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PacHP_User_en_1.2.8.100.b

PacHP_User_en_1.2.8.100.b

Product catalog summary

General Overview: The XtrapulsPacHP User Guide provides comprehensive instructions for operating digital servo drives designed for brushless AC motors. It emphasizes the importance of thoroughly reading the manual before use to ensure proper handling and compliance with safety standards.

Key Sections:

Introduction and Architecture: Introduces the servo drives and outlines their architecture, referencing additional documents for installation and safety procedures.
Commissioning: Details steps for software installation, drive communication, and parameter setting, including power supply configuration, motor configuration, and servo loop adjustments.
Reference: Explains CanOpen communication, drive parameters, operation modes, and error management.

Safety and Handling: Includes warnings about electrical hazards and electrostatic discharge (ESD) precautions, advising on proper storage and handling to prevent damage to sensitive components.

Waste Disposal: Provides instructions for the disposal of electronic waste (WEEE), emphasizing compliance with environmental regulations and the role of RECYLUM in France.

Important Notes: Stresses that maintenance should only be performed by skilled technicians and that improper handling can void warranties. Information is subject to change without notice.

Introduction: The XtrapulsPacHP drive is designed to control motor torque and speed using high-resolution position sensors like resolvers or encoders. It supports various sensor configurations, which can be selected and saved via software.

Architecture: The drive includes parameters for servo-loop, motor, sensor, communication, and I/O configuration. It can be controlled via fieldbus, analog input, PULSE and DIR inputs, or digital I/Os, depending on the operation mode.

Commissioning: Involves using the Optio software for parameterization, requiring a minimum PC configuration. The installation involves unzipping and executing the setup file, with specific notes on uninstalling previous versions and using the correct decimal separator.

Drive Communication: Drives can be powered by switching on the +24V auxiliary supply and the main power supply. Communication can be established via RS232, USB, or CANopen.

Parameter Setting: Involves configuring the power supply, setting motor parameters, and ensuring proper communication between the PC and the drives.

Power Supply Configuration: The drive's operating voltage must not exceed its voltage rating. Adjustments affect overvoltage and undervoltage fault thresholds.

Motor Configuration: Motors can be selected from a catalog or configured manually. Key parameters include current limits, speed limits, and winding inductance.

Servo Loop Settings: Involves gains calculation, auto-tuning, and adjustment. User position scaling and following error protection are also addressed.

Application Settings: Covers input/output configurations and sequence settings, including master-slave arrangements.

Protection Mechanisms: I²t protection is available in Fusing or Limiting modes, with specific behaviors for each.

Specifications and Calculations: Provides formulas for calculating the maximum duration before current limitation based on the drive current rating.

Current Limitation Operation: The drive output RMS current triggers warnings and limitations at specific thresholds.

Speed Limit Adjustment: The Maximum speed parameter must be adjusted if the drive output voltage is lower than the motor rated voltage.

Auto-phasing Procedure: Identifies motor parameters such as Pole pairs, Phase order, and Position sensor offset.

Linear Motor Configuration: Different configurations are provided for linear motors with various encoders.

Servo Loops Adjustment: Outlines procedures for calculating servo loop gains, either manually or through Auto-tuning.

Auto-tuning Process: Focuses on optimizing performance through various configurations and adjustments.

Iterative Auto-tuning: Adjust sampling rate and bandwidth based on stability and performance evaluations.

Mechanical Resonance Filtering: Select appropriate cut-off frequencies based on mechanical resonance analysis.

Servo Loop Sampling Rate: The sampling rate affects loop stability and bandwidth.

Servo Loop Gains Adjustment: Adjust speed loop gains based on mechanical load characteristics.

User Position Scaling: Define the relationship between sensor data and user units for accurate position and speed setpoints.

Following Error Protection: Set speed error thresholds to trigger alerts for deviations.

Speed and Position Error Thresholds: Procedures for setting speed and position error thresholds to ensure optimal protection of the drive and application.

Position Error Detection Modes: Two modes are described: Absolute and Relative to dynamic model.

Position Loop Feedback: The position regulation loop typically uses a sensor on the motor, but a second sensor can be used for specific applications.

Quick Test of the Servo Drive: Guidelines for testing servo drive stability in both velocity and position modes.

Logic Inputs: XtrapulsPacHP drives use logical signals or digital inputs for operation control.

Limit Switch Inputs: The motor stops with maximum deceleration when a limit switch input is activated.

Home Switch Input: In Homing mode, a digital sensor may be necessary to identify the real position of an axis.

Capture Input: Records motor position or second sensor measurement when an external signal changes.

Quick Stop Input: Activating this input decelerates the axis.

Start Phasing Input: Initiates motor phasing at drive power-up.

Error Reset Input: Clears a released drive fault once the fault cause is eliminated.

Sequence Inputs: Various inputs control sequence execution and selection in Sequence mode.

Logic Outputs: Outputs like BRAKE, FAULT, WARNING, and others indicate various drive states and conditions.

External I/Os Module: Supported by the XtrapulsPacHP-ak version, it connects to the CAN bus and requires configuration of baudrate and address.

Drive Parameter Saving: Parameters can be stored in non-volatile memory using the Store command.

Oscilloscope and Dialog Terminal: The digital oscilloscope displays drive signals, while the dialog terminal allows reading and writing parameter values on selected axes.

CANopen Communication: Details on communication objects, including CAN Telegram, Default COB-ID, Network Management Objects, Synchronisation Object, and Process Data Objects (PDOs) are provided.

PDO Transmission Modes: PDOs can be transmitted in different modes: synchronous and asynchronous.

PDO Mapping: The mapping parameter's sub-index 0 indicates the number of valid entries in the mapping record.

Receive PDO Communication Parameters: Each Receive PDO (RPDO) has a communication parameter object with elements like COB-ID and transmission type.

Transmit PDO Parameters: Similar to RPDOs, Transmit PDOs (TPDOs) have communication parameters that define their communication settings.

Manufacturer PDO Transmission Mode: The Xtrapuls drive features a special transmission mode controlled by TPDOn_Control and TPDO_Count objects.

Service Data Objects (SDO): SDOs facilitate a client/server communication model, allowing clients to request data uploads/downloads from a server (Servo Drive).

SDO Message Redirection: The document outlines the redirection of SDO messages with specific cobIDs to allow communication with multiple drives via a single RS-232 connection.

Emergency Objects: The emergency object structure is detailed, including the error code and register.

Node Guarding: Node guarding parameters such as guard time and life time factor are specified.

Network Initialization: The NMT state machine and reset configurations are explained.

Device Profile - Drive State Machine: The drive state machine describes various states and transitions.

Control and Status Words: The control word and status word are defined, detailing the bit functions and sequences to enable the drive.

Signal Link Configuration: Configures source and target signal links for bits in the status and control words.

Device Control and Status: Allows activation of drive-specific functions and indicates their current status.

Device Configuration: Allows activation of functions like current limitation detection and motor zero speed detection.

In Position Signal Configuration: Configures the delay and threshold for the in-position signal.

Error & Warning Management: Contains error monitoring and management details.

Sections Overview:

Error Codes and Descriptions: Lists various error codes related to motor operations.
I²t Protection: Describes the I²t function for motor protection.
Braking Resistor Protection: Outlines the duty cycle limits for braking resistors.
Stop Operation: Details various stop operations and their configurations.
Drive Parameters: Covers drive power parameters, including peak and rated current.
Motor Parameters: Lists motor parameters stored in object 0x6410.

Key Data and Calculations:

RMS Motor Current Calculation: Provides a formula for calculating RMS motor current.
Braking Resistor Duty Cycle Limit: Provides a formula for calculating duty cycle limits.
Stop Current Limit: Defines current limit for stop operations.
Drive Voltage and Undervoltage Thresholds: Provides specific values for different drive operating voltages.

Critical Information:

Protection Mechanisms: Emphasizes the importance of protection mechanisms like I²t and braking resistor duty cycle limits.
Stop Operations: Detailed stop operations and their configurations are crucial for ensuring safe and controlled motor shutdowns.
Parameter Configurations: Accurate configuration of drive and motor parameters is essential for optimal performance and protection against faults.

Specifications and Parameters:

Catalog Date Code: Sub Index 4, Profinet PNU 0x6404, Unsigned16, rw access.
Modification Date Code: Sub Index 5, Profinet PNU 0x6405, Unsigned16, rw access.
Motor Type: Sub Index 6, Profinet PNU 0x6406, Unsigned16, rw access.
Motor Max Speed: Sub Index 7, Profinet PNU 0x6407, Unsigned32, rw access, unit rpm.
Motor Rated Speed: Sub Index 8, Profinet PNU 0x6408, Unsigned32, rw access, unit rpm.
Motor Stall Current: Sub Index 9, Profinet PNU 0x6409, Unsigned32, rw access, unit mA.
Motor Peak Current: Sub Index 10, Profinet PNU 0x640A, Unsigned32, rw access, unit mA.
Torque Constant (Kt): Sub Index 11, Profinet PNU 0x640B, Unsigned16, rw access, unit 0.001Nm/A.
Inertia: Sub Index 12, Profinet PNU 0x640C, Unsigned16, rw access, unit 0.001gm².
Inductance: Sub Index 13, Profinet PNU 0x640D, Unsigned16, rw access, unit 0.1mH.
Number of Motor Pole Pairs: Sub Index 14, Profinet PNU 0x640E, Unsigned16, rw access, value 1..24.
Motor Phase: Sub Index 15, Profinet PNU 0x640F, Unsigned16, rw access, values 0x5555 or 0xAAAA.
Motor Sensor Offset: Sub Index 16, Profinet PNU 0x6410, Unsigned16, rw access.
Motor Temperature Probe: Sub Index 17, Profinet PNU 0x6411, Unsigned16, rw access.
Motor Temperature Warning Threshold: Sub Index 18, Profinet PNU 0x6412, Unsigned16, rw access.
Motor Temperature Error Threshold: Sub Index 19, Profinet PNU 0x6413, Unsigned16, rw access.
Motor Pole Pitch: Sub Index 20, Profinet PNU 0x6414, Unsigned16, rw access.

Procedures:

Auto-phasing Procedure: Initiated with signature 'apha'.
Motor Phasing Procedure: Initiated with signature 'mcal'.

Motor Control:

Motor Control Parameters: Index 0x3410, includes number of motor pole pairs, motor phase, and motor offset.

Motor Flux Weakening Operation:

Activated by setting bit 12 of object 0x3442,0.

Motor Brake:

Servo On/Off Timing Diagram: Defines motor brake and drive reaction times.

Current Limits & Current Loop:

Defines motor max and rated currents.

PWM Frequency:

Default configuration is 8kHz.

Technical Document Summary:

1. Gain Parameters:

q-Loop Proportional Gain (0x607C): Unsigned16, range 0-65535, read/write access.
q-Loop Integral Gain (0x607D): Unsigned16, range 0-65535, read/write access.
d-Loop Proportional Gain (0x607E): Unsigned16, range 0-65535, read/write access.
d-Loop Integral Gain (0x607F): Unsigned16, range 0-65535, read/write access.

2. Torque Offset:

Torque Offset (0x60B2): Integer16, unit per thousand of rated current, read/write access.
Offset Torque Input Source (0x30B2): Unsigned32, connects 16-bit dataflow as target for Offset Torque.
Torque Offset 2 (0x30B3): Integer16, similar to Torque Offset but without dynamic current limitation consideration.
Torque Feedforward Command (0x30B4): Integer16, active only in "Operation Enable" state.

3. Current Management:

Current Actual Value (0x6078): Integer16, provides DC current value in the drive.
Dynamic Current Limits (0x30D1, 0x342B): Unsigned16, limits motor current dynamically.
Dynamic Current Limit Configuration (0x30D2): Unsigned16, defines effect of Dynamic Current Limit signal.

4. Temperature Monitoring:

Motor Temperature Probe (0x3324): Configures motor temperature probe.
IGBT Module Temperature (0x3328): Integer16, provides IGBT module temperature value.

5. Sensor Inputs:

Position Feedback Sensor Select (0x306A): Unsigned16, defines feedback sensor for position loop.
Motor Feedback Sensor Select (0x3070): Unsigned16, used for torque and speed control loops.

6. Resolver Parameters:

Resolver Setup (0x3101): Configures resolver type, direction, and virtual marker Z settings.
Resolver Calibration (0x3104, 0x3105): Procedures and parameters for resolver calibration.

Overview: The document is a technical reference guide for the XtrapulsPacHP, focusing on resolver and encoder configurations.

Resolver Position:

Index: 0x3109
Data Type: Integer32
Access: Read-only
The resolver position is calculated as the sum of the internal position and an offset.

Encoder Setup:

Index: 0x3121
Data Type: RECORD
Number of Elements: 7
Includes parameters for encoder type, configuration, virtual top Z shift and size, and zero mark pitch.

Encoder Position:

Index: 0x3129
Data Type: Integer32
Access: Read-only
The encoder position is the sum of the internal position and an offset.

Encoder Types Supported:

TTL Incremental Encoder
Sin-Cos Incremental Encoder
Hiperface Encoder

Hiperface Encoder:

Can be configured via PC software or manually.
Includes both absolute and incremental information tracks.

Key Parameters and Procedures:

Auto-phasing is necessary for motor feedback.
Position feedback requires setting the encoder resolution to match motor position scaling.

Encoder Types and Configurations:

The document discusses the use of Hiperface linear encoders and digital interface encoders with Xtrapuls drives.

Encoder 1 Linear Scaling:

Encoder 1 linear scaling is defined by Index 0x3135 and is applicable only for linear encoders.

Encoder 2 Digital Interface:

The XtraPulsPacHP supports various encoder types such as Hiperface DSL, EnDAT 2.2, and Biss C.

Encoder 2 Protocols and Position:

Supported protocols for Encoder 2 include Hiperface DSL, EnDAT 2.2, and BiSS-C.

Absolute Multi-turn Position:

Absolute encoders provide position values over one revolution.

Factors and Units:

Position, velocity, and acceleration units are defined by object 0x6093.

Servo Loops:

The document briefly mentions the importance of adjusting speed loop gains based on mechanical load characteristics.

Overview: This document provides detailed technical specifications and parameters for configuring and optimizing servo motor control systems.

Speed Control Parameters:

Proportional Speed Gain (KPv): Enhances speed loop response.
Integral Speed Gain (KIv): Improves axis stiffness.
Integrator Low Frequency Limit (KIvf): Reduces motor heating.
Damping Gain (KCv): Reduces speed loop overshoot.
Derivative Speed Gain (KDv): Increases stability.
Gain Scaling Factor (KJv): Adjusts all speed regulator gains.

Filters:

Current Command Filter: A 3rd order low-pass filter.
Speed Measurement Filter: A 1st order low-pass filter.

Position Control Parameters:

Proportional Position Gain (KPp): Enhances axis stiffness.
Feedforward Speed Gains (KFp, KBv): Reduce following error.
Feedforward Acceleration Gain (KAv): Reduces following error during acceleration.

Servo Loop Sampling Rates:

Current Loop Sampling Rate: Determined by PWM frequency.
Position and Speed Loop Sampling Rate: Adjustable to influence servo loop stability.

Monitoring and Error Handling:

Speed Loop Monitoring: Includes parameters for speed set point, motor speed, speed loop error, and current command monitoring.
Speed Following Error Threshold: Defines tolerance for speed error monitoring.

Data Structure and Access:

The document outlines various data indices, object codes, and access types for configuring and monitoring the servo control parameters.

Position Demand and Actual Value:

The document explains the calculation of the following error actual value as the difference between position demand and actual position.

Position and Error Control:

The document outlines several indices such as Actual Position, Following Error Window, and Following Error Control.

External Feedforward:

This section describes the External Feedforward configuration.

Integrator Reset:

The document explains the integrator reset configuration.

Auto-tuning Configuration:

The auto-tuning procedure identifies motor and mechanical load specifications to calculate appropriate gain values.

Save/Load Parameters:

The document describes the process of saving and restoring drive parameters using internal flash memory.

Operation Modes:

The document lists the supported drive modes for the XtrapulsPacHP range.

Operation Modes:

Profile Position Mode (PP)
Profile Velocity Mode (PV)
Profile Torque Mode (PT)
Homing Mode (HM)
Interpolated Position Mode (IP)
Cyclic Synchronous Position Mode (CSP)
Cyclic Synchronous Velocity Mode (CSV)
Cyclic Synchronous Torque Mode (CST)
Analog Speed Mode (AS) - Not supported by EtherCAT
Stepper Emulation Mode (SE) - Not supported by EtherCAT
Sequence Mode (SQ)
Reserved
Analog Torque Mode (AT)
Master-Slave Gearbox Mode (GB) - Not supported by EtherCAT
Master-Slave Cam Mode (CM) - Only for PPAC-22 customization

Profile Position Mode:

This mode uses a trapezoidal trajectory generator for positioning.

Object Dictionary Entries:

Target Position (0x607A): Defines the final motor position.
Max Motor Speed (0x6080): Sets the maximum speed.
Profile Velocity (0x6081): Running velocity for positioning.
End Velocity (0x6082): Final velocity at target position.
Profile Acceleration (0x6083) and Deceleration (0x6084): Define acceleration and deceleration rates.
Motion Profile Type (0x6086): Determines profile type.
Position Window (0x6067) and Time (0x6068): Define acceptable position range and time.
Max Profile Velocity (0x607F): Limits maximum speed during profiled moves.

Homing Mode:

Used to set the motor to a known position when the feedback sensor lacks absolute position.

Homing Method:

Defines methods for finding the homing position.

Homing Method 8 Trajectory Explanation:

This section describes the trajectory 1 of homing method 8.

Homing Speeds:

Defines motor speed during homing.

Homing Acceleration:

Specifies acceleration during homing.

Homing Current Limit:

Limits current during homing.

End on Home Position:

Determines if the drive moves to the home position after homing.

Homing Operation Indicator:

Tracks the result of a homing operation.

Position Reference Error Flag:

Indicates errors in position reference.

Interpolated Position Mode:

Controls multiple axes in coordination.

Profile Velocity Mode:

Operates with a velocity reference.

Profile Torque Mode:

Operates with current loops only.

Overview: The document is a technical guide for the XtrapulsPacHP drive system.

1. DC Voltage:

Index: 0x6079
Data Type: Integer32
Access: Read-only
Unit: mV
Description: Provides the DC voltage value in the drive.

2. Cyclic Synchronous Position Mode (CSP):

Objects include target position, velocity, and torque offsets.

3. Cyclic Synchronous Velocity Mode (CSV):

Focuses on target velocity and torque offset.

4. Cyclic Synchronous Torque Mode (CST):

Target Torque is the setpoint for motor current.

5. Sequence Mode:

Allows basic moves called sequences.

6. Positioning Sequence:

Main parameters: position, speed, acceleration, deceleration, and delay time.

7. Homing Sequence:

Parameters include home offset, method, speeds, acceleration, and current limit.

8. Speed Sequence:

Parameters: speed setpoint, acceleration, deceleration, and running time.

9. Torque Sequence:

Parameters: speed setpoint, acceleration, running time, and current limit.

Torque Sequence:

The torque sequence involves executing a series of commands where the position following error is disabled.

Gearing Sequence:

This sequence functions with a gearbox.

Sequence Chaining:

Controlled by parameters such as SeqCount, SeqNext, SeqLink, and StartCond.

Conditional Jump:

Utilizes StartCond, SeqNext, SeqCount, and SeqLink to control sequence flow.

Sequence Parameters:

Includes keywords like SeqNb, SeqType, NextSeq, SeqCount, SeqLink, Trigger, Output, StartCond, Tempo, and EndCond.

Sequence Inputs and Outputs:

Inputs are defined by sequence number, executed sequence number, and conditional input.

Minimum Sequence Pulse:

Defines the minimum duration for sequence detection.

Supported Sequence Types:

Lists various sequence types supported by the firmware and drive model.

Maximum Sequences Supported:

Indicates the maximum number of sequences a device can support.

Profinet Parameters Overview:

Sequence Link (PNU 0x3613): Integer16, rw access.
Output Trigger (PNU 0x3614): Unsigned16, rw access.
Output Bits (PNU 0x3615-0x3618): Unsigned16, rw access.
Position and Speed Parameters (PNU 0x361C-0x361F): Integer32, rw access.
Acceleration and Deceleration (PNU 0x3620-0x3621): Unsigned32, rw access.
Configuration (PNU 0x3624): Unsigned16, rw access.

Sequence File Format:

Sequence files are text-based, case-insensitive, and use a key-value syntax.

Stepper Emulation Mode:

Emulates stepper motor behavior using PULSE and DIR inputs.

Motor Speed Configuration:

To set the motor speed, adjust the User position scaling parameter.

PULSE_CNT Setup:

Configure the PULSE_CNT timing.

Auto-Tuning:

Execute auto-tuning with minimal position overshoot.

Analog Speed Mode:

In this mode, the Xtrapuls drive functions as a variable speed drive.

Analog Torque Mode:

The drive operates in current loop mode.

Gearing Mode:

This mode supports gearbox functions.

Master-Slave Functions:

Xtrapuls drives support a master-slave relationship.

Master-Slave Objects:

Various objects define the master-slave functions.

Specifications:

The document outlines various parameters and objects related to the XtrapulsPacHP drive system.

Procedures:

The document describes procedures for configuring and utilizing the gearbox function.

Norms and Standards:

Data types, access permissions, and default values are specified for each object.

Recommendations:

For effective synchronization, it is recommended to use appropriate acceleration and deceleration values.

Key Data and Parameters:

Gearbox Ratio Parameters (Index 0x3921): Allows setting numerator and denominator for two gearing ratios.
Gearbox Distances Parameter (Index 0x3925): Defines master, slave, and synchronization distances.
Gearbox Configuration/Factor (Index 0x3928): Configures gearbox behavior.

Limitations:

Some parameters cannot be modified while the gearbox is active.

Factor Configuration:

Data Type: Unsigned16
Access: Read/Write
This parameter defines a ratio factor applied to the master-slave ratio.

Application Feature - Digital Input/Output Configuration:

The Xtrapuls drive allows connecting any physical logic input to any bit in any variable and vice versa for outputs.

Digital Inputs:

Index: 0x60FD
Data Type: Unsigned32
Access: Read/Write

Digital Outputs:

Index: 0x60FE
Data Type: Unsigned32
Access: Read/Write

Analog Inputs/Outputs:

Xtrapuls servo drives have 2 analog inputs and 1 analog output.

Encoder Emulation Output:

Emulates an incremental encoder output with resolver or encoder position.

Touch Probe Source Configuration:

Touch Probe sources are configured using Profinet PNU 0x6051 and 0x6052.

Modulo Function:

The Modulo function limits motor position within specified limits.

Digital Input/Output Extension:

The XtrapulsPacHP-ak servo drive supports an external CANopen I/O module.

Digital Inputs Assignment:

Digital inputs can be assigned to drive variables using index 0x3821.

Digital Outputs Assignment:

Digital outputs are configured similarly to inputs, using index 0x3822.

Analog Inputs and Outputs Assignment:

Analog inputs and outputs are assigned using indices 0x3823 and 0x3824 respectively.

Communication Parameters for CANopen I/O Module:

Communication parameters are defined under index 0x3825.

CANopen I/O Control Parameters:

Control parameters for the CANopen I/O module are indexed at 0x3828.

Overview: The document is a technical guide for the XtrapulsPacHP, focusing on CANopen I/O values, maintenance procedures, firmware updates, and object lists.

CANopen I/O Values:

The document outlines the structure and access methods for digital and analog inputs and outputs using CANopen.

Maintenance:

The guide details the storage of drive parameters in text files.

Firmware Update:

The firmware update process involves a structured sequence of commands and data blocks.

Object List:

A comprehensive list of communication and general parameters is provided.

Key Specifications:

The document highlights critical parameters such as device type, manufacturer details, control words, and motor specifications.

Overview: This document provides a comprehensive reference for the XtrapulsPacHP system.

Encoder Inputs:

The document outlines the configuration and status parameters for two encoders.

Servo Loops:

This section details the current loop, speed loop, and position control parameters.

Control Modes:

The document describes several control modes.

Error Control:

Error monitoring and control are covered.

Additional Features:

The document also covers auto-tuning configurations, sequence control for automation, stepper emulation, analog speed and torque modes, and master-slave functions.

Digital Inputs and Outputs:

Digital Inputs Polarity: Configured using index 0x3051.
Digital Outputs: Managed through index 0x60FE.
Digital Outputs Polarity: Set via index 0x3055.
Digital User Inputs/Outputs: Includes 16-bit inputs and outputs, configured at 0x3058.

Analog Inputs:

Analog Input 1: Configured with index 0x30F1.
Analog Input 2: Managed through index 0x30F2.

Analog Output:

Analog Output 1: Configured using index 0x30A1.

Encoder Emulation Output:

Not supported, listed under index 0x3160.

Digital Cam:

Digital Cam Positions: Configured with index 0x30E0.
Digital Cam Configuration: Managed through index 0x30E1.

Oscilloscope:

Oscillo Function Support: Configured at index 0x5800.
Oscillo Buffer Configuration: Managed through index 0x5804.
Oscillo Trigger Configuration: Includes trigger control and status, configured at index 0x5820.
Oscillo Buffer Transfer: Managed through index 0x5840.

Firmware Update:

Firmware updates are managed through indices 0x5F30 to 0x5F32.

Catalog excerpts

User Guide DIGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS

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XtrapulsPacHP – User Guide ! This is a general manual describing a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors. Please see also: o XtrapulsPacHP Installation Guide for the hardware installation of the drive (mounting, wiring, …). o XtrapulsPacHP SF01 Safety version operating manual o XtrapulsPacHP SF02 Safety version operating manual o EtherCAT fieldbus interface manual for the XtrapulsPacHP-et or ed version o PROFINET fieldbus interface manual for the XtrapulsPacHP-pn version o XtrapulsGDPS manual, for the use of the XtrapulsGDPS...

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XtrapulsPacHP - User Guide CINFRANOR In accordance with the Decree nr. 2012-617 of May 2nd, 2012 which specifies the provisions related to the professional EEE manufacturers' obligations, INFRANOR France is a member of RECYLUM: ecoorganization ecosystem certified for the collection, treatment and recycling of WEEE. In France, RECYLUM allows all professionals benefiting from a free collection and recycling solution, in observance of the regulation, the environment and health. Information and sorting instructions regarding INFRANOR products Sorting instructions may vary according to regions / countries....

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XtrapulsPacHP – User Guide

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XtrapulsPacHP - User Guide

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XtrapulsPacHP – User Guide Chapter 1 - General Description 1.1 - INTRODUCTION The XtrapulsPacHP drive directly controls the motor torque and speed from of the information provided by a high resolution position sensor (resolver or encoder). The sinusoidal current commutation generated from the information of this high resolution position sensor ensures very smooth motor torque/force control. The XtrapulsPacHP drive can be configured for the feedback of various position sensor types. The appropriate position sensor configuration is selectable by software and saved in the drive. ▪ With a resolver...

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XtrapulsPacHP - User Guide 1.2 - ARCHITECTURE XtrapulsPacHP is a freely configurable drive. The drive configuration includes servo-loop parameters, motor and sensor parameters, communication parameters and I/O configuration parameters. The configuration parameters can be stored into the drive nonvolatile memory. The XtrapulsPacHP drive can be controlled via the fieldbus (CANopen or EtherCAT or Profinet), via the analog input (analog speed drive), via the PULSE and DIR inputs (stepper emulation) or via the digital I/Os (stand-alone positioner) according to the selected operation mode. The following...

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XtrapulsPacHP - User Guide This chapter describes the commissioning procedure of the drive by means of the Optio software. / • \ Do not perform the drive parameterization by means of both Optio software tool and ^ ™ CANopen bus at the same time. The Optio Drive Assistant software is PC compliant under Windows and allows an easy parameterization of the XtrapulsPacHP drive range. Please see our website www.infranor.com for downloading the Optio software. Minimum Configuration The use of the Optio Drive Assistant software requires the minimum PC configuration described below: • 15" screen, 256 color...

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XtrapulsPacHP - User Guide CINFRANOR2.2 - STARTING THE SOFTWAREProject management The Optio software allows the parameterization of all Xtrapuls drives for a given application. All Xtrapuls drives of a given application, connected together via CANopen, can be included in the same project. Each Xtrapuls drive of the project is identified by its node ID. The Xtrapuls drive node ID code values must all be different from each other in the same project. The different software commands allow: - Opening an existing project, - Adding and/or removing axes in the project, Each parameter (object) of the...

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XtrapulsPacHP – User Guide 2.4 - PARAMETER SETTING This chapter describes the parameterization procedure of the drive by means of the PC software tool. The different steps of the drive commissioning procedure and the operations chaining are presented below. Step 1 : Power supply configuration -operating voltage -braking resistor Step 2 : Motor parameter setting -Position feedback -Current limits -Current loop gains -Thermal protection -I2t protection -Speed limit -Motor control Step 3 : Servo loop setting -Gains calculation -Auto-tuning -Gains adjustment Step 4 : User position scaling Following...

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XtrapulsPacHP - User Guide 2.4.1 – Power supply configuration The Drive operating Voltage parameter value must be less or equal to the drive voltage rating (230V or 400V). When this parameter is changed, the Overvoltage fault threshold, the Braking on threshold, and the Undervoltage fault threshold are modified accordingly. The Undervoltage fault threshold parameter defines the undervoltage fault level on the DC bus. When the DC bus voltage value drop below this parameter value, the drive Undervoltage fault is activated. When the DC bus voltage value goes above this parameter value, the drive...

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XtrapulsPacHP - User Guide If the motor configuration must be manually made (motor is not referenced in the PC software tool catalog), adjust first the position sensor parameters (resolver or encoder) and then the motor parameters. The required motor data for the manual setup are listed below: - Motor current limits: rated current and peak current - Motor speed limit - Motor pole pairs - Motor winding inductance The XtrapulsPacHP drive can operate with various position sensor type according to the drive version. Transmitter resolver type or SinCos tracks resolver type can both be connected to...

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XtrapulsPacHP - User Guide Incremental encoder setting: Enter the Resolution parameter value according to the encoder mounting and the mechanical ratio for a given application. For a rotating motor, Resolution refer to one motor shaft revolution. For a linear motor, Resolution refer to one motor pole pitch (N to N or S to S magnets distance). Enter the Zero Mark pitch parameter value if the encoder has got a Zero-mark channel. Zero Mark pitch refer to the distance between 2 successive zero-mark signals (generally one encoder shaft revolution for a rotating encoder). If the encoder is not equipped...

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PacHP_User_en_1.2.8.100.b

PacHP_User_en_1.2.8.100.b

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