Engel HBI22 Series User manual

ENGEL Elektroantriebe GmbH · Am Klingenweg 10 · D-65396 Walluf
Telefon [phone] · Telefax [phone] · [e-mail] · www.engelantriebe.de
Operating Manual
Rev. 1.6
Integrated Synchronous Servo Drives
HBI22xx / HBI26xx
HBI32xx / HBI37xx

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 1
Table of contents page
1SAFETY INFORMATION AND INSTRUCTIONS FOR USE........................................................................3
2FUNCTIONAL DESCRIPTION......................................................................................................................4
2.1 TYPE KEY /ACCESSORIES .........................................................................................................................................4
3TECHNICAL DATA.......................................................................................................................................5
3.1 HBI22XX SYSTEM DATA............................................................................................................................................5
3.1.1 HBI2230 / HBI2260 characteristics............................................................................................................ 5
3.2 HBI26XX SYSTEM DATA............................................................................................................................................6
3.2.1 HBI2630 / HBI2660 characteristics............................................................................................................ 6
3.3 HBI32XX SYSTEM DATA............................................................................................................................................7
3.3.1 HBI3260 / HBI3290 characteristics............................................................................................................ 7
3.4 HBI37XX SYSTEM DATA............................................................................................................................................8
3.4.1 HBI3760 / HBI3790 characteristics............................................................................................................ 8
3.5 INTEGRATED CONTROL ELECTRONICS TECHNICAL DATA ................................................................................................9
3.6 IMPORTANT TECHNICAL INFORMATION....................................................................................................................... 10
3.6.1 Regenerative operation............................................................................................................................ 10
3.6.2 Lead fuses............................................................................................................................................... 10
3.6.3 Service life expectancy............................................................................................................................ 10
3.7 SAFETY INSTALLATIONS .......................................................................................................................................... 11
4OPERATING MODES.................................................................................................................................12
4.1 SPEED CONTROL OPERATING MODE ......................................................................................................................... 13
4.2 CURRENT CONTROL /TORQUE CONTROL OPERATING MODE ........................................................................................ 15
4.3 POSITIONING OPERATING MODE ............................................................................................................................... 15
4.3.1 Positioning function in I/O mode (without fieldbus) .................................................................................. 18
4.3.2 Homing .................................................................................................................................................... 19
4.3.3 Limit switches .......................................................................................................................................... 21
4.3.4 Turntable positioning mode...................................................................................................................... 22
4.4 ADDITIONAL FUNCTIONS.......................................................................................................................................... 24
4.4.1 External torque / speed limiting................................................................................................................ 24
4.4.2 Digital inputs ............................................................................................................................................ 25
4.4.3 Digital outputs.......................................................................................................................................... 27
5CONNECTION ASSIGNMENT ...................................................................................................................28
5.1 X1 –SUPPLY AND SIGNALS ..................................................................................................................................... 28
5.2 X2A –CAN SIGNAL PLUG (DEVICE DESIGN "-XCX").................................................................................................... 29
5.3 X2B –INCREMENTAL OUTPUT SIGNALS (DEVICE DESIGN "-XIX").................................................................................. 30
6INSTALLATION ..........................................................................................................................................31
6.1 CABLE TYPES,CABLE LENGTHS,SHIELDING............................................................................................................... 31
6.2 INSTALLATION DIAGRAM .......................................................................................................................................... 34
7COMMISSIONING OF THE INTEGRATED HBI DRIVES..........................................................................35
8STATUS DISPLAY, ERROR MESSAGES.................................................................................................36
8.1 GENERAL ERROR MESSAGES................................................................................................................................... 37
8.2 ERROR MESSAGES IN POSITIONING MODE ................................................................................................................. 38
8.3 CANSTATUS DISPLAY ............................................................................................................................................ 39
8.4 CANBUS ERROR MESSAGES................................................................................................................................... 39
9CONTROLLER OPTIMISATION.................................................................................................................40
9.1 CURRENT CONTROLLER .......................................................................................................................................... 40
9.2 ANGLE SENSOR OFFSET DETERMINATION,MOTOR POLE NUMBER................................................................................. 40
9.3 SPEED CONTROLLER ADJUSTMENT........................................................................................................................... 41
10 MECHANICAL DIMENSIONS.....................................................................................................................42
11 "DSERV" PC SERVICE SOFTWARE ........................................................................................................44
11.1 SYSTEM REQUIREMENTS......................................................................................................................................... 44

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 2
11.2 INSTALLATION AND START-UP OF THE PROGRAM ........................................................................................................ 44
11.3 OPERATION OF THE DSERVSERVICE SOFTWARE....................................................................................................... 46
11.3.1 File Menu................................................................................................................................................. 46
11.3.2 Optimisation menu................................................................................................................................... 47
11.3.3 Monitor menu........................................................................................................................................... 48
11.3.4 Diagnostic menu...................................................................................................................................... 48
11.3.5 Setpoint RS232 menu.............................................................................................................................. 49
11.3.6 Options menu .......................................................................................................................................... 49
11.3.7 Info menu................................................................................................................................................. 49
HBI22_37_BA_Rev1.6_170606_en
Technical changes reserved
Introduction
This document describes the technical data and the functions of the HBI integrated Synchronous Servo drives. It explains
the functional capabilities of the drives, serves for the drive project design and explains the correct procedure for
installation and commissioning of the devices.
The CANopenmanual contains information for the fieldbus mode of the integrated HBI drives.
Document
Date
Rev.
Description of change
HBI22_26_BA_081222
22/12/2008
-
Creation of HBI_OM, preliminary version
HBI22_26_BA_090209
09/02/2009
-
Supplements
HBI22_26_BA_090626
26/06/2009
-
Incremental output
HBI22_37_BA_100101_en
05/01/2010
-
Revision, HBI32/37 added (starting from FW EL3.55, starting from
DSerV 6.103)
HBI22_37_BA_100114_en
14/01/2010
-
Various corrections
HBI22_37_BA_110801
01/08/2011
1.5
Complete revision, valid from Board Rev. V3.x, FW EL V3.80, DSerV
6.200
HBI22_37_BA_120615_en
15/06/2012
1.6
CAN: 1MBit/sec from FW EL V3.81, following error monitoring from FW
EL V3.83
HBI22_37_BA_Rev1.6_150601_en
01/06/2015
1.6
New page layout
HBI22_37_BA_Rev1.6_170606_en
06/06/2017
1.6
New syntax of phone numbers
Copyright
The information and specifications in this document have been compiled with great care and to the best of our knowledge.
However, specifications differing between the document and the product cannot be eliminated with absolute certainty.
ENGEL assumes no liability whatsoever for errors or consequential damages resulting from these deviations. No liability
is assumed for damages which arise from the use of the device with the use of applications or defective circuits, either.
ENGEL reserves the right to change, supplement or improve the document or the product without prior notice. This
document may not, without the express authorisation of the copyright holder, be reproduced in any way or be transmitted
in another natural or machine language or on data carrier, whether this would take place electronically, mechanically,
visually or in any other manner.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 3
1 Safety information and instructions for use
Attention !
The safety instructions must be observed!
Non-observance of the safety instructions can result in personal injury and property
damage.
During the installation, commissioning and maintenance, the applicable safety and
accident prevention regulations must be observed for the specific application.
The earth conductor must be connected first for the installation.
The device applies as electronic equipment and is intended for operation in machines.
The safety instructions of the Machinery Directive (89/392/EEC) must be observed.
Prior to commissioning, it must be ensured that no dangers may emanate from the drive
and that uncontrolled movements cannot occur.
Do not insert or pull out plug connectors with voltage applied!
The following regulations apply without a claim to completeness:
VDE 0100 Regulations for the erection of high-voltage systems up to 1000 volt
VDE 0113 Electrical systems with electronic equipment
VDE 0160 Equipment of high-voltage systems with electronic equipment

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 4
2 Functional description
In the HBI integrated drives, powerful and dynamic synchronous servo motor systems designed in concentrated winding
technology are combined with compact electronics to form high-quality drive systems. The devices are designed for
operation at low voltage, their cascaded current, speed and position control loops provide a dynamic operation.
The devices operate through CANopenin accordance with CiADSP 402 V2.0 or through control signals on digital
and/or analogue inputs. The integrated positioning control offers a temporally optimised point-to-point positioning with
trapezoidal or jerk free speed progression.
The simple parameterisation / configuration of the devices takes place with the parameterisation software DSerV
(WINDOWS, COM port) provided free of charge.
Overview of features:
Dynamic compact drives for decentralised use; no space in the switch cabinet required.
Powerful designs with up to 1.55 Nm rated torque and 3.1 Nm peak torque.
Designs for operation at 24VDC or 48VDC (HBI22xx and HBI26xx).
Logic circuit and power stage can optionally be supplied from separate voltage sources providing runtime data
retention during power down conditions.
Short cycle times of PI current, PI speed and P position controllers (100µs, 100µs, 200µs) with a powerful signal
processor.
Point to point positioning functionality with linear or Sin² ramp.
12-bit high-resolution angle sensor system.
Two-colour status LED to display the operating status.
Incremental output 1024 pulses / revolution, RS422, tracks A, B, Z. (optional)
CAN interface (optional), CANopenwith implementation of the device specification CiADSP 402 V2.0.
Can be combined with planetary gears of the series GPK (one and two-stage up to i=49:1).
Designs with parking brake (optional).
High protection class - IP54 (higher protection class on request).
Parameterisation / configuration with the parameterisation software DSerV (WINDOWS, COM port) provided free
of charge.
2.1 Type key / accessories
HBI XXXX-XXX
HBI XXXX-xxx
Drive size:
2230 = HBI2230 2260 = HBI2260
2630 = HBI2630 2660 = HBI2660
3260 = HBI3260 3290 = HBI3290
3760 = HBI3760 3790 = HBI3790
HBI xxxx-Xxx
Supply voltage:
2= 24VDC *1)
4= 48VDC
HBI xxxx-xXx
Functionality:
A= analogue setpoint (itec single plug connector)
C= with CAN interface and CANopenprotocol
I = with incremental output 1024 pulse A, B, Z
HBI xxxx-xxX
Parking brake:
B= design with parking brake
*1) HBI32xx / HBI37xx only available in 48VDC design.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 5
3 Technical data
3.1 HBI22xx system data
HBI2230
HBI2260
Peak speed
rpm
6000
4000
Rated speed
rpm
3000
3000
Rated voltage *2)
VDC
24 / 48
24 / 48
± 20%
Rated current *3)
ADC
3.5 / 1.8
5.3 / 2.7
24V type / 48V type
Rated power *1)
W
53
90
Rated torque *1)
Nm
0.17
0.28
Peak torque
Nm
0.34
0.56
max. 5sec.
Motor rated current *6)
Aspk
7.5 / 3.8
9.7 / 4.9
24V type / 48V type
Motor peak current *6)
Aspk
14.5 / 7.3
18.7 / 9.4
24V type / 48V type
Motor current
measurement range
A
25.4 / 25.4
42.3 / 25.4
24V type / 48V type
Torque constant *3)
Nm/A
0.025 / 0.049
0.031 / 0.061
24V type / 48V type
Voltage constant
V/1k rpm
3.0 / 5.9
3.8 / 7.4
24V type / 48V type
Number of poles
6
6
Ambient temperature
°C
0°C ... 40°C
No condensation permissible
Storage temperature
°C
-25°C ... 60°C
No condensation permissible
Flange dimension
mm
45
Drive length
mm
125 / 157
155 / 187
without / with parking brake
Protection class
IP54
Weight
kg
0.72 / 0.95
1.00 / 1.25
without / with parking brake
Parking brake:
in design "-xxB"
automatically operated
Static braking torque
Nm
1.0
Power (electric)
W
10
For additional data, see the current version of the data sheet for HBI22
For data for operation with a planetary gear, see data sheet HBI22-GPK45
3.1.1 HBI2230 / HBI2260 characteristics
Fig.: HBI2230 characteristics, 24V, 3000/6000rpm Fig.: HBI2260 characteristics, 24V, 3000/4000rpm

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 6
3.2 HBI26xx system data
HBI2630
HBI2660
Peak speed
rpm
6000
4000
Rated speed
rpm
3000
3000
Rated voltage *2)
VDC
24 / 48
24 / 48
± 20%
Rated current *3)
ADC
5.4 / 2.8
9.5 / 4.8
24V type / 48V type
Rated power *1)
W
90
160
Rated torque *1)
Nm
0.28
0.51
Peak torque
Nm
0.56
1.02
max. 5sec.
Motor rated current *6)
Aspk
12.5 / 6.5
16.2 / 8.1
24V type / 48V type
Motor peak current *6)
Aspk
24.0 / 12.5
31.2 / 15.6
24V type / 48V type
Motor current
measurement range
A
42.3 / 25.4
42.3 / 25.4
24V type / 48V type
Torque constant *3)
Nm/A
0.025 / 0.048
0.034 / 0.068
24V type / 48V type
Voltage constant
V/1k rpm
3.0 / 5.8
4.1 / 8.2
24V type / 48V type
Number of poles
6
6
Ambient temperature
°C
0°C ... 40°C
No condensation permissible
Storage temperature
°C
-25°C ... 60°C
No condensation permissible
Flange dimension
mm
55
Installation length
mm
133 / 163
163 / 193
without / with parking brake
Protection class
IP54
Weight
kg
1.2 / 1.5
1.55 / 1.85
without / with parking brake
Parking brake:
in design "-xxB"
automatically operated
Static braking torque
Nm
2.0
Power (electric)
W
10
For additional data, see the current version of the data sheet for HBI26
For data for operation with a planetary gear, see data sheet HBI26-GPK55
3.2.1 HBI2630 / HBI2660 characteristics
Fig.: HBI2630 characteristics, 24V, 3000/6000rpm Fig.: HBI2660 characteristics, 24V, 3000/4000rpm

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 7
3.3 HBI32xx system data
HBI3260
HBI3290
Peak speed
rpm
4000
4000
Rated speed
rpm
3000
3000
Rated voltage *2)
VDC
48
48
± 20%
Rated current *3)
ADC
8.0
10.5
Rated power *1)
W
265
360
Rated torque *1)
Nm
0.85
1.15
Peak torque
Nm
1.70
2.30
max. 5sec.
Motor rated current *6)
Aspk
12.5
16.1
Motor peak current *6)
Aspk
24.3
31.5
Motor current
measurement range
A
45.8
45.8
Torque constant *3)
Nm/A
0.072
0.075
Voltage constant
V/1k rpm
8.7
9.1
Number of poles
6
6
Ambient temperature
°C
0°C ... 40°C
No condensation permissible
Storage temperature
°C
-25°C ... 60°C
No condensation permissible
Flange dimension
mm
65
Installation length
mm
160 / 190
190 / 210
without / with parking brake
Protection class
IP54
Weight
kg
2.15 / tbd
2.7 / tbd
without / with parking brake
Parking brake:
in design "-xxB"
automatically operated
Static braking torque
Nm
3.5
Power (electric)
W
12
For additional data, see the current version of the data sheet for HBI32
For data for operation with a planetary gear, see data sheet HBI32-GPK65
3.3.1 HBI3260 / HBI3290 characteristics
Fig.: HBI3260 characteristics, 48V, 3000/4000rpm Fig.: HBI3290 characteristics, 48V, 3000/4000rpm

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 8
3.4 HBI37xx system data
HBI3760
HBI3790
Peak speed
rpm
4000
4000
Rated speed
rpm
3000
3000
Rated voltage *2)
VDC
48
48
± 20%
Rated current *3)
ADC
10.4
13.5
Rated power *1)
W
360
485
Rated torque *1)
Nm
1.15
1.55
Peak torque
Nm
2.30
3.10
max. 5sec.
Motor rated current *6)
Aspk
15.9
20.5
Motor peak current *6)
Aspk
31.1
40.1
Motor current
measurement range
A
45.8
45.8
Torque constant *3)
Nm/A
0.076
0.079
Voltage constant
V/1k rpm
9.2
9.5
Number of poles
6
6
Ambient temperature
°C
0°C ... 40°C
No condensation permissible
Storage temperature
°C
-25°C ... 60°C
No condensation permissible
Flange dimension
mm
75
Drive length
mm
165 / 195
195 / 215
without / with parking brake
Protection class
IP54
Weight
kg
3.0 / tbd
3.7 / tbd
without / with parking brake
Parking brake:
in design "-xxB"
automatically operated
Static braking torque
Nm
3.5
Power (electric)
W
12
For additional data, see the current version of the data sheet for HBI37
For data for operation with a planetary gear, see data sheet HBI37-GPK75
3.4.1 HBI3760 / HBI3790 characteristics
Fig.: HBI3760 characteristics, 48V, 3000/4000rpm Fig.: HBI3790 characteristics, 48V, 3000/4000rpm

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 9
3.5 Integrated control electronics technical data
Control electronics
supply
approx. 50mA
Control electronics power
requirement
24V supply, disabled power
stage
(X1.A or. X1.C see chapter 5.1)
Analogue inputs
AI1 (differential input)
10V, 10bit, Ri=20k
Digital inputs
DI1 ... DI8
0.0V Uoff 5.0V
15.0V Uon 30V
DI1 = control enable.
DI4/DI5 can optionally be used
as output DO2/DO1
Digital outputs
DO1 ... DO2
24V, 50mA
o.C., ground switching,
33series resistance,
without pull-up resistance,
can optionally be used as an
input
Serial interfaces
RS232
Communication with DSerV
parameterisation software
CAN 2.0B (Max. 1MBit/s)
only "-xCx" design
Without galvanic isolation by
default.*7)
Without terminating resistor.
Incremental output only "-xIx" design
A,A/,B,B/,Z,Z/
RS422 , 1024 increments/revolution
Hysteresis approx. 0.17°
Linearity error approx. 1.0°
min. edge spacing: 2µs *8)
Electromagnetic compatibility *4)
Emission
DIN EN 61800-3: 2004, 2005-07
second environment / limited
availability (Cat. C3)
Immunity
DIN EN 61800-3: 2004, 2005-07
second environment
*1) The specified values apply for the installation of the drive on a system surface made of aluminum (A=0.1m²,d=10mm).
It must be taken into consideration that the specified continuous output power must be derated for thermally unfavourable couplings.
*2) Observe chapter 3.6.1 Regenerative operation
*3) The rated current is the direct current drawn in nominal operation (n=3000rpm M=MN) from the supply voltage (+Ub=24V or 48V). The
current drawn from the supply voltage is proportional to the converted power, not be confused with the torque-building motor current,
which is displayed as sine peak value in DSerV and is proportional to the motor torque.
Please also observe that the supply line is lossy. This leads to a reduction in voltage and speed at the motor system and to increased
power consumption of the device. A connection line with a nominal cross-section of 1.5mm² already has an overall loss resistance of
approx. 25mΩ/m (conductors and return conductors)! Appropriate power reserves must be provided in the supply!
*4) Cable-conducted emissions must be suppressed through appropriate filtering measures in the energy supply (e.g. power supply unit)
of the device.
*5) Tolerance -10%
*6) Motor phase current as a sine peak value, which is required for the generation of the rated or peak torque. Motor phase current is
displayed in DSerV. Not to be confused with the current taken from the supply.
*7) With the drives HBI32xx / HBI37xx, a galvanic isolation of the CAN interface is available on request.
*8) For the proper detection of the incremental signals, a counter with a count frequency of ≥ 500kHz is required.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 10
3.6 Important technical information
3.6.1 Regenerative operation
Attention !
Regenerative operation (generator mode) leads to an increase in operational voltage!
Observe permissible voltage values of the power supply and consumers connected in
parallel!
The HBI drives are equipped with an internal ballast circuit (brake chopper), which is capable of converting a low brake
power into heat for a short duration. Brake power conversion leads to a temperature rise in the motor system. Together
with the intermediate circuit (DC-link) capacity, dynamically occurring brake energies can be accommodated.
If the devices operate quasi-statically in generator mode, suitable measures must be taken for the removal / conversion of
the energy (e.g. through an external ballast circuit).
Regenerated energy leads to an increase of the DC-link voltage, which is returned directly to the power connection of the
device and/or to the feeding direct current source (if necessary, provide a diode for the decoupling of the operating
voltage). The effect of the voltage increase when braking can be reduced, if necessary, by selecting a less abrupt, that is
a longer brake ramp.
If applicable, regenerated energy can be distributed to other loads connected to the supply voltage in parallel.
If regenerated braking energy cannot be converted, the terminal voltage increases until the triggering of an overvoltage
error. The following voltage limits are specified in the devices:
Devices with 24V operating voltage:
Ballast circuit working voltages: UBallast ON 30 V , UBallast OFF 27 V
Triggering of the overvoltage error: UError4 32 V
Devices with 48V operating voltage:
Ballast circuit working voltages : UBallast ON 60 V , UBallast OFF 55 V
Triggering of the overvoltage error: UError4 65 V
3.6.2 Lead fuses
The integrated HBI drives are not internally fused. A suitable external fuse must be provided.
3.6.3 Service life expectancy
The service life of the integrated HBI drives is largely determined by the stress of the DC-link capacitors. With an ambient
temperature of 40°C and motor current = motor rated current, a service life expectancy of approx. 15,000h can be assumed.
With lower motor currents and/or lower ambient temperatures, higher service life expectancies arise.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 11
3.7 Safety installations
The integrated HBI drives have extensive sensor equipment for the monitoring of the controller, power stage, motor and
communication with the outside. All occurring errors lead to the shut-down of the power stage
(motor de-energised, no torque) and are signalled by the red LED of the status display with a blinking code.
Switching the power stage on again is only possible if the cause of the error has been remedied and the error has been
acknowledged by the control enable.
The overcurrent and/or short-circuit monitor recognises short-circuits between the motor phases.
The I²t monitor protects the motor and power stage from thermal overload by limiting the motor current to rated
current after the lapse of a permissible overload duration.
The overvoltage monitor triggers as soon as the DC-link voltage exceeds a maximum permissible value.
The temperature of the power stage is measured and the power stage is switched off when the temperature exceeds
85°C.
The signals of the internal angle sensor system are monitored for valid statuses. Invalid signal combinations lead
to the shut-down of the power stage.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 12
4 Operating modes
The integrated HBI drives can be used as current (i.e. torque), speed or position controllers. The parameterisation of the
devices takes place through a serial interface RS232 with the PC parameterisation software "DSerV". Changed parameters
have an immediate effect on the drive and are only adopted with the menu item OPTIMISATION / SAVE SETTINGS in the
non-volatile memory.
The HBI drives are operated through digital / analogue inputs and
outputs (I/O mode) and also optionally operated through CANopen
(CANopenmode only in "-xCx" design).
The activation / deactivation of the CANopeninterface as well as the
specification of node ID and bit rate take place through the DSerV menu
OPTIMISATION / FIELDBUS OPERATION.
The description of the device functions in this document assumes
operation without fieldbus (no bus mode I/O mode). In fieldbus
mode the same functionality is basically available as documented
in the CANopenmanual.
When operated without fieldbus (I/O mode) the operating mode and
setpoint sources can be set under OPTIMISATION / OPERATING
MODE.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 13
4.1 Speed control operating mode
The adjustment of the speed setpoint takes place through one of three setpoint sources:
Analogue input AI1 (differential input for voltage setpoint 10V, cw and ccw rotation)
RS232 (through DSerV service software under menu SETPOINT RS232)
Two fixed speeds (constant values) defined as relative amounts for the value Setpoint scaling.
Digital input DI6 dynamically selects between the two constant values 1 / 2. (see chapter 4.4.2 Digital inputs).
The control enable always takes place through digital input DI1 (+15... +30V enable).

Note:
Prior to the adjustment and/or operation of the speed controller, it must be ensured that the
current limits and control parameters of the current controller are correctly set. The opti-
misation of current and speed controllers is described in chapter 9 Controller optimisation.
Sin² ramp not possible with analogue speed specification!
For the function and influence of the digital inputs DI2, DI3,
see chapter 4.4.2 Digital inputs.
The setting of the parameter Polarity (see chapter 4.3 Positioning operating mode)
also takes effect in speed control operating mode.
In the menu OPTIMISATION / SPEED CONTROLLER the
parameters of the speed controller are set.
Setpoint scaling: Target velocity for a setpoint value of 100% through
- analogue input or
- constant values or
- RS232 setpoint.
Setpoint ramps: Acceleration and deceleration ramp of the speed setpoint.
The input values correspond to the CAN objects profile acceleration and profile
deceleration and apply for the operating modes with subordinate speed control.
The object motion profile type contains the selected ramp characteristics
(linear / sin² / inactive).
Linear ramp:
A setpoint step-change is limited to a fixed rate of change (slope) which can be
parameterised.
Unit: [10 RPM / sec]

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 14
Sin² ramp:
A setpoint step-change is converted in a jerk free speed profile for the parameterised
time interval.
Note:
- Sin² ramp is not applicable with speed control in I/O mode.
- DSerV permits the direct entry of the time interval; through CAN the necessary
value for a specified time interval can be calculated as follows:
Unit: [approx. 100sec-1]
Example: Calculation for ramp time t=0.25sec:
profile_acceleration = 100sec-1 / 0.25sec = 400
Ramp inactive:
Non-delayed setpoint step-change without setpoint ramp.
Note:
- The positioning mode requires a ramp. The "Ramp inactive" selection is ignored
in positioning mode.
Proportional gain: Proportional gain of the speed control loop (0.0000...0.9999),
see also chapter 9.3 Speed controller adjustment.
Time constant: Integral part (reset time) of the speed control loop,
see also chapter 9.3 Speed controller adjustment.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 15
4.2 Current control / torque control operating mode

Note:
The setting of the parameter Polarity (see chapter 4.3 Positioning operating mode) also
takes effect in current control operating mode.
The current control operating mode is selected under OPTIMISATION / OPERATING MODE.
The setpoint specified through the active setpoint source is interpreted as a current setpoint.
The scaling of the current setpoint is always based on the value adjusted in the parameter "Motor rated current"
(OPTIMISATION / CURRENT CONTROLLER).
Current setpoints take effect without delay, i.e. without setpoint ramp.
The control enable always takes place through digital input DI1 (+15...+30V enable).
4.3 Positioning operating mode
The positioning operating mode enables point-to-point positioning with time-optimised (trapezoidal) or jerk free (sin²)
speed progression.
Positioning range: 219 = 524,288 revolutions
Position resolution: approx. 360° / 4,096 = 0.088°
The general positioning parameters can be adjusted through both
CANopenand the parameterisation program DSerV.
The positioning operating mode is selected in the
parameterisation program DSerV under OPTIMISATION /
OPERATING MODE.
The parameters of the positioning operating mode are available
under OPTIMISATION / POSITIONING / GENERAL PARAMETERS.
kp_x Proportional gain of the position control loop, value range: 0.0000...0.9999
Object: position control parameter set [60F9h sub1]
Correction speed Limitation of the adjustment range of the position control loop. This parameter
influences the dynamic behaviour on reaching the target position.
Unit: [RPM]  Typical values: approx. 100 ... 500
Object: position control parameter set [60F9h sub2]

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 16
Polarity This parameter enables the internal reversal of the positioning direction for the
adjustment to mechanical circumstances of the user:
Positive polarity increasing position with motor shaft rotating clockwise
Negative polarityincreasing position with motor shaft rotating counter clockwise
Object: polarity [607Eh]

Note:
The parameter Polarity also takes effect in current and
speed control operating modes.
Minimum positioning range Negative limitation of the positioning range. If the setpoint or current position
undercuts the parameterised value, a positioning error is triggered.
Unit: Revolutions of the motor shaft [R]
Object: software position limit [607Dh]
Maximum positioning range Positive limitation of the positioning range. If the setpoint or current position exceeds
the parameterised value, a positioning error is triggered.
Unit: Revolutions of the motor shaft [R]
Object: software position limit [607Dh]
Position window A positioning process applies as completed if the deviation of the current position to
the target position for a duration defined in "Position window time" is less than the
value parameterised under "Position window".
Unit: Revolutions of the motor shaft [R]
Object: position window [6067h]
Position window time see Position window
Unit: Milliseconds [msec]
Object: position window time [6068h]
Following error monitoring A following error is present if the deviation of the current position to the setpoint
position for a duration defined in "Following error timeout" is greater than the value
parameterised under "Following error window".
With following error monitoring activated, following error events are signalled in the
CANopenstatus word (Bit 13) and a parameterisable "following error reaction" is
triggered - both under CANopenand I/O mode.
With following error monitoring deactivated, following error events are not signalled
and no "following error reaction" is triggered.
Object: following error window [6065h] –Bit31 (0 = active)
Following error window see Following error monitoring
Unit: Revolutions of the motor shaft [R]
Object: following error window [6065h] –Bit30 ... Bit0
Following error timeout see Following error monitoring
Unit: Milliseconds [msec]
Object: following error timeout [6066h]

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 17
Following error reaction see Following error monitoring
No reaction: only signalled in CANopenstatus word (Bit13).
Positioning error: dto., however an additional positioning error is triggered,
which leads to the shut-down of the power stage.
Not available as CANopen  object.
The specification of the positioning targets and travel speeds takes place with the following significant parameters, and/or
CANopenobjects :
Target position Specifies the target position, interpreted as relative / absolute position value and with
selectable starting condition
Object: target position [607Ah]
Unit: Revolutions of the motor shaft [R]
Target position is - absolute: New target position is absolute
- relative: New target position = previous target position + set value
Object: Control bits in controlword [6040h]
Starting condition - after completion: New positioning process starts after the end of a still
active positioning process.
- immediately:New positioning process is performed and aborts a still
active positioning process.
Object: Control bits in controlword [6040h]
Speed Travel speed (rotational speed) to the target position.
Object: profile velocity [6081h]
Unit: [RPM]
Speed ramps can be adjusted under OPTIMISATION / SPEED CONTROLLER or be specified as CANopenobjects
profile acceleration [6083h], profile deceleration [6084h].

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 18
4.3.1 Positioning function in I/O mode (without fieldbus)
In fieldbus mode (CANopen) the full positioning functionality is available.
In I/O mode up to 8 target positions (relative or absolute) with corresponding travel speeds can be stored in the parameter
memory. The selection of the current target position as well as the start command for the positioning take place through
digital inputs.
The referencing (homing) automatically starts in I/O mode either
with only the first enable after power-on, or
with each enable of the drive (selectable).
After the successful referencing, the drive automatically switches from homing mode to positioning mode.
Functions of the digital inputs for the positioning function in I/O mode (see also chapter 4.4.2 Digital inputs):
Signal
Function
Note
DI1
Enable input
DI2
Positive limit switch
DI3
Negative limit switch
DO2/DI4
Start positioning process
Pin DO2/DI4 is used as a digital input.
DO1/DI5
Digital output with selectable
function
Pin DO1/DI5 is used as a digital output. Function can
be assigned with DSerV (e.g. "Target Reached")
AI1-/DI6
Positioning target selection (Bit0)
Pin AI1-/DI6. Analogue input is used as a digital input.
DI7
Positioning target selection (Bit1)
DI8
Positioning target selection (Bit2)
Under OPTIMISATION / POSITIONING / TARGET POSITIONS a
maximum of 8 positioning targets can be defined, which can be called
up through the digital inputs DI6...DI8.
Target position
Target position specification (shown for target address 1), interpreted as
relative / absolute position value and with selectable starting
condition
Unit: Revolutions of the motor shaft [R]
Target position is
- absolute: New target position is absolute
- relative: New target position = previous target position + set value
Starting condition - after completion: New positioning process starts after the end of a still
active positioning process.
- immediate: New positioning process is performed and aborts a still
active positioning process.

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 19
Speed Travel speed (rotational speed) to the target position.
Unit: [RPM]
The speed ramps can be adjusted under OPTIMISATION / SPEED CONTROLLER ; they
are valid for all positioning targets.
Turntable movement /
Turntable direction see chapter 4.3.4 Turntable positioning mode
4.3.2 Homing
Homing serves for the detection of a defined machine position. It is normally mandatory with the use of angle sensors
with "single turn" characteristics.
In I/O mode the homing starts automatically with the first or each new enable of the drive (selectable).
In CANopenmode the homing takes place through selection with modes of operation and starts through the
controlword.
The drives support various homing methods:
Referencing to limit switches / reference switches (homing method: 17, 18)
The drive initially approaches the active edge of the switch at "Speed during search for switch", reverses and then
travels from the switch with a slower "Speed during search for zero". The position at which the inactive edge of the
switch appears is evaluated as the reference position.
Referencing to limit switches / reference switches in consideration of the index pulse (homing method: 1, 2)
This method eliminates tolerances of the switching point of the limit switch. The drive initially approaches the active
edge of the switch at "Speed during search for switch", reverses and then travels fromthe switch with a slower "Speed
during search for zero" and remains there. After the recognition of the inactive edge, the next zero pulse, i.e. the next
zero crossing of the rotor angle detection, is interpreted as the reference position.
The switching point of the limit switch should be adjusted as close as possible to the centre of two zero crossings.
The display of the rotor angle under DSerV MONITOR / ROTOR ANGLE can be used as an aid for this purpose.
Referencing to a mechanical stop (homing method: -17, -18)
The drive moves with "Speed during search for zero" and with the adjusted current limit in the specified direction
against a (hard, insofar as possible) mechanical stop. The spontaneous rise in current as well as the abrupt halt is used
as a criterion for reaching the reference position.
Attention !
When referencing against mechanical stops...
... specify the lowest possible speeds to keep dynamic forces to a minimum on
reaching the stop!
... high output forces can arise!
Calculate or estimate the force arising from the specified current limit and test its
effect on the system.
Referencing to current position (homing method: 35)
This method adopts the current position as the reference position. No movement of the drive takes place.