power automation PA 9000 User manual

PA 9000
ETC Drives Midi / Maxi
Installaon instrucons

Version: PRO
Original installation instructions
© 2017 Power Automation GmbH
Power Automation GmbH
CNC-Automatisierungstechnik
Gottlieb-Daimler-Str. 17/2
74385 Pleidelsheim
Germany
Telephone: [phone]
Fax: [phone]
E-mail: [email protected]
Internet: www.powerautomation.com
Version 3.0
2 21.02.2017

Table of contents
1 General information................................................................... 9
1.1 Information on this manual................................................ 9
1.2 Explanation of symbols...................................................... 9
1.3 Limitation of liability.......................................................... 10
1.4 Copyright......................................................................... 10
1.5 Warranty terms................................................................. 11
1.6 Customer service............................................................. 11
1.7 Glossary........................................................................... 12
2 Safety........................................................................................ 15
2.1 Customer's responsibility................................................. 15
2.2 Personnel requirements................................................... 16
2.2.1 Qualifications................................................................. 16
2.2.2 Unauthorized persons................................................... 16
2.3 Intended use.................................................................... 17
2.4 Unintended use................................................................ 18
2.5 Safety instructions........................................................... 18
2.6 Personal protective gear.................................................. 21
2.7 Conduct in a dangerous situation and in case of acci-
dents................................................................................ 21
2.8 Environmental protection................................................. 22
2.9 Labels.............................................................................. 22
3 PA ETC-Drives MI / MA Overview........................................... 25
4 Technical Data.......................................................................... 31
4.1 General Specifcation....................................................... 31
4.1.1 PA ETC-Drive MI1015 / MI103...................................... 31
4.1.2 PA ETC-Drive MI1045 / MI106...................................... 35
4.1.3 PA ETC-Drive MI108 / MI110 / MI113........................... 39
4.1.4 PA ETC-Drive MI120 / MI124........................................ 43
4.1.5 PA ETC-Drive MA103 / MA106 / MA112....................... 47
4.1.6 PA ETC-Drive MA124 / MA130..................................... 52
4.2 Control Specifications...................................................... 56
4.3 Protective Functions and Environmental Specifications.. 58
4.4 Communication Specifications......................................... 59
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4.5 I/O Specifications............................................................. 60
4.6 Motor Feedback Specifications........................................ 62
4.7 Conformance with European directives and UL-stand-
ards.................................................................................. 62
4.8 Installation guidelines...................................................... 65
5 Installation................................................................................ 67
5.1 PA ETC-Drive MI 1015 / MI 103...................................... 67
5.2 PA ETC-Drive MI 1045 / MI 106...................................... 69
5.3 PA ETC-Drive MI 108 / MI 110 / MI 113........................... 71
5.4 PA ETC-Drive MI 120 / MI 124........................................ 73
5.5 PA ETC-Drive MA 103 / MA 106...................................... 75
5.6 PA ETC-Drive MA 112..................................................... 77
5.7 PA ETC-Drive MA 124 / MA 130...................................... 79
5.8 Controller Interface Wiring............................................... 81
5.9 Interface........................................................................... 82
5.9.1 Control board connections............................................ 82
5.9.2 Power Board Connections - 120/240 V AC................. 104
5.9.3 Power Board Connections - 400/480 V AC................. 116
5.9.4 Regeneration............................................................... 126
5.9.4.1 Regenerative Energy Overview................................ 126
5.9.4.2 Regeneration Resistence Calculations..................... 126
5.9.4.3 Regeneration Resistor Protection............................. 136
6 Drive Setup............................................................................. 141
6.1 Overview........................................................................ 141
6.2 Preparation.................................................................... 142
6.3 EMI Suppression........................................................... 144
6.4 Electrical System Considerations.................................. 150
6.5 Mechanical Installation.................................................. 151
6.6 Firmware Upgrade......................................................... 152
6.7 Power Up....................................................................... 155
7 Application Setup.................................................................. 157
7.1 Parameters.................................................................... 157
7.2 Configuration Sequence................................................ 159
7.3 Communication.............................................................. 161
7.4 Power Rating................................................................. 164
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7.5 Feedback....................................................................... 165
7.6 Sine Encoder Calibration............................................... 170
7.7 Motion Units................................................................... 175
7.8 Current Foldback........................................................... 176
7.9 Digital Inputs.................................................................. 177
7.10 Digital Outputs............................................................... 177
7.11 Analog Inputs................................................................. 178
7.12 Homing.......................................................................... 183
7.13 Disable Mode................................................................. 185
7.14 Motor Brake Control via Relay....................................... 192
7.15 Motor Temperature Sensor............................................ 194
8 Motor Setup............................................................................ 195
8.1 Motor Setup Wizard....................................................... 195
8.2 Drive Identification......................................................... 201
8.3 Motor Identification........................................................ 201
8.4 Motor Initialization.......................................................... 202
8.5 Current Limits................................................................ 203
8.6 Velocity Limits................................................................ 204
8.7 Position Limits................................................................ 205
8.8 Motor Direction.............................................................. 206
8.9 New Motor Wizard......................................................... 207
9 Operation................................................................................ 213
9.1 Drive Enable.................................................................. 213
9.2 Operation Modes........................................................... 214
9.3 Current Operation.......................................................... 215
9.4 Velocity Operation.......................................................... 216
9.5 Position Operation......................................................... 222
10 Tuning..................................................................................... 227
10.1 MI/MA HD Controller...................................................... 227
10.2 MI/MA HD Controller Autotuning................................... 228
10.3 PC-Based Autotuning.................................................... 229
10.4 Drive-Based Autotuning................................................. 233
10.4.1 Drive-Based Autotuning - Overview............................ 234
10.4.2 Drive-Based Autotuning - Express.............................. 235
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10.4.3 Drive-Based Autotuning - Advanced........................... 236
10.5 Autotuning Parameters Summary.................................. 243
10.6 Recording and Evaluating Performance........................ 245
10.6.1 Diagnostics.................................................................. 245
10.6.2 Recording Data in PA ETC Drive Studio..................... 247
10.6.3 Recording Data in Terminal......................................... 249
10.6.4 Evaluating PTPVCMD................................................. 251
10.6.5 Evaluating ICMD and/or PE Oscillations..................... 252
10.7 Low Pass Filter on Current Command........................... 253
10.8 Gearing Filters............................................................... 255
10.9 Move Smoothing Filter................................................... 257
10.1
0
Notch Filters................................................................... 258
10.1
1
Anti-Vibration Filters...................................................... 259
10.1
2
Gains - Manual Tuning.................................................. 266
10.1
3
Flexibility Compensation Tuning.................................... 271
10.1
4
Tuning Issues - Q&A...................................................... 272
11 Transport, packaging, storage and disposal....................... 273
11.1 Transport....................................................................... 273
11.2 Packaging...................................................................... 274
11.3 Storage.......................................................................... 274
11.4 Disposal......................................................................... 275
12 Maintenance........................................................................... 277
12.1 Safety notes................................................................... 277
12.2 Maintenance schedule................................................... 277
12.3 Measures after maintenance......................................... 279
13 Dismounting and decommissioning.................................... 281
14 Service and return process................................................... 283
14.1 Service........................................................................... 283
14.1.1 Service addresses....................................................... 284
14.2 Spare parts.................................................................... 285
14.3 Return policy and procedure.......................................... 286
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14.4 Training.......................................................................... 288
15 Declaration of Conformity..................................................... 289
16 Proof of change...................................................................... 291
17 Index........................................................................................ 293
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1 General information
1.1 Information on this manual
The manual describes the EtherCATâ drives of the PA ETC-Drive
Midi / Maxi (MI/MA) series.
1.2 Explanation of symbols
Warnings are identified by pictures. These warnings are introduced by
signal words, which express the severity of a danger.
Pay attention to these warnings and act cautiously in order to avoid
accidents, personal injuries and damage to property.
… indicates an imminently hazardous situation which, if unavoid-
able, will result in death or serious injury.
… indicates a potentially hazardous situation which, if unavoid-
able, could result in death or serious injury.
… indicates a potentially hazardous situation which, if unavoid-
able, may result in minor or moderate injury.
… indicates a potentially hazardous situation which, if unavoid-
able, may result in property damage.
… emphasizes useful hints and recommendations as well as informa-
tion for efficient and trouble-free operation.
The following symbols are used in connection with the safety notes to
highlight particular dangers:
… highlights hazards caused by electric current. There is a
danger of serious injury or death if the safety notes are not com-
plied with.
The following symbols and highlights are used to distinguish
instructions, descriptions of results, cross-references and other ele-
ments inside this manual.
.. Highlights a step as part of a procedure of instructions.
ð.. Highlights a state or an automatic process as a result of an
instruction.
n.. Highlights single or unordered instructions and lists.
Ä “Additional symbols and highlighting” on page 9.. Highlights cross-
references to chapters or sections of this manual.
Content
Warnings
L DANGER
L WARNING
L CAUTION
NOTICE
Special Safety Notes
L DANGER
Additional symbols and high-
lighting
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[Key].. Highlights captions of buttons, fields and other elements of the
software's graphical user interface.
“Menu è Submenu è ”.. Highlights a path to access a menu or sub-
menu in the software's graphical user interface.
Example/Extract.. Highlights verbatim examples and extracts from
configuration files.
1.3 Limitation of liability
All information and notes in this installation manual were compiled
under due consideration of valid standards and regulations, the
present status of technology and our years of knowledge and experi-
ence.
Power Automation can not be held liable for damage resulting from:
ndisregarding this installation manual
nunintended use
nemployment of untrained personnel
nunauthorized conversions
nunauthorized modifications to the software
ntechnical modifications
nuse of unapproved spare parts
nuse in conjunction with machines not deemed compatible by
Power Automation
In case of customized versions the actual scope of delivery can vary
from the explanations and representations in this installation manual,
because of the utilization of additional options or due to the latest tech-
nical changes.
Apart from this, the obligations agreed upon in the delivery contract,
the general terms and conditions, and the delivery conditions of Power
Automation and the legal regulations valid at the time of contract apply.
We reserve the right to make technical modifications in order to
improve usability.
1.4 Copyright
This installation manual is protected by copyright law.
Passing this installation manual on to third parties, duplication of any
kind – even in form of excerpts – as well as the use and/or disclosure
of the contents without the written consent of Power Automation is not
permitted.
Violations oblige to compensation. The right for further claims remains
reserved.
Liability
Copyright
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