az2 - temecdrive.comaz 2 user manual st.tec.003.en rev. 0.0 2 / 43 read carefully this manual before...

AZ2 DC MOTOR DRIVE

USER MANUAL

AZ2

USER MANUAL ST.TEC.003.EN Rev. 0.0

2 / 43

Read carefully this manual before using the drive.

TeMec Drive reserves the right to change the information reported in this manual without prior notice

because the product is in continuous evolution.

No part of this manual may be howsoever reproduced without previous consent by TeMec Drive.

REVISIONS INDEX

Rev. Par. Description Date R V A 0.0 - First release 04/03/2016

R = Redaction

V = Verification

A = Approval

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Index 1. SAFETY PRECAUTIONS ..................................................................................................................... 5

1.1. Operating limits ................................................................................................................................. 5

1.2. Handling ............................................................................................................................................. 5

1.3. Transportation and installation ......................................................................................................... 6

1.4. Wiring ................................................................................................................................................ 7

1.5. Operations ......................................................................................................................................... 8

1.6. Modification of advanced parameters .............................................................................................. 8

1.7. Maintenance and inspection ............................................................................................................. 9

1.8. Disposal.............................................................................................................................................. 9

1.9. CE conformity and applicable standards ........................................................................................... 9

2. GENERAL INFORMATION ............................................................................................................... 10

2.1. Technical characteristics .................................................................................................................. 10

2.2. Board overview ................................................................................................................................ 10

2.3. Ordering codes ................................................................................................................................ 11

3. INSTALLATION AND WIRINGS ........................................................................................................ 12

3.1. Installation environment ................................................................................................................. 12

3.2. Mechanical installation .................................................................................................................... 12

3.3. Mechanical drawings ....................................................................................................................... 13

3.4. External power supply connections ................................................................................................ 14

4. OPERATION OF TWO INDEPENDENT MOTORS ............................................................................... 15

4.1. Connections and commands ........................................................................................................... 15

4.2. Ramps .............................................................................................................................................. 17

4.2.1. Advanced parameters ............................................................................................................. 18

4.3. Current limits ................................................................................................................................... 18


5. OPERATION OF TWO SYNCHRONIZED MOTORS ............................................................................. 21

5.1. Connections and commands ........................................................................................................... 21

5.2. Trimming mode ............................................................................................................................... 22

5.3. Homing function .............................................................................................................................. 22


5.4. Normal run ...................................................................................................................................... 24


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6. ERRORS AND DIAGNOSTICS ........................................................................................................... 27

6.1. Global errors .................................................................................................................................... 27


6.2. Motor specific errors ....................................................................................................................... 29


7. PARAMETER TABLES ..................................................................................................................... 31

7.1. Digital inputs and outputs ............................................................................................................... 31

7.2. Ramps .............................................................................................................................................. 32

7.3. Current limits ................................................................................................................................... 32

7.4. Synchronism - motor 1 and motor 2 ............................................................................................... 35

7.5. Synchronism - global ....................................................................................................................... 37

7.6. Global errors .................................................................................................................................... 37

7.7. Motor specific errors ....................................................................................................................... 38

8. TROUBLESHOOTING ...................................................................................................................... 40

9. MAINTENANCE AND INSPECTION .................................................................................................. 42

10. DISPOSAL ..................................................................................................................................... 42

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1. SAFETY PRECAUTIONS Read carefully the following items so that you can safely use the drive avoiding causing injury to the

operators, damaging the mechanic components driven by the drive or other objects in the area.

Make sure you that all warnings are correctly observed.

Safety marking legend:

MARKING Meaning of the marking

! WARNING

Indicates that errors that may lead to death or serious injury.

! CAUTION

Indicates that errors that may lead to injury to people or damage objects.

MARKING Meaning of the marking

Prohibition. Do not do it.

!

Obligation. Follow the instruction.

!

Warning.

1.1. Operating limits This drive is designed for the open loop control of one or two linear actuators driven by direct

current motors for synchronous or independent operation. Do not use for driving other electrical

loads or motor types without first contacting your TeMec Drive distributor.

Use the drive only in industrial application; do not use it where a possible fault can cause serious

injury to human life, like nuclear plants, aviation, safety device, entertainment, medical.

Use the drive only where a possible fault of the drive does not cause serious accidents or

damages or use it only where safety equipment is applicable or a backup circuit device is provided

outside the system.

1.2. Handling

! WARNING

Do not disassemble, modify or repair. This can cause electrical shock, fire and injury.

Do not touch the electronic drive components when power is on. This can result in electric shock or other injury.

Do not allow water or any other fluid to come in contact with the drive. This can result in electric shock or fire.

!

Turn on the power only when the drive is closed in a proper insulating cabinet to avoid electric shock or other injury.

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If the drive begins to emit smoke, an unusual odour, or unusual sounds, immediately disconnect the power. Continuous use of the drive in such a state may cause fire. Call your TeMec Drive distributor for assistance and/or repair.

Always turn the power off if the drive is not used for long time. Leaks, dust and other material may cause malfunctions and if power is left on with the drive in that state, it may result in fire.

! CAUTION

Do not touch heatsink fins or discharge / braking resistors. These parts may be hot and can cause burning if you touch them.

1.3. Transportation and installation

! WARNING

Do not install or operate the drive if it is damaged. This can result in electrical shock or fire.

Do not place any inflammable objects near the drive. If an accident occurs in which flame is emitted, this could lead to fire.

Do not install in any location where the drive could come into contact with water or other fluids. This can result in electric shock or fire.

!

Install the drive being sure that no metal part is in contact with the bottom side of the board. The contact with the exposed tracks may cause electric shock or fire.

Operate under the environmental conditions prescribed in this instruction manual. Operations under any other conditions may result in malfunction.

Install an emergency stop device that fits with system specifications. The drive alone cannot stop operation immediately, thus resulting in an accident or injury.

! CAUTION

!

When installing make sure that the fixing holes are spaced correctly within the tolerances indicated in this manual. Otherwise the drive may bend and be damaged.

Pressing too hard on the screwdriver may irreparably damage the drive.

Always turn the power off when removing the drive from its support. After wiring is complete, be sure to replace the unit into its case.

If braking is necessary (to hold motor shaft), install a mechanical brake. The function brake on the drive will not function as a mechanical hold, and if used for that purpose, injury may result.

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1.4. Wiring

! WARNING

Do not connect in parallel the two power outputs to increase the total current that can be imposed on a single motor. This can result in electrical shock or fire.

Do not change encoders’ connections after the successful execution of the first homing. Any change in one of the two encoders’ connections may lead to instability in the operation that may cause accidents or injury.

First shut off input power and wait at least 5 minutes before touching terminals and wires on equipment (MCCB) that is connected to drive power side. Touching the terminals and wires before that time could result in electric shock.

!

Use a protection diode on the positive terminal of the drive power supply to avoid damages on the supply circuitry in case of regenerative braking of the motor. The use of the diode is required in case of parallel connection of more than one drive or connection of other loads in parallel with the drive.

A qualified expert must do electrical construction work. Connection of input power by someone who does not have that expert knowledge may result in fire or electric shock.

Connect output terminals (motor side) correctly. If the polarity is incorrect, the motor(s) will operate in reverse and that may result in injury.

Do the wiring after installation. If wiring is done prior to installation, that may result in injury or electric shock.

The following steps must be performed before wiring: 1. turn off all input power; 2. wait at least 5 minutes and check to make sure that the on state LED1 is no

longer lit; 3. use a tester that can measure DC voltage (60V DC or more), and check to

make sure that the voltage to the DC main circuits (across +V and 0V) is 45V or less. If these steps are not properly performed, the wiring will cause electric shock.

Tighten the screws on the terminal block to specified torque. If the screws are not tightened to the specified torque, it may lead to fire.

Check to make sure that the input power voltage is within the limits of the rated power voltage written on the nameplate, with the tolerance indicated in the manual. If the input power voltage do not respect these conditions, this may result in fire.

! CAUTION

Do not attach devices with built-in capacitors (such as noise filters or surge absorbers) to the outputs (motor side) terminals. This could cause a fire.

!

Use a protection diode or set longer decelerating ramps in case of regenerative braking. Such phenomenons may cause overvoltages and damages to the external components that constitute the supply circuitry.

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1.5. Operations

! WARNING

Do not overload the drive over its capabilities. The use of the drive over its maximum service factor may cause serious accidents through overheating and fire.

Do not touch drive terminals when electrical power is going to the drive even if the motor is stopped. Touching the drive terminals while power is connected to it may result in electric shock.

Do not touch the drive when the hands are wet. Such action may result in electric shock.

!

Execute a homing procedure after the power reset, enable parameter SG01 or use limit switches to avoid overtravel that may cause an accident or injury.

Make sure that operation signals are off before resetting the drive after malfunction. If the drive is reset before turning off the operating signal, the motor may restart suddenly, resulting in injury.

If incorrect set, the drive may has some damage or unexpected movement. Be sure to set the setup menu correctly.

! CAUTION

!

Use a motor that conforms to the specifications of the drive and power supply. If the motor being used does not conform to those specifications, not only will the motor not rotate correctly but also it may cause serious accidents through overheating and fire.

1.6. Modification of advanced parameters

! WARNING

!

Do not modify advanced parameters before reading carefully this manual or contacting your TeMec Drive distributor. An incorrect set of the parameters can cause injury or accidents.

Do not disable the soft start function if not strictly necessary; always contact your TeMec Drive distributor. A possible fault with the drive in such a state may cause fire.

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1.7. Maintenance and inspection

! WARNING

Do not replace parts. This could be a cause of electric shock, fire and bodily injury. To replace parts, call your TeMec Drive distributor.

!

The equipment must be inspected periodically. If the equipment is not inspected and maintained, errors and malfunctions may not be discovered and that could result in accidents.

Before inspection, perform the following steps: 1. turn off all input power to the drive; 2. wait at least 5 minutes and check to make sure that the on state LED1 is no longer

lit; 3. use a tester that can measure DC voltages (60V DC or more), and check that the

voltage to the DC main circuits (across +V and 0V) is 45V or less. Performing an inspection without carrying out these steps first could lead to electric shock.

1.8. Disposal

! WARNING

!

If you dispose of the drive, have it done by a specialist in industry waste disposal (*). If you dispose of the drive by yourself, this can result in explosion of capacitor or produce noxious gases, resulting in injury.

(*) Persons who specialize in the processing of waste and known as "industrial waste product collectors and transporters" or "industrial waste disposal persons”. Please observe any applicable law, regulation, rule or ordinance for industrial waste disposal.

1.9. CE conformity and applicable standards The AZ2 drive complies with the following standards:

EMC CE-Emission of interference according to EN 61000-6-4: 2007

EMC CE-Immunity to interference according to EN 61000-6-2: 2005

The drive is a component to be used in a second environment (industrial environment) and category

C3, together with specific EMC filters. When used in the first environment (residential / commercial

environment), drives may produce radio-frequency interference dangerous for other equipment: the

user must implement additional filtering measures.

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2. GENERAL INFORMATION AZ2 is a full electronic motor drive designed for the control of two DC motors in low voltage

applications. The power stage is based on MOS transistor technology, controlled by a pulse width

modulation (PWM). A digital signal processor (DSP) elaborates the control data, generates the output

waveforms and manages the communication interfaces.

The user can exchange data and commands with the drive using the digital I/O and a Modbus

interface. The last one is mainly used for communication with the PC application through which the

user can change parameters, monitor the status of the drive and read diagnostic information. The

use of the Modbus interface in a fieldbus system needs an optional transceiver board, to adapt the

voltages levels from the board to the fieldbus physic level.

The board is also capable to acquire both the output currents, the supply voltage and the board

temperature. More than ten auxiliary I/O are available on the board and can be used for custom

applications or future purposes.

The AZ2 drive is designed for the open loop control of linear actuators driven by DC motors but its

use can be extended to any application involving the control of DC motors. For this reason in the

following manual the terms motor and linear actuator, forward/backward and open/close are used

as synonyms.

2.1. Technical characteristics TECHNICAL DATA

Supply voltage 12 V to 48 V DC, maximum ripple 20%

Output current Code AZ2048D01000000: Maximum 10 A / motor, S3 – 30% – 5 minutes service factor

Code AZ2048D01500000: Maximum 15 A / motor, S3 – 30% – 5 minutes service factor

PWM frequency 10 kHz

Quiescent current 50 mA @ 24 V DC supply

Inputs (not isolated) 1.7 – 12 V DC ON, 0 – 0.7 V DC OFF 8 inputs for commands and limit switches 4 inputs for pulse signals (max 1 kHz) Pull-up/down (10 kΩ) settable for each input type

Outputs (not isolated) 2 NPN open collector (max 50 mA – 24 V DC) One for general fault and one with programmable function

Output auxiliary voltage 12 V DC, maximum 50 mA

Diagnostic Blinking codes using a multicolour LED

Operating temperature -20°C … +60°C

IP grade IP00

Dimensions and weight Code AZ2048D01000000: 86 x 72 x 36 mm (LxWxH); 67 g

Code AZ2048D01500000: 86 x 72 x 43 mm (LxWxH); 130 g

Table 1: AZ2 technical data

2.2. Board overview Figure 1 shows the main board components while Table 2 explains the functions associated with

them.

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+V 0V M1+ M1- M2+ M2-

12345678910111213141516

DSP

LED1

LED2

S1

S1

S1

S1

S2 S2

S3

X1

X2

X3

J2J1

Figure 1: main board components

Component Function

X1 Power terminal for power supply and motor output connections

X2:1 - X2:8 Signal terminals for inputs

X2:9 - X2:12 Signal terminals for pulse inputs

X2:13 Fault output

X2:14 Configurable output

X2:15 Auxiliary voltage GND and inputs GND

X2:16 Auxiliary voltage +12 V

X3 Connector for communication with PC application or fieldbus interface

J1 Jumper for inputs 1-8 pull-up/down configuration

J2 Jumper for inputs 9-12 pull-up/down configuration

LED1 DSP red LED

LED2 Diagnostic red/green/blue (RGB) LED

S1 Holes for mounting screws

S2 Holes for heat sink mounting screws Table 2: main components

2.3. Ordering codes The following table reports the ordering codes:

Code Options

Output current (per motor)

AZ2048D01000000 10 A

AZ2048D01500000 15 A Figure 2: ordering codes

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3. INSTALLATION AND WIRINGS

!

Read carefully the safety precautions reported in 1.3 and 1.4 before installing the drive!

Follow the instruction reported below to install the drive and integrate it into your system.

3.1. Installation environment Remember that the drive is an electronic device; check carefully that the installation environment is

appropriate:

do not install in any location with high temperature, high humidity, moisture condensation and

freezing;

avoid installing location where there is the possibility of exposition to water, large amounts of

dust, metallic fragments or corrosive gases;

operate in areas where the temperature is within the limit temperatures reported in Table 1;

do not install in any location that can be subject to large amounts of vibrations.

3.2. Mechanical installation Install the drive being sure that no metal part is in contact with the bottom side of the board.

The contact with the exposed tracks may cause electric shock or fire.

With reference to Figure 1 and Table 2, use S1 mounting holes for the mechanical installation.

Install the drive in vertical position, with the power terminal on the bottom side and so that the

fins of the optional heat sink result in vertical position.

When installing the drive, leave at least the distances shown in Figure 3 so that the wiring can be

made easily and the drive can dissipate the heat generated during the operation.

In case of multiple installations align the drives horizontally, leaving at least the distances shown

in Figure 3.

AZ2 AZ2

5 cm

5 cm

5 cm3

cm

Figure 3: minimum distances for mechanical installation

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When wiring the drive use the following tightening torques for the terminal blocks:

Terminal block Tightening torque [Nm]

Minimum Maximum

X1 – POWER 0.5 0.6

X2 – Signals 0.22 0.25 Table 3: recommended tightening torques

3.3. Mechanical drawings All quotes are expressed in millimetres:

Figure 4: AZ2048D01000000 dimensions in mm

Figure 5: AZ2048D01500000 dimensions in mm

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3.4. External power supply connections It is strongly recommended to use a protection diode on the positive terminal of the drive power

supply to avoid damages on the supply circuitry in case of regenerative braking of the motor. The use

of the diode is required in case of parallel connection of more than one AZ2 or connection of other

loads in parallel with the drive, as shown in Figure 6:

AZ2

+V 0V

AZ2

+V 0V

Generic

Load

DC

POWER

SUPPLY+

-

Figure 6: parallel connection of multiple drives

An example of diode that can be used is Infineon IDP30E60, adequately dissipated.

For the protection of the drive use a 25 A time delay fuse for AZ2048D01000000 or 35 A for

AZ2048D01500000.

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4. OPERATION OF TWO INDEPENDENT MOTORS

!

Read carefully the safety precautions reported in 1.5 before operating the drive!

In this operation mode, the drive can independently control the movement of two motors, by

applying on them the desired voltage and following the desired ramps, set by the user. The

movement stops when the relative limit switch signal goes high, when the current limit is achieved,

when the command is released or the STOP signal goes high.

All the parameters are set independently for both motors and for the opening and closing movement.

When the drive is not applying voltage to the motor, the terminals are short-circuited to ground.

4.1. Connections and commands

!

Read carefully the safety precautions reported in 1.4 before wiring the drive!

Below is a connection scheme showing all possible commands and devices that can be connected to

the board:

M

Power stage

&

Current sense

M

Power stage

&

Current sense

Switching

power

supply

12 V

DC

regulator

3.3 V

+V

3.3V

12V

12V

10

kΩ

+

12V

12-48V DC

RED RGB

Modbus

interface

Inputs

Diagnostics

Motor

Drive

M1+ M1- M2+ M2-

1

2

3

4

5

6

7

12

1615

0V

13 14J2

12V

OPEN-1

CLOSE-1

OPEN-2

CLOSE-2

OP-SW-1

CL-SW-1

OP-SW-2

STOP-2

Fault 11STOP-1

8CL-SW-2

9INT-SW-1

10INT-SW-2

10

kΩ

+J1

DSP

Figure 7: connection scheme example in independent mode

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For each of the two motors:

Label Function

OPEN Open / forward command

CLOSE Close / backward command

OP-SW Open limit switch

CL-SW Close limit switch

INT-SW Intermediate switch

STOP Stop command Table 4: legend of external devices in independent operating mode

The user can set for every input from 01 to 12:

- the reversed logic working mode; set this bit following Table 5:

Normally open contact

Normally closed contact

Pull-up resistor

Enable reverse logic

Disable reverse logic

Pull-down resistor

Disable reverse logic

Enable reverse logic

Table 5: instructions for setting the reverse logic input mode

- a delay for the OFF to ON transition;

- a delay for the ON to OFF transition.

For example, digital input 1 parameters are (see 7.1 for the complete list):

Label Function Range Default value

DI00 Reverse input 01 logic ON / OFF OFF

DI01 Input 01 turn on delay 5 – 500 [ms] 10

DI02 Input 01 turn off delay 5 – 500 [ms] 10 Table 6: example of digital input parameters

The commands are configured as hold-to-run but can also work in one-press mode changing the

following parameter:

Label Function Range Default value DI36 Sets inputs in one-press mode ON / OFF OFF

Table 7: input mode parameter

The function of the digital output at terminal X2:14 can be set using this parameter:

Label Function Range Default value DI37 Sets function of output X2:14 See below General Fault

Table 8: parameter for digital output 2 setting

The possible information that can be sent to OUT2 are:

- motor 1 or 2 Fault;

- motor 1 or 2 Open Limit Switch;

- motor 1 or 2 Close Limit Switch;

- motor 1 or 2 Intermediate Limit Switch;

- motor 1 or 2 Current Open Limit Switch;

- motor 1 or 2 Current Close Limit Switch;

- motor 1 or 2 Electronic Open Limit;

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- motor 1 or 2 Electronic Close Limit;

- motor 1 or 2 Open Inrush Overcurrent;

- motor 1 or 2 Open Overcurrent;

- motor 1 or 2 Close Inrush Overcurrent;

- motor 1 or 2 Close Overcurrent;

- motor 1 or 2 Encoder disconnected;

- motor 1 or 2 Open Limit Loss;

- motor 1 or 2 Close Limit Loss;

- general Fault;

- power supply overvoltage;

- power supply under-voltage;

- board over-temperature;

- synchronism error.

4.2. Ramps The following figures show how the drive applies the voltage to the motors. The example is the

acceleration and deceleration ramp for motor 1 during the opening movement with two different

stops:

V

t

V

t

M101 M102

M100

! !

High

impedance

M101 M106

M100

Figure 8: ramp waveform example in case of normal stop (left) and overcurrent (right)

In both cases the full voltage is applied gradually, following a ramp long M101 ms.

In the first case (Figure 8 - left) the motor stops because the drive reduces the voltage until 0 V, in

M102 ms. Excluding errors, this happens if:

the command is released;

the STOP command is pressed;

the limit switch is engaged.

When an overcurrent is detected the drive behaviour follows Figure 8 - right: the motor terminals

are disconnected from the power stage (no voltage applied) for M106 = 500 ms and the stop is

achieved by inertia.

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The ramps applied to the motors are set using three parameters (see 7.2 for the complete list):

Label Output Function Range Default value M100 Motor 1 Open voltage 10 – 48 [V] 24 M101 Motor 1 Open acceleration ramp 100 – 3000 [ms] 500 M102 Motor 1 Open deceleration ramp 100 – 3000 [ms] 500

Table 9: example of ramp parameters

The user can set different ramps for the two motor and for each direction.

4.2.1. ADVANCED PARAMETERS

!

Read carefully the safety precautions reported in 1.6 before modifying any of the advanced parameters!

In advanced mode the user can modify this further parameters:

Label Output Function Range Default value M106 Motor 1 Motor 1 inertial braking time 500 – 3000 [ms] 500 M206 Motor 2 Motor 2 inertial braking time 500 – 3000 [ms] 500

Table 10: ramps advanced parameters

4.3. Current limits The drive monitors the current absorption during all the motor movement using two threshold, one

for the start phase and the second during the rest of the run as shown in this Figure 9:

I

t

C106

C102

C108

V

t

M101 M102

M100

!

Figure 9: current monitoring parameters

The first threshold is used for a time given by the sum of M101 and C106 = 1 s. The user can set the

nominal current threshold C108, while the inrush one C102 is calculated as 2 times the first value.

Either the drive can go in block state or not when the current limit is exceeded, depending on the

user choice. If the block is disabled (C107 = OFF), the drive will read the overcurrent as a limit switch

permitting only the movement in the opposite direction.

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The parameters below configure the current limit functions for the opening movement of motor 1

(see 7.3 for the complete list):

Label Output Function Range Default value

C107 Motor 1 Enables the block in case of overcurrent during opening

ON / OFF ON

C108 Motor 1 High threshold of nominal current control during opening

1 – 11 [A] 10

Table 11: example of current limit parameters

The user can set different current limits for the two motor and for each direction.


!


In advanced mode, the user can configure independently the two functions of current monitoring for

inrush and normal run.

The Figure 10 explains the meaning of the parameters and is applicable to all the monitoring function

of analog and digital quantities; in particular, the parameters shown below are related to the

monitoring of motor 1 nominal current during opening:

I

t

t2≥C110

t1<C110

C108

C109

t3≥C110

NOCC=1 NOCC=2

t4≥C110

t5<C110

t6≥C110

Figure 10: example of analog quantity monitoring

The green trace is an example of controlled quantity (i.e. the current), in red there are the two

threshold and in blue the result of the check (high current over the limit).

The check is positive and the NOCC counter is incremented if the controlled quantity exceeds the high

threshold for more than C110 ms (t2 and t4 but not t1). The quantity returns into the limits (blue trace

0) if it goes down the lower threshold for more than C110 ms (t3 and t6 but not t5).

The counter NOCC can be used to block the drive or give an alarm not only at the first event but also

at the umpteenth, set by parameter C105.

Other changeable parameters are the ones that enable the soft start function (for example C100).

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For example, for the opening currents, the accessible parameters are (see 7.3 for the complete list):


C100 Motor 1 Enables the soft start function during opening ON / OFF ON

C101 Motor 1 Enables the block in case of inrush overcurrent during opening

ON / OFF ON

C102 Motor 1 High threshold of inrush current control during opening

1 – 20 [A] 20

C103 Motor 1 Low threshold of inrush current control during opening

1 – 19 [A] 19

C104 Motor 1 Delay of inrush current control during opening 1 – 500 [ms] 100

C105 Motor 1 Number of occurrences of inrush overcurrent during opening before block

1 - 10 1

C106 Motor 1 Delay added to open acceleration time before the normal threshold is applied

100 – 1500 [ms] 1000


ON / OFF ON


1 – 11 [A] 10

C109 Motor 1 Low threshold of nominal current control during opening

1 – 10 [A] 9

C110 Motor 1 Delay of nominal current control during opening

1 – 500 [ms] 100

C111 Motor 1 Number of occurrences of nominal overcurrent during opening before block

1 - 10 1

Table 12: example of current limit advanced parameters

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5. OPERATION OF TWO SYNCHRONIZED MOTORS

!

Read carefully the safety precautions reported in 1.5 before operating the drive!

In this operation mode, the drive can control the movement of two motors trying to move them in

in synchronous, basing on the encoders signals. The applied voltage follows the desired ramp set by

the user but at the same time the drive increases or decreases the voltages depending on the position

error.

The user can set two electronic limit positions thanks to the encoder’s signals but the drive can also

work with two mechanical limit switches.

The movement stops when the relative limit signal goes high (electronic or mechanic), when a

current limit is achieved, when the command is released or the STOP signal goes high.

All the parameters are set independently for both motors and for the opening and closing movement.

When the drive is not applying voltage to the motor, the terminals are short-circuited to ground.

5.1. Connections and commands

!

Read carefully the safety precautions reported in 1.4 before wiring the drive!

Below is a connection scheme:

M ENC

Power stage

&

Current sense

MENC

Power stage

&

Current sense

Switching

power

supply

12 V

DC

regulator

3.3 V

10

kΩ

+V

+

3.3V

12V

12V

DSP

10

kΩ

+

12V

12-48V DC

RED RGB

Modbus

interface

Inputs

Diagnostics

SynchronizationMotor

Drive

M1+ M1- M2+ M2-

1

2

3

4

5

6

7

8

11 129 10 15 160V

13 14

J1

J212V

OPEN

CLOSE

TRIM-1

TRIM-2

OP-SW

CL-SW

INT-SW

STOP

Fault

Figure 11: connection scheme example in synchronous mode

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The meanings of the acronyms is:

Label Function

OPEN Open / forward command

CLOSE Close / backward command

TRIM-1 Motor 1 trimming mode enable

TRIM-2 Motor 2 trimming mode enable

OP-SW Open limit switch

CL-SW Close limit switch

INT-SW Intermediate switch

STOP Stop command Table 13: legend of external devices in synchronous operating mode

Refer to 4.1 for the setting parameters of inputs from 01 to 08.

5.2. Trimming mode The user can drive the motors independently using the trimming function during the assembly or for

resetting the correct mechanical setup in fault cases.

The trimming commands are only hold-to-run:

motor 1: press and hold TRIM-1 and use OPEN and CLOSE to move the actuator forward or

backward;

motor 2: press and hold TRIM-1 and use OPEN and CLOSE to move the actuator forward or

backward.

The drive sets on the two motors the same voltage profiles reported in 4.2.

No limits work when the motor moves in trimming mode, not mechanical limit switches neither

electronic ones. The motor can stop only for overcurrent, command release or STOP command as

described in paragraph 4.2.

The user must run the homing procedure, described below, to restore the normal functioning of the

drive after every movement in trimming mode.

5.3. Homing function At the first start, after the mechanical assembly and first alinement, the user must execute a homing

procedure so that the drive can detect the encoder connections and initialize the position counters.

It is recommended to give the homing command so that each motor can run at least 3 seconds before

reaching the home position otherwise the drive will fail in the detection of encoder’s connections

and will pass in block state (see 6.2). This detection is done only during the first homing execution,

so do not change encoder’s connections afterwards!

The drive will move both motors applying on them the homing ramp when both commands TRIM-1

and TRIM-2 are high for more than 3 seconds. Depending on the parameters (see Table 14), the user

can choose between two homing types:

limit switch homing: the home position is achieved when the limit switch is pressed and both

motors are stopped reducing the voltage until 0 V, in S104 ms; if any motor current exceeds

the limit, the drive stops both motors and pass in block state;

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current detect homing: the home position is achieved when the current of both motors

exceeds the limit set by the parameters; the motor whose current overcomes the threshold

is stopped disconnecting its terminals from the power stage (no voltage applied) for S113 =

500 ms; every pressure of the limit switches is ignored.

The following parameters configure the homing function:


SG01 Enables automatic homing at start-up ON / OFF OFF

SG02 Enables current detect homing ON / OFF ON

S104 Homing voltage -48 – 48 [V] -12

S108 High threshold of nominal current control during homing

1 – 11 [A] 5

Table 14: homing parameters

SG01: if enabled, the drive executes a homing procedure at every start without needing any

command;

SG02: if this bit is set the homing will stop when the current exceeds the homing current

limit otherwise the drive stops the motor when the limit switch is pressed;

S108: the drive uses two threshold one for start and one for the normal run, in the same

way as described in 4.3.

The user can stop the homing procedure using the STOP command; in this case, the drive reduces

the voltage to 0 V in S104 ms.

It is always recommended to execute a homing procedure after the power reset. The drive stores the

encoders count when power turns off but this does not happen if the motors are running in the

moment of the blackout. Enable SG01 or use limit switches to avoid overtravel and consequent

damages to things or people.


!


In the advanced mode, the user can access to the detailed configuration of the homing overcurrent

functions in the same way as described in 4.3.1 and set different homing current limits for the two

motors, if necessary. See 7.4 for the complete list.

The advanced mode allows to the user to set different parameters for motor 1 and motor 2 for the

homing ramp as described in 4.2. See 7.4 for the complete list.

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5.4. Normal run After the successful completion of the homing procedure, the user can operate the drive in the

normal mode. When the drive receives a command, it imposes the voltages on the two motors

following the behaviour and the parameters described in -. At the same time, the drive calculates the

position error and corrects the output voltages, increasing that of the slower motor and vice versa.

The user can increase or decrease the reaction time and the compensation strength of the drive in

the misalignment correction increasing or decreasing parameter SG03. If the drive cannot maintain

the error under the desired value (see 6.1), it stops the motors and passes in the block state.

The drive starts to impose the deceleration ramp when the position counter approaches to the value

defined by parameters S100 or S101. Then the drive stops the motors short-circuiting their terminals

when they achieve the limit position.

Excluding errors, other circumstances that can stop the motors are:

the command is released;

the STOP command is pressed;

the mechanical limit switch is engaged.

In all the above cases, the drive stops the motor applying the deceleration ramp.

Better performances can be obtained if the supply voltage is higher than the maximum voltage set

on the motors because the drive can both decelerate the faster motor but also accelerate the slower

one.

The following parameters configure the normal mode function:


SG03 Compensation strength 1 – 32000 1024

S100 Close limit pulses number -2147483647 – 2147483647

0

S101 Open limit pulses number -2147483647 – 2147483647

65535

Table 15: synchronism parameters

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!


The figure below represents the real voltage waveform imposed on the motors during the normal

run:

V

t

B

A

S114

M100

M101 ~M102

Figure 12: real ramp waveform in synchronous mode

It is different to the one in Figure 8 to obtain a better stop precision, following these steps (for each

motor):

the drive calculates the motor speed when it applies the max voltage;

from the speed and the deceleration time, the drive calculates how many pulses before the

limit it must start the ramp (point A), using the following expression:

deceleration start pulses = S101 – ( speed * M102 / 2 + ( speed * M102 / 2 ) / 2SG05 )

when the decelerating ramp reaches the approaching voltage S114 the output voltage is

maintained constant;

S116 pulses before the limit the drive short-circuit the motor terminals (point B) at least for

S118 ms.

For example, the advanced parameter for motor 1 are (see 7.4 for the complete list):


SG05 Both Increment of deceleration start pulses 0 – 8 3

S100 Motor 1 Close limit pulses number -2147483647 – 2147483647

0

S102 Motor 1 Open limit pulses number -2147483647 – 2147483647

65535

S116 Motor 1 Open approaching voltage 1 – 48 [V] 5

S117 Motor 1 Close approaching voltage -1 – -48 [V] -5

S118 Motor 1 Pulses for braking advance 1 – 32000 1

S119 Motor 1 Tolerance used for the limit detection 0 – 500 2

S120 Motor 1 Duration of the braking after limit is reached 100 – 1000 [ms] 500 Table 16: example of synchronism advanced parameters

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Another parameter accessible by the user regards the speed calculation but is recommended not to

change it:


SG04 Speed N bit sampling 0 – 32 7 Table 17: speed calculation advanced parameter

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6. ERRORS AND DIAGNOSTICS The drive monitors the working parameters and generates alarms or errors when necessary,

according to the values set in the alarm parameters; the drive informs the user about the active

errors by the multicolour LED2, using a blink code (200 ms ON, 300 ms OFF, 2 s pause).

The following table summarizes the possible errors and the corresponding blink code:

LED2 colour

Blinks number

Source Type

Blue 1 Global Power supply over voltage

Blue 2 Global Power supply under voltage

Blue 3 Global Over temperature

Blue 4 Global Loss of synchronism

Green 1 Motor 1 Overcurrent during opening acceleration

Green 2 Motor 1 Overcurrent during opening

Green 3 Motor 1 Overcurrent during closing acceleration

Green 4 Motor 1 Overcurrent during closing

Green 5 Motor 1 Encoder disconnected

Green 6 Motor 1 Open limit switch loss

Green 7 Motor 1 Close limit switch loss

Green 8 Motor 1 Overcurrent during homing

Green 9 Motor 1 Detection of encoder connections failed

Red 1 Motor 2 Overcurrent during opening acceleration

Red 2 Motor 2 Overcurrent during opening

Red 3 Motor 2 Overcurrent during closing acceleration

Red 4 Motor 2 Overcurrent during closing

Red 5 Motor 2 Encoder disconnected

Red 6 Motor 2 Open limit loss

Red 7 Motor 2 Close limit loss

Red 8 Motor 2 Overcurrent during homing

Red 9 Motor 2 Detection of encoder connections failed Table 18: blink codes of LED2 used for diagnostics

6.1. Global errors The global errors are related to the general operation of the drive and are not directly imputable to

a single motor:

- power supply overvoltage;

- power supply undervoltage;

- overtemperature;

- loss of synchronism: the drive cannot compensate the synchronism error and the misalignment

between the two motors exceeded the set value of pulses.

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The parameters associated to the overvoltage error are:


AO01 Value of the maximum supply voltage 12 – 60 [V] 60 Table 19: overvoltage error parameters

The parameters associated to the undervoltage error are:


AU02 Value of the minimum supply voltage 12 – 60 [V] 11 Table 20: undervoltage error parameters

The parameters associated to the overtemperature error are:


AT01 Value of the maximum temperature 0 – 90 [°C] 80 Table 21: overtemperature error parameters

The parameters associated to the loss of synchronism error are:


AS00 If enabled, the drive blocks in case of error ON / OFF ON

AS01 Maximum number of pulses difference 1 – 1000 10

AS03 Delay of the error detection 1 – 2000 [ms] 500 Table 22: loss of synchronism error parameters


!


As described in 4.3.1, the monitoring functions are completely configured by more parameters.

For example, the parameters associated to the under-voltage error are (see 7.6 for the complete list):


AU00 If enabled, the drive blocks in case of error ON / OFF ON

AU01 Value of the minimum supply voltage – high threshold 12 – 60 [V] 12

AU02 Value of the minimum supply voltage – low threshold 12 – 60 [V] 11

AU03 Delay of the error detection 1 – 2000 [ms] 500

AU04 Number of occurrences of the error before block 1 – 10 1 Table 23: undervoltage error advanced parameters

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6.2. Motor specific errors In addition to the overcurrent errors during opening and closing described in paragraph 4.3, each

motor has other four errors associated to its functioning:

- encoder disconnected: no signals from the encoder inputs;

- open limit loss: the drive detected a possible movement with no active commands due to a

change in the state of the mechanical open limit switch or the encoder count;

- close limit loss: the drive detected a possible movement with no active commands due to a

change in the state of the mechanical close limit switch or the encoder count;

- overcurrent during homing;

- detection of encoder connections failed.

For the encoder-disconnected error the configuration parameters are:


AE10 Motor 1 If enabled, the drive blocks in case of error ON / OFF ON

AE11 Motor 1 Value of the sensitivity 1 – 1000 2


AE21 Motor 2 Value of the sensitivity – high threshold 1 – 1000 2 Table 24: parameters for encoder disconnected error

For the error of open limit loss the configuration parameters are:


AP10 Motor 1 If enabled, the drive blocks in case of error ON / OFF OFF

AP13 Motor 1 Delay of the error detection 1 – 5000 [ms]

1000

AP14 Motor 1 Number of occurrences of the error before block 1 – 10 1

AP20 Motor 2 If enabled, the drive blocks in case of error ON / OFF OFF


1000

AP24 Motor 2 Number of occurrences of the error before block 1 – 10 1 Table 25: parameters for open limit loss error

For the error of close limit loss the configuration parameters are:


AC10 Motor 1 If enabled, the drive blocks in case of error ON / OFF OFF

AC13 Motor 1 Delay of the error detection 1 – 5000 [ms]

1000

AC14 Motor 1 Number of occurrences of the error before block 1 – 10 1

AC20 Motor 2 If enabled, the drive blocks in case of error ON / OFF OFF


1000

AC24 Motor 2 Number of occurrences of the error before block 1 – 10 1 Table 26: parameters for close limit loss error

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The detection of an overcurrent during the homing procedure causes an error only if the current

detect homing is disabled (parameter SG02 = OFF). This monitoring function is configurable using

parameters listed in 5.3.

The failure of the encoder connections detection during the homing procedure is not configurable.


!


As described in 4.3.1, the monitoring functions are completely configured by more parameters.

For example, the parameters for the encoder-disconnected error are(see 7.7 for the complete list):



AE11 Motor 1 Value of the sensitivity – high threshold 1 – 1000 2

AE12 Motor 1 Value of the sensitivity – low threshold 0 – 1000 1

AE13 Motor 1 Delay of the error detection 1 – 2000 [ms]

1000

AE14 Motor 1 Number of occurrences of the error before block 1 – 10 1 Table 27: advanced parameters for encoder disconnected error

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7. PARAMETER TABLES

7.1. Digital inputs and outputs




DI02 Input 01 turn off delay 5 – 500 [ms] 10


































DI36 Sets inputs in one-press mode ON / OFF OFF

DI37 Sets function of output X2:14 See 4.1 General Fault Table 28: digital inputs parameters

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7.2. Ramps

!


The highlighted parameters are accessible only in advanced mode.


M100 Motor 1 Open voltage 10 – 48 [V] 24 M101 Motor 1 Open acceleration ramp 100 – 3000 [ms] 500 M102 Motor 1 Open deceleration ramp 100 – 3000 [ms] 500 M103 Motor 1 Close voltage -10 – -48 [V] -24 M104 Motor 1 Close acceleration ramp 100 – 3000 [ms] 500 M105 Motor 1 Close deceleration ramp 100 – 3000 [ms] 500 M106 Motor 1 Inertial braking time 500 – 3000 [ms] 500 M200 Motor 2 Open voltage 10 – 48 [V] 24 M201 Motor 2 Open acceleration ramp 100 – 3000 [ms] 500 M202 Motor 2 Open deceleration ramp 100 – 3000 [ms] 500 M203 Motor 2 Close voltage -10 – -48 [V] -24 M204 Motor 2 Close acceleration ramp 100 – 3000 [ms] 500 M205 Motor 2 Close deceleration ramp 100 – 3000 [ms] 500 M206 Motor 2 Inertial braking time 500 – 3000 [ms] 500

Table 29: ramps parameters

7.3. Current limits

!






ON / OFF ON


1 – 20 [A] 20


1 – 19 [A] 19



1 - 10 1


100 – 1500 [ms] 1000

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ON / OFF ON


1 – 11 [A] 10


1 – 10 [A] 9


1 – 500 [ms] 100


1 - 10 1

C112 Motor 1 Enables the soft start function during closing ON / OFF ON

C113 Motor 1 Enables the block in case of inrush overcurrent during closing

ON / OFF ON

C114 Motor 1 High threshold of inrush current control during closing

1 – 20 [A] 20

C115 Motor 1 Low threshold of inrush current control during closing

1 – 19 [A] 19

C116 Motor 1 Delay of inrush current control during closing 1 – 500 [ms] 100

C117 Motor 1 Number of occurrences of inrush overcurrent during closing before block

1 - 10 1

C118 Motor 1 Delay added to close acceleration time before the normal threshold is applied

100 – 1500 [ms] 1000

C119 Motor 1 Enables the block in case of overcurrent during closing

ON / OFF ON

C120 Motor 1 High threshold of nominal current control during closing

1 – 11 [A] 10

C121 Motor 1 Low threshold of nominal current control during closing

1 – 10 [A] 9

C122 Motor 1 Delay of nominal current control during closing 1 – 500 [ms] 100

C123 Motor 1 Number of occurrences of nominal overcurrent during closing before block

1 - 10 1



ON / OFF ON


1 – 20 [A] 20


1 – 19 [A] 19



1 - 10 1


100 – 1500 [ms] 1000


ON / OFF ON

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1 – 11 [A] 10


1 – 10 [A] 9


1 – 500 [ms] 100


1 - 10 1

C212 Motor 2 Enables the soft start function during closing ON / OFF ON

C213 Motor 2 Enables the block in case of inrush overcurrent during closing

ON / OFF ON

C214 Motor 2 High threshold of inrush current control during closing

1 – 20 [A] 20

C215 Motor 2 Low threshold of inrush current control during closing

1 – 19 [A] 19

C216 Motor 2 Delay of inrush current control during closing 1 – 500 [ms] 100

C217 Motor 2 Number of occurrences of inrush overcurrent during closing before block

1 - 10 1

C218 Motor 2 Delay added to close acceleration time before the normal threshold is applied

100 – 1500 [ms] 1000

C219 Motor 2 Enables the block in case of overcurrent during closing

ON / OFF ON

C220 Motor 2 High threshold of nominal current control during closing

1 – 11 [A] 10

C221 Motor 2 Low threshold of nominal current control during closing

1 – 10 [A] 9

C222 Motor 2 Delay of nominal current control during closing 1 – 500 [ms] 100

C223 Motor 2 Number of occurrences of nominal overcurrent during closing before block

1 - 10 1

Table 30: current limits parameters

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7.4. Synchronism - motor 1 and motor 2

!




S100 Motor 1 Close limit pulses number -2147483647 – 2147483647

0

S102 Motor 1 Open limit pulses number -2147483647 – 2147483647

65535

S104 Motor 1 Homing voltage -48 – 48 [V] -12

S105 Motor 1 Homing acceleration ramp 100 – 3000 [ms] 500

S106 Motor 1 Homing deceleration ramp 100 – 3000 [ms] 500

S107 Motor 1 Enables the soft start function during homing ON / OFF ON

S108 Motor 1 High threshold of inrush current control during homing

1 – 20 [A] 10

S109 Motor 1 Low threshold of inrush current control during homing

1 – 19 [A] 9

S110 Motor 1 Delay of inrush current control during homing 1 – 500 [ms] 100

S111 Motor 1 Delay added to open acceleration time before the normal threshold is applied

100 – 1500 [ms] 1000

S112 Motor 1 High threshold of nominal current control during homing

1 – 11 [A] 5

S113 Motor 1 Low threshold of nominal current control during homing

1 – 10 [A] 4

S114 Motor 1 Delay of nominal current control during homing

1 – 500 [ms] 100

S115 Motor 1 Inertial braking time after overcurrent 500 – 3000 [ms] 500





S120 Motor 1 Duration of the braking after limit is reached 100 – 1000 [ms] 500

S200 Motor 2 Pulses number of close limit -2147483647 – 2147483647

0

S202 Motor 2 Pulses number of open limit -2147483647 – 2147483647

65535

S204 Motor 2 Homing voltage -48 – 48 [V] -12

S205 Motor 2 Homing acceleration ramp 100 – 3000 [ms] 500

S206 Motor 2 Homing deceleration ramp 100 – 3000 [ms] 500

S207 Motor 2 Enables the inrush current soft start function during homing

ON / OFF ON

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S208 Motor 2 High threshold of inrush current control during homing

1 – 20 [A] 10

S209 Motor 2 Low threshold of inrush current control during homing

1 – 19 [A] 9

S210 Motor 2 Delay of inrush current control during homing 1 – 500 [ms] 100

S211 Motor 2 Delay added to open acceleration time before the normal threshold is applied

100 – 1500 [ms] 1000

S212 Motor 2 High threshold of nominal current control during homing

1 – 11 [A] 5

S213 Motor 2 Low threshold of nominal current control during homing

1 – 10 [A] 4

S214 Motor 2 Delay of nominal current control during homing

1 – 500 [ms] 100

S215 Motor 2 Inertial braking time after overcurrent 500 – 3000 [ms] 500





S220 Motor 2 Duration of the braking after limit is reached 100 – 1000 [ms] 500 Table 31: synchronism motor specific parameters

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7.5. Synchronism - global

!




SG00 Enables the synchronous operating mode ON / OFF -

SG01 Enables automatic homing at start-up ON / OFF OFF

SG02 Enables current detect homing ON / OFF ON

SG03 Compensation strength 1 – 32000 1024

SG04 Speed N bit sampling 0 – 32 7

SG05 Increment of deceleration start pulses 0 – 8 3 Table 32: synchronism global parameters

7.6. Global errors

!



Any change to the parameters of these groups take effect only after the drive restart.

The parameters associated to the under-voltage error are:


AU00 If enabled, the drive blocks in case of error ON / OFF ON

AU01 Value of the minimum supply voltage – high threshold 12 – 60 [V] 12

AU02 Value of the minimum supply voltage – low threshold 12 – 60 [V] 11

AU03 Delay of the error detection 1 – 2000 [ms] 500

AU04 Number of occurrences of the error before block 1 – 10 1 Table 33: undervoltage error parameters

The parameters associated to the over voltage error are:


AO00 If enabled, the drive blocks in case of error ON / OFF ON

AO01 Value of the maximum supply voltage – high threshold 12 – 60 [V] 55

AO02 Value of the maximum supply voltage – low threshold 12 – 60 [V] 52

AO03 Delay of the error detection 1 – 2000 [ms] 500

AO04 Number of occurrences of the error before block 1 – 10 1 Table 34: overvoltage error parameters

The parameters associated to the over temperature error are:

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38 / 43


AT00 If enabled, the drive blocks in case of error ON / OFF ON

AT01 Value of the maximum temperature – high threshold 0 – 90 [°C] 80

AT02 Value of the maximum temperature – low threshold 0 – 90 [°C] 79

AT03 Delay of the error detection 1 – 30000 [ms] 30000

AT04 Number of occurrences of the error before block 1 – 10 1 Table 35: overtemperature error parameters

The parameters associated to the loss of synchronism error are:


AS00 If enabled, the drive blocks in case of error ON / OFF ON

AS01 Value of the maximum number of pulses difference – high threshold

1 – 1000 10

AS02 Value of the maximum number of pulses difference – low threshold

0 – 1000 9

AS03 Delay of the error detection 1 – 2000 [ms] 500

AS04 Number of occurrences of the error before block 1 – 10 1 Table 36: loss of synchronism error parameters

7.7. Motor specific errors

!



Any change to the parameters of these groups take effect only after the drive restart.

For the encoder-disconnected error the configuration parameters are:






1000

AE14 Motor 1 Number of occurrences of the error before block 1 – 10 1





1000

AE24 Motor 2 Number of occurrences of the error before block 1 – 10 1 Table 37: parameters for encoder disconnected error

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For the error of open limit loss the configuration parameters are:


AP10 Motor 1 If enabled, the drive blocks in case of error ON / OFF ON

AP11 Motor 1 On state 0 – 1 1

AP12 Motor 1 Off state 0 – 0 0


1000

AP14 Motor 1 Number of occurrences of the error before block 1 – 10 1

AP20 Motor 2 If enabled, the drive blocks in case of error ON / OFF ON

AP21 Motor 2 High threshold 1 – 1 1

AP22 Motor 2 Low threshold 0 – 0 0


1000

AP24 Motor 2 Number of occurrences of the error before block 1 – 10 1 Table 38: parameters for open limit loss error

For the error of close limit loss the configuration parameters are:


AC10 Motor 1 If enabled, the drive blocks in case of error ON / OFF ON

AC11 Motor 1 On state 0 – 1 1

AC12 Motor 1 Off state 0 – 0 0


1000

AC14 Motor 1 Number of occurrences of the error before block 1 – 10 1

AC20 Motor 2 If enabled, the drive blocks in case of error ON / OFF ON

AC21 Motor 2 High threshold 1 – 1 1

AC22 Motor 2 Low threshold 0 – 0 0


1000

AC24 Motor 2 Number of occurrences of the error before block 1 – 10 1 Table 39: parameters for close limit loss error

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8. TROUBLESHOOTING LED2 colour

Blinks number

Source Type Possible causes Suggested operations

Blue 1 Global Power supply over voltage

1. Error in the wiring of the power supply. 2. Regenerative effect of the motor during the

deceleration.

1. Check the power supply voltage and compare it to the supply limits. 2. Increase the deceleration ramps duration.

Blue 2 Global Power supply under voltage

1. Error in the wiring of the power supply. 2. High current absorption of the board.

1. Check the power supply voltage and compare it to the supply limits. 2. Check the section and length of the power supply cables.

Blue 3 Global Over temperature 1. The drive is working over its power capabilities. 2. The drive cannot dissipate enough heat.

1. Reduce the service of the motor. 2. Check that the drive is installed correctly.

Blue 4 Global Loss of synchronism 1. The load is too much unbalanced. 2. Problems with the encoder signals.

1. Increase the compensation strength parameter. 2. Check the encoder’s connections and execute a homing procedure.

Green / Red

1 Motor 1 / 2 Overcurrent during opening acceleration

1. Mechanical obstacle or too high friction. 2. Mechanical overload of the actuator. 3. Current limit is too low and/or acceleration ramp

is too fast.

1. Check the movement of the actuator. 2. Check that the load is within the mechanical specifications of the

actuator. 3. Increase the current limit and/or increase the acceleration ramp

duration.

Green / Red

2 Motor 1 / 2 Overcurrent during opening

1. Mechanical obstacle or too high friction. 2. Mechanical overload of the actuator. 3. Current limit is too low.


actuator. 3. Increase the current limit.

Green / Red

3 Motor 1 / 2 Overcurrent during closing acceleration


is too fast.


actuator. 3. Increase the current limit and/or increase the acceleration ramp

duration.

Green / Red

4 Motor 1 / 2 Overcurrent during closing

1. Mechanical obstacle or too high friction. 2. Mechanical overload of the actuator. 3. Current limit is too low.


actuator. 3. Increase the current limit.

Green / Red

5 Motor 1 / 2 Encoder disconnected

1. Problems in the encoder’s cable. 1. Check that the encoder is correctly connected to the drive.

Green / Red

6 Motor 1 / 2 Open limit loss 1. Reversible movement of the actuator. 2. The mechanical limit switch switched off with no

active commands.

1. Check the movement of the actuator and use a brake if the application cannot be reversible.

2. Check the mechanical contact of the limit switch.

Green / Red

7 Motor 1 / 2 Close limit loss 1. Reversible movement of the actuator. 2. The mechanical limit switch switched off with no

active commands.

1. Check the movement of the actuator and use a brake if the application cannot be reversible.

2. Check the mechanical contact of the limit switch.

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LED2 colour

Blinks number

Source Type Possible causes Suggested operations

Green / Red

8 Motor 1 / 2 Overcurrent during homing


is too fast.


actuator. 3. Increase the current limit and/or decrease the acceleration ramp

duration.

Green / Red

9 Motor 1 / 2 Detection of encoder connections failed

1. Homing procedure execution is too short. 1. Repeat the homing procedure ensuring that it will be longer than 3s.

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9. MAINTENANCE AND INSPECTION

!

Read carefully the safety precautions reported in 1.7 before maintaining and inspecting the drive!

Inspect periodically the drive to ensure that the environment is always appropriate to the drive

operation and to detect any sign of failure or malfunctioning.

Visually check that the environment where the drive is placed is not subject to large amounts of

dust, traces of water or other liquids, traces of condensate. If any of these elements is to be

found, improve the environment or reconsider the positioning of the drive.

Check using a thermometer that the environment temperature is within the operation

temperature limits. If it is not, improve the environment or reconsider the positioning of the

drive.

Check that the load current and the board temperature is not much different from the values

measured during a normal operating cycle. If it is not, check that the mechanical system is not

subjected to high frictions or overloading.

Check that all mounting screws and screw terminals are tightened firmly; if any of them is loose,

tighten it.

10. DISPOSAL

!

Read carefully the safety precautions reported in 1.8 before disposing the drive!

Contact a specialized agent in industrial waste disposal respecting to the local regulations.

TeMec Drive Srl Via Beretta,1

42024 Castelnovo di Sotto (RE)

Phone +39 0522.68.30.42

Fax +39 0522.68.81.31

P.I. 02614410351

az2 - temecdrive.comaz 2 user manual st.tec.003.en rev. 0.0 2 / 43 read carefully this manual before...

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