Page 1 PA 9000 Installation instructions ETC Drives Midi / Maxi...
Page 2 Power Automation GmbH CNC-Automatisierungstechnik Gottlieb-Daimler-Str. 17/2 74385 Pleidelsheim Germany Telephone: +49-7144-899-0 Fax: +49-7144-899-299 E-mail: [email protected] Internet: www.powerautomation.com Original installation instructions Version: PRO Version 3.0 © 2017 Power Automation GmbH 21.02.2017...
Page 3: Table Of Contents
PA 9000 ETC Drives Midi / Maxi Table of contents Table of contents General information..............9 Information on this manual..........9 Explanation of symbols............9 Limitation of liability............10 Copyright................. 10 Warranty terms..............11 Customer service............. 11 Glossary................12 Safety..................15 Customer's responsibility..........
Page 4 PA 9000 ETC Drives Midi / Maxi Table of contents I/O Specifications............. 60 Motor Feedback Specifications........62 Conformance with European directives and UL-stand- ards.................. 62 Installation guidelines............65 Installation................67 PA ETC-Drive MI 1015 / MI 103........67 PA ETC-Drive MI 1045 / MI 106........69 PA ETC-Drive MI 108 / MI 110 / MI 113......
Page 5 PA 9000 ETC Drives Midi / Maxi Table of contents Feedback............... 165 Sine Encoder Calibration..........170 Motion Units..............175 Current Foldback............176 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........
Page 6 PA 9000 ETC Drives Midi / Maxi Table of contents 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..........
Page 7 PA 9000 ETC Drives Midi / Maxi Table of contents 14.4 Training................288 15 Declaration of Conformity............. 289 16 Proof of change..............291 17 Index..................293 21.02.2017 | 7...
Page 8 PA 9000 ETC Drives Midi / Maxi Table of contents 21.02.2017 | 8...
Page 9: General Information
PA 9000 ETC Drives Midi / Maxi General information 1 General information 1.1 Information on this manual Content The manual describes the EtherCAT drives of the PA ETC-Drive â Midi / Maxi (MI/MA) series. 1.2 Explanation of symbols Warnings Warnings are identified by pictures. These warnings are introduced by signal words, which express the severity of a danger.
Page 10: Limitation Of Liability
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.
Page 11: Warranty Terms
PA 9000 ETC Drives Midi / Maxi General information 1.5 Warranty terms Material Warranty The material warranty terms are provided in Power Automation's terms and conditions as well as inside the sales documents. 1.6 Customer service Service Our Customer Service is always available for technical information.
Page 12: Glossary
PA 9000 ETC Drives Midi / Maxi General information 1.7 Glossary - American wire gauge BGND - Ground of 24V-supply and holding brake supply voltage - Complete Drive Module - Communité Europeenne CLOCK - Clock signal CMOS - Complementary metal-oxide-semiconductor...
Page 13 PA 9000 ETC Drives Midi / Maxi General information - Personal Computer - Peripheral Component Interconnect Personal computer extension for periphery devices con- nected to the motherboard. PELV - Protected extra low voltage - Programmable Logic Controller - Program Organization Unit. PLC functions, function blocks...
Page 14 PA 9000 ETC Drives Midi / Maxi General information 21.02.2017 | 14...
Page 15: Safety
PA 9000 ETC Drives Midi / Maxi Safety 2 Safety 2.1 Customer's responsibility The control unit is used for commercial purposes. The operating com- pany is thus subject to the legal obligations concerning industrial safety. The safety, accident prevention and environmental protection regula-...
Page 16: Personnel Requirements
PA 9000 ETC Drives Midi / Maxi Safety 2.2 Personnel requirements 2.2.1 Qualifications Danger of injury in case of insufficient qualification! L WARNING – Only those persons who have been specified in the corre- sponding chapters of this installation manual should be entrusted with the listed types of work.
Page 17: Intended Use
The ETC drives are exclusively intended and built for the use described in this installation manual. The ETC drives of Power Automation are developed and produced according to the current state of the technology. They are components which are built in into electrical equipment and can only be used as integrated component of such equipment.
Page 18: Unintended Use
PA 9000 ETC Drives Midi / Maxi Safety 2.4 Unintended use Unintended use Beware of unintended use! L WARNING – In particular, avoid using the ETC drive for the following pur- poses as these are regarded as not intended: –...
Page 19 PA 9000 ETC Drives Midi / Maxi Safety Hot Surface L DANGER – During operation, the product has electrically charged compo- nents and hot surfaces. The heat sink can reach temperatures of 90°C. Control and power cables can carry a high voltage, even when the motor is not rotating.
Page 20 PA 9000 ETC Drives Midi / Maxi Safety General L CAUTION – Read all available product documentation before assembling and commissioning. Incorrect handling of this product may cause personal injury and/or damage to equipment. Adhere strictly to the installation instructions and requirements.
Page 21: Personal Protective Gear
PA 9000 ETC Drives Midi / Maxi Safety – Drives with a suspended load must have an additional mechanical safety block (such as a motor-holding brake). The drive cannot hold the load when STO is active. Serious injury could result if the load is not properly safeguarded.
Page 22: Environmental Protection
Electronic Components Electronic components are considered special waste. They must be properly disposed of. Power Automation will accept the control unit to properly dispose of its components upon decommissioning. Follow the standard return procedure, as described in Ä Chapter 14.3 “Return policy and procedure”...
Page 23 PA 9000 ETC Drives Midi / Maxi Safety Type Plate The following label is attached on each ETC drive box: Fig. 1: Type Plate (Example) The type plate includes the following information: Manufacturer address 'TÜVRheinland'-sign (Fig. 2) 'CE'-sign (Fig. 3)
Page 24 PA 9000 ETC Drives Midi / Maxi Safety 'Earth'-sign with related information 'CAUTION, hot surface'-sign with related information Fig. 2: TÜVRheinland Fig. 3: Earth-sign The position of the type plate is arranged on the left side of the ETC-drive box.
Page 25: Pa Etc-Drives Mi / Ma Overview
The PA ETC-Drives MI / MA are full-featured, high-performance servo drives featuring innovative technologies and industry-leading power density. Ask your local dealer of Power automation products for a quote. The 120/240V product models are shown in Fig. 4 and the 400/480V product models are shown in Fig.
Page 26 PA 9000 ETC Drives Midi / Maxi PA ETC-Drives MI / MA Overview Fig. 5: PA ETC-Drives MI / MA (400 / 480V AC) MA124 / MA130 MA112 MA103 / MA106 21.02.2017 | 26...
Page 27 PA 9000 ETC Drives Midi / Maxi PA ETC-Drives MI / MA Overview Concept 14 drive types are available: – PA MI 1015 ETC-Drive – PA MI 103 ETC-Drive – PA MI 1045 ETC-Drive – PA MI 106 ETC-Drive –...
Page 28 PA 9000 ETC Drives Midi / Maxi PA ETC-Drives MI / MA Overview Table 1: Type Code Type code Power supply Phases x Voltage PA ETC-Drive Midi MI 1015 1x120 V AC / 240 V AC PA ETC-Drive Midi MI 103...
Page 29 PA 9000 ETC Drives Midi / Maxi PA ETC-Drives MI / MA Overview Type code Power supply Phases x Voltage PA ETC-Drive Maxi MA 130 3x400 V AC / 3x480 V AC The type code of the servo drive is illustrated on the type plate (see Ä...
Page 30 PA 9000 ETC Drives Midi / Maxi PA ETC-Drives MI / MA Overview 21.02.2017 | 30...
Page 31: Technical Data
PA 9000 ETC Drives Midi / Maxi Technical Data 4 Technical Data 4.1 General Specifcation 4.1.1 PA ETC-Drive MI1015 / MI103 General Information Fig. 6: PA ETC-Drive MI1015 / MI103 dimensions PA ETC-Drive MI 1015 does not have a fan.
Page 32 PA 9000 ETC Drives Midi / Maxi Technical Data Single Phase Property MI 1015 MI 103 Unit 120/240 V AC Logic Input 120 or 240 V AC Fuse (Time Delay) STO (Safe STO Power Supply 24 +/-10% 24 +/-10% V DC...
Page 33 PA 9000 ETC Drives Midi / Maxi Technical Data Single Phase Property MI 1015 MI 103 Unit 120/240 V AC PE Ground Screw Clearance Dis- Side-to-Side tance Top/Bottom Table 5: Voltage Trip Single Phase Property MI 1015 MI 103 Unit...
Page 34 PA 9000 ETC Drives Midi / Maxi Technical Data Single Phase Property MI 1015 MI 103 Unit 120/240 V AC VLOW (Regen Circuit Turn Off) V DC VMAX (Regen Circuit Turn On) V DC 21.02.2017 | 34...
Page 35: Pa Etc-Drive Mi1045 / Mi106
PA 9000 ETC Drives Midi / Maxi Technical Data 4.1.2 PA ETC-Drive MI1045 / MI106 General Information Fig. 7: PA ETC-Drive MI1045 / MI106 dimensions Table 8: Dimensions Single and Three- MI 1045 MI 106 Unit Phase 120/240 V AC Dimensions 173 x 167.4 x 54.7...
Page 36 PA 9000 ETC Drives Midi / Maxi Technical Data Single and Property MI 1045 MI 106 Unit Three-Phase 120/240 V AC Logic Input 120 or 240 V AC Fuse (Time Delay) STO (Safe STO Power Supply 24 +/-10% 24 +/-10%...
Page 37 PA 9000 ETC Drives Midi / Maxi Technical Data Single and Property MI 1045 MI 106 Unit Three-Phase 120/240 V AC Main Circuit AC Inputs 1.31 1.31 PE Ground Screw Clearance Dis- Side-to-Side tance Top/Bottom Table 11: Voltage Trip Single and...
Page 38 PA 9000 ETC Drives Midi / Maxi Technical Data Table 13: External Regenerative Resistor (B1+, B2) Single and Property MI 1045 MI 106 Unit Three-Phase 120/240 V AC External Peak Current 25.5 25.5 regenerative Minimum Resistance resistor requirement Power Rating...
Page 39: Pa Etc-Drive Mi108 / Mi110 / Mi113
PA 9000 ETC Drives Midi / Maxi Technical Data 4.1.3 PA ETC-Drive MI108 / MI110 / MI113 General Information Fig. 8: PA ETC-Drive MI108 / MI110 / MI113 dimensions Table 14: Dimensions Single and MI 108 MI 110 MI 113...
Page 40 PA 9000 ETC Drives Midi / Maxi Technical Data Single and Property MI 108 MI 110 MI 113 Unit Three Phase 120/240 V AC Logic Input 120 or 240 V AC Fuse (Time Delay) STO (Safe STO Power Supply 24 +/-10%...
Page 41 PA 9000 ETC Drives Midi / Maxi Technical Data Single and Property MI 108 MI 110 MI 113 Unit Three Phase 120/240 V AC Wire Size Control Circuit up to 3 0.081 - 0.205 0.081 - 0.205 0.081 - 0.205...
Page 42 PA 9000 ETC Drives Midi / Maxi Technical Data Table 19: External Regenerative Resistor (B1+, B2) Single and Property MI 108 MI 110 MI 113 Unit Three Phase 120/240 V External Peak Current regenera- Minimum Resistance tive resistor requirement Power Rating...
Page 43: Pa Etc-Drive Mi120 / Mi124
PA 9000 ETC Drives Midi / Maxi Technical Data 4.1.4 PA ETC-Drive MI120 / MI124 General Information Fig. 9: MI120 / MI124 dimensions Table 20: Dimensions Three-Phase MI 120 MI 124 Unit 120-240 V AC Dimensions 234.9 x 193.3 x 117.4 234.9 x 193.3 x 117.4...
Page 44 PA 9000 ETC Drives Midi / Maxi Technical Data Three-Phase Property MI 120 MI 124 Unit 120-240 V AC Logic Input 120 or 240 V AC Fuse (Time Delay) STO (Safe STO Power Supply 24 +/-10% 24 +/-10% V DC...
Page 45 PA 9000 ETC Drives Midi / Maxi Technical Data Three-Phase Property MI 120 MI 124 Unit 120-240 V AC PE Ground Screw Clearance Dis- Side-to-Side tance Top/Bottom Table 23: Voltage Trip Three-Phase Property MI 120 MI 124 Unit 120-240 V AC...
Page 46 PA 9000 ETC Drives Midi / Maxi Technical Data Three-Phase Property MI 120 MI 124 Unit 120-240 V AC Application Internal Bus Capacitance 3280 3280 Information VLOW (Regen Circuit Turn Off) V DC VMAX (Regen Circuit Turn On) V DC...
Page 47: Pa Etc-Drive Ma103 / Ma106 / Ma112
PA 9000 ETC Drives Midi / Maxi Technical Data 4.1.5 PA ETC-Drive MA103 / MA106 / MA112 General Information Fig. 10: MA103 / MA106 dimensions Fig. 11: MA112 dimensions Table 26: Dimensions Three Phase MA 103 MA 106 MA 112...
Page 48 PA 9000 ETC Drives Midi / Maxi Technical Data Table 27: Ratings Three Phase Property MA 103 MA 106 MA 112 Unit 400/480 V AC Input Power Voltage 380/480 380/480 380/480 V AC Line- Circuit (L1, L2) Line (Nominal ±10%)
Page 49 PA 9000 ETC Drives Midi / Maxi Technical Data Three Phase Property MA 103 MA 106 MA 112 Unit 400/480 V AC Control Circuit Loss Total Power Loss Table 28: Hardware Three Phase Property MA 103 MA 106 MA 112...
Page 50 PA 9000 ETC Drives Midi / Maxi Technical Data Table 30: Power Temperature Three Phase Property MA 103 MA 106 MA 112 Unit 400/480 V AC Normally operates at quarter power; when tem- perature exceeds high- speed fan trigger temper-...
Page 51 PA 9000 ETC Drives Midi / Maxi Technical Data Table 32: Brake Three Property MA 103 MA 106 MA 112 Unit Phase 400/480 V On State Voltage at Rated 23.5 23.5 23.5 V DC Current (min) at 24 V DC...
Page 52: Pa Etc-Drive Ma124 / Ma130
PA 9000 ETC Drives Midi / Maxi Technical Data 4.1.6 PA ETC-Drive MA124 / MA130 General Information Fig. 12: MA124 / MA130 dimensions Table 33: Dimensions Three-Phase 400/480 MA 124 MA 130 Unit V AC Dimensions 209.3 x 353 x 147.3 209.3 x 353 x 147.3...
Page 53 PA 9000 ETC Drives Midi / Maxi Technical Data Three-Phase Property MA 124 MA 130 Unit 400/480 V AC Control Circuit 24 V DC +/-10% 24 V DC +/-10% 24 V DC +/-10% V AC Input Power (P2) STO and...
Page 54 PA 9000 ETC Drives Midi / Maxi Technical Data Three-Phase Property MA 124 MA 130 Unit 400/480 V AC Main Circuit AC Inputs 3.31 5.26 PE Ground Screw Clearance Dis- Side-to-Side tance Top/Bottom Table 36: Voltage Trip Three-Phase Property MA 124...
Page 55 PA 9000 ETC Drives Midi / Maxi Technical Data Three-Phase Property MA 124 MA 130 Unit 400/480 V AC VLOW (Regen Circuit Turn Off) V DC VMAX (Regen Circuit Turn On) V DC Table 39: Brake Three-Phase Property MA 124...
Page 56: Control Specifications
PA 9000 ETC Drives Midi / Maxi Technical Data 4.2 Control Specifications Feature Specification Explanation Motors DC Brushless, DC Brush Rotary servomotors, Linear servomotors Auto-configuration Automatic self-configuration of motor phasing and wire settings Operation Mode Selectable Modes Current (Torque) Control Velocity...
Page 57 PA 9000 ETC Drives Midi / Maxi Technical Data Feature Specification Explanation Performance Update rate 250 μs (4 kHz) Control Loop Nonlinear control algorithm provides very low tracking error, zero or minimum settling time and smooth movement; includes an adaptive feed-forward feature that is applied at end of movement to achieve zero or minimum settling time.
Page 58: Protective Functions And Environmental Specifications
PA 9000 ETC Drives Midi / Maxi Technical Data 4.3 Protective Functions and Environmental Specifications Feature Specification Protective Functions Partial list, Under- and over-voltage, Over-current, Drive and motor over-temperature, Motor foldback, Drive foldback, Feedback lost, Secondary feedback lost, STO signal...
Page 59: Communication Specifications
PA 9000 ETC Drives Midi / Maxi Technical Data 4.4 Communication Specifications Feature Specification EtherCAT CiA 301 application layer and CiA 402 device profile for drives and motion control Communication cycle time: up to 250 µs ASCII-based, PA ETC Drive Studio, HyperTerminal...
Page 60: I/O Specifications
PA 9000 ETC Drives Midi / Maxi Technical Data 4.5 I/O Specifications Feature Specification Value First Analog Input Voltage Range Analog +/-10 V DC differential Input Resolution 14 bit Input Impedance 20 kW Zero attenuation 200 Hz Band width (-3 db)
Page 61 PA 9000 ETC Drives Midi / Maxi Technical Data Feature Specification Value Resolution 8 bit Low pass filter 2 KHz Max. Load 100 kW Secondary Feedback Signal A-quad-B and index differential, RS 422 line receiver Max. Input frequency 4 MHz (before A-quad-B)
Page 62: Motor Feedback Specifications
PA 9000 ETC Drives Midi / Maxi Technical Data 4.6 Motor Feedback Specifications Motor Feedback Specification Explanation General Supply Voltage from Drive 5 V DC Max. Supply Current from Drive 250 mA (5V) 140 mA (7V) Max. Cable Length 20 m...
Page 63 PA 9000 ETC Drives Midi / Maxi Technical Data CE-Conformance The conformance with the EC-Directive on EMC (2014/30/EC) and the Low Voltage Directive (2006/95/EC) is mandatory for the supply of servo drives within the European Community. The harmonized standard DIN-EN 61800-5-1 (Adjustable speed elec-...
Page 64 PA 9000 ETC Drives Midi / Maxi Technical Data The PA MI/MA have been tested according to the following standards. Table 40: Standards Compliance Standard Directive/Description Certification Mark IEC 61800-5-1 Low Voltage Directive 2006/95/EC Adjustable speed electrical power drive systems.
Page 65: Installation Guidelines
PA 9000 ETC Drives Midi / Maxi Technical Data 4.8 Installation guidelines Meaning Of EMC Electromagnetic compatibility (EMC) refers to the ability of an electrical device to work flawlessly in an electromagnetic environment without generating or being susceptible to disturbances. All PA ETC drives are designed for use in industrial environments and meet high EMC specifications.
Page 66 PA 9000 ETC Drives Midi / Maxi Technical Data Possible Interference Electromagnetic interferences may interfere with the ETC drive: Electromagnetic fields (RF coupling) Magnetic fields with power frequency Power supply Protected ground conductor Superbus system Shielding Of Conductors Electrical, magnetic and electromagnetic interference fields are weak-...
Page 67: Installation
PA 9000 ETC Drives Midi / Maxi Installation 5 Installation 5.1 PA ETC-Drive MI 1015 / MI 103 System Wiring (PRO) Fig. 13: System Wiring 21.02.2017 | 67...
Page 68 PA 9000 ETC Drives Midi / Maxi Installation Location Of The Connectors Fig. 14: Location of the connectors Daisy chain connector (C8) EtherCAT connector Out RJ 45 (C6) â EtherCAT connector In RJ 45 (C5) â STO - Safe Torque Off (P1) (included)
Page 69: Pa Etc-Drive Mi 1045 / Mi 106
PA 9000 ETC Drives Midi / Maxi Installation 5.2 PA ETC-Drive MI 1045 / MI 106 System Wiring Fig. 15: System Wiring 21.02.2017 | 69...
Page 70 PA 9000 ETC Drives Midi / Maxi Installation Location Of The Connectors Fig. 16: Location of the connectors Daisy chain connector (C8) EtherCAT connector Out RJ 45 (C6) â EtherCAT connector In RJ 45 (C5) â STO - Safe Torque Off (P1) (included)
Page 71: Pa Etc-Drive Mi 108 / Mi 110 / Mi 113
PA 9000 ETC Drives Midi / Maxi Installation 5.3 PA ETC-Drive MI 108 / MI 110 / MI 113 System Wiring Fig. 17: System Wiring 21.02.2017 | 71...
Page 72 PA 9000 ETC Drives Midi / Maxi Installation Location Of The Connectors Fig. 18: Location of the connectors Daisy chain connector (C8) EtherCAT connector Out RJ 45 (C6) â EtherCAT connector In RJ 45 (C5) â STO - Safe Torque Off (P1) (included)
Page 73: Pa Etc-Drive Mi 120 / Mi 124
PA 9000 ETC Drives Midi / Maxi Installation 5.4 PA ETC-Drive MI 120 / MI 124 System Wiring Fig. 19: System Wiring 21.02.2017 | 73...
Page 74 PA 9000 ETC Drives Midi / Maxi Installation Location Of The Connectors Fig. 20: Location of the connectors Daisy chain connector (C8) EtherCAT connector Out RJ 45 (C6) â EtherCAT connector In RJ 45 (C5) â STO - Safe Torque Off (P1) (included)
Page 75: Pa Etc-Drive Ma 103 / Ma 106
PA 9000 ETC Drives Midi / Maxi Installation 5.5 PA ETC-Drive MA 103 / MA 106 System Wiring Fig. 21: System Wiring 21.02.2017 | 75...
Page 76 PA 9000 ETC Drives Midi / Maxi Installation Location Of The Connectors Fig. 22: Location of the connectors Daisy chain connector (C8) RS232 connector (C7) EtherCAT connector Out RJ 45 (C6) / EtherCAT connector In RJ â â 45 (C5)
Page 77: Pa Etc-Drive Ma 112
PA 9000 ETC Drives Midi / Maxi Installation 5.6 PA ETC-Drive MA 112 System Wiring Fig. 23: System Wiring 21.02.2017 | 77...
Page 78 PA 9000 ETC Drives Midi / Maxi Installation Location Of The Connectors Fig. 24: Location of the connectors Daisy chain connector (C8) RS232 connector (C7) EtherCAT connector Out RJ 45 (C6) / EtherCAT connector In RJ â â 45 (C5)
Page 79: Pa Etc-Drive Ma 124 / Ma 130
PA 9000 ETC Drives Midi / Maxi Installation 5.7 PA ETC-Drive MA 124 / MA 130 System Wiring Fig. 25: System Wiring_MA124_MA130_PRO 21.02.2017 | 79...
Page 80 PA 9000 ETC Drives Midi / Maxi Installation Location Of The Connectors Fig. 26: Location of the connectors Daisy chain connector (C8) RS232 connector (C7) EtherCAT connector Out RJ 45 (C6) / EtherCAT connector In RJ â â 45 (C5)
Page 81: Controller Interface Wiring
PA 9000 ETC Drives Midi / Maxi Installation 5.8 Controller Interface Wiring Fig. 27: Controller Interface Wiring 21.02.2017 | 81...
Page 82: Interface
PA 9000 ETC Drives Midi / Maxi Installation 5.9 Interface 5.9.1 Control board connections The control board interfaces vary depending on the specific PA MI/MA model, as detailed in the following table. The connectors for interfaces C2, C3 and C4 can be fastened by either latch or screw.
Page 83 PA 9000 ETC Drives Midi / Maxi Installation Controller Interface (C2) Controller I/Os are connected through interface C2 (Fig. 28). Wire the digital and analog inputs and outputs according to the requirements of your application. Unused pins must remain unwired.
Page 84 PA 9000 ETC Drives Midi / Maxi Installation Function Description not used Ground Digital ground not used not used Ground Digital ground Digital input 4 Opto-isolated programmable digital input. Read using IN4. not used Digital output 3 Opto-isolated programmable digital output.
Page 85 PA 9000 ETC Drives Midi / Maxi Installation Function Description not used Analog input 2- Low side of the second differential analog input (+/-10 V DC) not used 21.02.2017 | 85...
Page 86 PA 9000 ETC Drives Midi / Maxi Installation Machine Interface (C3) Machine I/Os are connected through interface C3 (Fig. 29). Wire the machine inputs and outputs according to the requirements of your application. Unused pins must remain unwired. Outputs and inputs can be connected as either source or sink.
Page 87 PA 9000 ETC Drives Midi / Maxi Installation Function Description Digital output 5 Opto-isolated programmable digital output. Read using OUT5 Common input Fault relay 1 Terminal 1 of the dry contact fault relay Secondary Low side of the secondary encoder input...
Page 88 PA 9000 ETC Drives Midi / Maxi Installation Motor Feedback (C4) A wired cable is available under PA product code: CAB I/O MI/MA 1. Motor Feedback uses interface C4 (Fig. 30). Wire the motor feedback interface according to the type of feedback device to be used in your application.
Page 89 PA 9000 ETC Drives Midi / Maxi Installation Function not used not used not used Sine encoder sine+ Sine encoder cosine+ 5V supply Motor temperature sensor 5V supply Incremental encoder A - Serial encoder data - Incremental encoder B- Serial encoder clock-...
Page 90 PA 9000 ETC Drives Midi / Maxi Installation Motor Feedback Wiring Tables The following tables present suggestions for the most common feed- back variations. If you need additional information, or your motor feed- back does not match any one of the following, contact Technical Sup- Ä...
Page 91 PA 9000 ETC Drives Midi / Maxi Installation Table 47: Feedback Wiring - Incremental Encoder A Quad B, Index Pulse and Halls Pin # Twisted User Motor Signal Description Pair Pin # Incremental Encoder A+ Twisted Pair Incremental Encoder A-...
Page 92 PA 9000 ETC Drives Midi / Maxi Installation Pin # Twisted User Motor Signal Description Pair Pin # Motor Temperature Sensor Shield If the motor does not support a temperature sensor, do not connect pins 12 and 25. Halls are single-ended signals. If you want to use dif- ferential Hall signals, refer to the relevant wiring tables.
Page 93 PA 9000 ETC Drives Midi / Maxi Installation If the motor does not support a temperature sensor, do not connect pins 12 and 25. Connect the encoder A, B, I and power supply to the Motor Feedback connector. On every power up, phase find (PHASE- FIND) must be executed.
Page 94 PA 9000 ETC Drives Midi / Maxi Installation Pin # Twisted User Motor Signal Description Pair Pin # Incremental Encoder Z- / Hall W- Motor Temperature Sensor Twisted Pair Motor Temperature Sensor +5 V DC 0 V DC Shield If the motor does not support a temperature sensor, do not connect pins 12 and 25.
Page 95 PA 9000 ETC Drives Midi / Maxi Installation Table 53: Feedback Wiring - Sine Encoder with Halls Pin # Twisted User Motor Signal Description Pair Pin # Sine Encoder Sine+ Twisted Pair Sine Encoder Sine- Sine Encoder Cosine+ Twisted Pair...
Page 96 PA 9000 ETC Drives Midi / Maxi Installation Pin # Twisted User Motor Signal Description Pair Pin # 0 V DC Shield If the motor does not support a temperature sensor, do not connect pins 12 and 25. Table 55: Feedback Wiring - Sine Encoder with Index and Halls...
Page 97 PA 9000 ETC Drives Midi / Maxi Installation Pin # Twisted User Motor Signal Description Pair Pin # Sine Encoder Sine+ Twisted Pair Sine Encoder Sine- Sine Encoder Cosine+ Twisted Pair Sine Encoder Cosine- Motor Temperature Sensor Twisted Pair Motor Temperature...
Page 98 PA 9000 ETC Drives Midi / Maxi Installation Table 58: Feedback Wiring - HEIDENHAIN (EnDat 2.x with Sine/ Cosine) Pin # Twisted User Motor Signal Description Pair Pin # Serial Data+ Twisted Pair Serial Data- Serial Clock+ Twisted Pair Serial Clock-...
Page 99 PA 9000 ETC Drives Midi / Maxi Installation Table 60: Feedback Wiring - Multiturn: Nikon 17-bit Multiturn / Tama- gawa 17-bit Multiturn / Sankyo Multiturn Pin # Twisted User Motor Signal Description Pair Pin # Serial Data+ Twisted Pair Serial Data-...
Page 100 PA 9000 ETC Drives Midi / Maxi Installation Host Computer (C1 and/or C7) The drive can be connected to the host computer through the following interface: USB port – The interface is labeled C1 (Fig. 32). Use a USB 2.0 A to Mini- B cable.
Page 101 PA 9000 ETC Drives Midi / Maxi Installation RS232 Communication (C7) At the moment the function of the RS232 Communication port will not be used. The interface is labeled C7 on all PA ETC-Drives MI/MA power blocks. Use a 4p4c plug.
Page 102 PA 9000 ETC Drives Midi / Maxi Installation Daisy Chain (C8) At the moment the function of the Daisy chain port will not be used. The PA ETC-Drives MI/MA can be addressed and controlled on a daisy-chained RS-232 line. In a daisy-chain RS-232 configuration, all drives must be daisy- chained through the C8 connector.
Page 103 PA 9000 ETC Drives Midi / Maxi Installation Drive Address - Rotary Switches At the moment the function of the rotary switches will not be used. The PA ETC-Drives MI/MA have two 10-position rotary switches, accessible from the front of the unit. The switches are used to set the drive address.
Page 104: Power Board Connections - 120/240 V Ac
PA 9000 ETC Drives Midi / Maxi Installation 5.9.2 Power Board Connections - 120/240 V AC On all PA Midi 120/240 V AC models, the power board has the fol- lowing interfaces: STO (P1) Motor (P2) (P4 on MI120 / MI124)
Page 105 PA 9000 ETC Drives Midi / Maxi Installation STO (P1) STO uses interface P1 on all PA Midi 120/240 V AC models. Safe torque off (STO) is a safety function that prevents the drive from delivering power to the motor, which can generate torque.
Page 106 PA 9000 ETC Drives Midi / Maxi Installation Item All Models Spring terminal Not available Wired STO PA product code: CAB STO MI/MA 1 Wire gauge 0.081 - 0.129 mm 21.02.2017 | 106...
Page 107 PA 9000 ETC Drives Midi / Maxi Installation Motor (P2 / P4) Motor uses interface P2 on all PA Midi 120/240 V AC models. Exception: Motor uses P4 on PA MI120 / MI124. Fig. 37: Motor interface (Example MI106) Table 65: Motor Interface...
Page 108 PA 9000 ETC Drives Midi / Maxi Installation Item MI108 / MI110 / MI113 Manufacturer JST J400 Housing and 4-pin crimp J43FSS-04V-KX (supplied) and SJ4F-71GF-M3.0 (supplied) Spring terminal Not available Wire gauge 2.08 mm Item MI120 / MI124 Manufacturer Phoenix Contact...
Page 109 PA 9000 ETC Drives Midi / Maxi Installation Regeneration Resistor (P3 / P5) Regen uses interface P3 on all PA Midi 120/240 V AC models. Exception: Regen uses P5 on PA MI120 / MI124. On models PA MI1015 and MI103, Regen and AC Input Voltage are combined on one connector.
Page 110 PA 9000 ETC Drives Midi / Maxi Installation Item MI1045 / MI106 Spring terminal Not available Wire gauge 1.31 mm Item MI108 / MI110 / MI113 Manufacturer JST J400 Housing and 4-pin crimp J42FSC-02V-KX (supplied) and SJ4F-71GF-M3.0 (supplied) Spring terminal...
Page 111 PA 9000 ETC Drives Midi / Maxi Installation AC Input Voltage The AC Input interfaces and connectors vary among PA Midi 120/240 V AC models. MI1015 and MI103: One connector for bus power and logic power uses interface P3. MI1045 and MI106: One connector for bus power and logic power uses interface P4.
Page 112 PA 9000 ETC Drives Midi / Maxi Installation Fig. 40: Ground Terminals Make sure the main voltage rating matches the drive specifica- L DANGER tion. Applying incorrect voltage may cause drive failure. Do not apply power until all hardware connections are complete.
Page 113 PA 9000 ETC Drives Midi / Maxi Installation MI108 / MI110 / Pin Label Function MI113 AC Phase 1 AC Phase 2 AC Phase 3 Logic AC Phase 1 Logic AC Neutral MI120 / MI124 Pin Label Function AC Phase 1...
Page 114 PA 9000 ETC Drives Midi / Maxi Installation Item MI108 / MI110 / MI113 Spring terminal Not available Wire gauge 2.08 mm Item MI120 / MI124 Manufacturer Phoenix Contact Spring terminal SPC 5/3-STCL-7,62 (1718494) (supplied) Wire gauge 2.62 - 3.31 mm...
Page 115 PA 9000 ETC Drives Midi / Maxi Installation Motor Brake (Optional) The PA Midi 120/240 V AC models do not have sufficient amperage to activate a motor brake. The Midi drives can be connected to a motor brake via a relay, as shown in the example below. The selection of power supply, relay and diodes depends on the specification of the actual motor brake used in your application.
Page 116: Power Board Connections - 400/480 V Ac
PA 9000 ETC Drives Midi / Maxi Installation 5.9.3 Power Board Connections - 400/480 V AC On all PA Maxi 400/480 V AC models, the power board has the fol- lowing interfaces: STO (P1) Logic Power 24 V DC (P2)
Page 117 PA 9000 ETC Drives Midi / Maxi Installation STO (P1) STO uses interface P1 on all PA Maxi 400/480 V AC models. MA124 and MA130 also have a second STO interface (P3). Safe torque off (STO) is a safety function that prevents the drive from delivering power to the motor, which can generate torque.
Page 118 PA 9000 ETC Drives Midi / Maxi Installation Pin Label Function not used not used Table 74: STO Interface Mating Connector Item All Models Manufacturer Molex (or equivalent) Housing and 4-pin crimp 436450400 (or equivalent) and 0430300001 (or equivalent) Spring terminal...
Page 119 PA 9000 ETC Drives Midi / Maxi Installation Logic Power 24V Input (P2) Logic Power 24V uses interface P2 on all PA Maxi 400/480 V AC models. This interface is used to connect an external power supply (24V 3.15A max.) that provides the logic voltage to the control board and to the motor brake circuit.
Page 120 PA 9000 ETC Drives Midi / Maxi Installation AC Input and Regeneration On the PA Maxi 400/480 V AC models, AC Input and Regen Resistor Resistor (P3 / P5) are combined on one connector, and use the following interfaces: P3 on MA103 / MA106 / MA112...
Page 121 PA 9000 ETC Drives Midi / Maxi Installation Table 77: AC Input and Regeneration Resistor Interface Pin Label Function AC Phase 1 AC Phase 2 AC Phase 3 DC Bus+ Regen Bus DC Bus- Table 78: AC Input and Regeneration Resistor Interface Mating Con-...
Page 122 PA 9000 ETC Drives Midi / Maxi Installation Motor Brake (P4) Brake uses interface P4 on all PA Maxi 400/480 V AC models. This is the power output for the electric motor brake system. Fig. 46: Brake interface Table 79: Brake Interface...
Page 123 PA 9000 ETC Drives Midi / Maxi Installation Fig. 47: Motor Brake Wiring - Maxi 400/480 V AC Digital Output 7 is dedicated to brake control in all PA Maxi 400/480 V AC models. To make the brake output functional, use the PA ETC Drive Studio Dig- ital IO's screen to set Digital Output 7 as 2-Brake Release Signal.
Page 124 PA 9000 ETC Drives Midi / Maxi Installation Table 81: Brake Fault Conditions Condition Model MA103/ MA106 MA112 / MA124 / (400/480 V AC) MA130 (400/480 V Disabled and Brake Fault detected Fault detected wire disconnected (open) Disabled and Brake...
Page 125 PA 9000 ETC Drives Midi / Maxi Installation Motor (P5) Motor uses interface P5 on all 400/480 V AC models. Fig. 49: Motor interface Table 82: Motor Interface Pin Label Function Motor Phase U Motor Phase U Motor Phase W...
Page 126: Regeneration
PA 9000 ETC Drives Midi / Maxi Installation 5.9.4 Regeneration 5.9.4.1 Regenerative Energy Overview When a motor and load decelerate rapidly, kinetic energy of the load drives the motor shaft energy back to the drive; this is called regenera- tive energy or regeneration. This energy must be dissipated or absorbed.
Page 127 PA 9000 ETC Drives Midi / Maxi Installation Drive Model Capacitance (V DC) (V DC) (V DC) (V DC) High (mF) MI106 1120 170/340 MI108 2110 170/340 MI110 2110 170/340 Table 85: Bus Specifications - Three Phase 120/240 L-L V AC...
Page 128 PA 9000 ETC Drives Midi / Maxi Installation Calculating The Energy Returned For Each Deceleration Energy returned during deceleration (J or ft x lb) Rotor inertia (kg x m or lb x ft x sec Load inertia (kg x m...
Page 129 PA 9000 ETC Drives Midi / Maxi Installation Determining The Energy To Be Dis- sipated By The Amplifier Total energy to be dissipated by the amplifier (J or ft x lb) If this energy is less than that which the bus module can store, no regeneration resistor is needed.
Page 130 PA 9000 ETC Drives Midi / Maxi Installation Determining The Average Dissi- pated Power Total energy needs to be dissipated by the amplifier (J) Bus module capacitance (F) Hysteresis point: Regen circuit turn on (V) High Hysteresis point: Regen circuit turn off (V)
Page 131 PA 9000 ETC Drives Midi / Maxi Installation Regeneration Calculation MI/MA-006 drive with 240 V AC single phase input Example - US Standards Units Table 87: Motor and Drive Specifications 0.000484 x lb x ft x sec motor 1.32 W...
Page 132 PA 9000 ETC Drives Midi / Maxi Installation Energy Calculation = 1/2(0.0015+0.000484)(261 = 67.57 ft x lb = 91.63 J = 3 x 18 x (1.32/2) x 0.0181 = 11.61 J = 1/2 x 1.5(261-0) x 0.0181 = 3.54 ft x lb = 4.8 J...
Page 133 PA 9000 ETC Drives Midi / Maxi Installation Resistor Specification Calculation = 0.0812 x 2500 - Ö3 x 18 x (1.32/2) = 182.423 V / (182.423 x 18 x Ö3 = 420 = 31.02 W = (75.22 - 1/2 x 0.001120 x (400 - 380 )) / 5.0181...
Page 134 PA 9000 ETC Drives Midi / Maxi Installation Regeneration Calculation MI/MA-006 drive with 240 V AC single phase input Example - MKS Units Table 89: Motor and Drive Specifications 0.0006562 kg x m motor 1.32 W 18 A peak 16.08 N x m 0.001120 F...
Page 135 PA 9000 ETC Drives Midi / Maxi Installation Energy Calculation = 1/2(0.0006562+0.0015)(261 = 73.44 J = 3 x 18 x (1.32/2) x 0.03 = 19.24 J = 1/2 x 2.5(261-0) x 0.03 = 9.78 J = 73.44 - 19.24 - 9.78 = 44.42 J...
Page 136: Regeneration Resistor Protection
PA 9000 ETC Drives Midi / Maxi Installation Resistor Specification Calculation = 0.0812 x 2500 - Ö3 x 18 x (1.32/2) = 182.423 V / (182.423 x 18 x Ö3 = 420 = 31.02 W = (44.42 - 1/2 x 0.001120 x (400 - 380 )) / 5.03...
Page 137 PA 9000 ETC Drives Midi / Maxi Installation Regeneration Resistor Parameters The regeneration resistor capacity is defined by three parameters. To activate the regeneration resistor protection function in the MI/MA, parameter REGENRES and/or parameter REGENPOW must be set to a value other than "1", which is the default value.
Page 138 PA 9000 ETC Drives Midi / Maxi Installation Regeneration Resistor Protection A regeneration resistor has a typical thermal constant of 5 seconds. Algorithm This means the resistor is considered not loaded (its initial state) if it is not switched on (activated) during a given 5-second interval. There- fore, the MI/MA algorithm takes into account the On time and Off time of the regeneration resistor during the previous 5 seconds.
Page 139 PA 9000 ETC Drives Midi / Maxi Installation Determining the Maximum On The regeneration resistor has the following properties: Time REGENRES = 100 [W] REGENPOW = 60 [W] MI/MA V = 400 [V] trip That is, V (Regen Circuit Turn On) (V DC), as defined in Mechan- ical and Electrical Specifications.
Page 140 PA 9000 ETC Drives Midi / Maxi Installation 21.02.2017 | 140...
Page 141: Drive Setup
PA 9000 ETC Drives Midi / Maxi Drive Setup 6 Drive Setup 6.1 Overview Perform the following steps to install and setup a PA MI/MA system. Mount the PA MI/MA. Make all electrical connections: Motor feedback Controller I/Os and/or Machine I/Os...
Page 142: Preparation
PA 9000 ETC Drives Midi / Maxi Drive Setup 6.2 Preparation Hardware And Tools All required hardware and tools are specified in the diagrams in Ä Chapter 5 “Installation” on page 67. Connectors and tools that are supplied with the PA MI/MA are also indicated in those diagrams, and in the tables below.
Page 143 PA 9000 ETC Drives Midi / Maxi Drive Setup Crimping Prior to crimping, strip 2 mm at the end of wire, as shown in Fig. 51. Fig. 51: Stripped Wire in Crimp Pin In addition, you will need: A small slotted screwdriver for setting switches...
Page 144: Emi Suppression
PA 9000 ETC Drives Midi / Maxi Drive Setup Host Computer System The following computer system and software are required: 2 GHz CPU 1 GB RAM 1000 MB available on hard drive (after .net 4 is installed) Communication interface for connection to the drive; one of the fol- lowing: –...
Page 145 PA 9000 ETC Drives Midi / Maxi Drive Setup Grounding When connecting the MI/MA to other control equipment, be sure L CAUTION to follow two basic guidelines to prevent damage to the drive: – The MI/MA must be grounded via the earth ground of the main AC voltage supply.
Page 146 PA 9000 ETC Drives Midi / Maxi Drive Setup Ensure good connections between the cabinet components. Connect the back panel and cabinet door to the cabinet body using several con- ductive braids. Never rely on hinges or mounting bolts for ground con- nections.
Page 147 PA 9000 ETC Drives Midi / Maxi Drive Setup Shielding And Bonding Motor and feedback cables must be shielded in order to minimize noise emissions and increase the immunity levels of the drive system. The shield should be connected to ground at both ends.
Page 148 PA 9000 ETC Drives Midi / Maxi Drive Setup Input Power Filtering The PA MI/MA electronic system components require EMI filtering in the input power leads to meet the CE/EMC requirements for the indus- trial environment. This filtering blocks conducted type emissions from exiting onto the power lines and provides a barrier for EMI on the power lines.
Page 149 PA 9000 ETC Drives Midi / Maxi Drive Setup Motor Line Filtering Motor line filtering using ferrite cores might be necessary for CE com- pliance of PA MI/MA systems. This additional filtering can increase the reliability of the system. Poor non-metallic enclosure surfaces and...
Page 150: Electrical System Considerations
PA 9000 ETC Drives Midi / Maxi Drive Setup 6.4 Electrical System Considerations Fusing Integral solid state short circuit protection does not provide branch cir- cuit protection. Branch circuit protection must be provided in accord- ance with the National Electrical Code and any additional local codes, so fusing is required.
Page 151: Mechanical Installation
PA 9000 ETC Drives Midi / Maxi Drive Setup Residual Current Protective Device In compliance with standards IEC 60364-4-41 (Regulations for Installa- (RCD) tion) and IEC 60204 (Electrical Equipment of Machinery), residual cur- rent protective devices (RCD) can be used provided the requisite regu- lations are met.
Page 152: Firmware Upgrade
PA 9000 ETC Drives Midi / Maxi Drive Setup 6.6 Firmware Upgrade Firmware Upgrade Preparation Before upgrading the firmware, be sure to do the following: NOTICE – Refer to the Release Notes and any other documentation sup- plied with the new firmware.
Page 153 PA 9000 ETC Drives Midi / Maxi Drive Setup Address When only one drive is connected to the host computer, a drive address is not needed. The software attempts to commu- nicate with the drive that was communi- cating with the host before the Firmware Download process was activated.
Page 154 PA 9000 ETC Drives Midi / Maxi Drive Setup Firmware Upgrade Procedure Download the drive’s firmware file (*.sfw) from the product web- page to a host computer. From the PA ETC Drive Studio Drive Info screen, click Down- load Firmware.
Page 155: Power Up
PA 9000 ETC Drives Midi / Maxi Drive Setup Ember Mode Ember is the process used for burning new firmware on the drive’s flash memory. The drive must be in the Ember mode for the firmware to be loaded. The drive has two Ember modes, Software and Hard- ware.
Page 156 PA 9000 ETC Drives Midi / Maxi Drive Setup 21.02.2017 | 156...
Page 157: Application Setup
PA 9000 ETC Drives Midi / Maxi Application Setup 7 Application Setup 7.1 Parameters Configuration Parameters VarCom is a proprietary set of commands and variables or parame- ters, used to configure drive functionality when the host and drive are communicating over a serial connection.
Page 158 PA 9000 ETC Drives Midi / Maxi Application Setup Fig. 56: Memory and Commands for Managing Parameters In PA ETC Drive Studio, drive parameters can be saved to non-volatile memory at any time by clicking the Save button on the toolbar.
Page 159: Configuration Sequence
PA 9000 ETC Drives Midi / Maxi Application Setup 7.2 Configuration Sequence It is recommended that you configure and tune the drive using serial communication whenever possible, even if it the drive is connected to a CAN network. In general, drives are shipped from the factory with motor parameters set to zero and application parameters set to their default values.
Page 160 PA 9000 ETC Drives Midi / Maxi Application Setup Fig. 57: Configuration Sequence 21.02.2017 | 160...
Page 161: Communication
PA 9000 ETC Drives Midi / Maxi Application Setup 7.3 Communication Commissioning the drive through PA ETC Drive Studio requires a serial RS232 or USB connection. Once the drive is configured, you can then connect it to a PLC or controller over an EtherCAT fieldbus net- work.
Page 162 PA 9000 ETC Drives Midi / Maxi Application Setup Serial Baud Rate The MI/MA always powers up at baud rate 115200, even if it was changed in a previous working session. In the event of a connectivity problem, for example, you may want to try using a lower baud rate.
Page 163 PA 9000 ETC Drives Midi / Maxi Application Setup EtherCAT Bit Rate Procedure - Establishing EtherCAT To establish, verify and modify EtherCAT communication, use PA ETC Communication Drive Studio over a Serial connection. Be sure the EtherCAT/CANopen interface is installed according to manufacturer instructions.
Page 164: Power Rating
PA 9000 ETC Drives Midi / Maxi Application Setup 7.4 Power Rating When the motor is selected from the PA ETC Drive Studio Motor Library, power rating parameters are pre-set and written to the drive. These parameters are manufacturer-defined and should not be manip- ulated by the user;...
Page 165: Feedback
PA 9000 ETC Drives Midi / Maxi Application Setup 7.5 Feedback When the motor is selected from the PA ETC Drive Studio Motor Library, motor feedback parameters are pre-set and written to the drive. These parameters are manufacturer-defined and should not be manipulated by the user.
Page 166 PA 9000 ETC Drives Midi / Maxi Application Setup Hall Signals The MI/MA supports single-ended (or open-collector) and differential Hall signals. The following parameters are used to configure and monitor Hall com- mutation sensors. VarCom Description HALLSTYPE The type of Halls signals.
Page 167 PA 9000 ETC Drives Midi / Maxi Application Setup Phase Finding The Phase Finding procedure is used to initialize commutation for incremental encoder systems. You can also use the command Find Phase in the PA ETC Drive Studio Motor Feedback screen to determine the correct commuta- tion.
Page 168 PA 9000 ETC Drives Midi / Maxi Application Setup BiSS-C Interface BiSS is an open interface for sensors and actuators. The BiSS-C standard allows vendors of such feedback devices to define a small set of commands that will cause the feedback device to perform cer- tain functions.
Page 169 PA 9000 ETC Drives Midi / Maxi Application Setup EnDat 2.2 Bidirectional Interface The EnDat interface is a digital, bidirectional interface for encoders. It is capable of transmitting position values from incremental and abso- lute encoders as well as transmitting or updating information stored in the encoder, or saving new information.
Page 170: Sine Encoder Calibration
PA 9000 ETC Drives Midi / Maxi Application Setup 7.6 Sine Encoder Calibration Sine Encoder Calibration Overview When the MI/MA is initially connected to a motor equipped with a sine encoder, MI/MA parameters must be calibrated. Calibration is required during system assembly. Since analog component values might change over time, it is prudent to repeat the calibration procedure once every two years.
Page 171 PA 9000 ETC Drives Midi / Maxi Application Setup Motor Speed Limitations During During the calibration procedure, the motor speed must not exceed the Calibration following values: Sine encoder: 3750 / MENCRES [rpm] Calibrating Sine Encoder Procedure - Sine Encoder Calibra-...
Page 172 PA 9000 ETC Drives Midi / Maxi Application Setup Example The motor runs in a velocity control loop at 6 rpm, and the calibration procedure is executed. Fig. 59: Example Procedure - Sine Encoder Calibra- tion Using PA ETC Drive Studio PA ETC Drive Studio does not currently support sine encoder calibra- tion.
Page 173 PA 9000 ETC Drives Midi / Maxi Application Setup Recording the Signals The sine and the cosine signals can be recorded by recording partic- ular drive-internal data. A typical RECORD command is as follows: record 1 1000 "@_AX0_s16_Sine.s16 "@_AX0_s16_Cosine.s16 This command records 1000 samples of the sine and the cosine values, at intervals of 31.25 µs (the drive's basic sampling rate).
Page 174 PA 9000 ETC Drives Midi / Maxi Application Setup Examining the Plot The recorded data can be scaled in the PA ETC Drive Studio Scope screen. When examining the sine and cosine signals from a sine encoder, you need to multiply the signals by 0.00001883 (calculated from 1/32768 x 10/16.2).
Page 175: Motion Units
PA 9000 ETC Drives Midi / Maxi Application Setup 7.7 Motion Units The MI/MA has configurable units of acceleration, velocity and posi- tion, for both linear and rotary motor systems. The unit definitions can be a user preference or a property of the specific motor being used.
Page 176: Current Foldback
PA 9000 ETC Drives Midi / Maxi Application Setup 7.8 Current Foldback The current foldback is a mechanism used by MI/MA to protect the drive and motor from overheating due to excessive current. Current foldback is set independently for the drive and for the motor.
Page 177: Digital Inputs
PA 9000 ETC Drives Midi / Maxi Application Setup 7.9 Digital Inputs The MI/MA has four regular opto-isolated inputs and one fast opto-iso- lated input. Regular I/Os have a propagation delay in the range of several microseconds to several tens of microseconds.
Page 178: Analog Inputs
PA 9000 ETC Drives Midi / Maxi Application Setup 7.11 Analog Inputs The MI/MA supports two 14-bit analog inputs. Both inputs are differen- tial. The analog input is used to send commands to the drive by means of analog voltage. The analog commands can control the velocity of the motor or the current to the motor.
Page 179 PA 9000 ETC Drives Midi / Maxi Application Setup Analog Input 2 Analog Input 2 can be used as an analog current limit. In such a con- figuration, the parameter ANIN2SCALE is used to set the scaling of the current limit, in units of amperes per volt.
Page 180 PA 9000 ETC Drives Midi / Maxi Application Setup Procedure - Using Analog Inputs as Use the following procedure in PA ETC Drive Studio to configure the Velocity Command and Current MI/MA to work with analog input 1 as the velocity command and Limit analog input 2 as the current limit.
Page 181 PA 9000 ETC Drives Midi / Maxi Application Setup Fig. 62: Velocity Command Scaling Fig. 63: Analog Input 2 as Current Limiter Fig. 64: Analog Current Scaling 21.02.2017 | 181...
Page 182 PA 9000 ETC Drives Midi / Maxi Application Setup Since both drive parameters ILIM and analog input 2 define current limits, the drive recognizes the lower value of the two as the current limit at any given time. To read the actual limit, use ILIMACT.
Page 183: Homing
PA 9000 ETC Drives Midi / Maxi Application Setup 7.12 Homing The MI/MA provides numerous methods for homing the motor. The parameter HOMETYPE defines when direction of motion is reversed during homing, the homing trigger (e.g. switch, index) and other conditions.
Page 184 PA 9000 ETC Drives Midi / Maxi Application Setup Home At Index With Single/Multi- Homing on the index mark can also be used with absolute multi-turn Turn Encoders and absolute single-turn feedback devices. The location of the index mark for the purpose of homing is the zero position of the single-turn data.
Page 185: Disable Mode
PA 9000 ETC Drives Midi / Maxi Application Setup 7.13 Disable Mode The disabling of the drive may be the result of an explicit command from the motion controller or the drive's own response to a fault condi- tion. When the drive becomes disabled, the Disable Mode function can be used in certain cases to bring the motor to a fast stop before power to the motor is shut off.
Page 186 PA 9000 ETC Drives Midi / Maxi Application Setup VarCom Description DISSPEED Defines the velocity threshold below which the motor is considered stopped and the Active Dis- able timer starts the countdown to disable. The motor velocity must remain below this threshold for at least 50 ms for the motor to be consid- ered stopped.
Page 187 PA 9000 ETC Drives Midi / Maxi Application Setup Active Disable Active Disable prevents motor coasting while the axis is disabled. The Active Disable mechanism brings the motor to a stop by means of a controlled ramp down to zero velocity, and then disables the drive.
Page 188 PA 9000 ETC Drives Midi / Maxi Application Setup Fig. 67 shows the effect of DISSPEED and DISTIME. In this example, DISSPEED is set to 1000, and DISTIME is set to 1 ms. After the motor speed remains below 1000 for 100 consecutive background cycle, and the time defined by DISTIME elapses, the drive is disabled and the motor coasts to a stop.
Page 189 PA 9000 ETC Drives Midi / Maxi Application Setup Fig. 68: Effect of Second Disable Command on Active Disable The diagram in the PA ETC Drive Studio Disable Mode screen (Fig. 69) illustrates the behavior of Active Disable. Fig. 69: Disable Stop –...
Page 190 PA 9000 ETC Drives Midi / Maxi Application Setup Dynamic Brake Dynamic braking is a mechanism that allows a disabled drive to hold the motor. Only the motor's back-EMF is used to apply the stopping current. The variable ISTOP is used to set the maximum current allowed during the dynamic braking process.
Page 191 PA 9000 ETC Drives Midi / Maxi Application Setup Fig. 71: Dynamic Braking Fig. 72 shows Dynamic Braking with a very low value of ISTOP. In this instance, it takes longer to bring the motor to a stop. Fig. 72: Dynamic Braking with Low ISTOP Value In DISMODE 4 and DISMODE 5 both Active Disable and Dynamic Braking are supported.
Page 192: Motor Brake Control Via Relay
PA 9000 ETC Drives Midi / Maxi Application Setup 7.14 Motor Brake Control via Relay The MI/MA 120/240 V AC models do not have sufficient amperage to activate a motor brake. The MI/MA can be connected to a motor brake...
Page 193 PA 9000 ETC Drives Midi / Maxi Application Setup DISTIME defines the period of time after the motor speed goes below the Active Disable Speed Threshold (DISSPEED) until the drive is disabled by the Active Disable function (Fig. 74). Fig. 73: Digital Output Settings for Motor Brake Control Fig.
Page 194: Motor Temperature Sensor
PA 9000 ETC Drives Midi / Maxi Application Setup 7.15 Motor Temperature Sensor The MI/MA supports both thermostat (on/off) and thermistor (tempera- ture sensitive resistance) motor temperature sensors. The following parameters are used to define the type of motor temper- ature sensor and the drive response to an over-temperature condition.
Page 195: Motor Setup
PA 9000 ETC Drives Midi / Maxi Motor Setup 8 Motor Setup As of firmware version 1.40.0, the drive attempts to detect a motor feedback device and an electronic motor nameplate at power-up. If detected, certain motor and feedback parameters are transferred directly to the drive, and cannot be manipulated by the user.
Page 196 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 1 - Drive Identification Fig. 75: PA ETC Drive Studio - Motor Setup Wizard - Drive Information Review the drive information. Enter a name for the drive, and press Enter after typing the name.
Page 197 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 2 - Motor Identification And If the drive detects an electronic motor nameplate, the parameters in Initialization this screen are set automatically and cannot be manipulated. Click Next to continue (Fig. 76).
Page 198 PA 9000 ETC Drives Midi / Maxi Motor Setup Verify enables the drive and moves the motor! L CAUTION If your motor is not listed in the default set of motor libraries, press Ä Chapter Define New Motor, and use the New Motor Wizard (see 8.9 “New Motor Wizard”...
Page 199 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 4 - Motor Direction The Motor Setup wizard simplifies the process of defining the rotation direction for a positive command. Otherwise, VarCom instructions are required. Fig. 79: PA ETC Drive Studio - Motor Setup Wizard - Move and Direc- tion To verify motor motion direction, click Negative or Positive.
Page 200 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 5 - Save It is recommended that you save parameters to the drive’s non-volatile memory and to a file on the host computer for backup. Fig. 80: PA ETC Drive Studio - Motor Setup Wizard - Save...
Page 201: Drive Identification
PA 9000 ETC Drives Midi / Maxi Motor Setup 8.2 Drive Identification Drive information is presented and confirmed in Step 1 of the Motor Setup wizard. The PA ETC Drive Studio Drive Info task screen allows you to view drive properties and define the drive name.
Page 202: Motor Initialization
PA 9000 ETC Drives Midi / Maxi Motor Setup 8.4 Motor Initialization Motor commutation is performed in Step 2 of the Motor Setup wizard. The command MOTORSETUP initiates a quick commissioning proce- dure for setting the parameters that define motor commutation.
Page 203: Current Limits
PA 9000 ETC Drives Midi / Maxi Motor Setup 8.5 Current Limits Current limits are modified and/or confirmed in Step 3 of the Motor Setup wizard. The PA ETC Drive Studio Limits-Current task screen allows you to define current limits.
Page 204: Velocity Limits
PA 9000 ETC Drives Midi / Maxi Motor Setup 8.6 Velocity Limits Velocity limits are modified and/or confirmed in Step 3 of the Motor Setup wizard. The maximum speed that the drive can compute is hardware defined. The PA ETC Drive Studio Limits-Velocity task screen allows you to define velocity limits.
Page 205: Position Limits
PA 9000 ETC Drives Midi / Maxi Motor Setup 8.7 Position Limits Position limits are modified and/or confirmed in Step 3 of the Motor Setup wizard. The PA ETC Drive Studio Limits-Position task screen allows you to define position limits.
Page 206: Motor Direction
PA 9000 ETC Drives Midi / Maxi Motor Setup 8.8 Motor Direction When the motion command is positive, the direction of motion can be explicitly reversed. The positive direction for a rotary motor, for example, can be either clockwise or counterclockwise, depending on the application requirements.
Page 207: New Motor Wizard
PA 9000 ETC Drives Midi / Maxi Motor Setup 8.9 New Motor Wizard If the drive detects an electronic motor nameplate, the New Motor wizard is not available when operating online. If you are using a motor whose parameters are not available in the default sets of motor libraries in PA ETC Drive Studio, you can use the New Motor wizard to define your motor.
Page 208 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 1 - Motor Specification Fig. 81: PA ETC Drive Studio - New Motor Definition VarCom Description MOTORTYPE Rotary Motor / Linear Motor MIPEAK Motor Peak Current MICONT Motor Continuous Current...
Page 209 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 2 - Motor Feedback Selection Fig. 82: PA ETC Drive Studio - New Motor - Feedback VarCom Description FEEDBACKTYPE Feedback Type MENCTYPE Motor Encoder Type MENCRES Motor Encoder Resolution 21.02.2017 | 209...
Page 210 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 3 - Thermal Protection Defini- tion Fig. 83: PA ETC Drive Studio - New Motor - Thermal Protection VarCom Description THERMODE Motor Over-Temperature Mode 21.02.2017 | 210...
Page 211 PA 9000 ETC Drives Midi / Maxi Motor Setup Step 4 - Verify Verify enables the drive and moves the motor! L CAUTION Do one of the following to complete the procedure, according to where the New Motor wizard was activated,...
Page 212 PA 9000 ETC Drives Midi / Maxi Motor Setup 21.02.2017 | 212...
Page 213: Operation
PA 9000 ETC Drives Midi / Maxi Operation 9 Operation 9.1 Drive Enable Enabling the drive might cause the motor to move. L CAUTION The following elements provide visual indications of the drive’s enabled Ä Table 93 “Status” on page 213).
Page 214: Operation Modes
PA 9000 ETC Drives Midi / Maxi Operation 9.2 Operation Modes The PA9000 CNC is working with the PA MI/MA drives in OPMODE 8 (Position control mode) only! The PA MI/MA can work in a number of operation modes. Each opera- tion mode has a primary control loop (current, velocity or position) and a source of the command being recognized (analog or serial input).
Page 215: Current Operation
PA 9000 ETC Drives Midi / Maxi Operation Table 95: EtherCAT Communication - Fieldbus Operation Modes Display Description Drive Enabled Drive Disabled No mode assigned Profile position mode Profile velocity mode Profile torque mode Homing mode Cyclic synchronous position mode...
Page 216: Velocity Operation
PA 9000 ETC Drives Midi / Maxi Operation Current Control Loop There is no need to manipulate values in the Current Loop screen, Ä Chapter 14 unless instructed to do so by Technical Support (see “Service and return process” on page 283).
Page 217 PA 9000 ETC Drives Midi / Maxi Operation Proportional and Integral (PI) Con- Fig. 85 shows a PI controller. troller The PI controller is a unity feedback system with no pre-filter. The pro- portional gain (KVP) stabilizes the system. The integral gain (KVI) compensates for the steady state error.
Page 218 PA 9000 ETC Drives Midi / Maxi Operation Pseudo Derivative Feedback And Fig. 86 shows a PDFF controller. Like the PI controller, it has an inte- Feedforward (PDFF) Controller gral gain (KVI) and a proportional gain (KVP), with the addition of a feedforward (KVFR).
Page 219 PA 9000 ETC Drives Midi / Maxi Operation Standard Pole Placement (PP) Con- For PP controller tuning, only two parameters are needed: troller Load inertia ratio (LMJR) Closed-loop system bandwidth (BW) Fig. 87: Velocity Control - Standard PP Controller For the controller design, it is not necessary to know the load inertia.
Page 220 PA 9000 ETC Drives Midi / Maxi Operation Procedure - Manual Tuning Of The Manual tuning includes the initial steps of load inertia estimation, and PP Velocity Controller the subsequent steps to design the optimum controller. In PA ETC Drive Studio, go to the Terminal screen or a Terminal tab, and execute the steps using standard ASCII protocol.
Page 221 PA 9000 ETC Drives Midi / Maxi Operation If there is an undershoot or oscillations, reduce LMJR to the mean value of the present LMJR and the last LMJR, which had an overshoot, and return to step 6. If there is an overshoot, increase LMJR by 100, and return to Step 6.
Page 222: Position Operation
PA 9000 ETC Drives Midi / Maxi Operation 9.5 Position Operation Serial Positioning Operation Mode The PA MI/MA has a dedicated mode of operation (OPMODE 8) for simple positioning applications over the serial port. Serial commands are transmitted from a host computer through the serial port. The com-...
Page 223 PA 9000 ETC Drives Midi / Maxi Operation Incremental (Relative) Motion Incremental or relative motion moves the motor relative to the current position. Relative motion is always in reference to the current position of the load (and motor shaft), and is useful in indexing applications, such as cut-to-length feeders and rotary tables.
Page 224 PA 9000 ETC Drives Midi / Maxi Operation End of Motion The following parameters are used to define and indicate the state of the motor at the end of motion. VarCom Description PEMAX The maximum position error allowed without producing a fault, in counts.
Page 225 PA 9000 ETC Drives Midi / Maxi Operation Master/Slave - Encoder Follower In Master/Slave mode, the drive follows a quadrature encoder signal generated by a master device. The direction of motion is governed by the phase of the quadrature signals (A-lead-B or B-lead-A).
Page 226 PA 9000 ETC Drives Midi / Maxi Operation 21.02.2017 | 226...
Page 227: Tuning
PA 9000 ETC Drives Midi / Maxi Tuning 10 Tuning 10.1 MI/MA HD Controller The MI/MA has two user-selectable position control loops - linear and HD (nonlinear). The HD control loop is a proprietary algorithm that is designed to mini- mize position error during motion and to minimize settling time at the end of motion.
Page 228: Mi/Ma Hd Controller Autotuning
PA 9000 ETC Drives Midi / Maxi Tuning Fig. 90: MI/MA HD Control Loop 10.2 MI/MA HD Controller Autotuning Tuning is potentially dangerous. Before starting any tuning rou- L CAUTION tines, make sure no one is within the motion envelope, and the emergency button is within your reach.
Page 229: Pc-Based Autotuning
PA 9000 ETC Drives Midi / Maxi Tuning 10.3 PC-Based Autotuning As of firmware version 1.40.0, autotuning may be either drive-based or PC based. PA ETC Drive Studio will activate the wizard for PC-based autotuning if an electronic motor nameplate is not detected at power-up.
Page 230 PA 9000 ETC Drives Midi / Maxi Tuning Step 1 - LMJR Estimation Fig. 91: Autotuning Wizard - LMJR Estimation For automatic estimation, select Move and estimate load inertia. If you know the inertia of the load connected to the motor, select Use known load inertia and enter the value.
Page 231 PA 9000 ETC Drives Midi / Maxi Tuning Step 2 - Gain Optimization Fig. 92: Autotuning Wizard - Gain Optimization The displayed Move Command values are recommended values. They have been determined according to the motor you defined in the setup. Use the Negative and Positive buttons to bring the load to a position at which the motor can safely make a full rotation in each direction.
Page 232 PA 9000 ETC Drives Midi / Maxi Tuning Step 3 - Test Quality Of Motion Fig. 93: Autotuning Wizard - Test Quality of Motion Click Move and Plot to send a Move command to the drive and plot the step response.
Page 233: Drive-Based Autotuning
PA 9000 ETC Drives Midi / Maxi Tuning Step 4 - Save Do all of the following: Save to non-volatile drive memory to save the parameters from the drive's RAM to the drive's permanent memory. Save to backup file to save the parameters in drive RAM to a backup file on the computer.
Page 234: Drive-Based Autotuning - Overview
PA 9000 ETC Drives Midi / Maxi Tuning 10.4.1 Drive-Based Autotuning - Overview PA ETC Drive Studio will activate the wizard for Drive-based Auto- tuning if an electronic motor nameplate (e.g., PRO2 motor with sensAR magnetic encoder) is detected at power-up, or if the software is operating offline.
Page 235: Drive-Based Autotuning - Express
PA 9000 ETC Drives Midi / Maxi Tuning 10.4.2 Drive-Based Autotuning - Express The Express autotuning procedure requires no user input except to define whether or not the motion profile is generated internally by the drive, or by an external controller or PLC.
Page 236: Drive-Based Autotuning - Advanced
PA 9000 ETC Drives Midi / Maxi Tuning 10.4.3 Drive-Based Autotuning - Advanced The PA ETC Drive Studio Autotuning wizard is used to perform the Autotuning. Advanced autotuning consists of Select the motion generator. the following steps: Optional: Manually move the axis to the start position (available when drive generates the motion).
Page 237 PA 9000 ETC Drives Midi / Maxi Tuning Step 2 - Load/Motor Inertia Ratio Normally, you should allow the servo drive to estimate the load/motor inertia ratio (LMJR) (see Fig. 96). Ä “Step 4 - You may need to set the moment of inertia manually (see Options: LMJR Values”...
Page 238 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 97: Autotuning - Motion Profile. Not Suitable Fig. 98: Autotuning - Motion Profile. Suitable Step 4 - Options: Vibration Sup- Select Vibration Suppression for automatic tuning of the parameter pression sets Antivibration2 and Antivibration3.
Page 239 PA 9000 ETC Drives Midi / Maxi Tuning Step 4 - Options: Smoothing Select Smoothing Filter for automatic tuning of the input profile com- mand. If selected, the autotuning tunes the Profile Smoothing parame- ters. Clear this option if application is multi-axis and smoothing must be same for all axes.
Page 240 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 100: Autotuning - Start The motor moves back and forth continuously while testing values at intervals throughout the range for each of the control loop parameters. When the autotuning is completed, press Modified Parameters to view the new settings (Fig.
Page 241 PA 9000 ETC Drives Midi / Maxi Tuning The resulting graph shows the position command profile in velocity units (PTPVCMD), and the position error (PE). Option- ally, it can also display the velocity of the motor measured by the feedback device (V) and/or the current command (ICMD).
Page 242 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 103: Autotuning - Save 21.02.2017 | 242...
Page 243: Autotuning Parameters Summary
PA 9000 ETC Drives Midi / Maxi Tuning 10.5 Autotuning Parameters Summary Ä Table 97 “Parameters Set During the Auto- The following table ( tuning Process” on page 243) lists the parameters that may be opti- mized and set during the Autotuning procedure.
Page 244 PA 9000 ETC Drives Midi / Maxi Tuning Function Description Parameter Express Advanced HD control loop parameter. Use Autotuning to optimize parame- Acceleration ters for achieving minimal tracking Ö KNLAFRC Feedforward error during motion. Do not use Autotuning if overshoot is too large.
Page 245: Recording And Evaluating Performance
PA 9000 ETC Drives Midi / Maxi Tuning 10.6 Recording and Evaluating Performance 10.6.1 Diagnostics After autotuning has been completed, the system may display behavior that is less than optimal, such as: Servo motor is audibly noisy. Servo motor is very hot.
Page 246 PA 9000 ETC Drives Midi / Maxi Tuning The MI/MA recording function is used for performance verification, tuning and debugging. PA ETC Drive Studio provides a full-featured graphic interface for recording, plotting and measuring data. To improve or change performance of the MI/MA system, refer to the Performance Diagnostics diagram (Fig.
Page 247: Recording Data In Pa Etc Drive Studio
PA 9000 ETC Drives Midi / Maxi Tuning 10.6.2 Recording Data in PA ETC Drive Studio Procedure - Recording Data in PA In the PA ETC Drive Studio Scope screen, select the Motion ETC Drive Studio - Example tab. (MT-6CC401C Motor) Make sure Operation Mode is 8-Position.
Page 248 PA 9000 ETC Drives Midi / Maxi Tuning 2 × p × length" / resolution × gear Example Mechanical dimension (joint length) = 0.5 m Motor resolution: 1 rev = 17 bit = 131072 counts Gear ratio = 1:100 Acceptable range: 2 ×...
Page 249: Recording Data In Terminal
PA 9000 ETC Drives Midi / Maxi Tuning Fig. 107: Example of Parameters Fig. 108: Position Error (counts) and Setting Time (ms) 10.6.3 Recording Data in Terminal Procedure - Recording Data (Ter- Use the command RECORD to define the variables to be...
Page 250 PA 9000 ETC Drives Midi / Maxi Tuning Use the command RECTRIG to define the variable and condi- tions that triggers the recording. The syntax for the recording trigger instruction is: RECTRIG {var} [level] [pre-trig] [above| below] If the specified number of pre-trigger points is greater than the...
Page 251: Evaluating Ptpvcmd
PA 9000 ETC Drives Midi / Maxi Tuning 10.6.4 Evaluating PTPVCMD Parameter PTPVCMD (position command generator velocity) reports the derivative of the position command profile in velocity units. PTPVCMD is useful for recording and viewing the actual velocity and the velocity command, which is available only as a derivative of the position profile.
Page 252: Evaluating Icmd And/Or Pe Oscillations
PA 9000 ETC Drives Midi / Maxi Tuning 10.6.5 Evaluating ICMD and/or PE Oscillations The following figure (Fig. 110) shows an example of oscillations in ICMD (current command) and PE (position error) that indicate poor performance. Fig. 110: ICMD and PE Poor Result...
Page 253: Low Pass Filter On Current Command
PA 9000 ETC Drives Midi / Maxi Tuning 10.7 Low Pass Filter on Current Command The output of the HD control loop is a current command. This current command is low pass filtered before it is transferred to the current con- troller.
Page 254 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 112: NLFILTDAMPING at 0% 40% 80% Fig. 113: NLFITT1 value too low Fig. 114: NLFITT1 selected value 21.02.2017 | 254...
Page 255: Gearing Filters
PA 9000 ETC Drives Midi / Maxi Tuning 10.8 Gearing Filters Gearing filters may be useful if the system displays characteristics such as: Pulse and direction command has a low resolution Coupling between motor and load is not stiff Movement is too short...
Page 256 PA 9000 ETC Drives Midi / Maxi Tuning VELFF GEARFILTVELFF: Gear filter velocity feed- GEARFILTAFF: Gear filter acceleration forward feedforward Fig. 116: Gearing Filter - Example 1 Increasing GEARFILTT1 smoothes the input command PTPVCMD, but adds a delay. Recommended values:...
Page 257: Move Smoothing Filter
PA 9000 ETC Drives Midi / Maxi Tuning 10.9 Move Smoothing Filter HD control provides three options for smoothing the position com- mand, as defined by the parameter MOVESMOOTHMODE. MOVESMOOTH 0 No smoothing of the position command profile. Fig. 118: MOVESMOOTH 0...
Page 258: Notch Filters
PA 9000 ETC Drives Midi / Maxi Tuning 10.10 Notch Filters Notch filters can be used to eliminate high frequency oscillations that may occur in systems having a flexible link between motor and load, such as: Ballscrew linear slide with coupling...
Page 259: Anti-Vibration Filters
PA 9000 ETC Drives Midi / Maxi Tuning 10.11 Anti-Vibration Filters Anti-Vibration Overview The HD control anti-vibration function is based on proprietary control algorithms and serves to suppress vibrations at constant frequencies. The vibration suppression function runs in a closed loop, detecting oscillations as they occur, and damping them immediately.
Page 260 PA 9000 ETC Drives Midi / Maxi Tuning Corrective outputs to be added to the control variables are calcu- lated. Phase 4 Corrective outputs are added to control variables using a damping gain (parameter NLANTIVIBGAINn). Anti-Vibration Tuning Procedure After autotuning, more anti-vibration tuning may be required.
Page 261 PA 9000 ETC Drives Midi / Maxi Tuning Step 1 - Setting The Narrow Band 1. Set the narrow band center frequency Filter (NBF) Execute a movement and measure the resonance (oscillation fre- quency) of the current command (ICMD): –...
Page 262 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 123: Frequency response as a function of NLANTIVIBSHARPn Step 2 - Tuning The Damping Gain Increase parameter NLANTIVIBGAINn until optimal damping is ach- ieved. At each increment, record the current command (ICMD) and check the oscillation damping.
Page 263 PA 9000 ETC Drives Midi / Maxi Tuning Anti-Vibration Tuning Example Plots of some variables are scaled (indicated by "x"). Without the vibration suppression tuning, position error and current oscillate and settling time are very long. Fig. 124: Without vibration suppression, oscillation of position error and current Fig.
Page 264 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 126: Settling time - no anti-vibration tuning To damp the oscillations and reduce settling time, the following param- eters are set: NLANTIVIBHZ2 = 14 Hz, frequency of the measured resonance NLANTIVIBSHARP2 = 0.5, width estimated according to the sharp-...
Page 265 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 128: Tuning for vibration suppression, faster settling time Fig. 129: Settling time - with anti-vibration tuning 21.02.2017 | 265...
Page 266: Gains - Manual Tuning
PA 9000 ETC Drives Midi / Maxi Tuning 10.12 Gains - Manual Tuning KNLD - Derivative Gain Set KNLP to half the value that was set by default. Set KNLI and KNLIV to zero. Increase KNLD until oscillations of ICMD are observed.
Page 267 PA 9000 ETC Drives Midi / Maxi Tuning KNLIV - Derivative-Integral Gain Increase KNLIV until position error (PE) begins to oscillate. Increasing KNLIV reduces the position error, reduces sensitivity to external perturbations, and reduces the steady state position error at stop (if exists).
Page 268 PA 9000 ETC Drives Midi / Maxi Tuning KNLP - Proportional Gain Increase KNLP until position error (PE) begins to oscillate. As the value of KNLP increases, the shape of the position error becomes square, reflecting the constant values during acceleration and deceleration.
Page 269 PA 9000 ETC Drives Midi / Maxi Tuning Fig. 136: Proportional Gain Tuning - KNLP selected value 21.02.2017 | 269...
Page 270 PA 9000 ETC Drives Midi / Maxi Tuning KNLI - Integral Gain KNLI is used to reduce the position error during movement and at stop. Best tuning: Maximum value that does not create overshoot or oscillations. Best settling time: If possible, increase KNLI until position error returns to 0 before the end of the deceleration phase.
Page 271: Flexibility Compensation Tuning
PA 9000 ETC Drives Midi / Maxi Tuning 10.13 Flexibility Compensation Tuning The flexibility compensation parameters reduce the vibrations induced to the load by abrupt changes in acceleration (jerk), and reduce tracking error. They also serve to minimize overshoot and settling time.
Page 272: Tuning Issues - Q&A
PA 9000 ETC Drives Midi / Maxi Tuning 10.14 Tuning Issues - Q&A When should a notch filter be used? If your plant has a high frequency vibrations, and produces shrieking or honking sounds when you raise the gain. Although system performance is good, the system produces a lot of acoustical noise at low speeds.
Page 273: Transport, Packaging, Storage And Disposal
PA 9000 ETC Drives Midi / Maxi Transport, packaging, storage and disposal 11 Transport, packaging, storage and disposal 11.1 Transport Inspection Check the delivery immediately on receipt for completeness and trans- port damage. Record the extent of transport damage in the transport documents or on the delivery note of the forwarding agent.
Page 274: Packaging
PA 9000 ETC Drives Midi / Maxi Transport, packaging, storage and disposal 11.2 Packaging Concerning Packaging The individual packages have been packed to match the transport con- ditions that can be expected. The packaging has the function of protecting the individual compo- nents against damage, corrosion, etc.
Page 275: Disposal
PA 9000 ETC Drives Midi / Maxi Transport, packaging, storage and disposal Storage Conditions Property Value Unit Temperatures -25 - +55 °C -13 - +131 °F £ 95 % Humidity (non condensing) £ 20 K/h Maximum rate of change Additional requirements Packages may be marked with notes for storage, which may exceed the requirements mentioned here.
Page 276 PA 9000 ETC Drives Midi / Maxi Transport, packaging, storage and disposal 21.02.2017 | 276...
Page 277: Maintenance
Personnel Some maintenance tasks can only be executed by trained qualified personnel, or only by Power Automation. In these cases this is separately indicated in the description of the specific maintenance tasks. All work on the electrical equipment shall only be executed by a qualified electrician.
Page 278 PA 9000 ETC Drives Midi / Maxi Maintenance Schedule The ETC drive does not require any maintenance. To open the enclosure invalidates the material warranty. Interval Maintenance work Personnel If a ETC drive has to be Switch off the main switch of the switchgear cabinet and...
Page 279: Measures After Maintenance
PA 9000 ETC Drives Midi / Maxi Maintenance Interval Maintenance work Personnel Check whether the housing of the ETC drive is free of dirt and Instructed dust. person Use a sheet of paper with Isopropanol or similar cleaning agent to clean the dirty housing.
Page 280 PA 9000 ETC Drives Midi / Maxi Maintenance 21.02.2017 | 280...
Page 281: Dismounting And Decommissioning
Decommissioning Electronic components are considered special waste. They must be properly disposed of. Power Automation will accept the ETC drive to properly dispose of its components upon decommissioning. Ä Chapter 14.3 To return the ETC drive follow the instructions given in “Return policy and procedure”...
Page 282 PA 9000 ETC Drives Midi / Maxi Dismounting and decommissioning 21.02.2017 | 282...
Page 283: Service And Return Process
CNC system to your network for world-wide-web access. Power Automation provides a remote control software which allows our service staff to log into your CNC. This provides all the information available on the machine. They can check all the data like the PLC program, machine parameters, or the NC programs directly on the real system under real conditions.
Page 284: Service Addresses
PA 9000 ETC Drives Midi / Maxi Service and return process 14.1.1 Service addresses Service Addresses Power Automation GmbH (Headquarters) Gottlieb-Daimler-Strasse 17/2 D-74385 Pleidelsheim Tel: +49-7144-899-0 Fax: +49-7144-899-299 [email protected] Power Automation America, Inc. 8601 Jameel Road, Suite 140 Houston, Texas 77040 USA...
Page 285: Spare Parts
PA 9000 ETC Drives Midi / Maxi Service and return process Power Automation France SARL Cité de la Photonique Bâtiment Pléione 11 avenue Canteranne 33600 Pessac France Tel: +33-559-4010-50 Fax: +33-559-4010-59 [email protected] ACE Automation A-721, Twinrex B/D Deokpungdong-ro 111-10, Hanam-si...
Page 286: Return Policy And Procedure
Service and return process 14.3 Return policy and procedure Policy Power Automation will only accept control units and components for replacement or repair, if they have been returned in adherence to the provisions given below. If material warranty is void or if no error is detected, a testing flat rate will be charged.
Page 287 PA 9000 ETC Drives Midi / Maxi Service and return process RMA Form Fig. 140: RMA Form 21.02.2017 | 287...
Page 288: Training
Return Pack the goods properly. Controls must be packed in original or equivalent packaging. If the packaging is not proper, Power Automation will charge a packaging flat rate. NOTICE! Damages due to inadequate packaging Inadequate packaging may result in damages to the control unit. This will void the material warranty.
Page 289: Declaration Of Conformity
PA 9000 ETC Drives Midi / Maxi Declaration of Conformity 15 Declaration of Conformity Fig. 141: EC-Declaration of Conformity 21.02.2017 | 289...
Page 290 PA 9000 ETC Drives Midi / Maxi Declaration of Conformity 21.02.2017 | 290...
Page 291: Proof Of Change
PA 9000 ETC Drives Midi / Maxi Proof of change 16 Proof of change Proof Of Change Version Change Date Original Version 07/04/2016 Updated version 10/26/2016 Documentation is splitted into a new STD and PRO version. New Chapter 7 (Application Setup) added.
Page 292 PA 9000 ETC Drives Midi / Maxi Proof of change 21.02.2017 | 292...
Page 293: Index
PA 9000 ETC Drives Midi / Maxi Index 17 Index Control board connections ....82 Control Specifications ..... 56 Absolute Motion .
Page 294 PA 9000 ETC Drives Midi / Maxi Index KNLI - Integral Gain ..... . 270 KNLIV - Derivative-Integral Gain ... . 267 Electrical System Considerations .
Page 295 PA 9000 ETC Drives Midi / Maxi Index Mechanical Installation ....151 Motor Feedback (C4) ..... . 88 MI/MA Bus Specifications .
Page 296 PA 9000 ETC Drives Midi / Maxi Index Protective Functions and Environmental Specifi- Serial Positioning Operation Mode ... 222 cations ....... . . 58 Serial Velocity Operation Mode .

power automation PA 9000 Installation Instructions Manual

1 General Information

2 Safety

3 PA ETC-Drives MI / MA Overview

4 Technical Data

5 Installation

6 Drive Setup

7 Application Setup

8 Motor Setup

9 Operation

10 Tuning

11 Transport, Packaging, Storage and Disposal

12 Maintenance

13 Dismounting and Decommissioning

14 Service and Return Process

15 Declaration of Conformity

16 Proof of Change

17 Index

Quick Links

Related Manuals for power automation PA 9000

Summary of Contents for power automation PA 9000

Table of Contents