gefran ADV200 Series User manual

ADV200
English
Electrical Line Shaft Application
User Guide

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User Guide Electrical Line Shaft for ADV200 Page 2 of 32
Version Data Author Description
1.3 4-12-2014 CNL Add chapter 1.1
1.2 27-9-2013 SPD - P15 cjhanged section 4.2
- P28 add bit Status Word Mon description
- deleted SIEIDrive
1.1 28-6-2013 CNL Chapt. 1 reviewed
1..0 21-3-2013
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Thank you for selecting this Gefran product.
If you have any information that might help us to improve this manual, please do not hesitate to contact us at
[email protected].
Before using the product, please read the chapter on safety instructions carefully.
Keep the manual in a safe place and available to technical personnel during the product functioning period.
Gefran S.p.A. reserves the right to make changes and variations to products, data and dimensions at any time without
notice.
The data indicated are provided for the sole purpose of describing the product and must not be considered as legally
binding characteristics.
All rights reserved.
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User Guide Electrical Line Shaft for ADV200 Page 3 of 32
TABLE OF CONTENTS
1Introduction............................................................................................................................................... 4
1.1Compatibility Application version / Drive firmware .............................................................................. 4
2General description.................................................................................................................................. 5
2.1Fields of application ............................................................................................................................ 5
3Connection diagrams and system interface.......................................................................................... 6
3.1Control via digital inputs and outputs .................................................................................................. 6
3.2Control via fieldbus interface............................................................................................................... 8
3.3Possible master-slave configurations ............................................................................................... 10
3.3.1Master electrical line shaft from encoder ................................................................................... 10
3.3.2Master electrical line shaft from Fast Link communication interface ......................................... 12
4Commissioning....................................................................................................................................... 14
4.1General information........................................................................................................................... 14
4.2Requirements.................................................................................................................................... 14
4.3Initial operations ................................................................................................................................ 14
4.4Drive parameters managed by the application ................................................................................. 15
55 Control logic and sequences............................................................................................................. 16
5.1Application control modes ................................................................................................................. 16
5.2Jog function ....................................................................................................................................... 16
5.3Zero search ....................................................................................................................................... 16
5.4Positioning......................................................................................................................................... 17
5.4.1Correction of the position of the slave axis in electrical line shaft mode (phase trim)............... 17
5.5Electrical line shaft function............................................................................................................... 18
5.5.1Correction of the electrical line shaft ratio (slip)......................................................................... 18
5.5.2Monitoring of the position of the master with the slave not captured and recovery................... 19
5.6Application block diagram ................................................................................................................. 19
6List of Parameters.................................................................................................................................. 20
6.1SERVO PID menu............................................................................................................................. 20
6.2POSITION menu ............................................................................................................................... 21
6.3LINE SHAFT menu ........................................................................................................................... 23
6.4DIGITAL INPUTS menu .................................................................................................................... 26
6.5DIGITAL OUTPUTS menu ................................................................................................................ 27
6.6HOME REFERENCE menu .............................................................................................................. 28
6.7EXCHANGE menu ............................................................................................................................ 29
6.8ABOUT menu.................................................................................................................................... 29
7Examples................................................................................................................................................. 30
7.1Gear ratio calculation example.......................................................................................................... 30
7.2Startup, tuning and performance check ............................................................................................ 31

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User Guide Electrical Line Shaft for ADV200 Page 4 of 32
1 Introduction
This manual contains all the information necessary for the design, wiring and configuration of a system
based on the Electrical Line Shaft application for the ADV200.
Chapter 2 - "General description" provides information about system characteristics and functions.
Chapter 3 - "Connection diagrams and system interface" illustrates typical connection diagrams and the
command interface for controlling the application via digital I/O or fieldbus.
Chapter 4 - "Commissioning" provides information about installing the application on the ADV200 drive.
Chapter 5 - "Control logic and sequences" contains detailed information about application functions and
operating modes.
Chapter 6 - "List of Parameters" contains the complete list of system parameters with a description of their
functions.
Chapter 7 - "Examples" contains a gear ratio calculation example and some guidelines for startup, tuning
and performance check of the application.
1.1 Compatibility Application version / Drive firmware
ELS Drive Firmware
1.0.32 6.X.X ; 7.X.X

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User Guide Electrical Line Shaft for ADV200 Page 5 of 32
2 General description
The Electrical Line Shaft application allows a group of drives to operate in a previously defined position with
respect to a "master" reference; this position reference may be provided by the feedback from a motor, a line
encoder or a specific communication interface. The drives that follow the master position reference are called
"slaves"; the position ratio between the master and slaves can be changed proportionally by means of a
parameter called "electronic gear ratio".
The Electrical Line Shaft application requires at least firmware version 5.00 of the ADV200 drive with the
relative optional encoder signal acquisition cards and for the Fast Link system bus; some typical
configurations are illustrated in section 3.3 "Possible master-slave configurations".
Characteristics of the Electrical Line Shaft application for the ADV200:
Slave axis homing function that enables the use of an external sensor, encoder marker and freeze
encoder signal for axis phasing; user-definable zero offset.
Slave axis incremental positioning function with user-definable trapezoidal speed profile.
Slave axis jog function with different ramps and speeds for service movements.
Electrical line shaft function with master position reference selectable between encoder repetition or
Fast Link system bus interface. Possibility of "chain"-type configurations (each slave acts as master
for the next slave) or “equal ranking” (one master for all slaves).
Electronic gear ratios selectable from previously defined settings; possibility of continuously
changing the ratio (Slip function).
Phase trim function to change the position of the slave with respect to the master while the slave
follows the master.
Slave position error signal with dual threshold setting (warning, alarm).
2.1 Fields of application
The Electrical Line Shaft application is particularly recommended for use in the following sectors:
Material Handling
- 2 or 3-axis gantries
- Stackers / De-stackers
- Pick & Place
Transport
- Trolleys
- Hoisting equipment
- Vehicles on rails
Logistics
- Rack feeders for automated warehouses
- Shuttles

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User Guide Electrical Line Shaft for ADV200 Page 6 of 32
3 Connection diagrams and system interface
The input and output signals of the Electrical Line Shaft application for ADV200 drives and the relative
sequences are managed by a superordinate control device such as a PLC or IPC.
The application can thus be controlled via discrete digital I/O (digital input and output terminals on the
ADV200 regulation card and any expansion cards, such as EXP-IO-D6A4R1-ADV); the use of a fieldbus
interface (Profibus, Devicenet, Canopen, EtherCAT) allows more flexible management (virtual I/O,
positioning and phase variation). Moreover, the fieldbus configuration channel enables access to all drive
and application parameters in read and write mode.
3.1 Control via digital inputs and outputs
The example below shows a typical configuration of the digital inputs and outputs of the drive with the EXP-
IO-D6A4R1-ADV expansion card.
This configuration enables zero searches using a sensor and positioning operations by selecting one of the
first 16 available position presets.
The digital input signals must be set as shown in the figure in the ELS / DIGITAL INPUTs menu.
The digital outputs relating to the application must be set in the ELS / DIGITAL OUTPUTs menu.
Figure 3.1: Layout of I/Os ADV200 slave with EXP-IO-D6A4R1-ADV

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User Guide Electrical Line Shaft for ADV200 Page 7 of 32
Recommended programming of I/O terminals (regulation + expansion)
Dig Input E Enable (not programmable) Digital output 1 Drive healthy
Dig Input 1 ELS Engage Digital output 2 Drive Enable
Dig Input 2 Home Request Digital output 3 Pos Zero Found
Dig Input 3 Home Sensor Digital output 4 In Sync
Dig Input 4 Move Trigger Digital output 1X In Position
Dig Input 5 Jog Input Digital output 2X Pos Error Alarm (*)
Dig Inp 1X Jog Direction
Dig Inp 2X Ratio Select B0
Dig Inp 3X Ratio Select B1
(*) Connect to the digital input of the master drive programmed as "External Fault"
NB! The ADV200 drive requires the installation of the EXP-IO-D6A4R1-ADV optional card in slot 1, and of the EXP-FL-
XCAN-ADV optional card for the Fast Link system bus, which can be used to send the position reference between
the master and slaves.
The two optional cards cannot therefore be installed simultaneously on the same drive.

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User Guide Electrical Line Shaft for ADV200 Page 8 of 32
3.2 Control via fieldbus interface
The example below shows a typical configuration of the digital inputs and outputs provided with the drive
regulation card and an assignment of process data on a fieldbus interface card; the latter must be installed in
slot 3 dedicated to expansion cards.
Since process data are assigned in the parameters in the drive COMMUNICATION menu, the settings
described below are applicable regardless of the type of fieldbus used.
The digital input signals must be set as shown in the figure in the DIGITAL INPUTs menu, where they are
assigned to the regulation card terminals or to the control word bits (Word decomp).
The digital output signals must be set as shown in the figure in the DIGITAL OUTPUTs menu, where they
are assigned to the regulation card terminals or to the status word bits (Word comp); an application status
word can also be mapped in the process channel (see IPA 12036 Status Word Mon), bringing together all
the digital output signals defined in the DIGITAL OUTPUTs menu so that the Word comp can be used for
other signals.
Figure 3.2: Layout of I/Os ADV200 with EXP-...Fieldbus

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User Guide Electrical Line Shaft for ADV200 Page 9 of 32
Recommended programming of I/O terminals (regulation only)
Dig Input E Enable (not programmable) Digital output 1 Drive healthy
Dig Input 1 Null Digital output 2 Drive Enable
Dig Input 2 Null Digital output 3 Pos Zero Found
Dig Input 3 Home Sensor Digital output 4 Pos Reached
Dig Input 4 Null Digital output 1X In Position
Dig Input 5 Null Digital output 2X Pos Error Alarm
(*) Connect to the digital input of the master drive programmed as "External Fault"
Assignment of process data
Fieldbus M->S1 Word Decomp Fieldbus S->M1 Status Word Mon
Fieldbus M->S2 Ramp ref 1 Fieldbus S->M2 Word Comp
Fieldbus M->S3 Target Pos (**) Fieldbus S->M3 Actual Pos
Fieldbus M->S4 … Fieldbus S->M4 Error Pos
Fieldbus M->S5 … Fieldbus S->M5 Motor Speed
Fieldbus M->S6 … Fieldbus S->M6 Output Current
(**) automatically assigned with parameter “Target Source = From FB W3”
NB! (*) There should preferably be a direct connection between the "Pos Error Alarm" or "Drive Healthy" digital output on
the slave axis and the "External fault" digital input on the master drive; if that is not possible, an emergency stop
mechanism must be provided at the superordinate control level (PLC) to stop the master drive in case of a fault on
the slave drive(s).

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User Guide Electrical Line Shaft for ADV200 Page 10 of 32
3.3 Possible master-slave configurations
The IPA 11394 Master Pos Source application parameter is used to select the source for the position
reference to which the slave axis is connected during operation in electrical line shaft mode.
The master position reference may come from an encoder or from the Fast Link communication interface.
3.3.1 Master electrical line shaft from encoder
In this case the master position reference comes from an encoder, which may be installed on a motor or
connected directly to the machine.
For the slave axis, the IPA 11394 Master Pos Source parameter must be set to “Encoder 2”.
In configurations with at least 2 slave axes, it is possible for each slave axis to be the master position
reference for the next slave or to use the same master encoder for all the slaves.
An example of a configuration in which each slave axis acts as the master position reference for the next
slave is shown in the figure below.
Figure 3.3: Cascade repetition of encoders between slave axes
In this case, each slave axis needs an optional card with a double digital encoder input (type EXP-DE-
I2R1F2-ADV); the encoder emulation output of this card repeats the Encoder 1 input, i.e. the motor encoder
of the slave axis.
The figure below shows an example of configuration in which the master axis motor encoder is repeated to
all the slave axes.
.

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User Guide Electrical Line Shaft for ADV200 Page 11 of 32
Figure 3.4: Master encoder repeated to all slaves
In this case the master encoder must be read and repeated by a second encoder card, in addition to that
needed for the encoder installed on the motor of the slave axis and of the same type (EXP-DE-I1R1F2-ADV).
The choice between these two configurations depends on the type of application; the former, for example, is
for cascade control of synchronised conveyor belts, the latter for multiple-column hoists.

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User Guide Electrical Line Shaft for ADV200 Page 12 of 32
3.3.2 Master electrical line shaft from Fast Link communication interface
The Fast Link EXP-FL-XCAN-ADV optional card is the optical fibre synchronous communication interface for
the ADV200. Reference should be made to the specific user guide for details about installation and
configuration of the optional card.
For the Electrical Line Shaft application, the Fast Link card must be installed on all the slave axes and, as a
general rule, also on the master axis; some "mixed" configurations are however possible, for instance if the
master axis position reference comes from an encoder, the first slave axis can receive it using a card with a
double digital encoder input and thus send it via Fast Link to the other slave axes.
For the slave axis, the IPA 11394 Master Pos Source parameter must be set to “FastLinkPosRev” .
Since each node of the Fast Link network can in turn re-transmit the entire data block received or
immediately replace one or more of the data in that block with its own data, the same configurations as those
described in the case of position references from the encoder are possible.
Figure 3.5: Position references on the Fast Link interface
Description of Fast Link communication parameter settings.
Case 1 – Master Encoder repeated to all slaves (IPA 11394 Master Pos Source = “FastLinkPosRev”)
Parametro Fast Link Master Slave 1 Slave n
IPA 5702 Fast Link Address 1 2 n+1
IPA 5710 FL sync slave type Off Off Off
IPA 5712 FL N Fwd slave chg 0 0 0
IPA 5714 FL Fault enable src Digital Input E mon Digital Input E mon Digital Input E mon
IPA 5730 FL Fwd 1 src E1 Virtual position Null Null
IPA 5732 FL Fwd 2 src E1 Revolution Null Null

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User Guide Electrical Line Shaft for ADV200 Page 13 of 32
Case 2 – Cascade repetitions of encoders (IPA 11394 Master Pos Source = “FastLinkPosRev”)
Parametro Fast Link Master Slave 1 Slave n
IPA 5702 Fast Link Address 1 2 n+1
IPA 5710 FL sync slave type Off Off Off
IPA 5712 FL N Fwd slave chg 0 2 2
IPA 5714 FL Fault enable src Digital Input E mon Digital Input E mon Digital Input E mon
IPA 5730 FL Fwd 1 src E1 Virtual position E1 Virtual position E1 Virtual position
IPA 5732 FL Fwd 2 src E1 Revolution E1 Revolution E1 Revolution

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User Guide Electrical Line Shaft for ADV200 Page 14 of 32
4 Commissioning
4.1 General information
This section describes a standard application commissioning procedure.
The preliminary operations for commissioning ADV200 drives are described in chapter 7 of the “ADV200
Quick Start Guide - Specifications and connection".
4.2 Requirements
The Electrical Line Shaft application for ADV200 drives requires at least firmware version 5.00 of the drive
with the relative optional cards for encoder signal acquisition.
The ADV200 firmware version supports asynchronous (ASY) and synchronous (SYN) motors.
To install the application you must have a PC, version 1.6.27 or higher of the Gefran GF Express software
with Catalog, the drive RS485 - PCI COM connection kit and the set-up CD.
The Electrical Line Shaft application set-up CD contains an automatic procedure that copies the required
files in the specific folders of the GF Express catalog. Once this is complete, the set-up procedure normally
requires the following files with the paths as shown:
The files in the Electrical Line Shaft application
adv_els_5_00_asy_v1_0__A1.fl2 (asynchronous motors – application 1)
adv_els_5_00_asy_v1_0__A2.fl2 (asynchronous motors – application 2)
adv_els_5_00_syn_v1_0__A1.fl2 (synchronous motors – application 1)
adv_els_5_00_syn_v1_0__A2.fl2 (synchronous motors – application 2)
are copied to
...\Programmi\Gefran\Catalog\Drives\Inverter\ADV200\ADV200_5_X_0\Service\
Applications\
Drive and Electrical Line Shaft application parameter structure files
adv_els_5_00_asy_v1_0.gft
adv_els_5_00_syn_v1_0.gft
to
...\Programmi\Gefran\Catalog\ Drives\Inverter\ADV200\ADV200_5_X_0
4.3 Initial operations
Check the connections, paying particular attention to shielding (see standard wiring diagrams) in
order to reduce interference to a minimum, especially on encoders.
Set the IPA 558 Application Select parameter to the application where you wish to load the
Electrical Line Shaft (Application 1 or Application 2).
If the Electrical Line Shaft application firmware is not already installed, download it using the GF-
Express "Download firmware" utility. You can either download the application only, or the entire drive
firmware including the application; the latter option is useful if the version of the unit firmware is not
compatible.
Files called "nomefile___A1.fl2" enable the firmware to be downloaded to Application 1, files named
“nomefile___A2.fl2” enable the firmware to be downloaded to Application 2.
NB! ADV200 drive is supplied with the PID application installed in Application 1; to avoid overwriting this application, we
recommend downloading the firmware to Application 2.
Send a "Drive reset" command.
Open the drive parameters file containing the Electrical Line Shaft parameters (.gfe)

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User Guide Electrical Line Shaft for ADV200 Page 15 of 32
Send the “Load default drive values” command from the E@syDrive Parameters menu to load the
default parameters.
Send a “Save parameter into target” command, then “Drive reset”.
4.4 Drive parameters managed by the application
Each time the Electrical Line Shaft application is launched some drive parameters are set as a function of the
application, as follows:
DRIVE CONFIG menu
IPA 552 Regulation mode = Flux vector CL
IPA 556 Control mode select = Speed
REFERENCES menu
IPA 650 Speed ref 1 src = Dig speed ref 1
In order to ensure correct operation of the application, these settings must be saved and not modified.
COMMANDS menu
During application boot-up no pre-setting of COMMANDS parameter menu is done; nevertheless, in order to
allow correct application related commands decoding, it is advisableto set following parameters as shown
below.
IPA 1000 Commands remote sel = Digital
IPA 1018 Digital Enable src = Digital input E mon
IPA 1020 Digital Start src = Digital input E mon
IPA 1042 FR forward src = Null
IPA 1044 FR reverse src = Null
As an alternative, if slave drive control is fully performed via fieldbus, it is possible to assign parameters IPAs
1018 and 1020 to a single digital command, such as Bit X decomp mon.
Note! Each drive configured as a slave in electrical line shaft mode must be configured so that its absolute maximum
speed is higher than that of the master, to ensure an adequate operating margin during master capture transients or
during phase correction.

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User Guide Electrical Line Shaft for ADV200 Page 16 of 32
5 Control logic and sequences
5.1 Application control modes
The input and output signals of the Electrical Line Shaft application for ADV200 drives and the relative
sequences are managed by a superordinate control device such as a PLC or IPC.
The application can thus be controlled via discrete digital I/O (digital input and output terminals on the
ADV200 regulation card and any expansion cards, such as EXP-IO-D6A4R1-ADV); the use of a fieldbus
interface (Profibus, Devicenet, Canopen, EtherCAT) allows more flexible management (virtual I/O,
positioning and phase variation). Moreover, the fieldbus configuration channel enables access to all drive
and application parameters in read and write mode.
Note on assignment of commands and application signals
In addition to the physical and virtual digital inputs, each selection list for assigning application commands
(jog, zero search, positioning, capture in electrical line shaft mode) contains the “Digital Param” item: when
this item is assigned, the corresponding command can be managed via a local interface parameter,
generally located in the same sub-menu or in the DIGITAL INPUTS menu.
For example, if the Move Trigger Source command is set to Digital Param, the positioning command is only
activated via the IPA 11506 Digital Move Trigger parameter (Off / On) from GF Express or the drive keypad.
As far as application signals are concerned, in addition to those assigned directly to the digital outputs in the
DIGITAL OUTPUTS menu, each sub-menu relating to the various functions contains the relevant signal flags
("Mon" parameters).
5.2 Jog function
The jog function is used to perform service movements of the axis controlled by the Electrical Line Shaft
application independently of the master axis.
To define the source of the jog command, set the IPA 11502 Jog Input Source parameter in the DIGITAL
INPUTs menu of the application.
The speed and acceleration parameters are assigned, respectively, via parameters IPA 11308 Jog Speed,
IPA 11310 Jog Accel and IPA 11312 Jog Decel in the POSITION menu of the ADV200 drive. The motor
starts the acceleration ramp when the jog command is activated. The jog speed is maintained for as long as
the command remains active and the deceleration ramp starts when the command is disabled. The direction
of rotation of the motor is defined by assigning parameter IPA 11316 Jog Direction Source in the
POSITION menu of the application.
5.3 Zero search
Zero searches are performed to move the slave axis to a predetermined position using an external digital
signal referred to as zero sensor. The zero search configuration parameters are contained in the HOME
REFERENCE menu.
The zero search procedure is generally launched by activating the digital input signal assigned via the IPA
11706 Home Request Source parameter; the zero sensor digital input signal is assigned via the IPA 11708
Home Sensor Source parameter while the speeds used during the procedure are defined by the IPA 11700
Home Speed and IPA 11702 Home Creep Speed parameters. The former is used until the sensor is
engaged for the first time, the latter when said sensor is cleared.
The strategy for engaging and clearing the zero sensor is established via the IPA 11710 Home Direction
parameter: this is set to determine the direction of rotation of the motor until the zero sensor is engaged and
that used subsequently to clear the sensor; the zero search can also be performed without the motor turning
at all.
At the end of the zero search, the IPA 12000 Actual Pos parameter is reset. The axis can also then be
made to run a positioning procedure at a position set via the IPA 11704 Home Offset Move parameter.
Zero search activity is signalled by the IPA 12022 Home Busy Mon flag or a digital output configured as
“Home Busy”.
When the procedure is complete this is signalled by the IPA 12058 Home Complete Mon flag or by a digital
output configured as “Pos Zero Found”.

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User Guide Electrical Line Shaft for ADV200 Page 17 of 32
5.4 Positioning
At the end of the zero search, positioning can be performed independently of the slave axis. This is always
done in incremental mode, i.e. the target position is always referred to the actual position of the slave axis;
this may be necessary if the slave axis has to reach an exact position before synchronous capturing of the
master. The main parameters for configuring the positioner are located in the POSITION menu.
The unit of measure for positioning is defined in user units (u.u.) via the IPA 11318 User unit per rev
parameter, which indicates the number of user units associated with one revolution of the slave axis position
encoder (Encoder 1).
The target position is generally specified via the IPA 11300 Target Pos parameter.
The source for the target position can be assigned directly to a datum coming from the fieldbus interface,
using the IPA 11298 Target Source parameter.
Positioning profile data for speed (maximum), and the acceleration and deceleration ramps can be set,
respectively, via the IPA 11302 Move Speed, IPA 11304 Move Accel and IPA 11306 IPA Move Decel
parameters.
Positioning speed is specified in user units per second (u.u./s), while acceleration and deceleration are
expressed in user units per second squared (u.u./s2).
Positioning is launched by activating the digital input signal assigned via the IPA 11500 Move Trigger
Source parameter in the DIGITAL INPUTS menu; the end of the procedure is indicated by the setting (0->1)
of the In Position digital output signal, available as a flag (IPA 12060) or assignable to a digital output in the
DIGITAL OUTPUTS menu.
.
5.4.1 Correction of the position of the slave axis in electrical line shaft mode (phase trim)
The Move Trigger positioning command and the target position specified can also be used during
synchronous capture of the master by the slave, or when the ELS Engage command is active: in this case
the position of the slave axis can be adjusted with respect to the master axis (phase trim).
Activation of the positioning command with a target position other than zero with the slave capturing the
master triggers a transient during which the phase ratio between the master and slave axes in electrical line
shaft mode is temporarily lost; to reach the new position reference, the speed of the slave axis, required in
order to maintain the synchronous phase ratio, is adjusted by the value calculated by the position profile
generator. As a result, during said transient, the slave axis moves at a hyper-synchronous or hypo-
synchronous speed, depending on the sign of the specified target position.
.

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User Guide Electrical Line Shaft for ADV200 Page 18 of 32
5.5 Electrical line shaft function
The electrical line shaft function works in a master-slave configuration, where the master (which may be a
drive) specifies a position reference that the slave must follow. The slave axis receives and processes the
information from the master encoder to determine its speed reference in order to minimise the difference
between its position and that of the master maintaining the selected electronic gear ratio.
The electrical line shaft function consists of two parts: one, called feed-forward generation, which reads the
speed of the master encoder and calculates the ideal speed reference for the slave axis in relation to the
selected ratio; the other, called feedback control, calculates the position error as the difference between the
position of the master encoder and that of the slave and, taking into account the selected ratio, sends it to a
PID controller to be corrected.
The electrical line shaft mode can be enabled for each slave via digital command assigned with the IPA
11504 ELS Engage Source parameter in the DIGITAL INPUTS menu.
When captured, the slave axis moves to the selected ratio with the master following a linear ramp, the
duration of which is specified in milliseconds via the IPA 11444 ELS Sync Time parameter.
The use of a linear ramp means that during capture the slave is "delayed" with respect to the master; this
delay is subsequently corrected by applying an overspeed. This correction phase is signalled by the Sync
Correction Mon flag in the LINE SHAFT menu, or by a digital output programmed as “ELS Correction”.
The source for the master position reference is selected via the IPA 11394 Master Pos Source parameter;
at present the local parameter IPA 11396 Digital Master Pos, “Encoder 2” or Fast Link can be specified.
The electrical line shaft ratio is calculated by application as follows:
Ratio = Mstr/Slv PPR Ratio · (Ratio n Num / Ratio n Denom)
where parameter IPA 11398 Mstr/Slv PPR Ratio represents the ratio between resolutions of master and
slave encoder, and parameters Ratio n Num and Ratio n Denom, with 1 ≤n ≤4, take into count mechanical
factors as 32 bit float ratio. An example of calculation for gear ratio starting from application mechanical data
can be found at section 7.1.
Electronic gear ratio selection from a maximum of 4 values is possible via two digital commands that can be
set using the IPA 11416 Ratio Select B0 and IPA 11418 Ratio Select B1 parameters.
The ratio currently used in the electrical line shaft mode is indicated by the dedicated monitor parameters,
namely IPA 12062 Actual Ratio Mon, which indicates the value of the ratio, and IPA 12084 Ratio Select
Mon, which indicates the ratio "aimed at" by the selection commands.
5.5.1 Correction of the electrical line shaft ratio (slip)
In applications where the electrical line shaft ratio is not numerically defined, for instance due to mechanical
tolerances, or where it is subject to variation in time due to mechanical wear, thermal dilatation, etc, the Slip
function, which allows fine tuning of the ratio, may be useful.
The slip function allows the electrical line shaft ratio to be increased or decreased continuously using two
respective digital commands that can be assigned with parameters IPA 11432 Slip Pos Src and IPA 11434
Slip Neg Src. The slip ratio can vary between -1…+1 and changes to the ratio are calculated as:
Ratio = Ratio × (1 + Slip Ratio)
where:
Slip Ratio (n+1) = Slip Ratio (n) ± Slip Increment
The IPA 11436 Slip Increment parameter defines the minimum change applied to the slip. The rate at which
this is increased or decreased is modified by means of two timers that can be set with IPA 11428 Slip T1
and IPA 11430 Slip T2. A change equal to a single Slip Increment is applied to the activation edge of an
increase/decrease slip command; if the command remains active for a time equal to at least T1 [ms], the slip
is subsequently updated at a rate of F1 = 1/T1 [increments /sec]; if the command remains active for another
time equal to at least T2 [ms], the slip is subsequently updated at a rate of F2 = 1/T2 [increments /sec].

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User Guide Electrical Line Shaft for ADV200 Page 19 of 32
5.5.2 Monitoring of the position of the master with the slave not captured and recovery
In some applications the difference in the position between the master and slave must be monitored even
when the latter is not capturing the master in electrical line shaft mode and, in some cases, this must be
recovered the next time the slave captures the master.
For this purpose the IPA 11446 Engage Recovery parameter is used, to recover any difference in position
that has built up between the master and slave while operating independently the first time the slave re-
captures the master in electrical line shaft mode.
There is a digital command that can be assigned with the IPA 11448 Engage Rst Src parameter to reset the
difference that has accumulated during independent operation. Activating this command on the slave before
the ELS Engage command allows it to capture the master from the instantaneous position of the slave, even
when the Engage Recovery command is set to “On”.
5.6 Application block diagram
Electrical line shaft application can be schematized as in following picture.
Figure 3.6: Electrical line shaft application block diagram
All application functions, from synchronous operation in line shaft mode to relative positioning, axis jogging
and homing, are performed in position control.
Master encoder position variations are scaled according to gear ratio and used by line shaft engage software
block (SYNC) to generate time- based engagement profile, which is completed within ELS Sync Time
parameter.
“SYNC Correction” software block deals with master – slave position error monitoring, in order to manage
recoveries, gear ratio changes and phase trimming.
"Home Reference”, “Jog” and “Relative Positioning” software blocks generate position setpoints as well,
each of them managed by overhead control in a mutually exclusive way.
"Position Demand” setpoint ,produced by software blocks above described, is the actual sum of all terms;
this is directly generating feed-forward part of speed demand for slave drive.
Position error, calculated as difference between Position Demand and slave motor actual position, is
processed by PID regulator and generates speed correction for slave drive, resulting in Speed Reference 1
setpoint.

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User Guide Electrical Line Shaft for ADV200 Page 20 of 32
6 List of Parameters
This section contains the list and description of the parameters, which are grouped according to the sub-
menus of the ELS in the parameters file of the drive where the application is installed.
6.1 SERVO PID menu
This menu contains the general application configuration parameters.
Ipa Parameter Name User type Target type Unit Default Min Max
11200 P Gain Long Long - 100 0 1000
11202 I Gain Long Long - 0 0 1000
11204 D Gain Long Long - 0 0 1000
11206 VFF Gain Long Long - 3500 0 1000
11208 OV Gain Long Long - 0 0 1000
11210 Anti Wind Up Long Long - 65535 0 65535
11212 Pos Error Warn Long Long u.u. 180 1 32767
11214 Pos Error Alarm Long Long u.u. 270 1 32767
11216 Pos Error Warn Time Int Int ms 250 0 16384
11218 Pos Error Alarm Time Int Int ms 500 0 16384
12000* Actual Pos Long Long u.u. - - -
12002* Demand Pos Long Long u.u. - - -
12004* Error Pos Long Long u.u. - - -
12024* PosError Warn Mon Bool Bool - - - -
12026* PosError Alrm Mon Bool Bool - - - -
P Gain Setting of the proportional gain of the PID controller in position feedback control
mode.
I Gain Setting of the integral gain of the PID controller in position feedback control mode.
D Gain Setting of the derivative gain of the PID controller in position feedback control
mode.
VFF Gain Setting of the speed feed forward generation gain.
OV Gain Setting of the gain relating to the component proportional to the speed at which the
speed output of the feed forward generation part changes.
Anti Wind Up Setting of the limit for the integral component of the PID controller in position
feedback control mode.
Pos Error Warn Setting of the position error threshold (u.u.) between the master and slave which,
when exceeded, generates a warning.
Pos Error Alarm Setting of the position error threshold (u.u.) between the master and slave which,
when exceeded, generates an alarm.
Pos Error Warn Time Setting of the latency (ms) of the position error warning.
Pos Error Alarm Time Setting of the latency (ms) of the position error alarm.
Actual Position This parameter displays the actual position of the motor in user units.
Demand Position This parameter displays the position reference in user units.