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DIAX03
Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
Functional Description: SSE 02VRS
mannesmann
Rexroth
engineering
Indramat
276248
DIAX 03
DKR DDS
DIGITALCOMPACTCONTROLLER DKR
2
220 VSteuer-
spannungAux.
Voltage
Netz/Mains
L3L2L1
Motor
A3A1 A2 B2B1N L L+L-
H1
X4
X2
U5
U2
S2
U4
U1 U3
H2
S1
X3X3
X9
1
6
1
7
X8
X7
1
10
1
11
SSE-02VRS
About this documentation DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
DIAX03 Drive With Servo Function 02VRS
Functional Description
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
• Mappe 51-02V-EN Register 3
• Based on: 02V20
• 209-0072-4332-01
The following documentation describes the functions of the firmware
FWA-DIAX03-SSE-02VRS.
This documentation serves trained maintenance personnel:
• as a working guide for installation of the digital AC servo drive via a
SERCOS-compatible control system
• for parameterization of the drive controller
• for data security of the drive parameter
• for error diagnosis and error removal
Document identification of
previous and present output Release
Date Remarks
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P 10.97 First edition
 INDRAMAT GmbH, 1997
Transmission as well as reproduction of this documentation, commercial
use or communication of its contents will not be permitted without
expressed written permission. Violation of these stipulations will require
compensation. All rights reserved for the issuance of the patent or
registered design. (DIN 34-1)
All rights are reserved with respect to the content of this documentation
and the availability of the product.
INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Dept. END (OS/WR)
Title
Type of Documentation
Documentation Type
Internal Filing Notation
What is the purpose of this
documentation?
Course of modifications
Copyright
Validity
Published by
DIAX03 Drive With Servo Function Contents I
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
Contents
1 System Overview 1-1
1.1 Range of Applications..........................................................................................................................1-1
1.2 Drive Controllers ..................................................................................................................................1-2
1.3 Motors..................................................................................................................................................1-3
1.4 Firmware Overview..............................................................................................................................1-4
1.5 Basic Operating Modes and General Features....................................................................................1-4
Basic Operating Modes.................................................................................................................1-4
General Features..........................................................................................................................1-4
1.6 Additional Firmware Features: Drive with Servo Feature.....................................................................1-5
2 Safety Instructions for Electrical Drives 2-1
2.1 General ................................................................................................................................................2-1
2.2 Protection against contact with electrical parts....................................................................................2-2
2.3 Protection by protective low voltage (PELV) against electrical shock ...........................................2-3
2.4 Protection against dangerous movements...........................................................................................2-4
2.5 Protection against magnetic and electromagnetic fields during operations and mounting..................2-5
2.6 Protection during handling and installation ..........................................................................................2-6
2.7 Battery safety .......................................................................................................................................2-6
3 General Instructions for Installation 3-1
3.1 Explanation of Terms...........................................................................................................................3-1
Parameter .....................................................................................................................................3-1
Operating Modes...........................................................................................................................3-5
Error ..............................................................................................................................................3-5
Warnings.......................................................................................................................................3-6
Commands....................................................................................................................................3-7
3.2 Commissioning Guidelines ..................................................................................................................3-9
3.3 Diagnostic Configurations..................................................................................................................3-15
Overview of Diagnostic Configurations.......................................................................................3-15
Drive-Internal Diagnostics...........................................................................................................3-15
Diagnostic Message Composition...............................................................................................3-16
Collection of Status .....................................................................................................................3-18
Configurable signal status word..................................................................................................3-21
3.4 Parameter Mode - Operation Mode...................................................................................................3-24
Monitoring in the Transition Check Command............................................................................3-25
4 Communication Through the SERCOS-interface 4-1
4.1 Overview of SERCOS Communication................................................................................................4-1
4.2 Data Transfer Cycle through SERCOS................................................................................................4-1
Master Control Word.....................................................................................................................4-2
Drive Status Word.........................................................................................................................4-3
4.3 Real-Time Control and Status Bits.......................................................................................................4-5
4.4 Transmission of non-cyclical Data through SERCOS..........................................................................4-5
4.5 Startup for the SERCOS Interface.......................................................................................................4-5
II Contents DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
Adjustments of the SERCOS Interface.........................................................................................4-6
Connecting the Fiber Optic Cables of the SERCOS Interface......................................................4-7
Setting the Drive Address of the SERCOS Interface....................................................................4-7
Checking the Distortion Indicator of the SERCOS Interface.........................................................4-8
Using the Distortion Indicator........................................................................................................4-8
Transmission Rate of the SERCOS interface...............................................................................4-9
Setting the optical Transmission Power........................................................................................4-9
Checking the Fiber Optics.............................................................................................................4-9
4.6 SERCOS Telegram Configuration.....................................................................................................4-10
Configuration of the Telegram Send and Receive Times...........................................................4-10
Configuration of Telegram Contents...........................................................................................4-11
4.7 SERCOS Interface Error....................................................................................................................4-12
Diagnostic of the interface Status ...............................................................................................4-12
Error Count for Telegram Interrupts............................................................................................4-12
5 Motor Configuration 5-1
5.1 Characteristics of the Different Motor Types........................................................................................5-1
Motor Feedback-Data Memory ..................................................................................................... 5-2
Linear-Rotational...........................................................................................................................5-2
Synchronous-Asynchronous .........................................................................................................5-3
Temperature Monitoring................................................................................................................5-3
Load Default Feature ....................................................................................................................5-4
5.2 Setting the Motor Type.........................................................................................................................5-4
Automatic Setting of the Motor Type for Motors with Feedback Memory .....................................5-4
Setting of the Motor Type through P-0-4014, Motor Type.............................................................5-5
5.3 Synchronous Motors............................................................................................................................5-6
5.4 Asynchronous Motors ........................................................................................................................5-10
Basics for the Asynchronous Motor ............................................................................................5-11
Torque Evaluation.......................................................................................................................5-12
User-defined Settings for the Asynchronous Motor ....................................................................5-12
5.5 Motor Holding Brake ..........................................................................................................................5-15
Connection of the Motor Holding Brake......................................................................................5-15
Setting the Motor Brake Type......................................................................................................5-16
Setting the Brake Control Delay..................................................................................................5-16
Setting the Motor Brake Current .................................................................................................5-17
6 Operating Modes 6-1
6.1 Operating Modes - Definition ...............................................................................................................6-1
6.2 Basic Operating Modes........................................................................................................................6-1
Torque/Force Control....................................................................................................................6-1
Velocity Control.............................................................................................................................6-2
Position Control.............................................................................................................................6-5
Drive Internal Interpolation............................................................................................................6-9
Relative drive-internal interpolation.............................................................................................6-12
6.3 Setting the Operating Mode Parameters ...........................................................................................6-14
6.4 Determining the Active Operating Mode............................................................................................6-15
7 Basic Drive Functions 7-1
DIAX03 Drive With Servo Function Contents III
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
7.1 Physical Values Display Format...........................................................................................................7-1
Adjustable Scaling for Position, Velocity, and Acceleration Data..................................................7-1
Display Format of Position Data....................................................................................................7-3
Velocity Data Display Format........................................................................................................7-4
Acceleration Data Display Format.................................................................................................7-5
Command Polarities and Actual Value Polarities..........................................................................7-6
Mechanical Transmission Elements .............................................................................................7-7
Modulo Feature.............................................................................................................................7-8
7.2 Setting the Measurement System......................................................................................................7-11
Limiting Conditions for Encoder Evaluation ................................................................................7-13
Motor Encoder.............................................................................................................................7-14
External encoder.........................................................................................................................7-18
Actual Feedback Values of Non-Absolute Measurement Systems After Initialization ................7-24
Drive-internal format of position data..........................................................................................7-25
7.3 Other Settings for Absolute Measurement Systems..........................................................................7-29
Conditions for absolute encoder evaluation................................................................................7-31
Set Absolute Measuring..............................................................................................................7-32
Absolute Encoder Monitoring......................................................................................................7-35
Modulo Analysis of Absolute Measurement Systems.................................................................7-36
Actual Feedback Values of Absolute Measurement Systems After Initialization........................7-36
7.4 Drive Limitations.................................................................................................................................7-37
Current Limit................................................................................................................................7-37
Torque/Force Limiting.................................................................................................................7-41
Limiting Velocity ..........................................................................................................................7-43
Travel Range Limits....................................................................................................................7-44
7.5 Drive Interlock Open..........................................................................................................................7-49
Activating the Drive Interlock.......................................................................................................7-50
7.7 Drive Error Reaction...........................................................................................................................7-51
Best Possible Deceleration .........................................................................................................7-52
Power Supply Shutdown in Error Situation..................................................................................7-58
NC Response in Error Situation..................................................................................................7-59
Emergency stop feature..............................................................................................................7-60
7.8 Control Loop Settings.........................................................................................................................7-62
General Information for Control Loop Settings............................................................................7-62
Load Default................................................................................................................................7-64
Setting the Current Controller......................................................................................................7-66
Setting the Velocity Controller.....................................................................................................7-66
Setting the position controller......................................................................................................7-71
Position Control Loop Monitoring................................................................................................7-72
Setting the Acceleration Feed Forward.......................................................................................7-74
Setting the Velocity Mix Factor....................................................................................................7-76
Setting the Frictional Torque Compensation...............................................................................7-77
7.9 Drive Stop ..........................................................................................................................................7-78
Drive Halt Feature Description....................................................................................................7-78
7.10 Drive-Controlled Homing..................................................................................................................7-79
Setting the referencing parameters............................................................................................. 7-80
Overview about Type and Configuration of Homing Marks in the Measurement System...........7-80
IV Contents DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
Functional principle of drive-controlled referencing.....................................................................7-82
Sequence control "Drive-Controlled Homing" .............................................................................7-83
Commissioning with "Evaluation of reference marker/home switch edge".................................7-85
Commissioning with "Evaluation of distance-coded reference marker"......................................7-94
Functions of the Control During "Drive-Controlled Homing" .......................................................7-97
Possible Error Messages During "Drive-Controlled Homing"......................................................7-97
Homing of Gantry axis.................................................................................................................7-98
7.11 Language Selection .......................................................................................................................7-104
8 Extended Drive Functions 8-1
8.1 Analog Output......................................................................................................................................8-1
Possible output functions..............................................................................................................8-1
Direct analog outputs ....................................................................................................................8-1
Analog output of existing parameters............................................................................................8-2
Outputting pre-set signals.............................................................................................................8-2
Bit and byte outputs of the data memory.......................................................................................8-3
Terminal assignment - analog output............................................................................................8-4
8.2 Analog Inputs.......................................................................................................................................8-5
Functional principle of the analog inputs.......................................................................................8-5
8.3 Digital Input/Output ..............................................................................................................................8-7
Digital I/O Functional Principle......................................................................................................8-7
Allocating ID Number - Parallel I/O...............................................................................................8-9
8.4 Oscilloscope Feature.........................................................................................................................8-13
Main Functions of the Oscilloscope Feature...............................................................................8-13
Parameterizing the Oscilloscope Feature...................................................................................8-14
8.5 Probe Input Feature...........................................................................................................................8-20
Main Function of the Probe Analysis...........................................................................................8-21
Signal Edge Selection for the Probe Inputs.................................................................................8-23
Signal Selection for the Probe Inputs..........................................................................................8-23
Connecting the Probe Inputs.......................................................................................................8-24
8.6 Positive stop drive procedure.............................................................................................................8-25
8.7 Axis Error Correction..........................................................................................................................8-26
Reversal error correction.............................................................................................................8-27
Precision Axis Error Correction...................................................................................................8-28
Temperature Correction..............................................................................................................8-33
Control Side Axis Error Correction..............................................................................................8-40
8.8 Command - detect marker position....................................................................................................8-41
Functional principle of command detect marker position............................................................8-41
8.9 Command Parking Axis .....................................................................................................................8-42
The functional principle of the command parking axis................................................................8-42
9 Glossary 9-1
10 Index 10-1
Supplement A: Parameter Description
Supplement B: Diagnostic Message Description
Customer Service Locations
DIAX03 Drive With Servo Function System Overview 1-1
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
1 System Overview
1.1 Range of Applications
DIAX03 is a family of digital, intelligent drives. DIAX03 offers solutions for
applications in the following markets:
• Tool machines
• Converting
• Printing
• Packaging
• General industrial Automation
DIAX03 consists of:
• A standardized digital drive SERCOS interface
• Operation with the complete line of INDRAMAT motors
• Complete power range from 1kW to 100kW
• User-friendly software features
• Adaptability to various applications by configuring the drive with
optional plug-in cards
1-2 System Overview DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
1.2 Drive Controllers
The DIAX03 family consists of five drive controllers:
Modular Digital Servo Drives (Drive Controllers):
• DDS2.2
• DDS3.2
Digital Vector Drives for with integrated power input (rectifier) and
regenerative power feedback:
• DKR2.1
• DKR3.1
• DKR4.1
Fig. 1-1: Drive controllers
The type of the digital drive used is stored in parameter S-0-0140,
Controller type.
DIAX03 Drive With Servo Function System Overview 1-3
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
1.3 Motors
Rotary and linear motors can be driven with the DIAX03 drive family.
Rotary motors: Linear motors:
MDD LAR
MKD LAF
2AD LSF
ADF
1MB
MBW
MBS
Fig. 1-2: Rotary motors
Fig. 1-3: Linear motors
The motor type used is stored in parameter S-0-0141, Motor type.
1-4 System Overview DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
1.4 Firmware Overview
Within the DIAX03 family, there are three user-specific firmware
variations:
• Drive with servo functionality
• Drive with main spindle functionality
• Drive with electronic line shafting functionality
The drive with electronic line shafting function (servo feature) is
described in the following documentation.
The software version used is stored in the parameter S-0-0030,
Manufacturer version.
1.5 Basic Operating Modes and General Features
Basic Operating Modes
• Torque mode
• Velocity mode
• Position mode
• Drive-interpolated position mode
• Relative drive-internal interpolation
General Features
• Diagnostic possibilities
• Setting of torque/force limits
• Current limit
• Limiting the velocity
• Travel range limit
• Drive error reaction:
P-0-0119, Best Possible Deceleration
Velocity command switched to zero
Best possible deceleration (torque disable)
P-0-0119, Best Possible Deceleration
Velocity command switched to zero with ramp (slope) and filter
NC Response on Error
Emergency stop feature
• Control loop settings
Load default feature
Acceleration feed forward
Velocity mix factor
Velocity preset control
• Language selection
DIAX03 Drive With Servo Function System Overview 1-5
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
• Drive interlock
• Drive halt
• Drive-controlled homing procedure
• Evaluating absolute measurement systems by setting the absolute
measurement
• Analog output
• Oscilloscope feature
• Measuring feature with:
Measuring signal actual feedback value 1/2
Measuring signal time
• Modulo feature
• Error storage and operating hour counter
• Configurable signal status word
• Customer password
• Command parking axis
• Settable drive-internal position resolution
1.6 Additional Firmware Features: Drive with Servo Feature
• Axis error compensation
• Consideration of reversal clearance
• Positive stop drive procedure
• Frictional torque compensation
1-6 System Overview DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
Notes
DIAX03 Drive With Servo Function Safety Instructions for Electrical Drives 2-1
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
2 Safety Instructions for Electrical Drives
2.1 General
These instructions must be read and understood before the equipment is
used to minimize the risk of personal injury and /or property damage.
Follow these safety instructions at all times.
Do not attempt to install, use or service this equipment without first
reading all documentation provided with the product. Please read and
understand these safety instructions, and all user documentation for the
equipment, prior to working with the equipment at any time. You must
contact your local Indramat representative if you cannot locate the user
documentation for your equipment. A listing of Indramat offices is
supplied in the back of this manual. Request that your representative
send this documentation immediately to the person(s) responsible for the
safe operation of this equipment.
If the product is resold, rented and/or otherwise transferred or passed on
to others, these safety instructions must accompany it.
WARNING
Improper use of this equipment, failure to follow the
attached safety instructions, or tampering with the
product, including disabling of safety device, may
result in personal injury, severe electrical shock,
death, or property damage!
INDRAMAT GmbH is not liable for damages resulting from failure to
observe the warnings given in these instructions.
• Operating, maintenance and safety instruction in the appropriate
language must be ordered and received before initial start-up, if the
instructions in the language provided are not understood perfectly.
• Proper and correct transport,storage, assembly, and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
• Trained and qualified personnel:
Only trained and qualified personnel may work on this equipment or in
its vicinity. Personnel is qualified if they have sufficient knowledge of
the assembly, installation, and operation of the product as well as of
all warnings and precautionary measures noted in these instructions.
Furthermore, they should be trained, instructed, and qualified to
switch electrical circuits and equipment on and off, to ground them,
and to mark them according to the requirements of safe work
practices and common sense. They must have adequate safety
equipment and be trained in first aid.
• Use only spare parts approved by the manufacturer.
• All safety regulations and requirements for the specific application
must be followed as practiced in the country of use.
• The equipment is designed for installation on commercial machinery.
• Start-up is only permitted once it is sure that the machine in which the
products are installed complies with the requirements of national
safety regulations and safety specifications of the application.
European countries: see Directive 89/392/EEC (Machine Guideline);
2-2 Safety Instructions for Electrical Drives DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
• Operation is only permitted if the national EMC regulations for the
application are met.
The instructions for installation in accordance with EMC requirements
can be found in the INDRAMAT document "EMC in Drive and Control
Systems“.
The machine builder is responsible for the adherence of the limiting
values as prescribed in the national regulations and specific
regulations for the application concerning EMC.
European countries: see Directive 89/336/EEC (EMC Guideline);
U.S.A.: See National Electrical Codes (NEC), National Electrical
Manufacturers Association (NEMA), and local building codes. The
user of this equipment must consult the above noted items at all
times.
• Technical data, connections, and operational conditions are specified
in the product documentation and must be followed.
2.2 Protection against contact with electrical parts
Note: This section pertains to equipment and drive components with
voltages over 50 Volts.
Touching live parts with potentials of 50 Volts and higher applied to them
can be dangerous and cause severe electrical shock. In order for
electrical equipment to be operated, certain parts must have dangerous
voltages applied to them.
DANGER
High Voltage!
Danger to life, severe electrical shock and risk of injury!
⇒ Only those trained and qualified to work with or on
electrical equipment are permitted to operate,
maintain and/or repair this equipment.
⇒ Follow general construction and safety regulations
when working on electrical installations.
⇒ Before switching on power, the ground wire must be
permanently connected to all electrical units
according to the connection diagram in the Project
Planning Manual.
⇒ At no time may electrical equipment be operated if
the ground wire is not permanently connected, even
for brief measurements or tests.
⇒ Before beginning any work, disconnect mains or the
voltage source from the equipment. Lock the
equipment against being switched on while work is
being performed.
⇒ Wait 5 minutes after switching off power to allow
capacitors to discharge before beginning work.
Measure the voltage on the capacitors before
beginning work to make sure that the equipment is
safe to touch.
⇒ Never touch the electrical connection points of a
component while power is turned on.
⇒ Before switching the equipment on covers and
DIAX03 Drive With Servo Function Safety Instructions for Electrical Drives 2-3
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
guards provided with the equipment must be installed
to prevent contact with live parts. Before operating
cover and guard live parts properly so they cannot be
touched.
⇒ A leakage current protective device must not be used
for an AC drive! Indirect contact must be prevented
by other means, for example, by an overcurrent
protective device.
European countries: according to EN 50178/ 1994;
⇒ Electrical components with exposed live parts must
be installed in a control cabinet to prevent direct
contact.
European countries: according to EN 50178/ 1994;
⇒ U.S.A: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and
local building codes. The user of this equipment must
consult the above noted items at all times.
DANGER
High discharge current!
Danger to life, risk of severe electrical shock and risk of
injury!
⇒ All units and the motors must be connected to a
grounding point with the ground wire or must be
grounded themselves before switching on power.
⇒ The discharge current is greater than 3.5 mA. A
permanent connection to the supply system is
therefore required for all units.
European countries: according to EN 50178/1994,
section 5.3.2.3;
⇒ U.S.: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and
local building codes. The user of this equipment
must consult the above noted items at all times.
⇒ The ground wire must always be connected before
start-up, even during the performance of tests.
Otherwise, high voltages may be present at the unit
housing, which can result in severe electrical shock
and personal injury.
2.3 Protection by protective low voltage (PELV) against
electrical shock
All connections and terminals with voltages ranging between 5 and 50
volts on INDRAMAT products are protective low voltages designed in
accordance with the following standards on contact safety:
• International: IEC 364-4-411.1.5
• European countries within the EU: see EN 50178/1994,
section 5.2.8.1.
2-4 Safety Instructions for Electrical Drives DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
WARNING
High electrical voltages due to incorrect
connections!
Danger to life and limb, severe electrical shock and/or
serious bodily injury!
⇒ Only that equipment or those electrical components
and cables may be connected to all terminals and
clamps with 0 to 50 volts if these are of the protective
low voltage type (PELV = Protective Extra Low
Voltage).
⇒
Only connect those voltages and electrical circuits
that are safely isolated. Safe isolation is achieved, for
example, with an isolating transformer, an
optoelectronic coupler or when battery-operated.
2.4 Protection against dangerous movements
Dangerous movements can be caused when units have bad interfaces or
motors are connected incorrectly.
There are various causes of dangerous movements:
• Improper or incorrect wiring or cable connections
• equipment is operated incorrectly
• probe parameters or encoder parameters are set incorrectly
• broken components
• errors in software or firmware
Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified time of trouble-free operation.
Although the monitoring circuits in the drive components make improper
operation almost impossible, personnel safety requires that proper safety
precautions be taken to minimize the risk of electrical shock, personal
injury and/or property damage. This means that unexpected motion must
be anticipated since safety monitoring built into the equipment might be
defeated by incorrect wiring or other faults.
DANGER
Dangerous movements!
Danger to life, electrical shock and risk of injury or
equipment damage!
⇒ In the drive component monitoring units, every effort
is made to avoid the possibility of faulty operation in
connected drives. Unintended machine motion or
other malfunction is possible if monitoring units are
disabled, by-passed or not activated.
⇒ Safe requirements of each individual drive application
must be considered on a case-by-case basis by
users and machine builders.
Avoiding accidents, electrical shock, personal injury
and/or property damage:
⇒ Keep free and clear of the machine’s range of motion
and moving parts. Prevent people from accidentally
entering the machine’s range of movement:
- use protective fences
- use protective railings
DIAX03 Drive With Servo Function Safety Instructions for Electrical Drives 2-5
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
- install protective coverings
- install light curtains
⇒ Fences should be strong enough to withstand
maximum possible momentum.
⇒ Mount the Emergency Stop (E-Stop) switch in the
immediate reach of the operator. Verify that the
Emergency Stop works before start-up. Do not use if
not working.
⇒ Isolate the drive power connection by means of an
Emergency Stop circuit or use a safe lock-out system
to prevent unintentional start-up.
⇒ Make sure that the drives are brought to standstill
before accessing or entering the danger zone.
⇒ Disconnect electrical power to the equipment using a
master lock-out and secure against reconnection for:
- maintenance and repair work
- cleaning of equipment
- long periods of discontinued equipment use
⇒ Avoid operating high-frequency, remote control, and
radio equipment near equipment electronics and
supply leads. If use of such equipment cannot be
avoided, verify the system and the plant for possible
malfunctions at all possible positions of normal use
before the first start-up. If necessary, perform a
special Electromagnetic Compatibility (EMC) test on
the plant.
2.5 Protection against magnetic and electromagnetic fields
during operations and mounting
Magnetic and electromagnetic fields in the vicinity of current-carrying
conductors and permanent motor magnets represent a serious health
hazard to persons with heart pacemakers, metal implants and hearing
aids.
WARNING
Health hazard for persons with heart pacemakers,
metal implants and hearing aids in proximity to
electrical equipment!
⇒ Persons with pacemakers and metal implants are not
permitted to have access to the following areas:
− Areas in which electrical equipment and parts are
mounted, operating or are being commissioned.
− Areas in which parts of motors with permanent
magnets are being stored, repaired or mounted.
⇒ If it is necessary for a person wearing a heart
pacemaker to enter into such an area then a
physician must be consulted prior to doing so.
⇒ Persons with metal implants or hearing aids must
take care prior to entering into areas described
above. It is assumed that metal implants or hearing
aids will be affected by such areas and a physician
must be consulted prior to doing so.
2-6 Safety Instructions for Electrical Drives DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
2.6 Protection during handling and installation
All INDRAMAT products should be handled and assembled according to
the instructions in the documentation.
CAUTION
Risk of injury due to incorrect handling!
Bodily injury caused by crushing, shearing, cutting, and
thrusting movements!
⇒ Observe installation instructions and safety
regulations before handling and working on the
product.
⇒
Use suitable installation in using lifting or moving
equipment. Refer to the user manual for the product.
⇒ Take precautions to avoid pinching and crushing.
⇒ Only use suitable tools specified in the user manuals
and use them according the instructions.
⇒ Use lifting devices and tools correctly and safely.
⇒ Wear appropriate protective clothing, e.g., protective
goggles, safety shoes, protective gloves.
⇒ Never stand under suspended loads.
⇒ Clean up liquids form the floor to prevent personnel
from slipping.
2.7 Battery safety
Batteries contain reactive chemicals. Incorrect handling can result in
injury or equipment damage.
CAUTION
Risk of injury due to incorrect handling!
⇒ Do not attempt to reactivate dead batteries by heating
or other methods (danger of explosion and
corrosion).
⇒
Never charge batteries (danger from leakage and
explosion).
⇒ Never throw batteries into a fire.
⇒ Do not take batteries apart.
⇒ Handle carefully. Incorrect extraction or installation of
a battery can damage equipment.
Note: Environmental protection and disposal! The batteries contained
in the product should be considered as hazardous material for
land, air, and sea transport in the sense of the legal requirements
(Danger of explosion). Dispose of batteries separately from other
refuse. Observe the legal requirements in the country of
installation.
DIAX03 Drive With Servo Function General Instructions for Installation 3-1
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
3 General Instructions for Installation
3.1 Explanation of Terms
It is helpful to explain the terms used in this document so that they will be
better understood.
Parameter
Communication with the drive occurs (with a few exceptions) with the
help of parameters. They can be used for
• Setting the configuration
• Parameterizing the control/drive settings
• Accessing control/drive functions and commands
• Configuring the cyclic telegrams
A parameter is identified with
its ID numbers
All of the drive's operating data are identified by ID numbers.
All the parameter ID numbers available in the drive are listed in
parameter
S-0-0017, IDN List of all Operation Data.
The Data Status
Each parameter is provided with a data status, which can also be read. It
serves the following purposes:
• Identifying the validity/invalidity of the parameter
• Contains the command acknowledgment if the parameter acts as a
command (see Commands)
Data Block Structure
Each parameter has 7 different data block elements that can be read or
written by a SERCOS control system.
Data Block
Structure:
Element No.: Designation: Remarks:
1 ID Number Parameter identification
2 Name can be changed in language
selection
3 Attribute contains data length, type and
decimal places
4 Unit can be changed in language
selection
5 Minimum Input Value contains the minimum input
value of the operating data
6 Maximum Input Value contains the maximum input
value of the operating data
7 Operating Data actual parameter value
Fig. 3-1: Data Block Structure
3-2 General Instructions for Installation DIAX03 Drive With Servo Function
DOK-DIAX03-SSE-02VRS**-FKB1-EN-P
Changing the operating data
depends on the
communication phase
Only the operating data can be changed; all other elements can only be
read. The operating data can be write-protected either continuously or
temporarily.
Possible Error Messages when Reading and Writing the
Operating Data
Error: Reason:
0x7004, Data not changeable The operating data is write-protected
0x7005, Data currently write-
protected The operating data cannot be written to in
this communication phase (see Supplement
A: Writing to Parameters)
0x7006, Data smaller than
minimum value The operating data is smaller than its
minimal input value
0x7007, Data larger than
maximum value The operating data is larger than its
maximum input value
0x7008, Data is not correct The value could not be accepted as written
because internal tests lead to a negative
result
0x7009, data write protected
with password The parameter cannot be write accessed as
customer password has been activated S-0-
0267, Password. All parameters in S-0-
0192, IDN-List of backup operation data
can be conducted.
Fig. 3-2: Error messages while reading/writing operating data
Non-Volatile Parameter Storage Registers
All configuration and control
settings are stored
Various non-volatile parameter storage registers that buffer operating
data are contained in the drive. The operating data apply to:
• setting the configuration, or
• parameterizing the control drive settings
Each time operating data is written to it is stored.
Memory is available in the following structural component groups:
• Control drive
• Motor feedback (optional)
• Software module
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