Document Outline

• Servo inverter 9300
  • Contents
  • 1 Preface
    • 1.1 How to use this System Manual
      • 1.1.1 Information provided by the System Manual
      • 1.1.2 Document history
      • 1.1.3 Products to which the System Manual applies
    • 1.2 Definition of notes used
  • 2 Configuration
    • 2.1 Configuration with Global Drive Control
    • 2.2 Basic configurations
      • 2.2.1 Changing the basic configuration
      • 2.2.2 Speed control C0005 = 1XXX (1000)
        • Setpoint selection
      • 2.2.3 Torque control with speed limitation 4000
        • Function
        • Setpoint input
      • 2.2.4 Master frequency coupling
        • General system description
        • Master configuration
        • Slave for master frequency bus
        • Slave for master frequency cascade
      • 2.2.5 Speed synchronism
        • How to select the correct configuration
        • Speed-synchronous running
        • Speed ratio synchronism
      • 2.2.6 Angular synchronism
        • Angle controller
        • Angular trimming
        • Following error limit
        • Processing of the zero pulse (flying synchronising)
        • Referencing
        • Homing modes
        • Profile generator
    • 2.3 Operating modes
      • 2.3.1 Parameter setting
      • 2.3.2 Control
  • 2.4 Change of the terminal assignment
    • 2.4.1 Freely assignable digital inputs
    • 2.4.2 Freely assignable digital outputs
    • 2.4.3 Freely assignable analog inputs
    • 2.4.4 Freely assignable monitor outputs
  • 3 Function library
    • 3.1 Working with function blocks
      • 3.1.1 Signal types
      • 3.1.2 Elements of a function block
      • 3.1.3 Connecting function blocks
      • 3.1.4 Entries into the processing table
    • 3.2 Function blocks
      • 3.2.1 Table of function blocks
      • 3.2.2 Table of free control codes
      • 3.2.3 Addition block (ADD)
      • 3.2.4 Automation interface (AIF-IN)
      • 3.2.5 Automation interface (AIF-OUT)
      • 3.2.6 Analog inputs via terminal X6/1, X6/2 and X6/ 3, X6/4 (AIN)
      • 3.2.7 AND operation (AND)
      • 3.2.8 Inverter (ANEG)
      • 3.2.9 Analog output via terminal 62/63 (AOUT)
      • 3.2.10 Arithmetic block (ARIT)
      • 3.2.11 Arithmetic block (ARITPH)
      • 3.2.12 Analog signal changeover switch (ASW)
      • 3.2.13 Holding brake (BRK)
        • Engaging the brake
        • Disengaging (releasing) the brake
        • Setting controller inhibit
      • 3.2.14 System bus (CAN-IN)
      • 3.2.15 System bus (CAN-OUT)
      • 3.2.16 Comparator (CMP)
        • Function 1: CMP1-IN1 = CMP1-IN2
        • Function 2: CMP1-IN1 > CMP1-IN2
        • Function 3: CMP1-IN1 < CMP1-IN2
        • Function 4: |CMP1-IN1| = |CMP1-IN2|
        • Function 5: |CMP1-IN1| > |CMP1-IN2|
        • Function 6: |CMP1-IN1| < |CMP1-IN2|
      • 3.2.17 Signal conversion (CONV)
      • 3.2.18 Angle conversion (CONVPHA)
      • 3.2.19 Angle conversion (CONVPHPH)
      • 3.2.20 Speed conversion (CONVPP)
      • 3.2.21 Characteristic function (CURVE)
        • Characteristic with two interpolation points
        • Characteristic with three interpolation points
        • Characteristic with four interpolation points
      • 3.2.22 Dead band (DB)
      • 3.2.23 Control of the drive controller (DCTRL)
        • Quick stop (QSP)
        • Operation inhibit (DISABLE)
        • Controller inhibit (CINH)
        • TRIP-SET
        • TRIP-RESET
        • Parameter set changeover (PAR)
        • Controller state
        • Standstill message (DCTRL-NACT=0)
      • 3.2.24 Master frequency input (DFIN)
      • 3.2.25 Digital frequency output (DFOUT)
        • Output signals on X10
        • Output of an analog signal
        • Output of a speed signal
        • Encoder simulation of the resolver
        • Direct output of X8 (C0540 = 5)
        • Direct output of X9 (C0540 = 4)
      • 3.2.26 Digital frequency ramp function generator (DFRFG)
        • Profile generator
        • Quick stop
        • Ramp function generator stop
        • RESET
        • Detect phase difference
        • Start via touch probe initiator (terminal X5/E5)
        • Correction of the touch probe initiator (terminal X5/E5)
        • Offset setting
      • 3.2.27 Digital frequency processing (DFSET)
        • Setpoint conditioning with stretch and gearbox factor
        • Processing of correction values
        • Synchronising to zero track or touch probe
        • Suppressing fault signals when synchronising via touch probe
      • 3.2.28 Delay elements (DIGDEL)
        • On-delay
        • Off-delay
        • General delay
      • 3.2.29 Freely assignable digital inputs (DIGIN)
      • 3.2.30 Freely assignable digital outputs (DIGOUT)
      • 3.2.31 First order derivative-action element (DT1)
      • 3.2.32 Free piece counter (FCNT)
      • 3.2.33 Free digital outputs (FDO)
      • 3.2.34 Freely assignable input variables (FEVAN)
      • 3.2.35 Fixed setpoints (FIXSET)
        • Release of the FIXSET1 setpoints
      • 3.2.36 Flipflop element (FLIP)
      • 3.2.37 Gearbox compensation (GEARCOMP)
      • 3.2.38 Limiting element (LIM)
      • 3.2.39 Internal motor control (MCTRL)
        • Current controller
        • Additional torque setpoint
        • Torque limitation
        • Speed controller
        • Torque control with speed limitation
        • Speed setpoint limitation
        • Angle controller
        • Quick stop QSP
        • Field weakening
        • Switching frequency changeover
      • 3.2.40 Mains failure control (MFAIL)
        • Mains failure control
        • Mains failure control
        • Restart protection
        • Reset of the mains failure control
        • Dynamic adaptation of the control parameters
        • Fast mains recovery (KU)
        • Application example
      • 3.2.41 Motor phase failure detection (MLP)
      • 3.2.42 Monitor outputs of monitoring system (MONIT)
      • 3.2.43 Motor potentiometer (MPOT)
      • 3.2.44 Logic NOT
      • 3.2.45 Speed setpoint conditioning (NSET)
        • Main setpoint path
        • JOG setpoints
        • Setpoint inversion
        • S ramp
        • Arithmetic operation
        • Additional setpoint
      • 3.2.46 OR operation (OR)
      • 3.2.47 Oscilloscope function (OSZ)
      • 3.2.48 Process controller (PCTRL1)
        • Control characteristic
        • Ramp function generator
        • Value range of the output signal
        • Evaluation of the output signal
        • Deactivation of the process controller
      • 3.2.49 Angle addition block (PHADD)
      • 3.2.50 Angle comparator (PHCMP)
      • 3.2.51 Actual angle integrator (PHDIFF)
      • 3.2.52 Signal adaptation for angle signals (PHDIV)
      • 3.2.53 Phase integrator (PHINT)
        • Constant input value (PHINT1 and PHINT2)
        • Constant input value (PHINT3)
        • Input value with sign reversal (PHINT3)
        • Scaling of PHINTx-OUT
      • 3.2.54 Delay element (PT1-1)
      • 3.2.55 CW/CCW/QSP linking (R/L/Q)
      • 3.2.56 Homing function (REF)
        • Profile generator
        • Homing modes
        • Control via input signals
        • Output of status signals
        • Function block interconnection
      • 3.2.57 Ramp function generator (RFG)
        • Calculation and setting of the times Tir and Tif
        • Loading of the ramp function generator
      • 3.2.58 Sample and hold function (S&H)
      • 3.2.59 S-shaped ramp function generator (SRFG)
      • 3.2.60 Output of digital status signals (STAT)
      • 3.2.61 Control of a drive network (STATE-BUS)
      • 3.2.62 Storage block (STORE)
        • STORE1 control via TP input E5
        • Storing STORE1 phase signal
        • Storing STORE2 phase signal
      • 3.2.63 Multi-axis synchronisation (SYNC1)
        • Possible axis synchronisations
        • Cycle times
        • Phase displacement
        • Time slot for synchronisation via terminal
        • Correction value of the phase controller
        • Fault indications
        • Configuration examples
        • Scaling
      • 3.2.64 Edge evaluation (TRANS)
        • Evaluate positive edge
        • Evaluate negative edge
        • Evaluate positive or negative edge
  • 4 Application examples
    • 4.1 Important notes
    • 4.2 Speed control (C0005 = 1000)
    • 4.3 Torque control with speed limitation (C0005 = 4000)
    • 4.4 Master frequency - Master - Drive (C0005 = 5000)
    • 4.5 Master frequency bus - slave - drive (C0005 = 6000)
    • 4.6 Master frequency cascade - slave - drive (C0005 = 7000)
  • 5 Appendix
    • 5.1 Glossary
      • 5.1.1 Terminology and abbreviations used
    • 5.2 Index