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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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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
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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
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● 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
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● 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
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● 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
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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
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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)
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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
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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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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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
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: 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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HMI (Human Machine Interface)Keypad operationKeypad operation
● Default display mode is bl
● LIST OF DATA
programmable.
● Arrow keys scroll through other data display
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HMI (Human Machine Interface)Keypad operationKeypad operation
Parameter Mode
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HMI (Human Machine Interface)There are seven groups of drive parameters
Described in:Chapter 4: Display and Operation
&
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&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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HMI (Human Machine Interface)Monitor status (P0-02 setting value 23 26)Monitor status (P0 02, setting value 23 .. 26)
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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HMI (Human Machine Interface)Monitor status (P0-02 setting value 19 22)Monitor status (P0 02, setting value 19 .. 22)
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
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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
Select Parameter P4-00
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
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M
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Exercises 1.5 – HMIFind out the Firmware VersionFind out the Firmware Version
● Display of the firmware version
Select Parameter P0-00
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
● Select the Parameter P3-05
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
● Select the Parameter P3-01
ConfigurationP3-01
Can Open Baudratep
Reboot the drive
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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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.
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manual.
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Initial Parameter WizardInput functionInput function
● GAIN switching control selection (see below)
2 0 0 “CC ” 2 0 1 “CC ”
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● P2-50 = 0: “CCLR” triggered by rising-edge; P2-50 = 1: “CCLR” triggered by level.
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Initial Parameter WizardInput functionInput function
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Initial Parameter WizardInput functionInput function
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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Initial Parameter WizardInput functionInput function
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Initial Parameter WizardInput functionInput function
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Initial Parameter WizardInput functionInput function
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Initial Parameter WizardInput functionInput function
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Initial Parameter WizardInput functionInput function
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Initial Parameter WizardInput functionInput function
● Safety inputs should be configured as “normally ON”configured as normally ON
● Homing mode will be selected with parameter P5-04
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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 WizardInput functionp
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
OLW
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
● The time chart of the “position control output signals you´ll find on the next page.
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Initial Parameter WizardOutput functionp
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Initial Parameter WizardOutput functionp
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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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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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
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insertion
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Operating modesPR Mode / Insertion commandPR Mode / Insertion command
An absolue command has an insertion to an incremental
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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
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● Y 2: Do not search Z
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Operating modesPR Mode / Homing Mode 2PR Mode / Homing Mode 2
● 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
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● Z=0: Stop and Warn● Z=1: Reverse automatically
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Operating modesPR Mode / Homing Mode 3PR Mode / Homing Mode 3
● X4: Move forward to Z pulse
● X5: Move backward to● X5: Move backward to Z pulse
● Z=0: Stop and Warn● Z=1: Reverse automatically
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Operating modesPR Mode / Homing Mode 4PR Mode / Homing Mode 4
● 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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● Z=0: Stop and Warn● Z=1: Reverse automatically
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Operating modesPR Mode / Homing Mode 5PR Mode / Homing Mode 5
● 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
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p p gposition data.
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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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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Operating modesExternal Position Control (Pt mode)External Position Control (Pt mode)
● P1-68: Moving filter
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Operating modesExternal Position Control (Pt mode)External Position Control (Pt mode)
● P1-08: Low pass filter
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Operating modesExternal Position Control (Pt mode)External Position Control (Pt mode)
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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Operating modesExternal Speed Control (S mode)External Speed Control (S mode)
● S-curve filter: speed smoothing command during acceleration and p g gdeceleration phase.
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Operating modesExternal Speed Control (S mode)External Speed Control (S mode)
Mo ing filter P1 59● Moving filter P1-59
● Low pass filter P1-06
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Operating modesExternal Speed Control (S mode)External Speed Control (S mode)
● 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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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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.
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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
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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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SE Motion Products: Lexium23 PlusSE Motion Products: Lexium23 Plus
> 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
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● 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
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● 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.
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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
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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)
● associated objects:
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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)
● associated objects:
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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
● associated objects:
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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)
● associated objects:
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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
● associated objects:
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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
Thank YouThank YouMake the most of your energyy gy
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