Control Techniques M'Ax Assembly instructions

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EF
Advanced User Guide
M’Ax
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Compact, high-performance, single-axis servo
amplifier for brushless AC servo motors
Part Number: 0453-0017-04
Issue Number: 4

General information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent
or incorrect installation or adjustment of the optional operating parameters of the equipment or from
mismatching the drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a
commitment to a policy of continuous development and improvement, the manufacturer reserves the
right to change the specification of the product or its performance, or the contents of the Advanced
User Guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any
means, electrical or mechanical including photocopying, recording or by any information-storage or
retrieval system, without permission in writing from the publisher.
Important...
Servo-amplifier software version
This product is supplied with the latest version of user-interface and machine-control software. If this
product is to be used with other Control Techniques servo amplifiers in an existing system, there may
be some differences between their software and the software in this product. These differences may
cause a difference in functions. This may also apply to servo amplifiers returned from a Control
Techniques Service Centre.
If there is any doubt, contact a Control Techniques Drive Centre.
Copyright © January 2003 Control Techniques Drives Ltd
Issue Code: 4

M’Ax Advanced User Guide
Issue Number: 4
Contents
1 Advanced parameters: General information .............................................1
2 Menu 0 Parameters ......................................................................................2
3 Menu 1 Parameters - Speed reference selection ......................................5
4 Menu 2 Parameters - Ramp Selection ......................................................12
5 Menu 3 Parameters - Speed Loop PID gains ...........................................19
6 Menu 4 Parameters - Torque Control .......................................................28
7 Menu 5 Parameters - Motor Control .........................................................34
8 Menu 6 Parameters - Sequencer Functions, AC Supply Loss Modes ...38
9 Menu 7 Parameters - Analog Input Output Settings, Temperature
Monitoring ...................................................................................................42
10 Menu 8 Parameters - Digital Input / Output Settings and Indications ...49
11 Menu 10 Parameters - Status and Diagnostic Information, Trip log,
Braking control ...........................................................................................56
12 Menu 11 Parameters - Scale factor, Initial displayed parameter, Serial
communications, Drive information .........................................................63
13 Menu 13 Parameters - Pulse Reference Selection & Scaling .................69

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1M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
1 Advanced parameters: General information
In some cases, the function or range of a parameter are affected by the setting of another parameter; the information in these lists
relate to the default condition of such parameters.
Key
Parameter Information example:
RW Read-write parameter
Read-write (RW) parameter whose default
value is defined by the motor via the SLM
RO
Read-only parameter
Read-only parameter whose value is defined by
themotorviatheSLM
{...} Related Menu 0 parameter
[...] Value of a parameter
ô
range of values
ð
default values
~ indicates range of values
Uni Unipolar variable parameter
Positive values only
Bi Bipolar variable parameter
Positive and negative values
Txt Text variable parameter
Alphanumeric code is displayed
Bit Bit parameter
Two digital states only
RParameters must be copied to the EEPROM (saved) or copied to the flash memory (stored) for a new value to take
effect
S
A new value is normally copied to the EEPROM (saved) or
copied to the flash memory (stored) at power-down (see
parameter 0.50 Parameter transfer function selector in
Chapter 8 Menu 0 Parameters)
PProtected The parameter cannot be controlled by an external signal
(cannot be a destination parameter)
nMAX Maximum speed of the motor
(defined by the motor via the SLM)
[SLM] Value defined by the motor via the SLM
NOTE
1.17 Keypad reference
ô ±Pr1.06 ð 0rpmROBiSP0.34
Range Default value Units Read only /
Read write
Unipolar /
Bipolar /
Bit / Txt
R / S / P Equivalent Menu
0 parameter
(where
appropriate)
Parameter
number Parameter
description / title

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M’Ax Advanced User Guide 2
Issue Number: 4 www.controltechniques.com
2 Menu 0 Parameters
[ ] = value of a parameter [SLM] = value defined by the motor via SLM
Parameter Range(
ô )Default( ð )Type
0.00 Parameter XX.00 0 ~ 3001 RW Uni R S P
0.01 Hardware enable indicator 0~1 RO Bit P
0.02 Reference selected indicator 1~5 RO Uni P
0.03 Value of selected reference + value of [1.06]RO Bi P
0.04 Final speed reference + value of [1.06]RO Bi P
0.05 Speed feedback + value of [1.06]RO Bi P
0.06 Reference offset + value of [1.06]0RWUni
0.07 Motor current magnitude 0 ~ Max. overload current of drive RO Uni P
0.08 Maximum reference clamp 0 ~ 7500 RW Uni
0.09 Stiffness angle 0.0 ~ 30.0o6.0 RW Uni
0.10 Load inertia 0.01~600.00kgcm2or
0.00001~0.06kgm2JLRW Uni
0.11 Inertia units selected 0~1(0=kgm
2,1=kgcm 2)[SLM] RO Bit
0.12 Speed-loop PID gains selector 0~3 1 RW Uni
0.13 Speed-loop proportional gain Kp1 0.000 ~ 0.3000 [SLM] RW Uni
0.14 Speed-loop integral gain Ki1 0.000 ~ 20.000 [SLM] RW Uni
0.15 Speed-loop derivative gain Kd1 0.0000 ~ 0.1000 [SLM] RW Uni
0.16 Current-demand filter 1 cut-off frequency 0 ~ 1200 500Hz RW Uni
0.17 SLM on-line enable 0~1 0 RW Bit
0.18 Symmetrical current limit 0 ~ 300 200% continuous
motor current RW Uni
0.19 Motor-rated current 0 ~ Full load current [SLM] RO Uni
0.20 Drive rated current (FLC) 00.00 ~ 99.99 RO Uni P
0.22 Torque mode selector 0 ~ 2 0 RW Bit P
0.23 Torque reference +200.00 0~Drive current limit RW Bi
0.24 Ramp enable 0~1 0 RW Bit
0.25 Acceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni
0.26 Deceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni
0.27 Fast ramp select 0~1 0 RW Bit
0.28 Feedback-encoder revolution counter 0 ~ 65535 RO Uni
0.29 Feedback-encoder position 0 ~ 65535 RO Uni
0.30 Reference selector 0~5 1 RW Uni
0.31 Jog selected indicator 0~1 RO Bit P
0.32 Jog reference 0 ~ 500 50rpm RW Uni
0.33 Preset reference + value of [1.06]1rpmRWBi
0.34 Keypad reference + value of [1.06]RO Bi
0.35 User security code 0 ~ 255 149 RW Uni S P
0.36 Serial comms. baud rate 300, 600, 1200, 2400, 4800, 9600,
19200 9600BAUD RW Txt S P
0.37 Serial comms. address 0.0 ~ 24.7 1.1 RW Uni P
0.38 Initial parameter displayed selector 00.00 ~21.51 0.05 RW Uni P
0.39 Motor [I2t] overload trip indicator 0~1 RO Bit P
0.40 Motor [I2t] accumulator 0.0 ~ 100.0 RO Uni
0.41 Drive overload accumulator 0.0 ~ 100.0 RO Uni P
0.42 Internal braking-resistor overload
accumulator 0.0 ~ 100.0 RO Uni P
0.43 DC-bus voltage 0 ~ 1000 RO Uni P
0.44 Last trip RO Txt S P
0.45 SLM communications integrity 0.0 ~ 100.0 RO Uni
0.46 Programmable parameter 00.00 ~21.51 RW
0.47 SLM software version 00.00 ~ 99.99 RO Uni P
0.48 Drive software version 00.00 ~ 99.99 RO Uni P
0.49 Security status indicator 000 ~ 111 RO Uni
0.50 Parameter transfer selector 0~4 _AN =0,_SL =4 RW Txt

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3M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Default settings
Use parameter 0.50 to initiate the transfer of parameter values between the RAM, EEPROM (when an option module is fitted), and the flash
memory in the drive (see Appendix H Storage and Transfer of Parameter Values in the M’Ax User Guide). After changing the setting of
parameter 0.50, perform either of the following, as appropriate:
• While the display is in Edit mode, press at the same time:
•Set10.38 at 100 via serial communications.
Terminology
Notes
At the time of selecting no,boot1 or boot2, all parameter values (including the S-parameters) are copied to the flash memory (store).
All parameters can be stored at any time by setting 11.67 Flash update enable at 1. The drive must not be powered-down within 15 seconds.
When S-parameters are not copied, the related values at the destination remain unchanged.
Main parameters can be saved irrespective of the setting of parameter 0.50 (i.e. by setting parameter XX.00 at 1000 and executing the
operation).
0.50 Parameter transfer selector
ô
See below
ð
RW Txt
Version Setting
AN no
SL boot2
Save Copy main-parameter values in the RAM to the EEPROM (when an option module is fitted)
Retrieve Copy all parameter values from the EEPROM to the RAM (when an option module is fitted)
Store Copy parameter values from the RAM to the flash memory in the drive
Restore Copy parameter values from the flash memory to the RAM
Main parameters All parameters other than those that are normally saved or stored at power-down
S-parameters Parameters that are normally saved at power-down (version _AN only)
Setting Function Usage
no 0
At power-down: S-parameter values
are copied from the RAM to the
EEPROM (save).
At power up: All parameter values are
copied from the EEPROM to the RAM
(retrieve).
Used only when an option
module is fitted (normally, in
version _AN)
rEAd 1The main-parameter values in the flash memory are immediately copied to the
RAM (restore).
Normally used in version _SL,
but can also be used in version
_AN
Prog 2The main-parameter values in the RAM are immediately copied to the flash
memory (store).
boot1 3
At power-up: The main-parameter
values in the flash memory are copied
to the RAM (restore). The values of
the S-parameters are ignored.
boot2 4
At power-up: All parameter values
(including the S-parameters) in the
flash memory are copied to the RAM
(restore).
and

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M’Ax Advanced User Guide 4
Issue Number: 4 www.controltechniques.com
S
S
S
S
S
S
S
S
S
Parameter
set at (2)
Prog0.50
Parameter
set at (1)
rEAd
0.50
Parameter set at 0.50
no , boot1 or boot2
(0) (3) (4)
Parameter
preset at (3)
0.50
boot1
Parameter
preset at (0)
0.50
boot2
Parameter
preset at (4)
0.50
boot2
Parameter
preset at (0)
no
0.50
Parameter
preset at (0)
no
0.50
Parameter
preset at (save)
1000
XX.00
Parameter values are immediately
copied in the indicated direction
Parameter values are copied in the
indicated direction at the next
power-up
Parameter values are copied in the
indicated direction at power-down
Main parameter values are copied,
(excluding the S-parameter values)
S
All parameter values are copied,
including the S-parameter values
S
Only S-parameter values are copied
S
K
ey
Flash memory RAM EEPROM
Control and
monitoring
C
ontrol circuits

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5M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
3 Menu 1 Parameters - Speed reference selection
Parameter Range(
ô )Default( ð )Type
1.01 {0.03} Value of selected reference +[1.06] rpm RO Bi P
1.03 Pre-ramp reference +[1.06] rpm RO Bi P
1.04 {0.06} Reference offset +[1.06] rpm 0 RW Bi
1.05 {0.32} Jog reference 0 ~ 500 rpm 50 RW Uni
1.06 {0.08} Maximum reference clamp 0~n
MAX rpm [SLM] RW Uni
1.11 Reference enabled indicator 0~1 RO Bit P
1.12 Reverse selected indicator 0~1 RO Bit P
1.13 {0.31} Jog selected indicator 0~1 RO Bit P
1.14 {0.30} Reference selector 0 ~ 5 1 RW Uni P
1.15 Preset reference selector 0 ~ 4 0 RW Uni P
1.17 {0.34} Keypad reference +[1.06] rpm RO Bi S P
1.21 {0.33} Preset reference 1 +[1.06] rpm 1 RW Bi
1.22 Preset reference 2 +[1.06] rpm 10 RW Bi
1.23 Preset reference 3 +[1.06] rpm 100 RW Bi
1.24 Preset reference 4 +[1.06] rpm 1000 RW Bi
1.36 Analog reference +[1.06] rpm RO Bi
1.42 Preset references selected indicator 0~1 RO Bit
1.43 Keypad reference selected indicator 0~1 RO Bit
1.44 Pulse reference selected indicator 0~1 RO Bit
1.45 Preset reference select bit-0 indicator 0~1 RO Bit
1.46 Preset reference select bit-1 indicator 0~1 RO Bit
1.49 {0.02} Reference selected indicator 1~5 RO Uni P
1.50 Preset reference selected indicator 1~4 RO Uni P

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M’Ax Advanced User Guide 6
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7M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Figure 3-1 Menu 1 software diagram
1.36
Analog reference
Keypad
reference
1.42
P
reset-references
selected indicator
1.43
Keypad-reference
selected indicator
1.49
Reference
selected
indicator
R
eference
selector
1
.14
1.01
Value of selected
reference
Reference offset
1
.04
Menu 7
1
.44
1
.43
1
.42
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
Reference
selected
Analog
Preset
Keypad
Keypad
Pulse
Pulse
Pulse
Pulse
1
.17
1
.44
P
ulse-reference
selected indicator
Pulse reference
13.01
1.21 Preset reference 1
1.22 Preset reference 2
Preset reference 3
Preset reference 4
1.46
Preset-reference
select bit-1 indicator
1.45
Preset-reference
select bit-0 indicator
1.23
1.24
0101
0011
1234
Preset
reference
Preset reference
selector
1.15
1.50
Preset-reference
selected indicator
Menu 7
1
3
4
4
5
5
5
5
1.49