SE Motion Products: Lexium23 Plus

Transcription

1 SE Motion Products: Lexium23 Plus Presenter Simone Gianotti Technical Marketing Specialist, Motion & Safety Solutions

2 Course Objectives Upon completion of this course the participant should be able to: Describe Lexium23 Plus offer Describe Lexium23 Plus capabilities Determine which Lexium23 Plus architecture best fits the motion opportunity Parameterize Lexium 23 Pus using the Software Lexium23 CT Schneider Electric - Motion Basics Module 1 2

3 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

4 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

5 Product overview Lexium 23 Plus servo drive offer LXM23D I/O Servo Drive LXM23A CANopen / CANmotion Drive 5

6 Product overview Lexium 23D I/O Control Servo-motor drive with external control via pulse and direction and analog and logic I/O Position register for up to 8 positions I/O switching between Speed, Position and Torque registers Pulse Input up to 4 MPS 62.5uS Current Control Loop 8 Digital Inputs 4 Digital Outputs 2 Analog Inputs 2 Analog Outputs 6

7 Product overview Lexium 23A with CANopen Control Servo-motor drive with external control via CANopen motion fieldbus and analog and logic I/O PLCopen Compatible for many standard motion control function blocks 62.5uS Current Control Loop 8 Digital Inputs 4 Digital Outputs 2 Analog Inputs 2 Analog Outputs CANopen/motion bus interface 7

8 Product overview Product Type 5 Physical Sizes of Drive Size 1: 100W, 200W and 400W Size 2: 750W, 1kW, and 1.5kW Size 3: 2kW, 3kW, and 4.5kW Size 4: 5.5kW Size 5: 7.5kW 8

9 Product overview Mechanical Size Size 1 LxM23 U01M3x, U02M3x, U04M3x Size 2 Size 3 LxM23 U07M3x, LxM23 U20M3x, U10M3x, U15M3x U30M3x

10 Product overview Power Supply 2 Power supply versions V AC single-phase Size 1: 100W, 200W and 400W Size 2: 750W, 1kW, and 1.5kW V AC three-phase Size 3: 2kW, 3kW, and 4.5kW Size 4: 5.5kW Size 5: 7.5kW 10

11 Product overview Order Structure Lexium 23 Plus 11

12 Product overview Programming Interfaces Integrated HMI 12

13 Product overview Serial Interface HCT (unique) special high speed RS232 for drive commissioning RS-485 serial communication 13

14 Product overview Interfaces LxM23 Plus U01, U02, U04, U07, U10, U15 HMI Mains supply Motor DC-Bus External resistor CANOPEN and CAN_Motion Interface Input/Output interface Motor feedback Parameterisation interface 14

15 Product overview Interfaces LxM23 Plus U20, U30, U45 HMI Mains supply Motor DC-Bus External resistor CANOPEN and CAN_Motion Interface Input/Output interface Motor feedback Parameterisation interface 15

16 Product overview AC synchronous servo motors - BCH Series Motors The BCH motor series is dedicated for use with the Lexium 23 Plus Motors available for a wide range of inertia: Ultra-low Inertia: kW Low Inertia: 0.4 2kW Medium Inertia: kW High Inertia: 2 7.5kW 16

17 Product overview Order Structure BCH Motors 17

18 Product overview AC synchronous servo motors - BCH Series Motor Encoders On power-up, Lexium 23 Plus automatically reads motor data from encoder. Encoder: Incremental Encoder Digital data communication Rated Voltage: +5V Resolution: 20 bit 18

19 Product overview Drive Motor Compatibility 19

20 Product overview Electrical installation - Safety instructions Please observe the following safety regulations when working on electrical equipment: Disconnect device from supply voltage. Secure the device against accidental reactivation (and attach a DO NOT SWITCH ON sign to the switch). Verify that parts are free of voltage. Cover or block adjacent system parts that are still live. WAIT FOR 10 MINUTES (discharge the DC bus capacitors) Measure the voltage between PA/+ and PC/- and check that it is <48 V. (Important: The LED does not reliably indicate that no DC bus voltage is present). 20

21 Product overview Electrical installation - Mains supply/supply voltage Single / 3 Phase Device CN1 Mai ins VAC 21

22 Product overview Electrical installation - Operation with external Filter or RCD Power Supply NO Fuse Breaker (NFB) RCD (Option) Relays also for E-Stop L1, L2 R, S, T, 22

23 Product overview Electrical installation - Motor and holding brake connection CN9 DC Bus PA A/+ A Holding Brake Controller is not necessary. The Connection is directly on the Terminal Adapter. 23

24 Product overview Electrical installation - Connection of the motor encoder 24

25 Product overview Electrical installation Connection of the external ballast resistor PB PC/- 25

26 Product overview Electrical installation / IT mains - Commissioning PB PC/- 26

27 Product overview Electrical installation / IT Mains - Overview of all In / Outputs All In / Outputs can be configured via the Commissioning Tool. 27

28 Product overview Electrical installation / IT mains Connection of the Pulse Input Line Driver Input Upper 500 KHz lower Optic coupler 28

29 Product overview Electrical installation / IT mains Connection of the Encoder Output RS422 Output 29

30 Product overview Electrical installation / IT mains Connection of digital inputs / outputs (CN6) Sink Configuration Source Configuration Input SON SON Com + Com + Output Com + DOx + DOx- DOx + DOx- 30

31 Product overview Electrical installation / IT mains Connection of analogue input / Output (CN1) Ana_In Ana_Out 31

32 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

33 HMI (Human Machine Interface) Overview HMI Integrated HMI LED s only on LxM23 A Charge LED LED s : Status of the CAN network : to select/change mode : moving cursor and indexing through the parameter groups : can scroll through and change monitor codes, parameter groups : to store data LED display : 7-segment display (5-digit) 33

34 HMI (Human Machine Interface) Keypad operation Fault Mode and Monitor Mode 34

35 HMI (Human Machine Interface) Keypad operation Default display mode is programmable. LIST OF DATA Arrow keys scroll through other data display 35

36 HMI (Human Machine Interface) Keypad operation Parameter Mode 36

37 HMI (Human Machine Interface) There are seven groups of drive parameters Described in: Chapter 4: Display and Operation & Chapter 7: Servo Parameters 37

38 HMI (Human Machine Interface) Monitor status (P , setting value ) In monitor mode the user can specify the monitor status by changing the parameter P0-02 When drive is switched on, the monitor status depends on the setting value of P0-02. For example: P setting = 4. After power on the monitor function will be: input pulse number. 38

39 HMI (Human Machine Interface) Monitor status (P , setting value ) P0-09 till P0-13 is used to display the status value determined by P0-17 till P0-20. example: You want to display the speed input command [Volt] : (Drive status list in P0-02 = 8) You have to set P0-17 to 8. With parameter setting P0-02 = 23, the content of P0-09 will be displayed as monitor status. 39

40 HMI (Human Machine Interface) Monitor status (P , setting value ) P0-25 till P0-32 is used to display one 32 bit parameter or two 16 bit parameter. The parameters will be mapped by P0-35 till P0-P42. example: You want to read/write two 16-bit parameters via P0-25: - P2-02 (PositionFeedForwardGain) - P2-04 (ProportionalSpeedLoopGain) You have to set P0-35 to 0x The values of P2-02 and P2-04 will be displayed by P0-25 With parameter setting P0-02 = 19, the content of P0-25 will be displayed as monitor status. 40

41 HMI (Human Machine Interface) Calling parameters 41

42 Switching on the first time After switching on the servo drive, the device goes through a initialization routine; all LED s are tested, all segments of the 7-segment display and the LED s light up. After the initialization the device reads the operation mode and displays it for 1 sec. Default operating mode is CANopen Mode for the LXM23A Plus. The functions for the inputs and outputs will be set to default settings after initialize a Reset to factory settings and repower the drive. If you change: - the operating mode/motor direction - Modbus address you must reboot the drive to validate the new settings. 42

43 Factory setting Parameter P2-08 can be used to reset all parameters to their original factory setting and enable some parameter functions! To perform a reset to factory setting, the drive has to be disabled. Setting parameter P2-08 to value 10, all parameter values are set to factory defaults. All parameter values will be reset after re-power. 43

44 Exercises 1.1 HMI Reset to factory settings Factory Reset Restoring programming settings to default settings Servo Drive must be Servo Off Reset takes effect when drive is repowered 44

45 Exercises 1.1 HMI Reset to factory settings Select the Parameter P2-08 P2-08 Special factory setting Reset parameter settings saved 1. display rst 2. display done 3. display Reboot the drive 45

46 Exercises 1.2 HMI cont 46

47 Exercises 3.2 HMI Jog Mode P4-05 Adjust JOG speed to 75 ENT Press ENT to activate JOG mode Before you start Jog Mode, please change the operating mode from CANopen to Speed Ctrl mode (S_Mode) Jog Display that JOGmode is active Press OR to run the motor CCW OR CW Set P1:01 = 0x Press M key to exit JOG mode And define the input functions like shown in the next slide 47

48 Exercises 1.3 HMI Fault record Display of the current Fault Record Simulate an error. E.g. Interrupt a limit-switch input. P0-01 Select Parameter P0-01 ENT Display the current drive fault 0014 M Display: e.g. Reverse limit switch error 48

49 Exercises 1.4 HMI Fault memory Display of the error memory P4-00 Select Parameter P4-00 ENT Display the most recent fault record P4-01 Select Parameter P4-01 ENT Display the second most recent fault record P4-02, P4-03, P4-04 Select Parameter P4-02,P4-03,P4-04 for the third, fourth, fifth recent fault record M 49

50 Exercises 1.5 HMI Find out the Firmware Version Display of the firmware version P0-00 Select Parameter P0-00 Display of the firmware version M 50

51 Exercises 1.6 HMI Check the Main Circuit Voltage Check the Main Circuit Voltage P0-02 Set Parameter P0-02 to 14 P0-02 DC Bus voltage 315 display M 51

52 Exercises 1.7 HMI Monitor IO signals display the input status P4-07 Select P4-07 to display the input signals 00E DI M 52

53 Exercises 1.8 HMI Monitor IO signals display the output status P4-09 Select P4-09 to display the output signals DO

54 Exercises 1.9 HMI Change operating mode to CANopen and Setup Can Address Select the Parameter P3-05 P3-05 Configuration Can Open Address 54

55 Exercises 1.10 HMI Change operating mode to CANopen and Setup Baudrate Select the Parameter P3-01 P3-01 Configuration Can Open Baudrate Reboot the drive 55

56 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

57 Lexium Programming Software Status and drive fault When the drive has a fault, LCD display will show the Alarm number as e.g.: AL013 Operational stop activated. The current servo drive fault is also shown with parameter P0-01., Several errors can be reset by turning DI signal (ARST) ON; Several errors can only be reset by restarting the servo drive. (Please refer to the error list in the drive manual.) 57

58 Lexium Programming Software Status and drive fault Monitor and Setting display When the drive is switched on, the LCD display will show the current operating mode for approx. 1 second, and then enter into the monitor mode. In monitor mode the user can change the monitor status when pressing: OR. To specify the monitor status parameter P0-02 can be changed. E.g.: P0-02 setting = 7. Display message: SPEED [rpm]. 58

59 Lexium Programming Software Status and drive fault Error memory - HMI The error memory contains a history of the last 5 errors. The error memory can be found in the parameter section P4-00 P4-04. The five most recent errors are stored. 59

60 Exercises 2.1 Check Error Memory - HMI Check the fault record of the drive parameter P4-00 P

61 Exercises 2.2 Connect Lexium 23 Plus commissioning tool USB RS232 61

62 Exercises 2.3 Statusmonitor t - Lexium 23 Plus commissioning i i tool Open the status monitor and check the several status signals. 62

63 Exercises 2.4 Check Fault record Lexium 23 Plus commissioning tool Check the fault record of the drive parameter P4-00 P

64 Exercises 2.5 Error simulation simulate an operational stop error and check the entry in the fault record with the commissioning tool and on HMI. parameter P4-00 P simulate a LIMIT switch error and check the entry in the fault record with the commissioning tool and on HMI. parameter P4-00 P

65 Exercises 2.6 Check Alarm/Alarm History - Lexium 23 Plus commissioning i i tool There are different possibilities to open the Alarm Information Open current Alarm and Alarm History 65

66 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

67 Initial Parameter Wizard Overview Possible operating mode on Lexium 23 Plus (A): 67

68 Initial Parameter Wizard Choosing operating mode There are two possibilities to select the operating mode: 1. Selecting the operating mode in the Parameter Editor P1-01: 2. Selecting the operating mode with the Parameter Initial Wizard: 68

69 Initial Parameter Wizard Parameter Initial Wizard Via Parameter Initial Wizard the user can make the necessary entries for the chosen Control Mode. 69

70 Initial Parameter Wizard Digital Input / Output Setup DI/O Setup Input functions for DI1 DI8 contact a: High active contact b: Low active Output functions for DO1 DO5 70

71 Initial Parameter Wizard Common Setup Common Setup 71

72 Initial Parameter Wizard Speed Mode Setup Speed Mode Setup 72

73 Initial Parameter Wizard Internal Speed/Torque Internal Speed/ Torque 73

74 Initial Parameter Wizard Input function definition Parameters from P2-10 to P2-17 are used to determine the functions and statuses of DI1.. DI8. The setting have to be done on this way: A: -B: DI function setting (e.g.: 01 [Servo On]) - 0: Normally closed (contact b) - 1: Normally open (contact a) A B 74

75 Initial Parameter Wizard Input function After switch on the drive, SON needs a rising edge if P2-68 is 0! (See below) Alarms (FAULT) can be cleared by activating ARST. If the alarm can be cleared with ARST you have to check the fault description in the manual. 75

76 Initial Parameter Wizard Input function GAIN switching control selection (see below) P2-50 = 0: CCLR triggered by rising-edge; P2-50 = 1: CCLR triggered by level. 76

77 Initial Parameter Wizard Input function 77

78 Initial Parameter Wizard Input function Command input reverse control. When the drive is in Speed or Torque mode, and CMDINV is activated, the motor is in reverse rotation. 8 78

79 Initial Parameter Wizard Input function 79

80 Initial Parameter Wizard Input function 80

81 Initial Parameter Wizard Input function 81

82 Initial Parameter Wizard Input function 82

83 Initial Parameter Wizard Input function 83

84 Initial Parameter Wizard Input function Safety inputs should be configured as normally ON Homing mode will be selected ected with parameter a P5-04 Parameter Initial Wizard 84

85 Initial Parameter Wizard Input function 85

86 Initial Parameter Wizard Input function 86

87 Initial Parameter Wizard Output function 87

88 Initial Parameter Wizard Output function 88

89 Initial Parameter Wizard Output function 89

90 Initial Parameter Wizard Output function 90

91 Initial Parameter Wizard Output function 91

92 Initial Parameter Wizard Output function OLW 92

93 Initial Parameter Wizard Output function 93

94 Initial Parameter Wizard Output function 94

95 Initial Parameter Wizard Output function The time chart of the position control output signals you ll find on the next page. 95

96 Initial Parameter Wizard Output function 96

97 Initial Parameter Wizard Output function 97

98 Exercises 3.1 Parameter Initial Wizard (Speed Mode) Use the Parameter Initial Wizard to do the necessary control mode setup. (Task see below) 98

99 Exercises 3.2 Parameter Initial Wizard (Internal Speed) Use the Parameter Initial Wizard to do the necessary control mode setup. (Task see below) 99

100 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

101 Operating modes PR Mode Single Mode Pr (Mode 01) 101

102 Operating modes PR Mode Select PR Mode via Parameter Initial Wizard 102

103 Operating modes PR Mode Setup Assistant window for PositionControlMode PR mode OPEN PR Mode Setup 103

104 Operating modes PR Mode Setup Configuration of the position profile (Max. 8 Position register) 104

105 Operating modes PR Mode / Command delay time Delay time between movement finished and signal DO (CMD_OK) 105

106 Operating modes PR Mode / Absolute and incremental command Absolute command Incremental command [Additive] 106

107 Operating modes PR Mode / Insertion command Incremental command with insertion 107

108 Operating modes PR Mode / Insertion command An absolue command has an insertion to an incremental command 108

109 Operating modes PR Mode / Homing Setting Homing Setting to configure the homing parameters 109

110 Operating modes PR Mode / Homing when Power On 110

111 Operating modes PR Mode / Homing Mode 1 X0: Move forward (CCW) to forward Limit switch X1: Move backward (CW) to backward Limit switch Y=0: Return to Z Y=1: Go ahead to Z Y=2: Do not search Z 111

112 Operating modes PR Mode / Homing Mode 2 X2: Move forward (CCW) to ORGP move out from ORGP backward X3: Move backward (CW) to ORGP move out from ORGP forward Y=0: Return to Z Y=1: Go ahead to Z Y=2: Do not search Z Z=0: Stop and Warn Z=1: Reverse automatically 112

113 Operating modes PR Mode / Homing Mode 3 X4: Move forward to Z pulse X5: Move backward to Z pulse Z=0: Stop and Warn Z=1: Reverse automatically 113

114 Operating modes PR Mode / Homing Mode 4 X6: Move forward (CCW) to ORGP move out from ORGP forward X7: Move backward (CW) to ORGP move out from ORGP backward Y=0: Return to Z Y=1: Go ahead to Z Y=2: Do not search Z Z=0: Stop and Warn Z=1: Reverse automatically 114

115 Operating modes PR Mode / Homing Mode 5 X8: Regard current position as home position. (SetPosition) 115

116 Operating modes PR Mode / Final place after homing After homing the motor can be moved to a position out of the position register. (Like safety distance) 116

117 Operating modes PR Mode / Speed/Time setting 15 different: - ACC/DEC - Delay Time - speed can be defined. 117

118 Operating modes PR Mode / Electronic gear/ratio, event deceleration time 118

119 Operating modes PR Mode / capture 1 function 119

120 Operating modes PR Mode / capture 2 function 120

121 Exercises 4.1 Operating Mode PR Mode DI/O Setup Choose Pr Control mode and configure DI1-6 and DO1,DO2 as described below. 121

122 Exercises 4.2 Operating Mode PR Mode Homing Setting 1. Enter the homing settings as described below and test. 122

123 Exercises 4.3 Operating Mode PR Mode PR Mode Setting 1. Enter the PR Mode Settings for the position register as: -options, speed time setting, and position data. 123

124 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

125 Operating modes Position Command 125

126 Operating modes External Position Control (Pt mode) Position control for the servo motor achieved via external pulse command. (External pulse train) 3 pulse type can be used: - AB signal, CW/CCW signal, pulse/direction 2 different source of pulse command: - low speed (up to max 500KHz) - High speed (up to max. 4MHz) 126

127 Operating modes External Position Control (Pt mode) P1-68: Moving filter 127

128 Operating modes External Position Control (Pt mode) P1-08: Low pass filter 128

129 Operating modes External Position Control (Pt mode) Using the input functions GNUM1 and GNUM2 the nominator for the electronic gear ratio can be set. Denominator is set by P

130 Operating modes Speed Command 130

131 Operating modes External Speed Control (S mode) External analog signal controls the speed of the servo motor. Via input functions SPD0 and SPD1 the command source will be selected. 131

132 Operating modes External Speed Control (S mode) S-curve filter: speed smoothing command during acceleration and deceleration phase. 132

133 Operating modes External Speed Control (S mode) Moving filter P1-59 Low pass filter P

134 Operating modes External Speed Control (S mode) Zero speed function 134

135 Operating modes Internal Speed Control (Sz mode) There are 3 speed control parameters P1-09, P1-10, P1-11 to control the speed of servo motor. Via input functions SPD0 and SPD1 the internal speed register will be selected. 135

136 Operating modes Torque Command 136

137 Operating modes External Torque Control (T mode) External analog signal controls the torque of the servo motor. Via input functions TCM0 and TCM1 the command source will be selected. 137

138 Operating modes External Torque Control (T mode) Low pass filter P1-07 (SFLT) 138

139 Operating modes Internal Torque Control (Tz mode) There are 3 torque control parameters P1-12, P1-13, P1-14 to control the torque of servo motor. Via input functions TCM0 and TCM1 the internal torque register will be selected. 139

140 Operating modes Dual Mode Lexium 23 plus provides also Dual Mode change from one control mode to the other via DI. 140

141 Operating modes Dual Mode (06) Pt S and (08) Pr - S If DI is OFF position mode is active. 141

142 Operating modes Dual Mode (0A) S T If DI is OFF speed mode is active. 142

143 Operating modes Dual Mode (07) Pt T and (09) Pr - T If DI is OFF position mode is active. 143

144 Exercises 5.1 Operating Mode Dual Mode (0A) S - T Choose Control mode (0A) S T and configure DI1-6 and DO1, DO2 as described below. 144

145 Exercises 5.2 Operating Mode Dual Mode (0A) S - T 1. Enter speed and torque values, and test S T mode. 145

146 Exercises 5.3 Operating Mode Single Mode (01) / Jog function Choose Control mode (01) Pr and configure DI1-6 and DO1, DO2 as described below, and test the several in-/ output functions like JOG. - Test also capture function on next page 146

147 Exercises 5.4 Operating Mode Single Mode (02) / Capture 1 function Test capture function as described below Select Control Mode 02 Speed mode (S) Define - DI1 as Servo On - DI2 as Alarm Reset - DI5 as Operational Stop All the other input you have to be disabled - DO1 Servo ready - DO2 Capture operation completed 147

148 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

149 Tuning, Lexium 23 CT menu Controller structure 149

150 Tuning, Lexium 23 CT menu Trial Run without load We recommend to complete the trial run without load first, before performing the trial run with load to prevent accidents and avoid damaging. To be sure, that all control loop parameters are set to default values, we recommend to initiate a special factory setting : P2-08 = 10. Please refer to chapter 3 (HMI, First Setup) how to perform JOG trial run. For safety, it s recommended to set JOG speed at low speed. External wiring, like Limit switches is not necessary. 150

151 Tuning, Lexium 23 CT menu Speed Trial Run without load Set parameter P1-01 to 02 (speed control mode) and restart the drive. Configure necessary inputs as listed below. Configure the speed command selection as shown in the table below. Enable the drive with DI1 and test with analog input and internal speed command. It s also possible to make a position trial run without t load using position control mode Pr. 151

152 Tuning, Lexium 23 CT menu Tuning / 1. method: Auto Gain Tuning Open Auto Gain tuning 152

153 Tuning, Lexium 23 CT menu Auto Gain Tuning / inertia ratio 1. Servo On 2. Set the speed and download 3. Jog the motor to define Position1 and 2. Before Start: 4. Click on Start motor is running set P2-47 to 1 JL/Jm ratio will be displayed. 5. Go back to Step 2 and 4, raise speed, and repeat the procedure until you see a stable inertia ratio. 6. Click Set_J inertia ratio will be set to P

154 Tuning, Lexium 23 CT menu Auto Gain Tuning / Download parameter 7. Determined ratio of inertia is shown =>> Download parameter into drive. 9. If a resonance frequency was found, the Notch filter frequency and Gain will also be downloaded

155 Tuning, Lexium 23 CT menu Tuning / 2. method: Semi Auto Mode

156 Tuning, Lexium 23 CT menu Tuning / 3. method: Auto Mode

157 Tuning, Lexium 23 CT menu Notch filter 157

158 Tuning, Lexium 23 CT menu Scope function / FFT- Fast Fourier Transform Diagnosing resonance frequency 158

159 Tuning, Lexium 23 CT menu Scope function / Measure Resonance manually 159

160 Tuning, Lexium 23 CT menu Scope Status objects 160

161 Tuning, Lexium 23 CT menu Scope CANopen objects and DriveStatus Open scope, choose ADR mode and enter the address of the object you want to monitor. 161

162 Tuning, Lexium 23 CT menu Scope / Condition 162

163 Tuning, Lexium 23 CT menu Model Information The Model Information provide: - list of motor specification - COM port information - firmware version 163

164 Exercises 6.1 Tuning Semi Auto Mode Test Tuning Semi auto mode like described on slide 9 in this chapter and below. 164

165 Exercises 6.2 Tuning Auto Gain Tuning Open Auto Gain Tuning and practise the tuning step by step as described in this chapter on slide

166 Exercises 6.3 Scope Scope function Open Scope window - choose motor speed - choose motor current - choose speed command rotation speed voltage and start monitoring. 166

167 SE Motion Products: Lexium23 Plus > Product overview > HMI Programming Interface > Lexium Programming Software > Initial Parameters Wizard > Operating Modes 1 > Operating Modes 2 > Autotuning > CANopen

168 Lexium 23 A CANopen For Operating mode CANopen the parameter P1-01 has to be set = 0x0B to enable CANopen mode (DS402). parameter P3-10 has to be set = 0x00 (Use only DS 402 profile) With parameter P3-05 the CAN-Communication address has to be set With parameter P3-01 the transmission speed has to be set: setting e.g: CAN Baudrate RS485 Baudrate 168

169 Lexium 23 A CANopen Communication architecture 169

170 Lexium 23 A CANopen State Machine 170

171 Lexium 23 A CAN diagnostic Two LED s are used for diagnostic: RUN, Error 171

172 Lexium 23 A CANopen General - SDO abort SDO error frame Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h Low index High index Sub- ErrorCod ErrorCod ErrorCod index ErrorCode e e e 172

173 Lexium 23 A CANopen emergency Emergency Error Emergency Object Code g Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Register Panel Alarm Code N/A e.g.: 173

174 Lexium 23 A CANopen General - PDO LxM23 A uses 8 PDO s, 4 receive PDOs and 4 send PDO s All PDOs are transmitted event-controlled in the default setting. In the default setting of the PDO s R_PDO1 and T_PDO1 are enabled. The others must be enabled. All PDO s can be modified by PDO mapping. 174

175 Lexium 23 A CANopen General - Mapping of the R_PDO PDO s manufacturer-specific object values are transmitted with the forth receive PDO 175

176 Lexium 23 A CANopen General - Mapping of the T_PDO s manufacturer-specific object values can be monitored with the forth transmit PDO 176

177 Lexium 23 A CANopen General - Operating status Different to LxM05, LxM32 Bits 0,1,2,3,5 and 6 of the DCOMstatus parameter provide information on the operating mode. 177

178 Lexium 23 A CANopen General - Operating status Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is missing or too low, the device does not transition from operating state 3 to operating state

179 Lexium 23 A CANopen General - Changing operating state Bit s 0,1,2,3 and 7 of the parameter DCOMcontrol allow you to switch between the operating states. 179

180 Lexium 23 A CANopen General - Changing operating state Bit s 4 to 6 are used for the operating mode-specific settings. 180

181 Lexium 23 A CANopen Operating modes 181

182 Lexium 23 A CANopen Profile Position Mode (PP) associated objects: 182

183 Lexium 23 A CANopen Operating procedure for PP Mode 183

184 Lexium 23 A CANopen Profile Velocity Mode (PV) associated objects: 184

185 Lexium 23 A CANopen Operating procedure for PV Mode 185

186 Lexium 23 A CANopen Profile Torque Mode (PT) associated objects: 186

187 Lexium 23 A CANopen Operating procedure for PT Mode 187

188 Lexium 23 A CANopen Homing Mode associated objects: 188

189 Lexium 23 A CANopen Operating procedure Homing Mode 189

190 Lexium 23 A CANopen Interpolation Position Mode (IP) associated objects: 190

191 Lexium 23 A CANopen Operating procedure Interpolation Position Mode (IP) 191

192 Lexium 23 A CANopen JOG Mode associated objects: 192

193 Lexium 23 A CANopen Operating procedure JOG Mode 193

194 Lexium 23 A SoMachine EDS file available No CANopen PLCopen libraries released yet No CANmotion PLCopen libraries released yet 194

195 Schneider Electric Motion Basics Thank You Make the most of your energy