Lust MASTERCONTROL MC6000 Series User Manual

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ANTRIEBSTECHNIK

MASTERCONTROL MC6000/MC7000

Servocontrollers from 2 to 64 A

Parameter Description

EN

D

RIVE

M

ANAGER

stop

return

start

enter

SMART

CARD

CTRL

min

-1

Table of Contents

Table of contents3
Introduction10
- Key to symbols10
- Key to terms in the parameter table10
_CONF – Device configuration and I/O11
- 412-ANFIL – Filter time constant for analog inputs11
- 7-AUTO – Activate/deactivate Auto-Start11
- 465-BRAKE - Actuation mode for motor brake12
- 488-BUSYE - Activate/deactivate synchronization13
- 486-BUTCD - Max. permissible cycle deviation relative to master13
- 487-BUTCS - Sampling time of status message relative to "BUTCY"13
- 411-BUTCY - Bus sampling time in microseconds13
- 409-BUTWD - Bus watchdog time in ms14
- 304-CFCMX - Effective value of maximum current14
- 303-CFCNM - Scaling current14
- 300-CFCON - Current control mode of servo15
- 309-CFENC - Encoder type15
- 305-CFHSW - Hardware status word of system16
- CFHSW on MC600016
- CFHSW on MC700017
- 301-CFMOT - Motor type17
- 302-CFPNM - Performance class of power stage18
- 306-CFSSW - Control structure status word of system18
- 402-CLSEL - Control location selector19
- CLSEL on MC600019
- CLSEL on MC700019
- 129-FIEC2 - Function selector for 2nd position measurement system19
- 443-FIF0, 444-FIF1 - Function selector, fixed input 0, 120
- 439-FIS00, 440-FIS01 - Function selector, input IS00, IS0120
- Functions for inputs on MC600021
- Functions for inputs on MC700022
- Notes on function selectors for inputs23
- Structure of reference input24
- Direct input for higher-level position control (SPEED function)25
- 441-FISA0 - Function selector, analog input ISA025
- 442-FISA1 - Function selector, analog input ISA125
- Torque limitation (SCALE function)26
- 132-FLABU - FLASH parameter group (FLAGP) in Flash-EPROM27
- 131-FLAGP - Number of FLASH parameter group to be stored27
- 133-FLALL - Store all FLASH parameters28
- 449-FOA0 - Function selector for analog function of output OS0028
- 445-FOS00 - Function selector, output OS0029
- 446-FOS01- Function selector, output OS0129
- 463-FOS02- Function selector, relay output OS0230
- 464-FOS03- Function selector, brake output OS0330
- Functions for outputs on MC600030
- Functions for outputs on MC700032
- Assigning a function to an input/output33
- 415-MPCN0F - Configuration for MOP33
- 481-OA0MN - Lower window limit for analog output OS0034
- 482-OA0MX - Upper window limit for analog output OS0034
- Example of use of output OS00:34
- 296-OPTN1 - Assignment of slot 135
- OPTN1 on MC600035
- OPTN1 on MC700035
- 293-OPTN2 - Assignment of slot 235
- OPTN2 on MC600035
- OPTN2 on MC700036
- 341-PMFS - Switching frequency of power stage36
- 860-REF_R - Reference-reached window36
- 451-SETUP - Setup mode for speed controller on/off (only MC6000)37
- 134-RNERR - Error status of current operation mode37
- 135-RNMOD - Number of current operation mode38
- 136-RNTAB - Bit field of valid operation modes39
- 401-SPD_0 - Standstill window (limit value for speed = 0 )39
- 467-THTDC - Holding time (time between brake-on and control-off)40
_ENCD – Encoder41
- 331-ECLNC - Lines per revolution of encoder41
- 334-ECNPP - Number of pole pairs of encoder41
- 333-ECOFF - Encoder offset42
- 17-ECSG - Controller gain for encoder simulation42
- 29-ECSIM - Mode of encoder simulation42
- 13-ECSLN - Lines per revolution in encoder simulation43
- 336-ECTF - Jitter filter time constant44
- ECTF on MC6000:44
- ECTF on MC700044
- 330-ECTS - Sampling time of speed recording45
_OPT1 – Slot 146
- 452-DA0MN, 454-DA1MN - Lower limit value of value range for channel 0 or 1 of analog output (AH7)46
- 453-DA0MX, 466-DA1MX - Upper limit value of value range for channel 0 or 1 of analog output (AH7)46
- 450-FODA0, 451-FODA1 - Function selector for DA module for channel 0 or 146
- Application example for analog output AH747
- Recommendations for setting of the AH7 parameters47
- 406-IBCNF - Configuration of reference transfer via InterBus-S47
- 407-IBCTR - InterBus-S control word48
- 408-IBSTA - InterBus-S status word48
- 405-SUPI - Configuration of word length in SUPI chip (only InterBus-S)49
_MOT – Motor parameters50
- 317-MOCNM - Motor rated current50
- 310-MOFNM - Nominal pole flux50
- 326-MOI2T - i2 x t limit of motor50
- 319-MOJNM - Moment of inertia of motor51
- 312-MOL_M - Magnetizing inductance51
- 311-MOL_S - Stator inductance51
- 321-MOMC0 - Value 0 of continuous magnetizing characteristic51
- 322-MOMC1 - Value 1 of continuous magnetizing characteristic52
- 323-MOMC2 - Value 2 of continuous magnetizing characteristic52
- 324-MOMC3 - Value 3 of continuous magnetizing characteristic52
- 325-MOMC4 - Value 4 of continuous magnetizing characteristic53
- 327-MOMMX - Motor maximum torque53
- 318-MOMNM - Motor nominal torque53
- 320-MONPP - Number of pole pairs of motor54
- 314-MOR_R - Rotor resistance54
- 313-MOR_S - Stator resistance54
- 316-MOSMX - Maximum speed54
- 315-MOSNM - Nominal speed55
- 328-MOTYP - Motor type55
_TCON – Torque control56
- 365-TCAVM - Threshold value for actual torque monitoring56
- 351-TCG - Torque controller gain56
- 353-TCMMX - Torque limit of torque controller56
- 352-TCTLG - Lag time of torque controller57
- 350-TCTS - Sampling time of torque controller57
- 60x-TCI1, TCI2 - Input pointer for torque controller (only MC6000)57
- 62x-TCIMX - Pointers for torque limit (only MC6000)58
- List of pointers (only MC6000)58
_SCON – Speed control60
- 452-10PC - Setup mode: Number of overshoots with amplitude >10% in first overshoot range (only MC...60
- 454-1OVER - Setup mode: First overshoot range (only MC6000)60
- 366-FCG - Flux control gain60
- 367-FCQA - Factor A for calculation of reduced q-current in FSB60
- 368-FCQB - Factor B for calculation of reduced q-current in FSB61
- 364-FCTLG - Lag time of flux control61
- 128-FCTS - Sampling time of voltage and flux control circuit61
- 369-SCAVM - Threshold value for actual speed monitoring62
- 362-SCG - Speed controller gain62
- 375-SCGFA - Scaling of speed controller gain (0 to 1000 %)62
- 363-SCJ - Moment of inertia of system63
- 384-SCSMX - Speed limitation of speed controller63
- 376-SCTF - Time constant of speed reference filter63
- 360-SCTLG - Lag time of speed controller64
- 361-SCTS - Sampling time of speed controller64
- 453-STIME - Setup mode: Rise time (only MC6000)64
- 64x-SCI1, 65x-SCI2 - Input pointer for speed controller (only MC6000)64
- 66x-SCIMX - Pointers for speed limit (only MC6000)65
- 373-VCTF - Time constant of actual voltage filter65
- 370-VCTLG - Lag time of voltage regulator65
- 371-VCTS - Sampling time of voltage regulator (only MC6000)66
- 372-VCVLM - Limitation of control deviation of voltage regulator66
- 374-VCVRF - Voltage reserve in voltage control loop66
_PCON – Position control67
- 307-ENEG - Activation of electronic gearing67
- 120-PCALR- Active level of reference cam67
- 119-PCAZ - Activation of automatic machine zeroing67
- 381-PCG - Position controller gain68
- 382-PCAMX - Acceleration limit value of position controller (only MC6000)68
- 386-PCGFA - Adaptation factor for position controller gain (only MC6000)69
- 703-PCI1, PCI2 - Pointers for inputs of position controller (only MC6000)69
- 118-PCRA - Acceleration for referencing69
- 113-PCRMD - Max. number of revolutions in referencing70
- 112-PCRV - Referencing speed70
- 380-PCTS - Sampling time of position controller70
- 117-PCZS - Offset machine zero relative to reference point70
- 308-PDMX - Max. position deviation (limit for tracking error)71
- 121-RCDE - Increment size of register control71
- 122-RCEM - Max. adjustment distance for register control71
- 124-RCO - Offset between position of ref.cam and activation position72
- 123-RCR - Ramp for register control72
- 388-VRDEN - Denominator of speed ratio for the electronic gearing72
- 387-VRNOM - Numerator of speed ratio for the electronic gearing72
_VFCON – (V/F mode)73
- 34-VFVHZ - Voltage frequency control setting73
- 35-VFBST - Voltage frequency control boost setting73
_SIO – Serial interface RS48574
- 82-SADDR - LustBus device address74
- 81-SBAUD - LustBus transfer rate74
- 416-SCTL1 - Control word of serial interface74
- 83-SDMMY - LustBus dummy parameter75
- 85-SERR - LustBus error status word75
- 84-SWDGT - LustBus watchdog time setting76
- 80-SLOAD - LustBus handshake parameter for record transfer76
- 110-TRACK - Handshake parameter for download of transient memory76
- 107-UNIT - Available parameter units77
- 108-STEXT - Handshake parameter for transfer of value substitution texts77
_KPAD – KeyPad KP10078
- 3-BARG - Parameter for bar graph display of KP10078
- 11-CASEL - Functional areas of SmartCard78
- 5-CTLFA - Multiplier for incremental value in CTRL menu of KP10078
- 2-DISP - Parameter for continuous actual value display of KP10079
- 1-MODE - User level of KP10079
- 15-PLRDY - Activate control initialization80
- Reset80
- 6-PNUM - Activate/deactivate parameter number display of KP10081
- 4-PROG - Special functions81
- 100-PSW2 - Password for user level 2 of KP10082
- 101-PSW3 - Password for user level 3 of KP10082
- 102-PSW4 - Password for user level 4 of KP10082
- 103-PSW5 - Password for user level 5 of KP10082
- 104-PSW6 - Password for user level 6 of KP10083
- 105-PSWCT - Password for Control menu of KP100.83
_SCTY – Device response in case of error84
- Parameters to program the error response84
- Error response table for MC600084
- Error response table for MC700084
- Possible error responses85
- Acknowledging errors86
- 74-ERES - Reset MC errors86
- 18-LOCKS - Disable drive86
- 16-MKERR - Error simulation parameter to test error responses87
_SYS – Diagnosis and digital scope88
- Digital scope88
- 20-DSM0, 22-DSM1, 24-DSM2, 26-DSM3 - Operation mode channel 0...3 of digital scope88
- 62-DSMSZ - Size of transient memory in bytes89
- 67-DSPRT - Pretrigger of digital oscilloscope89
- 68-DSRUN - Start enable of digital oscilloscope90
- 66-DSTCH - Trigger channel of digital oscilloscope90
- 60-DSTIM - Time division of digital oscilloscope91
- 29-DSTF - Filter time constant of digital scope (only MC6000)91
- 64-DSTLV - Trigger threshold of digital oscilloscope91
- 65-DSTM - Trigger mode, digital oscilloscope92
- 21-DSV0, 23-DSV1, 25-DSV2, 27-DSV3 - Index of channel 0...3 for values table of digital scope92
- 36-DSVTC - Index of trigger channel for values table of Trace tool93
- 19-EEPCC - Number of repairs to EEPROM93
- 31-PTR_H, 30-PTR_L - Data pointer to any memory locations94
- 32-P-VAL - Editable memory location of data pointer94
- 111-VPROG - Capacity utilization of VECON program memory94
_REF – Reference structure95
- 842-ACCR - Acceleration ramp for speed control95
- 852-DECR - Deceleration ramp for speed control95
- 335-EC2LN - Lines per revolution of optical encoder, encoder input296
- 856-JTIME - Smoothing time of sinusoidal ramp in ms96
- 425-RA0, 426-RA1 - Analog reference channel 0 or 196
- 497-RCAN - Reference from CAN bus97
- 390-RDDEN - Transmission ratio of rotation speed (denominator)97
- 389-RDNOM - Transmission ratio of rotation speed (numerator)97
- 430-RDIG - Digital reference input97
- 434-REF1 ... 438-REF6 - Interim values of reference input98
- 448-RF3FA - Factor for reference channel 398
- 74x-RFIX1 ... 79x-RFIX6 - Fixed references 1 to 698
- 87x-RINC - Reference increments in MOP function99
- MOP function99
- Parameter setting for the MOP function99
- Operation modes of the MOP function100
- 80x-RLIM1 - Lower reference limit100
- 81x-RLIM2 - Upper reference limit100
- 82x-RNA0, 83xRNA1 - Scaling for analog reference input 0 or 1101
- 431-ROPT1, 432-ROPT2 - Reference value of option slot 1 or 2101
- 429-RPOT - Reference value of MOP101
- 126-RSDIR - Level of directional signal for stepper motor mode102
- 428-RSIO - Reference value from LustBus102
- 417-RSSL1 ... 420-RSSL4 - Reference selector 1 ... 4102
- RSSLx on MC6000103
- RSSLx on MC7000103
- 125-RSTEP - Evaluation of stepper motor signals (2nd encoder input)103
- 421-SADD1 ... 424-SADD4 - Offset for reference selector 1 ...4104
- 496-STOPR - Stop ramp104
- Quick-stop (/STOP)104
_IO1 – Inputs106
- 455-FIE00 ... 462-FIE07 - Function selector, external inputs IE00 ... IE07106
- 479-SIEXT - Status word of external inputs IE00...IE07106
_IO2 – Outputs107
- 471-FOE00 ... 474-FOE03 - Function selector, external outputs OE00 ...OE03107
- 494-SCTL2 - Control word to set ext. outputs via SIO107
- 480-SOEXT - Status word of external outputs OE00...OE03108
_CAN – CAN bus109
- 493-CAADR - CAN bus device address109
- 489-CABDR - CAN bus baud rate109
- 492-CACNF - CAN bus configuration109
- 491-CACTR - CAN bus control word110
- 490-CASTA – CAN bus status word111
_PMOD – Open-loop position control (option)112
- Calculation aids112
- Example for determining the scaling factors for travel, velocity and acceleration112
- Distance unit114
- Acceleration ramps114
- Positive direction of rotation115
- 503-POABE - Resolution of acceleration (K13)115
- 556-POADP - Current tracking error in distance units115
- 554-POAIP - Current actual position in distance units115
- 545-POAPO - Current program set number of active positioning program116
- 544-POAPR - Number of active positioning program116
- 555-POASP - Current reference position in distance units116
- 502-POAVE - Velocity resolution (K12)117
- 506-POBEN - Acceleration mode in negative direction (K16)117
- 505-POBEP - Acceleration mode in positive direction (K15)117
- 510-POBLN - Maximum linear braking acceleration in negative direction (K20)118
- 509-POBLP - Maximum linear braking acceleration in positive direction (K19)118
- 514-POBPN - Maximum sinusoidal braking acceleration in negative direction (K24)119
- 513-POBPP - Maximum sinusoidal braking acceleration in positive direction (K23)119
- 551-POCMD - Direct command input in manual mode119
- 515-POECO - External CAN outputs of PosMod120
- 515-POEGW - Quick jog rate (K25 )120
- 546-POENA - Enable positioning software120
- POENA on MC6000120
- POENA on MC7000121
- 552-POFNC - Position control function diagram122
- 540-POKAS - Configuration, update/sequence program stop (K07)122
- 542-POKHE - Configuration, hardware limit switches (assignment of inputs, K02)122
- 538-POKLA - Configuration of local outputs (K05)123
- 536-POKPN - Configuration of program number (assignment of inputs, K02)123
- 537-POKTI - Configuration of table index (assignment of inputs, K03)124
- 541-POKTP - Configuration of jog mode (assignment of inputs, K08)124
- 539-POKVF - Configuration of feed hold (K06)125
- 508-POLAN - Maximum linear startup acceleration rate in negative direction (K18)125
- 507-POLAP - Maximum linear startup acceleration rate in positive direction (K17)125
- 529-POMER - Flags126
- 517-PONKR - Zero correction (K27)126
- 533-POOPT - Optional parameter for PosMod126
- 553-POOVR - Override126
- 512-POPAN - Maximum sinusoidal startup acceleration rate in negative direction (K22)127
- 511-POPAP - Maximum parabolic startup acceleration rate in positive direction (K21)127
- 535-POPKD - Coding of program number (K01, K02)127
- 532-POPLI - Program line counter128
- 543-POPRT - Port configuration for input assignment128
- 534-POQPN - Source of program number (K00)129
- 523-PORPO - Reference cam polarity (K71)129
- 522-PORTY - Reference run type (K70)129
- 524-PORV1 - First referencing speed (K72)130
- 525-PORV2 - Second referencing speed (K73)131
- 526-PORV3 - Third referencing speed (K74)131
- 516-POSGW - Slow jog speed (K26)131
- 521-POSIG - Preceding sign direction (K32)131
- 531-POSTA - Positioning status132
- 557-POSTI - Status information of positioning and sequence control132
- 519-POSWN - Negative software limit switch (K29)132
- 518-POSWP - Positive software limit switch (K28)133
- 527-POTAB - Table values133
- 528-POVAR - Variables133
- 504-POVMX - Maximum velocity in velocity unit (K14)134
- 501-POWGN - Travel resolution factor, denominator (K11)134
- 500-POWGZ - Travel resolution factor, numerator (K10)134
- 520-POWIN - Position window (K31)135
- 530-POZAH - Counters135
_VAL – Actual value parameter136
- _VAL menu on MC6000136
- _VAL menu on MC7000136
- 404-CNTL - Control word of system137
- 106-CRIDX - Revision index as suffix to version number138
- 79-DPOS - Tracking error of position controller138
- 70-DSCH0 ... 73-DSCH3 - Value of channel 0 ... 3 of digital oscilloscope138
- 495-IOSTA - Status of inputs and outputs138
- IOSTA on MC6000139
- IOSTA on MC7000139
- 93-KOMP - Compatibility class of SmartCard140
- 403-STAT - Status word of system140
- 9-TAX - Current processor workload140
- 10-MAXTX - Maximum processor workload since power-up141
- 12-MIDTX - Average processor workload141
- 33-V-VAL - Display of data pointer memory location141
Index142
- A142
- B142
- C142
- D142
- E142
- F142
- G142
- H142
- I142
- J142
- L142
- M142
- N142
- O143
- P143
- Q143
- R143
- S143
- T143
- U143
- V143
- W143
- Z143

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Lust MASTERCONTROL MC6000 Series Specifications

General

Type	Controller
Series	MC6000
Input Voltage	24 V DC
Output Current	Up to 10 A
Protection Class	IP20
Weight	1.2 kg
Operating Temperature	-10°C to +50°C