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Keba ServoOne User Manual
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240
Table of Contents
Legal Information
3
Servoone - Device Help
4
Table of Contents
4
Servoone - Device Help
6
1 General Information
10
Target Group
10
Requirements
10
Pictograms
11
Exclusion of Liability
12
Applicable Documentation
13
Support
14
2 Safety
15
Overview
15
For Your Own Safety
15
Safety Information and Warnings
15
Responsibility
16
3 Initial Commissioning
17
Initial Commissioning Wizard
17
Hardware Requirements
17
Prompt Initial Commissioning
17
Initial Commissioning
18
Automatic Test
22
Motor
23
Encoder
24
Control
24
4 Power Stage
25
Power Stage Settings
25
Voltage Supply
26
Switching Frequency
26
Online Derating of Switching Frequency
26
Parameters
26
Power Failure Bridging
28
Detection of a Voltage Failure
28
Monitoring for Single-Phase Failure
31
5 Motor
32
Motor Configuration Data
32
Synchronous Motor
33
Synchronous Motor Electronic Data
35
Linear Synchronous Motor
36
Linear Synchronous Motor Electronic Data
37
Asynchronous Motor
38
Asynchronous Motor Electrical Data
39
Motor Protection
40
Temperature Sensors
40
I²T Monitoring Synchronous Motor
43
Asynchronous Motor I²T Monitoring
44
Motor Identification
45
Synchronous Motor Identification (Rotary and Linear)
46
Asynchronous Motor Identification
46
Support for Motor Filters When Using PMSM Motors
47
General Functional Description
47
Configuration
48
Parameters
49
Scope Signals
50
6 Encoder
51
Introduction
52
Limiting for Endat and SSI
52
Encoder Gearing
52
Actual Values at the Encoder Channel Outputs
53
Encoder Selection
53
Encoder Offset
55
Connections and Pin Assignations
55
Connector for Resolver (X6)
56
Connector for High-Resolution Encoders (X7)
56
Channel 1: Interface X7
59
Main Parameters for Encoder Channel Ch1
60
Biss (Cyclical) X7
61
Endat (Cyclical) X7
62
Hall Sensor X7
64
Sincos / TTL X7
64
SSI (Cyclical) X7
70
Encoder Gearing
72
Channel 2: Interface X6
74
Compensation for Long Resolver Cables
75
Signal Correction GPOC (Gain Phase Offset Correction)
75
Encoder Gearing X6
77
Channel 3: Interface X8 (Optional)
78
Main Parameters for Encoder Channel Ch3
82
Absolute Value Interfaces X8
84
Biss X8
84
Endat (Cyclical) X8
84
Hall Sensor X8
84
Sincos / TTL X8
85
SSI (Cyclical) X8
89
HIPERFACE DSL® (Servoone Junior)
91
Encoder Gearing
91
Channel 4: Virtual Encoder
92
Sensorless Control Synchronous Motor
93
Sensorless Asynchronous Motor Control
99
Redundant Encoder
102
Axis Correction
102
Oversampling
106
Multi-Turn Encoder as a Single-Turn Encoder
106
Increment-Coded Reference Marks
107
Overflow in Multi-Turn Range
108
Zero Pulse Test
109
7 Control
110
Overview of Control Structure
110
Setting
111
Basic Settings
112
Motor Control Basic Settings
112
Automatic Inertia Detection
114
Torque Controller
115
Current Controller Optimization
115
Creating the Transfer Function
116
Decoupling
117
Current Actual Value Filter
117
Detent Torque Compensation
117
Advanced Torque Control
127
Torque Control with Defined Bandwidth
131
Enhanced Feed Forward Control of Voltage
131
Speed Controller
133
Advanced Speed Control
135
Digital Filter
138
Analysis of Speed Control
139
Position Controller Settings
142
Pre-Control
142
Friction Torque Compensation (Friction)
143
Asynchronous Motor Field Weakening
145
Variant 1: Default
145
Variant 2: Modified Characteristic
146
Voltage Controller
146
Field-Weakening of Asynchronous Motor Voltage Controller
147
Field Weakening and Lookuptable (LUT), Synchronous Motor
148
Variant 1 (Table)
150
Variant 2 (Calc)
150
Variant 4 (Tablemotgen)
151
Variant 5 (TABLE2)
151
Variants 3 and 6 (LUT)
152
Field-Weakening of Synchronous Motor Voltage Controller
158
Synchronous Motor Auto Commutation
158
IENCC(1) Method
160
LHMES(2) Method
161
IECON(4) Method
162
Test Signal Generator
163
V/Hz Mode
167
Process Controller
168
Features
168
Description of Control Structure
169
Rate Limiter
174
Parameters
174
Scope Signals
175
Hydraulic Control
175
Basic Setting
175
Pump Setting
176
Signal Setting
181
Hydraulic Limitations
186
Cylinder Configuration
190
Hydraulic Motion Profile
192
Pressure Control
198
Volumetric Flow Rate Control
200
Speed Control
203
Position Control
205
Digital Filter Hydraulics
209
Example: Configuring an MIO Module with 0-20 Ma Sensors
210
Example: Pressure and Pump Speed Control
211
Example: Hydraulic Position Control
216
8 Motion Profile
224
Settings
225
Scaling / Units
226
Standard/Cia
227
Sercos
232
User Defined
241
Basic Settings
244
PG Mode with Speed Control
244
PG Mode with Position Control
245
IP Mode with Speed Control
246
IP Mode with Position Control
247
Jerk Limitation and Speed Offset
247
Interpolation
249
Stop Ramps
251
Homing
252
Homing Screen
252
Method (-13): Absolute Encoder
254
Method (-12): Set Absolute Position (Absolute Measuring System)
255
Method (-10) and Method (-11): Move to Block with Zero Pulse
255
Method (-8) and (-9): Move to Block
256
Method (-7) to (0)
257
Method (1) and Method (2): Limit Switch and Zero Pulse
258
Method (3) and (4): Positive Reference Mark and Zero Pulse
259
Homing Methods 5 and 6: Negative Reference Mark and Zero Pulse
260
Method (7) to (10)
261
Method (11) to (14): Reference Mark, Zero Pulse and Negative Limit Switch
262
Method (17) to (30): Reference Mark
264
Method (33) and (34): with Zero Pulse
266
Method
266
Jog Mode
267
Configuration
267
Digital Inputs
267
Manual Mode Window, "Jog Mode" Tab
268
Reference Table
268
Analogue Channel (ISA00 und ISA01)
273
Special Characteristics of Position Control Mode
274
Wire Break Monitoring
274
State Machine
276
Touch Probe
278
Synchronized Motion
279
Electronic Cam Plate
280
Control Word for Synchronized Motion
282
Status Word for Synchronized Motion
282
Master Configuration
283
Electronic Gearing
286
Engagement
287
Disengagement
288
Virtual Master
289
Common Master
290
Cam Group (CAM Switch)
291
Parametrization of the Cam Group
291
Parameters
295
Error Messages
299
Data Handling
300
Analogue Channel (IEA05)
301
9 Inputs/Outputs Settings
302
Digital Inputs
303
Digital Standard Inputs
304
Function Selectors
305
Hardware Enable - Power Stage
306
Digital Virtual Inputs
307
Status of the Digital Inputs
307
Control Selector Switching
307
Power-Up Sequence
308
Pulse Direction
309
Digital Outputs
311
Standard Digital Outputs
311
Function Selectors
311
Relay Outputs
313
Digital Input States
313
Reference Reached REF
314
Reference Limitation LIMIT
314
Switching with Motor Contactor
315
Analogue Inputs
316
Standard Analogue Inputs
316
Function Selectors
317
Analogue Input Scaling
318
Profile Mode and Analogue Inputs
319
Wire Break Monitoring
319
Analogue Outputs (Option Only for Servoone)
320
Function Selectors
320
Analog Output (Option - MIO)
321
Motor Brake Output
321
Motor Brake Details
322
10 Limitations / Thresholds
324
Settings
324
Torque- / Force Limits
325
Speed- / Velocity Limits
326
Position Limitation
326
Power Stage
327
11 Alarms & Warnings
328
Warning Status
328
Alarms and Warnings (Details)
330
Warning Thresholds
337
Error Display
338
Servo Controller Display
338
Display in the Kestudio Drivemanager
338
Error Reactions
339
Error List
342
Error 0: Unknown Error
342
Error 1: Runtime Error
342
Error 2: Parameter List Error
344
Error 3: Undervoltage Error
348
Error 4: Overvoltage Error
348
Error 5: Overcurrent Error
349
Error 6: Motor Temperature Error
353
Error 7: Device Heatsink Temperature Error
355
Error 8: Device Inside Temperature Error
355
Error 9: I2T Motor Error
356
Error 10: I2T Power Amplifier Error
356
Error 11: External Digital Input Error
357
Error 12: CAN Error
358
Error 13: SERCOS Error
361
Error 14: Ethercat Error
366
Error 15: Parameter Error
368
Error 16: Speed Difference Error
376
Error 17: Position Difference Error
377
Error 18: Motion Control Error
377
Error 19: Fatal Error
380
Error 20: Hardware Limit Switch Error
386
Error 21: Initialization, Common Error
387
Error 22: Encoder Channel 1, Initialization Error
393
Error 23: Encoder Channel 2, Initialization Error
403
Error 24: Encoder Channel 3, Initialization Error
404
Error 25: Encoder Cyclic Process, Common Error
410
Error 26: Encoder Channel 1, Cyclic Process Error
411
Error 28: Encoder Channel 3, Cyclic Process Error
412
Error 30: Control Initialization Error
413
Error 31: PLC Error
416
Error 32: Profibus/Profinet Error
417
Error 33: Internal Timing Error
418
Error 34: Powerfail Funkction Error
420
Error 35: Encoder Monitoring Error
421
Error 37: Syncronization Controller Error
427
Error 38: Braking Chopper Error
427
Error 39: TWIN Monitoring Error
427
Error 40: Tech Option Error
430
Error 41: Fast Discharge Monitoring Error (DC-Link)
434
Error 43: Ethernet Error
435
Error 44: Wire Break, Common Error
435
Error 45: Lock Violation Error
436
Error 46: Position Limit Error
438
Error 47: Functional Safety, Common Error
440
Error 49: Safety System Error
442
Error 51: Encoder Status, Common Error
450
Error 52: Analog Inputs Error
450
Error 53: Motor Failure Error
450
Error 54: Power Grid Failure Error
451
Error 55: Speed Guarding Error
451
Error 57: POWERLINK Error
452
Error 58: HYDRAULIK, Common Error
452
Error 60: Spindle Mlamping Mystem Monitoring Error
453
Error 61: End Damping Error
453
Error 62: Battery Buffered Encoder
454
Error 63: Error Brake Monitoring
454
Canopen / Ethercat
456
Sercos
456
Profibus / Profinet
457
Synchronization / Configuration
457
EDS File Generator
458
13 Technology Options (X8)
460
Second Sincos Encoder
460
TTL with Encoder Simulation
461
SSI Encoder Simulation
461
Parameters
461
DIO Option
462
MIO Option
462
Twinsync
463
14 Device Status
465
Status Bits
465
Load Factor
466
15 Manual Mode
471
Manual Mode Control Status
471
4
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Keba ServoOne Specifications
General
Brand
Keba
Model
ServoOne
Category
Controller
Language
English
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