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Emerson Digitax ST User Manual
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Safety
Information
Product
information
Mechanical
installation
Electrical
installation
Getting
started
Basic
parameters
Running the
motor
Optimization
EtherCA
T
interface
SMARTCARD
Operation
Onboar
d
PLC
Advanced
parame
ters
T
echnical
Data
Diagnostics
UL listin
g
information
152
Digitax ST User Guide
Issue Number: 5
12.13 Menu
13: Position control
Figure 12-15
Menu 13 logic diagram
3.28
3.29
3.30
Revolut
ion
counter
Position
Position
fine
Drive
Encoder
15.04
15.05
15.06
Slot 1
16.04
16.05
16.06
Slot 2
13.20
13.21
13.22
Local
reference
13.23
Local
reference
disable
13.04
Position
controller
reference
source
x(-1)
13.06
Positi
on
reference
invert
13.07
13.08
Ratio
+
+
x(-1)
13.19
Relativ
e
jog reverse
13.18
Relati
ve
jog
enable
13.17
Relative
jog reference
Δ
Position
13.16
Positi
on
error reset
13.05
Position
controller
feedback
source
+
_
13.13
Orientation
position
reference
+
_
Position control reference position
3.28
3.29
3.30
Revolut
ion
counter
Position
Position
fine
Drive
Encoder
15.04
15.05
15.06
Slot 1
16.04
16.05
16.06
Slot 2
Position control feedback position
13.24
Ignore local
reference turns
∫
∫
Δ
Position
Limited to
/ r
e
v
1
2
±
151
153
Table of Contents
Default Chapter
4
Table of Contents
4
1 Safety Information
6
Warnings, Cautions and Notes
6
Electrical Safety - General Warning
6
System Design and Safety of Personnel
6
Environmental Limits
6
Access
6
Fire Protection
6
Compliance with Regulations
6
Mechanical Brake Control
6
2 Product Information
8
Introduction
8
Drive Ratings
8
Drive Model Numbers
9
Drive Nameplate Description
9
Features of the Drive
10
Options
11
Items Supplied with the Drive
14
3 Mechanical Installation
15
Safety Information
15
Planning the Installation
15
Solutions Module / Keypad Installation / Removal
16
Drive Dimensions
17
External EMC Filter Rating
18
Optional Braking Resistor
19
Terminal Torque Settings
20
Routine Maintenance
20
4 Electrical Installation
21
Power Terminal Connections
22
Ground Connections
23
AC Supply Requirements
23
DC Bus Design
24
DC Drive Voltage Levels
24
Ratings
25
Output Circuit and Motor Protection
25
Braking
26
Ground Leakage
27
EMC (Electromagnetic Compatibility)
28
Internal and External Conducted Emissions Conformity
30
Serial Communications Connections
31
Control Connections
32
Control Terminals
34
Encoder Connections
37
Encoder Terminals
38
Safe Torque off
42
5 Getting Started
43
User Interfaces
43
CT Soft
43
Syptpro (Indexer & Plus Only)
43
Ezmotion Powertools Pro
43
Keypad Operation
44
Understanding the Display
44
Displaying Parameters with Non-Default Values Only
47
Displaying Destination Parameters Only
47
Communications
47
6 Basic Parameters
49
Single Line Descriptions
49
Full Descriptions
54
7 Running the Motor
60
Quick Start Connections
60
Quick Start Set-Up
64
Setting up a Feedback Device
65
Setting up a Buffered Encoder Output
68
8 Optimization
69
Motor Map Parameters
69
9 Ethercat Interface
72
Features
72
What Is Ethercat
72
Ethercat Interface Information
72
Ethercat Interface Terminal Descriptions
72
Module Grounding
72
Network Topology
72
Minimum Node-To-Node Cable Length
72
Quick Start Guide
72
Quick Start Flowchart
74
Saving Parameters to the Drive
75
Ethercat Interface Node Address
75
Ethercat Interface RUN
75
Re-Initializing the Ethercat Interface
75
Process Data Objects (Pdos)
75
Service Data Object (SDO) Parameter Access
75
Canopen over Ethercat (Coe)
76
Ethernet over Ethercat (Eoe)
80
Drive Profile (DSP-402) Support
81
Interpolated Position Mode
87
Vl Velocity Mode
88
Profile Torque Mode
90
Homing Mode
91
Cyclic Sync Position Mode
94
Advanced Features
94
Advanced Cyclic Data Configuration
96
Internal Shortcuts
97
Quick Reference
98
10 SMARTCARD Operation
101
Introduction
101
Transferring Data
102
Data Block Header Information
104
SMARTCARD Parameters
104
SMARTCARD Trips
106
11 Onboard PLC
108
Onboard PLC and Syptlite
108
Benefits
108
Limitations
108
Getting Started
108
Onboard PLC Parameters
108
Onboard PLC Trips
109
Onboard PLC and the SMARTCARD
109
12 Advanced Parameters
110
Menu 1: Speed Reference
116
Menu 2: Ramps
120
Menu 3: Speed Feedback and Control
124
Menu 4: Torque and Current Control
127
Menu 5: Motor Control
130
Menu 6: Sequencer and Clock
133
Menu 7: Analog I/O
135
Menu 8: Digital I/O
138
Menu 9: Programmable Logic, Motorized Pot, Binary Sum and Timers
141
Menu 10: Status and Trips
144
Menu 11: General Drive Set-Up
146
Menu 12: Threshold Detectors, Variable Selectors and Brake Control Function
147
Menu 13: Position Control
152
Menu 14: User PID Controller
156
Menus 15 and 16: Solutions Module Set-Up
159
Menu 17: Motion Processors
160
Menu 18: Application Menu 1
163
Menu 19: Application Menu 2
163
Menu 20: Application Menu 3
163
Menu 21: Second Motor Parameters
164
Menu 22: Additional Menu 0 Set-Up
165
Advanced Features
166
13 Technical Data
173
Drive Technical Data
173
Optional External EMC Filters
182
Overall EMC Filter Dimensions
182
Trip Indications
183
Alarm Indications
198
Status Indications
199
Ethercat Diagnostics
199
Network Configuration Objects
200
Diagnostic Parameters
200
Drive Trip Display Codes
200
Ethercat Interface Temperature
201
Ethercat Interface Serial Number
201
Ethercat Interface Error Codes
201
Error Handling
201
Critical Task % Free
203
SDO Abort Codes
203
FLASH File System % Free
203
15 UL Listing Information
204
Common UL Information
204
AC Supply Specification
204
Maximum Continuous Output Current
204
Common DC Bus
204
DC Supplied Drive
205
UL Listed Accessories
205
5
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Emerson Digitax ST Specifications
General
Brand
Emerson
Model
Digitax ST
Category
Controller
Language
English
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