028 BUS output rate
ID34029 BUS status bit
ID34142 Node list
PROFIBUS-DP
CAN Bus
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188
189
189
189
189
190
190
191
192
195
22
198
SPECIAL APPLICATIONS
ID32798 User list 1
ID34090 User list 2
ID34091 User list 3
Extended functionality
Time characteristic
ID34020 List function
Changing list data
Sources and functions
ID34021 PID1 controller
ID34022 Ramp1, RMP1
ID34035 Ramp2, RMP2
ID34030 Transformation, ANP1
ID34031 Transformation, ANP2
ID34032 Transformation, ANP3
ID34033 Transformation, ANP4
ID34034 PIDA controller
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205
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206
206
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211
IMPRINT
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1 Abbreviations
03h
3 hexadecimal
AA
Analog output
ACC-Bus
AMKASYN CAN Communication
AE
AMKASYN Extension (general use for option card board)
AFP
AMK Fieldbus Protocol
API
APplication Interface, user interface
ASC
AMK System Communication
BA
Operation mode
CC
Cross Communication
DA
Digital outputs
DTH
Database
DZR
Closed loop speed control
ES1, ES2
Disconnection main contactor
FL
Clear error
FN
Rated force
HW
Hardware
IM
Magnetizing current
Imax
KU maximum current
IN
Rated current
in
inch
IPO
Interpolator
KE
Compact power supply module
KMD
Command
KMD-SS
Command interface
KUB
KU user panel
KW
Compact inverter module
lbf
pound-force (1 lbf = 4,44822 N)
lbf in
pound-force inch (1 lbf in = 0,112985 Nm)
LC
Leading Communication
LR
Closed loop positioning control
LSB
Least Significant Bit
LT
Logical participant
MN
Rated torque
n
Speed value
nist
Actual speed value
nN
Rated speed value
nsoll
Speed setpoint
OPT
Option card slot
PEEP
Parallel EEPROM
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PLC
Programmable Logic Controller (e.g. KW-PLC option card)
PTC
PTC thermistor
QRF
Controller enable (RF) acknowledgement
QUE
Inverter ON acknowledgement
RF
controller enable
RFP
Homing point
RM
Inverter integrated motor
SBM/SBT
System Ready Message
SBUS
AMK-specific protocol for serial interface
SEEP
Serial EEPROM
SIWL
Software pulse transmission
T
Temperature
UA1
Analog setpoint voltage for analog input A1
UE
Inverter ON, DC Bus enable
VA
Apparent power
xi
Actual position value
xs
Setpoint position value
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2 Index
K:
Number of the decimal places for the parameter entry by means control panel or Programming
Software.
Example: ID-No. 00038, positive velocity limit
The velocity can be edited only in the rpm scaling (K = 0),
although a significantly higher velocity resolution is used inside the system.
ID-No. 32774, rotor time constant TR
The rotor time constant can be edited in the 1 ms scaling (K = 3),
although 0.1 ms time resolution is used inside the system.
ID-No.
1
2
17
26
30
36
38
39
40
41
43
44
45
46
49
50
51
55
57
76
77
78
79
80
82
83
84
85
86
93
94
96
100
101
102
103
104
109
110
111
Designation
NC cycle time
SERCOS cycle
List all op. data
Status word
Softwareversion
Veloc. cmd. value
Pos. veloc limit
Neg. veloc. limit
Veloc. feedb. val.
Homing velocity
Veloc. polarity
Scaling of veloc
Veloc.scal.fact.
Veloc.scal.expo.
Pos. posit. limit
Neg.posit. limit
Posit.feedb.val
Posit. polarity
In posit. window
Posit. scaling
Posit.scal.fact.
Posit.scal.expo
Rotat. resolution
Torque cmd. vlaue
Pos. torque limit
Neg. torque limit
Torque feedb.val.
Torque polarity
Torque scaling
Torque scal. fact.
Torque scal. expo
Slave identifier
Veloc. gain KP
Init.time veloc.
Diff.time veloc.
Modulo value
Posiiton loop KV
Motor peak curr.
Invert.peak.curr.
Mot. nom. curr.
PDK_026249_Parameter_en.doc
K
3
3
0
0
0
1
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
1
0
0
0
0
0
0
1
0
0
0
2
2
2
Default
1000
100
0
0
0
1000.0
5000
-5000
0.0
100
0
2
1
-4
2147483647
2147483648
0
0
1000
0
1
-7
3600000
10
120
-120
0
0
0
1
-2
0101h
200
50.0
1)
0
20000
100
5.00
20.00
1)
2.50
1)
Unit
ms
ms
1/min
1/min
1/min
1/min
1/min
Incr
Incr
Incr.
Incr.
Incr.
% MN
% MN
% MN
% MN
ms/x 1)
ms
Incr.
1/min
A
A
A
Parameter
GLOB
GLOB
GLOB
GLOB
INST 1)
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
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72
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179
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87
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87
94
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183
183
184
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69
69
69
70
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ID-No.
112
113
114
115
116
117
121
122
123
124
125
126
130
131
136
137
141
144
147
150
153
154
157
158
159
160
161
162
169
173
179
180
182
206
207
209
210
211
212
222
225
228
230
265
268
269
270
278
390
32768
32769
32770
32771
Designation
Invert.nom.curr.
Maximum speed
Overl.limit.mot.
Posit.feedb.type
Resol.mot.encod.
Resol.ext.encod
Gear input rev.
Gear output rev.
Feed constant
Zero veloc.wind.
Veloc.Thresh. nx
Torq.thresh. Mdx
Probe val.p.edge
Probe val.n.edge
Positive accel.
negative accel.
Motor type
Conf.sstatus bits
Homing par.
Reference offs. 1
Angle position
Spindle pos.par.
Velocity window
Power thresh. Px
Excess Error
Scal.accel.data
Accel.scal.fact.
Accel.scal.expo.
Probe ctrl. par.
Marker posit. A
Probe status
Spindle pos.rel.
Manufact.status
Drive on delay
Drive off delay
Low adapt.limit
Upp. adapt.limit
Gain adaption
Integr. adaption
Spindl.pos.speed
Synchron par.
Angle syn.window
Syn. pos. offset
Language
Syn.angle posit.
ID memory mode
List temp. par
Syn. add. posit.
Diag. number
Nom.motor volt.
Magnet curr. IM
Magnet.curr. IM1
Nom. torque
PDK_026249_Parameter_en.doc
K
2
0
1
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
Default
2.50
6000
500
0
20000
100
10
10
10.0000
50
1000
100
0
0
100
-100
0
0
800h
0
0
800h
100
100
10000
2
1
-3
0
0
0
10000
0
0.0
0.0
0
0
100
100
300
8003h
1000
0
0
0
0
0
1000
0
350.0
1.500
1.000
2.0
1)
1)
1)
1)
1)
1)
1)
1)
Unit
A
1/min
%
Incr.
Incr.
rev.
rev.
mm/rev
1/min
1/min
% MN
Incr.
Incr.
U/ss
U/ss
Incr.
Incr.
1/min
WATT
Incr.
Incr.
Incr.
ms
ms
1/min
1/min
%
%
1/min
Incr.
Incr.
Incr.
Incr.
V
A
A
MN
Parameter
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
ANTR
GLOB
GLOB
ANTR
GLOB
ANTR
ANTR
ANTR
ANTR
1)
Page
140
39
40
90
40
90
91
91
92
77
78
70
153
153
94
94
40
153
96
98
99
105
78
140
92
186
187
187
104
103
154
105
154
140
140
78
78
79
79
107
109
110
111
33
111
154
155
112
157
53
41
41
42
Page 13 from 212
ID-No.
32772
32773
32774
32775
32776
32777
32778
32779
32780
32781
32782
32785
32786
32787
32788
32789
32790
32791
32792
32795
32796
32798
32799
32800
32801
32802
32803
32804
32805
32811
32813
32821
32824
32827
32834
32836
32837
32838
32839
32841
32842
32843
32846
32847
32848
32849
32850
32851
32852
32853
32854
32855
32856
Designation
Nom. velocity
Service switch
Rotor const. TR
Pole number mot.
Sinus enc.period
Torque 10V [Va]
Speed 10V [Va]
Speed offs. [Va]
Accel. ramp
Decel. ramp
RAMP RF inactive
Message 16
Message 32
Source analog 1
Final analog 1
Source analog 1
Final analog 2
Source analog 3
Final analog 3
Source UE
Source RF
User list 1
Conf. peripherie
AMK main op.mode
AMK op. mode 1
AMK op. mode 2
AMK op. mode 3
AMK op. mode 4
AMK op. mode 5
Encoder type opt.
Par.set 1
Password
Follow.distance
Magn.curr.feedb.
Torq. curr.feedb.
DC-bus voltage
DC-bus monitor
List setpoint
List act. value
Motor encoder list
User encoder list
Service command
Output port 1
Port 1 bit 0
Port 1 bit 1
Port 1 bit 2
Port 1 bit 3
Port 1 bit 4
Port 1 bit 5
Port 1 bit 6
Port 1 bit 7
Output port 2
Port 2 bit 0
PDK_026249_Parameter_en.doc
K
0
0
3
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Default
3000
1005h
0.360
4
1000
10
3000
0.0000
100
100
100
84
40
32786
20000000
32785
1000
0
0
0
0
0
0
03c0043h
0010043h
0010043h
0010043h
0010043h
0010043h
0
03020100h
0
0
0.0
0.0
0
0.0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1)
1)
1)
1)
1)
1)
1)
1)
1)
1)
1)
Unit
1/min
s
% MN
1/min
1/min
ms
ms
ms
Incr.
A
A
V
V
-
Parameter
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
GLOB
ANTR
ANTR
ANTR
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
Page
43
157
43
43
44
71
79
80
80
80
81
141
141
134
136
134
136
134
136
33
34
198
35
61
68
68
68
68
68
92
36
36
143
44
44
144
144
160
162
45
46
47
126
128
128
128
128
128
128
128
128
126
128
Page 14 from 212
ID-No.
32857
32858
32859
32860
32861
32862
32863
32864
32865
32866
32867
32868
32873
32874
32875
32876
32877
32878
32879
32880
32881
32890
32892
32893
32897
32898
32903
32904
32913
32920
32922
32925
32926
32927
32928
32929
32932
32933
32934
32935
32936
32938
32940
32942
32948
32949
32952
32953
32956
32958
32959
32960
32961
Designation
Port 2 bit 1
Port 2 bit 2
Port 2 bit 3
Port 2 bit 4
Port 2 bit 5
Port 2 bit 6
Port 2 bit 7
Output port 3
Port 3 bit 0
Port 3 bit 1
Port 3 bit 2
Port 3 bit 3
Input port 1
Port 1 bit 0
Port 1 bit 1
Port 1 bit 2
Port 1 bit 3
Port 1 bit 4
Port 1 bit 5
Port 1 bit 6
Port 1 bit 7
Pulse multiplier
Pulse divider
Pulse multipl
Analog input A1
Analog input A2
DC-Bus enable
Inverter on
Clear error
o.load time mot.
Resid.dist.wind.
AMK posit. par.
AMK homing par.
AMK syn. par.
Time filter 1
Time filter 2
Barrier frequ.
Band width
Pulse enc. period
Volt. standstill
Window
Customer var. 1
High hom. veloc.
Service control
Message 4x32
Sbus user addr.
Posit.syn.window
Encoder type
Add. accel.value
cmd. val 1 cycle
Offset resolver
Input M.enc.gear
Outp. M.enc.gear
PDK_026249_Parameter_en.doc
K
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2
2
0
0
0
1
0
0
0
0
1
1
0
0
0
1
0
0
0
0
0
0
0
0
0
3
0
0
0
Default
0
0
0
0
0
0
0
544
33031
33029
0
0
0
0
0
0
0
0
0
0
0
1
655360
655360
0.00
0.00
0
0
0
2
20000
0
0800h
0
0.0
0.0
0
0
1000
0.0
1000
0
1000
0
0
0
1000
0000h
10
0.500
0
1
1
1)
1)
1)
1)
1)
1)
Unit
V
V
s
incr.
ms
ms
Hz
Hz
V
incr.
1/min
incr.
ms
rpm.
rpm.
Parameter
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
ANTR
ANTR
ANTR
GLOB
GLOB
GLOB
GLOB
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
Page
128
128
128
129
129
129
129
126
129
129
129
129
116
118
118
118
118
118
118
118
118
144
112
112
142
142
37
37
37
48
93
106
97
109
82
82
83
83
49
52
98
163
107
38
163
188
114
49
94
93
53
54
54
Page 15 from 212
ID-No.
32964
32965
32966
32967
32968
32969
32970
32971
32972
32973
32974
32975
32976
32977
32978
32979
32980
32981
32989
32990
32991
32992
32993
32994
32995
32997
32998
32999
33100
33101
33102
33116
33117
33730
34000
34001
34002
34003
34004
34005
34006
34007
34008
34009
34010
34011
34012
34013
34014
34015
34016
34017
34018
Designation
Source SIWL
SIWL Nip dist.
SIWL outp. resol.
SIWL inp. resol.
Input port 2
Port 2 bit 0
Port 2 bit 1
Port 2 bit 2
Port 2 bit 3
Port 2 bit 4
Port 2 bit 5
Port 2 bit 6
Port 2 bit 7
Input port 3
Port 3 bit 0
Port 3 bit 1
Port 3 bit 2
Port 3 bit 3
Torque filt.time
NK-shift
U/f start up
Dead time comp. 1
Dead time comp. 2
Modulo synchron Master
Operation mode SWQ1
SIWL max. frequ.
Setpoint switch
overl.limit inv
Act.power.value
Diso.overl.inv
Disp.overl.mot
Temp. internal
Temp. external
System booting
Variable 0
Variable 1
Variable 2
Variable 3
Variable 4
Variable 5
Variable 6
Variable 7
Variable 8
Variable 9
Variable 10
Variable 11
Variable 12
Variable 13
Variable 14
Variable 15
Variable 16
Variable 17
Variable 18
PDK_026249_Parameter_en.doc
K
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
3
0
0
1
0
1
0
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Default
0
0
8
1
0
0
0
0
0
0
0
0
0
32
32904
32913
0
0
0
0
0
0.000
0.0000
20000
0
1000
0
500
0
500
5000.0
0.0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1)
1)
Unit
incr.
incr.
incr.
ms
incr.
%
ms
ms
Inkr
kHz
0.1%
WATT
0.1%
0.1%
GRAD_C
GRAD_C
-
Parameter
ANTR
ANTR
ANTR
ANTR
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
GLOB
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
Page
145
148
148
148
116
119
119
119
119
119
119
119
119
116
119
119
119
119
71
100
84
164
164
114
115
148
165
149
149
149
54
149
149
37
165
165
165
165
165
165
165
165
165
166
166
166
166
166
166
166
166
166
166
Page 16 from 212
ID-No.
34019
34020
34021
34022
34023
34024
34025
34026
34027
34028
34029
34030
34031
34032
34033
34034
34035
34037
34038
34045
34046
34047
34048
34049
34050
34051
34052
34058
34059
34070
34071
34072
34074
34075
34076
34077
34078
34079
34080
34081
34090
34091
34094
34095
34096
34100
34101
34102
34103
34104
34105
34106
34107
Designation
Variable 19
List function
PID controller 1
Ramp 1
BUS. part.
BUS transm. rate
BUS mode
BUS mode attrib
BUS fail.charac
BUS output rate
AFP status bits
Transformation 1
Transformation 2
Transformation 3
Transformation 4
PIDA contr 1
Ramp
Offs.analoginp. 1
Offs.analoginp. 2
Inductance LQ
Inductance LD
Dead time meas.
PWM frequency
KP current Q
TN current Q
KP current D
TN current D
Line output
Time filter line
Hom.sign.dist.
Data set name
Data set name
Homing counter 1
Act. counter 1
Homing counter 2
Act. counter 2
Homing counter 3
Act. counter 3
Homing counter 4
Act. counter 4
User list 2
User list 3
Rise time SWC
Final value SWC
Standstill current
Bin. Inp. Word
Bin. Inp. Word 1
Bin. Inp. Word 2
Bin. Inp. Word 3
Bin. Inp. Word 4
Bin. Inp. Word 5
Bin. Inp. Word 6
Bin. Inp. Word 7
PDK_026249_Parameter_en.doc
K
0
0
0
0
0
2
0
0
0
0
0
0
0
0
0
0
0
2
2
0
0
3
0
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
1
2
0
0
0
0
0
0
0
0
Default
0
0
0
0
1
0.00
0001h
0
2
0
0
0
0
0
0
0
0
0
0
0
0
0
8
0
0
0
0
0
10
0
0
0
0
0
0
0
0
0
0
0
0
0
0.000
0.0
0.00
0
0
0
0
0
0
0
0
Unit
-0.01V
0.01V
0.001 ms
kHz
0.1 V/A
0.1ms
0.1 V/A
0.1 ms
W
ms
incr.
incr.
incr.
incr.
incr.
incr.
incr.
incr.
incr.
A/s
A
A
-
Parameter
ANTR
GLOB
GLOB
GLOB
INST
INST
INST
INST
INST
INST
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
ANTR
ANTR
ANTR
GLOB
ANTR
ANTR
ANTR
ANTR
GLOB
GLOB
ANTR
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
ANTR
ANTR
ANTR
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
1)
1)
1)
Page
166
200
202
205
188
189
189
189
189
190
190
206
206
206
206
206
205
139
139
55
55
166
150
55
55
55
55
167
167
99
167
167
108
108
108
108
108
108
108
108
198
198
56
56
57
124
124
124
124
124
124
124
124
Page 17 from 212
ID-No.
34108
34109
34110
34111
34112
34113
34114
34115
34116
34120
34121
34122
34123
34124
34125
34126
34127
34128
34129
34130
34131
34132
34133
34134
34135
34136
34142
34144
34145
34148
34149
34151
34152
34153
34154
34155
34157
34158
34160
34161
34162
34164
34165
34166
34167
34168
34171
34172
34176
34177
34178
34179
34180
Designation
Bin. Inp. Word 8
Bin. Inp. Word 9
Bin. Inp. Word 10
Bin. Inp. Word 11
Bin. Inp. Word 12
Bin. Inp. Word 13
Bin. Inp. Word 14
Bin. Inp. Word 15
Bin. Inp. Word 16
Bin. Out. Word
Bin. Out Word 1
Bin. Out Word 2
Bin. Out Word 3
Bin. Out Word 4
Bin. Out Word 5
Bin. Out Word 6
Bin. Out Word 7
Bin. Out Word 8
Bin. Out Word 9
Bin. Out Word 10
Bin. Out Word 11
Bin. Out Word 12
Bin. Out Word 13
Bin. Out Word 14
Bin. Out Word 15
Bin. Out Word 16
Node list
Nom. Voltage eff.
Line curr. Eff.
V contr. Gain
V contr.int.time
Kp current Q
Kp current D
Maximum speed motor
Start marker
Marker window
Dead time comp.
Soft breaking
Part number motor
Prod. date motor
Serial num. motor
Resistance Rtt
Hold. torque brake
Temperature sensor mot
Inductance Ktt
Time Imax motor
Ereignisfilter
PLC Project info
Ext sin enc period
Low. thresh. cur. adapt.
Upper thresh. cur. adapt
Gradient KpQ
Gradient TnQ
PDK_026249_Parameter_en.doc
K
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
0
1
2
2
0
0
0
3
0
0
0
0
2
1
0
1
1
0
0
0
0
0
0
0
Default
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.0
0.0
500
5.0
0.00
0.00
100000
0
0
0.000
0
0
0
0
0.00
0.0
0
0.0
0.0
0
0
1024
0
0
0
0
Unit
V
A
ms
V/A
V/A
rpm.
incr.
incr.
ms
%
Ω
Nm
mH
sec.
%
%
%
%
Parameter
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
GLOB
INST
GLOB
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
GLOB
ANTR
ANTR
ANTR
ANTR
ANTR
ANTR
Page
124
124
124
124
124
124
124
124
125
132
132
132
132
132
132
132
132
132
132
132
132
132
132
133
133
133
191
167
167
150
150
57
57
57
168
168
168
86
57
57
58
58
58
58
59
59
168
169
59
59
59
59
59
Page 18 from 212
1)
On this parameters device specific differences are possible. The characteristics are shown on the
PC or on the operation panel
PDK_026249_Parameter_en.doc
Page 19 from 212
3 Illustrations
Figure 1: Torque control with analogue command value setting
Figure 2: Speed control with analogue command value setting
Figure 3: Position control with motor encoder as position feedback value encoder
Figure 4: Position control with external position feedback value encoder
Figure 5: Correction of the magnetizing current characteristic
Figure 6: Configuration possibilities of motor, speed and position encoders
Figure 7: Parameter organization in data blocks
Figure 8: Setpoint sources and operating modes (Closed loop position controller)
Figure 9: Setpoint sources and operating modes (speed control)
Figure 10: Setpoint source and operating modes (Torque control)
Figure 11: Effect of the torque polarity
Figure 12: Torque depending upon the input voltage at A1
Figure 13: Effect of the velocity polarity
Figure 14: Transfer function of the speed control loop, effect of TN
Figure 15: Transfer function of the speed control loop, effect of KP (ID100)
Figure 16: Transfer function of the speed control loop, effect of TN (ID101)
Figure 17: Response characteristic of the speed control loop, operation Td (ID102)
Figure 18: Adaptation of the speed controller parameters KP and TN
Figure 19: Velocity depending upon the input voltage at A1
Figure 20: Acceleration and deceleration ramp in relation to the maximum speed
Figure 21: Ramp-down time for RF inactive
Figure 22: P-T1 Filter model
Figure 23: Band filter pass characteristic
Figure 24: Ramp-up behaviour in the U/f mode
Figure 25: Effect of the position polarity
Figure 26: Transfer function of position control loop, effect of KV (ID104)
Figure 27: Velocity curve, additional acceleration value
Figure 28: Reference offset and angle position in homing
Figure 29: Homing signal distance
Figure 30: Unsharpness of the cam signal
Figure 31: Homing with ID32900 (positive starting direction, ID150 = 0)
Figure 32: Homing with ID32990 (negative starting direction, ID150 =0)
Figure 33: Synchronous offset between master and slave
Figure 34: Example: Synchronous control with square wave encoder as master
Figure 35: Assignment of binary input address space
Figure 36: Assignment of address space binary outputs
Figure 37: Signal and parameter assignment (over 16-/32 Bit message)
Figure 38: Drive On/Off delay
Figure 39: Software pulse transmission
Figure 40: Modulo data interface
Figure 41: Absolute data interface
Figure 42: Overview setpoint list, actual value list and pre-control
Figure 43: Torque scaling parameter overview
Figure 44: Position scaling parameter overview
Figure 45: Acceleration parameter overview
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31
32
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111
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136
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147
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4 Formula
Formula 1: Determining nmax for sine encoder input
Formula 2: Determining the motor encoder resolution for sine encoders
Formula 3: Determining the motor encoder resolution for resolvers
Formula 4: Determining the motor encoder resolution for resolvers
Formula 5: Torque calculation
Formula 6: Setting value for ID32920
Formula 7: Setting at 1.5 times nominal current for 20 s
Formula 8: Permissible operating time of the motor with arbitrary overcurrent
Formula 9: Permissible operating time for 1.2 times nominal current
Formula 10: Calculating the torque limits
Formula 11: Torque with 10 V at analogue input A1
Formula 12: Calculation example for torque determination
Formula 13: Parameter dependencies ID100
Formula 14: Torque dependence
Formula 15: Parameter dependencies ID101
Formula 16: Parameter dependence ID102
Formula 17: Adaptation of proportional gain
Formula 18: Adaptation of integral time
Formula 19: Calculation example of the velocity at 10V at A1, ID32778
Formula 20: System-internal limitation of the velocity gain KV
Formula 21: Position resolution factor for external position feedback value encoder
Formula 22: Determining the resolution for sine encoders
Formula 23: Determining the resolution for resolvers
Formula 24: Determining the resolution for pulse encoders
Formula 25: Gear ratio
Formula 26: Calculation of ID159, excessive error
Formula 27: Interpolator transient time to nominal acceleration
Formula 28: Calculation of the absolute angle position
Formula 29: Determining the values for pulse divider and pulse multiplier
Formula 30: Velocity feedback value, final value determination for analogue output
Formula 31: Velocity feedback value, final value determination for analogue output
Formula 32: Torque feedback value, final value determination analogue output
Formula 33: Torque feedback value, final value determination analogue output
Formula 34: isqnom at nominal torque
Formula 35: Nominal rating PN of the motor
Formula 36: Scaling of velocity and acceleration data
Formula 37: Scaling of torque translational position data
Formula 38: Rotational scaling of position data
Formula 39: Scaling of torque data in parameter scaling
Formula 40: Scaling velocity data in parameter scaling
Formula 41: Linear scaling of position data in parameter scaling
Formula 42: Rotational scaling of position data in parameter scaling
Formula 43: Resolution for linear and rotational scaling
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48
48
49
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89
90
91
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114
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143
143
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5 Tables
Table 1: Allocation of functions to binary inputs
Table 2: Assignment of real time bit information to binary outputs
Table 3: Service codes for configuration " source analogue channel 1 ... 3 "
Table 4: Codes for the inverter messages
Table 5: List of temporarily changeable parameters
Table 6: ID32773 Overview Service switch
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6 Overview
Parameter – ID numbers
The present documentation describes the contents and effect of the parameters necessary for operating
the AMKASYN system. Each parameter is identified by an ID number. The base of the parameter
definition is the SERCOS interface® standard. To offer a better overview, the parameters of AMK have
been grouped into parameter groups.
In the system delivery, the parameters contain factory-set basic data (default values). The drive system
must be reparameterized at startup in such a way that the required task is fulfilled.
All parameters supported by the AMKASYN system are listed under ID17 " List of all operating data " .
Parameters differ in " global- " , " drive specific- " and " instance- " parameter groups. The Index list of
parameters assign every parameter to one group.
Changes on the drive specific parameters (e.g. operation mode parameters, motor parameters, …)
become active after next system initialization. For this it is required to switch off and on the controller
enable signal RF.
Parameter changes become effective only after system initialization. For this purpose the controller
enable must be switched off an back on.
After changing globally acting parameters (e.g. system parameters, assignment of binary inputs/outputs
and analogue outputs, …) and also after loading an operating data record produced via the AMK
programming software, mains OFF/ON must be switched. After mains ON, the main operation mode
according to ID32800 always acts in the relevant main parameter set
The system ramp time for each parameter set to be newly initialized is approx. 1 s. Parameters with the
reference " can be changed online " become effective directly, i.e. through the control panel, selection of
the " Temp. Par. " menu item. temporarily changed parameters are overwritten again with the standard
values by system booting.
The system recognizes and reports parameter incompatibilities during parameter setting either directly
on entry or during system booting. Each message consists of a number and a plain language note. The
separate " AMAKSYN Diagnostic messages " description moreover provides additional information and
explanations regarding the error codes.
Instanced parameters
AMKASYN devices which provide the same type of optional slots allow, for example, several different
field bus interfaces. In the case of field bus interfaces the communication parameters are to be
parameterized for each interface. Each optional slot is referred to as an instance. The parameter group
" Communication Parameters " is thus instance-related. In this way the ID34024 " bus transmission rate " ,
for example, can be set differently for each slot.
In the parameter menu of the control panel instanced parameters are identified by an " I " instead of a " P " .
The selection of the instance is performed using the " Shift P " key.
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Interfaces for AMKASYN inverter modules:
Instance
0
1
2
Addressed hardware
Basic unit ACC-Bus
Option slot 1
Option slot 2
Parameter structure
One data block belongs to each Ident number. Each data block is structured and contains absolutely
necessary (marked dark) and optional parameter elements.
Element
1
2
3
4
5
6
7
1)
Contents
Ident number (ID)
Name
Attribute
Unit
Maximum entry value
Minimum entry value
Operating date (default value)
Example
00001
" NC cycle time "
1)
" ms "
65.535
0.500
10.000
All information for the understandable display of the operating date is filed coded as bit information
in the attribute. Thus for the data length, the data type, the display format, the number of places after
the decimal point etc. are determined. The operating date is primarily of importance for the
application.
The minimum, maximum and default value of the following parameters serve for information and are
constantly optimized in the course of technical improvements. After successful system
parameterization, all parameters remain stored in the permanent memory of the controller card.
Refer to the SERCOS interface® standard for further information on the parameter elements. Apart
from the operating date, all parameter elements in the AMKASYN system cannot be changed by the
user.
The parameter can be entered/changed using the integrated control panel or by means of ATcompatible PC with AMK Programming software. Using field bus interfaces read and write access to
parameters is also possible via the field bus (PROFIBUS, CAN, SERCOS, etc.)
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Scaling
Scaling (parameter scaling) is the determination of the finest resolution of numerical values (drive
parameters) which are sent to the drive or parameterized at the drive. The resolution of the programmed
numerical value is determined by the scaling. A command value, for instance must be set corresponding
to this resolution.
AMK products are delivered fully operational to the customer on the AMK scaling base.
Example:
Speed values should be entered and displayed in 1/10 revolutions/min. For this purpose the scaling of
the velocity data must be set to 10-1 rpm. A velocity command value of ncommand = 1 results in a speed of
0.1 rpm. To obtain s speed of 0.1 rpm, the command value ncommand = 10 must be commanded.
The finest resolution of a number is called LSB significance (LSB: Least significant Bit)
Scaling can be made application-specifically through the scaling parameters. Scaling can be performed
for position data, velocity data, torque data and acceleration data. The scaling is supported by all
interfaces except for the control panel, i.e. no change in the display is visible on the control panel despite
effective scaling. The processing accuracy of the drive system is not impaired by the scaling.
The scaling is permanently set and cannot be changed up to and including KU software version 3099.
Previously the following settings applied:
AMK scaling base (setting ex works):
Scaling for position data:
Scaling for velocity data:
Scaling for torque data:
Scaling for acceleration data:
Internal resolution of the position encoder in [incr.]
10-4 rpm
10-1 %MN
10-3 U/S²
The AMK scaling base is defined as default setting for Kx operating system 1.10 and higher and
corresponds to the previous standard settings.
In the scaling type parameters ID160
ID86
ID44
ID76
for acceleration data
for torque data
for velocity data
for position data
The scaling can either be related to a rotational of linear (translational) load movement. In addition
you can choose either scaling without default values (preference scaling) or scaling with freely
definable scaling parameters (parameter scaling). Further information can be found in the chapter
Scaling Parameters.
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Parameter groups
The parameters are classified into parameter groups. They influence the AMKASYN system in different
levels.
System parameters (global)
have global character, i.e. the parameters are filed only once in the AMKASYN system and act centrally.
Motor parameters (axis-specific)
must absolutely be entered on startup of the AMKASYN system corresponding to the name plate (or
datasheet) of the motor, correct motor data are a basic perquisite for perfect operation of the total
system.
Operation modes (axis-specific)
The " Operation modes " parameter group offers per drive parameter set one main operation mode and
five secondary operation modes. The main operation mode must be defined by the user in any event.
The drive is in the main operation mode after the system is switched on.
The following features are determined by the operation mode parameters:
• Controller type of the drive (speed control, position control, …)
• Type of torque limitation
• Velocity command value filter
• Fine interpolation
• Following error compensation
• Standard/extended functionality
• Position feedback value source (internal or external taking account of a gear ratio)
• Command value source
Torque parameters (axis-specific)
identify the variables relevant or torque control/generation (e.g. torque limits).
Velocity parameters (axis-specific)
identify the variables relevant for the speed control including speed filters. The speed controller
parameters, especially gain KP and integral time TN must be optimized for each drive on start-up!
Position parameters (axis-specific)
describe the basic properties of the position control circuit. The velocity gain KV ID104 must be
optimized for each drive on start-up.
Positioning parameters (axis-specific)
serve for presetting positioning processes (angle/point-to-point control). The influence essentially the
interpolator.
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Synchronous running parameters (axis-specific)
influence drives in which the motor follows command pulses/position growths, e.g. in synchronous
control or stepping motor simulation.
Assignment of binary inputs (global)
Certain functions are assigned to binary inputs of the option cards, e.g.: Kx-EA1 (e.g. drive command,
…).
Assignment of binary outputs (global)
Individual internal bit information from the system is assigned to binary outputs of the option cards, e.g.:
Kx-EA1 (e.g. nfeedback = ncommand, in position, …). These are generated in real time. The evaluation takes
place in the running process of the higher level control system.
Assignment of analogue outputs (global)
Setting the source and final value of digital/analogue converters (AA1 to AA3, KU connector X32) for
output system-internal variables. The output is in the 1 ms cycle.
Inverter parameters (axis-specific)
identify variables which describe more close properties of the inverter. The Kx-specific data cannot be
changed by the user. They are stored in the EEPROM of the inverter and are read internally from there.
Furthermore, internal variables in the inverter can be defined for the purpose of external display (inverter
messages ID32785, ID32786).
Special applications
This parameter group is sometimes formed by the parameter ID32798 " User list 1 " . Furthermore there is
a module library in this parameter group. Signal paths and process sequences can be freely defined by
parameters. AMK provides the user for this purpose a module library growing corresponding to the
requirements. The module library consists of simple blocks which can be assembled to structures of
arbitrary large size corresponding to requirements. The use of the modules verified by AMK requires no
programming knowledge or tools whatsoever and is summarized under the term " Extended
functionality " .
General parameters
The parameter group of general parameters provides the user with Ident numbers such as parameter set
designation and system name, in which user information can be filled. These can be read out and further
processed through field buses.
Scaling parameters
Position data, velocity data, acceleration data and torque data can be scaled application-specifically
using the scaling parameters. The application related scaling is designated parameter scaling. The unist
can be freely scaled both for rotational and for linear movements. The AMK scaling base serves as
standard setting.
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Communication parameters
Parameters for operating different field bus systems (Profibus DP, CAN, ARCNET, SERCOS, LON,
InterBus…) are defined in this parameter group. The parameters describe the field bus type and the
supported scope of functions. The communication parameters must be parameterized bus-specifically
for use on field bus systems. The inverter can be addressed through the field bus using the
corresponding field bus option card in slot 2. The communication hardware (interfaces, option card) is
recognized and initialized by the inverter automatically after " Power ON " .
Selection of system-internal parameters
" System –internal " parameters are data which are not to be changed by the user. They serve on one
hand for checking and controlling system-internal functionality and describe on the other hand, for
instance, central definitions for the inverter. The selection made of system-internal parameters has
exclusively informative character. All " system-internal parameters " are assigned to the above groups and
cannot be read out through the control panel.
One obtains access to the system-internal parameters only through the service menu by entering the
service password.
Cyclical display of system values
by entry in ID32786 it is possible to display selected system values using the control panel. " ACTUAL
VALUES " menu item. The menu item is part of the main menu and is reached by scrolling (up or down):
The output of cyclic feedback values or command values through the control panel refers exclusively to
the entry in the ID32786. If a value not displayed in the following table is filed in ID32786, then this is
displayed in the menu with the message " ID32786 illegal value " .
Permissible codes for the inverter messages regarding display
Code
84
32827
32834
32836
32897
32898
33100
36
40
47
51
32823
32824
32826
32899
32900
Contents
Torque feedback value related to nominal torque Mn
Flux-generating current (isd)
Torque-generating current (isq)
DC bus voltage
AW-analogue input voltage A1
AW-analogue input voltage A2
Actual power value related to nominal power PN
Velocity command value
Velocity feedback value
Position command value 2, absolute
Position feedback value, absolute
Velocity command value after ramp
Position control difference without SAK
SAK
Position feedback value xi_2PI
Position feedback value xs_2PI
PDK_026249_Parameter_en.doc
Value display
%MN
A
A
V
V
V
VA
rpm
rpm
incr.
incr.
rpm
incr.
incr.
incr.
incr.
Page 28 from 212
Application examples
Figure 1: Torque control with analogue command value setting
Operation mode parameter ID 32800...
Setpoint value of analog input A1
Torque limits acc. to ID82 und ID83: ID32800... = 00010002h
Torque limit at A2:
ID32800... = 00010012h
Torque parameters
ID32777
ID80
ID82
ID83
ID85
ID126
ID32989
Analog
voltage +/- 10V
Torque related to 10V at A1
Torque setpoint value
Torque polarity
Positive torque limit
Negative torque limit
Torque threshold M dx
Filter time for M set isplay
d
ID85
Torque
setpoint value
ID111
ID113
ID116
ID32769
ID32770
ID32771
ID32772
ID32774
ID32775
ID32776
ID32934
ID32953
ID32960
ID32961
Nominal current I N
Maximum speed n max
Motor encoder resolution
Magnetizing current I M
Magnetizing current I M1
Nominal torque M N
Nominal speed n N
Rotor time constant T R
Number of motor poles
Sine encoder periods/rev.
Pulse encoder periods/rev.
Encoder type
Mot. encoder gear input rev.
Mot. encoder gear output rev.
ID82 / ID83
A1
Torque
limitation
-1
Motor parameters
A2
Motor
Torque control
(open loop)
Motor encoder
Speed limitation through ID 113 " Max. motor speed "
Parameter_Momentsteuerung
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Figure 2: Speed control with analogue command value setting
Setpoint value of analog input A1
Operation mode parameter ID 32800
=
00010043h (with setpoint value ramps)
00010003h (without setpoint value ramps)
Motor parameters
Speed parameters
ID36
ID38
ID39
ID43
ID100
ID101
ID102
ID124
ID125
ID157
ID209
ID210
ID211
Speed setpoint value
Pos. speed limit
Neg. speed limit
Speed polarity
Prop. gain KP
Integral action time T N
Derivative action time T D
Zero velocity window
Speed threshold nx
At speed window n act = nset
Lower adaption limit
Upper adaption limit
Adaptive proportional gain
Speed setpoint
value +/- 10V
Polarity
ID212
ID32778
ID32779
ID32780
ID32781
ID32782
ID32928
ID32929
ID32932
ID32933
Speed
limitation
Adaptive integral action time
Speed related to 10V at A1
Speed offset at A1
Acceleration ramp T H
Deceleration ramp T L
Dec. ramp for RF inactive
Time filter 1
Time filter 2
Rejector frequency
Bandwidth
Ramp
TH/TL
Torque parameters
ID82
ID83
ID126
Pos. torque limit
Neg. torque limit
Torque threshold M dx
ID111
ID113
ID116
ID32769
ID32770
ID32771
ID32772
ID32774
ID32775
ID32776
ID32934
ID32953
ID32690
ID32691
Nominal current I N
Maximum speed n max
Motor encoder resolution
Magnetizing current I M
Magnetizing current I M1
Nominal torque M N
Nominal speed n N
Rotor time constant T R
Number of motor poles
Sine encoder periods/rev.
Pulse encoder periods/rev.
Encoder type
Mot. encoder gear input rev.
Mot. encoder gear output rev.
PID controller
-1
A1
Torque
control
Offset
nact
Speed controller
Speed limitation through
ID113 " Max. motor speed "
Motor
Actual speed
Rotor
position
Motor encoder
Parameter_Drehzahlregelung
PDK_026249_Parameter_en.doc
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Figure 3: Position control with motor encoder as position feedback value encoder
Operation mode parameter ID32800 : Setpoint source square wave input
with /
without following error compensation
ID32800... = 030804h
ID32800... = 030004h
Speed parameters
Closed loop pos. contr. para.
ID55
ID104
ID159
ID32922
Position polarity
Pos. loop K factor
V
Excess error
Residual distance erase wind.
Synchronous control para.
ID32892 Set pulses divider
ID32893 Set pulses multiplier
ID32952 Position syn. window
Square wave
input
ID38
ID39
ID100
ID101
ID102
ID124
ID125
ID157
ID209
ID210
ID211
ID212
ID32782
ID32928
ID32929
ID32932
ID32933
P CONTROLLER
KV Factor ID104
Pos.speed limit
Neg.speed limit
Prop. gain KP
Integral action time TN
Derivative-action time TV
Zero velocity window
Speed threshold nx
At speed window nact = nset
Lower adaption limit
Upper adaption limit
Prop. gain adaption
Intergral action time adap.
Dec. ramp for RF inactive
Time Filter 1
Time Filter 2
Rejector frequency
Band width
Motor parameters
Torque parameters
ID82 Pos. torque limit
ID83 Neg. torque limit
ID126 Torque threshold Mdx
SPEED
CONTROL
ID111
ID113
ID116
ID32769
ID32770
ID32771
ID32772
ID32774
ID32775
ID32776
ID32934
ID32953
ID32690
ID32691
Nominal current IN
Maximum speed nmax
Motor encoder resolution
Magnetizing current IM
Magnetizing current IM1
Nominal torque MN
Nominal speed nN
Rotor time constant TR
Number of motor poles
Sine encoder periods/rev.
Pulse encoder periods/rev.
Encoder type
Mot. encoder gear input rev.
Mot. encoder gear output rev.
Motor
TORQUE
CONTROL
ID32893 ID32892
Actual speed value
Rotor position angle
ID116
Actual position feedback
Motor encoder
Parameter_Lageregelung_Motorgeber
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Figure 4: Position control with external position feedback value encoder
AMK secondary operation mode 9 (ID 32809): closed loop positioning control with fine interpolator
Operation mode ID32800...= 3C8004h external actual position feedback source is active for ALL operation modes
Closed loop pos. control para.
ID49/50
ID55
ID104
ID117
ID121
ID122
ID159
ID32922
Pos. / neg. position limit
Position polarity
Position loop gain KV
External position feedback resolution
Gear input revolutions
Gear output revolutions
Excessive following error
Residuale distance erase window
Positioning parameters
ID41
ID57
ID136
ID137
ID147
ID32926
ID150
ID153
ID180
ID222
ID32956
Homing velocity
In position window (INPOS)
Positive acceleration
Negative acceleration
Homing parameter
AMK homing parameter
Reference offset 1
Absolute angle position
Relative spindle position
Spindle positioning speed
Additional acceleration value
Speed parameters
ID38
ID39
ID100
ID101
ID102
ID124
ID125
ID157
ID209
ID210
ID211
ID212
ID32782
ID32928
ID32929
ID32932
ID32933
Position
controller
KU interpolator
-
with fine
interpolator
Pos.speed limit
Neg.speed limit
Prop. gain KP
Integral action time TN
Derivative-action time TV
Zero velocity window
Speed threshold nx
At speed window nact = nset
Lower adaption limit
Upper adaption limit
Prop. gain adaption
Intergral action time adap.
Dec. ramp for RF inactive
Time Filter 1
Time Filter 2
Rejector frequency
Band width
SPEED
CONTROL
Motor parameters
Torque parameters
ID82 Pos. torque limit
ID83 Neg. torque limit
ID126 Torque threshold Mdx
TORQUE
CONTROL
Actual position feedback
Actual speed value
ID111
ID113
ID116
ID32769
ID32770
ID32771
ID32772
ID32774
ID32775
ID32776
ID32934
ID32953
ID32690
ID32691
Motor
Nominal current IN
Maximum speed nmax
Motor encoder resolution
Magnetizing current IM
Magnetizing current IM1
Nominal torque MN
Nominal speed nN
Rotor time constant TR
Number of motor poles
Sine encoder periods/rev.
Pulse encoder periods/rev.
Encoder type
Mot. encoder gear input rev.
Mot. encoder gear output rev.
i=
ID121
ID122
Rotor position angle
ID117
external actual position feedback
square wafe puls input
Motor encoder
Parameter_Lageregelung_Extern
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7 System Parameters
Note:
Power must be switched OFF after changing values in parameters of this group. The
minimum shutdown time specified by the unit must be observed before switching back ON
(approx. 30 s).
ID00265 Language
The languages available in the drive are selected by entering the language code in this parameter. The
texts, e.g. name of an ID or diagnostic information, are displayed in the selected language.
Available languages:
Code 0:
Code 1:
Code 2:
German
English
French
ID32795 Source UE
UE control for KU with external main contactor (from KU 25). The source of the inverter ON signal must
be parameterized in KU with external main contactor through parameter ID32795 " Source UE " . The
following sources are possible in this case:
KU
KE
Code
0
1
2
5
7
8
9
28
29
PDK_026249_Parameter_en.doc
Source for UE inverte ON
DEFAULT, UE via binary input on the basic unit
UE can be parameterized via binary inputs on option cards
AMK SBUS
Optional (e.g. PLC, SERCOS, …)
AMK field bus " AFP "
UE derived automatically from SBM signal (SBM
UE)
UE via parameter ID32903 (e.g. per ACC)
UE automatically from SBM ANDed with binary input UE
UE via parameter ID32903 ANDed with binary inpu UE
Page 33 from 212
ID32796 Source RF
Determining in the source for the " controller enable " RF signal. After changing the " controller enable
source " the system must be activated by power OFF/ON.
Standard
code
0
1
2
5
Special code 1) Meaning, sources
7
9
1)
22
25
27
29
Binary input RF at connector X33
RF can be parameterized via binary inputs on optional cards
AMK-SBUS
ACC-Bus (CANopen / mapping: wDeviceControl), local PLC
at the drive (R03P/PLC2)
AMK field bus " AFP "
RF via parameter ID32904 (e.g. per ACC)
If the special code is selected , then the displayed source is logically AND combined by the system
with the hardware binary input, RF at connector X33. Thus the user can simultaneously control the
" inverter ON RF " function of the drive through AMK field bus " AFP " and through the external RF
signal at X33.
The " Controller enable " handshake signal " QRF " is assigned as a standard to the binary output BA1
(X33).
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ID32799 Configuration of peripherals
This parameter determines:
• Square wave pulses input X34
• Activation / deactivation of PLC functionality (option card KW-PLCx)
• Activation / deactivation of CAN Bus functionality on KW-PLCx
ID32799 = 00ab00cc hex
BitNo.
0-1
Value
(hex)
0
1
2
2 - 15
0
16 –
19
20 –
23
1
2–E
F
0
1
2–E
F
24 –
31
Meaning according to ID32799
Setting code for square wave pulses input (X34)
2 square wave pulses in quadrature (90° offset between track 1 and 2)
Counting pulses track 1, direction signal track 2
Forward pulses track 1, backward pulses track 2
Reserved
PLC function on the PLC option card
PLC function deactivated (default) if the PLC option card is plugged in, error message
1376 is generated, hint to activate or deactivate the plc function
PLC on the PLC option card KW-PLCx is active
Reserved
PLC on the KW-PLCx is deactivated, no error message will be generated
CAN-S Bus on the PLC option card
CAN-S bus on the PLC option card is deactivated (default). If the PLC option card is
plugged in, error message 1376 is generated, hint to activate or deactivate the CAN-S
bus on the PLC option card
CAN-S bus on the PLC option card active
Reserved
CAN-S bus on the PLC option card is deactivated, no error message will be generated
Reserved
Example:
ID32799 = 0x 00 11 00 00
•
•
•
Square wave pulses in quadrature (90° offset between track 1 and 2)
CAN-S active
PLC active
Caution:
All pulse encoder inputs must be at defined levels, otherwise the described functions are not
guaranteed.
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ID32813 Parameter set allocation
One main parameter set and three alternative parameter sets are assigned to the inverter by means of
the " Parameter set allocation " parameter. The low byte always contains the main parameter set and
must be occupied with a data set number (00h…09h).
Default setting:
ID32813 = 03020100h
Main parameter set:
1st alternative parameter set:
2nd alternative parameter set:
3rd alternative parameter set:
3rd alternative
parameter set
0
MSB
3
Data set number
Data set number
Data set number
Data set number
2nd alternative
parameter set
0
2
00h
01h
02h
03h
1st alternative
parameter set
0
Main parameter set
1
0
0
LSB
Note on operation:
After Power ON and activating the controller enable, the system is always in the main parameter set. If
data are changed or if a drive error is deleted, the system remains in the momentary active parameter
set after changing the controller enable.
ID32821 Password
The " Start-up " menu item in the control panel is freely accessible with ID32821 = 0.
If ID32821 is assigned a value not equal to 0, the " Start-up " menu item can be activated only after
entering this value as " Password " .
The machine manufacturer determines the password and enters it in ID32821. An arbitrary number
between 0 and 4294967295 can be selected.
Note:
The password must be archived by the manufacturer. The password is forwarded to the
final customer under the responsibility of the machine manufacturer. Access to the
parameters is not possible without knowledge of the password.
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Command via Parameter
The following parameters can be used to initiate commands in the system which are not time critical. ID
access is possible via ID writing (send command) and ID reading (current state of the command).
ID32903 DC-Bus enable (UE)
With the control signal DC-Bus enable (UE) the DC-Bus capacitors will be changed. Following the main
contactor will link the DC-Bus capacitors directly to the power supply.
ID32904 Controller enable (RF)
With the control signal controller enable (RF) the clock signal of the inverter is enabled. The motor is
current-carrying and the servo-control is active.
ID32913 Clear error (FL)
ID33730 System booting
The command system booting causes the new calculation of all parameters.
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ID33732 System reset
The system reset causes a new start-up of the system comparable if the 24 V power supply is switched
OFF and ON. If the system reset is released at the ACC-Bus master, a system reset will also be
executed automatically to al slaves. The command system reset can also be executed by a binary input.
Attention:
The option card PLC with CAN-S slave interface can't execute the system reset to the local axis.
ID-No.
32903
32904
32913
33730
337232
ID writing
• [1] DC-bus enable ON (UE)
• [0] DC-bus enable OFF (UE)
• [1] Controller enable ON (RF)
• [0] Controller enable OFF (RF)
• [1] Clear error (FL)
• [1] System booting
• [1] System reset
ID reading
Show state:
[0] Basic state
[3] Command ready
[7] Command currently active
[F] Command completed with errors(s)
The system booting command is permissible only with inactive controller enable. With controller enable
signal set, the warning 1843 " CMD only without RF " is generated.
ID32942 Service control
The command 0x14 " read position absolute " for ID32843 " service command " writes the actual position
value into ID32942 " Service control " after successful execution. After that a higher ranking controller can
read the actual position value by using command " read parameter " .
Note:
The absolute position is only allowed to read at axis standstill.
With the command 0x12 (ID32843 „service command“) the entered value at the parameter D32942
„Service control“ will be taken as actual position of the encoder.
The commutation offset is compensated self-acting in the encoder (for E- / F- / S- / T-type encoder).
Note:
Error correction curve values and memory cells are changed in the encoder. If extraneous
motors are used please talk back with AMK service department.
See also the description of ID32843 „service command“
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8 Motor Parameters
Motor parameters must absolutely be entered on start-up of the AMKASYN system corresponding to the
name plate (or datasheet) of the motor, correct motor data are a basic prerequisite for perfect operation
of the total system.
ID00109 Maximum current
Only enter the maximum current if it is indicated in the AMK motor's data sheet. This is only pertains to
synchronous motors. ID109 is only effective where the ID34167 terminal inductance is Ltt≠0.
ID00111 Motor nominal current
The motor nominal current is used as reference variable for all torque data. The motor nominal current
may be as maximum 80% of the peak current of the inverter (see ID110). The data value is taken from
the name plate of the motor.
Condition:
ID111 ≤ ID110 ⋅ 80%
ID00113 Maximum speed
Caution:
ID113 defines the maximum permissible process speed!
If the velocity feedback value exceeds the stated maximum speed ID113 by the factor of 1.25, then the
output stage of the system is blocked and the motor coasts. The parameter value is determined by the
user depending on the process.
It must be observed that the maximum speed of the motor (name plate) is not exceed. Here it must be
considered that the limit frequency of 100kHz of the sine encoder input is not exceeded (is assured on
use of AMK A-type encoders).
Formula 1: Determining nmax for sine encoder input
n max [rpm] =
Example:
6000000
ID32776
Encoder pitch ID32776 = 1024 (Encoder type " I " )
n max = ID113 =
PDK_026249_Parameter_en.doc
6000000
= 5856 rpm
1024
Page 39 from 212
ID00114 Motor overload threshold
This parameter determines when the warning 2359 " Motor overload warning " is output. If the I²t
monitoring reaches an overload value of 100% ID33102 " Motor overload indication " , then the error
message 2360 " Motor overload error " is output and the drive will be ramped down (ramp according
ID32782 RF inactive) and RF becomes inactive.
A bit message (code 310) is generated at the same time as the warning. If the value is again less than
the value in parameter ID114, the warning bit is reset until the value is exceeded again.
Motor I²t monitoring is effective only if it has been activated through ID32773 bit 14 = 1.
ID00116 Motor encoder resolution
Determining the resolution of the position feedback value acquisition using the motor encoder as active
position feedback value source. The resolution required for the process (increments per motor
revolution) determines the value for ID116. The parameter acts as characteristic of the position control
operation mode.
Formula 2: Determining the motor encoder resolution for sine encoders
ID116 =
4 ID32776 PV
PV
- Position refinement = (1 … 128, integer!)
ID32776 - Sine encoder period
Example:
ID32776 = 50 (name plate), PV = 100 selected
ID116 = 20000 incr./motor revolution
Formula 3: Determining the motor encoder resolution for resolvers
ID116 =
512 PV
PV
- Position refinement = (1… 128, integer!)
Formula 4: Determining the motor encoder resolution for resolvers
ID116 =
4 ID32943 (Pulse encoder period)
Motor encoder resolution on use of absolute value encoders (S and T encoders)
ID116 =
32 ID32776 (Sine encoder period)
ID00141 Motor type
This parameter makes it possible to store a string variable with the name of the motor. AIPEX tool can
store the name of the AMK motor out of a data based motor library.
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ID32769 Magnetizing current
The values of the magnetizing current are motor-dependent and can be found on the rating plate of the
respective motor. The motor used is to be defined in ID32953 Encoder type.
Asynchronous motor
The magnetizing current represents the flux-generating component of the motor current in asynchronous
motors. The magnetizing current is constant up to the nominal speed and is automatically reduced for
speeds higher than the nominal speed (field weakening). The curve of the magnetizing current IM can be
seen in the diagram " Correction of the magnetizing current characteristic " below. For asynchronous
motors ID32953 must be set to XX0X.
Synchronous motor with field weakening
Synchronous motors without filed weakening can only be operated up to nominal speed. ID32769 has no
effect for synchronous motors. For synchronous motors ID32953 must be set to XX1X.
Synchronous motor with a field weakening capability
Synchronous motors with a field weakening capability can also be operated far above the nominal
speed. In the case of synchronous motors with a field weakening capability ID32769 specifies the
maximum field-weakening current above the nominal speed. For synchronous motors with a field
weakening capability the voltage controller must also be configured via ID34148 and ID34149. For
synchronous motors with a field weakening capability ID32953 must be set to XX3X.
Note:
A synchronous motor may not be operated without a protection device in the field
weakening range! There is a risk of dangerous overvoltages in the case of incorrect action.
ID32770 Magnetizing current
The values of the magnetizing current are motor-dependent and can be found on the rating plate of the
respective motor. The motor used is to be defined in ID32953 Encoder type.
Asynchronous motors
The parameter value can be found on the rating plate (or in the data sheet) of the motor. If no
information is available a value of 50 % of IM is to be used.
In the field weakening range a correction of the magnetizing current characteristics is performed.
Between nN and 1.5 nN the magnetizing current is first reduced linearly from IM to IM1. For speeds n & gt; 1.5
nN the magnetizing current is reduced in proportion to 1/n.
If IM1 is set to IM or 0 there is no correction and the magnetizing current is reduced in proportion to 1/n for
speeds & gt; nN. For asynchronous motors ID32953 must be set to XX0X.
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Synchronous motor without field weakening
Synchronous motors without field weakening can only be operated up to the nominal speed. ID32770
has no effect for synchronous motors. For synchronous motors ID32953 must be set to XX1X.
Synchronous motor with a field weakening capability
Synchronous motors with a field weakening capability can also be operated far above the nominal
speed. In the case of synchronous motors with a field weakening capability ID32770 specifies the
minimum field-weakening current which has an effect in the basic speed range up to the nominal speed.
For synchronous motors with a field weakening capability the voltage controller must also be configured
via ID34148 and ID34149. For synchronous motors with a field weakening capability ID32953 must be
set to XX3X.
Note:
A synchronous may not be operated without a protection device in the field weakening
range! There is a risk of dangerous overvoltages in the case of incorrect action.
Figure 5: Correction of the magnetizing current characteristic
I
IM
IM1
nN
2 nN
3 nN
|n|
1,5 nN
Parameter_Kennlinie_Magnetisierungsstrom
ID32771 Nominal torque
The parameter value must be taken from the name plate (or datasheet) of the motor.
Note:
The central reference for torque data is the motor nominal current according to ID111. For
further information on data reference see ID86 Torque scaling parameter
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Formula 5: Torque calculation
Mactual = MN ⋅
(I
2
actua l
(I
N
Mactual:
Iactual:
IM:
2
− IM
− IM
2
2
)
)
Actual motor torque
Actual motor current
Magnetizing current
ID32772 Nominal speed nN
The parameter value must be taken from the name plate (or datasheet) of the motor and describes the
limit between basic speed range and field weakening range.
ID32774 Rotor time constant TR
The parameter value must be taken from the name plate (or datasheet) of the motor. The rotor time
constant TR is the electrical time constant of the rotor. For synchronous motors (motor type " DS… " ) the
value 0.01 must be entered in ID32774.
ID32775 Motor pole number
The parameter value must be taken from the name plate (or datasheet) of the motor. The pole number of
an AMKASYN motor is contained in the type designation.
Example
Main spindle motor
DS 5-3-6-IOO-4000
Pole number
DV 10-19-4-R00-3000
DT 5-5-10-FBO-5000
Pole number
Caution:
DH 10-45-4-ABF-2000
Pole number
Motor type
Synchronous motor
Pole number
Faulty entry of number of motor poles results in maloperation of the drive!
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ID32776 Sine encoder periods
The parameter value must be taken from the name plate (or datasheet) of the motor or of the encoder.
The " sine encoder periods " state the number of sine periods per revolution of the motor encoder
connected at the sine encoder input X31. For linear motors the value in ID32776 defines the number of
sine periods per pole period..
Caution:
Faulty entry of number of sine encoder periods results in maloperation of the drive!
EnDat Encoder:
1.
Linear encoder Type: LC181 or comparable:
For EnDat linear encoder ID32776 is calculated out of the signal period of the encoder and
ID123 and filled in automatically according the following calculation:
ID32776 =
ID123[mm ] ⋅ 1000
Signal period[µm]
Example:
ID123 Pole period linear motor
Signal period
PV (Position refinement)
ID32776
ID116
2.
= 24 mm (Datasheet for the linear motor)
= 16µm (Datasheet EnDat linear encoder)
= 100 (see ID116 / ID117)
= 1500 Signal periods / Pole period
= 600000 Increments / Pole period
Rotary encoder type ECN1313-512 or comparable:
The number of sine periods per revolution is automatically read out of the EnDat rotary encoder
and filled in ID32776.
ID32827 Flux-generating current feedback value
The flux-generating current feedback value can be evaluated by reading this Ident number. Only reading
ID110
access to this parameter is possible. The display is permanently scaled: i sd = ID32827 ⋅
16384
ID32834 Torque-generating current feedback value
The torque-generating current feedback value can be evaluated by reading this ident number. Only
ID110
reading access to this parameter is possible. The display is permanently scaled: i = ID32834
sq
16384
PDK_026249_Parameter_en.doc
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ID32841 Motor encoder list
EnDat encoders offer the possibility of storing data in the encoder. Data storage in the encoder (currently
possible only for EnDat) must be switched on or off (default value) through the service parameter
ID32901 " Global service switch " .
The motor encoder list states which motor parameter are stored in the EnDat encoder. The list contents
are fixed in the operating software of the AMKASYN unit and cannot be edited.
ID-No.
100
101
102
104
109
111
32768
32769
32770
32771
32772
32774
32775
32776
32953
34045
34046
34050
34052
34096
34148
34149
34151
34152
34153
34160
34161
34162
34164
34165
34166
34167
34168
34177
34178
34179
34180
Meaning
Proportional gain speed control KP
Integral actual time speed control Tn
Differentiation time speed controller Td
Position loop KV-factor, KV
Motor peak current
Motor nominal current
Nominal motor voltage
Magnetizing current IM
Magnetizing current IM1
Nominal current MN
Nominal velocity NN
Rotor time constant TR
Pole number motor
Sinus encoder period
Encoder type
Inductance Lq
Inductance Ld
TN current Q Tng
TN current D Tnd
Standstill current
Voltage regulator proportional component Kpu
Voltage regulator integral action time Tnu
KP current Q Kpq
KP current D Kpd
Maximum speed motor
Part number motor (ASCII-List)
Production date motor
Serial number motor
Resistance Rtt
Holding torque brake
Temperature sensor motor
Inductance Ltt
Time Imax motor Imax
Lower threshold SR-Adaption
Upper threshold SR-Adaption
Gradient KpQ
Gradient TnQ
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ID32842 User data encoder list
The list states which parameter values of the user are stored in the EnDat encoder database. The list
can be configured freely, whereby only those parameters may be entered the values of which can be
changed. The entry of ident numbers with fixed values leads to an error message when saving in the
system.
The memory size of the encoders is 64 words. The total of all data out of the " User data encoder list "
must be equal or less, otherwise the error message 2310 encoder communication info 15 will be
generated. (There are also motors with S- or T-type encoder which have a memory size of 13 words).
Example:
Data to be stored:
ID-No.
Name
111
Motor nominal current
116
Motor encoder resolution
82
Positive torque limit
83
Negative torque limit
32780
Acceleration ramp
32781
Deceleration ramp
Parameter
0
3
2
1
1
3
Subject
28 Length
132 Length max.
111
0
116
3
82
2
83
1
32780
1
32781
3
not used
…
…
…
Size
doubleword
doubleword
word
word
doubleword
doubleword
Encoder storage:
ID32842 " User data encoder list "
Element
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
…
…
Subject
5.50 A
65536
100 %MN
100 %MN
2000 ms
1000 ms
Storage location
Subject
1
2+3
4
5+6
7
8
9
10
11
12 + 13
14
15
16
17
…
…
ID111 + Parameter set 0
5.500
ID116 + Parameter set 3
65536
ID82 + Parameter set 2
100
ID83 + Parameter set 1
100
ID32780 + Parameter set 1
2000
ID32781 + Parameter set 3
1000
not used
not used
…
…
2 x 14 Elements
ID-No.
Parameter
The data of this example can only be stored in an E- or F-type encoder.
If a S- or T-type encoder is used the ID32781 can't be stored because the storage capacity of 13 words
is exceeded.
PDK_026249_Parameter_en.doc
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Handling:
Via command codes in ID32843 " Service command " the parameters are taken into the encoder or in the
unit.
Command
[hex]
[1]
[20]
[21]
Description
The via " User data encoder list " defined data are taken into the encoder
The via " Motor encoder list " defined data are transferred from the encoder into the unit
The via " User data encoder list " defined data are transferred from the encoder into the
unit
ID32843 Service command
With this parameter current data can be copied from the user database (DTH) into the encoder
database. The data to be copied are configured through ID32842 " User encoder list " . The writing
process is started by writing the value " 1 " in the ID32843 " Service command " . The current state of the
function can be determined by reading the parameter.
ID32843 Writing (order)
ID32843 Reading (state)
[0]
No function
[0] Basic state
[1]
Store " user encoder list " in the encoder
[3] Function finished
1
[10]* Store the actual encoder position as centre (medium) [7] Function just active
position to the encoder
[F] Function concluded with error
[11]*1 The actual encoder position is set to zero. The
commutation offset is compensated self-acting in the
encoder (E- / F- / S- / T- type encoder)
[12]*1 The actual encoder position is set to a defined value.
The commutation offset is compensated self-acting in
the encoder (for E- / F- / S- / T-type encoder). The
new position value will be defined with ID32942
" Service control "
[14]*2 „Read absolute position“. The actual position in
increments related to ID116 „motor encoder
resolution“ / ID117 „external encoder resolution“ will
be write into the parameter ID32942 “Service help.”
[20]
" Encoder list motor ID32841 " is copied from encoder
into the drive
[21]
" Encoder list user " is copied from encoder into the
drive
*1
Error correction curve values and memory cells are changed in the encoder. If extraneous motors
are used please talk back with AMK service department.
*2
The absolute position is only allowed to read if the motor is standstill.
PDK_026249_Parameter_en.doc
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ID32920 Motor overload time
The overload time can be adapted to the thermal time constant of he motor with this parameter. The
parameter acts on the I²t monitoring of the motor. Please refer to the name plate or data sheet of the
motor for the thermal time constant.
The motor I²t monitoring is adapted to the thermal time constant of the motor with the parameter
ID32920. Monitoring can be activated with ID32773 bit 14 = 1.
The parameter ID32920 " Motor overload time " describes the maximum time " t " in seconds with which the
motor may be operated with 2 times nominal current. The time to be entered must refer to operation
with 2 times nominal current.
If the motor overload time in the data sheet is not related to 2 times nominal current, then the setting
value for ID32920 is calculated as follows:
Formula 6: Setting value for ID32920
⎤
⎡⎛ i ⎞ 2
⎢⎜ ⎟ − 1⎥ ⋅ t
⎜ ⎟
⎥
⎢⎝ IN ⎠
⎦
⎣
ID32920 =
3
Example 1:
The motor may be operated for 20s with 1.5 times nominal current. How must ID32920 be set?
Formula 7: Setting at 1.5 times nominal current for 20 s
ID32920 =
(1.5
2
)
− 1 ⋅ 20 s
= 8 .3 s
3
If the setting value for ID32920 has been determined, then the permissible operating time of the motor
can be calculated with an arbitrary overcurrent ratio according to Formula 8.
The following relation applies for the permissible operating time " t " of the motor for i & gt; IN
Formula 8: Permissible operating time of the motor with arbitrary overcurrent
t=
t:
i:
IN:
3 ⋅ ID32920
2
⎛ i ⎞
⎜ ⎟ −1
⎜I ⎟
⎝ N⎠
Permissible operating time
Actual current (overcurrent)
Motor nominal current
PDK_026249_Parameter_en.doc
Page 48 from 212
Example 2:
ID32920 = 2 s. how long may the motor be operated with 1.2 times nominal current?
Formula 9: Permissible operating time for 1.2 times nominal current
t=
3⋅2s
(1.2)2 − 1
13.6 s
The motor may therefore be operated for 13.6 s with 1.2 times nominal current.
In the case of an overload a warning is generated as soon as the motor overload time ID32920 has
expires.
as long as this warning in present the user has the possibility of reacting to the overload.
After the end of the warning time according to ID32943, the drive is shut down with the error message
2353 " Motor overload " .
from Software release Controller card Kx-R03(P) V3.01 2003/12:
After the time " Motor overload time " ID32920 is over the ID33102 " Motor overload indication " shows the
value 100 % and the error message 2360 " Motor overload error " is generated.
Before the warning message 2359 " Warning overload motor " is generated after the ID114 " Overload limit
motor " is reached.
Older software versions:
After the warning time ID32943 is over, the motor will be ramped down according to ID32782 " Ramp RF
inactive " and the error message 2353 " Overload motor " is generated.
ID32934 Pulse encoder periods
The parameter value must be taken from the name plate (or datasheet) of the motor or of the encoder.
The " Pulse encoder periods " state the number of the divisions per revolution of the pulse encoder
connected at the pulse encoder input X34. When linear motors are used, ID32934 is defined as number
of divisions per pole period.
Caution:
Faulty entry of number of pulse encoder periods results in maloperation of the drive!
ID32953 Encoder type
The " Motor encoder type " parameter determines the motor type and the used encoder type. The
ID32953 is coded and is composed of the four displayed half-bytes (nibbles) with numerical hex code.
Motor encoder
Motor type
Speed encoder
Position encoder
(Nibble 0):
(Nibble 1):
(Nibble 2):
(Nibble 3):
PDK_026249_Parameter_en.doc
Motor encoder (is used for commutation)
Asynchronous motor, synchronous motor, U/f operation, …
Speed encoder (generation velocity feedback value)
Position encoder (generation position feedback value)
Page 49 from 212
By entering the appropriate HEX code the position encoder and the speed encoder can be freely
defined, independent of the motor encoder. In the case of the position encoder you can also choose
between an internal encoder (with ID116 as the motor encoder resolution) or an external encoder (with
ID117 as the resolution of an external displacement measurement system).
In case of an external displacement measurement system the translation ratio of the drive between the
motor an the load is considered. ID117 must be set to 4 x the number of pulses per output revolution of
the load drive.
In the main operating mode (ID32800) it is defined whether operation is performed with an internal or
external load position encoder.
The encoder period is defined in the parameters sine encoder period (ID32776) and pulse encoder
period (ID32934).
Closed loop
pos. controller
i
3
effects only
the rotor
position
Motor
encoder
i
Motor encoder
gear
R
ID116
Motor encoder resolution
Bit 14 = 1
Bit 13 = 1
negated
R
Load
gear
internal
ID115
ID32953:
„Encoder type“,
hex value
per nibble
M
Torque
control
Rotor
position
Actual position
feedback:
ID32800
Bit 14 = 0
+
Actual speed
Position
feedback
+
Speed
controller
External position
feedback system:
Figure 6: Configuration possibilities of motor, speed and position encoders
external
Consult with
AMK first!
9
Nibble 3
Pos. feedback encoder
Consult with
AMK first!
8
Nibble 2
Speed feedback encoder
1
8
Nibble 1
Motor model
Nibble 0
Motor encoder
Example: Synchronous motor with resolver as motor encoder and for speed feedback, square wave encoder for
position feedback (external position measuring system, ID32800, Bit 14 = 1)
ID32953: „9 8 1 8“ (hex) or „9 0 1 8“ (hex)
ID117
External position
encoder resolution
ID32776:
Sine wave encoder
[periods / rev.]
ID32934:
Square wave encoder
resolution
ID123:
Feed constant
Parameter_Geberkonfiguration
PDK_026249_Parameter_en.doc
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ID32953 Encoder type
Nibble3
Position feedback
encoder
0: as motor encoder
1: A / H type encoder
2: T type encoder
3: 4: 5: I type encoder
6: 7: S type encoder
8: Resolver
9: Square wave encoder
A: E / F type encoder
B: external encoder
option KU-/KW-EN1
*1)
Nibble 2
Speed feedback
encoder
0: as motor encoder
1: A / H type encoder
2: T type encoder
3: 4: 5: I type encoder
6: 7: S type encoder
8: Resolver
9: Square wave encoder
A: E / F type encoder
Nibble 1
Motor model
Nibble 0
Motor encoder
0: Asynchronous motor
1: Synchronous motor
without field
weakening
2: U / f control
3: Synchronous
motor with field
weakening *2)
0: I type encoder
(default)
1: A / H type encoder
2: T type encoder *1)
3: 4: 5: I type encoder
6: 7: S type encoder
8: Resolver
9: Square wave encoder
A: E / F type encoder
Is also valid for the " LinCoder L230 " of company Stick / Stegmann with hiperface interface
Attention:
If external position encoder is chosen (ID32880, Bit14 = 1) it is not allowed to set " as motor
encoder " . In the column Pos. feedback encoder must be configured the type of the external
encoder which is used.
*2)
The field weakening operation for synchronous motors is restricted to the following
models:
DS13-110-6-R00-200 Mod. No. D469AD
DS28-450-40-SB0-300 Mod. No. D647AD
DS28-650-40-SB0-300 Mod. No. D722AD
Please refer to the AMK motor's data sheet for the values of the following parameters.
The following motor parameters have to be set:
ID109, ID111, ID32768, ID32769, ID32770, ID32771, ID32775, ID32776, ID32934, ID32953,
ID32959, ID32960, ID32961, ID34164 and ID34167
The controller is set using the following parameters:
ID34151, ID34050, ID34151, ID34052, ID34148, ID34149
A type encoder (magnetic encoder)
After the encoder basic adjustment (first startup) the adjustment values are activated at every system
booting. An online encoder correction see ID32773 compensates temperature effects induced by the
principle.
E type encoder (absolute value encoder, single turn, EnDat)
In the case of synchronous motors (DS… / DT…) the absolute value related to one motor revolution is
required for the communication. The absolute value is read automatically via the EnDat interface
following mains ON. In addition the E type encoder also offers a sine and a cosine track for the
operation.
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F type encoder (absolute value encoder, multi-turn, EnDat)
The absolute value is read when axis is at a standstill following a call of the reference point travel
function via the EnDat interface. In addition the F type encoder also offers a sine and a cosine track for
the operation.
I type encoder (optical encoder)
Encoder basic adjustment, correction cannot be activated
Resolver
Encoder basic adjustment, correction cannot be activated. Absolute angle encoder in accuracy classes
up to a few arc minutes.
S type encoder (SINCOS absolute value encoder, single-turn)
Encoder basic adjustment, correction cannot be activated. For synchronous motors (DS..) the absolute
value of the S type encoder is used for the communication.
T type encoder (SINCOS absolute value encoder, multiturn)
Encoder basic adjustment, correction cannot be activated. The absolute value can be determined at
standstill of the axis serially using the homing cycle drive function. The position feedback value_2π
(Code 32899) is zeroed at the reference point.
H type encoder (encoder with " Hall " sensor)
The " Hall " -type encoder has one sine / Cosine period per revolution or rather per pole pair of linear
motors.
U/f operation
Voltage / frequency control (encoder-less motor control) with functionality of the parameters such as
speed controller (limitations, command values, without encoder feedback, i.e. KP, TN, … ineffective). The
stated motor (Nibble 0) and speed encoder type (Nibble 2) are not taken into account.
It must be observed that the ramp times ID32780, ID32781, ID32782 may not be less than the physically
achievable speed ramps of the system (too steep ramps can lead to overcurrent messages).
Example of encoder configuration:
Application
Asynchronous motor with AMK-I type encoder (motor encoder)
Asynchronous motor with AMK A type encoder (motor encoder)
Synchronous motor with resolver (motor encoder)
Synchronous motor with resolver as motor encoder (for commutation)
and speed encoder and external square pulse encoder for position
feedback value acquisition
ID32953 [hex]
0000h
0001h
0018h
9018h
or 9 8 1 8 h
ID32935 Standstill voltage
This parameter describes the motor voltage at speed n = 0 (standstill) in the voltage / frequency control
operation mode. This operation mode can be activated through ID32953 as from KU 1.03 3897. It must
be observed that the ramp times ID32780, ID32781, ID32782 may not be less than the physically
achievable speed ramps of the system. Further setting possibilities see ID32991 U/f startup.
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ID32768 Nominal motor voltage
This parameter describes the motor voltage at speed n ≥ nominal speed in the voltage / frequency
control operation mode. This operation mode can be activated through ID32953 as from KU 1.03 3897. It
must be observed that the ramp times ID32780, ID32781, ID32782 may not be less than the physically
achievable speed ramps of the system. Further setting possibilities see ID32991 U/f startup.
Representation:
U = f(n) in voltage / frequency control
Motor voltage U
UN
Umin
0
nN
nmax
speed n
Parameter_Nennspannung
UN
Umin
nN
nmax
Nominal motor voltage, ID32768
Standstill voltage, ID32935
Nominal motor speed, ID32772
Maximum speed, ID113
ID32959 Resolver offset
With this parameter the zero position of the resolver is adapted related to a constructively determined
field position of a synchronous motor. AMK rotation synchronous motors with resolvers are adjusted so
that no resolver offset has to be entered (ID32959 = 0).
The value range 0 to 65536 corresponds to an angle of 0 to 360 degrees or one pole period for linear
motors.
In the case of linear motors it is not possible to install the resolver in a defined position in relation to the
pole period, therefore the offset must be determined through the resolver adjustment function. The
" Resolver Adjustment " function can be started on the control panel in the " Service " menu. Please contact
the AMK service department about this.
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ID32960 Motor encoder gear input
ID32961 Motor encoder gear output
The parameter determines the gear ratio of a gear between the motor and associated motor encoder.
Set = 1000 min-1
KU/KW
Act = 1000 min-1
Motor
2
1
2000 min-1
Parameter_Motorgeber-Getriebe
when a synchronous motor is used the result from the ID32776 sin e encoder resolution ⋅
ID32961
has
ID32960
to be a whole number; if not, an error message is generated.
On asynchronous motors decimal places are possible.
Caution:
With incorrect parameter entry, the drive can be controlled only conditionally.
ID33102 Motor overload indication
This parameter indicates the current overload of the motor according to the I²t monitoring. It can also be
configured as 16-bit message.
ID33102 = 0: Nominal mode or below nominal mode
ID33102 & gt; 0: Overload mode, shutdown at 100%
the motor overload indication is effective only if the I²t monitoring of the motor is activated through
ID32773 bit 14 = 1. The I²t can be adapted to the thermal time constant of the motor with the parameter
ID32920.
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ID34045 Inductance LQ
This parameter is used for the current controller adjustment and is motor specific. The values are listed
in the motor data sheets and have to be entered at start-up the system.
ID34046 Inductance LD
This parameter is used for the current controller adjustment and is motor specific. The values are listed
in the motor data sheets and have to be entered at start-up the system.
ID34049 KP current Q
With software version 2004/18 and higher, this parameter is only accessible using the AMK service
menu and is replaced by ID34151. In new applications, the parameter ID34151 is used in place of
ID34049.
ID34050 TN current Q
This parameter is used to adjust the current regulator, and depends on the motor in use. The values are
indicated in the motor's datasheet, and should be entered at start-up.
ID34051 KP current D
With software version 2004/18 and higher, this parameter is only accessible using the AMK service
menu and is replaced by ID34152. In new applications, the parameter ID34152 is used in place of
ID34151.
ID34052 TN current D
This parameter is used for the current controller adjustment and is motor specific. The values are listed
in the motor data sheets and have to be entered at start-up the system.
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ID34094 Rise time Software commutation
Set the slope of current rise at software commutation.
ID34095 Final software commutation
Set the final value of current at software commutation.
ID34095 positive value:
ID34095 negative value:
SW commutation according ID34094 and ID34095
After current rise time the angle of the current phase will be shifted + 45°.
With this ironless linear motors will move if they are located between two
poles. This process needs 2.5 sec. additional to the commutation time.
Software commutation is used depending on the motor encoder type in linear motor applications. For
linear position encoder feedback without absolute value it is not possible to calculate the right current of
the motor phase to the right time. Because of this software commutation is used.
For software commutation the current rise slope and the final value of the commutation current is
important. For strong linear motors in high dynamic applications mostly a flat current rise slope is
required. Also for the first start-up the commutation current should be changeable to smaller value. The
rise slope of the current is set with parameter ID34094 and the final value in ID34095.
Special case:
If ID34094 = 0 and ID34095 = 0 the final value of commutation current is set to the rated current of the
motor. The current rise is fixed to IN / 128 per 100 ms. After reaching the final value a current peak of 2 x
IN is generated for 50 ms.
Current circuit
I [A]
Pole alignment
4
ID34095
3
2
ID34094
1
1
2
3
4
t [s]
Parameter_Stromverlauf
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ID34096 Standstill current motor
This parameter shows the limiting value at with value the I²t monitoring starts to work.
The value is indicated in the motor's data sheet, and should be entered at start-up.
The I²t monitoring must be activated at the ID32773 „Service switch“ Bit14 = 1.
ID34151 Q current regulator KP
This parameter is used to adjust the current regulator and depends on the motor in use. The values are
indicated in the motor's data sheet, and should be entered at start-up.
ID34152 D current regulator KP
This parameter is used to adjust the current regulator and depends on the monitor in use. The values
are indicated in the motor's data sheet and should be entered at start-up.
ID34153 Maximum speed motor
This parameter shows automatically the mechanically maximum speed of the motor. (Only if you use a
encoder with integrated encoder list)
ID34160 Part number motor
The part number of the motor is taken from the motor database.
ID34161 Production date motor
If an EnDat encoder is used the production date of the motor is written automatically in the encoder
database.
When other encoders are used the value can be written manual.
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ID34162 Serial number motor
If an EnDat encoder is used the serial number of the motor is written automatically in the encoder
database.
When other encoders are used the value can be written manual.
ID34164 Terminal resistance Rtt
Only enter the terminal resistance Rtt if it is indicated in the AMK motor's data sheet. This only pertains
to synchronous motors.
ID34165 Hold. torque brake
This parameter belongs to the encoder list motor and shows the torque of the motor holding brake. Value
0 is a motor without holding brake.
ID34166 Temperature sensor motor
This parameter belongs to the encoder list and shows the type and the properties of the temperature
sensor.
Code sheet:
Code
T
A
X
TTTAX
Meaning
Temperature
Number of sensors
Sensor type
PDK_026249_Parameter_en.doc
Value
0 ... 654 °C
0 ... 9
0 = without
1 = THW
2 = reserve
3 = PTC
4 = reserve
5 = NTC
6 = KTY
7 = PT100
8 = Type J
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ID34167 Terminal inductance Ltt
Only enter the terminal inductance Ltt if it is indicated in the AMK motor's data sheet. This only pertains
to synchronous motors. If the ID34167 terminal inductance is Ltt ≠ 0, the parameter ID109 applies max.
current to the motor.
ID34168 Time Imax motor
ID34168 " Time Imax motor " defines how long the motor can operate with the maximum current defined
in Id109. If the values in ID34168 and ID109 are unequal to zero " overload time motor " becomes
inactive. The overload time will be calculated by the system according to ID109 and ID34168
ID34176 External sine encoder period
This parameter is only active when an external position feedback value encoder with the option card KU/ KW-EN1 is used. The sine encoder period can be taken out of the datasheet of the external encoder.
ID34177 Lower threshold current adaptation
ID34178 Upper threshold current adaptation
ID34179 Gradient KpQ
ID34180 Gradient TnQ
Only synchronous motors
This parameters are used to adjust the current regulator and depends on the monitor in use. The values
are indicated in the motor's data sheet and should be entered at start-up.
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K p Q
ID 3 4 1 5 1
w ith o u t a d a p ta tio n
T n Q
ID 3 4 1 8 0
w ith a d a p ta tio n
T n Q
ID 3 4 1 7 9
w ith a d a p ta tio n
K p Q
ID 3 4 0 5 0
n o r m a lly
c u r . r e g u la to r
tr a n s ie n t
a re a
L o w e r th r e s h o ld
c u r r e n t a d a p ta tio n
ID 3 4 1 7 7
adaption
PDK_026249_Parameter_en.doc
w ith o u t a d a p ta tio n
A d a p ta tio n a r e a
U p p e r th r e s h o ld
c u r r e n t a d a p ta tio n
ID 3 4 1 7 8
Im a x
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9 Operation Modes and command value sources
ID32800 AMK main operation mode
Determining the operation mode, the command value source and showing or hiding further options.
24
0 0 0 0 0 0 0 0
8
16
x x x x x x x x
x x x x x x x x
0
x x x x x x x x
LSB
Operation mode
Torque limitation
Speed filter
Position controller type
Special functions
Position feedback value
Command value source
Parameter_Hauptbetriebsart
Example:
ID32800 = 0001 0043h
ID32800 = 0041 0043h
Speed control with active command value ramps, analogue
command value setting at the analogue input A1
Speed control with active command value ramps, numerical
command value setting through the commanding interface
•
4 data sets can be used for configuration.
Data set " 0 " is used as main parameter set, data set 1 … 3 are assigned to the 1st to 3rd alternative
parameter sets.
•
The main operation mode ID32800 must be defined by the user (see ID32813) in the main
parameter set. It is activated automatically after every system run-up (after " power on " or " error
reset " or " changes database " and following " RF change " ).
•
Up to 5 secondary operation modes ID32801 … ID32805 can be defined as required in each data
set.
•
The secondary operation modes ID32806 … ID32809 are not available for the user and serve for
internal processes. E.g. homing, positioning relative and absolute, digital speed control, digital
torque control…
Note: During commanding of movement functions through binary inputs the drive switches from the
current operating mode to an AMK secondary operating mode. After the function has been
carried out the drive remains in the AMK secondary operating mode and can be switched
back to the original operating mode by the operating mode change function.
See chapter binary inputs, Querverweis Tabelle1 and the documentation AMK field bus protocol
AFP T.-Nr. 27872.
•
The " Voltage / frequency control " operation mode is set through the encoder type (ID32953 = 20h:
encoder-less system).
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Figure 7: Parameter organization in data blocks
Data record 4
Main operation mode
Secondary operation mode 1
•
Secondary operation mode 5
(Secondary operation mode 6)
•
(Secondary operation mode 9)
3
ID32800
2
Data record ID32801
1
ID32800
ID32800 .
ID32801
ID32800
ID32801
.ID32805
ID32801
.
. ID32805
(ID32806)
ID32805 .
ID32805
(ID32806)
(ID32809)
(ID32806)
.
(ID32806)
.
. (ID32809)
(ID32809)
(ID32809)
Parameter_Parameterorganisation
Operating mode parameter ID32800… structure
High word
Bit 31
0 0 0 0 0 0 0 0
reserviert
Low word
Bit 0
X X X X X X X X
X X X X X X X X X X X X X X X X
Command value
Operation mode, extensions, options
source
Structure of the operation mode parameter
BitNo.
0-3
Value
0 dec
1 dec
2 dec
3 dec
4 dec
5 dec
4-5
0
1
6
0
1
7
0
1
8
0
Meaning according to ID32800 (low word)
Operation mode
No operation mode defined
Reserved
Torque control
Speed control
Position control
Parallel slave
Torque limitation
Positive and negative (ID82, ID83)
Analogue input A2 (ID82, ID83)
Speed filter (command value ramp)
Effect only in speed control operation mode
Speed ramp inactive
Speed ramp active (ID32780, ID32781)
Speed fine interpolator FIPO (not with analogue command value setting)
Speed control without FIPO
Speed control with FIPO (n setpoint/250 µs)
Position controller type
P-position controller
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BitNo.
Value
9
0
1
10
0
1
11
0
1
0
1
12
13
0
1
1415
16 23
0
1
01 hex
03 hex
14 hex
40 hex
41 hex,
3C hex
42 hex
43 hex
44 hex
45 hex
46 hex
47 hex
2431
Attention:
Meaning according to ID32800 (low word)
Following error compensation (SAK) acts at the command value sources
diMainSetpoint and IPO
Position control without SAK
Position control with SAK
Fine interpolator (FIPO)
acts only in the 32-bit position command value range (diMainSetpoint and IPO)
Position control without FIPO
Position control with FIPO (setpoint/500µs), position setpoints must be synchronized
with the inverter setpoints (s. ID2)
Following error compensation (SAK) acts at the command value sources
Square wave input, iAddSetpoint16 und diAddSetpoint32
Position control without SAK
Position control with SAK
Standard functionality
Extended functions (see special application chapter)
2 π generation (see description of modulo value ID103)
Modulo value of the active position feedback source (ID116, ID117) (see Bit 14/15
Modulo value according to ID103
Position feedback value source
Motor encoder, internal encoder (ID116)
External encoder (ID117, ID115), gear ratio ID121 / ID122 is taken into account
(T,Sp) Analogue input A1
(P,Sy) Square wave input, diMainSetpoint
(T,Sp,P,Sy) Sollwert von erweiterter Funktion
(L,Sy) iAddSetpoint16
(T,Sp,P,Sy) iAddSetpoint16, diMainSetpoint, IPO
(P,Sy) iAddSetpoint16, iAddSetpoint32
(P,Sy) iAddSetpoint16, iAddSetpoint32, diMainSetpoint
(P,Sy) IPO (interner Interpolator)
(P,Sy) diMainSetpoint
(P,Sy) iAddSetpoint32 (Synchronous control with angle alignment)
(P,Sy) iAddSetpoint32, diMainSetpoint
Reserved
The external position feedback value source must only be defined in the main operation
mode and is valid for all operation modes.
(T) Torque control, (Sp) Speed control, (P) Position control, (Sy) Synchronous control, (IPO) Internal
interpolator
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In Figure 10, Figure 9 and Figure 8 the command value sources are described for operating
modes torque control, speed control and closed loop position control.
Explanatory notes to mode of functioning and application of the setpoint sources:
iAddSetpoint16 and Square wave input: (Incremental 16bit position setpoint source)
For setpoints via iAddSetpoint16 and Square wave input must be set ID2 = ID32958.
The position setpoint results to the incremental difference between two sampling instants (sampling time
according to ID32958 16bit cycle time). The incremental difference may not exceed the value " 216 " . The
setpoint values e.g. can originate from the square wave input, from the AMK-PLC, via field buses, …
iAddSetpoint32: (Incremental 32bit position setpoint source)
For setpoints via iAddSetpoint32 must be set ID2 = ID32958.
The position setpoint results to the incremental difference between two sampling instants (sampling time
according to ID32958 16bit cycle time). The incremental difference may not exceed the value " 232 " .
iAddSetpoint32 is used for function " synchronous control with angle alignment " (alignment controlled by
the internal interpolator IPO). The synchronous setpoint is an incremental 32bit value from the AMK-PLC
or is input via field buses.
diMainSetpoint: (Incremental 32bit setpoint source for position, speed and torque setpoints)
For setpoints via diMainSetpoint must be set ID2 = ID1.
In closed loop position control the position setpoint results to the incremental difference between two
sampling instants (sampling time according to ID2 SERCOS cycle time). The incremental difference may
not exceed the value " 232 " .
In operating mode speed / torque control the speed / torque setpoints are fed into the appropriate
controller as values according to the selected scaling (refer to chapter " scaling " ). The setpoints can
originate from the AMK-PLC, via field buses, the analog input A1… .
Setpoint transfer to an axis without PLC via ACC Bus / CAN Bus:
The setpoint sources iAddSetpoint16, iAddSetpoint32 and diMainSetpoint can be addressed from the
AMK application interface (API). Setpoints via field buses (e.g. ACC, CAN) are written by means of a
description file into the API variable of the related setpoint source.
Depending on the activated operating mode the incoming setpoint value is interpreted as position, speed
or torque setpoint.
No PLC is required to process the incoming data via API.
The following correlation is valid:
The AMK documentation " API " provides further explanations of the application interface.
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Figure 8: Setpoint source and operating modes (Torque control)
M-Feed-forward
ID32838 List set point
ID82 M-Pos. limit
ID83 M-Neg. limit
ID92 M-Grenze bipolar
Torque-limited
M Setpoint [0.1% Mn]
ID32800 Op. mode
Torque control
ID3280x Bit 16-23
+
Analogue
A1: (+/- 10V)
Digital
Access via e.g.
ID3280x Bit4/5 = 0 digit.
ID3280x Bit4/5 = 1 anlg.
PLC
ACC (Mapping: diMainSetpoint)
SERCOS (ID80)
Reading (actual value)
ID33113 Torque cmd. val.
(filtered)
ID32839 List actual value
[0.1% Mn]
M
Current
control
Rotorposition
ID32989 Torque filt. time
Filter
1
T1
ID84 Torque feedback
value (~I Wirk)
[0.1% Mn]
Parameter_SWQ_Moment
Figure 9: Setpoint sources and operating modes (speed control)
n-Feed-forward
ID32838 List set point
ID38 Pos. velocity limit
ID39 Neg. velocity limit
n-Setpoint
[0.0001 rpm]
FIPO
FIPO
ID32800 Op. mode
ID100 Prop. gain
ID101 Integration act.
ID102 differentiation t.
ID32928 Time filter 1
ID32929 Time filter 2
ID32932 Barrier frequ.
ID32933 Bandwidth
Speed velocity limit
ID1 = ID2
Fine interpolator
ID32780 Accel. ramp TH
ID32781 Decel. ramp TL
ID32782 TL RF inactive
Speed ramp
Speed controlled PID
Filter
+
1
+
ID3280x Bit 16-23
T=0.25ms
Digital
OFF=ID3280x Bit 7 = 0
Access via e.g.
ON = ID3280x Bit 7 = 0
PLC
ACC (Mapping: diMainSetpoint)
SERCOS (ID36)
T1
OFF = ID3280x Bit6 = 0
ON = ID3280x Bit 6 = 1
Actual speed value
Analog input A1 (+/- 10V)
ID3280x Bit 16-23
ID32928 Time filter 1
ID32929 Time filter 2
ID32932 Barrier frequ.
ID32933 Bandwidth
Filter 2
Band-stop filter
Filter 1
1
1
T1
T1
Parameter_SWQ_Drehzahl
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Figure 10: Setpoint sources and operating modes (Closed loop position controller)
Differential
Position Setpoint 16Bit
[Incr.]
∆Incr
ID3280x Bit 16-23
Access via e.g.
PLC
ACC (Mapping: iAddSetpoint16)
Pulse encoder
Differential
Position Setpoint 32Bit
[Incr.]
FIPO
Access via e.g.
PLC
ACC (Mapping: diAddSetpoint32)
ID32992 Dead time
compensation
OFF= ID32995 Bit7 = 0
ON = ID32995 Bit7 = 1
+
ID32958 = ID2
Following error
compensation
Fine interpolator
SAK
OFF=ID3280x Bit11 = 0
ON = ID3280x Bit11 = 1
+
ID32958 = ID2
Dead time
compensation
TZK
Synchronous ratio
Modulo
∆Incr
ID3280x Bit 16-23
ID32892 Pulse divider
ID32893 Pulse multipl.
ID32994 Modulo sync
master
OFF=ID3280x Bit11 = 0
ON = ID3280x Bit11 = 1
FIPO
FIPO
Tt
ID136 Pos. acceleration
ID137 Neg. acceleration
Interpolator using
for basic functions
e.g. relative
positioning
Interpolator
IPO
ID104 Position loop Kv
Position control (P)
Differential
∆Incr
+
FIPO
+
ID3280x Bit 16-23
ID32800 Op. mode
ID103 Modulo value
ID116 Res. encoder
ID117 Res. ext. pos.
ID32992 Dead time
compensation
Position Setpoint 32Bit
[Incr.]
ID3280x Bit 16-23
∆Incr
Access via e.g.
PLC
ACC (Mapping: diMainSetpoint)
SERCOS (ID47)
+
OFF= ID00076 Bit7 = 0
ON = ID00076 Bit7 = 1
ID1 = ID2
ID1 = ID2
Dead time
compensation
Differential
Following error
compensation
Fine interpolator
TZK
SAK
FIPO
FIPO
OFF = ID3280x Bit9 = 0
ON = ID3280x Bit9 = 1
OFF= ID3280x Bit10 = 0
ON = ID3280x Bit10 = 1
Tt
OFF = ID3280x Bit9 = 0
ON = ID3280x Bit9 = 1
Actual position value
Parameter_SWQ_Lage
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Difference
formation (∆ incr.):
Modulo value
formation:
The setpoint change between two continuous sampling times results in the
position setpoint.
Setpoint differences are summed up to a certain value (modulo value), a saw
tooth curve results.
SVH:
The synchronous ratio results from the setpoint multiplier and the setpoint
divider with which the position increments via the 16 bit channel are scaled.
TZK:
The dead time compensation acts as a precontrol time for position setpoints via
the 16 bit (ID32992)/ 32 bit (ID32993) setpoint source.
SAK:
Following error compensation, to compensate the following error in operating
mode synchronous control.
Distance
Following error
XSet
XAct
SA
Time
Following error compensation
XSet'
SA
XAct'
Time
XSet:
XAct:
SA:
Setpoint position value
Actual position value
Following error
SA =
nset
KV
U
min
1
min
& lt; ID159 „Excessive Error“
Parameter_Schleppabstand
FIPO:
PDK_026249_Parameter_en.doc
Fine interpolator for linear interpolation between two setpoints output in the
selected sampling time.
Theoretical position profile (first picture)
Cyclical set point (second picture)
Page 67 from 212
Distance
∆x
Time
∆x
ID2
Cycles
Fine interpolation
ID32958
0,5ms
ID1
Cycle time fine interpolation 32 Bit setpoints =
0,5ms
Cycle time fine interpolation 16Bit setpoints =
The fine interpolation 32 Bit (FIPO) can be activated with parameter ID32800
ID32801 AMK Secondary operation mode 1
ID32802 AMK Secondary operation mode 2
ID32803 AMK Secondary operation mode 3
ID32804 AMK Secondary operation mode 4
ID32805 AMK Secondary operation mode 5
The AMK Secondary operation mode 1 … 5 are structured like the AMK main operating mode. Switching
over between the described operation mode is possible during operation. When switching over the
operation mode, the current position feedback value source cannot be changed.
Secondary operation mode 6 … 9 are used AMK internally. The cannot be changed by the user.
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10 Torque Parameters
ID00080 Torque command value [% MN] (can be changed online)
Fixed torque command value, selection through binary input after function code assignment.
ID00082 Positive torque limit [% MN] (can be changed online)
ID00083 Negative torque limit [% MN] (can be changed online)
determining the positive / negative limitation of the torque command values. The entry is made in %
related to the nominal torque of the motor, which is derived system-internally from the nominal current of
the motor (ID111).
If torque command values exceed the limits, the message bit Md ≥ MdLimit (code 334) is set in addition. It
must be possible to realize the entered value by the drive.
The following applies for calculating the maximum possible torque limit:
Formula 10: Calculating the torque limits
IDxx ≤
100% ⋅ ID110
(ID111
IDxx =
ID110 =
ID111 =
ID32769 =
Note:
Example:
2
− ID32769 2
)
ID82 or |ID83|
Inverter peak current
Motor nominal current
Motor magnetizing current
If " torque limitation through analogue input A2 " is defined in the operation mode parameter,
the larger absolute value of ID82 or ID83 limits the maximum torque if 10V are present at the
analogue input A2. The analogue input voltage at A2 is processed by the system according
to absolute value.
ID82 = 100%
ID83 = -120%
10 V at A2 corresponds to 120% torque limit.
ID00084 Torque feedback value
The torque feedback value can be evaluated by reading this Ident number. The display can be
influenced by the torque scaling (see torque scaling parameter ID86).
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ID00085 Torque polarity
Determining the polarity of torque data. Clockwise viewed onto the motor shaft (A bearing side) prevails
with positive torque command value and positive polarity.
IDNo.
0
Value
Meaning according to ID85
0
Torque command value
Polarity positive
Polarity negative
Reserved
1
1 - 15
Figure 11: Effect of the torque polarity
Torque
setpoint
value
Torque
polarity +/-
ID80
ID85
Torque
positioner
Actual torque
value
ID85
Actual torque
value output
Torque
polarity +/-
Parameter_Drehmomentpolarität
Note:
For general reversing of the motor rotation direction without intervention in control structures
bit 16 in parameter ID32773 " service switch " can be used. With bit 16 = 1 the motor rotation
direction is reserved.
ID00126 Torque limit Mdx [% MN] (can be changed online)
If the torque feedback value exceeds the torque limit Mdx, then the message bit Md ≥ Mdx (code 333) is
set.
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ID32777 Torque at 10V at A1 [%MN]
Scaling the torque command values at the analogue input A1 of the inverter in the torque control
operation mode. The entry refers to the nominal torque. The scaling has an accuracy of approx. ± 10%
and applies for the basic range up to the nominal speed. Above the nominal speed, the real torque
decreases inversely proportionally to the speed. The command value voltage ± 10 V is digitized with a
resolution of 11 bits.
Formula 11: Torque with 10 V at analogue input A1
ID32777 ≤
ID110 ⋅ 100%
⎛ ID1112 − ID32769 2 ⎞
⎜
⎟
⎝
⎠
ID110 =
ID32769 =
ID111 =
Inverter peak current
Magnetizing current IM
Motor nominal current IN
Example:
ID32777 = 250% MN, at 10 V input voltage at A1 (UA1)
Formula 12: Calculation example for torque determination
Mcomd. = 250% MN ⋅
U A1
10 V
Figure 12: Torque depending upon the input voltage at A1
UA1
+10V
M
-300
-200
-100
100
200
300
[%MN]
-10V
Parameter_Drehmoment
ID32989 Torque filter time T1 for command value display [ms]
A proportional element with 1st order delay (PT1 element) can be configured for a " quiet " display of the
torque command value by entering a filter time.
The sampling time (Ta) for the torque command value displays is 1 ms.
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11 Velocity Parameters
ID00036 Velocity command value [rpm] (can be changed online)
velocity command value. Activation through binary input after function code assignment.
ID00038 Positive velocity limit [rpm] (can be changed online)
ID00039 Negative velocity limit [rpm] (can be changed online)
Positive and negative limitation of the speed (velocity) command values. If velocity command values
exceed the limits, the message bit ncommand & gt; nlimit (code 335) is set. The accuracy is limited to |1 rpm|.
ID00040 Velocity feedback value
The velocity feedback value can be evaluated by reading this Ident number. The display is influenced by
the velocity scaling (see velocity scaling parameter ID44).
ID00043 Velocity polarity
Determining the polarity of velocity data. Clockwise viewed onto the motor shaft (A bearing side) prevails
for positive velocity command value and positive polarity.
BitNo.
0
Value
Meaning according to ID43
0
Speed (velocity) command value
Polarity positive
Polarity negative
Reserved
Speed (velocity) feedback value (only for display)
Polarity positive
Polarity negative
Reserved
1
1
2
0
1
3 - 15
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Figure 13: Effect of the velocity polarity
Speed setpoint
value
e.g.
ID36
Speed
polarity +/-
ID43
+
-
Speed
controller
Polarity +/ID32773
Bit 25
ID43
Actual
speed
value
Actual speed
value output
Speed
polarity +/Parameter_Drehzahlpolarität
Note:
For general reversing of the motor rotation direction without intervention in control structures
bit 16 in parameter ID32773 can be used. With bit 16 = 1 the motor rotation direction is
reversed.
Speed controller
ID00100
ID00101
ID00102
Example setting instructions for the PID speed controller
The PID speed controller is to be set and optimized depending on the application. The exact
mathematical description of all variables of the control loop is in practice often extremely cumbersome
and difficult. For this reason a simple procedure shall be described here with which the controller can be
systematically adjusted. For this purpose a speed jump (without a ramp) is to be applied as a control
variable to the input of the speed controller. The jump response (actual speed value) is to be used for
evaluation of the controller setting. In the specification of the speed jump it must be ensured that the
drive is operated below the torque limit.
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Proceed as follows.
1.
Adjustment of the proportional amplification KP (ID100)
Set Id and TN to 0; the controller then operates as a P-controller. By increasing the KP value the
controller shall be brought into overswing. The actual speed then runs similarly to the curve with
the solid line in Figure 15.
If the speed controller does not have a tendency to oscillate the actual torque value can be used to
evaluate the control.
The KP value determined in this way is now halved and entered in ID100.
2.
Adjustment of the integral time TN (ID101)
Now the integration time (starting from an initial value of e.g. 100 ms) is reduced until the die
transient recovery time is minimal. With an optically set integral action time the actual speed value
(jump response) more or less follows the solid line in Figure 16.
With an optimally set PID controller the actual speed value as the response to a target value jump
may overswing by a maximum of 20%.
3.
Adjustment of the differentiation time Td (ID102)
The differentiation time Td is increased until the desired damping of the jump response is achieved.
The curve with the solid line in Figure 17 serves as the base for setting the PID controller.
With an optimally set PID controller the actual speed value as the response to a target value jump
may overswing by a maximum of 20%.
Figure 14: Transfer function of the speed control loop, effect of TN
nist / nSoll
1.4
1.2
nist
nSoll
1
ID100 (K P) = konst.
ID102 (Td) = konst.
ID101 (Tn) = konst.
0.8
0.6
0.4
0.2
T0
t
Parameter_Drehzahlregelkreis_Optimiert
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ID00100 Velocity gain KP (can be changed online)
Proportional gain KP of the speed controller, must be optimized by the user.
Figure 15: Transfer function of the speed control loop, effect of KP (ID100)
nist / nsoll
1.4
1.2
nist
nsoll
KP increasing
ID101 (TN) = 0
ID102 (Td) = 0
1
0.8
System deviation
0.6
0.4
0.2
t
T0
Parameter_Drehzahlregelkreis_KP
Graph of the feedback speed of the speed control loop with abrupt change of the velocity command
value depending upon KP (100).
Formula 13: Parameter dependencies ID100
4 ⎛ ID1112 − ID32769 2 ⎞
⎜
⎟
⎝
⎠
kpdzl = ID100 ⋅
ID110
Condition:
1 ≤ kpdzl ≤ 32767
Formula 14: Torque dependence
M[Nm] = ∆n ⎡0,0001 ⋅ min − 1⎤ ⋅
⎢
⎥
⎣
⎦
kpdzl
ID100
ID110
ID111
ID32769
ID32771
M [Nm]
∆n
ID100 ⋅ ID32771
16384 2
System-internal KP factor
DZR gain KP
Inverter peak current
Motor nominal current IN
Magnetizing current IM
Motor nominal torque
Torque
Speed controller input variable ∆n = ncommand - nfeedback
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ID00101 Velocity integral time TN (can be changed online)
The integral time TN (integral component) of the PI speed controller must be optimized by the user.
The control deviation resulting from the P-controller is compensated by the integral component in the
controller.
The integral time, i.e. the integral component of the PI speed controller is ineffective with TN = 0 ms. The
speed controller then works as pure P-controller.
Figure 16: Transfer function of the speed control loop, effect of TN (ID101)
n/nsoll
1.4
1.2
TN getting smaller
n
nsoll
ID100 (K P) = konst.
ID102 (T d) = konst.
1
0.8
0.6
TN too small
0.4
0.2
T0
t
Parameter_Drehzahlregelkreis_TN
Graph of the feedback speed of the speed control loop with abrupt change of the velocity command
value depending upon TN (ID101).
Formula 15: Parameter dependencies ID101
ID100
kidzl =
⋅
ID101
Condition:
4 ⎛ ID1112 − ID32769 2 ⎞
⎜
⎟
⎝
⎠
ID110
1 ≤ kidzl ≤ 32767
kidzl = System-internal factor
DZR gain KP
ID100 =
DZR integral time TN
ID101 =
Inverter peak current
ID110 =
Motor nominal current IN
ID111 =
Magnetizing current IM
ID32769 =
Attention:
The unit of Ident numbers is depending on the device
KU: ms/16
KW: ms
An example for systematic setting of the PID speed controller can be found in the explanations for
ID100.
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ID00102 Speed controller differentiation time Td (rate time)
The differentiation time Td (differential component) of the PID speed controller must be optimized by the
user. The D-component acts as a damping element in the PID controller.
With ID102 = 0 the differential component has no effect in the speed controller.
Figure 17: Response characteristic of the speed control loop, operation Td (ID102)
nist / nsoll
Td
1.4
1.2
nist rising
nsoll
ID100 (K P) = konst.
ID101 (T N) = 0
1
control deviation
0.8
0.6
0.4
Td too big
0.2
T0
t
Parameter_Drehzahlregelkreis_Td
Variation of the actual speed of the speed control loop when the speed setpoint in dependence to Td
(ID102) is changed with a Step function.
Formula 16: Parameter dependence ID102
kddzl = ID102 ⋅ kpdzl
Requirement: 1 ≤ kddzl ≤ 32767
kddzl
kpdzl
system internal Kd-factor
system internal KP-factor
An example for systematical setting of the PID speed controller is in the explanations to ID100.
ID00124 Zero velocity window [rpm] (can be changed online)
If the velocity feedback value is within the zero velocity window (|nfeedback| & lt; ID124), then the message bit
" nfeedback & lt; nmin " (331) is set.
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ID00125 Velocity limit nx [rpm] (can be changed online)
If the velocity feedback value is less than the velocity limit nx (|nfeedback| & lt; ID125), then the message bit
" nfeedback & lt; nx " (332) is set.
ID00157 Velocity window [rpm] (can be changed online)
As long as the difference between velocity command value and velocity feedback value is less than the
velocity window (ID157) (|ncommand – nfeedback| & lt; ID157), the message bit nfeedback = ncommand " Code 330 " is
set.
ID00209 DZR lower adaptation limit [rpm]
ID00210 DZR upper adaptation limit [rpm]
Velocity limit for the adaptation of KP and TN.
KP and TN change linearly in the range between the lower and the upper adaptation limit, i.e. the
control response changes depending upon the velocity feedback value (See following illustrations).
Conditions:
ID209 & lt; ID210, Adaptation
ID209 = ID210, No adaptation
Figure 18: Adaptation of the speed controller parameters KP and TN
ID211
K
100 * P
100% TN
100% K P
ID212
T
100 * N
Adaption
range
Transition
range
Normal speed
controller
[n]
lower adaption
limit ID209
upper adaption
limit ID210
Parameter_Drehzahlreglerparameter_Adaption
Under the lower adaptation limit KP and TN act according to ID211 and ID212.
Above the upper adaptation limit KP and TN act unchanged according to ID100 and ID101, between
linear adaptation.
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ID00211 DZR gain adaptation [%]
The adaptive proportional gain states below the lower adaptation limit the percentage value related to
the speed controller proportional gain KP (ID100).
Formula 17: Adaptation of proportional gain
K P Adaptation range = ID100 ⋅
ID211
100%
ID00212 DZR integral time adaptation [%]
The adaptive integral time states below the lower adaptation limit the percentage value related to the
velocity integral time TN (ID101).
Formula 18: Adaptation of integral time
K P Adaptation range = ID100 ⋅
ID212
100%
The speed controller proportional gain and integral time change linearly in the range between the lower
and the upper adaptation limit, i.e. the control response changes depending upon the velocity feedback
value (see ID209, ID210).
ID32778 Velocity at 10V at A1 [rpm] (can be changed online)
Absolute value of the velocity final value at 10V input voltage at the analogue input A1 of the inverter.
The command value voltage ± 10V is processed with an internal resolution of ± 11 bits.
Example:
At 10V command value the motor should rotate at 5000 rpm. ID32778 : 5000
Formula 19: Calculation example of the velocity at 10V at A1, ID32778
10 V = 5000 rpm → n comd. = 5000 rpm ⋅
PDK_026249_Parameter_en.doc
U A1
10 V
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Figure 19: Velocity depending upon the input voltage at A1
UA1
+10V
nsoll
-6000
-4000
-2000
2000
4000
6000
n [1/min]
-10V
Parameter_Drehzahl
ID32779 Velocity offset at A1 [rpm] (can be changed online)
The parameter " Velocity offset at A1 " offers in the operating mode " Analogue speed control " the
possibility of adding a constant velocity command value to the relevant analogue command value
(ID32778)
In the case of correction values of | ID32779 | 1 rpm, it should be observed that the final value according
to ID32778 also changes additively by the value of ID32779. The change of the offset produces a shift of
the straight line on the voltage axis (UA1), no change of the slope of the straight line (see figure Velocity
depending upon the input voltage at A1).
Note:
With ID34037/ID34038 " Offset analogue input 1/2 " the offset of the inputs can be adjusted
independent of the operating mode.
ID32780 Acceleration ramp TH [ms] (can be changed online)
ID32781 Deceleration ramp TL [ms] (can be changed online)
A ramp generator (ramp-up/ramp-down) becomes effective at the speed controller input by setting Bit6 =
1 in the operation mode parameter ID32800. The entered times apply for ramp-up and ramp-down
between speed 0 rpm and maximum speed (ID113).
In the following illustration the effect of the acceleration and deceleration ramp parameter on setting
velocity command value jumps is displayed.
|n2| & lt; |n1|
|n3| & gt; |n2|
Acceleration ramp
Deceleration ramp
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Figure 20: Acceleration and deceleration ramp in relation to the maximum speed
|n|
nmax
(ID113)
n2
n1
nist
n3
0
TH
TL
(ID32780)
Setpoint value step from n1 to n2
t
(ID32781)
Setpoint value step from n2 to n3
Parameter_Hoch-_Tieflaufzeit
ID32782 Deceleration ramp RF inactive [ms]
On removal of the controller enable, the motor is decelerated according to the " Ramp RF inactive " ramp
ID32782. The entered time applies for the ramp-down from maximum speed (ID113) to speed 0.
Figure 21: Ramp-down time for RF inactive
|n|
nmax
(ID113)
n1
nact
0
TRFi
t
(ID32782)
RF 1
0
Parameter_Tieflaufzeit
TRFi
Ramp RF inactive (ID32782)
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ID32928 Time filter 1 [ms]
ID32929 Time filter 2 [ms]
These parameters define the filter time constants for two freely programmable P-T1 torque filters F1 and
F2. The filters are arranged after one another at the output of the speed controller. The use of the filter
times matched to the system stabilizes the control loop and thus allows a higher loop gain by means of
KP. The filters are used for example, for mastering inert masses. Expedient starting values for system
optimization are for instance ID32928 = ID32929 = 2 ms. Values between 0.5 and 10 ms have proven
themselves depending upon the application.
The time constants for filter F1 and F2 are entered in ID32928 and ID32929. The value " 0 " in ID32928
and ID32929 cancels the effect of the filters.
Figure 22: P-T1 Filter model
PID type speed
controller
Filter F1
1
Filter F2
Torque
control
1
nset +
nact
T1
KP = ID100
TN = ID101
TD = ID102
T1 = ID32928
T2
T2 = ID32929
M
Parameter_PT1
The 3dB transition frequencies are:
f1 =
1
2πT1
and
f2 =
1
2πT 2
The loop gain of the control loop is reduced from frequency f1 by 6dB/octave and from f2 by 12dB/octave
(for f1 & lt; f2).
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ID32932 Barrier frequency [Hz]
As a result of the design the operation of machines can lead to resonance frequencies. To be able to
filter out these frequencies, a configurable band filter is offered at the output of the speed controller
(range 40Hz to 2 kHz).
If a value not equal to zero is written in ID32932, the filter is active and the entered value defines the
barrier frequency of the band filter.
The bandwidth of the band filter is defined in ID32933.
ID32933 Bandwidth [Hz]
ID32933 identifies the 3dB bandwidth of the filter configured in ID32932.
For instance, if the resonance frequency of a machine is 800 Hz (ID32932 = 800 Hz) and the bandwidth
is parameterized with 100 Hz (ID32933 = 100 Hz), then frequencies of 800 Hz ± 50 Hz are filtered out at
the output of the speed controller.
Figure 23: Band filter pass characteristic
A = f (f)
1
-3dB
Barrier frequency
ID32932
f/Hz
Bandwidth ID32933
Parameter_Bandfilter
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ID32991 U/f startup [%]
This parameter acts when operating a motor in voltage/frequency control (U/f mode). The U/f mode
allows speed-controlled motor operation without encoder feedback. In U/f mode starting from standstill
frequently represents a problem, since on the axis " breaking loose " a high current may flow and this can
lead to overload of the control unit (short circuit shutdown).
This has the consequence that without soft start the speed ramp must be set flat on starting, but this
leads to a non-dynamic response of the axis.
With ID32991, a voltage frequency control can be ramped up in parabola shape in the lower speed
range (soft start). The motor accelerates to command speed linearly as from the speed determined in
ID32991. The value to be entered in ID32991 is the relative speed related to the permissible maximum
speed (ID113). The motor runs up according to a parabola until this speed is reached, then linearly with
the ramp defined in ID32780.
If the drive is not at standstill, then it runs up with the linear ramp. The zero velocity window according to
ID124 serves as decision criterion for the standstill.
Figure 24: Ramp-up behaviour in the U/f mode
n [rpm]
Controlled operation
Nset (3000)
Acceleration with encoder (T=1)
with the current limit of the inverter
n [rpm]
Nset (3000)
T
U/F mode
Acceleration ID32991=0, T=5
T
n [rpm]
nmax (6000)
Nset (3000)
Acceleration ID32991=15%, T=3
Linear acceleration
15 % ID113
Parabolic acceleration
1
2
3
4
5
T
Parameter_Hochlaufverhalten_UF
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T = 1 is the time with which the motor used ramps up as quickly as possible in controlled operation. The
converter runs at the current limit in this case. The minimum ramp-up time resulting from this is limited by
the motor and the converter used.
In U/f mode with linear acceleration ramp, the ramp-up must be started with a factor of t = 5. A time of T
= 3 is achieved by the parabola-shaped ramp-up.
The acceleration ramp in the U/f mode must be determined experimentally. Proceeding from long rampup times, the minimum acceleration ramp can be approximated step by step.
the effective acceleration ramp then results as follows:
Th eff = ID32780 ⋅ (1 + 0,01 ⋅ ID32991)
The axis ramp-down is not influenced by ID32991, it corresponds to a t = 2 compared with that in the
controlled drive.
Operation
The command frequency is set as in controlled operation by speed setting. The command value source
is determined through the operation mode. The speed ramp according to ID32780, ID32781, ID32782 is
effective if it is activated in the operation mode with bit 6. The ramp times may not be less than the
physically achievable speed ramps of the system. Too steep ramps lead to message 2334 " Output
terminal short circuit " or to the message 2321 " IGBT overcurrent " . The command value is displayed after
the ramp as velocity feedback value.
The following functions are not effective in the U/f mode:
•
•
•
•
I²t converter monitoring
Torque limitation e.g. according to ID82 / ID83
Torque display
Power display
The following parameters are decisive for the U/f operation mode:
Parameter
ID32953
Designation
Encoder type
ID32935
Standstill voltage
ID32768
Nominal motor voltage
ID32772
Nominal speed
ID32775
ID32780
ID32781
ID32782
Motor pole number
Acceleration ramp
Deceleration ramp
Deceleration ramp RF
inactive
U/f startup
ID32991
PDK_026249_Parameter_en.doc
Description
The motor model is selected with this parameter. 0020h must be
entered for U/f mode.
this parameter determines the voltage which is applied at
standstill (frequency = 0). The voltage drop at the winding can
thus be compensated
this parameter determines the voltage which is applied at
nominal speed
Up to this speed the voltage is increased to nominal voltage
(ID32768). The voltage is kept constant at higher speeds
Pole number of the motor (name plate)
Time for ramping up from speed zero to maximum speed
Time for decelerating from maximum speed to standstill
Deceleration ramp with controller enable removed (controlled
ramp-down)
Velocity limit for the transition from parabola-shaped starting into
a linear ramp-up movement
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ID34158 Soft breaking
The parameter ID34158 is used for soft breaking.
The value to enter is the relative speed in % of the maximum speed ID113.
If the motor reach this speed it will soft brake (parabolic deceleration) down to standstill (=ID124 zero
velocity window).
ID 1 1 3 / 1 0 0 %
ID 3 4 1 5 8 / 3 0 %
ID 1 2 4
PDK_026249_Parameter_en.doc
t = ID 3 2 7 8 1
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12 Position Parameters
ID00049 Positive position limit [incr.] (can be changed online)
ID00050 Negative position limit [incr.] (can be changed online)
The position limits monitor the travel of the axis in positive and negative direction. Before evaluation of
the message bit, a homing run must be performed.
In each case when the limit value is reached a reporting bit is set (33015 for xi ≥ + Soft-End and 33013
for xi ≤ - Soft-End) which can be assigned to a binary output. The reporting bits do not generate an
axis stop! The evaluation of the binary outputs is performed by the higher-level controller.
If the axis is controlled through the 16-bit position command value channel, then an automatic axis stop
(command value limitation in the 16-bit command value channel) on exceeding the limits can be
parameterized through ID32773.
ID00055 Position polarity
The polarity of the position data is determined with this parameter, the direction of rotation of the axis
changes with unchanged sign of the command value setting. Positive polarity = clockwise rotation
viewed on the motor shaft.
Caution:
BitNo.
0
Value
Meaning according to ID55
0
Position command value
Polarity positive
Polarity negative
Reserved
Position feedback value motor encoder
Polarity positive
Polarity negative
Position feedback value ext. encoder
Polarity positive
Polarity negative
Reserved
1
1
2
0
3
1
0
1
4 - 15
With external position feedback value encoder the direction of rotation can be influenced in
addition by ID115. The control direction of the position controller remains unchanged, the
position command values and the position feedback value and the position feedback value
display are switched corresponding to the illustration.
Command and feedback values must always be defined equally in pairs.
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Only the following bit combinations are permitted:
0000h Polarity positive, independent of the position feedback value encoder
0005h Polarity negative, position feedback value encoder = motor encoder
0009h Polarity negative, position feedback value encoder = ext. encoder
Note:
For general reversing of the motor rotation direction without intervention in control structures
bit 16 in parameter ID32773 can be used. With bit 16 = 1 the motor rotation direction is
reversed.
Figure 25: Effect of the position polarity
Position
setpoint value
internal or
external
Closed loop
position polarity +/ID55
+
-
Position
controller
Polarity +/ID115
Bit 3
Actual
position value
ID55
Actual position
value output
Closed loop
position polarity +/Parameter_Lagepolarität
ID00103 Modulo value [incr.]
The modulo value defines the final value of position data in the modulo format.
Values which are processed modulo count between zero and the modulo final value. The modulo values
are displayed by the configurable 32-bit inverter message (code 32899 position feedback value modulo
and code 32900 position command value modulo) see chapter Inverter Parameters. When there is a
linear connection and output e.g. analogue voltage a saw tooth voltage is created.
The modulo value according to ID103 must be activated through the operation mode parameter of the
current operation mode with bit 13 = 1.
This parameter acts among other things in positioning processes in connection with the drive function
" Synchronous control … "
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Apart from the modulo value according to ID103 the modulo value can also be processed according to
ID116 / ID117 " External encoder resolution " . For this purpose set " Motor encoder resolution " in the
operation mode parameter bit 13 = 9.
It is described in the chapter Scaling Parameters how the processing format of ALL position data can be
switched over from the absolute format (standard setting) into the modulo format.
(See ID76 position scaling parameter).
ID00104 Position loop KV [rpm] (can be changed online)
Proportional gain KV of the P-position controller
Figure 26: Transfer function of position control loop, effect of KV (ID104)
|x|
Angulair position
Closed loop position setpoint value
Actual position value
(KV)
0
T0
t
Parameter_Lageregelkreis_KV
Graph of the position feedback value on step input of a position command value.
The following conditions must be completed with:
Formula 20: System-internal limitation of the velocity gain KV
0.0555 ≤
KV
≤ 32767
0.0001 ⋅ LA
LA = Position resolution factor (encoder-dependent)
Motor encoder as position feedback value encoder:
LA = ID116
ID116 = motor encoder resolution
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External rotational encoder:
Formula 21: Position resolution factor for external position feedback value encoder
LA =
ID117 ⋅ ID122
ID121
ID117 =
Resolution of external position feedback value encoder (line number per gear output
revolution)
Gear output revolutions
Gear input revolutions
ID122 =
ID121 =
ID00115 Position feedback type
Properties of the external position feedback value encoder are defined in the position feedback type
parameter. The parameter acts only for an active, external position feedback value encoder (see
ID32800). The resolution of the position encoder defined here is determined in ID117 " External encoder
resolution " .
BitNo.
0
Value
Meaning according to ID115
0
Feedback value encoder type
Rotation encoder
Linear encoder
Reserved
Sense of movement
not inverted
Inverted
Reserved
1
1–2
3
0
1
4 - 15
Caution:
If the sense of movement of the external position feedback encoder is wrongly defined, then
the position controller is switched over from " normal negative feedback " to " positive
feedback " and the axis will accelerate to the defined velocity limit according to ID38, ID39.
Furthermore, the selected position polarity according to ID55 must be observed.
ID00117 External encoder resolution [incr.]
The parameter acts only with external position feedback value encoder. refer to the datasheet of the
external encoder for the pulse / line number. The parameter is used for calculating the KV factor effective
in the P position controller.
The use of an external actual position encoder must be specified in the main operating mode ID32800.
Note:
If an external actual position encoder is defined then the actual position value is
fundamentally evaluated by this encoder in all position-controlled operating modes.
The type of the external actual position encoder is to be defined in ID32953.
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Formula 22: Determining the resolution for sine encoders
ID117 =
4 · ID32776 · PV
ID32776 – Sine encoder period
PV
- Position refinement = (1 … 128, integer!)
Example: ID32776 = 50 (name plate), PV = 100 selected
ID117
= 20000 incr./motor revolution
Formula 23: Determining the resolution for resolvers
ID117 =
4 · 128 · PV
PV
Position refinement = (1 … 128, integer!)
Formula 24: Determining the resolution for pulse encoders
(two square wave signals phase shifted by 90 degrees)
4 · ID32934 (Pulse encoder period)
ID117 =
Encoder resolution when using absolute value encoders (S- / T- and E- / F-type encoder)
ID117 =
4 · ID32776 · PV
PV
- Position refinement = (1 … 128, integer!)
ID32776 - Sine encoder period
ID00121 Gear input revolutions [U]
ID00122 Gear output revolutions [U]
These parameters act in the AMK scaling base only for external position feedback value acquisition.
There can be a change of the data reference in ID76 position scaling parameter. Refer to the name plate
(or datasheet) of the gear for the parameter values. The gear ratio of the gear I is used among other
things for calculating the KV factor effective in the P-position controller.
Formula 25: Gear ratio
Gear ratio i =
Input revolution s
Output revolution s
The input and output revolutions must be entered as integers. The gear ratio is taken into account in
addition in the area of speed adaptation in the " spindle positioning " and " synchronous control " drive
functions for calculating command velocities, for instance.
Note:
With external actual position encoder and " Data reference on load " , the transmission
parameters have to be entered for the guide speed to be correctly calculated.
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ID00123 Feed constant [mm/U]
The feed constant states which distance the slide moves for one revolution of the gear output.
When linear motors are used, the feed constant describes the length of a pole period of the linear motor.
In the scaling of data the relation between rotational movements and linear movements is defined
through the feed constant.
ID00159 Excessive error [incr.]
If the difference between position command value and position feedback value (following error) is greater
than the " excessive error " , the controller enable is withdrawn from the drive and the axis coasts. At the
same time the collective ready message is reset and a diagnosis message (No. 2318) is output.
Caution:
The value in ID159 must be integer
OLD:
It is internal multiplied with the factor 16384
NEW:
From central processor KW-R02
There is no internal compensation. Setting the maximum permissible following error in [incr.]
The maximum calculated following error SA (linear axis) results from:
SA [mm ] =
Maximum feed velocity [mm / min]
ID104 Velocity gain K V [1/ min]
The following error is converted from [mm] into [incr.] using the " Travel per motor revolution " and the
" Encoder resolution " (ID116 and ID117):
SA [incr.] =
SA [mm ] ⋅ ID116[incr.]
Travel / Motor revolution[mm ]
Formula 26: Calculation of ID159, excessive error
Max. permissibl e following error [incr.]
16384
OLD:
ID159 =
NEW:
ID159 = Max. permissible following error [incr.]
ID32811 Encoder type option
In this parameter the encoder type has to be entered ( " A hex " for EnDat-encoder type E / F), if a 2nd sine
/ cosine encoder is connected to the KW system via the option card KW-EN1 (only EnDat-encoder type
is supported). This encoder is used as external positioning encoder.
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ID32824 Following distance
The following distance can be evaluated by reading this parameter. Only reading access to this
parameter is possible.
ID32922 Residual distance window [incr.]
If an axis is moved with inactive controller enable, then this change of the position is registered as
control difference dx. On activation of the controller enable, a decision is made (ID32922) whether dx is
deleted or whether dx is allowed as compensation movement.
| dx | ≤ ID32922 – Position control difference is compensated by return axis movement
| dx | & gt; ID32922 – Position control difference is removed by residual distance deletion (without axis
movement). A bit message (code 33048), which can be assigned to a binary output is
generated internally simultaneously. In this way the higher level control system is
signalled that a residual distance has been deleted.
Note:
In drives which are driven in stepping motor mode, a homing run must absolutely be
performed by the higher level control before the start of the automatic sequence is enabled.
This can also become absolutely necessary in systems in synchronous operation depending
upon the application.
ID32958 Cycle time 16 bit position setpoint value
The specified raster in which 16-bit position setpoint values (e.g. set pulses for synchronous running) are
sampled; can be set a multiple of 0.5 ms.
Note:
If 16-bit position setpoint values are specified (e.g. by AE-PLC) then depending on the
application the same value must in certain circumstances be entered in ID32958 and in ID2
" Sercos cycle time " .
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13 Positioning Parameters
ID00041 Homing velocity [rpm] (can be changed online)
This parameter determines the velocity for the homing run. The minimum value achievable by the drive
depends in addition upon the selected accelerations ID136 or ID137 and is proportional to these
(interpolator-induced).
ID00051 Position feedback value
The position feedback value can be evaluated by reading this Ident number. The display can be
influenced by the position scaling (see Position scaling parameter ID76).
ID00057 In position window [incr.]
If the difference between position command value and position feedback value is smaller in amount than
the in position window | Xcommand – Xfeedback | & lt; ID57, the " in position " message bit (code 336) is set. The
message bit is generated only in positioning processes (homing run, spindle positioning, point-to-point /
angle control) and refers to the specified final position. It can be assigned to a binary output.
ID00136 Positive acceleration [U/s²] (can be changed online)
ID00137 Negative acceleration [U/s²] (can be changed online)
The parameters are input variables of the internal interpolator and define the linear part of the positive
and negative acceleration during the positioning run. Both acceleration values must be pre assigned the
same amount and may generally NOT exceed the maximum possible physical acceleration of the drive
(current limitation in the inverter). The additional acceleration value according to ID32956 acts as further
parameter on the acceleration.
ID32956 Additional acceleration value
The additional acceleration value describes the number of interpolator cycles up to reaching the nominal
acceleration according to ID136 or ID137 defined by the user. The achieved interpolator cycle time (Ti) is
1 ms. Thus the following time (T1) until transition to nominal acceleration result:
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Formula 27: Interpolator transient time to nominal acceleration
T1 = Ti · ID32956 = 5 ms · ID32956
The following parameters influence the course of positioning by means of interpolator:
ID116
ID117
ID136 / ID137
ID32956
ID222
ID41
Motor encoder resolution
External motor encoder resolution
Positive / negative acceleration
Additional acceleration value
Spindle positioning speed
Homing velocity
The acceleration achievable by the interpolator according to ID136, ID137 depends directly upon the
addition acceleration value (BB).
4/BB ≤ (ID136 / | ID137 |) ≤ BB/4
Figure 27: Velocity curve, additional acceleration value
|n|
nact
a = constant acc. to
ID136 / ID137
0
t0
t1
T
0
1
2
3
4
5
BB = 5
a acceleration
BB Acceleration coefficient
Parameter_Geschwindigkeitsverlauf
T = 5 ms
Phase t1 – t0:
Phase t2 – t1:
" Soft " transition to nominal acceleration.
The time is determined by the additional acceleration value.
Constant acceleration according to ID136 (or ID137 for deceleration)
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ID00147 Homing parameter (can be changed online)
The homing parameter defines control instructions for the homing drive function (manufacturer-specific
extension see ID32926)
BitNo.
0
1
Value
Meaning according to ID147
0
Homing direction
Positive = clockwise viewed onto the motor shaft
Negative = counter clockwise viewed onto the motor shaft
Active edge of the reference switch
Positive edge of the reference switch (cam)
Negative edge of the reference switch (cam)
Reserved
Manufacturer specific extension
Bit bar according to SERCOS Interface® definition
AMK extensions effective according to ID32926
1
0
1
2 - 14
15
0
1
If reference is not made to ID32926, then active cam evaluation in combination with subsequent zero
pulse evaluation (see ID32926) applies as standard setting.
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ID32926 AMK homing parameter (can be changed online)
The AMK homing parameter defines manufacturer-specific control instructions for the homing run drive
function (see also ID147).
BitNo
0-7
8
Value
0
1
9
0
1
10
0
11
1
0
1
12
0
1
13
0
1
14
0
1
15
Meaning according to ID32926
Reserved
Type of command value input for homing
Movement of the axis in the homing by means of internal interpolation
* Movement of the axis in the homing run by means of external setpoint setting (e.g.
by external interpolation or in the slave synchronous mode)
Homing run onto fixed stop
Inactive
Homing onto the 1st zero pulse after the direction reversal; triggering by a defined
torque peak according to ID126 as reference signal
Homing without change of the actual position value (step change)
Actual position is set to " 0 " in home position
Actual position is NOT set to " 0 " in home position
Cam evaluation active
Homing with cam evaluation
Homing without cam evaluation
(Homing onto the zero pulse of the current position feedback value encoder)
Cam arrangement
Linear cam: For cam signal = 1 (axis is at cam)
cam free running in the opposite
direction, reversing, travel to cam, referencing
Rotation cam: For cam signal = 1 (axis stands on cam) the system rotates on and
references in homing direction up to the next cam signal
Zero pulse evaluation
Homing run with zero pulse evaluation after reaching the reference point switch (cam)
Homing run without zero pulse evaluation. reference point switch (cam) delivers
reference signal simultaneously
Cam type
Pulse cam
Range cam (see high homing velocity ID32940)
Reserved
* Bit8 = 1:
The function homing cycle (homing without cam evaluation, Bit11 = 1) takes over the absolute
position value within one revolution (modulo-value) to the actual position value for resolver, S-type
and E-type encoder (singleturn absolute encoder).
At the homing cycle with cam evaluation (Bit11 = 0) the modulo-absolute position will be taken over to
the actual position value, if the edge of the cam switch is detected
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ID32936 Window
ID32936 " Window " is used with the mark positioning function to define the distance between two marks.
The mark positioning is started cyclically via a binary input (assignment of function code 1031). Binary
input BE4 must be used as the input for the mark signal for this function. For this purpose this input is
assigned the code 401.
ID00150 Reference offset 1 (can be changed online)
Input of an offset between position encoder reference mark and zero position of the axis on homing. In
this position the internal position counter is set to " 0 " . This parameter is taken over during homing only in
drive functions with homing (spindle positioning, homing run, synchronous control with angle alignment).
In absolute value encoders the reference offset 1 is added with the correct sign to the read position
feedback value.
Figure 28: Reference offset and angle position in homing
Reference
switch
1
0
Position
feedback
reference
pulses
0
0
0
0
0
Valid reference pulse
0
|x|
|n|
Speed
nPos
(ID222)
0
|x|
Reference
offset 1
(ID150)
Axis homing position
Actual position vlaue xi = 0
Parameter_Referenzmaßoffset
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ID00153 absolute angle position [incr.] (can be changed online)
This parameter contains the absolute position setpoint for the " Absolute positioning " drive function. The
absolute position, relative to the reference position, is determined taking into consideration the resolution
of the current actual position encoder (ID116 for motor encoder resolution and ID117 for external actual
position encoder resolution).
Example: Angle shift =
72 degrees
Motor encoder resolution ID116 = 20000 incr.
Formula 28: Calculation of the absolute angle position
ID153 =
72°
⋅ 20000 = 4000 incr.
360°
By activating the position scaling the setpoint specification is also possible as a length or angle.
ID34070 Homing signal distance
The homing signal distance is the incremental distance between an external reference signal (NK) and
the encoder zero pulse (NIP). The reference signal can be shifted virtual see ID32990.
After each successful homing run with NK and NIP, the value in ID34070 is updated. This also applies
for drive functions in which the homing run is part (e.g. spindle positioning, synchronous control with
angle compensation function).
The value in ID34070 is present in the RAM memory as volatile system variable and is not filed
permanently as database value.
The following events delete the value in ID34070:
•
Homing run only to NIP or NK
•
System booting
•
" Reset reference point " command
•
A type encoder basic adjustment
•
Parameter set change
•
Every homing concluded with error
Description:
Exemplified by homing rung with NK and NIP without reference offset (ID150 = 0).
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Figure 29: Homing signal distance
n
ID41
nist
0
NK
NIP
x
1
0
1
0
Jitter (dx)
ID34070
Parameter_Referenzsignalabstand
Because of the discrete sampling of the cam signal, there is an unsharpness (dx) the size of which
depends upon the interpolator control speed and the sampling time (e.g. off, jitter).
The value range of ID34070 is 31 bits, whereby the value 0 displays an invalid value, therefore a not
current homing signal distance.
ID32990 NK shift
The virtual cam shift acts only in conjunction with R type encoders (resolvers) and S type encoders
(single-turn absolute value encoders) as position encoders (see ID32953).
In the homing cycle with signal cams and encoder zero position ( " index pulse " ) located closely together,
it can happen that the signals are not acquired clearly by the system. The distance between the two
signals can be read out from ID34070 after a homing cycle (see ID3470 homing signal distance). In
various applications the cam signal and the zero position are determined by the design, so that the
distance between the signals cannot be changed.
The homing cycle function expects firstly the cam signal and then the encoder index pulse. If both
signals are too close together, it can happen that firstly the index pulse (zero position) and then the cam
is detected. The consequence of this is that the motor homes one revolution offset to its zero position.
Further error sources which are lead to a coordinate offset are, for instance, a toothed jumping over.
The parameter ID32990 defines a permissible capture range behind every zero position in which a cam
signal is expected by the system and which is always assigned to the last encoder zero position. If the
cam is detected in the capture range on homing, then homing is to the last zero position. This is done by
a direction or rotation reversal of the motor shaft. The capture range does not act if ID32990 has the
value zero.
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The following diagram illustrates the relationships.
The described behaviour corresponds to " normal " homing without capture range outside the capture
range or with ID32990 = 0.
Figure 30: Unsharpness of the cam signal
xi = 0
x [inkr]
Encoder
1
zero position
0
Jitter NK
Cam signal
1
Unsharpness in the detection
of the NC signal
0
ID32990
Parameter-Nocken_Unschärfe
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Figure 31: Homing with ID32900 (positive starting direction, ID150 = 0)
ID34070
Speed v
homing cycle with
ID32990 = 0
xi = 0
x [incr.]
ID34070
ID32990
Speed v
homing cycle with
ID32990 ≠ 0
xi = 0
reserve
motion
x [incr.]
cam detection
area
1
Encoder
zero position 0
Cam (NK)
1
0
x [incr.]
Parameter_Referenzeierung_Positiv
Figure 32: Homing with ID32990 (negative starting direction, ID150 =0)
ID34070
Speed v
homing cycle with
ID32990 = 0
x [incr.]
xi = 0
ID34070
ID32990
Speed v
homing cycle with
ID32990 ≠ 0
reverse
motion
x [incr.]
xi = 0
Cam detection
area
Encoder
zero position
1
0
1
Cam (NK)
0
x [incr.]
Parameter_Referenzierung_Negativ
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The value for ID32990 must be determined according to the following formula.
The entry is in increments. The encoder resolution depends upon the set position encoder, internal
motor encoder or external encoder (cf. position feedback value source ID32800 – ID32805). Either
ID116 (motor encoder resolution) or ID117 (external position encoder resolution) must be entered in the
following equations.
Due to the system, the following restriction applies for the value range:
0 ≤ ID32990 & lt; encoder resolution
Value range for resolvers
ID32990 =
Encoder resolution
+ ID34070
2
for |ID34070| & lt; (encoder resolution / 2)
ID32990 =
3 ⋅ Encoder resolution
− ID34070
2
for |ID34070| & gt; (encoder resolution / 2)
If a negative value for ID32990 arises according to the above formulae, then the encoder
resolution must be added to this value.
Process for determining ID32990 with unknown position of NK (cam) and zero position:
1.
2.
3.
4.
The real distance between cam and zero position resolver must be read from ID34070 after a
homing cycle with ID32990 = 0.
Determine the range limit with the formulae.
The range limit is entered in ID32990.
The reference position (home position) can be shifted by the reference offset in ID150
Example:
1.
2.
3.
4.
Resolver is position encoder and motor encoder, Id116 = 65536
The real distance between cam and resolver zero position after a homing cycle with ID32990 = 0,
result e.g. ID34070 = 50000
The required virtual cam shift is then calculated according to the following formula:
3 ⋅ encoder resolution
ID32990 =
− ID34070 for ID34070 & gt; (encoder resolution / 2)
2
ID32990 = 3 · 65536 /2 – 50000 = 48304
The reference position (home position) can be shifted by the reference offset in ID150
ID00173 Marker position A
This parameter acts in the homing drive function. The current position feedback value xi at which the
reference mark is detected is filled in the marker position A. This position value is available for possible
further processing through ID173. Depending upon the settings in the AMK homing parameter according
to ID32926, the cam (NK) or the encoder zero pulse (NIP) is evaluated as reference mark.
When homing to cam signal (without encoder zero pulse evaluation), the position feedback value at
which the cam signal is detected by the system is entered. On homing with cam and encoder zero pulse,
the position feedback value at which the zero pulse is detected is stored.
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ID00169 Probe control parameter (can be changed online)
This parameter acts in the probe function (e.g. in connection with SERCOS) interface).
It is determined by setting Bit0 or Bit1 to the value 1 whether the positive or negative edge of the probe
function input should be evaluated. The positive and the negative edge may not be selected at the same
time.
Structure of ID169 parameter
BitNo.
0
1
Value
Meaning according to ID169
0
Probe evaluation
No evaluation
Positive edge is evaluated
Probe evaluation
No evaluation
Negative edge is evaluated
Reserved
Pulse width measurement
Pulse sequence: positive then negative edge
Pulse sequence: negative then positive edge
Reserved
1
0
1
2 – 13
14
0
1
15
The position feedback value at which the positive or negative edge was detected is stored in ID130 or
ID131 respectively. Acknowledgement that the position feedback value has been stored is provided
through the probe status ID179.
The probe function can be started through AFP or SERCOS. No homing is possible as from the start of
the probe function. If a command containing a homing cycle occurs during a current measurement
(spindle positioning or synchronous control with alignment). the active measuring cycle is aborted.
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The binary input BE4 on KU / BE3 on KW must be used as the probe input. For this function code
" 0 " must be assigned to the particular input.
Signal specification by positive edge
min 250µs
BE3
active edge
Signal specification by negative edge
min 250µs
BE3
active edge
Parameter_Signalspezifikation
ID00180 Relative spindle position (can be changed online) [incr.]
This parameter contains the relative (additive) position setpoint for the " Relative positioning " drive
function.
The relative position setpoint is determined taking into consideration the resolution of the current actual
position encoder (ID116 for motor encoder resolution and ID117 for external actual position encoder
resolution). In relation to the current position the axis turns in a positive or negative direction, depending
on the sign of the setpoint.
By activating the position scaling the setpoint specification is also possible as a length or angle.
ID00154 Spindle positioning parameter (can be changed online)
This parameter affects the spindle positioning drive function. Control commands are defined for the
spindle positioning drive function. In normal operation the spindle positioning takes place in the currently
active direction or rotation. In the case of the spindle positioning from a standstill, bit 0 in ID154 specifies
the rotation direction for the positioning.
Speed sequences, type of cam and reference pulse evaluation etc. are defined in the manufacturerspecific extension in accordance with ID32925.
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BitNo.
0
Value
Meaning according to ID154
0
Direction of rotation, if nfeedback = 0
Clockwise
Counterclockwise
Reserved
Manufacturer-specific extensions
Bit bar according to SERCOS Interface ®
AMK-specific extensions according to ID32925
1
1 - 14
15
0
1
ID32925 AMK spindle positioning parameter
The parameter acts in addition to ID154 " Spindle position type " in the spindle positioning drive function.
The AMK spindle positioning parameter defines manufacturer-specific control.
BitNo.
0-7
8
Value
0
9
1
0
10
1
0
11
1
0
1
12
0
13
1
0
14
1
0
1
15
Meaning according to ID32925
Reserved
NIP evaluation 1)
Without NIP evaluation (NK
xi = 0)
With NIP evaluation
(NK
NIP
xi = 0)
1)
NK edge active
Positive
Negative
Cam evaluation
Inactive (then always homing to NIP)
Active
Command velocity when homing from standstill (nfeedback = 0)
nipo = ID222, if |nfeedback| ≤ 10 min-1 (cannot be changed)
nipo = ID32940, if |nfeedback| ≤ ID124
(caution: only expedient in interaction with bit 12 = 1, no override)
Speed change in reference point search
in range 0 ≤ |nfeedback| ≤ nipo
(Override) acceleration to maximum ID222
No speed change
Homing
If reference point not know
Homing ALWAYS occurs (in each function call)
Homing depending upon the prior history
If reference point not known
Homing only if previously the spindle positioning or positioning drive function ran
absolutely
Reserved
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1)
NIP
NK
nIPO
nfeedback
Bits are effective only in connection with active cam evaluation (bit 10 = 1)
Zero pulse
Cam signal (reference point switch)
Interpolator control speed
Feedback velocity of the axis on start of the spindle positioning drive function
Example:
The drive should be homed on each call of the spindle positioning function.
(Always homing on encoder zero pulse) e.g. ID32925 = 2000h
ID00222 Spindle positioning speed [rpm] (can be changed online)
The parameter acts in the spindle positioning drive function and in absolute/relative positioning. It
describes the absolute amount of the control speed for the interpolator during the spindle positioning
drive function. The minimum realizable value depends in addition on the selected acceleration see
ID136, ID137 and is proportional to this (interpolator-included quantification).
ID32940 High homing velocity [rpm]
The parameter acts in the homing run drive function. This parameter determines the velocity for
executing the homing run drive function with range cam. If the range cam is defined and if the homing
run was started on this, then ID32940 is the effective guide speed for the interpolator up to leaving the
cam. The homing run is executed outside the range cam with the homing velocity according to ID41
(parameterization see ID32926).
The spindle positioning drive function allows Bit 11 = 1 in ID32925 the use of this parameter as guide
speed of the axis for the case that the axis stands still at the time of commanding the function (n = 0).
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ID34074 Homing counter 1
ID34075 Actual counter 1
ID34076 Homing counter 2
ID34077 Actual counter 2
ID34078 Homing counter 3
ID34079 Actual counter 3
ID34080 Homing counter 4
ID34081 Actual counter 4
These parameters act in the case of a pulse encoder source connected to an inverter when they are
configured via ID32948. The input pulses (2square pulses displaced by 90 degrees) are evaluated 4
times and are counted sequentially in the ID number " current counter " . If a zero pulse is detected via the
pulse encoder input the current counter level is transferred into the " reference counter " parameter and
stored there until the value is once again overwritten by the next zero pulse.
The display for a counter pair (homing counter 1 ... 4 and actual counter 1 ... 4) must be activated
through ID32948 message configuration. The code 03h must be written into the corresponding nibbles
for this.
Example:
ID34074 homing counter 1 and ID34075 actual counter 1 are activated by nibble 0 in ID32948 being
occupied with the code 03h.
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14 Synchronous Running Parameters
ID00225 Synchronous parameter (can be changed online)
The parameter acts in the synchronous control drive function. The synchronous parameter differentiates
the synchronous axis coupling with or without angle alignment of the SLAVE on the MASTER
(manufacturer-specific extension see ID32927).
BitNo.
0-1
Value
(dec.)
0
1
2
3
2 - 14
15
0
1
Meaning according to ID225
Synchronous control
Reserved
Reserved
Without angle alignment (position synchronous)
With angle alignment (angle synchronous)
Reserved
Manufacturer-specific extensions
Bit bar according to SERCOS Interface ® definition
AMK-specific extension active according to ID32927
ID32927 AMK synchronous parameter (can be changed online)
Determines the response of the synchronous control drive function in addition to ID225 " Synchronous
operating parameter " . The evaluation of zero pulse and cam on homing the slave axis, as well as the
driving characteristic in angle alignment can be varied. Condition for executing the angle alignment of
the slave onto the master is the movement of the master and synchronization with homing.
BitNo.
0-7
8
Value
0
9
1
0
10
1
0
11
1
0
12
1
0
1
Meaning according to ID32927
Reserved
Zero pulse evaluation 1)
Without
With
Active edge of the cam signal 1)
Positive
Negative
Cam evaluation
Inactive (homing only on zero pulse)
Active
Direction reversal by angle alignment 2)
Permitted
Not permitted
Direction of rotation on alignment to MASTER 2)
Oversynchronous
Undersynchronous
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BitNo.
13
Value
Meaning according to ID32927
0
Type of angular displacement
Any rotation direction (for absolute angular displacement)
Defined rotation direction (for relative angular displacement)
Coordinates for angular displacement
Absolute related to reference point (ID268)
Relative related to momentary angle position (ID278)
Homing
If reference point is not known or if previously the function " synchronous control with
angle alignment " was not active
ALWAYS with each call for " synchronous control with angle alignment "
14
1
0
15
1
0
1
1)
2)
Bits are effective only in connection with " CAM evaluation " active
Bits are effective only in connection with " defined rotation direction for angle displacement "
ID00228 Angle synchronous window [incr.] (can be changed online)
the parameter acts in the synchronous control drive function with angle alignment. If during the position
synchronous operation in the course of the synchronous control drive function with angle alignment the
difference between modulo position command value (Xsm) of the control spindle (MASTER) and the
modulo position feedback value (Xim) of the synchronous spindle (SLAVE) in absolute terms is less than
the angle synchronous window, the ANGLE SYNCHRONOUS message bit (code 308/33009) is set.
| Xsm – Xim | ≤ ID228
ANGLE SYNCHRONOUS message
The reporting bit is not set until the alignment of the SLAVE to the MASTER has been completed.
The current modulo value for the generation of the reporting bit is selected via the operating mode
parameter (ID32800, …) as ID103, ID116 or ID117.
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ID00230 Synchronous offset [incr.] (can be changed online)
Angle offset between the reference points of master and slave spindle. The parameter acts only in the
synchronous control with angle alignment drive function while homing the slave on the motor.
Figure 33: Synchronous offset between master and slave
Master
Position
feedback
reference
pulses
master
0
0
0
Axis reference point
xi Master = 0
Position feedback
Reference pulse
|x|
Reference offset 1
(ID150)
Synchronous spindle (Slave)
Position
feedback
reference
pulses
slave
0
0
Axis reference point
xi Slave = 0
Position feedback
reference point
|x|
Reference offset 1
(ID150)
Synchronous offset
(ID230)
Parameter_Synchronoffset
ID00268 Synchronous angle position [incr.] (can be changed online)
The parameter acts in the " Synchronous control " . It describes the absolute angle position between
master and slave axis related to the synchronous offset ID230 in the " Synchronous control " drive
function.
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ID00278 Synchronous additive position [incr.] (can be changed online)
The parameter acts in the " Synchronous control " drive function. The parameter produces the additive
angle shift between master and slave axis in the " Synchronous control " drive function.
ID32892 Pulse divider (can be changed online)
ID32893 Pulse multiplier (can be changed online)
The synchronous ratio SVH between command value source (master) and synchronous drive (slave) is
formed by the command value divider and command value multiplier parameters. The command value
source is defined by the operation mode see ID32800 … . The command value divider ID32892 may be
only an integer multiple of 65536 (216), if this condition is not complied with, a configuration error is
displayed by the system.
Value ranges;
ID32892:
216 (65536) … 231 (2147483647), only integer multiplies of 216 are permitted!
ID32893:
± 231 (-2147483648 … + 2147483647). The direction of rotation in the SLAVE by a negative
value in the pulse multiplier.
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Figure 34: Example: Synchronous control with square wave encoder as master
Master encoder
2500 pulses/rev.
Pulse encoder input
Ua0
Ua1
Ua2
Motor encoder feedback
Two square pulses
in quadrature
KU/KW
Motor
Motor encoder
Motor encoder resolution
e.g. ID116 = 20000 incr./motor revolution
ninput 10
Gear
3
noutput
Load
Parameter_Synchronverhältnis
Requirement: on master revolution should produce one revolution at the load
Master encoder
The command value source (master) delivers 2500 pulses/revolution
Motor (slave)
The internal resolution of the position feedback source (here: motor encoder)
amounts to 20000 increments / revolution. A gear step-down of i=10:3 acts between
motor and load.
The input pulses of the encoder are evaluated 4 times in the slave. Thus [number of encoder pulses x 4]
target increments act internally.
For the setpoint divider (ID32892) the following applies: It must be an integer multiple of 65536. The
number 65536 must therefore always remain in the denominator of the relationship equation, while the
numerator can be reduced by any values following extension with 65536.
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Formula 29: Determining the values for pulse divider and pulse multiplier
n input
Motor encoder resolution (Slave ) ⋅ 65536
ID32893
=
⋅
ID32892 Input pulses (Master ) per revolution ⋅ 4 ⋅ 65536 n output
ID32893 20000 ⋅ 65536 ⋅ 10 2 ⋅ 65536 ⋅ 10 1310720
=
=
=
ID32892 2500 ⋅ 4 ⋅ 65536 ⋅ 3
65536 ⋅ 3
196608
The synchronous ratio must therefore be parameterized as follows:
Pulse multiplier (numerator):
Pulse divider (denominator):
ID32893 = 1310720
ID32892 = 196608
ID32952 Position synchronous window [incr.]
If the absolute amount of the position control difference (lrdiff) in the drive in the position control
operation mode is smaller or equal to the window according to ID32952, then the POSITION
SYNCHRONOUS message bit (code 33104 / 33010) is set by the drive, this can be output through a
binary output.
| lrdiff | ≤ ID32952
POSITION SYNCHRONOUS
Position control difference = position command value – position feedback value
ID32994 Modulo synchronous master
The modulo value defines the final value of position data in the modulo format. It is available for the
command setpoint source iAddSetpoint32. The synchronous slave will be adjust with this parameter at
the modulo system of the master.
The function must be activated with ID32995 “Operation mode SWQ1” with Bit 7 = 1.
The parameter has the same effect like the ID103 for the command setpoint source diMainSetpoint.
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ID32995 Operation mode SWQ1
With the parameter ID32995 „Operation mode SWQ1“ can you choose the operation mode for the
command setpoint source iAddSetpiont32.
BitValue
Nr.
0-6
7
0
1
8-15
Meaning according to ID32995
Reserve
Inactive
Modulo value like ID 32994
Reserve
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15 Binary Inputs
AMKASYN devices have binary inputs (BI) which are available as hardware in the basic unit. Additional
binary inputs can be provided via the use of option cards. The number of the binary inputs on the basic
unit and the option cards depends on the hardware used.
The AMKASYN operating software provides 3 binary input ports, each with 8 bits. Access to the input
ports 1 and 2 is performed via option cards. Input port 3 is used for the binary inputs in the basic unit and
is permanently assigned to these. The assignment of the input ports to the corresponding option card
slot is performed using the following addressing parameters.
ID32873 Input port address 1
ID32968 Input port address 2
ID32977 Input port address 3: Fixed assignment " 32 "
By entering the address code into the parameter " Address input port 1 / 2 " , input ports 1 and 2 are
assigned a slot and hence an I/O option card.
The entire binary address range can be used wherever an AMK PLC component is in use, irrespective of
whether the hardware is present.
Address code
40
48
41
49
Port 3: ID32977 = 32
Explanation
Option card in slot 1: E1 … E8
Option card in slot 2: E1 … E8
Option card in slot 1: E9 … E16
Option card in slot 2: E9 … E16
Binary inputs – base device: BE1 … BE4
The following figure shows for slot 1 and 2 the reference between the port address and the input bits
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Figure 35: Assignment of binary input address space
Example: Slot 1
Input port 1:
Input port 2:
Byte address 40 (ID32873 = 40)
Byte address 41 (ID32968 = 41
Option card KU- / KW-EA2
40
Port 1
Port 2
41
47
Slot 1
Input port 1:
E1 Bit0 E2 Bit1 E3 Bit2 E4 Bit3 E5 Bit4 E6 Bit5 E7 Bit6 E8 Bit7 -
ID32873 = 40
ID32874 = dddd
ID32875 = dddd
ID32876 = dddd
ID32877 = dddd
ID32878 = dddd
ID32879 = dddd
ID32880 = dddd
ID32881 = dddd
Input port 2:
E9 Bit0 E10 Bit1 E11 Bit2 E12 Bit3 E13 Bit4 E14 Bit5 E15 Bit6 E16 Bit7 -
ID32873 = 41
ID32874 = dddd
ID32875 = dddd
ID32876 = dddd
ID32877 = dddd
ID32878 = dddd
ID32879 = dddd
ID32880 = dddd
ID32881 = dddd
Parameter_Adressraum_BE_1
Example: Slot 2
Input port 1:
Input port 2:
Byte address 48 (ID32873 = 48)
Byte address 49 (ID32968 = 49
Option card KW-EA2
48
Port 1
Port 2
49
55
Slot 2
Input port 1:
E1 Bit0 E2 Bit1 E3 Bit2 E4 Bit3 E5 Bit4 E6 Bit5 E7 Bit6 E8 Bit7 -
ID32873 = 48
ID32874 = dddd
ID32875 = dddd
ID32876 = dddd
ID32877 = dddd
ID32878 = dddd
ID32879 = dddd
ID32880 = dddd
ID32881 = dddd
Input port 2:
E9 Bit0 E10 Bit1 E11 Bit2 E12 Bit3 E13 Bit4 E14 Bit5 E15 Bit6 E16 Bit7 -
ID32873 = 49
ID32874 = dddd
ID32875 = dddd
ID32876 = dddd
ID32877 = dddd
ID32878 = dddd
ID32879 = dddd
ID32880 = dddd
ID32881 = dddd
Parameter_Adressraum_BE_2
The hardware availability of the binary inputs depends on the option card used.
dddd: Function code see Table 1
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Binary inputs for input port 1
ID32874 Port1 Bit0
ID32875 Port1 Bit1
ID32876 Port1 Bit2
ID32877 Port1 Bit3
ID32878 Port1 Bit4
ID32879 Port1 Bit5
ID32880 Port1 Bit6
ID32881 Port1 Bit7
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Binary inputs for port 2
ID32969 Port2 Bit0
ID32970 Port2 Bit1
ID32971 Port2 Bit2
ID32972 Port2 Bit3
ID32973 Port2 Bit4
ID32974 Port2 Bit5
ID32975 Port2 Bit6
ID32976 Port2 Bit7
Binary inputs for input port 3 (BE1 … BE4)
ID32978 Port3 Bit0: Preassigned with " RF controller enable "
ID32979 Port3 Bit1: Preassigned with " FL delete error "
ID32980 Port3 Bit2: Preassigned with " UE inverter on "
ID32981 Port3 Bit3: Preassigned with " homing run "
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Assignment of the binary inputs on the basic unit (input port 3):
KU (BE-Code)
controller card KU-R01
BE1
BE2
BE3
BE4
RF (32904)
FL (32913)
UE (32903)
home position (33711) 1)
KW (BE-Code)
Controller card KU-/KW-R02,
KU-/KW-R03, KU-KW-R03P,
KW-R04
RF (32904)
FL (32913)
UE (32905)
KE (BE-Code)
FL (32913)
UE (32903)
1) Default: going to home position with cam (NK) on encoder zero pulse
The input bits can be freely configured according to the following table (drive commanding, cam signal,
…). For this purpose the corresponding code numbers are assigned to the input bits. Drive commanding,
for instance, is then triggered internally by setting the binary input.
Example: The drive should be switched over between main operation mode and synchronous control.
Input E1 activates the main operation mode,
Input E2 switches over into synchronous control.
Input port1:
ID32873 = 40
Port1 Bit0 (E1): ID32874 = 33700 (main operation mode)
Port1 Bit1 (E2): ID32875 = 33724 (for secondary operation mode 4)
With each positive edge at E1 / E2, the associated operation mode / function is activated in
the drive
Table 1: Allocation of functions to binary inputs
Code
0
(0)
Function
33130
-
33700
(1000)
33701
(1001)
33702
(1002)
33703
(1003)
33704
(1004)
33705
(1005)
33706
(1006)
Operation mode change
after main operation mode
Operation mode change
after secondary operation mode 1
Operation mode change
after secondary operation mode 2
Operation mode change
after secondary operation mode 3
Operation mode change
after secondary operation mode 4
Operation mode change
after secondary operation mode 5
HOLD interpolator (IPO)
33707
(1007)
FURTHER interpolator
Overvoltage protection and
braking device in synchronous
machines
PDK_026249_Parameter_en.doc
Remarks
Function inactive
Use in synchronous motors in field-weakened
operation and for braking in not filedweakened synchronous motors
Automatic configuration to BE2 in connection with
corresponding hardware
See application note AP2002-38-1e
Switching over according to ID32800
Switching over according to ID32801
Switching over according to ID32802
Switching over according to ID32803
Switching over according to ID32804
Switching over according to ID32805
Interruption of a movement controlled by the IPO
Continuation of a movement controlled by the IPO
after HOLD
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Code
Function
33708
(1008)
STOP drive, KMD abort function
33709
33710
(1009)
33711
(1011)
Digital speed control
Digital speed control
Homing run on reference point
xi = 0
33712
(1012
spindle positioning to reference
point xi = 0
33713
(1013)
Absolute positioning
33714
(1014)
Relative positioning
33716
(1016)
33717
(1017)
33718
(1018)
33719
(1019)
33720
(1020)
33721
33722
33724
33725
(1021)
33726
(1026)
33727
(1027)
33728
(1028)
33729
(1029)
33730
(1030)
33732
33733
(1010)
(1022)
(1024)
(1025)
Current position feedback value is
set to zero (xi = 0 ± control
deviation)
Parameter set change after main
parameter set (0)
Parameter set change after
1. alternative parameter set (1)
Parameter set change after
2. alternative parameter set (2)
Parameter set change after
3. alternative parameter set (3)
Dig. torque control
Dig. torque control
Synchronous control NBA4
Synchronous control NBA5
(flying saw NBA5)
This function is no longer
supported by the new KW / KU
software
Special function
STOP command value source 1
(SWQ1)
Remarks
Standstill (dig. DZR, n = 0) of the drive from every
operation mode
Velocity command value n = 0, ramp active
Velocity command value n = ID36, ramp active
Homing with / without cam evaluation according to
ID147, ID32926, homing velocity = ID41
Speed resolving homing with / without cam
evaluation, driving characteristic according to
ID154, ID32925, positioning speed = ID222
Position end value = ID153, control speed = ID222
Relative spindle position = ID180,
control speed = ID222
The current position feedback value xi is shifted to
xi = 0 without axis movement, " homing performed "
bit is deleted
Acts after RF change see ID32813
Acts after RF change see ID32813
Acts after RF change see ID32813
Acts after RF change see ID32813
Torque command value M = 0
Torque command value M = ID80
According to ID32804, ID225, ID32927
According to ID32805, ID225, ID32927
According to ID32805, ID268, ID278
Customer-specific
Incoming master increments through the
command value source 1 are no longer processed
after the remaining travel in ID278 has been
processed. Further processing of the master
command value increments after a corresponding
BAW or the next zero passage of the master
Command value modulo reference modulo value. The master increments are
ID103
processed modulo according to ID103
The command value reference modulo (ID103) at
the pulse input X34 is zeroed. Position command
Reset master command value
coordinates X34 (command value value coordinate system xs is zeroed and can thus
formation every 5 ms)
be matched to the feedback value coordinate
system xi
Complete parameter calculation with inactive
controller enable. This takes place otherwise only
System booting without RF
at power on, delete error and RF activation after
parameter changes
Start-up the system, comparable if the 24 V power
System reset
supply is switched OFF and ON
Acc. to parameter ID130, ID131, ID169, ID34047,
Probe function start
ID179
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Code
Function
33734
Probe function stop
33780
33781
33782
33783
(1080)
33790
(1090)
33791
(1091)
33792
(1092)
33793
(1093)
33794
(1094)
(1081)
(1082)
(1083)
33800 (1100)
33801 …
(1101…)
33819 (1119)
33820 (1120)
33821 …
(1121…)
33839 (1139)
33840 (1140)
33841 …
(1141…)
33859 (1159)
33860 (1160)
33861 …
(1161…)
33879 (1179)
33880 …
(1180…)
33889
(1189)
33890 …
(1190…)
START PLC program
STOP PLC program
FURTHER AFP-PLC programs
SINGLE STEP AFP-PLC program
Strobe
(strobe permissible only on Bit 4!,
Bit0 … Bit4 are one group)
Absolute positioning
(Bit0 … Bit3 = 33791,
Bit4 = strobe)
Relative positioning
(Bit0 … Bit3 = 33792,
Bit4 = strobe)
Dig. speed control
(Bit0 … Bit3 = 33793,
Bit4 = strobe)
Dig. torque control
(Bit0 … Bit3 = 33794,
Bit4 = strobe)
Absolute positioning
… Control speed according to
ID222
Absolute positioning
Relative positioning
… Control speed according to
ID222
Relative positioning
Dig. speed control
No. 0 … 15 binary coded, x-command value
according to ID34000 … ID34015 [incr.]
No. 0 … 15 binary coded, x-command value
according to ID34000 … ID34015 [incr.]
No. 0 … 15 binary coded, x-command value
according to ID34000 … ID34015 [rpm]
No. 0 … 15 binary coded, x-command value
according to ID34000 … ID34015 [% MN]
X-command value according to ID34000 [incr.]
X-command value according to ID34001 [incr.] …
X-command value according to ID34019 [incr.]
X-command value according to ID34000 [incr.]
X-command value according to ID34001 [incr.] …
X-command value according to ID34019 [incr.]
N-command value according to ID34000 [incr.]
Dig. speed control
N-command value according to ID34001 [rpm] …
Dig. speed control
Dig. torque control
N-command value according to ID34019 [rpm]
M-command value according to ID34000 [% MN]
Dig. torque control
M-command value according to ID34001 [% MN]
Dig. torque control
M-command value according to ID34019 [% MN]
X-command value according to ID34000 [incr.] …
N-command value according to ID34010 [rpm] …
X-command value according to ID34009 [incr.]
N-command value according to ID34019 [rpm]
X-command value according to ID34000 [incr.] …
N-command value according to ID34010 [rpm] …
X-command value according to ID34009 [incr.]
N-command value according to ID34019 [rpm]
Bit0 to Bit5 are binary coded (position No. 0…26),
strobe L / H edge on Bit7, the position is moved to
No. 0
Position 0 = ID32798.2 (low word)
ID32798.3 (high word
No. 1
Position 1 = ID32798.4 (low word)
ID32798.5 (high word)
etc., ID32798.2 first useful date according to
control panel display
Absolute positioning
Absolute positioning
Relative positioning
33899
Relative positioning
33900
Strobe_127
Absolute positioning 127
positions [incr.]
according to ID32798
Control speed fixed ID222
Application:
Bit0 … Bit6 = 32798
Bit7 = 1200
(1200)
Remarks
Acc. to parameter ID130, ID131, ID169, ID34047,
ID179
PLC PRG in user list 1 is started
PLC PRG is stopped
Stopped PLC PRG is continued
Single step performance of the PLC PRG
Bit0 to Bit3 are binary coded, with strobe L / H
edge on Bit4, the command is performed
according to Bit0 … Bit3
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Code
33901
(1201)
33902
33903
33904
33905
(1202)
33906
(1206)
(1203)
(1204)
(1205)
Function
Strobe_63
Absolute positioning
63 positions [incr.]
63 control speeds [rpm]
according to ID32798
Application:
Bit0 … Bit5 = 32798
Bit6 = 1201
Dig. speed control
Dig. torque control
Absolute positioning
Relative positioning
Acknowledgement signal motor
brake (QBR)
33909
Stop positive setpoint processing
33910
Stop negative setpoint processing
33912
Clear integral component of the
speed controller
32902
(32902)
Reversing (T & gt; = 10 ms)
32903
(32903)
Inverter on
32904
(32904)
Controller enable
32905
32907
32912
32913
33057
(32905)
Cam signal
System input
Reset homing performed
Delete error
Encoder basic adjustment
(32907)
(32912)
(32913)
(33057)
Remarks
Bit0 to Bit6 are binary coded (position No. 0…62),
strobe L / H edge on Bit6, the position is moved to
No. 0
Position 0 = ID32798.2 (low word)
ID32798.3 (high word
Velocity 0 = ID32798.128
No. 1
Position 1 = ID32798.4 (low word)
ID32798.5 (high word)
Velocity 1 = ID32798.130 etc.
Decade switch
Decade switch
Decade switch
Decade switch
QBR = 1 brake closed
QBR = 0 brake opened
see ID206 / ID207
If the configured binary input drops to zero volts
(low active), then the setpoint is disabled in
position or speed control within 2 ms.
If the input is set, the setpoint is enabled within 2
ms
The disable / enable for position or speed
setpoints is within 2 ms
As long as this input is set the integral component
of the speed controller is cleared
+-Ncommand = ID36, T = ID32955 = 1 s (time
between changing the speed), ramp = ID32780 /
ID32781
For units with main contactor
The signal RF can only be assigned to one input at
the same time. After every change of RF the
system must be switched OFF and ON again
Homing with cam
Permanently preassigned internally by the system
Output bit " Reference point known " will be reset
Signal FL is free to assign
Drive must move
BAW Operation mode change
xi
32-bit position feedback value
Tabt
Sampling time of the binary inputs for drive commanding = 5 ms
(Cam signal evaluation in the time grid 2 ms)
For the inputs the low-high flank of an input signal at least " Tabt " in length is evaluated dynamically. The
direct reaction of the drive takes place at the earliest after two sampling times Tabt.
All codes are processed in the Tabt cycle and can be acknowledged by configurable bit messages. The
acknowledgement time is at least Tabt in legth.
Caution:
A commanded parameter set change becomes effective only after the transition of the
controller enable from OFF to ON.
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ID34100 Binary input word
ID34101 Binary input word 1
ID34102 Binary input word 2
ID34103 Binary input word 3
ID34104 Binary input word 4
ID34105 Binary input word 5
ID34106 Binary input word 6
ID34107 Binary input word 7
ID34108 Binary input word 8
ID34109 Binary input word 9
ID34110 Binary input word 10
ID34111 Binary input word 11
ID34112 Binary input word 12
ID34113 Binary input word 13
ID34114 Binary input word 14
ID34115 Binary input word 15
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ID34116 Binary input word 16
By means of ID34100 to ID34116 the input bits can be accessed reading and writing by data access
online through arbitrary interfaces.
Address reference:
ID34100 indicates address space 32 (input port 3)
ID34101 indicates address space 40 (input port 1 and 2)
ID34102 indicates address space 42 etc.
If an I/O card is assigned to the address space addressed by means of ID34101 …, then the card
access has priority over the ID access. The setting of the connected switches can be read in by the ID.
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16 Binary Outputs
AMKASYN devices have binary outputs (BA) which are available as hardware in the basic unit.
Additional binary outputs can be provided via the use of option cards. The number of binary outputs on
the basic unit and the option card depends on the hardware used.
The AMKASYN operating software provides 3 binary output ports, each with 8 bits. Access to the output
ports 1 and 2 is performed via option cards. Output port 3 is used for the binary outputs in the basic unit
and is permanently assigned to these.
The assignment of the output ports to the corresponding option card slot is performed using the following
addressing parameters:
ID32846 Output port address 1
ID32855 Output port address 2
ID32864 Output port address 3: Fixed assignment " 544 "
By entering the address code into the parameter " address output port 1/2 " , output ports 1 and 2 are
assigned a slot and hence an EA option card.
The entire binary address range can be used wherever an AMK PLC component is in use, irrespective of
whether the hardware is available.
Address code
552
560
553
561
Port 3: ID32864 = 544
Explanation
Option card in slot 1: A1 … A8
Option card in slot 2: A1 … A8
Option card in slot 1: A9 … A16
Option card in slot 2: A9 … A16
Binary outputs – base device: BA1 … BA4
The following figure shows for slot 1 and 2 the reference between the port address and the output bits.
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Figure 36: Assignment of address space binary outputs
Example: Slot 1
Output port 1: Byte address 552 (ID32873 = 552)
Output port 2: Byte address 553 (ID32968 = 553)
Option card KU- / KW-EA2
552
Port 1
Port 2
553
559
Slot 1
Output port 1:
A1 Bit0 A2 Bit1 A3 Bit2 A4 Bit3 A5 Bit4 A6 Bit5 A7 Bit6 A8 Bit7 -
ID32846 = 552
ID32847 = dddd
ID32848 = dddd
ID32849 = dddd
ID32850 = dddd
ID32851 = dddd
ID32852 = dddd
ID32853 = dddd
ID32854 = dddd
Output port 2:
A9 Bit0 A10 Bit1 A11 Bit2 A12 Bit3 A13 Bit4 A14 Bit5 A15 Bit6 A16 Bit7 -
ID32855 = 553
ID32856 = dddd
ID32857 = dddd
ID32858 = dddd
ID32859 = dddd
ID32860 = dddd
ID32861 = dddd
ID32862 = dddd
ID32863 = dddd
Parameter_Adressraum_BA_1
Example: Slot 2
Output port 1: Byte address 560 (ID32873 = 560)
Output port 2: Byte address 561 (ID32968 = 561)
Option card KW-EA2
560
Port 1
Port 2
561
567
Slot 2
Output port 1:
A1 Bit0 A2 Bit1 A3 Bit2 A4 Bit3 A5 Bit4 A6 Bit5 A7 Bit6 A8 Bit7 -
ID32846 = 560
ID32847 = dddd
ID32848 = dddd
ID32849 = dddd
ID32850 = dddd
ID32851 = dddd
ID32852 = dddd
ID32853 = dddd
ID32854 = dddd
Output port 2:
A9 Bit0 A10 Bit1 A11 Bit2 A12 Bit3 A13 Bit4 A14 Bit5 A15 Bit6 A16 Bit7 -
ID32855 = 561
ID32856 = dddd
ID32857 = dddd
ID32858 = dddd
ID32859 = dddd
ID32860 = dddd
ID32861 = dddd
ID32862 = dddd
ID32863 = dddd
Parameter_Adressraum_BA_2
The hardware availability of binary outputs depends upon the option card used.
dddd: Function code see Table 2
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Binary outputs output port 1:
ID32847 Port1 Bit0
ID32848 Port1 Bit1
ID32849 Port1 Bit2
ID32850 Port1 Bit3
ID32851 Port1 Bit4
ID32852 Port1 Bit5
ID32853 Port1 Bit6
ID32854 Port1 Bit7
Binary outputs output port 2:
ID32856 Port2 Bit0
ID32857 Port2 Bit1
ID32858 Port2 Bit2
ID32859 Port2 Bit3
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ID32860 Port2 Bit4
ID32861 Port2 Bit5
ID32862 Port2 Bit6
ID32863 Port2 Bit7
Binary outputs port 3 (BA1 … BA4)
ID32865 Port3 Bit0: Preassigned with " QRF "
ID32866 Port3 Bit1: Preassigned with " SBT "
ID32867 Port3 Bit2: Preassigned with " nfeedback = ncommand "
ID32868 Port3 Bit3: Preasigned with " In position "
Assignment of binary outputs on the basic unit (output port 3):
Controller card KU-R01 KE
BA1
BA2
BA3
BA4
QRF (33031)
SBM (33029)
nist = nsoll (330)
In Position
SBM (33029)
QUE (33030)
Free (0)
Free (0)
Controller card
KU-/KW-R02, KU-/KW-R03,
KU-/KW-R03P, KW-R04
QRF (33031)
SBM (33029)
BR (33052)
By entering the associated code into the ID number of the output bit, internal bit messages from the drive
can be assigned to the binary outputs (see the table below). The evaluation of this output information
then takes place in the higher-level controller.
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Table 2: Assignment of real time bit information to binary outputs
Code
0
308
310
330
331
332
333
334
335
336
337
409
410
1202
1203
1204
1205
33013
33014
33015
33016
33017
33018
33021
33022
33025
33026
33029
33030
33031
33032
33034
33035
33036
33040
33041
33042
33043
33044
33045
33046
33047
33048
33050
Function
Angle synchronous
Warning overload motor
nfeedback = ncommand
nfeedback & lt; nmin
nfeedback & lt; nx
Md ≥ Mdx
Mcommand ≥ Mlimit
Ncommand ≥ Nlimit
" in position "
P ≥ Px
Probe value positive edge stored
(ID179 Bit0
Probe value negative edge stored
(ID179 Bit1)
Digital speed mode
Digital torque mode
Absolute positioning mode
Relative positioning mode
xi ≤ -Soft end
Position synchronous
xi ≥ +Soft end
Overcurrent warning inverter
Overtemp. warning inverter
Motor overtemp. warning
Air overtemp. warning
Ext. overtemp. warning
Mains overvoltage warning
Mains undervoltage warning
SBM
QUE
QRF
RF
KMD active
IPO active
RFP known
INPUT-BIT0 active
INPUT-BIT1 active
INPUT-BIT2 active
INPUT-BIT3 active
INPUT-BIT4 active
INPUT-BIT5 active
INPUT-BIT6 active
INPUT-BIT7 active
RESET residual distance
Rotation direction positive
PDK_026249_Parameter_en.doc
Remarks
Function inactive
ID228 angle synchronous window
Load integral limit I²t motor to ID114
ID157 velocity window
ID124 zero velocity window
ID125 velocity limit nx
ID126 torque limit Mdx
ID82 / ID83 pos. / neg. torque limit
ID38 / ID39 pos. / neg. velocity limit
ID57 in position window
ID158 power limit Px
(Acts in probe function) stored feedback position in
ID130
(Acts in probe function) stored feedback position in
ID131
Thumbwheel switch function
Thumbwheel switch function
Thumbwheel switch function
Thumbwheel switch function
ID50 neg. position limit
ID32952 position synchronous window
ID49 pos. position limit
Integral load limit I²t converter ID32999
External component, brake resistor
Cooling air
External component, brake resistor
Mains overvoltage (with signal filter 30s)
Mains undervoltage (with signal filter 30s)
System ready message
Acknowledgement inverter on
Acknowledgement controller enable
Controller enable set
Drive function is active
Internal interpolator is active
Reference point is valid
Acknowledgement E1 according to ID32874
Acknowledgement E2 according to ID32875
Acknowledgement E3 according to ID32876
Acknowledgement E4 according to ID32877
Acknowledgement E5 according to ID32878
Acknowledgement E6 according to ID32879
Acknowledgement E7 according to ID32880
Acknowledgement E8 according to ID32881
ID32922 residual distance window reset
Momentary motor direction
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Code
Function
33052
Motor brake control
33058
33059
33060
33061
33062
33063
33064
33065
33066
33067
33068
33069
33070
33071
33072
33073
Parameter set 0 activated
Parameter set 1 activated
Parameter set 2 activated
Parameter set 3 activated
Main operation mode active
Secondary operation mode 1 active
Secondary operation mode 2 active
Secondary operation mode 3 active
Secondary operation mode 4 active
Secondary operation mode 5 active
Secondary operation mode 6 active
Secondary operation mode 7 active
Secondary operation mode 8 active
Secondary operation mode 9 active
Close motor contactor
Close safety switch
33074
Warning active
33075
33076
33077
33078
33120
33121
33122
33123
Fan control
Second cycle output
Mains phase failure
Field bus QUIT_QCODE
Variable process state
Variable process state
Variable process state
VBNX
33130
Overvoltage protection and
braking device for synchronous
machines
33131
33132
33133
Acknowledgement stop for positive
setpoints
Acknowledgement stop for negative
setpoints
Output stage enable (EF) signal
Remarks
ID32773 bit 13 = active
BR = 0 brake closed
BR = 1 brake opened, see ID206 / ID207
The monitoring of the acknowledgement bit must be
activated by bit 13 of ID32773 for a brake with
acknowledge signal. Code 33906 has to be assigned
to the associated binary input (refer to Table 1 " Binary
inputs " )
Valid from message QRF
Valid from message QRF
Valid from message QRF
Valid from message QRF
According to ID32800
According to ID32801
According to ID32802
According to ID32803
According to ID32804
According to ID32805
According to ID32806
According to ID32807
According to ID32808
According to ID32809
Special lift function
Special lift function
Centralized warning (all warning messages linked with
OR)
KU: RF is not removed internally
Special lift function
System test
Output of the bit message in 1ms
HS = 1, order accepted and active
SERCOS phase bit0
SERCOS phase bit1
SERCOS phase bit2
For UPS activation (extend mains failure display)
Application in synchronous motors in fieldweakened operation and for braking in nor fieldweakened synchronous motors
Automatic configuration on BA2 in connection with the
corresponding hardware
See AMK application note AP2002-38-1e
Positive setpoint settings in position or speed control
are not executed
Negative setpoint settings in position or speed control
are not executed
The input for the output stage enable signal is
acknowledged as binary output and can be evaluated
by PLC for example
Apart from the group ready message (code 33029) it is also possible to output a warning bit (code
33074). The warning bit is generated at each warning and remains active up to error deletion by the
user. Warnings can be deleted at any time.
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ID34120 Binary output word
ID34121 Binary output word 1
ID34122 Binary output word 2
ID34123 Binary output word 3
ID34124 Binary output word 4
ID34125 Binary output word 5
ID34126 Binary output word 6
ID34127 Binary output word 7
ID34128 Binary output word 8
ID34129 Binary output word 9
ID34130 Binary output word 10
ID34131 Binary output word 11
ID34132 Binary output word 12
ID34133 Binary output word 13
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ID34134 Binary output word 14
ID34135 Binary output word 15
ID34136 Binary output word 16
The output bits can be assigned reading and writing by data access online through arbitrary interfaces
by means of ID34120 to ID34136.
Address reference:
ID34120
Indicates address space 544, (output port 3)
ID34121
Indicates address space 552, (output port 1 and 2)
ID34122
Indicates address space 554 etc.
One observes that internal bits assigned through configuration data have priority over the ID access.
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17 Analogue Outputs
ID32787 Source analogue channel 1
ID32789 Source analogue channel 2
ID32791 Source analogue channel 3
The analogue outputs serve for observing process variables. The output of the analogue messages is
updated in a 1 ms cycle.
The code of the signal source for assigning the analogue outputs are listed in Table 3 and Table
4. To assign an inverter message to an analogue output, the code must be written in the ident
number " Source analogue channel x " .
For source analogue channel 1 … 4
The scaling of the data always corresponds to the AMK scaling base. If no application-related scaling
has been performed, then the default scaling applies:
• Position control [1 increment]
• Speed control
[0.0001/min]
• Torque control
[0.1 %Mn]
A further possibility is outputting the 16 and 32-bit Kx messages (ID32785, ID32786) on analogue
outputs. This is the default configuration in the inverter. The code of the inverter messages can also be
entered according to the table in the ident numbers of the Kx messages. This was necessary up to
software level KU1.04/4299 in order to assign inverter messages to analogue output. This possibility
continues to be available for compatibility reasons.
Preallocation of the analogue outputs
Changeable preallocation X32 (default values):
ID32787 = 32786
ID32788 = 2000
ID32789 = 32785
ID32790 = 1000
32-bit message from the drive, velocity feedback value [code 40]
00002000 min-1
10 V at AA1
16-bit message from the drive, torque feedback value [code 84]
100% MN
10 V at AA2
Caution:
The KW basic unit has no analogue outputs. By using the optional service module KW-SM1, 3 analogue
outputs can be used.
Resolution of the analogue outputs depending on the controller card:
KU-R01:
8 Bit for ± 10 V
from KU/KW-R02 (with KW-SM1): 12 Bit for ± 10 V
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Table 3: Service codes for configuration " source analogue channel 1 ... 3 "
Code
32906
32908
32909
32910
32911
33053
33054
33055
33093
33094
33095
33096
Function
Fixed value 8000h
RAM analogue value 1
RAM analogue value 2
RAM analogue value 3
RAM analogue value 4
Position growth IPO
Main absolute command value
Accompanying absolute command
value
Analogue value output 1
only for service purposes
Analogue value output 2
only for service purposes
Analogue value output 3
only for service purposes
Analogue value output 4
only for service purposes
Remarks
Output of e.g. ± 10 V fixed (≤ 30 mA)
16Bit API-Variable iAnalogOut1
16Bit API-Variable iAnalogOut2
16Bit API-Variable iAnalogOut3
16Bit API-Variable iAnalogOut4
AZ-IPO output, 32bit
32-bit command value in API (diMainSetpoint32)
16-bit accompanying command value in API
(diAddSetpoint16)
Output of 16-bit variables, address of the output value
in ID32950
Output of 16-bit variables, address of the output value
in ID32951
Output of 32-bit variables, address of the output value
in ID32950
Output of 32-bit variables, address of the output value
in ID32951
Code 32908 … 32911 are for instance RAM data areas that can be written by S-Bus which can be
output as analogue signal (D/A converted).
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Figure 37: Signal and parameter assignment (over 16-/32 Bit message)
Analog chann. 1
ID32787:
32785
Code
Config.
16 bit AW
message
00000
00084
32827
32828
32829
32831
32832
32833
32834
32836
32897
32898
ID32788:
2000
KU
FV
ID32785: 00084
ID32786: 00040
Analog chann. 2
Source for:
ID32785
S
AA1
+ / - 10V
ID32789:
32786
S
ID32790:
EW
20000000
Analog chann. 3
ID32791:
ID32786
00000
00036
00040
00047
00051
32823
32824
32826
32899
32900
S
ID32792:
AA3
+ / - 10V
FV
Code
Config.
16 bit AW
message
AA2
+ / - 10V
Parameter_Analogwertausgabe
ID32788 Final value analogue channel 1
ID32790 Final value analogue channel 2
ID32792 Final value analogue channel 3
Final value determination (EW) of the system variables to be output analogue. Related to the internal
representation of the selected system variable, this numerical value corresponds to 10 V at the output of
the analogue channel.
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The input of a negative final value leads to forming the absolute mount of the analogue output.
The final value to be determined is calculated as follows:
EW = ZW / SK + Data offset
EX – Analogue channel final value, e.g. value according to ID32788
ZW – Target value, e.g. feedback speed n = 2000 rpm
SK – Scaling factor according to Table 4
A possibly existing data offset must be taken from the tables, if no data offset is stated, then this must be
occupied with 0.
Example 1:
It is required that the feedback speed of the drive is displayed at the analogue output AA3. Here 10 V
output voltage should correspond to 3000 rpm.
Solution version 1: Direct assignment of the system variable to the analogue output
1.
Determine source of the analogue output and assign it to an analogue output
ID32791 = 40
(feedback speed)
2.
Calculate final value
Formula 30: Velocity feedback value, final value determination for analogue output
ID32792 =
3000 rpm
ZW
=
= 30000000
SK 0.0001 rpm
3000 rpm correspond to 10 V output voltage
Solution version 2: Configure analogue output with 16 and 32-bit Kx messages
1.
Configure data to be output (Message 32)
ID32786 = 40
(feedback speed)
The module is caused to transmit the velocity feedback value cyclically every 0.5 ms.
2.
Determine source of the analogue output
ID32791 = 32786
(Source analogue output 3)
The velocity feedback value is conducted by the drive to the analogue output AA3.
3.
Calculate final value
Formula 31: Velocity feedback value, final value determination for analogue output
ID32792 =
3000 rpm
ZW
=
= 30000000
SK 0.0001 rpm
3000 rpm correspond to 10V output voltage
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Example 2:
The torque feedback value of the drive should be displayed at analogue output AA2. In this case 200%
of the nominal torque should lead to 10 V output voltage
Solution version 1: Direct assignment of the system variable to the analogue
1.
Determine source of the analogue and assign it to an analogue output
ID32789 = 84
(torque feedback value)
2.
Input final value
Formula 32: Torque feedback value, final value determination analogue output
ID32790 =
ZW 200% ⋅ MN
=
= 2000
SK
0 .1 % ⋅ M N
200% · MN correspond to 10 V output voltage
Solution version 2: Configure analogue output with 16 and 32-bit Kx messages
1.
Configure data to be output
ID32785 = 84
(Message 16)
The module is caused to transmit the torque feedback value cyclically every 0.5 ms.
2.
Determine the source of the analogue output
ID32789 = 32785
(Source analogue output)
The torque feedback value is conducted from the drive to the analogue output AA2.
3.
Input final value
Formula 33: Torque feedback value, final value determination analogue output
ID32790 =
ZW 200% ⋅ MN
=
= 2000
SK
0 .1 % ⋅ M N
200% · MN correspond to 10 V output voltage
ID32897 Analogue Input A1
The analogue input voltage A1 evaluated by reading this parameter. Only reading access to this
parameter is possible.
ID32898 Analogue Input A2
The analogue input voltage A2 evaluated by reading this parameter. Only reading access to this
parameter is possible.
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ID34037 Analogue input 1 offset
ID34038 Analogue input 2 offset
The parameter serves for compensating the offset error of the analogue input circuit. The effect is
independent of the selected operating mode (speed control or torque control). The value entered in the
parameter is added to the analogue input voltage 1 or 2.
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18 Inverter Parameters
ID00110 Inverter peak current Kx [A]
The inverter peak current is determined in the factory and is processed at the first system booting. The
value can be only read, any entry remains without effect. The parameter value is transferred from the
unit-related fixed memory of the Kx converter into the ID110.
ID00112 Nominal current Kx [A]
The nominal current of the Kx converter is the permissible continuous current of the inverter, this is
processed at the first system booting. The value can be read only, any entry remains without effect. The
parameter value is transferred from the unit-related fixed memory of the Kx converter into the ID112.
ID00158 Power limit Px [VA] (can be changed online)
Monitoring ID: If the delivered power of the inverter exceeds the value stated in ID158, the message bit
(code 337) is set.
ID00206 Drive on delay
ID00207 Drive off delay
Motor brakes have different reaction times under certain circumstances (pulling in or releasing). The
control of the controller enable is regulated internally so that different reaction times are safely bridged
over by means of ID206 (drive on delay) and ID207 (drive off delay).
A motor brake serves for fixing the motor shaft with energy-less drive (e.g. suspended axis application).
The AMK drive is able to coordinate independently the activation and deactivation of the controller
enable as well as actuation of the motor brake.
Sequence:
Control ON
• Brake active, motor free or energy
• RF on, motor energization
• Motor keeps position, brake is released
• After ID206 time is elapsed handshake QRF is set (QRF = 1)
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Control OFF
• RF off, ramp down is activated
• Nfeedback = 0 (axis at standstill), activation of brake
• After ID207 time is elapsed, drive off (QRF = 0)
• Motor free of energy, brake keeps position
Figure 38: Drive On/Off delay
1
RF
QRF
0
1
0
Magnetization (DV/DH)
Motor torque
Brake torque
Motor is holding the load
t = 0 for DS/DT
0%
Brake is holding the load
Brake is holding the load
Brake
release time
Output BA3/2A
(code 33052)
„Brake release“
0
„Setpoint
value“
release
Motor
speed
Time ID206
& gt; Brake release
time
1 Brake closed
0
Speed setpoint
values active
Brake
pickup time
Time ID207
& gt; Brake pickup time
Nact = 0
Brake
release
IBR & gt; Ithreshold
Current IBR
Input QBR
(Code 33906)
Brake closed
Decel. ramp
RF inactive
1
0
only for holding brake with signaling contact
Brake released
It is possible to control a holding brake by means of ID206/ID207 „Dirve ON/OFF delay“ and using „Brake release“
output BA3 (Imax = 2A / 24 VDC). If the holding brake can provide a handshake signal „Brake closed“ (QBR), then
monitoring of the brake plausibility is possible, activated through bit 13 = 1 in ID32773
t
Parameter_Motor_Wartezeit
ID32785 Kx message 16 (can be changed online)
ID32786 Kx message 32 (can be changed online)
All codes shown in the Table 4 and Table 3 are able to assign to the Kx message
The required 16-bit or 32-bit system variable is transmitted cyclically every 500 µs by stating the code.
It is possible to transfer the low word of a 32-bit code in the 16-bit channel. It is also possible to transfer
a 16-bit system variable in the low word of the 32-bit channel (in the high word there is no sign
treatment).
The size of the message 32 (ID32786) can be output cyclically on the control panel by calling the menu
item " actual value " (see " Cyclical display of system values " ).
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Table 4: Codes for the inverter messages
16-bit system variables
Code
0
11
84
179
254
390
32827
32828
32829
32831
32832
32833
32834
32836
32897
32898
33090
33099
33100
33101
33102
33103
33113
Function
Function inactive
Status class 1
Actual torque value
Measured value status (bit bar)
Number of active parameter set
Diagnostic number (error No.)
Flux-generating current isd
Actual current value phase U
Actual current value phase V
Resolver angle
Encoder signal S2
Encoder signal S1
Torque-generating current (isq)
DC bus voltage
Analogue input A1
Analogue input A2
Actual speed value (calculated)
Increments per 0.5 ms through 16-bit setpoint
source (diAddSetpoint16)
Standardized actual power value
I²t formation inverter overcurrent
I²t formation motor overcurrent
Following error (16 bit)
Setpoint torque value filtered according to
ID32989
Process number (e.g. SERCOS phase)
Default scaling
1
1
0.1 % MN 1)
1
1
1
ID110 / 16384
Unit-dependent
Unit dependent
incr.
2.5 V / 32768
2.5 V / 32768
ID110 / 16384
752.5 V / 2048
10 V / 2048
10 V / 2048
rpm
10)
10)
10)
10)
3)
5)
5)
5)
incr.
0.05 % PN
0.1 %
0.1 %
incr.
Scaling
fixed
fixed
Torque scaling
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
4)
fixed
fixed
fixed
fixed
0.1 % MN
Torque scaling
1
fixed
1
fixed
1
fixed
Function
Velocity command value
Actual speed value
32-bit position command value
(diMainSetpoint32, main command value)
Actual position value
Touch probe value 1:
Positive edge evaluation
Touch probe value 2:
Negative edge evaluation
Marker (register) position A
Default scaling
0.0001 rpm
0.0001 rpm
Scaling
Velocity scaling
Velocity scaling
incr.
Position scaling
incr.
Position scaling 9)
incr.
Position scaling
incr.
Position scaling
incr.
Position scaling
Following error compensation (SAK)
incr.
Position scaling
Velocity command value after ramp
0.0001 rpm
Velocity scaling
33114
34101…
Binary input words (input port 0 and 1)
34116
34121…
Binary output words (output port 0 and 1)
34136
32-bit system variables
Code
36
40
47
51
130
131
173
189 or
33104
32823
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Code
Function
Position deviation without following error
compensation (SAK)
incr.
Position scaling
incr.
9)
Position scaling
Xi_2π position setpoint value (modulo)
Increments per NC cycle time through 32 bit
32899
or
33104
32900
33098
Scaling
Xi_2π actual position value (modulo)
32824
Default scaling
incr.
incr.
8) 9)
Position scaling
fixed
For more service codes see Table 3
1):
The actual torque value is a variable calculated in the inverter based on a motor model. The value is
related to nominal torque (ID32771) of the motor and varies with the motor type and the motor
temperature.
3):
The torque-generating current isq is proportional to the torque in the basic speed range (only up to
nominal speed).
Formula 34: isqnom at nominal torque
i sqnom =
16384 ⋅
ID110:
ID111:
ID32769:
(ID111
2
− ID32769 2
)
ID110
Inverter peak current
Motor nominal current IN
Magnetizing current IM
4):
The actual power value is variable calculated in the inverter from actual torque value and actual
speed value based on a motor model. The value is related to the nominal torque (ID32771) or the motor
and varies with the motor type and the motor temperature.
Formula 35: Nominal rating PN of the motor
PN [W ] =
ID32771:
ID32772:
2π ⋅ ID32771 ⋅ ID32772
60
Motor nominal torque [Nm]
Motor nominal speed [rpm]
5):
Offset 2058, i.e. 2048 corresponds to 0V, 0 corresponds to –10 V and 4096 corresponds to +10 V. This
offset must be taken into account in the analogue output.
7):
The position command value is composed additive within the converter additively of the 32-bit position
command value 2 (e.g. interpolator) and the 16-bit position command value 1 (e.g. pulse input). The
position command value 1 corresponds to the command value source in the operation mode parameters
according to ID32800.
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8) (only for AMK Service):
The range limits of the 2π formation vary with the position control difference, therefore the position
command value 2π serves only for information. The position command value 2π is composed within the
inverter additively of the 32-bit position command value 1 (e.g. interpolator) and the 16-bit position
command value 2 (e.g. pulse input) and correlates with the position feedback value 2π.
9):
The display of the modulo position values (32-bit Kx message code 32899 and 32900) is always positive,
without the direction of rotation information. In modulo processing (see ID76 position scaling parameter)
the position feedback value is also displayed modulo.
ID32836 DC Bus voltage
The DC Bus voltage can be evaluated by reading this ident number. Only reading access to this
parameter is possible.
ID32837 UZ (DC Bus voltage) monitoring
This parameter defines the lower threshold of the DC Bus voltage which is necessary in order to be able
to switch in the controller enabling. With the KE/KW and KU systems this is a fixed value in accordance
with the device class.
The monitoring of the DC Bus voltage is only performed during active controller enabling.
ID32837 = 0
ID32837 ≠ 0
default device specific value
variable threshold value in accordance with the parameter
ID32890 Pulse multiplier
This parameter will not be supported from Kx-R02 because no pulse transmission option cards are
necessary. This parameter contains the factor with which the motor encoder signals (periods/revolution)
are multiplied before they are then output as square wave signals through the pulse transmission option
card. The following option cards are required depending upon the encoder type:
Encoder type
I / T / S type encoder
A type encoder
Resolver
Pulse transmission card
Kx-IWI
KU-IWA
KU-IWR
Caution:
ID32890 does not act in resolver applications. In the case of motors with resolvers, 1024 square
pulses /revolution (2 tracks offset by 90°) are output permanently through the KU-IWR card. If the tracks
are processed as quadrature signal, then the resolution of 4096 increments/revolution acts for following
systems.
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ID32964 Software pulse forwarding source
As from controller card KW-R02 the standard pulse input can also be used as pulse output for square
wave pulses in quadrature. The pulses are output through connector X132 to the follower electronics
(signal destination). There the square wave pulses are 4-fold evaluated as a standard.
ID32964 unequal " 0 " changes to output pulses (refer to table below).
Prior to the change from pulse input to pulse output it is essential that you check the
connection wiring and ensure that the output signal is correctly wired to the input of the signal
destination!
Note:
ID32964 = 0
ID32964 ≠ x (≠0)
Code hex
0000
0005
0007
0008
000A
000E
000F
Pulse input (default)
Pulse output based on signal source (code hex)
Signal source
Software pulse forwarding switched off
I (incremental encoder)
S / T (absolute encoder, RS485)
Revolver (R)
E / F (absolute encoder, EnDat)
Data from setpoint list ID32838 modulo e.g. AMK-PLC, Fieldbus
Data from setpoint list ID32838 absolute e.g. AMK-PLC Fieldbus
The following figure shows an overview of the software pulse forwarding:
Figure 39: Software pulse transmission
Encoder
ID32964
SIWL* source
“0005h“ / “0007h“
ID32967
SIWL* input
resolution
ID32966
SIWL* output
resolution
ID32965
SIWL* ref. pulse
distance
“0008h“ / “000Ah“
“0000h“
Synchronization
“000Fh“
ID32838
Setpoint list
1
1000
“000Eh“
Pulse ratio
Software pulse
generator
Pulse
transmission
output
ID32997
SIWL* maximum
frequency
*SIWL: Software pulse transmission
Parameter_SIWL
The SIWL signal source is selected through the parameter ID32964. This can be encoder or setpoint list
ID32838 from the AMK-PLC or field bus.
A synchronization module synchronizes an incoming zero pulse of the SIWL signal source with the SIWL
output signals. The output zero pulse is based e.g. on an encoder reference pulse, the zero position of
an absolute value encoder.
For SIWL source " F " (absolute) reference pulses are generated and output with a distance according to
ID32965.
For SIWL source " E " (modulo) reference pulses are generated and output synchronized to the modulo
value.
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A pulse ratio between the SIWL source and the SIWL output can be set with parameters ID32967 " SIWL
input resolution " and ID32966 " SIWL output resolution " . With existing encoder reference pulse or zero
position of the encoder, a reference pulse is output at the right time at the SIWL output.
Example 1:
The SIWL should generate 4000 pulses/revolution in operation with resolver.
ID32964 SIWL source
ID32966 SIWL output resolution
ID32967 SIWL input resolution
= 8 (resolver)
= 4000
= 128
ID32965 SIWL NIP distance does not act as SIWL source for encoder signals.
Example 2:
The SIWL should generate 1000 pulses/revolution in operation with I type encoder. The I type encoder
has a resolution of 1024 pulses/revolution.
ID32964 SIWL source
ID32966 SIWL output resolution
ID32967 SIWL input resolution
= 5 (I type encoder)
= 1000
= 1024
ID32965 SIWL NIP distance does not act as SIWL source for encoder signals.
Example 3:
The setpoint list with a modulo value from the PLC or via field bus is source for SIWL.
ID32964 SIWL source
ID32966 SIWL output resolution
ID32967 SIWL input resolution
= E (Modulo value from ID32838 = 33911))
= 1000
= 20000
Reference pulses are output synchronized to the modulo value 1000. ID32965 SIWL NIP distance
defines the modulo value of the setpoint source.
If setpoint list is selected as SIWL source, the data source in ID32838 setpoint list must be set to SIWL
setpoint (Code 33911).
The following figures show the course for SIWL through data interface with modulo and absolute value
input.
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Figure 40: Modulo data interface
Modulo data interface
SIWL source
Start
System clock T=1ms
SIWL
output
2. NIP
1. NIP
NIP
Initialization
Synchronization
Operation
The ratio between the SIWL source and the SIWL output
results from the ratio ID32966 / ID32967
Parameter_Datenschnittstelle_Modulo
Figure 41: Absolute data interface
Absolute data interface
SIWL source
Start
System clock T = 1 ms
ID32965 SIWL NIP Distance
SIWLAusgang
1. NIP
NIP
2. NIP
The ratio between the SIWL source and the SIWL output
results from the ratio ID32966 / ID32967
Parameter_Datenschnittstelle_Absolut
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ID32965 SIWL NIP distance
If the data interface is selected as source in the software pulse forwarding SIWL ID32964, then a virtual
zero pulse (NIP) is output in the grid of ID32965. If the SIWL source is a modulo value, then the NIP is
output synchronized to the modulo value. With a continuous value (ID32964 = absolute data interface),
then the NIP is output without synchronization in the grid of ID32965 SIWL NIP distance.
The distance between two pulses may not be less than 5 ms. This parameter is ineffective in the case of
setpoint input through encoder.
ID32966 SIWL output resolution
The number of the SIWL output pulses at the pulse generator output is determined through this
parameter. One zero pulse, which is synchronized in correct time to the zero pulse of the generator
(pulse generator, sine generator), is output per output resolution.
In the case of absolute value encoders the zero position is determined and a reference to the output
zero pulse is created.
In the synchronization to encoder zero pulse the first detected NIP is not output, since it is used for
detection. In the case of sine generators with NIP, the NIP can be offset from the SIWL by ± 3
increments due to the principle.
ID32967 SIWL input resolution
The number of the SIWL input pulses from the SIWL source is defined through this parameter. This
value corresponds to the encoder pitch or the modulo value for selected data interface in the parameter
ID32964 SIWL source.
ID32997 SIWL maximum frequency
This parameter determines the maximum frequency of the SIWL. The lower the maximum frequency is
selected, the finer are the frequency stages that can be output by the pulse generator. Small frequency
stages result is smaller ripple of the SIWL output frequency. The SIWL maximum frequency must
therefore be set only as large as necessary.
Example: The SIWL should output 1000 pulses/revolution. The maximum speed of the motor is 2000
rpm.
1000 imp ⋅ 2000 U
U
min = 33.3 kHz
f SIWL ,MaxFreq =
60
ID32997 = 40 kHz is selected
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ID32999 Converter overload threshold [0.1%]
This parameter determines when the warning 2357 " Device overload warning " is output. If the I²t
monitoring reaches an overload value of 100%, then the error message 2358 " Device overload error " is
output and the drive coasts.
A bit message (code 33016) is generated at the same time as the warning. If the value is again less than
the value in parameter ID32999, the warning bit is reset until the value is exceeded again.
The I²t monitoring for the converter is always active.
ID33100 Actual power value
The power feedback value can be evaluated by reading this ident number. Only reading access to this
parameter is possible. The display is permanently scaled: Pfeedback = 0.55 %PN (motor name plate)
ID33101 Converter overload indication [0.1%]
This parameter indicates the current overload of the converter according to the I²t monitoring. It can also
be configured as 16-bit message.
ID33101 = 0
ID33101 & gt; 0
Nominal mode or below nominal mode
Overload mode, shutdown at 100%, error message 2358
ID33116 Internal temperature
ID33117 External temperature
In the AMKASYN series the temperature of internal and external components (e.g. heat sink temperature
or motor temperature) is measured by sensors. If critical temperatures are reached for the devices (e.g.
as a result of overloading) a warning is generated and then an error message following expiry of a
warning period in accordance with ID32943 (Service parameter). Continuous monitoring of the
temperature values of the internal and external components is possible using ID33116 and ID33117.
ID33116 Internal temperature
In the KE/KW and RM device series ID33116 indicates the heat sink temperature.
ID33117 External temperature
In the KW device ID33117 indicates the motor temperature (in 0.1°C) and in the KE device the
temperature of the brake resistor.
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Note:
If implausible values are displayed the sensor and evaluation equipment does not
correspond with the necessary hardware state.
KW-R02
KWs
as from PC board revision 1.06
as from manufacturer date 02/24
ID34048 PWM-Frequency
This parameter can only be used if the hardware supports different PWM frequencies. Other devices
generate a diagnostic message.
Allowed are the PWM frequency 4 kHz and 8 kHz, with 8 kHz as default setting. More output power will
be available with 4 kHz
ID34055 EF Type
For safety reasons the content of ID34055 (EF type) must be read after replacement of drive
components (KW module, controller card). If the replaced components meet all requirements for safety
category 4 ID34055 contains value " 4 " .
If one of the conditions is missing value " 2 " is indicated. the internal EF monitoring then is not possible,
safety category 4 is not ensured!
ID34148 Voltage regulator proportional component KP
ID34149 Voltage regulator integral action time TN
If synchronous machines are used in the field weakening range the voltage regulator proportional
component and integral component are to be optimized using ID34148 and ID34149.
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19 General Parameters
ID00001 NC cycle time
The NC cycle time defines the time grid of the command value input. The command values can be made
available for example by the following interfaces:
•
•
SERCOS Interface®
various field bus interfaces
This time base serves in the inverter additionally for quantification of the fine interpolator (see ID32800
…) of the input 32-bit position command value possible in the position control operation mode.
ID00002 SERCOS cycle
The SERCOS Interface® cycle time states the time intervals in which cyclical data are transferred (e.g.
cyclical data in the SERCOS Interface® ring) and serves for clock synchronization between SERCOS
Interface® master and the drive computer. Furthermore, the SERCOS Interface® cycle time determines
the data updating rate of the message according to parameter ID32948.
ID00017 List of all operation data
List of ALL ID numbers defined in the system. All ID-related data access to the internal database are
made on the basis of ID17. The list of all operation data cannot be changed by the user, it is read only.
In contrast to the listing of all parameters according to ID17 the parameters accessible to the customer
are listed in the table of contents (at the beginning of this documentation). Parameters which are not
listed are designated as system-internal and primarily serve the AMK service department and special
application s (special descriptions, e.g. SERCOS description).
ID classes
GLOBAL
Parameters of this group act centrally and are filed once in the database. A parameter change causes
after changing the controller enable a complete system initialization.
DRIVE_SPECIFIC
The parameter acts only in the corresponding parameter set. A parameter change causes after changing
the controller enable a partial system initialization.
INSTANCE (I)
AMKASYN devices which provide the same type of optional slots allow, for example, parallel operation
of several different field bus interfaces. In the case of field bus interfaces the communication parameters
such as the baud rate are to be parameterized for each interface. Each option slot is referred to as an
instance.
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In the parameter menu of the control panel instanced parameters are identified with an " I " instead of a
" P " . The selection is performed using the " SHIFT P " key.
Instance
0
1
2
Addressed hardware
Basic unit ACC bus
Optional slot 1
Optional slot 2
ID00026 Configuration list status bits
ID26 allows an application specific arrange of 16 binary output messages in one status word ID144 (see
chapter Binary outputs).
Parameter ID144 " status word " can be send e.g. via ACC bus networking to an AMK PLC option or to a
higher ranking controller for evaluation.
This parameter is used if status bits must be arranged application specific and send to other nodes e.g.
in an ACC bus network
Example: configuration ID26 (user data from list element 2)
Element
Content
Meaning
Status bit
0
36
Length
Status bit
0
1
2
1
36
Length
2
33029
SBM
0
3
330
nact = nset
1
4
336
in position
2
5
…
6
7
…
17
3
4
5
…
15
Binary output code *
33029, System ready
330, nact = nist
336, in position
* see chapter binary outputs to find the full bit message list to configure to binary outputs.
ID00030 Software version
ID30 " Software version " is an ASCII list with 20 bytes of usable data. ID30 is used to uniquely identify all
software.
Number [byte]
Content
SP = space
Example:
Note:
3
Device
ID30 =
1
SP
3
Version
1
SP
2
Year
2
Week
1
SP
6
Part number
1
0
{24,24, KW 200 0140 23988}
Header
Actual data
ID30 is supported from the year 2002; older software versions of systems such as AZ/AW, KU
either do not support this ID or only partially.
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ID00096 Slave identifier SLKN
Determining the linkage of valid drive addresses in the SERCOS Interface® ring
HIGH BYTE: " own drive address "
LOW BYTE: " next drive address "
Refer to the SERCOS Interface® standard for further explanations.
ID00130 Probe value positive edge
This parameter acts in the probe drive function and pulse width measurement. If the positive edge
occurs at the probe, the current position feedback value is stored in ID130. Storage of the position
feedback value can be acknowledged through the code assignment (code 409) at a binary output (see
Table 2).
ID00131 Probe value negative edge
This parameter acts in the probe drive function and pulse width measurement. If the negative edge
occurs at the probe, the current position feedback value is stored in ID131. Storage of the position
feedback value can be acknowledged through the code assignment (code 410) at a binary output (see
Table 2).
ID00144 Status word
ID144 status word is displaying the actual state of maximum 16 real time bits. The content of the status
word can be configured individually in ID26 configuration list status bits. All messages which are
available to assign to binary outputs can be configured in ID26 (see chapter binary outputs).
The status word is part of the API (Application interface) with the API-variable name wStatusBitsId144.
Access to the content is provided by reading the parameter ID144 or the CANopen index 0 x 204E or the
API variable name. the content of the status word can be received by an AMK plc option or an external
higher ranking controller.
This parameter will be used, if application specific status bits are required and e.g. the status bits will be
send to other bus nodes via ACC bus.
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ID00179 Probe status
This parameter acts as status message in the probe function. Depending upon the settings in ID169
probe control parameter, the probe status indicates whether the probe has been evaluated on the
positive or negative edge.
The feedback position at which the positive or negative edge of the probe was detected can be read out
from ID130 or ID131.
Triggering the probe does not lead to the automatic standstill of the axis.
Note:
ID00182 Manufacturer status
ID82, manufacturer status class 3, abbreviated to " Manufacturer status " defines the significant status bits
for KE/KW and copies of important control bits. This bit sequence can only be read.
15
SBM
14
ERR
13
WRN
12
QUE
11
UE 1)
10
QRF
9
RF 1)
8
res
7
res
6
res
5
res
4
res
3
res
2
res
1
res
LSB
0
res
1) The image of control signals is only for information and not for process control
ID00269 Memory mode
The memory mode defines the effect of parameter changing. Either temporary or resistant effect for
parameter change can be selected. With this it is possible to control process parameters directly via field
bus.
Parameter
Name
Value
ID269
Memory mode
1
ID269
Memory mode
0
Meaning
Parameter changes out of the list " temporary parameters
ID270 " effects directly the system without a new
initialization of the drive system. The parameter change is
valid until the next new initialization of the system.
Parameter changes take place after an new system
initialization and are resident.
All parameters which can not be changed temporary are resident parameters independent of ID269. For
compatibility to older software versions (only if SERCOS is used). ID32901 defines in bit8 the effect of
parameter changes after power-ON (AMK Service: see ID32901 bit8).
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ID00270 List of temporary parameters
Designates all online changeable parameters in the AMKASYN system. The online changeable
parameters act immediately after commanding (t 5 ms) in the volatile working memory (RAM). by using
the control panel, these parameters can also be transferred into the permanent database after enquiry
and are thus not volatile.
Table 5: List of temporarily changeable parameters
Parameter
ID36
ID38
ID39
ID41
ID49
ID50
ID80
ID82
ID83
ID100
ID101
ID104
ID124
ID125
ID126
ID136
ID137
ID147
ID150
ID153
ID154
ID157
ID158
ID169
ID180
ID222
ID225
ID228
ID230
ID268
ID278
ID32778
ID32779
ID32780
ID32781
ID32785
ID32786
ID32787
ID32788
ID32789
ID32790
ID32791
ID32792
Designation
Velocity command value
Positive velocity limit
Negative velocity limit
Homing velocity
Positive position limit
Negative position limit
Torque command value
Positive torque limit
Negative torque limit
Velocity loop gain KP
Integral action time TN
Position loop KV
Zero velocity window
velocity limit nx
Torque limit Mdx
Positive acceleration interpolator
Negative acceleration interpolator
Homing parameter
Reference offset 1
Absolute angle position
Spindle positioning parameter
Velocity window
Power limit Px
Probe control parameter
Relative spindle position
Spindle positioning speed
Synchronous parameter
Synchronous angle window
Synchronous offset
Synchronous angle position
Synchronous additive position
Velocity at 10 V at A1
Velocity offset at A1
Acceleration ramp TH
Deceleration ramp TL
Kx message 16
Kx message 32
Source analogue 1
Final value analogue 1
Source analogue 2
Final value analogue 2
Source analogue 3
Final value analogue 3
PDK_026249_Parameter_en.doc
Internal representation
[0.0001 rpm]
[0.0001 rpm]
[0.0001 rpm]
[0.0001 rpm]
[1 incr.]
[1 incr.]
[0.1 % MN]
[0.1 % MN]
[0.1 % MN]
[1]
[0.1 ms]
[1/min]
[0.0001 rpm]
[0.0001 rpm]
[0.1 % MN]
[0.001 U/s²]
1)
[0.001 U/s²]
1)
[1]
[1 incr.]
2)
incr.
[1]
[0.0001 rpm]
[1 VA]
incr.
[0.0001 rpm]
[1]
[ incr.]
incr.
incr.
incr.
[0.0001 rpm]
[0.0001 rpm]
[0.1 ms]
[0.1 ms]
[1]
[1]
[1]
dep. on intern source
[1]
dep. on intern source
[1]
dep. on intern source
Scaling
Velocity scaling
Velocity scaling
Velocity scaling
Velocity scaling
Position scaling
Position scaling
Torque scaling
Torque scaling
Torque scaling
fixed
fixed
fixed
Velocity scaling
Velocity scaling
Torque scaling
Acceleration scaling
Acceleration scaling
fixed
fixed
Position parameter
fixed
Velocity scaling
fixed
fixed
Position scaling
Velocity scaling
fixed
Position scaling
Position scaling
Position scaling
Position scaling
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
fixed
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Parameter
ID32892
ID32893
ID32926
ID32927
ID32935
Designation
Command value divider
Command value multiplier
AMK homing parameter
AMK synchronous parameter
Standstill voltage
Internal representation
[1]
3)
[1]
3)
[1]
[1]
[V]
Scaling
fixed
fixed
fixed
fixed
fixed
All parameters which act on commands (…) must be changed temporarily before commanding. If
parameters are changed during a command, then these become effective only at the following
command. For example, when commanding speed control with ID36 as command value, the temporary
velocity command value input in ID36 must be performed before commanding.
1)
2)
3)
The acceleration changes must be completed before positioning. They act for every following
positioning (not in position or velocity changes in current positioning).
The change of the reference offset must be completed before homing
The change of the synchronous ratio may be made with active controller enable only in small steps
by means of command value multiplier, since the effect influences directly the command value
channel and command value step changes occur.
Note:
The effectiveness of temporary parameter changes after system initialization can be set in
ID32901 (service parameter).
Standard setting ex works AMK:
All parameters are reinitialized from the database on system initialization, i.e. all temporary changes are
lost.
ID00270 List of temporary parameters – service supplement
The following parameters are an excerpt from the list of temporarily changeable parameters. The
parameters listed here can be changed temporarily by the AMK service, but are not available as ident
number through the customer menu.
Parameter
ID42
ID52
ID91
ID92
ID138
ID198
ID217
ID275
ID301
ID303
ID305
ID307
Designation
Homing acceleration
(only for SERCOS interface)
Reference distance 1
Bipolar velocity limit
Bipolar torque limit
Bipolar acceleration limit
Initial coordinate value
Parameter set preselection
Coordinate offset value
SERCOS allocation of real time
control bit 1
SERCOS allocation of real time
control bit 2
SERCOS allocation of real time
status bit 1
SERCOS allocation of real time
status bit 2
PDK_026249_Parameter_en.doc
Internal representation Scaling
[0.001 U/s²]
Acceleration scaling
[1 incr.]
[0.0001 rpm]
[0.1 % MNn]
[0.000. U/s²]
[incr.]
Parameter set number
[incr.]
Position scaling
Torque limit
Torque limit
Acceleration scaling
Position scaling
fixed
Position scaling
Ident number
fixed
Ident number
fixed
Ident number
fixed
Ident number
fixed
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Parameters ID91, ID92, ID138 are bipolar parameters which are also present unipolar. For instance,
ID138 corresponds to the unipolar parameters ID136 and ID137. The following applies:
•
When writing a bipolar parameter, this is filed in both unipolar parameters.
•
When reading the bipolar parameter, the value of the positive parameter is returned.
ID00390 Diagnosis number
If a warning of an error occurs in the drive, then the corresponding error code (see Diagnostic messages
documentation) is written into this parameter. In the case of an error sequence, the first occurring error is
always entered. When the " Delete Error " function is executed an existing entry in ID390 is deleted and
the parameter value is set to zero. When field bus systems are used an extremely efficient error analysis
is thus possible by reading ID390.
If different values are displayed with multiple, directly successive reading of ID390 then the device has
an extended ID390 memory (e.g. KE device) which also displays subsequent events.
ID32773 Service switch
This parameter enables drive-specifically acting functionality to be switched on or off primarily by AMK
service personnel (monitoring, special applications). The meaning of the individual bits is shown in the
following table.
Example of representation with the following goal:
•
•
•
•
Activating motor encoder signal monitoring
Activating motor deceleration control for RF inactive
Hardware current limiter
Monitoring square wave inputs
Bit No.
binary
hex.
28
0000
0
24
0000
0
20
0100
4
16
0000
0
12
0001
1
8
0000
0
4
0000
0
0
0101
5
ID32773 = 401005h
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Table 6: ID32773 Overview Service switch
Bit
No.
0
Value
Meaning according to ID32773
0
Sine encoder / resolver signal monitoring
inactive (see ID32953 motor, velocity, position encoder type)
active:
KU:
Static monitoring of the sine / cosine tracks, an encoder line break is recognized (A / I /
E / F / S type encoders and resolovers).
In addition amplitude monitoring of the internally standardized signals takes place
(exception: not with the A type encoder).
1
1
0
1
2
0
1
3
0
1
4
5
0
1
0
1
6
0
1
KW:
Monitoring of the sine and cosine tracks for violation of the minimum and maximum
level. Exceeding the maximum level is tolerated once; if the level is exceeded twice in
succession the diagnosis message 2311 " Motor encoder error " is output,. If the level
falls below the minimum level the unit is immediately switched off with message 2311.
AMK A type encoder tracking
inactive
active
AMK A type encoders are tracked online regarding their optimum working point
Motor deceleration control on RF disable
inactive
active
When the axis is decelerated, no axis acceleration may be detected by the system,
otherwise deceleration error message.
Position limit monitoring according to ID49 / ID50 in the 16-bit position command
value channel
inactive
only monitoring (reporting) the position limits
active
Only for the 16-bit position setpoint channel:
Monitoring of the position limit values in accordance with ID49 / ID50 at 500µs intervals
(message) and setpoint limitation. The drive remains at a standstill on reaching the
position limit value (ID49 / ID50) plus 1 increment.
Reserved
Reserved
Operation mode of the axis after RF disable
With renewed activation of RF, the axis remains in the current operation mode with the
current command value channel (operation mode before RF disable, position reg,
speed reg, torque control, …)
With renewed activation of RF, the axis always remains in digital speed control with
command value 0. (System-internal automatic operation mode change)
These statements apply only for the case that no system initialization is initiated by the
user in the meantime. Error deletion on missing SBT or parameter change in the
database cause a system initialization and thus initiate the system generally in the
main operation mode according to ID32800
Encoder feedback zero pulse check
inactive
active
The zero pulse check effect at every homing run. If the zero pulse is missed or invalid,
the diagnostic message 2335 is generated.
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Bit
No.
7
8
9
10
11
12
Value
Meaning according to ID32773
0
1
0
1
0
1
0
1
0
1
0
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Monitoring pulse encoder input (X34)
inactive
active
All pulse encoder input signals are tested for phase opposition by means of comparator
Monitoring brake acknowledgement
inactive
active (see ID206 and ID207)
I²t monitoring
inactive
active
Effective protection against overtemperature for motors with very small thermal time
constant (e.g. linear motors). On exceeding the " Motor overload threshold " ID114 a
warning message 2359 " Motor overload warning " is generated. On reaching 100%
overload ID33102 " Motor overload indication " the error message 2360 " Motor overload
error " is output and the drive will be ramped down according to ID32782 RF inactive
and RF is switched off. The overload time of the motor can be adapted to the thermal
time constant of the motor in ID32920.
Encoder basic adjustment for A type encoders
with zero pulse evaluation
without zero pulse evaluation
Motor direction negated
inactive
active
Enables arbitrary installation position of the drive in relation to the mechanism while
retaining the coordinate display of command and feedback values.
1
13
0
14
1
0
1
15
0
16
1
0
1
Polarity
Setpoint value +/ISet
ID32773
Bit 16
M
E
ID32773
Bit 16
Polarity
Actual value +/-
Parameter_Polarität_Global
PDK_026249_Parameter_en.doc
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Bit
No.
17
Value
Meaning according to ID32773
0
Regenerative braking (effective only for KU25 and KU40)
active only with " Controller enable handshake QRF
Regenerative braking (effective only for KU25 and KU40)
active as long as " DC Bus enable handshake QUE is set (QRF is not required)
Reduced DC bus voltage rise
inactive
active
When decelerating the axis the torque is reduced so far that the cut-off threshold for
overvoltage alarm 1059 is not reached
Control direction monitoring switched off
Control direction monitoring switched on
Monitoring takes place in the system initialization. Diagnostic message 2335 is
displayed on incorrect control direction.
Reserved
Reserved
Reserved
Reserved
Hardware current limitation
inactive
active
The hardware current limitation switches off the phase in which a current above a limit
depending on the device is following. If the current drops below the threshold again,
then the phase is switched back in.
Reading the absolute position while initialization (only multiturn absolute
encoder)
inactive
active
Monitoring of the actual position value (plausibility check) only for ENDAT
encoder
inactive
active
The digital actual position setpoint of the ENDAT encoder will be compared with the
system internal calculated position value. If a deviation is detected the diagnosis
message 2344 monitor.act.pos is generated.
1
18
0
1
19
0
1
20
0
1
0
1
0
21
22
1
23
0
24
1
0
1
ID32838 Setpoint list
The AMK controller structure is influenced by entries in the setpoint list. In this way additive variables
such as torque or speed pre-control values, limitations, setpoints for pulse forwarding (SIWL) etc. can be
dynamically influenced and processed in addition to the setpoint value in the system frequency (ID2
SERCOS cycle time). Via an entry in the list the respective sinks are assigned to a variable in the
application interface (API). An API variable is assigned permanently to each list element. The
functionality can be used in applications with (AMK-PLC, SERCOS, ACC …).
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Figure 42: Overview setpoint list, actual value list and pre-control
ACC-, CAN API
iSetpoint0
iSetpoint1
iSetpoint2
iSetpoint3
diSetpoint0
diSetpoint1
ID32838 Setpoint list
ID92 Torque limit bipolar
ID83 Torque limit neg.
ID82 Torque limit pos.
ID81 Torque pre-control
from element 2...
ID32964 = E, F
ID33911 Setpoint for SIWL
ID39 Speed limit neg.
ID38 Speed limit pos.
ID37 Speed pre-control
from element 12...
Setpoint source
acc. to ID32800...
Position
control
+
+
+
Speedcontrol
ID32800...
=xxx3 hex
ID32800...
=xxx4 hex
Actual
position
Pulse
transmission
output
SIWL
ID116/
ID117
Actual
speed
+
Torquecontrol
Motor
ID32800...
=xxx2 hex
E
Rotor
position
Encoder
feedback
ID32839 Actual value list
ACC-, CAN API
diActValue0
diActValue1
from element 12...
iActValue0
iActValue1
from element 2...
Probe function
ID130 Probe value pos. edge
ID131 Probe value neg. edge
ID33113 Torque setpoint, filtered
ID84 Actual torque value (~I)
Parameter_Sollwertliste
List element
0
1
2
3
4
5
…11
12
13
…21
Content
x
44
PDK_026249_Parameter_en.doc
Meaning
List header: Current list length (bytes)
List header: Possible list length (bytes)
Sink for 16-bit data
Sink for 32-bit data
API variable
iSetpoint0
iSetpoint1
iSetpoint2
iSetpoint3
reserved
diSetpoint0
diSetpoint1
reserved
Page 161 from 212
The following entries in the setpoint list are supported:
ID
0
81
82
83
92
37
38
39
100
101
102
33911
Note:
Sink
Switched off
Torque pre-control
Torque limit positive
Torque limit negative
Torque limit bipolar
Speed pre-control
Speed limit positive
Speed limit negative
Speed controller Prop. gain KP
Speed controller integral action time TN
Speed controller derivative action time TD
Setpoint for SIWL (pulse transmission)
Standardization / Data format
0.1 %MN, 16-bit
0.1 %MN, 16-bit
0.1 %MN, 16-bit
0.1 %MN, 16-bit
0.0001 1/min, 32-bit
0.0001 1/min, 32-bit
0.0001 1/min, 32-bit
16 bit
0.1 ms, 16-bit
0.1 ms, 16-bit
Increments, 32-bit
16-bit data are to be entered in the elements 2 to 11; 32-bit data in 12 to 21
ID32839 Actual value list
16-bit and 32-bit system variables (e.g. actual torque value, …) can be output via entries in the actual
value list. via the entry of a source in the actual value list the respective system parameter is assigned to
a variable in the application interface (API). Can be used in application with (AMK-PLC, SERCOS,
ACC…).
List element
0
1
2
3
… 11
12
13
… 21
Content
x
44
Meaning
List header: Current list length (bytes)
List header: Possible list length (bytes)
Source for 16-bit data
Source for 32-bit data
API variable
iActValue 0
iActValue 1
reserved
diActValue 0
diActValue 1
reserved
The following entries in the actual value list are supported:
ID
0
84
130
131
33113
Note:
Source
Switched off
Actual torque value
Probe function, Probe value positive edge
Probe function, Probe value negative edge
torque setpoint, filtered
Standardization / Data format
0.1 %Mn, 16-bit
Incr. 32Bit
Incr. 32Bit
0.1 %Mn, 16-bit
16-bit data are to be entered in the elements 2 to 11; 32-bit data in 12 to 21
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ID32938 Customer variable 1
This variable is available to the customer as storage place. The contents of this parameter are not
required by the AMKASYN system. Customer-specific own information per drive set can be filed in the
system by the user in this 16-bit variable. this information can be read and processed further in the
process required.
ID32948 Kx message (4 · 32 bits)
This parameter defines up to four 32-bit transfer values in the system-internal interface API. The
parameter is expedient only in conjunction with option cards (SERCOS interface®, …). For instance,
command values can be transferred from option cards into the interface, these are the processed by the
system according to configuration. At present only message 1 and 2 are used.
16
24
XXXXXXXX XXXXXXXX
Code for message 4
(reserved)
Code for message 3
(reserved)
8
XXXXXXXX
0 Bit
X X X X X X X X LSB
Code for message 2 Code for message 1
(“23h“ or“24h“)
(“23h“ or“24h“)
32 bit counter 2 HIGH WORD LOW WORD
ID34076 Reference counter 2
ID34077 Actual counter 2
Latched value
Actual counter value
ID34074 Reference counter 1
ID34075 Actual counter 1
1 HIGH WORD LOW WORD
Latched value
Actual counter value
Parameter_Meldung
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The same command value source codes may not be used more than once.
Code [h]
0
3
23
Source
Source not defined
Pulse encoder input
Division of the 16-bit pulse encoder information into the 32-bit message
LOW WORD: Reference counter reading
(actual position value will be latched every encoder zero pulse)
HIGH WORD: Current counter reading
(update of the actual position value after cycle time ID2)
23 store pulse encoder (without zero pulse) value in case o a positive edge on BE2
With a rising edge on binary input BE2 the actual value on the square wave pulse input
(pulse encoder without zero pulse) will be stored. The stored 32-bit information contains
the following:
LOW WORD: Reference counter reading
(current counter will be latched every positive edge at BE2)
HIGH WORD: current counter reading
24
The binary input BE2 ID32979 " Port 3 Bit 1 " must be assigned to code 0
Actual position value of the encoder specified in ID32953 encoder type
The actual position value of the actual position encoder (acc. ID32953) will be stored if a
signal edge acc. 169 on probe input BE3 at controller card Kx-R03(P) is recognized.
Through this a exact relation is generated between the actual position value and an
external mark sensor (e.g. print mark control. The time between two measurements must
be at least 2 x ID2.
Attention:
By commanding a homing cycle the relation to the actual position value will be generated
new.
Division of the 16-bit pulse encoder information into the 32-bit message
LOW WORD: Reference counter reading
(actual position value will be latched every signal at BE3)
HIGH WORD: Current counter reading
(update of the actual position value after cycle time ID2)
The binary input BE3 ID32980 " Port 3 Bit 2 " must be assigned to code 0
ID32992 Dead time compensation 16-bit position setpoint value
ID32993 Dead time compensation 32-bit position setpoint value
With the time value in ID32992 and ID32993 a precontrol time for position setpoints via the 16 bit / 32 bit
setpoint source can be set. The time value is scaled in [ms] and has a resolution of 1µs. The dead time
compensation will only work, if the following error compensation (SAK) in ID32800 … is active.
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ID32998 Setpoint switch
With the parameter 32998 “Setpoint switch” every setpoint channel at ID32838 “setpoint list” will be
allocated to a bit. (cannel x = bit x)
For the Bits in ID32998 are significant:
Bit x:
= 1 – setpoint channel x active
= 0 – setpoint channel x inactive
To activate (open) a setpoint switch e.g. channel 9 write 1 at the bit 9. To close the channel 9 write 0 on
the bit 9.
Picture: Allocation of the bits of ID 32998 to the setpoint channels.
Bit 31
Bit 19
.....
Kanal 19 ……
Bit 10
Kanal 10
Bit 9
……
Kanal 9 ……
Bit 0
Kanal 0
Commanding variables
ID34000 Variable 0
ID34001 Variable 1
ID34002 Variable 2
ID34003 Variable 3
ID34004 Variable 4
ID34005 Variable 5
ID34006 Variable 6
ID34007 Variable 7
ID34008 Variable 8
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ID34009 Variable 9
ID34010 Variable 10
ID34011 Variable 11
ID34012 Variable 12
ID34013 Variable 13
ID34014 Variable 14
ID34015 Variable 15
ID34016 Variable 16
ID34017 Variable 17
ID34018 Variable 18
ID34019 Variable 19
The variables 0 … 19 are used in combination with drive commanding by binary inputs as command
value storage for different command values such as torque command value, velocity command value or
position command value (see " Assignment of binary inputs " ).
ID34047 Dead time measurement [0.001 ms]
Dead time with the probe function in fact of e.g. sensing device and input circuit can be compensated
with this parameter. The probe value is compensated by the time value in this parameter.
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ID34058 Active power network [W]
The network's active power is displayed by invoking this identification number. Positive values indicate
the active power derived from the power network (motor operation). Negative values indicate the active
power regeneratively fed back into the power network. Generator operation is only available on devices
with regenerative feedback. The display is prescaled [PActive] = [W].
ID34059 Time filter power network active power [ms]
To obtain a " steady " reading of the active power, the operator can configure a proportional element with
a 1st order delay (PT1 element) by the entering a filter time. The scan period (Ta) for the torque setpoint
display is 0.5 ms. A filter time of between 10 ms and 65 s is possible, depending on the application the
value 0 is set internally at 10 ms.
ID34071 System name
An arbitrary name can be assigned to the drive with the " System designation " parameter. This may
consist of a maximum of 16 ASCII characters, which are transferred for instance by means of field bus
into the parameter. The assigned name can also be read out through the field bus. The system
designation serves in networked systems for drive identification.
ID34072 Data record name
The ID34072 serves as data record name which may consist of a maximum of 16 ASCII characters. It is
possible to write and read this parameter through field bus interfaces.
ID34144 Nominal voltage effective [V]
The actual value of the line current is displayed by invoking this identification number.
ID34145 Line current effective [A]
The actual value of the line current is displayed by invoking this identification number
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ID34154 Start marker
The " start marker " parameter specifies the start position of the window in which a valid printing mark has
to exist. This parameter has to be defined by a super ordinate control
ID34155 Marker window
The " mark window " parameter specifies the width of the window in which a valid printing mark has to
exist. The sign of the value specifies the appropriate start-up or mark search direction. This parameter
has to be defined by a superodinate control.
ID34157 Dead time compensation
Dead times through using the function pulse-width measuring can be compensated with this parameter.
The measured value will be corrected with the configured value. Dead times can be caused trough
sensors.
ID34171 Event filter
By configuring the parameters of ID34171 " Event filter " , specific event classes can be filtered out.
Each class is represented by a bit in ID 34171 " Event filter " . If the respective bit is set, events of the
relevant class are not written to ID34088 " Event trace " .
The following event classes are supported and can be filtered out:
Event class name
Error
Warning
Option error
Bit in ID34171
0
1
2
Option warning
Delete error
System
3
4
5
External access
6
PDK_026249_Parameter_en.doc
Explanation
Error messages of the system
Warning messages of the system
Error messages from interface cards such as ACC or
SERCOS
Warning messages from bus options
Delete error
System messages such as Power On, Firmware
Update...
Access to the system parameters (AIPEX) or the file
system (FTP)
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ID34172 PLC Project info
In this project information the following entries are listed:
•
•
•
•
•
•
Date
Project name
Title
Version
Author
Comment
The entry of the project information is made in the programming software " CoDeSys " in the menu
& lt; Project & gt; - & lt; Project information & gt; .
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20 Scaling Parameters
The following parameters influence scaling (scaling or display resolution) of the operating parameters.
The scaling influences the 32-bit setpoint source diMainSetpoint32 and the interpolator.
The feedback value is always displayed scaled.
ID
76
77
79
Name
Scaling for position data
Scaling factor for translational
position data
Scaling exponent for translational
position data
Rotation resolution
44
45
Scaling for speed / velocity data
Scaling factor for velocity data
46
Scaling exponent for velocity data
86
93
Scaling for torque / force data
Scaling factor for torque / force data Is required only for parameter scaling of torque / force
data (ID86 Bit 3 = 1)
Scaling exponent for torque / force Is required only for parameter scaling of torque / force
data
data (ID86 Bit 3 = 1)
Scaling for acceleration data
Scaling factor for acceleration data Is required only for parameter scaling acceleration data
(ID160 Bit 3 = 1)
Scaling exponent for acceleration
Is required only for parameter scaling of acceleration
data
data (ID160 Bit 3 = 1)
Gear input revolutions
See ID76 data reference
Gear output revolutions
See ID76 data reference
Feed constant
The feed constant states the linear distance for none
revolution of the drive. In linear motors it corresponds
to the length of the pole period.
Nominal motor torque
Position encoder resolution
ID116 or ID117 is relevant depending upon the position
feedback value set in ID32800
Main operation mode
Only bit 14 is relevant for the selection of the position
feedback value source.
78
94
160
161
162
121
122
123
32771
116
117
32800
Remarks
Is required only for parameter scaling of translational
position data (ID76 Bit 3 = 1)
Is required only for parameter scaling of translational
position data (ID76 Bit 3 = 1)
Is required only for parameter scaling of translational
position data (ID76 Bit 3 = 1)
Is required only for parameter scaling of velocity data
(ID44 Bit 3 = 1)
Is required only for parameter scaling of velocity data
(ID44 Bit 3 = 1)
A distinction must be made between 3 scaling types:
•
AMK scaling base (default)
•
Default scaling (fixed)
•
Parameter scaling (user-specific)
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AMK scaling base
The AMK scaling base is the scaling set ex works which corresponds to the previous standard
AMK scaling base (setting ex works):
Scaling for position data
Scaling for speed data
Scaling for torque data
Scaling for acceleration data
Internal resolution of the position encoder in [incr.]
10-4 rpm / 0.0001 rpm
10-1 %MN / 0.1 %MN
10-3 r/s² / 0.001 U/s²
Preferred scaling
AMAKSYN works in preferred scaling with fixed values which can be taken from the following overview
figures.
Position data (translational)
Metric preferred scaling (meter)
Preferred scaling in inch (inch)
Position data (rotational)
Velocity scaling (translational)
Metric preferred scaling (meter/minute)
Preferred scaling in inch (inch/minute)
Velocity scaling (rotational)
Force data (translational)
Metric preferred scaling (Newton)
Preferred scaling in inch (pound-force)
Torque data (rotational)
Metric preferred scaling (Newtonmeter)
Preferred scaling in inch (inch pound-force)
Acceleration data (translational)
Metric (meter / second²)
Acceleration data (rotational)
Scaling factor
1 · 10-7
1 · 10-6
1 · 10-4 angular degree
1 · 10-6 m/min-1
1 · 10-5 in/min-1
1 · 10-4 min-1
1 · 10-6 s-1
1 · 10-0 N
1 · 10-1 lbf
1 · 10-0 Nm
1 · 10-1 inlbf
1 · 10-6 m/s²
1 · 10-3 U/s²
Parameter scaling
Parameter scaling allows free scaling of all data influenced by scaling, if the conditional for the scaling to
be observed.
If parameter scaling is selected in the relevant scaling parameter, then scaling of the units via factors
can be performed application-related. The factor must be entered in the corresponding indent numbers.
The scaling of all data is defined with the aid of the 3 following formulae.
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Velocity and acceleration data
Formula 36: Scaling of velocity and acceleration data
Re solution =
Dimension unit
⋅ scaling factor ⋅ 10 scaling exp onent
Time unit
Velocity and acceleration data are scaled through the scaling factor and the scaling exponent.
Scaling for
Scaling parameter
Scaling factor
Scaling exponent
ID161
ID162
ID45
ID46
Acceleration
Velocity
In the AMK scaling base, e.g. for speeds (in 1 · 10-4 rpm) the scaling factor is ID45 = 1 and the scaling
exponent ID46 = 4.
Torque and linear (translational) position data
Formula 37: Scaling of torque translational position data
Re solution = Dimension unit ⋅ Scaling factor ⋅ 10 Scaling exp onent
Scaling for
Scaling parameter
Scaling factor
Scaling exponent
ID93
ID94
Torque
Translational position
data
ID77
ID78
Rotational position data
Formula 38: Rotational scaling of position data
Re solution =
360°
Rotation − position resolution (ID79 )
Scaling for
Rotational position
data
Scaling parameter
Rotation resolution
ID79
For instance, if the rotation resolution is defined in ID79 as 3600, then a resolution of 10-1 angular
degrees results.
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Handling scaled parameters / AIPEX
During configuration of a parameter set, using the AMK software AIPEX, the scaling parameters must
firstly be parameterized and initialized by system initialization. After restart, AIPEX must be logged in
new or refresh with the F5 button.
The displayed values change e.g. from increments to millimetres if you are using position data
angular degree.
translational. If you are using rotational scaling
After that all further parameters can be changed.
Examples:
Extension of the AIPEX parameter list. The displayed units change after refresh however the preset
scaling.
Scaling with scaling factor and scaling exponent
With a scaling factor of 1, scaling is changed by powers of 10 by changing the scaling exponent (…10-4,
10-5, 10-6, …). If the scaling factor is larger than 1, then the scaling is changed in addition by this integral
factor. A speed value then is displayed for instance in 1/50 rpm (0.02 rpm) if the scaling is defined as
ID45 = 2 and the scaling exponent as ID46 = 2.
Example:
Linear scaling
Scaling
1/1000 mm
1/100 mm
1/10 mm
Note:
ID77
1
1
1
ID78
-6
-5
-4
Travel
12,567 mm
15,22 mm
9,2 mm
Setpoint via PLC
12567
1522
92
The boundary condition for the scaling factors must be observed. You can find calculation
example in the following description.
Relationship between rotations and linear motions
In translational scaling, the relation to the linear motion is defined through the feed constant ID123. The
feed constant states the linear distance per motor revolution. In linear motors ID123 corresponds to the
length of the pole period of the motor.
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Example:
The input value at the ID123 " Feed constant " indicates which way the work table travels by one motor
revolution.
Spindle drive
Work table
Parameter_Wichtung_Vorschub
Gear between motor and load
When a gear is used between motor and load, the gear ratio ID121 / ID122.
In the default setting the gear ratio is not taken into account. To activate the gear ratio parameters the
data reference must be changed to be load.
With the following parameters the data reference must be changed to take into account the gear ratio.
ID76 " position data scaling " and ID160 " acceleration scaling parameter " (Bit 6 = 1). The actual and the
setpoint value related at the load. Data reference at the load means gear output.
ID121
ID122
ID122
ID121
Parameter_Wichtung_Getriebe
External distance measuring system at the load
An external distance measuring system must be defined in the operation mode parameter ID32800 and
then applies for all further operation modes (ID32801 … ID32809).
The type of the external actual position encoder is to be defined in ID32953.
Note:
If an external actual position encoder is defined then the actual position value is
fundamentally evaluated by this encoder in all position-controlled operating modes.
Feedback value encoder resolution
The resolution of the motor encoder (ID116) or of an external position encoder (ID117) must be defined
for the required feedback value generation.
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ID00086 Torque scaling parameter
Figure 43: Torque scaling parameter overview
Torque data weighting (ID86)
Percent (0.1%)
Linear (force)
Rotatory (torque)
Load or Motor
Load or Motor
Load or Motor
Parameter
scaling
Default
scaling
Default
scaling
Newton or
pound force
Resolution = 0.1%
of MN or FN
Parameter
scaling
Newton or
pound force
Newtonmeter
or lbf in
Newtonmeter
or lbf in
Resolution =
1.0 N or 0.1 lbf
Resolution
ID93 + ID94
Resolution =
0.0. Nm
or 0.1 lbf in
Resolution
ID93 + ID94
[lbf]: pound-force
[lbf in]: pound-force inch
Parameter_Wichtung_Drehmoment
The overview shows the resolution of the torque parameters depending upon the settings in ID86 torque
scaling parameter.
In parameter scaling the resolution of torque data is determined by the scaling factor ID93 and the
scaling exponent ID94.
The AMK scaling base for torque parameters is 0.1% MN.
The set scaling for torque data refers to the following parameters:
ID80, ID82, ID83, ID84, (Service ID92), ID126, ID32777, (Service ID33133)
* Parameters which are identified with " Service " are preset by AMK and not accessible through the customer menu
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Parameter ID86 structure
BitNo.
0-1
Value
(dec.)
0
1
2
2
3
0
4
1
0
1
0
1
5
6
0
1
7 - 15
Bit
0-2
3
4
6
Meaning according to ID86
Scaling
Percentage scaling
Linear scaling (force)
Rotational scaling (torque)
Reserved
Scaling type
Default scaling
Parameter scaling
Unit of measure for linear scaling (force)
Newton [N]
Pound-force [lbf]
Unit of measure for rotational scaling (torque)
Newtonmeter [Nm]
Inch pound-force [inlbf]
Reserved
Data reference
At the motor shaft
Reserved
Reserved
Explanation
The scaling type distinguishes between force and torque. The percentage scaling refers to the
nominal torque for rotation motors or to the nominal force for linear motors.
A distinction is made between default scaling with fixed resolution and parameter scaling with
variable resolution. This is set with parameter ID93 scaling factor and ID94 scaling exponent.
The unit of measure is set by this bit depending upon the scaling
Only the motor data reference is allowed for torque/force data
Formula 39: Scaling of torque data in parameter scaling
Re solution = Dimension unit ⋅ Scaling factor (ID93 ) ⋅ 10 Scaling exp onent (ID94 )
ID00093 Torque scaling factor
ID00094 Torque scaling exponent
The torque scaling factor and the scaling exponent are effective with parameter scaling selected and are
included in the Formula 39.
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ID00044 Velocity scaling parameter
Speed data scaling (ID44)
linear (translational)
Default
scaling
Parameter
scaling
[min]
[min] or [s]
[m]
[m] or[in]
Resolution
= 10-6 m/min
Resolution
ID45 and ID46
Rotational
Parameter
scaling
Default
scaling
[min]
Resolution
= 10-4 min-1
[s]
Resolution
= 10-6 s-1
[min] or [s]
Resolution
ID45 and ID46
[in]: inch
[m]: meter
Parameter_Wichtung_Drehzahl
The overview shows the resolution of the velocity data depending upon the settings in ID44 velocity
scaling parameter.
In the case of parameter scaling, the resolution of velocity data is determined by the scaling factor ID45
and the scaling exponent ID46.
AMK scaling base for velocity parameters is 10-4 rpm.
Scaling of the velocity data acts on the following parameters:
ID36, ID38, ID39, ID40, ID41, (Service ID91), ID124, ID125, ID157, (Service ID183), (Service ID184),
(Service ID213), (Service ID220), (Service ID221), ID222,(Service ID259), ID32778, ID32779, (Service
ID32783), (Service ID32784), (Service ID32823), ID32940, (Service ID32947)
* Parameter which are identified with " Service " are preset by AMK and not accessible through the customer menu.
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Parameter ID44 structure
BitNo.
0-1
Value
(dec.)
0
1
2
2
3
0
4
1
0
1
0
5
1
0
6
1
0
1
7 - 15
Meaning according to ID44
Scaling type
Reserved
Linear scaling
Rotational scaling
Reserved
Scaling type
Preferred scaling
Parameter scaling
Dimensional unit for linear scaling
Meter [m]
Inch [in]
Dimensional unit for rotational scaling
Revolutions / (RAD*)
Reserved
Time unit
Minutes [min]
Seconds [s]
Data reference
At the motor shaft
Reserved
Reserved
* In parameter scaling (rotational) the dimension unit is RAD instead of revolutions.
Bit
0-2
3
4
5
6
Explanation
Scaling of the units for rotational or linear motions can be performed
It is differentiated in default scaling with fixed resolution and parameter scaling with applicationrelated resolution. This is set by the scaling factor and the scaling exponent
The dimensional unit is set depending upon the scaling type
The time unit can be chosen between minutes and seconds
Only the motor data reference is allowed for velocity data
In parameter scaling, the resolution of velocity parameters is determined by the scaling factor ID45 and
the scaling exponent ID46:
Formula 40: Scaling velocity data in parameter scaling
Re solution =
Dimension unit
⋅ Scaling factor (ID45 ) ⋅ 10 Scaling exp onent (ID 46 )
Time unit
The formula applies both for linear and for rotational scaling. The relationship between the rotation
motion and the linear motion results from the feed constant ID123.
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Note:
For the velocity parameters which refer to the AMKASYN Kx interpolator (IPO), the data
reference is effective additionally from the position scaling parameter ID76. I.e. if the position
encoder and the data reference of the position command value are unequal, the gear ratio
(ID121 / ID122) is also calculated for the following parameters.
Velocity parameters for IPO
• Homing velocity ID41
• spindle positioning velocity ID222
• High homing velocity ID32940
ID00045 Velocity scaling factor
ID00046 Velocity scaling exponent
The velocity scaling factor and the velocity scaling exponent are effective with parameter scaling
selected and are included in the Formula 40.
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ID00076 Position scaling parameter
Figure 44: Position scaling parameter overview
position data scaling (ID76)
Linear (translational)
Default unit
Default scaling
Resolution
= 1 incr.
Load or Motor
Load or Motor
Load or Motor
Increments
Rotational
Meter
Resolution
= 10-7 m
Inch
Resolution
= 10-6 in
Parameter
scaling
Default
scaling
Parameter
scaling
Meter
or inch
Degree
Degree
Resolution
ID77 + ID78
Resolution =
0.0001 deg.
Resolution
ID79
[in]: inch
Parameter_Wichtung_Lage
The overview shows the resolution of the position data depending upon the settings in ID76 position
scaling parameters.
In parameter scaling for linear motions, the resolution of the position data is determined by the scaling
factor ID77 and the scaling exponent ID78.
In rotational parameter scaling the scaling factor ID79 rotation resolution must be determined.
Note:
The entered scaling factors will reduce to a 16-bit multiplicator and a 16-bit devisor by
system internal. It must be possible to reduce the entered scaling factor into a 16-bit
conversion size. If the system cannot reduce the scaling factor to a 16-bit value (max. 65535)
the error message 1430 " position scaling " generates.
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Boundary condition " linear scaling "
ID77 ⋅ 10 ID78 ⋅ ID116 ⋅ 10 7 ⋅ ID121
ID123 [mm ] ⋅ 10 ⋅ ID122
4
=
Max 65.535 = FFFFhex
Max 65.535 = FFFFhex
Example:
1 ⋅ 10 −7 ⋅ 65.536 ⋅ 10 7 ⋅ 10
5. [mm ] ⋅ 10 ⋅ 10
4
=
655.360 ⎛ reduced ⎞ 4.096
⎟=
=⎜
500.000 ⎜ with 160 ⎟ 3.125
⎝
⎠
Boundary condition " rotational scaling "
Re solution =
ID116 ⋅ ID121 Max. 65.535 = FFFFhex
=
ID79 ⋅ ID122 Max. 65.535 = FFFFhex
Example:
20.000 ⋅ 20.833 416.660.000 ⎛ reduced ⎞ 20.833
⎟=
=
=⎜
360.000 ⋅ 1.000 360.000.000 ⎜ with 20 ⎟ 18.000
⎝
⎠
The AMK scaling base for processing the position data in increments.
The set scaling of the position data refers to all following parameters:
(Service ID47), (Service ID48), ID49, ID50, ID51, (Service ID52), (Service ID53), (Service ID54), ID57,
ID103, ID130, ID131, ID150, (Service ID151), ID153, ID173, (Service ID175), ID180, (Service ID189),
(Service ID198), ID228, (Service ID229), ID230, (Service ID258), (Service ID261), ID268, (Service
ID275), ID278, ID32824, (Service ID32826), ID32922, ID32952, (Service ID33098), (Service ID33104),
ID34070
* Parameter which are identified with " Service " are preset by AMK and not accessible through the customer menu.
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Parameter ID76 structure
BitNo.
0-1
Value
(dec.)
0
1
2
2
3
0
4
1
0
1
0
1
5
6
0
7
1
0
1
8 - 15
Bit
0-2
3
4
6
7
Meaning according to ID76
Scaling type
Incremental scaling
Linear scaling
Rotational scaling
Reserved
Scaling type
Preferred scaling
Parameter scaling
Unit of measure for linear scaling
Meter [m]
Inch [in]
Unit of measure for rotational scaling
Angular degree
Reserved
Reserved
Data reference
At the motor shaft
At the load
Processing format
Absolute format (ID32800)
Modulo format (according to ID103, ID32800)
Reserved
Explanation
It is possible to chose between different scaling types. In incremental scaling, position data are
transferred in increments.
A distinction is made between default scaling with fixed resolution and parameter scaling with
variable resolution. This is set with parameter ID77, ID78 and ID79.
The unit of measure can be set with this bit depending upon the scaling type.
It is determined with the aid of the data reference whether a gear must be taken into account.
Since the position data in the Kx operating system always refer internally to the active position
encoder (motor encoder or external position encoder), the following applies:
• (Bit 6 = 0): If position encoder and data reference are the same, i.e. the position encoder is
no gear ratio is taken into
motor encoder and the data reference is at the motor shaft
account.
• (Bit 6 = 1): If position encoder and data reference are not equal, i.e. the position encoder is
the gear ratio (ID121 / ID122) is
motor encoder and the data reference is at the load
taken into account (see figure in ID32953)
The processing format states whether the position data are processed as absolute position
values or as modulo position values. The modulo position values move between 0 and the
modulo end value 2π. In modulo format the difference between two consecutive command
values may not be greater than one half of the modulo end value. Which value is evaluated as
modulo end value depends upon the operation mode ID32800 bit 13. The modulo end value
(ID103) must be convertible into increments without residue.
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In parameter scaling the resolution of position parameters is determined by the scaling factor ID77 and
the scaling exponent ID78 or by the rotation resolution ID79.
The relation between the rotation and the linear motion is produced with the feed constant ID123.
Formula 41: Linear scaling of position data in parameter scaling
Re solution = Dimension unit ⋅ scaling factor (ID77 ) ⋅ 10 scaling exp onent (ID78 )
Formula 42: Rotational scaling of position data in parameter scaling
Re solution =
360°
Rotation − position resolution (ID79 )
ID00077 Position scaling factor for linear motion
ID00078 Position scaling exponent for linear motion
The position scaling factor and the scaling exponent are effective with selected parameter scaling and
are included in the Formula 41.
Example:
The example shows an absolute positioning with a preset value.
The positioning will be started with a plc or alternative via binary input.
Spindle drive
Work table
Parameter_Wichtung_Vorschub
The spindle has got a lead of 5 mm/rev. (ID123 " feed constant " )
Way to move 50,75 mm
Spindle position speed 300 rpm (ID222)
Resolution motor encoder 20480 increments (ID116)
No gear (ID121 / ID122)
the setpoint value must ensure for equivalent merit 1/100 mm.
1/100 mm = 1 · 10-5
1 = ID77 " position scaling factor for linear motion " and –5 = ID78 " position scaling exponent for linear
motion "
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Boundary conditions controlling
The reduced numerator and denominator must be to a 16-bit value)
ID77 ⋅ 10 ID78 ⋅ ID116 ⋅ 10 7 ⋅ ID121
ID123 [mm ] ⋅ 10 ⋅ ID122
4
=
1 ⋅ 10 −5 ⋅ 20.480 ⋅ 10 7 ⋅ 1
4
5 ⋅ 10 ⋅ 1
=
1024
25
Parameterization
ID76 " position data scaling "
• Scaling type linear
• Scaling type parameter scaling
• Unit of measure meter
• Data reference at the motor shaft
• Processing format absolute format (ID32800)
Note:
ID77
ID78
ID123
ID222
After parameterize ID76 " position data scaling " the system must be restarted. After restart
the parameters must upload from the system with AIPEX. Then the other parameters can be
entered.
" position scaling factor for linear motion "
" position scaling exponent for linear motion "
" Feed constant "
" Spindle position speed "
1
-5
5.000 mm/U
300 rpm
Setpoint setting via plc controller
If you use a scaling 1/100 than you must preset for a movement of 50.75 mm a value of 5075
Setpoint setting via binary input
ID153 " spindle angle position " 50.00 mm
E.g. I/O option card 1 ID32874 " Port 1 Bit 0 " Code 33713 " absolute positioning "
The actual value " can be read with the AIPEX monitor function. Indication after the scaling " millimetre "
ID00079 Rotation resolution
The scaling parameter for rotation position data results according to Formula 42.
Example:
ID79 = 360
ID79 = 3600
Scaling results as 1°
Scaling results as 0.1°
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Example:
The example shows a position data rotational scaling with gear.
The setpoint setting should be in 1/100 degrees
Gear ratio (10/1) Input 10 U/rev. / Output 1 U/rev.
Motor with I type encoder (sinus encoder period 100 incr.)
Motor encoder resolution ID116 = 20000 incr.
ID122
ID121
Parameter_Wichtung_Getriebe
ID76 " Position data scaling "
rotational
Scaling type:
parameter scaling
Scaling type:
angular degree
Unit of measure:
at the load
Data reference
absolute format
Processing format:
Note:
ID160 " Acceleration scaling parameter "
not relevant
Scaling type:
not relevant
Scaling type:
not relevant
Unit of measure:
not relevant
Time unit:
at the load
Data reference:
after parameterize ID76 " Position data scaling " the system must be restarted. After restart
the parameters must upload from the system with AIPEX. Then the other parameters can be
entered.
ID121 Gear input revolutions = 10
ID122 Gear output revolutions = 1
Calculation resolution 1/100 degrees
resolution =
ID79 =
360°
rotation pos. resolution (ID79 )
360°
360°
=
= 36.000
resolution 0.01
ID79 rotation pos. resolution = 36.000
Boundary conditions controlling
(The reduced numerator and denominator must be to a 16-bit value)
ID116 ⋅ ID121 20.000 ⋅ 10 200.000 = 50 hex
=
=
ID79 ⋅ ID122
36.000 ⋅ 1
36.000 = 9 hex
The " actual value " can read with the AIPEX monitor function. Indication after the scaling " degrees "
(displayed value = gear output).
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ID00160 Acceleration scaling parameter
Figure 45: Acceleration parameter overview
Scaling type for acceleration data (ID160)
linear (translational)
Rotational
Load or Motor
Load or Motor
Default
scaling
Parameter
scaling
Default
scaling
Parameter
scaling
Meter
Meter or inch
Revolutions
rad
resolution
= 10-6m/s2
Resolution
ID161 u. ID162
Resolution
= 10-3 U/s2
Resolution
ID161 u. ID162
Parameter_Wichtung_Beschleunigung
The overview shows the resolution of the acceleration data depending upon the settings in ID160
acceleration scaling parameter.
In the scaling parameter for linear motions the resolution of the acceleration parameters is determined by
the scaling factor ID161 and the scaling exponent ID162.
The AMK scaling base for acceleration data is in 10-3 U/s²
The set scaling for acceleration data acts on the following parameters:
(Service ID42), ID136, ID137, (Service ID138), (Service ID260)
* Parameters which are identified with " Service " are preset by AMK and not accessible through the customer menu.
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Parameter ID160 structure
BitNo.
0-1
Value
(dec.)
0
1
2
2
3
0
4
1
0
1
0
5
1
0
6
1
0
1
7 - 15
Bit
0-2
3
4
5
Meaning according to ID160
Scaling type
Reserved
Linear scaling
Rotational scaling
Reserved
Scaling type
Preferred scaling
Parameter scaling
Unit of measure for linear scaling
Meter [m]
Inch [in]
Unit of measure for rotational scaling
Revolutions [U] for preferred scaling
Radians [RAD] for parameter scaling
Reserved
Time unit
Seconds [s²]
Reserved
Data reference
At the motor shaft
At the load
Reserved
Explanations
The scaling type can be chosen between rotary and linear
A distinction is made between preferred scaling with fixed resolution and parameter scaling with
variable resolution. Parameter scaling is set with parameter ID161 scaling factor and ID162
scaling exponent.
The unit of measure can be set by this bit independently of the scaling type.
The data reference cannot be set independently for the acceleration data. The data reference of
position data and acceleration data must be set the same.
Formula 43: Resolution for linear and rotational scaling
Re solution =
Dimension unit
⋅ scaling factor (ID161) ⋅ 10 scaling exp onent (ID162 )
Time unit
ID00161 Acceleration scaling factor
ID00162 Acceleration scaling exponent
The acceleration scaling factor and acceleration scaling exponent are effective with parameter scaling
selected and are included in Formula 43.
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21 Communication Parameters
User specific parameters for operating different field bus systems (Profibus DP, CAN, ARCNET,
SERCOS, LON,…) are defined in this parameter group. The parameters describe the field bus type and
the supported scope of functions (protocol reference). The corresponding communication hardware
(interface option) is detected automatically in system initialization.
Several field buses can be connected on one device. For each connected field bus the same parameter
Ids are to be parameterized with different contents. The communication parameters are therefore
instance-related parameters. The location of the interface is referred to as an instance.
Instance
0
1
2
Addressed hardware
Basic unit ACC-Bus
Optional slot 1
Optional slot 2
In the parameter menu of the control panel instanced parameters are identified by an " I " instead of a " P " .
The selection is made using the " SHIFT P " key.
Note:
The CAN interface of the AE-PLC option card must be switched on via ID32799.
ID32949 SBUS participant address
Using the parameter ID32949, it is possible to switch the X135 connection on the controller card KU/KW-R03 and KU-/KW-R03P between the Modbus (touch screen HMI) and the SBUS (KU-BF1) protocol.
ID32949
=00000000h
=000000FFh
SBUS
Modbus
KU-BF1 is supported regardless of the ID32949 settings. Even if ID32949 is set on the Modbus protocol,
the KU-Bf1 can be inserted at any time and used as usual.
ID34023 BUS station address
Station address in the BUS system.
Profibus specific parameter assignment
CAN bus specific parameter assignment
Ethernet specific parameter assignment
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ID34024 Bus transmission rate [kbit/s]
The parameter defines the transmission rate of the current field bus connection from the viewpoint of the
drive (e.g. 19.20 [19.2 kbit/s], 2500.00 [2.5 Mbits/s] …).
For all nodes in the bus/network the transmission rate must be the same!
Profibus specific parameter assignment
CAN bus specific parameter assignment
ID34025 BUS mode
The different field bus systems allow differentiated transmission modes. The parameter defines the field
bus functionality supported by the drive (see separate specifications of the interface modules, or option
cards CAN, SERCOS, PROFIBUS, …)
Profibus specific parameter assignment
CAN bus specific parameter assignment
ID34026 BUS mode attribute
The parameter defines the differentiating features within a selected BUS mode according to ID34025
(see separate specifications of the interface modules, or option cards CAN, SERCOS, PROFIBUS, …)
Profibus specific parameter assignment
CAN bus specific parameter assignment
ID34027 BUS failure characteristic
The parameter describes the drive characteristic on BUS failure. The following drive reactions are
supported depending upon the selected field bus system:
0 – no reaction
1 – Warning
2 – Error message (drive internal withdrawal of controller enable)
Profibus specific parameter assignment
CAN bus specific parameter assignment
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ID34028 BUS output rate
Definition of the time interval of transmitting data (e.g. drive state, output data). The parameter is
structured in low and high byte:
Low byte:
High word:
Time base in ms [0…FFh]
Mode according to following representation
0 Data output on request (max. in 5ms time grid)
1 Cyclically according to time in the low byte
2 Cyclically according to time in the low byte and data change of the state data of the drive
3 After executing an AFP job
ID34029 BUS status bit
8 freely configurable status bits (process acknowledgement bits or real time bits of the drive) can be
assigned to the AFP status word by means of list ID34029 " Bus status bits " . Thus it is possible to
transmit current process information in the form of bits to the higher level control system. The contents of
the elements of ID34029 correspond to the codes of the allocation of bit information to binary outputs
(see ID32847 …). AFP status bit 0 corresponds to the first useful data entry in ID34029.
Example: Configuration ID34029, (application data as from list element 2)
Element
Contents
Meaning
0
20
Length
AFP status
bit
AFP status bit 0
AFP status bit 1
AFP status bit 2
PDK_026249_Parameter_en.doc
1
20
Length
2
33029
SBM
0
3
330
Nfeed=
Ncomd
1
4
336
In
Posit.
2
5
…
…
6
7
8
9
3
4
5
6
7
Code 33029, group ready message
Code 330, Nfeedback = Ncommand
Code 336, In Position
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ID34142 Node list
The node list is generated in every network master while the system is booting (Network ON)
(independent of the communication bus). The node list contains every accepted node in the network
irrespective of the node's status.
The node list is updated online. Nodes that are no longer accepted are deleted from the list. Newly
detected nodes are immediately entered into the list. The list is stored in The RAM memory, and is
created during run time (no mapping in the permanent database).
Procedures, e.g. for the CAN network:
Network on:
Each participant sends a " Boot up " message at start-up, The master
generates the node list based on the received " boot up " messages. " Node
Guarding " monitors the presence of all participants contained in the node
list.
Node guarding message:
If the master is unable to contact the node, it is removed from the list.
Boot up message:
Nodes are entered into the node list during run time
Header data --- Participant addresses --- Type of Participant
The type is calculated based on the current length of the header data. Addresses and types correspond
to the slot code.
Type assignment
Each type establishes its type reference using the software version ID30. Since ID30 is itself a list, a
shortened numerical type code in the node list is derived from ID30. The following categories of
initialisation take place during boot up:
Device Type
Undefined
KE
KW
SYMAC
KU
Kx-PLC1
KWF
IDT
Reserved
Reserved
Ext. WAGO E/A
Ext. WAGO E/A (reserved)
PDK_026249_Parameter_en.doc
Code
0
1
2
3
4
5
6
7
8
9
10
11
String recognition according to ID30
KE
KW, KWZ
AS
KU
PLC1, PLC2
KWF
IDT
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Example 1: with KW and KE modules
3 KW devices (address 1, 2 and 3) and one KE device (address 33) are attached to the ACC-Bus.
The following list is returned when reading out ID34142 instance 0.
Act.
length
12
2 Byte
Max.
length
132
2 Byte
Addresses
1
1 Byte
2
1 Byte
3
1 Byte
Types
33
1 Byte
2
1 Byte
2
1 Byte
2
1 Byte
1
1 Byte
Example 2: with active CAN-S Bus
One KW device (address 1) and one KE device (address 33) are attached at a CAN-S Bus at the option
card KW-PLC1 with the address 2insert at slot 2
The following list is returned when reading out ID34142 instance 2.
Act.
Length
10
2 Byte
Max.
length
132
2 Byte
Addresses
1
1 Byte
5
1 Byte
Types
33
1 Byte
5
1 Byte
2
1 Byte
1
1 Byte
The user cannot modify this list (read only)
Note:
If you read the Node list ID34142 with a SERCOS protocol or AIPEX, the header data will not
be counted at the actual length.
Example 1: actual length = 8 Byte
Example 2: actual length = 6 Byte
PROFIBUS-DP
Identnumber
ID34023
ID34024
Designation
BUS participant address
Bus transmission rate [kbit/s]
ID34025
ID34026
Bus mode
Bus mode attribute
ID34027
ID34028
Bus failure characteristic
Bus output rate
Value
e.g. 5h
0h
0h
1h
0
0
Meaning
e.g. 5h
1)
drive adjusts itself automatically to the
transmission rate of the master
see bit rail
4)
INTEL®-mode
MOTOROLA®-mode
2)
drive reaction
3)
not yet supported by PROFIBUS
1)
The entered user address is only valid if the hexadecimal switches S1 and S2 on the option card
have the value 13h (S2 = 1, S1 = 3). For all other settings the set number is the user number.
Permitted user addresses are the values (00h to 7Fh) 0 … 126 (values & gt; 126 result in the value 0).
2)
On switching over between INTEL and MOTOROLA mode, the high word is exchanged with the low
word of a double word. The high byte and the low byte are exchanged in turn in the high and low
word. The changeover between INTEL and MOTOROLA mode is only available, if AFP-module is
active (see ID34025).
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3)
0:
1:
2:
4)
Bus mode (Default value = 1: AFP selected, I/O module not selected)
BitNo.
0
No reaction in case of Bus error
alarm signal in case of Bus error
error message in case of Bus error
Value
Meaning
0
SPS-AFP-address area
inactive
AFP selected (only permissible if no active option card e.g. KW-PLC is plugged in)
Reserved
SPS-SYNC module area
inactive
SYNC-I/O0 module active (Byte 0 … 7)
SPS-SYNC module area
inactive
SYNC-I/O1 module active (Byte 8 … 15)
SPS-SYNC module area
inactive
SYNC-I/O2 module active (Byte 16 … 23)
SPS-SYNC module area
inactive
SYNC-I/O3 module active (Byte 24 … 31)
SPS-I/O module area 2
inactive
I/O4 module active (Byte 32 … 39)
SPS-SYNC module area
inactive
I/O5 module active (Byte 40 … 47)
Reserved
SPS-I/O module area 1
inactive
I/O0 module active (Byte 0 … 7) (reserved for IO option card 1))
SPS-I/O module area 1
inactive
I/O1 module active (Byte 8 … 15)
SPS-I/O module area 1
inactive
I/O2 module active (Byte 16 … 23)
SPS-I/O module area 1
inactive
I/O3 module active (Byte 24 … 31)
1
1-3
4
0
5
1
0
6
1
0
7
1
0
8
1
0
9
1
0
1
10 - 11
12
0
13
1
0
14
1
0
15
1
0
1
1)
The I/O module of I/O option cards in slot 1 or 2 is always copied to the PLC I/O address area (byte 0
… 7). If no PLC card is inserted but instead an I/O and a PROFBUS option card the I/O module can
be addressed via PROFIBUS as an external I/O module, i.e. outputs can be written to and inputs
read.
PDK_026249_Parameter_en.doc
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Module consistent data transmission of synchronous PLC variable in PROFIBUS DP
Data containers (named modules in the following), which are exchanged module-consistently between
the AMK PLC and the PROFIBUS, can be selected through the parameter ID34025 Bus mode. The data
are exchanged through the device-internal communication address area, which serves as data exchange
between the PLC and the AMKASYN field bus interface (here PROFIBUS). The modules access
synchronous and asynchronous areas in the communication address area. Synchronous modules are
always updated to the ID2 SERCOS cycle time, asynchronous modules have no exact time at which
they are updated. Synchronous modules must be used for transmitting cyclic data, e.g. actual values or
setpoint values because of the equidistant sampling. Asynchronous modules are used to exchange timeuncritical and non-cyclic data. Both synchronous and asynchronous modules are transmitted moduleconsistently.
With every ID2 clock pulse up to 2 synchronous modules can be copied into and out of the
communication address field. The copying process of 2 SYNC modules in each direction lasts 1 ms.
After 2 synchronous modules have been transmitted, the remaining time up to the next ID2 clock pulse is
used to transmit asynchronous modules. At a cycle time of e.g. ID2 = 2 ms, 2 synchronous and 2
asynchronous modules can be over accordingly in each direction.
The telegram is sent over the PROFIBUS only if all data of a PROFIBUS data telegram have been
copied completely into the communication address area.
Note:
ID2 must not be set less than 1 ms!
Example 1:
A data telegram has a length of 48 bytes (0 6 modules). 4 of these modules should be configured for
cyclic data and 2 for non-cyclic data. The 3 cycle modules are configured to the modules SYNC-I/O0, I/O1, I/O2 and I/O3, the asynchronous modules to the address area I/O0 and I/O1. Accordingly the
following assignment results for ID34025. The cycle time ID2 is selected at 1 ms.
ID34025 = 30F0 hex
ID2 = 1 ms
2 SYNC-I/O modules are copied in transmission and reception direction per ID2 cycle. A copying time of
2 x ID2 cycles corresponding to 2 ms results for 4 SYNC I/O modules. The 2 asynchronous modules are
then copied, so that in total a processing time of 3 ms results for the entire data telegram.
Data telegram
[bytes]
Module
Module type
Transmission in
the ID2 = 1 ms
selected
Telegram cycle
PDK_026249_Parameter_en.doc
0–7
8 – 15
16 – 23
24 – 31
32 – 39
40 – 47
1
SYNC-I/O0
2
SYNC-I/O1
3
SYNC-I/O2
4
SYNC-I/O3
5
I/O0
6
I/O1
1st ID2 cycle
2nd ID2 cycle
3rd ID2 cycle
3 ms
Page 194 from 212
Example 2:
The same data as in Example 1 should be transmitted, only now a cycle time ID2 of 2ms is selected
Data telegram
[bytes]
Module
Module type
Transmission in
the ID2 = 1 ms
selected
Telegram cycle
0–7
8 – 15
32 – 39
40 – 47
32 – 39
40 – 47
1
SYNC-I/O0
2
SYNC-I/O1
5
I/O0
6
I/O1
3
SYNC-I/O2
4
SYNC-I/O3
1st ID2 cycle
2nd ID2 cycle
3 ms
CAN Bus
See also ID32799 configuration periphery for activate/deactivate field bus and/or programmable
controller PS functionality.
ID-Number
ID34023
ID34024
ID34025
Name
Bus participant address
Bus transmission rate [kbit/s]
Bus mode
ID34026
ID34027
ID34028
Value
e.g. 5h
Bus mode attribute
Bus failure behaviour
Bus output rate
0h
2h
Designation
e.g. 5h
range: 10kBaud – 1 Mbaud
Bit 1 = 0: CAN Slave
Bit 1 = 1: CAN Master
1)
3)
4)
see ID34027
not yet supported
1)
The Bus participant address is valid, if the hexadecimal rotary coding switches S1 and S2 on the
option card Kx-PSC/PLC are set to zero. Is the value unequal to zero the value of S1, S2 will be set
to ID34023. The range of participant addresses is (01h to 7Fh) 1 … 127.
2)
Entry of value 2h sets this axis as CAN BUS master
3)
Permissible values:
1000,00
1Mbaud;
500,00 500kbaud;
250,00 250kbaud;
125,00 125kbaud;
50,00
50kbaud;
20,00
20kbaud;
10,00
10kbaud;
If invalid value is entered the transmission rate will be set to the default value of 20 kbaud.
PDK_026249_Parameter_en.doc
Page 195 from 212
4)
ID34026 " Bus mode attribute "
this parameter defines the differentiating features of the CAN Bus
BitNo.
0
1
2
Value
0
1
0
1
3
0
4
1
0
5
1
0
1
6
0
1
7-8
9
0
1
10
11
0
1
12 - 15
Meaning
Reserved
Hardware synchronisation cycle receiver
Inactive
Active
Receiver monitors hardware synchronisation cycle
Inactive
If the synchronisation is lost, disrupted or cannot be accessed, the signal receiver
generates an error message.
Hardware synchronization cycle sender
Inactive
Active (signal is sent)
The master monitors the presence of slave nodes while rebooting CAN
All configured nodes must be present, else an error message is generated.
Missing nodes are not initialised and no error message is generated.
AMK Service: PGT in place of CANopen SYNC Message COB-ID80
Synchronous messages are sent upon receipt of the SYNC object COB-ID80
Synchronous messages are sent as a result of the hardware synchronisation signal;
no SYNC object COB-ID80 is required.
Reinitialisation of CAN bus with " Delete error "
If errors occur that do not affect the CAN bus, it remains active despite these errors.
No CAN bus initialisation after " Delete error "
The CAN bus is automatically reinitialised with " Delete error "
Reserved
Slaves are waiting for initialisation by the CAN master
Slave waits 60 seconds for initialisation by the NMT master. An error message is then
generated
Slave waits unlimited time for initialisation by the NMT master. (For use with masters
with very long boot times).
Reserved
CAN network with NMT master
Network consists of several slaves and one NMT master
CAN network without NMT master
Devices without bus master (NMT master) are activated in slave mode and the ACC
bus is switched to " preoperational mode " . This facilitates SDO transfer (For use in
connecting PC software (e.g. AIPEX or CoDeSys to a KU/KW device via CANopen)).
Bus master (NMT network management): startup delay
Queue time prior to initialisation of slaves in seconds (max. Fh = 15 s)
PDK_026249_Parameter_en.doc
Page 196 from 212
Example:
Master:
ID34026 = 3048h
- 3 sec. delay time for initialization
- all configured nodes are checked of presence
- new initialization of the bus after error reset
- hardware synchronization ON
Slave:
ID34026 = 6h
- Hardware synchronization slave ON
- Check synchronization slave ON
PDK_026249_Parameter_en.doc
Page 197 from 212
22 Special Applications
ID32798 User list 1
The user list 1 is a freely available data record for the user in the remanent memory area. For instance,
in connection with functions at binary inputs (code 33900 and 33901) it is possible to file up to 127
absolute positions (see function overview: assignment to binary inputs). This facilitates simple process
control controlled through binary inputs.
Total length: 512 bytes
Structure of the data record:
2 words header information
Current and maximum length of the list in bytes.
+xxx words useful data
Entry of useful data in the word format
in the range 0000h to FFFFh
Example:
Element
0
1
2
3
4
5
6…
Value (hex)
d0
200
EC78
FFFF
4E20
0000
Value (dec.)
208
512
Meaning
actual list length
maximum list length
-5000
Useful data from element 2
20000
Useful data from element 2
ID34090 User list 2
ID34091 User list 3
User list 2 and 3 can be used in the same way as user list 1.
Total length: 768 bytes per user list
Structure of the data record:
2 words header information
Current and maximum length of the list in bytes.
+xxx words useful data
Entry of useful data in the word format
in the range 0000h to FFFFh
PDK_026249_Parameter_en.doc
Page 198 from 212
Extended functionality
Principle and activation
Signal paths and process sequences can be freely defined through parameters. For this purpose AMK
provides the user a growing module library corresponding to the requirements. The module library
consists of simple blocks which can be assembled to structures of arbitrary larger size corresponding to
the requirements. The use of modules verified by AMK requires no programming knowledge or tools
whatsoever and is summarized under the term " Extended functionality " .
Extended functionality is parameterized through writable lists (as from ID34020, …). The model
generation and linkage of individual modules such as PID controllers in association with lower level AMK
standard speed controllers is supported by AMK application and service on the base of the available
interfaces (currently control panel and AIPAR or APS). The structure of the software is designed that in
the future every user can very simply handle the extended functionality by means of a graphical user
interface (PC)!!!
Principle of extended functionality
Source
Module library
Sink
Analog input
AE1, AE2, …
Ramp
RMP1, RMP2
Gear
ANP1, ANP2
Torquecontrol
Pulse encoderinput IMP
Filter
FI1, FI2, ...
PID controller
PID1, PIDA, …
Speed
controller
Field bus AFP
FB1, FB2, ...
Limit
GR1, GR2, ...
Mathematics
e.g. sum
Position
controller
Constant,
Binary input
Cust. function
KU1, KU2, ...
Logic e.g..
AND, OR, ...
Oscilloscope
Analog output
The different components are linked corresponding to the required application by connection. The
connecting lines identify a numerical connection or a binary connection.
The linkage list according to ID34020 arises as result. This is interpreted by the system at the run time
and thus assures the required functionality. The data for certain modules can be changed at any time
(also in operation of the modules).
The simplicity of model generation is described in detail below (see example " dancer controller (PIDA)
with variable dancer command value " ) and is based on numerical connections between the individual
components.
PDK_026249_Parameter_en.doc
Page 199 from 212
Numerical connection: Output data (16 or 32 bit) become input data of a following module
Binary connection:
Output data binary output become input data (binary input) of a following
module
The drive can be operated mixed with standard and extended functions. Extended functionality is
selected by setting bit 12 = 1 in the low word of the operation mode parameter according to ID32800 ….
If extended functionality is selected (e.g. PID1 controller), then set the command value source with code
14h ( " extended controller " ) in the high word.
Example: Configuration according to ID32800:
Standard speed controller, digital command value standard
Speed controller with superimposed extended functionality
ID32800 = 00 3C 00 43
ID32800 = 00 14 10 43
Time characteristic
All extended functions run in the 10 ms time grid. Internal data references (processing width, scaling …)
are aligned to this time grid. The internal switch-over between operation modes takes place within
approx. 20 ms. The command values for the new operation mode must be input before or during the
switch-over (depending upon the command). Corresponding acknowledgement bits identify the current
status of the drive.
ID34020 List function
ID34020 is a linkage matrix and connects in a simple manner sources, function modules and sinks and
thus facilities extended functionality for parameterizing.
With the " list function " , special customer-specific functionality is assigned globally to the drive
corresponding to the " sources and functions " table. Each function can be connected freely with other
functions through max. 2 inputs and 1 output through a consecutively numbered data memory (buffer 1
… 15).
The sequence of the functions in the " list function " corresponds to the sequence of the system-internal
processing. The data in Id34020 are structured in modules of 3 words each.
Structuring:
Word0
Function number according to " source and functions " table
Word1
High byte
Low byte
Reserved
Output code
Word2
High byte
Low byte
Input 2 code
Input 1 code
PDK_026249_Parameter_en.doc
Page 200 from 212
Changing list data
Using the AMK field bus " AFP " as well as the control panel, the data can be changed both online in the
working memory and also permanently in the EEPROM stating the ID and the index in the corresponding
list. The effectiveness of the data change in the drive must be transferred by the user by command. Thus
is possible to activate the effect of individual parameters as well as parameter blocks at an arbitrary time
in the running process.
Sources and functions
Sources and functions are described by codes. By entry of the codes in the " list function " these are
interpreted by the system at the run time and the required functionality is executed in the 10 ms time
grid. Mixed operation of standard and extended functionality is possible without difficulty by switching
over operation modes.
Note:
Functions without data record can be used and linked several times.
" Sources and functions " table
Code
00h
01h
Filter
02h
Filter
03h
04h
05h
06h
07h
08h
09h
0ah
0bh
100h
101h
102h
103h
104h
105h
106h
Source / Function / Meaning
No extended function active
7FFFh]
Command value analogue input of AE1 [+10V
8000h]
T=0.25 ms over 4 values
[-10V
7FFFh]
Command value analogue input of AE2 [+10V
8000h]
T=0.25 ms over 4 values
[-10V
Command value source fixed parameter according to ID34016 SWQFIX16
Command value source fixed parameter according to ID34017 SWQFIX17
Command value source fixed parameter according to ID34018 SWQFIX18
Command value source fixed parameter according to ID34019 SWQFIX19
Command value source field bus SW16_1 [8000h … 7FFFh]
1)
Command value source field bus SW16_2 [8000h … 7FFFh]
1)
Command value source field bus SW16_3 [8000h … 7FFFh]
1)
Command value source field bus SW32 [80000000h … 7FFFFFFFh]
1)
Command value source pulse input X34 SWQIMP
(sampling time 10 ms, input pulses ≤ 32767 / 10 ms)
PID1 controller with variable limit, gain and feedback value filter (40 ms, 4
values) before PID summation point, see PID description
RMP1, 16 bit input/output, ramp up/ramp down time [0 ... 327670 ms in 10
ms steps, see description
ADDMOM addition of two 16-bit input variables [0.1% Mn] with interface to
standard torque control
ADDDZR addition of two 16-bit input variables [rpm] with interface to
standard DZR [0.0001 rpm]
ADD16 addition of two 16-bit input variables
( output 1:1, limited to 16 bits (±))
7FFFh, min: -16 bits
8000h
max. + 16 bits
ADD32 addition of two 32-bit input variables ( output 1:1, limited to 32 bits
7FFFFFFFh, min: -32 bits
80000000h
(±)) max. + 32 bits
NEG16 multiplication of a 16-bit input variable with factor -1
PDK_026249_Parameter_en.doc
Data record
None
None
None
None
None
None
None
None
None
None
None
PID controller
(ID34021)
Ramp1
(ID34022)
None
None
None
None
None
Page 201 from 212
Code
107h
108h
Source / Function / Meaning
ANP1 transformation 1 of a 16-bit input variable by means of offset, factor
and divisor, output limited to 16-bits ()
Command value standardizations, feedback value standardizations, …
7FFFh, min: –16 bits
8000h
max: + 16 bits
ANP2 transformation 2, see ANP1
109h
ANP3 transformation 3, see ANP1
10Ah
ANP4 transformation 4, see ANP1
10Bh
PIDA adaptive PID controller with variable limit, gain and feedback value
filter (40 ms, 4 values) before PID summation point, see PIDA description
RMP2, ramp, see RMP1
10Ch
Note:
1)
Data record
ANP1
(ID34030)
ANP2
(ID34031)
ANP3
(ID34032)
ANP4
(ID34033)
PIDA controller
(ID34034)
Ramp2
(ID34035)
Currently modules with numerical inputs and outputs are described exclusively.
The setpoint source field bus allows the issue of commands to the drive using the AFP protocol.
ID34021 PID1 controller
The PID1 controller data record describes the parameters of a freely parameterizable PID controller with
integrated signal limiters. The effect of the individual variables can be taken from the model description.
The parameters are set by reference to the known setting e.g. of a PI speed controller (firstly TN=TV =0
and optimized step change response through KP, then adapt Tn and TV alternatingly to the
requirements).
PID1 controller model description
KP
gain
Tn
Setpoint
E1
a_begpos
i_begpos
+
+
-
i_begneg
S2
output
a_begneg
Tv
Actual value
E2
Filter
40 ms
Parameter_PID1
PDK_026249_Parameter_en.doc
Page 202 from 212
PID1 data assignment
PID1 data
Index Type
Variable
0
UNS16
1
UNS16
2
UNS16 w_bit block 1)
Designation
Header info real length
Header info max. length (bytes)
Switch block S2 ...
Bit0 reserved
Bit1 = S2 = Filter off
UNS16 uw_kp
P factor
UNS16 uw_tn
Tn integral action time [ms]
UNS16 uw_tv
Tv derivative action time [ms]
SGN16 sw_verst
Output gain
SGN16 sw_i_begpos Pos. I component limit
SGN16 sw_i_begneg Neg. I component limit
SGN16 sw_a_begpos Pos. output PID limit
SGN16 sw_a_begneg Neg. output PID limit
UNS16 uw_reserve
Reserve
3
4
5
6
7
8
9
10
11
UNS16
SGN16
Limits
18h
18h
0…FFFFh
Default
18h
18h
0h
0…7FFFh
0…7FFFh
0…7FFFh
8000h…7FFFh
0…7FFFh
8000…0
0…7FFFh
8000h…0
200h
1000h
1h
1h
1F4h (500/min)
3E8h (1000/min)
FC18h (-1000/min)
16 bit without sign
16 bit with sign
Example of dancer controller (PID1) with fixed dancer command value
Source
Sink
Function module
Speed precontrol
Buffer 5
Buffer 4
ANP1
AE1
Speed
Controller
ADDDZR
/32
10V = 1024
10V = 32767 /min
Dancer command
value parameter
according to ID34016
Buffer 2
16 Bit
E1
PID1
SWQFIX 16
+
Filter
Analog dancer
feedback value
Buffer 1
AE2
16 Bit
Buffer 3
-
16 Bit
E2
0V = 0
Parameter_PID1_Beispiel
PDK_026249_Parameter_en.doc
Page 203 from 212
Linkage list according to ID34020 for above example
Index
00
Module
AE1
Meaning
Header
information
Header
information
Function No.
AE2
Output
Input2 / Input1
Function No.
xx05
Xxxx
0002
Output
Input2 / Input1
Function No.
xx01
Xxxx
0003
xx02
Xxxx
0100
xx03
0102
01
02
03
04
05
06
07
08
SWQ
FIX16
Code[hex]
0064
0064
Maximum length
0001
Analog command value A1 speed,
+10V
7FFFh
-10V
8000h
No. I/O buffer 5
is not used
Analogue input A2, dancer feedback value
+10V
7FFFh
-10V
8000h
No. I/O buffer 1
is not used
Dancer command value according to ID34016
09
10
11
12
13
PID1
Output
Input2 / Input1
Function No.
Output
Input2 / Input1
14
ANP1
Function No.
0107
Output
Input2 / Input1
Function No.
xx04
xx05
0103
Output
Input2 / Input1
xxxx
0304
15
16
17
ADD
DZR
18
19
PDK_026249_Parameter_en.doc
Explanation
Real length
No. I/O buffer 2
is not used
PID1 controller
No. I/O buffer 3
Sources feedback value (E2) and command
value (E1)
Transformation for command value
standardization
No. I/O buffer 4
No. I/O buffer 5
Adder with output to the standard speed
controller
is not used
Sources buffer 3 and 4
Page 204 from 212
ID34022 Ramp1, RMP1
ID34035 Ramp2, RMP2
Incoming variables are output quantified at the output corresponding to the set slope. The ramp can be
used as command or feedback value ramp. The slope of the ramp (ramp up / ramp down parameter) is
defined by the reference value (32767) and the stated time [10 ms]. The reference value is free from a
standardization or unit (torque, current, speed, …)
Input
± 15 Bit
Ramp
Output
± 15 Bit
Reference
value
Acceleration ramp
Deceleration ramp
0
t[ms]
50
(Index value3 - 5x10ms)
Deceleration time
100
(Index value4 - 10x10ms)
Deceleration time
Parameter_Rampe_Bezugswert
Example: Use of the ramp as command value ramp for speeds [rpm]. Acceleration ramp = deceleration
ramp = 1000 · 10 ms = 10 s. Thus a speed step change from 0 to 32768 rpm leads to a
velocity command value ramp with duration of 10 s. A speed step change from 0 to 3276 rpm
is consequently performed in 1 s.
Ramp data assignment ID34022 and ID34035
Index Type
Variable
Designation
0h
UNS16
Header information real length
1h
UNS16
Header information maximum length (bytes)
2h
UNS16 uw_th
Acceleration ramp [10 ms]
3h
UNS16 uw_tt
Deceleration ramp [10 ms]
PDK_026249_Parameter_en.doc
Limits
08h
08h
0 … 7FFFh
0 … 7FFFh
Page 205 from 212
ID34030 Transformation, ANP1
ID34031 Transformation, ANP2
ID34032 Transformation, ANP3
ID34033 Transformation, ANP4
The transformation may be embedded in 16-bit signal branches. The input signal can be shifted statically
before further processing by means of an offset addition. The transformation further permits signal
conditioning by means ± 15-bit multiplier (M) and + 15-bit divisor (D). Division by 0 is intercepted. The
output variable is limited to ± 15-bits. The transformation can be used for instance as electronic gear.
+ Offset
Input
± 15 bit
*M / D
Output
± 15 bit
Transformation data assignment
Index Type
Variable
Designation
0h
UNS16
Header information real length
1h
UNS16
Header information maximum length (bytes)
2h
SGN16 sw_mult
Multiplier
3h
UNS16 uw_div
Divisor
4h
SGN16 sw_offs
Offset (is added to input variable)
Limits
0Ah
0Ah
8000h … 7FFFh
1 … 7FFFh
8000h … 7FFFh
ID34034 PIDA controller
The PIDA controller model allows a PID control loop to be built up with adaptation of the controller data
KP, Tn and Tv depending upon the input control difference with additional monitoring of a maximum input
control difference.
The PIDA controller data record describes the parameters of one of the freely parameterizable PID
controllers with integrated signal limiters. The effect of the individual variables can be taken from the
model description. The parameters are set by reference to the known setting e.g. of a PI speed controller
(firstly Tn = Tv = 0 and optimized through KP step change response, then adapt Tn and Tv alternatingly to
the requirements).
PDK_026249_Parameter_en.doc
Page 206 from 212
PIDA adaptation procedure
|Kpu, Tnu, Tvu|
|Kp, Tn, Tv|
|Kpo, Tno, Tvo|
ADAPTION
0
du
|d|
dgrenz
do
Parameter_Adaptionsverfahren
PIDA controller model description
Kp
verst
Tn
Command
E1
value
-
+
S2
Feedback
value
E2
d
Ausg.
+
Tu
Filter
40 ms
a_begpos
i_begpos
i_begneg
a_begneg
Adaption
du
do
dgrenz
Bit message PIDERR 1)
Parameter_PIDA
PDK_026249_Parameter_en.doc
Page 207 from 212
PIDA data assignment
Index
0
1
2
Type
UNS16
UNS16
UNS16
Variable
Uw_kpu
UW_tnu
Uw_tvu
Uw_kpo
Uw_tno
UW_tvo
Sw_verst
sw_i_begpos
Designation
Header info real length
Header info max. length (bytes)
Switch block S2, ...
Bit0 reserved
Bit1 = S2 = 1 Filter off
Diff. limit monitoring binary output
bit PIDERR = 1 |PIDcommand –
PIDfeedback| ≥ |dlimit|
Diff. below, the PID values Kpu,
Tnu and Tvu apply
|PIDcommand – PIDfeedback|
≤ |uw_du|
linear ADAPTATION KP, Tn, Tv
between uw_du and uw_do
Diff. above, the PID values Kpo,
Tno and Tvo apply
|PIDcommand – PIDfeedback|
≥ |uw_do|
linear ADAPTATION KP, Tn, Tv
between uw_du and uw_do
P factor underneath range du
Tnu integral action time [ms]
Tvu derivative action time [ms]
P factor above range do
Tno integral action time [ms]
Tvo derivative action time [ms]
Output gain
Pos. I component limit
3
UNS16
uw_dgrenz
1)
4
UNS16
uw_du
lower
adaptation limit
5
UNS16
uw_do
upper
adaptation limit
6
7
8
9
10
11
12
13
UNS16
UNS16
UNS16
UNS16
UNS16
UNS16
SGN16
SGN16
14
SGN16
sw_i_begneg
Neg. I component limit
8000h … 0
15
SGN16
sw_a_begpos
Pos. output PID limit
0 … 7FFFh
16
SGN16
sw_a_begneg
Neg. output PID limit
8000h … 0
17
SGN16
uw_reserve
Reserve
1)
uw_bit block
1)
Limits
24h
24h
0 ... FFFh
Default
24h
24h
0h
0 ... 7FFFh
3000h
0 … 7FFFh
1000h
0 … 7FFFh
2000h
0 … 7FFFh
0 … 7FFFh
0 … 7FFFh
0 … 7FFFh
0 … 7FFFh
0 … 7FFFh
[8000h ... 7FFFh]
0 … 7FFFh
70h
100h
1h
400h
200h
1h
1h
1F4h
(500/min)
FE0Ch
(-500/min)
3E8h
(1000/min)
FC18h
(-1000/min)
in preparation
UNS16
SGN16
16 bits without sign
16 bits with sign
PDK_026249_Parameter_en.doc
Page 208 from 212
Example of dancer controller (PIDA) with variable dancer command value
Dancer command value [±10V in 0.1V steps]
Buffer 7
SW16_1
Field bus 1)
ANP1
Buffer 1
E1 PIDA
E2
Dancer actual value
[+10V → 7FFFh
-10V → 8000h]
ADD
DZR
Buffer 2
AE1
Buffer 3
Buffer 4
Standard
DZR
Pre-control
speed setpoint
[+10V → 7FFFh
-10V → 8000h]
AE2
Buffer 5
ANP2
Buffer 6
Parameter_PIDA_Beispiel
1)
The issuing of commands via the field bus takes place using AFP (AMK field bus protocol)
Index
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
Module
SW16_1
ANP1
AE1
PIDA
AE2
15
16
PDK_026249_Parameter_en.doc
Meaning
Code
[hex]
Header information 0064
Header information 0064
Function No.
0007
Output
xx07
Input2 / Input1
Xxxx
Function No.
0107
Output
Input2 / Input1
Function No.
Output
Input2 / Input1
Function No.
Output
Input2 / Input1
Function No.
xx01
xx07
0001
xx02
Xxxx
010B
xx03
0201
0002
Output
Input2 / Input1
xx05
Xxxx
Explanation
Real length
Maximum length
Field bus, dancer command value in 0.1V
Output assignment
Not used
Transformation for command value
standardization
(conversion + 100
7FFFh,
-100
8000h, data according to ID34030)
Transfer to following module
Input assignment
Dancer feedback value analogue input 1
Transfer to following module
Not used
PIDA module data according to ID34034
Transfer to following module
Dancer feedback value / command value
Precontrol velocity command value
analogue input 2
Tranfer to following module
Not used
Page 209 from 212
Index
Module
Meaning
17
ANP2
Function No.
Code
[hex]
0108
ADDDZR
Output
Input2 / Input1
Function No.
xx06
xx05
0103
21
Output
xxxx
22
Input2 / Input1
0306
18
19
20
xx
Explanation
Transformation for command value
standardization
(data according to ID34031)
Transfer to following module
Input assignment
Speed addition of the sources PIDA and
ANP2 and output Ncommand to standard
DZR
Transfer always to standard DZR
[0.0001 rpm]
PIDA output [rpm] / ANP2 output [rpm]
Code must be initialized with 0
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23 Imprint
Title
PDK_026249_Parameter_en
Purpose
Description of the parameter for the AMK Drive systems KU and KE/KW
Part number
26249
History
Publication date
2004/29
2005/46
2006/20
2006/36
2007/16
Copyright notice
© AMK GmbH & Co. KG
Copying of this document, and giving it to others and the use or communication of the contents
thereof, are forbidden without express authority. Offenders are liable to the payment of damages.
All rights are reserved in the event of the grant of a patent or the registration of a utility model or
design.
Reservation
Modifications to the content of the documentation and the delivery options for the products are
reserved.
Service
Tel. no. +49/(0)7021 / 5005-191, Fax -193
Office hours:
Mon.-Fri. 7:30 - 16:30, on weekends and public holidays the phone number of the standby service
personnel is available on the answering machine.
You can assist us in finding a fast and reliable solution for the malfunction by providing our service
personnel with the following:
•
•
•
•
•
Publisher
Information located on the ID plate of the devices
The software version
The device setup and the application
The type of malfunction, suspected cause of the failure
The diagnostic messages (error codes)
AMK Arnold Müller Antriebs- und Steuerungstechnik GmbH & Co. KG
Gaußstraße 37 – 39, 73230 Kirchheim/Teck
Tel.: 07021/5005-0, Fax: 07021/5005-176
E-mail: info@amk-antriebe.de
Additional information www.amk-antriebe.de
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AMK Arnold Müller GmbH & Co. KG
Antriebs- und Steuerungstechnik
Gaußstrasse 37 – 39
D-73230 Kirchheim/Teck
Telefon: +49 (0) 70 21 / 50 05-0
Telefax: +49 (0) 70 21 / 50 05-199
info@amk-antriebe.de
www.amk-antriebe.de