Motor Power Company DUET_FL 48/10 User manual

User Manual
DUET_FL 48/10
Motor Power Company Telefon: [phone]
Via Leonardo da Vinci, 4 Telefax: [phone]
42024 Castelnovo di Sotto - RE E-mail: [email protected]
Italy http://www.motorpowerco.com

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Copyrights
 2006 Motor Power Company. All rights reserved.
The information and data in this document have been composed to the best of our knowledge.
However, deviations between the document and the product cannot be excluded entirely. For the
devices and the corresponding software in the version handed out to the customer, Motor Power
Company guarantees the contractual use in accordance with the user documentation. In the case of
serious deviations from the user documentation, Motor Power Company has the right and the
obligation to repair, unless it would involve an unreasonable effort. A possible liability does not include
deficiencies caused by deviations from the operating conditions intended for the device and described
in the user documentation.
Motor Power Company does not guarantee that the products meet the buyer’s demands and purposes
or that they work together with other products selected by the buyer. Motor Power Company does not
assume any liability for damages resulting from the combined use of its products with other products or
resulting from improper handling of machines or systems.
Motor Power Company reserves the right to modify, amend, or improve the document or the product
without prior notification.
This document may, neither entirely nor in part, be reproduced, translated into any other natural or
machine-readable language nor transferred to electronic, mechanical, optical or any other kind of data
media, without expressive authorization by the author.
Trademarks
Any product names in this document may be registered trademarks. The sole purpose of any
trademarks in this document is the identification of the corresponding products.
Revision Log
Author: Motor Power Company
Manual name: User Manual "DUET_FL 48/10"
File name: UserManual_DUET_FL_V10.doc
Storage location of the file:
No. Description Revision index Date of change
001 First authorized version 1.0 24.06.2005
002 Revision:
Extension to DUET_FL and to firmware 3.0
1.1 15.05.2006
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company

Über dieses Handbuch Page 3

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User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company

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TABLE OF CONTENT :
TABLE OF CONTENT :...............................................................................................5
List of Figures:...........................................................................................................12
Figure 1: Current controller step response 38.......................................................13
Figure 2: peed controller 49...................................................................................13
Figure 3: peed controller too soft 52....................................................................13
Figure 4: peed controller too hard 52...................................................................13
Figure 5: peed controller set correctly 52............................................................13
Figure 6: Positioning control block diagram 57....................................................13
Figure 7: peed controller optimization 60............................................................13
Figure 8: Time-optimal and jerk-limited positioning 64........................................13
Figure 9: Homing run to the negative limit switch with index pulse evaluation
67.................................................................................................................................13
Figure 10: Homing run to the positive limit switch with index pulse evaluation
67.................................................................................................................................13
Figure 11: Homing to the negative limit switch 68................................................13
Figure 12: Homing to the positive limit switch 68.................................................13
Figure 13: Homing run referred only to the index pulse 68..................................13
Figure 14: Homing run to the negative stop with index pulse evaluation 69.....13
Figure 15: Homing run to the positive stop with index pulse evaluation 69......13
Figure 16: Homing to the negative stop 69............................................................13
Figure 17: Homing to the positive stop 70.............................................................13
Figure 18: Course program - Position branch 78..................................................13
Figure 19: Position branch time diagram 78..........................................................13
Figure 20: Course program - Branch (Line) 79......................................................13
Figure 21: Branch (Line) time diagram 80..............................................................13
Figure 22: Level test course program 80................................................................13
Figure 23: Level test time diagram 81.....................................................................13
Figure 24: Teaching process of a target position 86............................................13
Figure 25: Coupled incremental encoder emulation 90........................................13
Figure 26: Holding brake time response 92...........................................................13
Figure 27: afe zero 93.............................................................................................13
Figure 28: Online parameterization 147..................................................................13
Figure 29: Offline parameterization 151..................................................................13
Figure 30: Arrangement of DUET_FL pin-and-socket connectors - top view of
electronics module 162............................................................................................13
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Figure 31: Housing dimensions 163.......................................................................13
Figure 32: DUET_FL application example - ynchronous servo motor in the
power range of 500 W with a DUET_FL servo positioning controller and a
gearbox for a steering application. 164..................................................................13
Figure 33: Numbered pins of X1 DUET_FL 48/10 165...........................................14
Figure 34: Angle encoder connector 166...............................................................14
Figure 35: Motor cable connection 167..................................................................14
Figure 36: Holding brake connection 167...............................................................14
Figure 37: Technology module connection 168.....................................................14
Figure 38: Numbered pins of [X1] DUET_FL 48/10 IC 169....................................14
Figure 39: Numbered pins of [X1] DUET_FL 48/10 FB 170...................................14
Figure 40: Brake resistance connection 172..........................................................14
Figure 41: Position and numbered pins [X401], [X402] and [X5] at DUET_FL
48/10 FB 173...............................................................................................................14
Figure 42: Position and connection technology module 175...............................14
Figure 43: Connection to power supply, control and motor 177.........................14
Figure 44: Wiring example for the power supply and EMERGENCY OFF /
EMERGENCY TOP 182..........................................................................................14
Figure 45: Connection of the DUET_FL to the power supply unit, shield
connection on the chassis 186................................................................................14
Figure 46: Connection of the DUET_FL to the power supply unit, shield
connection via cable 186..........................................................................................14
Table 1: cope of supply 20....................................................................................16
Table 2: Additional parametrization program 20...................................................16
Table 3: DUET_FL 48/10 accessories 21................................................................16
Table 4: DUET_FL 48/10 IC and DUET_FL 48/10 FB accessories 21...................16
Table 5: Angle encoder parameters 35...................................................................16
Table 6: Display mode 43.........................................................................................16
Table 7: Error elimination: peed control 49.........................................................16
Table 8: Course program: Assignment of the digital inputs 76...........................16
Table 9: Course program: Configuration of the digital inputs (new I/O
configuration) 76.......................................................................................................16
Table 10: Available position sets if the course program is active and the
Course/Posi input = 0 77..........................................................................................16
Table 11: DUET_FL 48/10 digital inputs - possible combinations 84..................16
Table 12:DUET_FL 48/10 IC digital inputs - possible combinations 84..............16
Table 13: DUET_FL 48/10 FB digital inputs - possible combinations 84............16
Table 14: Digital inputs - assignment 85................................................................16
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Table 15: Tipp & Teach: Configuration of the digital inputs 87...........................16
Table 16: Error overview 106...................................................................................16
Table 17: Control elements 113..............................................................................16
Table 18: Directories 115..........................................................................................16
Table 19: Recovering problems with serial communication 118.........................16
Table 20: Command syntax of communication objects 126................................16
Table 21: Meaning of letters in the command syntax 126....................................16
Table 22: R 232 command syntax 127...................................................................16
Table 23: Meaning of letters in the command syntax 127....................................16
Table 24: List of all communication objects 128...................................................16
Table 25: List of basic units 136..............................................................................16
Table 26: Online/Offline activation 153...................................................................16
Table 27: Pin assignment of connector [X1] 167...................................................16
Table 28: Pin assignment of connector [X2] 168...................................................16
Table 29: Pin assignment of connector [X301 – X303] 169..................................16
Table 30: Pin assignment of connector [X3] 169...................................................16
Table 31: Pin assignment of connector [X8] 170...................................................16
Table 32: Pin assignment of connector [X1] 171...................................................16
Table 33: Pin assignment of connector [X1] 172...................................................16
Table 34: Pin assignment of connector [X304], [X305] 174..................................16
Table 35: Pin assignment of connector [X401] and [X402] 175...........................17
Table 36: Pin assignment of connector [X5] 176...................................................17
Table 37: Pin assignment to set up an R 232 adapter cable for connection to a
PC/notebook 176.......................................................................................................17
Table 38 (A): Pin assignment of connector [X8] 177.............................................17
Table 39: Description of the requirements to be met for the categories in
accordance with EN 954-1 181.................................................................................17
Table 40: EMERGENCY OFF and EMERGENCY TOP according to EN 60204-1
182...............................................................................................................................17
Table 41: top categories 182..................................................................................17
1General.....................................................................................................................18
Symbols used in this manual..........................................................................................18
Features and area of application of the DUET_FL........................................................1
Area of application and intended use................................................................................1
DUET_FL features............................................................................................................ 1
DUET_FL ServoCommanderTM features.....................................................................21
Basic information..............................................................................................................21
1.1.1DUET_FL ServoCommanderTM features.................................................................21
Hardware and software requirements ..............................................................................21
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Documentation..............................................................................................................22
1.2 Supply state and scope of supply.............................................................................22
2 afety notes for electrical drives and controllers ..............................................24
General notes.................................................................................................................24
2.1Danger resulting from misuse ..................................................................................25
Safety notes...................................................................................................................26
General safety notes.........................................................................................................26
Safety notes for assembly and maintenance ...................................................................27
Protection against contact with electrical parts ................................................................28
2.1.1Protection against electrical shock by means of protective extra-low voltage (PELV)
.......................................................................................................................... 2
Protection against dangerous movements........................................................................2
Protection against contact with hot parts .........................................................................30
2.1.2Protection during handling and assembly.................................................................30
Preparation for commissioning..............................................................................32
System overview...........................................................................................................32
Connecting the DUET_FL to the control system...........................................................32
3.1 Installation and start of the DUET_FL ServoCommanderTM...................................32
Initial parameterization of the controller...............................................................33
Commissioning .............................................................................................................33
Parameter set in the delivery state...................................................................................33
Manual commissioning.....................................................................................................33
Parameterization using the motor database..................................................................34
Basic parameterization of new motors..........................................................................35
Angle encoders................................................................................................................. 35
3.1.1Motor data ...............................................................................................................38
Power stage...................................................................................................................... 40
3.1.2Current controller......................................................................................................41
DC bus monitoring............................................................................................................42
Motor temperature monitoring..........................................................................................43
Configuring application parameters...............................................................................44
General configuration.......................................................................................................44
Configuring the display units.............................................................................................44
3.2Defining input limits...................................................................................................46
3.3Selecting safety parameters......................................................................................47
Configuring the controller enable logic..........................................................................48
Configuring the limit switch polarity...............................................................................4
Setting the direction of rotation.......................................................................................50
Making the system ready for operation, enabling the power stage.................................50
4 Current and speed control....................................................................................52
Function overview.........................................................................................................52
Speed-controlled mode.................................................................................................54
4.1.1Optimizing the speed controller................................................................................54
Torque-controlled mode.................................................................................................57
4.2Setpoint assignment through setpoint selectors........................................................57
Speed-controlled mode.....................................................................................................58
Torque-controlled mode...................................................................................................58
4.2.1Setpoint assignment through RS232........................................................................5
Setpoint ramp...................................................................................................................5
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Torque limitation............................................................................................................... 60
5Positioning mode....................................................................................................61
5.1Function overview......................................................................................................61
Activating the operating mode........................................................................................62
5.2Configuring and optimizing the position controller.....................................................63
Position controller optimization.........................................................................................64
Global positioning settings.............................................................................................65
Parametrizing position sets...........................................................................................66
Setting of digital outputs ................................................................................................70
Homing 70
Parameterizing the homing run.........................................................................................74
Course program ........................................................................................................77
Creating a course program.............................................................................................7
Course program options...................................................................................................80
End of program.................................................................................................................81
Position branch.................................................................................................................81
Branch (Line).................................................................................................................... 83
Level test84
Debugging a course program.........................................................................................85
Function of the inputs and outputs.........................................................................86
5.3Digital inputs DIN0 to DIN .......................................................................................86
Configuring the digital inputs.............................................................................................88
5.4Extended function of the digital inputs (Tipp & Teach)..............................................88
8.2.1 Teaching positions...................................................................................................8
5.5Digital outputs DOUT0 to DOUT3............................................................................. 1
Configuring the digital outputs.......................................................................................... 1
Configuring the messages for the digital outputs.............................................................. 2
Incremental encoder emulation through DOUT1 and DOUT2....................................... 3
5.6 Holding brake DOUT3.............................................................................................. 5
Brake functions................................................................................................................. 5
Analog inputs AIN0 and AIN1........................................................................................ 6
Analog output AMON.................................................................................................... 8
6 Communication interfaces....................................................................................99
Control through the CAN bus........................................................................................
Function overview.............................................................................................................
6.1.1Processing of CAN messages................................................................................100
6.1.2Configuring the CANopen communication parameters...........................................100
Control through the serial interface.............................................................................101
Function overview...........................................................................................................101
6.1.3Serial communication through DUET_FL ServoCommanderTM............................102
Configuring the RS232 communication parameters.......................................................102
Transfer window ............................................................................................................ 103
Communication window for RS232 transmission............................................................103
Control through the technology interface.....................................................................104
Error messages/Error table....................................................................................105
Error monitoring in the DUET_FL.................................................................................105
6.1.4Overcurrent and short-circuit monitoring.................................................................105
DC bus voltage monitoring.............................................................................................105
Logic supply monitoring..................................................................................................106
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Heat sink temperature monitoring...................................................................................106
Motor monitoring............................................................................................................. 106
Motion sequence monitoring...........................................................................................107
Additional internal monitoring functions..........................................................................107
Operating hour meter.....................................................................................................107
Error overview..............................................................................................................107
Error display in DUET_FL ServoCommanderTM..........................................................112
6.2Error management .................................................................................................113
Appendix..................................................................................................................114
DUET_FL ServoCommanderTM operating instructions...............................................114
Standard buttons............................................................................................................114
Numerical input fields ....................................................................................................114
Control elements ..........................................................................................................115
6.2.1 Display of setpoints and actual values...................................................................115
6.2.2Standard window....................................................................................................116
Directories.....................................................................................................................117
6.2.3Communication via communication objects ...........................................................117
Quitting the program.......................................................................................................118
Setting up the serial communication.............................................................................11
Fast access via the tool bar..........................................................................................122
Using the oscilloscope function....................................................................................123
Oscilloscope settings......................................................................................................123
Oscilloscope window...................................................................................................... 125
6.3Serial communication protocol................................................................................128
List of communication objects......................................................................................130
Basic units...................................................................................................................... 138
11.7.2 Bit configuration for command word / status word / error word............................13
Extended options in the "Display units" menu..............................................................143
Configuration of user-defined display units.....................................................................143
Decimal places...............................................................................................................144
Direct input of distance, speed and acceleration units....................................................144
Course program: Examples..........................................................................................145
6.3.1Example 1: Linear linking of positions.....................................................................145
Example 2: Linear linking of positions and setting of a digital output..............................146
Example 3: Setting and inquiring digital inputs and outputs; infinite loops......................147
Timing diagrams...........................................................................................................147
11.10.1Switch-on sequence............................................................................................148
Positioning / Destination reached...................................................................................14
Speed signal ..................................................................................................................14
Quit error150
Limit switch..................................................................................................................... 150
Parameter set management.........................................................................................151
General 151
Loading and saving parameter sets................................................................................152
Loading firmware into the DUET_FL / firmware update................................................156
11.13.1Loading the firmware .........................................................................................156
Technical data..............................................................................................................15
Ambient conditions and qualification...............................................................................15
11.13.2Dimensions and weight.......................................................................................15
11.13.3Performance data...............................................................................................15
Motor temperature monitoring........................................................................................161
11.13.4Motor connection data [X301 – X303].................................................................161
11.13.5Resolver [X2]......................................................................................................161
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company