se motion products: lexium23 plus - infoplc structureorder structure – bch motorsbch motors...

SE Motion Products: Lexium23 Plus

Presenter Simone Gianotti – Technical Marketing Specialist, Motion & Safety Solutions

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Course ObjectivesUpon completion of this course the participant should be able to:

●Describe Lexium23 Plus offer●Describe Lexium23 Plus offer

●Describe Lexium23 Plus capabilities

●Determine which Lexium23 Plus architecture best fits the motion opportunity

●Parameterize Lexium 23 Pus using the Software Lexium23 CT

Schneider Electric 2- Motion Basics – Module 1

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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus

> P d i> Product overview> HMI Programming Interface> Lexium Programming Software> Initial Parameters Wizard> Initial Parameters Wizard> Operating Modes 1> Operating Modes 2> Autotuning> CANopen

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> P d t i> Product overview> HMI Programming Interface> Lexium Programming Software> Initial Parameters Wizard> Initial Parameters Wizard> Operating Modes 1> Operating Modes 2> Autotuningg> CANopen

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Product overview Lexium 23 Plus servo drive offerLexium 23 Plus servo drive offer

● LXM23D – I/O Servo Drive

LXM23A CAN /● LXM23A – CANopen / CANmotion Drive

5Schneider Electric - Motion & Drives training - Lexium 23 Plus ´04/2010

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Product overview Lexium 23D – I/O ControlLexium 23D I/O Control

● Servo-motor drive with external control via pulse and direction and analog and logic I/O

● Pulse Input up to 4 MPS● 62.5uS Current Control Loop● 8 Digital Inputsg g

● Position register for up to 8 positions

● I/O switching between Speed

● 8 Digital Inputs● 4 Digital Outputs● 2 Analog Inputs


● I/O switching between Speed, Position and Torque registers ● 2 Analog Outputs

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Product overview Lexium 23A – with CANopen ControlLexium 23A with CANopen Control

● Servo-motor drive with external control via CANopen motion fieldbus and analog and logic I/O

● 62.5uS Current Control Loop● 8 Digital Inputs● 4 Digital Outputsg g

● PLCopen Compatible for many standard motion control function blocks

● 4 Digital Outputs● 2 Analog Inputs● 2 Analog Outputs


● CANopen/motion bus interface

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Product overview Product TypeProduct Type

5 Physical Sizes of Drive● Size 1: 100W, 200W and 400W● Size 2: 750W , 1kW, and 1.5kW● Size 3: 2kW, 3kW, and 4.5kW● Size 4: 5.5kW● Size 5: 7.5kW


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Product overview Mechanical SizeMechanical Size

Size 1

LxM23●U01M3x,

Size 2

LxM23●U07M3x, LxM23●U20M3x

Size 3

60

,●U02M3x,●U04M3x

85

,●U10M3x,●U15M3x

114

LxM23●U20M3x,●U30M3x

146 180 195

162

162

162

1 1 1


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Product overview Power SupplyPower Supply

2 Power supply versions

200-255V AC single-phase● Size 1: 100W, 200W and 400W● Size 2: 750W 1kW and 1 5kW● Size 2: 750W , 1kW, and 1.5kW

170-255V AC three-phase● Size 3: 2kW, 3kW, and 4.5kW● Size 4: 5.5kW● Size 5: 7.5kW


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Product overview Order Structure – Lexium 23 PlusOrder Structure Lexium 23 Plus


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Product overview Programming InterfacesProgramming Interfaces

Integrated HMI


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Product overviewSerial InterfaceSerial Interface

HCT ( i )● HCT (unique)special high speed RS232for drive commissioning


● RS-485 serial communication

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Product overview Interfaces LxM23 Plus ● U01 U02 U04 U07 U10 U15Interfaces LxM23 Plus ● U01, U02, U04, U07, U10, U15

HMI

Mains supplyCANOPEN and

CAN_Motion Interface

Motor

DC-BusInput/Output

interface

ParameterisationExternal resistor

Motor feedback


Parameterisation interface

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Product overview Interfaces LxM23 Plus ● U20 U30 U45Interfaces LxM23 Plus ● U20, U30, U45

HMI

Mains supplyCANOPEN and

CAN_Motion Interface

Motor

DC-BusInput/Output

interface

ParameterisationExternal resistor

Motor feedback


Parameterisation interface

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Product overview AC synchronous servo motors - BCH Series Motors

The BCH motor series is dedicated for use with the Lexium 23 Plus

AC synchronous servo motors BCH Series Motors

Motors available for a wide range of inertia:

● Ultra-low Inertia: ● 0.1 – 0.4kW

● Low Inertia:● Low Inertia:● 0.4 – 2kW

● Medium Inertia:● 0 3 3kW● 0.3 – 3kW

● High Inertia:● 2 – 7.5kW


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Product overview Order Structure – BCH MotorsOrder Structure BCH Motors


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Product overview AC synchronous servo motors - BCH Series Motor Encoders

On power-up, Lexium 23 Plus automatically reads motor data from d

AC synchronous servo motors BCH Series Motor Encoders

encoder.

Encoder:● Incremental Encoder● Digital data communication● Rated Voltage: +5V● Resolution: 20 bit


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Product overview Drive – Motor CompatibilityDrive Motor Compatibility


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Product overview Electrical installation - Safety instructions

Please observe the following safety regulations when working on electrical equipment:

Electrical installation Safety instructions

● Disconnect device from supply voltage. ● Secure the device against accidental reactivation (and g (

attach a “DO NOT SWITCH ON” sign to the switch).● Verify that parts are free of voltage. ● Cover or block adjacent system parts that are still live.

● WAIT FOR 10 MINUTES (discharge the DC bus capacitors)

● Measure the voltage between PA/+ and PC/- and check that it is <48 V. (Important: The LED does not reliably indicate that no DC bus voltage is present)


reliably indicate that no DC bus voltage is present).

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Product overview Electrical installation - Mains supply/supply voltageElectrical installation Mains supply/supply voltage

Single / 3 Phase Device

40VA

C

Device

ins

115

-24

CN

1 M

ai


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Product overview Electrical installation - Operation with external Filter or RCDElectrical installation Operation with external Filter or RCD

Power Supply

NO Fuse Breaker (NFB)

Relays also

Breaker (NFB)RCD (Option)

Relays alsofor E-Stop

L1, L2


R, S, T,

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Product overview Electrical installation - Motor and holding brake connectionElectrical installation Motor and holding brake connection

Bus

A/+

CN

9 D

C B PA

A Holding Brake Controller is not necessary. Thenot necessary. The Connection is directly on the Terminal Adapter.


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Product overview Electrical installation - Connection of the motor encoderElectrical installation Connection of the motor encoder


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Product overview Electrical installation Connection of the external ballast resistorElectrical installation Connection of the external ballast resistor

PB

PC/-


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Product overview Electrical installation / IT mains - CommissioningElectrical installation / IT mains Commissioning

PB

PC/-PC/


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Product overview Electrical installation / IT Mains - Overview of all In / OutputsElectrical installation / IT Mains Overview of all In / Outputs

All In / Outputs can be configured via the Commissioning ToolCommissioning Tool.


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Product overview Electrical installation / IT mains –Connection of the Pulse InputElectrical installation / IT mains Connection of the Pulse Input

Line Driver Input

UpperOptic coupler

Upper500 KHzlower


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Product overview Electrical installation / IT mains –Connection of the Encoder OutputElectrical installation / IT mains Connection of the Encoder Output

RS422 Outputp


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Product overview Electrical installation / IT mains –Connection of digital inputs / outputs (CN6)

Sink Configuration Source ConfigurationSink Configuration Source Configuration

Inp tInputSON

Com+

Com+

SON

Output

+

Com+

OutputDOx+

DOx- DOx-

DOx+


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Product overview Electrical installation / IT mains –Connection of analogue input / Output (CN1)

Ana_In

Ana_Out


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> P d t i> Product overview

> HMI Programming Interface> Lexium Programming Software> Initial Parameters Wizard> Initial Parameters Wizard> Operating Modes 1> Operating Modes 2> Autotuningg> CANopen

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HMI (Human Machine Interface)Overview – HMIOverview HMI

Integrated HMI

LED´s only on LxM23 A

LED´s : Status of the CAN network

Charge LED

LED s : Status of the CAN network

: to select/change mode

: moving cursor and indexing through the parameter groups

: can scroll through and change monitor codes,parameter groups

: to store data


: to store data

LED display : 7-segment display (5-digit)

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HMI (Human Machine Interface)Keypad operationKeypad operation

Fault Mode andMonitor Mode


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● Default display mode is bl

● LIST OF DATA

programmable.

● Arrow keys scroll through other data display


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Parameter Mode


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HMI (Human Machine Interface)There are seven groups of drive parameters

Described in:Chapter 4: Display and Operation

&


&Chapter 7: Servo Parameters

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HMI (Human Machine Interface)Monitor status (P0-02 setting value 0 18)Monitor status (P0 02, setting value 0 .. 18)

● In monitor mode the user can specify the monitor status by changing the parameter P0-02

● When drive is switched on, the monitor status depends on the setting value of P0-02.

For example: P0 02 setting = 4 After power on the monitor function will be: For example: P0-02 setting = 4. After power on the monitor function will be:“input pulse number”.


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P0 09 till P0 13 i d t di l th t t l d t i d b P0 17 till P0 20● P0-09 till P0-13 is used to display the status value determined by P0-17 till P0-20.

example: You want to display the “speed input command [Volt]”:p p y p p [ ](Drive status list in P0-02 = 8)

You have to set P0-17 to 8.

With parameter setting P0-02 = 23, the content of P0-09 will be displayed as monitor status.


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P0 25 till P0 32 i d t di l 32 bit t t 16 bit t● P0-25 till P0-32 is used to display one 32 bit parameter or two 16 bit parameter.The parameters will be mapped by P0-35 till P0-P42.

example: You want to read/write two 16-bit parameters via P0-25:p p- P2-02 (PositionFeedForwardGain)- P2-04 (ProportionalSpeedLoopGain)

You have to set P0-35 to 0x 02040202The values of P2-02 and P2-04 will be displayed by P0-25

With parameter setting P0-02 = 19, the content of P0-25 will be displayed as monitor status.


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HMI (Human Machine Interface)Calling parametersCalling parameters


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Switching on the first time

Aft it hi th d i th d i th h i iti li ti ti● After switching on the servo drive, the device goes through a initialization routine;all LED´s are tested, all segments of the 7-segment display and the LED´s light up.

● After the initialization the device reads the operation mode and displays it for 1 p p ysec. Default operating mode is “CANopen Mode” for the LXM23A Plus.

● The functions for the inputs and outputs will be set to default settings after initialize

● If you change:

a “Reset to factory settings” and repower the drive.

- the operating mode/motor direction- Modbus address

you must reboot the drive to validate the new settings.


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Factory setting

P t P2 08 b d t t ll t t th i i i l f t● Parameter P2-08 can be used to reset all parameters to their original factory setting and enable some parameter functions !

● To perform a reset to factory setting the drive has to be disabled● To perform a reset to factory setting, the drive has to be disabled.

● Setting parameter P2-08 to value “10”, all parameter values are set to factory defaults All parameter values will be reset after re powerdefaults. All parameter values will be reset after re-power.


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Exercises 1.1 – HMIReset to factory settingsReset to factory settings

Factory Reset

● Restoring programming settings to default settings

● Servo Drive must be ‘Servo Off’● Servo Drive must be Servo Off

● Reset takes effect when drive is repowered


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Exercises 1.1 – HMIReset to factory settingsReset to factory settings

● Select the Parameter P2-08

Special factory setting

Reset parameter settings

P2-08

00010 p g

1. displaysaved

rst 2. display

done 3. display

Reboot the drive


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Exercises 1.2 – HMI cont…


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Exercises 3.2 – HMIJog ModeJog Mode

Adjust JOG speed to 75

Press ENT to activate JOG mode

P4-05

ENT

Display that JOGmode is active

P ▼OR ▲ t th t

Jog

Before you start Jog Mode, Press▼OR ▲ to run the motor CCW OR CW

P M k t it JOG d

please change the operating mode from CANopen to Speed Ctrl mode (S_Mode)

S t P1 01 0 0102 Press M key to exit JOG modeSet P1:01 = 0x0102

And define the input functions like shown in the

t lid


next slide

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Exercises 1.3 – HMIFault recordFault record

● Display of the current Fault Record

● Simulate an error. E.g. Interrupt a limit-switch input.

Select Parameter P0-01

Display the current drive fault

P0-01

ENT

Display: e.g. Reverse limit switch error

0014

M


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Exercises 1.4 – HMIFault memoryFault memory

● Display of the error memory


Display the most recent fault record

P4-00

ENT

Select Parameter P4-01P4-01

Display the second most recent ENT p yfault record

P4-02, P4-03, P4-04

Select Parameter P4-02,P4-03,P4-04 for the third, fourth, fifth recent fault record

M49Schneider Electric - Motion & Drives training - Lexium 23 Plus ´04/2010

M

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Exercises 1.5 – HMIFind out the Firmware VersionFind out the Firmware Version

● Display of the firmware version


Display of the firmware version

P0-00

M


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Exercises 1.6 – HMICheck the Main Circuit VoltageCheck the Main Circuit Voltage

● Check the Main Circuit Voltage

P0-02 Set Parameter P0-02 to 14

DC Bus voltage P0-02

display 315 p y

M


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Exercises 1.7 – HMIMonitor IO signalsMonitor IO signals

● display the input status

Select P4-07 to display the input signalsP4-07

00E5

1 1 1 0 0 1 0 1

DI 8 7 6 5 4 3 2 1

MM


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Exercises 1.8 – HMIMonitor IO signalsMonitor IO signals

● display the output status

Select P4-09 to display the output signalsP4-09

0017

0 0 0 1 0 1 1 1

DO 5 4 3 2 1


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Exercises 1.9 – HMIChange operating mode to CANopen and Setup Can AddressChange operating mode to CANopen and Setup Can Address


Configuration

Can Open Address

P3-05

p


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Exercises 1.10 – HMIChange operating mode to CANopen and Setup BaudrateChange operating mode to CANopen and Setup Baudrate


ConfigurationP3-01

Can Open Baudratep

Reboot the drive


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> P d t i> Product overview> HMI Programming Interface

> Lexium Programming Software> Initial Parameters Wizard> Initial Parameters Wizard> Operating Modes 1> Operating Modes 2> Autotuningg> CANopen

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Lexium Programming Software Status and drive faultStatus and drive fault

● When the drive has a fault LCD display will show the● When the drive has a fault, LCD display will show the„Alarm number“ as e.g.: „AL013“ „Operational stop activated.“

● The current servo drive fault is also shown with parameter P0-01.,

● Several errors can be reset by turning DI signal (ARST) ON;Several errors can only be reset by restarting the servo drive.(Please refer to the error list in the drive manual )(Please refer to the error list in the drive manual.)


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Lexium Programming Software Status and drive fault – Monitor and Setting displayStatus and drive fault Monitor and Setting display

● When the drive is switched on the LCD display will show the current● When the drive is switched on, the LCD display will show the current operating mode for approx. 1 second, and then enter into the monitor mode.

● In monitor mode the user can change the monitor status when pressing: ▲ OR ▼.

● To specify the monitor status parameter P0-02 can be changed.E.g.: P0-02 setting = 7. Display message: SPEED [rpm].


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Lexium Programming Software Status and drive fault – Error memory - HMIStatus and drive fault Error memory HMI

● The error memory contains a history of the last 5 errors● The error memory contains a history of the last 5 errors.

● The error memory can be found in the parameter section P4-00 … P4-04.

● The five most recent errors are stored.


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Exercises 2.1 –Check Error Memory - HMICheck Error Memory - HMI

● Check the fault record of the drive parameter P4-00 … P4-04.p


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Exercises 2.2 –Connect Lexium 23 Plus commissioning toolConnect Lexium 23 Plus commissioning tool

USB

RS232


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Exercises 2.3 –St t it L i 23 Pl i i i t lStatusmonitor - Lexium 23 Plus commissioning tool

● Open the status monitor and checkmonitor and check the several status signals.


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Exercises 2.4 –Check Fa lt record Le i m 23 Pl s commissioning toolCheck Fault record – Lexium 23 Plus commissioning tool

● Check the fault record of the drive parameter P4-00 … P4-04.p


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Exercises 2.5 –Error simulationError simulation

● simulate an operational stop error and check the entry● simulate an operational stop error and check the entry in the fault record with the commissioning tool and on HMI. parameter P4-00 P4-04 parameter P4 00 … P4 04.

● simulate a LIMIT switch error and check the entry in the fault record with the ycommissioning tool and on HMI. parameter P4-00 … P4-04.


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Exercises 2.6 –Ch k Al /Al Hi t L i 23 Pl i i i t lCheck Alarm/Alarm History - Lexium 23 Plus commissioning tool

There are different possibilities to open the Alarm Information

Open current “Alarm” and “Alarm History”


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> P d t i> Product overview> HMI Programming Interface> Lexium Programming Software

> Initial Parameters Wizard> Initial Parameters Wizard> Operating Modes 1> Operating Modes 2> Autotuningg> CANopen

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Initial Parameter WizardOverviewOverview

Possible operating modeon Lexium 23 Plus (A):


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Initial Parameter Wizard Choosing operating modeChoosing operating mode

There are two possibilities to select the operating mode:

1. Selecting the operating mode in the Parameter Editor P1-01:

2. Selecting the operating mode with the Parameter Initial Wizard:


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Initial Parameter WizardParameter Initial WizardParameter Initial Wizard

Via “Parameter Initial Wizard” the user can make the necessary entries for the chosen Control Mode.


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Initial Parameter WizardDigital Input / Output SetupDigital Input / Output Setup

DI/O Setup

● Input functions● Input functionsfor DI1 … DI8

● contact a: “High active”contact b: “Low active”

● Output functionsfor DO1 … DO5


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Initial Parameter WizardCommon SetupCommon Setup

Common Setup


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Initial Parameter WizardSpeed Mode SetupSpeed Mode Setup

Speed Mode SetupSpeed Mode Setup


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Initial Parameter WizardInternal Speed/TorqueInternal Speed/Torque

Internal Speed/Torque


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Initial Parameter WizardInput function definitionInput function definition

● Parameters from P2-10 to P2-17 are used to determine the functions and statuses of DI1 .. DI8.

● The setting have to be done on this way:

- A: DI function setting( “01” [S O ])

1 0 1A

(e.g.: “01” [Servo On])

- B:- 0: Normally closed (contact b)

B

- 1: Normally open (contact a)


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Initial Parameter WizardInput functionInput function

● After switch on the drive, “SON” needs a rising edge if P2-68 is 0! (See below)

Alarms (FAULT) can be cleared by activating „ARST“.If the alarm can be cleared with „ARST“ you have to check the fault description in the manual.


manual.

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● GAIN switching control selection (see below)

2 0 0 “CC ” 2 0 1 “CC ”


● P2-50 = 0: “CCLR” triggered by rising-edge; P2-50 = 1: “CCLR” triggered by level.

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Command input reverse control. When the drive is in Speed or Torque mode, and CMDINV is activated, the motor is in reverse rotation.

8


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● Safety inputs should be configured as “normally ON”configured as normally ON

● Homing mode will be selected with parameter P5-04


se ected t pa a ete 5 0 “Parameter Initial Wizard”

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Initial Parameter WizardInput functionp


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Initial Parameter WizardOutput functionp


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OLW


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● The time chart of the “position control output signals you´ll find on the next page.


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Exercises 3.1Parameter Initial Wizard (Speed Mode)Parameter Initial Wizard (Speed Mode)

● Use the Parameter Initial Wizardto do the necessary control mode setup (Task see below)setup. (Task see below)


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Exercises 3.2 Parameter Initial Wizard (Internal Speed)Parameter Initial Wizard (Internal Speed)

● Use the Parameter Initial Wizardto do the necessary control mode setup. (Task see below)(Task see below)


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> P d t i> Product overview> HMI Programming Interface> Lexium Programming Software> Initial Parameters WizardInitial Parameters Wizard

> Operating Modes 1> Operating Modes 2> Autotuningg> CANopen

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Operating modesPR ModePR Mode

Single Mode “Pr” (Mode 01)


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Operating modesPR ModePR Mode

Select PR Mode via “Parameter Initial Wizard”


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Operating modesPR Mode SetupPR Mode Setup

Assistant window for “PositionControlMode”PR mode

OPEN PR Mode Setup

PR mode


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Operating modesPR Mode SetupPR Mode Setup

Configuration of the position profile(Max. 8 Position register)


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Operating modesPR Mode / Command delay timePR Mode / Command delay time

Delay time betweenDelay time betweenmovement finished andsignal DO (CMD_OK)


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Operating modesPR Mode / Absolute and incremental commandPR Mode / Absolute and incremental command

Absolutecommand

IncrementalIncrementalcommand[Additive]


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Operating modesPR Mode / Insertion commandPR Mode / Insertion command

Incremental command with insertion


insertion

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Operating modesPR Mode / Insertion commandPR Mode / Insertion command

An absolue command has an insertion to an incremental


incremental command

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Operating modesPR Mode / Homing SettingPR Mode / Homing Setting

Homing Setting to configure theconfigure the homing parameters


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Operating modesPR Mode / Homing when Power OnPR Mode / Homing when Power On


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Operating modesPR Mode / Homing Mode 1PR Mode / Homing Mode 1

● X0: Move forward (CCW) to forward Limit switch

● X1: Move backward (CW) to● X1: Move backward (CW) to backward Limit switch

● Y=0: Return to Z

● Y=1: Go ahead to Z

● Y=2: Do not search Z


● Y 2: Do not search Z

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● X2: Move forward (CCW)( )to ORGP move out from ORGP backward

● X3: Move backward (CW)to ORGP move out from ORGP forward

● Y=0: Return to Z● Y=1: Go ahead to Z● Y=2: Do not search Z


● Z=0: Stop and Warn● Z=1: Reverse automatically

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● X4: Move forward to Z pulse

● X5: Move backward to● X5: Move backward to Z pulse



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● X6: Move forward (CCW)● X6: Move forward (CCW)to ORGP move out from ORGP forward

● X7: Move backward (CW)to ORGP move out from ORGP backward

● Y=0: Return to Z● Y=1: Go ahead to Z● Y=2: Do not search Z



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● X8: Regard current position as home position. (SetPosition)


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Operating modesPR Mode / Final place after homingPR Mode / Final place after homing

After homing the motor can be moved to a position out of the position register.(Lik f t di t )(Like safety distance)


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Operating modesPR Mode / Speed/Time settingPR Mode / Speed/Time setting

15 different:15 different:

- ACC/DEC

- Delay TimeDelay Time

- speed can be defined.


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Operating modesPR Mode / Electronic gear/ratio event deceleration timePR Mode / Electronic gear/ratio, event deceleration time


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Operating modesPR Mode / capture 1 functionPR Mode / capture 1 function


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Operating modesPR Mode / capture 2 functionPR Mode / capture 2 function


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Exercises 4.1 – Operating ModePR Mode – DI/O SetupPR Mode DI/O Setup

● Choose Pr Control mode and configure DI1-6 and DO1,DO2 as described below.as described below.


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Exercises 4.2 – Operating ModePR Mode – Homing SettingPR Mode Homing Setting

1. Enter the homing settings asdescribed below and test.


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Exercises 4.3 – Operating ModePR Mode – PR Mode SettingPR Mode PR Mode Setting

1. Enter the PR Mode Settings for the position register 01 … 08 as:- options, speed time setting, and


p p gposition data.

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> P d t i> Product overview> HMI Programming Interface> Lexium Programming Software> Initial Parameters WizardInitial Parameters Wizard> Operating Modes 1

> Operating Modes 2> Autotuningg> CANopen

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Operating modesPosition CommandPosition Command


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Operating modesExternal Position Control (Pt mode)External Position Control (Pt mode)

● Position control for the servo motor achieved via external pulse command.(External pulse train)

● 3 pulse type can be used: - AB signal, CW/CCW signal, pulse/direction

● 2 different source of pulse command: low speed (up to max 500KHz)● 2 different source of pulse command: - low speed (up to max 500KHz)- High speed (up to max. 4MHz)


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● P1-68: Moving filter


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● P1-08: Low pass filter


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U i h i f i “GNUM1”● Using the input functions “GNUM1” and “GNUM2” the nominator for the electronic gear ratio can be set.

● Denominator is set by P1-45.


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Operating modesSpeed CommandSpeed Command


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Operating modesExternal Speed Control (S mode)External Speed Control (S mode)

● External analog signal controls the speed of the servo motor.

● Via input functions “SPD0” and “SPD1” the pcommand source will be selected.


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● S-curve filter: speed smoothing command during acceleration and p g gdeceleration phase.


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Mo ing filter P1 59● Moving filter P1-59

● Low pass filter P1-06


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● Zero speed function


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Operating modesInternal Speed Control (Sz mode)Internal Speed Control (Sz mode)

●There are 3 speed control parameters P1-09, P1-10, P1-11 to control the speed of servo motor.

● Via input functions “SPD0” and “SPD1” the pinternal speed register will be selected.


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Operating modesTorque CommandTorque Command


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Operating modesExternal Torque Control (T mode)External Torque Control (T mode)

● External analog signal controls the torque of the servo motor.

● Via input functions “TCM0” and “TCM1” the pcommand source will be selected.


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Operating modesExternal Torque Control (T mode)External Torque Control (T mode)

● Low pass filter P1-07 (SFLT)


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Operating modesInternal Torque Control (Tz mode)Internal Torque Control (Tz mode)

●There are 3 torque control parameters P1-12, P1-13, P1-14 to control the torque of servo motor.

● Via input functions “TCM0” and “TCM1” the internal ptorque register will be selected.


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Operating modesDual ModeDual Mode

●Lexium 23 plus provides also p pDual Mode change from one control mode to the other via DI.


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Operating modesDual Mode (06) Pt – S and (08) Pr - SDual Mode (06) Pt S and (08) Pr S

● If DI is OFF position mode is active.


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Operating modesDual Mode (0A) S – TDual Mode (0A) S T

● If DI is OFF speed mode is active.


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Operating modesDual Mode (07) Pt – T and (09) Pr - TDual Mode (07) Pt T and (09) Pr T

● If DI is OFF position mode is active.


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Exercises 5.1 – Operating ModeDual Mode (0A) S - TDual Mode (0A) S T

● Choose Control mode (0A) S –T and configure DI1-6 and DO1, DO2 as described below.DO2 as described below.


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Exercises 5.2 – Operating ModeDual Mode (0A) S - TDual Mode (0A) S T

1. Enter speed and torque values,and test S – T mode.


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Exercises 5.3 – Operating ModeSingle Mode (01) / Jog functionSingle Mode (01) / Jog function

● Choose Control mode (01) Prand configure DI1-6 and DO1, DO2 as described below, and test the several in-/described below, and test the several in / output functions like JOG … .

- Test also capture function on next page


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Exercises 5.4 – Operating ModeSingle Mode (02) / Capture 1 functionSingle Mode (02) / Capture 1 function

● Test capture function as described below

● Select Control Mode “02” “Speed mode” (S)• Define - DI1 as “Servo On”Define DI1 as Servo On

- DI2 as “Alarm Reset”- DI5 as “Operational Stop”

All the other input you have to be disabled

- DO1 “Servo ready”- DO2 “Capture operation completed”


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> P d t i> Product overview> HMI Programming Interface> Lexium Programming Software> Initial Parameters WizardInitial Parameters Wizard> Operating Modes 1> Operating Modes 2

> Autotuningg> CANopen

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Tuning, Lexium 23 CT menu Controller structureController structure


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Tuning, Lexium 23 CT menu Trial Run without loadTrial Run without load

● We recommend to complete the trial run without load first● We recommend to complete the trial run without load first,before performing the trial run with load to prevent accidents and avoid damaging.

● To be sure that all control loop parameters are set to default values we● To be sure, that all control loop parameters are set to default values, we recommend to initiate a “special factory setting”:P2-08 = 10.

● Please refer to chapter 3 (HMI, First Setup) how to perform JOG trial run.

For safety it´s recommended to set JOG speed at low speed● For safety, it s recommended to set JOG speed at low speed.

● External wiring, like Limit switches is not necessary.


te a g, e t s tc es s ot ecessa y

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Tuning, Lexium 23 CT menu Speed Trial Run without loadSpeed Trial Run without load

● Set parameter P1-01 to “02” (speed control mode) and restart the drive● Set parameter P1 01 to 02 (speed control mode) and restart the drive.

● Configure necessary inputs as listed below.

● Configure the speed command selection as shown in the table below.

● Enable the drive with DI1 and test with analog input and internal speed command.

It´ l ibl t k iti t i l ith t l d i iti t l● It s also possible to make a position trial run without load using position control mode Pr.


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Tuning, Lexium 23 CT menuTuning / 1 method: Auto Gain TuningTuning / 1. method: Auto Gain Tuning

● Open Auto Gain tuning


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Tuning, Lexium 23 CT menu Auto Gain Tuning / inertia ratioAuto Gain Tuning / inertia ratio

1. Servo On

2. Set the speed and download

3. Jog the motor to define Position1 and 2.Before Start:

4. Click on Start motor is running JL/Jm ratio will be displayed.

5 G b k t St 2 d 4 i d

Before Start: set P2-47 to 1

5. Go back to Step 2 and 4, raise speed, and repeat the procedure until you see a stable inertia ratio.

6. Click Set_J inertia ratio will be set to P1-37


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Tuning, Lexium 23 CT menuAuto Gain Tuning / Download parameterAuto Gain Tuning / Download parameter

7. Determined ratio of inertia is shown.

8 =>> Download parameter into drive

7

8. =>> Download parameter into drive.

9. If a resonance frequency was found, the Notch filter –frequency and – Gain will also be downloaded.

8

9


9

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Tuning, Lexium 23 CT menuTuning / 2 method: Semi Auto ModeTuning / 2. method: Semi Auto Mode

15


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Tuning, Lexium 23 CT menu Tuning / 3 method: Auto ModeTuning / 3. method: Auto Mode

15


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Tuning, Lexium 23 CT menu Notch filterNotch filter


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Tuning, Lexium 23 CT menu Scope function / FFT- Fast Fourier TransformScope function / FFT Fast Fourier Transform

● Diagnosing resonance frequency


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Tuning, Lexium 23 CT menu Scope function / Measure Resonance manuallyScope function / Measure Resonance manually


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Tuning, Lexium 23 CT menu Scope “Status objects”Scope Status objects


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Tuning, Lexium 23 CT menu Scope “CANopen objects” and “DriveStatus”Scope CANopen objects and DriveStatus

● Open scope, choose ADR mode and enter the address of the object you want to monitoraddress of the object you want to monitor.


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Tuning, Lexium 23 CT menu Scope / ConditionScope / Condition


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Tuning, Lexium 23 CT menu Model InformationModel Information

● The Model Information● The Model Information provide:- list of motor specification- COM port information

fi i- firmware version


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Exercises 6.1 – TuningSemi Auto ModeSemi Auto Mode

● Test Tuning “Semi auto mode” like described on slide 9 in this chapter and belowon slide 9 in this chapter and below.


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Exercises 6.2 – TuningAuto Gain TuningAuto Gain Tuning

● Open Auto Gain Tuningand practise the tuning step by step as described in this chapter on slide 6 .. 8.


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Exercises 6.3 – ScopeScope functionScope function

● Open Scope window

- choose “motor speed”- choose “motor current”- choose “speed commandchoose speed command

rotation speed voltage”

and start monitoring.


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> P d t i> Product overview> HMI Programming Interface> Lexium Programming Software> Initial Parameters WizardInitial Parameters Wizard> Operating Modes 1> Operating Modes 2> Autotuning

> CANopen

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Lexium 23 A CANopenCANopen

● For Operating mode “CANopen” the parameter P1-01 has to be set = 0x0B0x0B

to enable CANopen mode (DS402).● parameter P3-10 has to be set = 0x00 (Use only DS 402 profile)p )

● With parameter P3-01 the transmission speed has to be set:

● With parameter P3-05 the CAN-Communication address has to be set

p p

setting e.g: 01 03

CAN Baudrate RS485 Baudrate


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Lexium 23 ACANopen – Communication architectureCANopen Communication architecture


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Lexium 23 ACANopen – State MachineCANopen State Machine


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Lexium 23 ACAN diagnosticCAN diagnostic

● Two LED´s are used for diagnostic:

“RUN”, “Error”


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Lexium 23 ACANopen – General - SDO abortCANopen General SDO abort

SDO error frameByte

0Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

80h Low index High index Sub- ErrorCod ErrorCod ErrorCodgindex ErrorCode e e e


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Lexium 23 A CANopen – emergencyCANopen emergency

Emergency ObjectByte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Emergency ErrorCode

ErrorRegister

Panel Alarm Code N/Ag y j g

e.g.:


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Lexium 23 ACANopen – General - PDOCANopen General PDO

● LxM23 A uses 8 PDO´s, 4 receive PDOs and 4 send PDO´s

● All PDOs are transmitted „event-controlled“ in the default setting.

I th d f lt tti f th PDO´ R PDO1“ d T PDO1“ bl d● In the default setting of the PDO´s „R_PDO1“ and „T_PDO1“ are enabled.The others must be enabled.

● All PDO´s can be modified by PDO mapping.y pp g


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Lexium 23 ACANopen – General - Mapping of the R PDO´sCANopen General Mapping of the R_PDO s


● manufacturer-specific object values are transmitted with the forth receive PDO

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Lexium 23 ACANopen – General - Mapping of the T PDO´sCANopen General Mapping of the T_PDO s


● manufacturer-specific object values can be monitored with the forth transmit PDO

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Lexium 23 ACANopen – General - Operating statusCANopen General Operating status

Different to LxM05, LxM32 …

● Bits 0,1,2,3,5 and 6 of the DCOMstatus parameter provide information on theoperating mode.


operating mode.

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Lexium 23 ACANopen – General - Operating statusCANopen General Operating status

● Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is missing or too low, the device does not transition from operating state 3 to


missing or too low, the device does not transition from operating state 3 to operating state 4.

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Lexium 23 ACANopen – General - Changing operating stateCANopen General Changing operating state

● Bit´s 0,1,2,3 and 7 of the parameter “DCOMcontrol” allow you to switch between the operating states.


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Lexium 23 ACANopen – General - Changing operating stateCANopen General Changing operating state

● Bit´s 4 to 6 are used for the operating mode-specific settings.


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Lexium 23 ACANopen – Operating modesCANopen Operating modes


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Lexium 23 ACANopen – Profile Position Mode (PP)CANopen Profile Position Mode (PP)

● associated objects:


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Lexium 23 ACANopen – Operating procedure for PP ModeCANopen Operating procedure for PP Mode


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Lexium 23 ACANopen – Profile Velocity Mode (PV)CANopen Profile Velocity Mode (PV)



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Lexium 23 ACANopen – Operating procedure for PV ModeCANopen Operating procedure for PV Mode


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Lexium 23 ACANopen – Profile Torque Mode (PT)CANopen Profile Torque Mode (PT)



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Lexium 23 ACANopen – Operating procedure for PT ModeCANopen Operating procedure for PT Mode


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Lexium 23 ACANopen – Homing ModeCANopen Homing Mode



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Lexium 23 ACANopen – Operating procedure Homing ModeCANopen Operating procedure Homing Mode


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Lexium 23 ACANopen – Interpolation Position Mode (IP)CANopen Interpolation Position Mode (IP)



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Lexium 23 ACANopen – Operating procedure Interpolation Position Mode (IP)CANopen – Operating procedure Interpolation Position Mode (IP)


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Lexium 23 ACANopen – JOG ModeCANopen JOG Mode



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Lexium 23 ACANopen – Operating procedure JOG ModeCANopen Operating procedure JOG Mode


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Lexium 23 A SoMachineSoMachine

● EDS file available

● No CANopen PLCopen libraries released yet

● No CANmotion PLCopen libraries released yet● No CANmotion PLCopen libraries released yet


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Schneider Electric Motion Basics

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