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Control Techniques M'Ax 403 User Manual

Control Techniques M'Ax 403
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M’Ax User Guide 87
Issue Number: 4
Line loading
The Drive loads the EIA485 serial communications lines as follows:
In accordance with the EIA485 specification, the total load on a line must
not exceed 32 unit-loads.
Each transmitter and receiver of the Drive loads the line by two unit-
loads. This allows up to 16 Drives to be linked without the use of line
repeaters.
If a line repeater is added, a maximum of 15 Drives can be linked direct
to the PLC (ie. before the line repeater).
Routing the serial communications cables
A data communications cable should not run parallel to any power
cables, especially any that connect Drives to motors. If parallel runs are
unavoidable, ensure a minimum spacing of 300mm (12 in) between the
communications cable and the power cable.
Where cables are required to cross, they should be at right-angles to
each other in order to minimize coupling.
The maximum cable length for an EIA485 link is 1200 metres (4000
feet).
Devices must be chain-connected on an EIA485 communications link.
Figure C.1 Connections for an EIA485 4-wire link
Line biasing
Internal 12k bias resistors ensure that logic 1 is detected when the RX
lines are not driven.
Specifying an address
Each device must be programmed by the user to have a two-part
address number in the form
G.U ,whereG is the group number (1 to 9)
and
U is the unit number (1 to 9) in the specified group.
This form of addressing allows the following:
Anindividualdevicetobeaddressed
A group of devices to be addressed
All devices to be addressed
Setting-up procedure
1. Set parameter 0.37 at the required address for the Drive. The value
entered in this parameter must take the form
G.U ,whereG is the
group number (
1 to 9)andU is the unit number (1 to 9)inthe
specified group. The default value is
1.1.Thevalue0 must not be
used.
2. Set parameter
0.36 as follows for the required baud rate:
C.5 Transmitting and receiving data
Fundamentals of data transmission
Data is transmitted at a fixed speed (baud rate) in the form of a
character. A character may typically comprise seven or eight bits.
In order for a receiver to recognise valid data, a start bit, an optional
parity bit and a stop bit are transmitted along with the character, forming
a frame, as shown following.
This is known as a 10-bit frame, since 10 bits in total are transmitted.
The format of the frame is often described as follows:
1 start bit, 7 data bits, even parity, 1 stop bit
lsb = Least-significant bit (ie. bit 0)
msb = Most-significant bit (ie. bit 6)
The parity bit is used by the receiver for checking the integrity of the
data.
Typical-message format
A typical message consists of the following:
Start control-code
•Deviceaddress
Parameter number
Parameter value (data)
End-of-data control code (ie. stop bit)
Block checksum (BCC)
Message types
Command
Change the value of a parameter
Enquiry
Enquire the value of a parameter
Reply
Contains a parameter value in response to an enquiry
Acknowledge
Message accepted or rejected, or repeat the last command
Acknowledge messages contain only a control code
RX 2 unit-loads (EIA485)
TX 2 unit-loads (EIA485)
13
14
6
7
RX
RX\
TX
TX\
TX
TX\
RX
RX\
0V
EIA485
interface
PLC
300
600
1200
2400
4800
9600 Default
19200
Low-ASCII character-byte
1st hex
character
2nd hex
character
Start
bit
Sevendatabits
Parity
bit
Stop
bit
0 Isb ... ... ... ... ... msb even 1

Table of Contents

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Control Techniques M'Ax 403 Specifications

General IconGeneral
BrandControl Techniques
ModelM'Ax 403
CategoryServo Drives
LanguageEnglish

Summary

General Information

Servo-amplifier Software Version

Information on the software version supplied with the product and potential functional differences.

Addendum

Parameter Changes and Non-Operational Parameters

Lists parameters not operational or unavailable with the current drive software version.

1 Introduction

1.1 Important User Guide and Installation Guide Information

Key information and warnings for using the User Guide and Installation Guide.

1.2 Drive Models and Versions

Overview of M’Ax servo amplifier models and their version variations.

1.3 Familiarisation Before Installation

Guidance for initial setup and familiarisation with the M’Ax drive prior to physical installation.

1.4 Methods of Control

Explanation of control modes: host mode and external control via motion controller.

2 Connecting the Drive

1.6 Programming the Drive

Overview of drive configuration and control through software parameters organized in menus.

1.7 Automatic Drive Setup for Motor

Process for automatic motor characteristic reading and PID gain calculation during drive setup.

1.8 Braking Resistor

Information on the use of internal or external braking resistors for regenerated energy dissipation.

1.9 Motor Thermal Protection

Explanation of the drive's integrated thermal protection for motor overload conditions.

1.10 Features of the M’Ax

Summary of key features and specifications for the M’Ax drive, differentiating between _AN and _SL versions.

2.1 Electrical Connections and Safety

Instructions for making electrical connections, including safety precautions and setup without AC supply.

2.2 Signal Connector Locations

Diagrams showing the physical locations of signal connectors on the M’Ax drive.

2.3 Signal Connector Functions

Detailed functions of various signal connectors (D-type, RJ45) for M'Ax drive versions.

2.4 Functions of Signal Terminals

Pin-out and function descriptions for signal terminals on M’Ax drive connectors.

2.5 Example Signal Connections

Illustrative circuit diagrams for various signal connection applications, including isolation and connection precautions.

Signal Connections for Keypad Mode

Wiring diagram and parameter settings for operating the M’Ax drive in Keypad mode.

Signal Connections for High-Precision Analog Speed Control

Wiring diagram for high-precision analog speed control in Terminal mode.

Signal Connections for Standard-Precision Analog Speed Control

Wiring diagram for standard-precision analog speed control in Terminal mode.

Signal Connections for Remote Control by System Controller or PLC

Wiring diagrams for remote control via system controller/PLC using quadrature AB or F/D signals.

Signal Connections for Serial Communications

Wiring diagrams for establishing serial communications control and setup via EIA232 or EIA485 interfaces.

Fieldbus Communication

Information on connecting M’Ax drives to fieldbus systems using gateways and the Modbus RTU protocol.

Signal Connections for High-Precision Speed Control by Motion Controller

Wiring diagram for high-precision speed control using an analog speed reference from a motion controller.

Signal Connections for Standard-Precision Speed Control by Motion Controller

Wiring diagram for standard-precision speed control using an analog speed reference from a motion controller.

Signal Connections for Remote Control via Technology

Wiring diagram for remote control using the technology communication protocol with a motion controller.

2.6 Signal Current Consumption Planning

Guidance on calculating total current drawn by signal circuits from the internal 24V supply.

2.7 Types of Back-up Supplies

Description of back-up supply types (SLM-and-user, Auxiliary) and their requirements.

2.8 SLM-and-User Back-up Supply Functions

Detailed functions and requirements for the SLM-and-user back-up supply connection.

3 User Interface

3.1 Displays and Keypad

Overview of M’Ax drive's alphanumeric display, status LEDs, and keypad for user interaction.

3.2 Software Parameters

Explanation of parameter structure, types, read-write status, and parameter identification.

4 Programming Instructions

4.1 Sequence for Editing Parameters

Step-by-step procedure for editing drive parameters using the keypad and display.

4.2 Summary of Keypad Functions

Table summarizing keypad functions in different display modes (Status, Parameter, Edit).

4.3 Electrical Power Connections

Instructions for correct AC power connection and grounding, emphasizing safety.

4.4 Preparation Steps

Preliminary steps before operating or programming the M’Ax drive, including accessing the keypad.

4.5 Status Mode Operation

Explanation of drive status mode, display indications, and viewing parameter numbers.

4.6 Entering Parameter Mode

Procedure for navigating between Status mode and Parameter mode on the M’Ax drive display.

4.7 Selecting a Parameter to Access

Methods for selecting and accessing specific parameters using the drive's keypad.

4.8 Quick Selection of Initially Displayed Parameter

Method to quickly display the parameter initially shown after power-up.

4.9 Changing Parameter Values

Detailed steps for changing read-write parameter values using the keypad, including digit manipulation.

4.10 Making New Values Take Effect

Procedures for ensuring parameter changes take effect, including saving and resetting the drive.

4.11 Saving New Parameter Values

Steps to save parameter values to EEPROM or flash memory for future use.

4.12 Flashing and Non-Flashing Digits

Explanation of digit flashing indicating parameter editability and protection status.

4.13 Negative Values Display

How negative values are displayed for bipolar variable parameters.

4.14 Changing Bit Parameter Settings

Procedure for changing bit parameter settings between 0 and 1.

4.15 Selecting a Different Option

Methods for selecting options from variable and text parameters using the keypad.

4.16 Restoring Drive to Default State

Procedure to reset drive parameters to factory defaults and recalculate PID gains.

5 Getting Started

5.1 Electrical Power Connections

Ensuring correct electrical power connections and safety precautions before starting the drive.

5.2 Procedure for Keypad Mode

Step-by-step guide for operating the M’Ax drive using the keypad for setup and basic control.

5.3 Procedure for Serial Communications

Instructions for setting up and controlling the M’Ax drive via serial communications (EIA232/EIA485).

6 Setting Up the Drive for Basic Applications

6.1 Procedure for Version _AN

Flowchart and steps for setting up the M’Ax drive for basic applications in version _AN.

6.2 Procedure for Version _SL

Flowchart and steps for setting up the M’Ax drive for basic applications via serial communications for version _SL.

6.3 Additional Setting-up Procedures

Guidance on additional setup tasks like de-rating, calibrating analog input, and setting up programmable parameters.

6.4 De-rating the Drive

Procedure for de-rating the drive's output current, potentially affecting symmetrical current limits.

6.5 Calibrating the Analog Input

Steps to automatically calibrate the analog input for accurate speed reference voltage range.

6.6 Analog Input Scaling

Method for adjusting analog input scaling for higher resolution speed control adjustments.

6.7 Specifying Initial Displayed Parameter

Procedure to set a specific parameter to be displayed by default on the drive's alphanumeric display.

6.8 Setting Up Programmable Parameter

Guide to assigning and scaling parameter [0.46] for custom indications like flow rate or torque.

7 Security and Accessing Advanced Parameters

7.1 Summary of Security Operations

Overview table summarizing security conditions and operations for parameter access.

7.2 Security Levels Explained

Explanation of User-defined and Standard Security levels to prevent unauthorized parameter editing.

7.3 Setting Up User Security

Procedure to establish and set a user-defined security code for parameter access.

7.4 Unlocking User Security

Steps to unlock User Security, allowing parameter editing after setting a security code.

7.5 Unlocking Standard Security

Procedure to unlock Standard Security, enabling access to advanced menus beyond Menu 0.

7.6 Locking Standard Security

Method to lock Standard and User Security after setup, ensuring protection against unauthorized access.

7.7 Selecting an Advanced Menu

Instructions on how to navigate and select advanced parameter menus after unlocking security.

8 Menu 0 Parameters

Menu 0 Parameter Descriptions

Detailed descriptions of parameters within Menu 0, including functions, ranges, and default values.

9 Advanced Parameters

9.1 Menu 1 Parameters: Speed Reference Selection

Parameters and software diagram for managing speed reference selection methods.

9.1 Menu 1 Parameters: Speed Reference Selection

Diagram illustrating the logic for selecting speed references based on various inputs and parameters.

9.2 Menu 2 Parameters: Ramp Selection

Parameters and diagrams related to acceleration and deceleration ramp settings for motor control.

Software Diagram for Menu 2

Visual representation of parameter relationships for ramp selection within Menu 2.

9.3 Menu 3 Parameters: Speed-Loop PID Gains

Parameters and diagrams for configuring speed-loop PID gains and buffers for dynamic performance.

Software Diagram for Menu 3

Visual representation of parameter relationships for speed-loop PID gains and buffers.

9.4 Menu 4 Parameters: Torque Control

Parameters and diagrams related to torque control functions, including current demand and compensation.

Software Diagram for Menu 4

Visual representation of parameter relationships for torque control functions.

9.5 Menu 5 Parameters: Motor Control

Parameters and diagrams concerning motor control aspects like rated current, speed, voltage, and inertia.

Software Diagram for Menu 5

Visual representation of parameter relationships for motor control functions.

9.6 Menu 6 Parameters: Sequencer Functions

Parameters and diagrams for sequencer functions, including AC supply loss modes and stop modes.

Software Diagram for Menu 6

Visual representation of parameter relationships for sequencer functions.

9.7 Menu 7 Parameters: Analog I/O Settings

Parameters and diagrams related to analog input and output configurations, including temperature monitoring.

Software Diagram for Menu 7

Visual representation of parameter relationships for analog I/O settings.

9.8 Menu 8 Parameters: Digital I/O Settings

Parameters and diagrams detailing digital input and output assignments, states, and functions.

Software Diagram for Menu 8

Visual representation of parameter relationships for digital I/O settings.

9.9 Menu 10 Parameters: Status and Diagnostics

Parameters for monitoring drive status, diagnostic information, and trip logs.

9.10 Menu 11 Parameters: Scale Factor and Drive Information

Parameters related to scale factors, serial communications, and drive identification details.

9.11 Menu 13 Parameters: Pulse Reference Selection

Parameters and diagrams for pulse reference input selection, scaling, and positioning.

9.11 Menu 13 Parameters: Pulse Reference Selection

Detailed parameter list for pulse reference selection and scaling.

Appendix A Signal Connectors

A.1 Cables and Connectors

Information on RJ45 and D-type connectors, cable specifications, and ordering guidelines.

Ordering Signal Cables

Guidelines and order codes for obtaining signal cables with specific connectors and lengths.

A.2 24V User Supply Specifications

Specifications and current draw details for the 24V user supply output.

A.3 Digital Input Specifications

Technical specifications for digital input signals, including logic sense, impedance, and timing.

A.4 Digital Output Specifications

Technical specifications for digital output signals, including logic sense, voltage, and current limits.

A.5 Functions of the Terminals

Pin assignments and functions for terminals on DIGITAL I/O and STANDALONE connectors.

STANDALONE Connector Functions

Description of functions for STANDALONE connector pins.

Pulse Reference Inputs

Instructions for terminating pulse reference inputs to ensure signal integrity.

SIM ENC Connector Functions

Description of functions for SIM ENC connector pins, including simulated encoder outputs and analog inputs/outputs.

Analog Outputs Description

Information on analog outputs for indication purposes and potential inaccuracies.

MC/EIA485 Connector Functions

Description of functions for MC/EIA485 connector pins, including communications and control signals.

EIA Connections Termination

Instructions for terminating EIA485 connections to ensure signal integrity.

Appendix B Diagnostics

B.1 Types of Indications

Explanation of status, alarm, and trip code indications displayed by the M’Ax drive.

B.2 Status Indications Explained

Detailed meanings of status codes displayed on the M’Ax drive's lower display line.

B.3 Status LEDs Explained

Explanation of the drive's status LEDs (D1-D4) and their corresponding operational indications.

B.4 Alarm Indications

Description of alarm codes displayed by the M’Ax drive, including their parameter references.

B.5 Trip Codes Explained

List of trip codes, their descriptions, and corresponding parameter values for troubleshooting.

Appendix C Serial Communications

C.1 Sequence for Editing Parameters

Procedure for editing drive parameters using serial communications.

C.2 Serial Communications Protocols and Interfaces

Overview of serial protocols (ANSI, Modbus RTU) and interfaces (EIA232, EIA485).

C.3 EIA232 Interface

Details on connecting and using the EIA232 serial interface for drive control and setup.

C.4 EIA485 Interface

Details on connecting and using the EIA485 serial interface for multi-device communication.

Line Loading and Routing Considerations

Information on EIA485 line loading, routing, and spacing for reliable communication.

C.5 Transmitting and Receiving Data

Fundamentals of data transmission, frame format, message types, and typical message sequence.

C.6 Message Structure

Explanation of message structure, control codes, addressing, parameter specification, and data checking.

C.7 Making New Values Take Effect

Procedure for ensuring parameter changes take effect, often requiring a drive reset via serial communication.

Appendix D Optimising Dynamic Performance

D.1 Speed-Loop Parameters

Key parameters for controlling dynamic performance in speed control, including PID gains.

D.2 Adjusting Speed-Loop Gains

Procedure for adjusting PID gains to optimize dynamic performance, including effects of higher gains.

D.3 Specifying Shaft Stiffness and Load Inertia

Guide to specifying motor shaft stiffness and load inertia for automatic PID gain calculation.

D.4 Methods of Updating PID Buffers

Techniques for updating PID buffers in the SLM, either individually or automatically.

Procedure for Updating PID Buffers

Detailed steps for updating PID buffers in the SLM, including saving and storing changes.

D.5 Gain Sequencing

Procedure for setting up and selecting different PID gain sets for various operating conditions.

Selection of PID-Gains Sets and PID Buffers

Methods for selecting and activating different PID gain sets and buffers using keypad or serial communications.

Appendix E Auxiliary Back-up Supply

E.1 Functions of Auxiliary Supply

Functions provided by the auxiliary back-up supply for drive control circuits and SLM.

E.2 Auxiliary Back-up Supply Requirements

Specifications for voltage, current, and required connections for the auxiliary back-up supply.

E.3 Setting-up Procedure for Auxiliary Supply

Step-by-step guide for setting up the auxiliary back-up supply, including interlock circuit and parameter configuration.

E.4 Using the Auxiliary Back-up Supply

Instructions on drive operation with AC and auxiliary back-up supplies, and handling AC supply failures.

Appendix F Motor Thermal Overload Protection

F.1 Assigning a Digital Output

Procedure for assigning a digital output to signal motor thermal-overload alarms to external controllers.

F.2 Adjusting Motor Thermal-Overload Threshold

Guide to adjusting motor thermal-overload alarm level and time-to-trip parameters for protection.

Example Calculation for Thermal Protection

An example demonstrating the calculation steps for setting motor thermal overload parameters.

Appendix G Flux Alignment

Flux Alignment Procedure

Procedure for performing flux alignment, used in exceptional circumstances, not for standard setup.

Appendix H Storage and Transfer of Parameter Values

H.1 List of S-parameters

List of S-parameters treated separately for storage and transfer purposes.

H.2 Transferring Parameter Values Between Drives

Step-by-step guide for transferring parameter values from one drive to another.

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