6DD1842-0AB0 - Siemens - Datasheet.Live

Manual Order No.: 6DD1903-0BB0

Edition 05.01

Standard Software Packa

SPA440 Angular Synchronous Control

for the

T400 Techn ology M o dule

•

ϕ1ϕ2

Contents

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Contents

0 Warning information.............................. ................................................................................3

1 Overview..................................................................................................................................5

1.1 Validity........................................... ...................................................................................... 5

1.2 Order Numbers.................................................................................................................... 6

1.3 Introduction.......................................................................................................................... 6

1.4 Terminology......................................................................................................................... 6

1.4.1 Important terminology................................................................................................ 6

1.4.2 Functions and features.............................................................................................. 8

1.5 A comparison between speed- and angular synchronism................................................... 9

1.5.1 Model......................................................................................................................... 9

1.5.2 Differences between speed- and angular synchronism .......................................... 10

1.6 Displacement and synchronization.................................................................................... 11

1.7 Hardware constellation.................... .................................................................................. 14

1.8 Information and instructions when using angular synchronous control............................. 16

2 T400 technology module .....................................................................................................17

2.1 Communication interfaces................................................................................................. 17

2.1.1 Interface to the basic drive (CU) ............................................................................. 18

2.1.2 Interface to COMBOARD ........................................................................................ 19

2.1.3 Peer-to-peer interface.............. ............................................................................... 20

2.1.4 Diagnostics interface............................................................................................... 20

2.1.5 USS-slave interface................................................................................................. 21

2.2 Terminal assignment..................... .................................................................................... 22

2.2.1 Digital I/O................................................................................................................. 22

2.2.2 Analog I/O........................... .................................................................................... 24

2.2.3 Pulse encoders........................................................................................................ 24

Absolute value encoder ..................................................................................................... 27

3 Function description............................................................................................................28

3.1 Ratio......................................... ......................................................................................... 29

3.1.1 Speed ratio........................... ................................................................................... 29

3.1.2 Fine ratio.................................. ...............................................................................30

3.2 Setpoints and actual values............................................................................................... 31

3.2.1 Setpoints........................... ...................................................................................... 31

3.2.2 Actual value sensing................. .............................................................................. 32

3.2.3 Position actual value sensing with absolute value encoders................................... 35

3.3 Determining the displacement and synchronization.......................................................... 41

3.3.1 Synchronization......................... .............................................................................. 41

3.3.2 Determining the displacement................................................................................. 42

3.3.3 Noise-immune synchronization ............................................................................... 46

3.3.4 Synchronism achieved........... ................................................................................. 48

3.4 Closed-loop angular control............................................................................................... 49

3.4.1 Enable signals............................... .......................................................................... 49

3.4.2 Displacement setpoint............................................................................................. 49

3.4.3 Angular controller............................. ....................................................................... 50

3.5 Closed-loop speed control................................................................................................. 52

3.5.1 Ratio....................................... ................................................................................. 52

3.5.2 Master speed setpoint............................................................................................. 53

3.5.3 Inertia compensation............................................................................................... 53

3.5.4 Speed controller Kp adaption .................................................................................. 54

Contents

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3.5.5 Jogging....................................................................................................................54

3.5.6 Parameters to the speed controller ......................................................................... 55

3.6 Open-loop control........................... ................................................................................... 56

3.7 Faults, alarm and status display ........................................................................................ 56

3.7.1 General information on faults and alarms ............................................................... 56

3.7.2 Monitoring the communication coupling .................................................................. 57

3.8 Application example........................................................................................................... 58

3.8.1 Synchronous operation and synchronizing using as an example a gantry crane.... 58

4 Parameters and connectors ................................................................................................60

4.1 Parameter handling.................................... .......................................................................60

4.1.1 BICO parameters.................................. .................................................................. 61

4.1.2 Resources to adapt the software and commissioning............................................. 61

4.2 Parameter list................................ .................................................................................... 63

4.3 Connector list................................................................................................................... 104

5 Start-up................................................................................................................................115

5.1 Commissioning, general............. ..................................................................................... 115

5.2 Commissioning, closed-loop speed control..................................................................... 117

5.3 Commissioning the angular control ................................................................................. 123

5.3.1 Information regarding optimizing the angular controller ........................................ 126

5.4 Commissioning synchronization ...................................................................................... 127

5.5 Trace function with “symTrace-D7” ................................................................................. 129

6 Literature................................... ..........................................................................................130

7 Appendix..............................................................................................................................131

8 Changes...............................................................................................................................145

Warning information

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0 Warning information

Electrical equipment has components which are at dangerous voltage levels.

If these instructions are not strictly adhered to, this can result in severe bodily

injury and mater ial damage.

Only appropriately qualified personnel may work on/commission this

equipment.

This personnel must be completely knowledgable about all the warnings and

service measures according to this User Manual.

It is especially important that the warning information in the relevant

Operating Instructions (MASTERDRIVES or DC MASTER) is strictly

observed.

WARNING

D Qualified personnel for the purpose of this Manual and product labels

are personnel who are familiar with the installation, mounting, start-up and

operation of the equipment and the hazards involved. He or she must

have the following qualifications:

1. Trained and authorized to energize, de-energize, clear, ground and tag

circuits and equipment in accordance with established safety

procedures.

2. Trained in the proper care and use of protective equipment in

accordance with established safety procedures.

3. Trained in rendering first aid.

!DANGER For the purpose of this Manual and product labels, „Danger“ indicates

death, severe personal injury and/or substantial property damage will

result if proper precautions are not taken.

!WARNING For the purpose of this Manual and product labels, „Warning“ indicates

death, severe personal injury or property damage can result if prope

precautions are not taken

!CAUTION For the purpose of this Manual and product labels, „Caution“ indicates

that minor personal injury or material damage can result if prope

precautions are not taken.

Definitions

Warning information

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NOTE For the purpose of this Manual, „Note“ indicates information about the

product or the respective part of the Manual which is essential to

highlight.

CAUTION

This board contains components which can be destroyed by electrostatic

discharge. Prior to touching any electronics board, your body must be

electrically discharged. This can be simply done by touching a conductive,

grounded object immediately beforehand (e.g. bare metal cabinet

components, soc k et protecti ve conductor contact).

Overview

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1 Overview

1.1 Validity

This User Manual is valid for the SPA440 angular synchronous control

standard software package.

NOTE This documentation is not compatible with the previous MS340

angular synchronous controls!

Contrary to the earlier version, version 2.02 and higher includes so-

called BICO technology. This allows connections within the application

to be adapted to the actual task by making the appropriate parameter

changes. Supplementary functions can be implemented by inserting

free blocks.

For compatibility reasons, the multiplexer blocks have been kept,

although they are no longer required as a result of the BICO technology.

All of the parameters from versions V2.00 and V2.01 which can be

changed, have been kept. Changes have been made with respect to

the display parameters.

The documentation refers to operational standard software package,

comprising the T400 technology module and the software which is loaded

onto it. Generally, the T400 is operated in the drive converter (SIMOVERT

MASTERDRIVES MC or VC; DC Master) with/without communications

module (e. g.: PROFIBUS connection).

However, the software package can also be used when the T400 is

inserted in the SRT400. In this particular case, data is not transferred to

the basic drive converter via a common backplane bus. Presently, it is not

possible to parameterize the system using SIMOVIS.

NOTE The control core (all of the functions) of the SPA440 standard software

package is also available for other configurations, e.g. CPU modules

PM4 - PM6 with the IT41 expansion module. In this case, the

application-specific changes are made using the graphic configuring

tool CFC.

Hardware

configuration

Overview

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1.2 Order Numbers

The sources of the standard software package SPA440 angular

synchronous control, are available on CD-ROM (designation SPA440) .

When required, the angular synchronous control function can be adapted

to specific customer requirements using the graphic configuring interface

of SIMADYN D, i.e. CFC (also refer to Table 1-1).

Designation Explanation MLFB / Order No.

SPA440 SPA440 angular synchronous control on CD-ROM and the

documentation (as file).

6DD1842-0AB0

D7 ES SIMADYN D configuring software D7-ES. Package comprising

STEP7, CFC and D7-SYS on CD-ROM

6DD1801-4DA2

Table 1-1 Components for adapti ng the software package using CFC

1.3 Introduction

The angular synchronous control with synchronization is an application

which is frequently used in drive technology. This synchronous operation,

which is achieved with the control software, is also known as ”Electrical

shaft”.

Angular synchronous operation is implemented using the SPA440

standard software package. This standard software package can run on

the T400 technology module, integrated in a drive converter. It is available

as CFC source software on CD-ROM or directly on the T400. It can be

modified with STEP7, CFC and the supplementary D7-SYS software, to

adapt the technology functions to the customer’s precise requirements.

1.4 Terminology

1.4.1 Important terminology

The ”angular synchronous” application comprises a master drive and one

or several slave drives. The master drive specifies the speed and angular

position of the slaves.

Position actual values are sensed by counting the pulses received from

the connected pulse encoder. The pulse encoder has two signal lines,

which supply pulse series with a 90° offset to one another. The direction

of rotation is determined from the phase position of the two pulse series.

For these pulse series, both the rising as well as the falling edges are

evaluated. Overall, the pulses are quadrupled, which means that the

resolution is also quadrupled. The position- and speed actual values are

retrieved from the quadrupled pulses per software (using the speed

sensing function blocks).

Electrical shaft

Standard software

package

Master slave

Pulses / pulse

encoder

Encoder pulse

number /

synchronizing

pulse number

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A differentiation must be made between ”Encoder pulse number”

(parameter H011) and ”Synchronizing pulse number” (parameter

H100). ”Encoder pulse number” specifies the number of encoder

pulses per revolution (“Pulse number”). On the other hand, the

”Synchronizing pulse number” refers to the number of pulse edges

between two synchronizing pulses (quadrupled pulses). This means, that

for an encoder with an encoder pulse number H011=1024, the

synchronizing pulse number is H100=4096, if one synchronizing pulse

(e.g. zero pulse) occurs per revolution.

The number of summed pulses since the drive was powered-up, or since

it was reset the last time. The position actual value can be reset, e.g.

when a zero pulse occurs. In this case, the position actual value

corresponds to the number of summed pulses since the last time the

drive was reset.

Rotation of the rotor of a drive with reference to a defined zero position in

angular degrees. The definition of the actual angular value is from 0 to

360°. It can only be determined after a synchronizing pulse has been

received (zero pulse, BERO proximity switch) with the drive running. The

absolute position of the drive is known as a result of the synchronizing

pulse. As the drive moves, additional pulses are received, which are

summed and the actual position changes. The actual angular value is

obtained from the difference of the instantaneous actual position and the

actual position at the synchronizing instant. It therefore corresponds to the

angle that the rotor has moved through since the last synchronizing pulse

was received.

The summed pulses of the incremental encoder represent the actual

position value. The actual travel is calculated from the actual position

value, which is generated due to the fact that the drive is moving, e.g. the

distance that a gantry crane moves when the drives are running (refer to

3.8.1)

The master- and slave drive(s) receive the same speed setpoint. The

speed setpoint can be weighted for the individual drives using a ratio. For

pure synchronous speed control, only the speeds of the drives are

controlled and the angular position is ignored.

The angular synchronous control has a closed-loop speed synchronizing

control as subordinate control loop. In addition to the speed synchronism,

the differential position actual values (i. e. the difference pulses) between

the master- and slave drive(s) are fed to a higher-level closed-loop

angular control. Angular synchronous operation of the drives means that

while the master- and slave drives are operational, the relative angular

position between the master and slaves is controlled so that it remains

constant. The same as the closed-loop synchronous speed control, the

master/slave ratio can be adjusted over a wide range.

In addition to speed- and angular synchronism, the drives can also be

synchronized with one another. This means, that the angular- or positions

of the drives can be synchronized to a specified offset (displacement)

when synchronizing marks are passed (pulse encoder zero pulse or

BERO proximity switch). Synchronization is realized, depending on the

application, at various intervals. The synchronizing mechanism is

explained in more detail in Section 1.5.

Position actual

value

Actual angular

value

Position actual

value

Speed

synchronism

Angular

synchronism

Synchronization

Overview

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1.4.2 Functions and features

• Ratio between the master and slave which can be set over a wide

range

• Both drives can be synchronized with one another, also for a flying

master

• An offset (displacement) can be entered depending on the direction of

rotation

• Speed controller KP adaption for low speeds

• Angular controller KP adaption as a function of the ratio

• Communications coupling is monitored and the angular controller

enabled

• From V2.1. onwards for linear axis, angular synchronism can also be

implemented using 2 absolute value encoders by comparing the two

position actual values: Delta_Pos = Pos_Master – Pos_Slave.

When using this version, parameters L098 must be set to 0 and L099

to 1. In this case, the peer-to-peer coupling of the T400 cannot be

used.

If the standard version is used (position differential sensing with

incremental encoders), parameter L098 must be set to 1 and L099 to

0 (factory setting).

The control core consists of the following CFC charts: SYNC01, SYNC02

and CONTR. All of the other charts form the interfaces to the drive

converter, communication channels and HMI devices.

Functions in the standard software package Implemented in CFC chart Sampl. time Description

Closed-loop control

- reading-in setpoints

- sensing actual values

- angular controller

- determining the displacement

- synchronizing

- speed controller (optional)

- analog outputs

- analog inputs

• AE1

• AE2 to AE4

SYNC01, SYNC02

9.6 ms

1.2 ms

9.6 ms

Section 2.2

Section 3

Open-loop control

- jogging

- enable functions for:

• angular controller

• synchronization

• speed controller

• communication interfaces

- fault- and alarm handling

- monitoring functions

• couplings

CONTR

19.2 ms

when initial.

153.6 ms

19.2 ms

Section 3

Communications

- drive converter (CU), receive PZD

- drive converter (CU), send PZD

- COMBOARD PZD

IF_CU (interface to CU)

IF_COM (interface to CB1)

19.2 ms

1.2 ms

9.6 ms

Section 2.1

Functions

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- peer-to-peer PZD IF_Peer (interface to peer.) 9.6 ms

Parameter handling

- defining the texts for the

technology parameters

PAR_GER (German)

PAR_ENG (English)

153.6 ms Section 4

Table 1-2 Functi ons and structure at a glance

1.5 A comparison between speed- and angular synchroni sm

1.5.1 Model

The following sketch of the model is intended to provide a better

understanding of the control principles of speed- and angular

synchronism.

Disk, slave drive

P_S

Disk, master drive

P_M

N zero mark

Stroboscope S

Offset

Sensor

Fig. 1-1 Model to illus t rate angular synchronis m

The lefthand disk is located on the rotor of the master drive. In the

following it will be called ”Disk, master drive” (P_M). The righthand disk is

connected to the rotor of the slave drive and is called ”Disk, slave drive”

(P_S).

The slave drive is operated from a closed-loop synchronous speed- or

angular synchronous control, where the reference is the master. The

master/slave speed ratio is assumed to be 1:1, i.e. the two disks P_M and

P_S rotate with the same speed, in the same direction. Stroboscope S is

triggered by the rotational motion of the master. It is triggered precisely

then, when cam N is located above sensor F, i.e., if the line on the disk

P_M points vertically upwards (i.e. to ”12”). This is implemented, e.g.

using the zero pulse of a pulse encoder.

NOTE The situation assumes a master/slave speed ratio of 1:1 (this is easier

to depict). The observations also apply for other ratios.

In spite of the rotational movement, as a result of the stroboscope,

anybody looking at the disk, will see a steady-state pattern of lines on the

disks P_M and P_S. The principles behind closed-loop speed- and

angular synchronous controls can be made very clear using the position

of the lines on the two disks, as will be seen in the following.

S_M and S_S

Stroboscope S

Pulse pattern

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1.5.2 Differences between speed- and angular synchronism

For synchronous speed control, the master- and slave drives receive the

same speed setpoint, while the angular position is ignored. The closed-

loop angular synchronous control has, as subordinate control, a closed-

loop synchronous speed control. In addition to speed synchronism, the

differential position actual values (i. e. the difference pulses) between the

master- and slave drives, are fed to a higher-level closed-loop angular

control.

The differences between the two control types will be clarified using the

following example: There are three disks (refer to Fig. 1-2): one master

disk (P_M) and two slave (P_S) disks. The master drive rotates with a

constant impressed speed. One of the slave drives is controlled from a

closed-loop speed control, and the other slave drive, from a closed-loop

angular synchronous control; both of them are referred to the master

drive. The master/slave ratio is set to 1:1 for both of the slaves, i.e. the

three disks rotate in the same direction and with the same speed.

Master Slave, Slave,

speed synchronism angular synchronism

Status

Instant t

Undisturbed,

steady-state

operation

Instant t+1

Disturbance

quantity

injected into

the slave

Instant t+2

Disturbance

quantity has

been corrected

VxVx

Fig. 1-2 Difference between speed- and angular synchronism

Three instants in time are shown in Fig. 1-2 : the disks of the master

(P_M) and slave (P_S) at the instants t, t+1 and t+2.

Operation without any disturbance quantity. In this operating status, there

are no differences between closed-loop speed- and angular synchronous

control. However, this particular situation is only of theoretical relevance,

as in practical operation, disturbances are always present.

Instant t:

Instant t+1:

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A disturbance affects the slave drives. This disturbance initially causes

the slave drive to lead by a specific offset Vx, both for the closed-loop

speed- as well as for the closed-loop angular synchronous control.

In steady-state operation, for closed-loop angular synchronous control,

this offset Vx is corrected and for the pure closed-loop synchronous speed

control, it is not. For the closed-loop angular synchronous control, the

slave disk re-assumes its original position, contrary to the pure closed-

loop synchronous speed control. The angular controller corrects until the

previous pulse difference between the master- and slave drive at instant t

has been re-established.

Note After the disturbance has been corrected, for the closed-loop angular

synchronous control, disk P_S assumes its original position, i.e. relative

angular position. Contrary to this, for the pure closed-loop speed

control, this disturbance is not corrected. This means that the additional

angular offset, caused by the fault, is kept !

1.6 Displacement and synchronization

When two drives are operated with synchronous control, it may be

necessary to also synchronize the drives. This is generally the case after

the drives have been powered-up, as the master- and slave drives are not

in a defined position. Certain applications make it also necessary to

synchronize shorter or longer intervals (also refer to e.g. Section 3.7.1).

The goal is to correct an erroneous differential pulse actual value between

the master and slave. In this case, the sensed actual values are

referenced to absolute synchronizing marks.

When synchronizing, the displacementat the synchronizing instant is

determined and then this displacement to a specified displacement

setpoint is corrected. Synchronization is required, if the relative position

between two drives regarding absolute synchronizing marks must be

detected and corrected.

When a synchronizing mark is passed it is detected per hardware using a

zero pulse from the pulse encoder or using a BERO proximity switch. The

absolute position of the drives with respect to one another is sensed using

one synchronizing signal.

The actual angular values of the two drives is set to defined actual

angular values when the fixed synchronizing marks are passed. Only after

both drives have passed their synchronizing marks, can the actual offset

(actual value) be defined as the number of pulses, which are received

from the master- and slave drives between the synchronizing marks.

Note The number of synchronizing pulses between the master- and slave

drive at the machine part, to which the drive must be synchronized,

must be the same. This standard software package does not take into

account unequal synchronizing pulse rates !

Displacement and synchronization are explained using a rotary

movement. This is essentially the same also for linear motion (refer to

Section 3.7.1)

Instant t+2:

Synchronization

Synchronizing

mark

Displacement

(actual value)

Overview

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Disk, slave drive

Offset

Disk, master drive

Position of the zer

mark of the master

drive

Position of the zero

mark of the slave drive

Fig. 1-3 Position displ acement between t he master- and slave dri ves

After both drive synchronizing marks have been passed, the correct

displacement (actual value) can be determined as master/slave pulse

difference. This displacement replaces the previous differential position

actual value in the angular synchronous control (which could have been

possibly incorrect).

The relative (angular) position of the master and slave are entered using

the displacement setpoint so that the master- and slave drives have the

required position to one another. If they are not synchronized, the

displacement setpoint refers to the angular position of the drives at the

instant that the differential position actual value was last set. For example,

at the start of the closed-loop control. If synchronized, the displacement

setpoint refers to the last synchronized displacement actual value. The

displacement is entered as quadrupled pulses (refer to Section 1.3.1).

The disks of the master (P_M) and slave (P_S) at instants t, t+1 and t+2

are illustrated in Fig. 1-4 at three instants in time. They are intended to

clarify the interaction between displacement setpoint and displacement

actual value. These instantaneous states are obtained using a

stroboscope and the model as shown in Fig. 1-1.

Fig. 1-4Synchronizing to an displacement setpoint

The slave drive is operated from the closed-loop angular synchronous

control. V1* is available as displacement setpoint, which should specify

the required relative displacement between the master and slave. The

Displacement

setpoint

Instant t:

Action, status Master Slave

Instant t

Displacement actual value V

and displacement

Setpoint V

* are present

Instant t+1

Synchronization has taken place, the displacement

actual value has been corrected.

Displacement setpoint V

is kept, the change is

corrected.

Instant t+2

New displacement setpoint V

* is entered and kept,

actual value V

is corrected.

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displacement setpoint V1* refers to the angular position of the drive the

last time that the differential position actual value was set. If

synchronization still has not taken place, this reference instant can extend

back to the past until the angular controller has been enabled after power-

on. However, if synchronization has already taken place, the

displacement setpoint refers to the last synchronized angular position.

However, the actual displacement is V1. This means that synchronization

is necessary (refer to instant t+1). The displacement setpoint V1* is kept

during synchronization.

Synchronizing takes place after the synchronizing marks have been

passed. An undesirable deviation between the actual displacement V1 and

the displacement setpoint V1* occurs. The deviation is corrected with

unchanged displacement setpoint V1*. In the closed-loop angular

synchronous control, the displacement actual value is set directly to the

actual displacement at the synchronizing instant. The angular control then

corrects the set displacement actual value to the constant displacement

setpoint. Synchronization is completed at instant t+1.

A new displacement setpoint V2* is entered and corrected. The setpoint

now refers to the synchronized angular position at instant t+1.

Synchronization is sub-divided into:

• Determining the displacement, and

• Correcting the deviation, to the differential angular actual value.

The angular synchronous control is a lower-level control to the

synchronizing circuit. When synchronizing, the differential position actual

value is directly set to the actual displacement at the synchronizing instant

(i. e. when at least one synchronizing mark is passed). With a constant

displacement setpoint at the angular synchronous controller, deviations

which may be present at the synchronizing instant, are corrected.

Instant t+1:

Instant t+2:

Summary

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1.7 Hardware constellation

A typical hardware constellation to implement angular synchronous

control on a T400 technology module is shown in Fig. 1-5.

The incremental encoder for the master drive is connected at connector

X6. For the slave drive, the pulse encoder signals are either received from

connector X8 or via the backplane bus of the basic drive (refer to Section

2.2)

BASEBOARD

(Mast erDrives / DC Mast er)

COMBOARD

(CB1, CBP, ...)

Technology module

CU COM T400

Electr oni cs b ox of t he dri ve

converter

Fig. 1-5: Typical hardware arrangement i n t he el ectronics box of a driv e converter

The basic closed-loop control structure of the angular synchronous

control is shown in Fig. 1-6. The master- and slave drive(s) are connected

to a common speed master setpoint n*. The speed master setpoint n* is

used for pre-control and ensures that the required speed of the slave(s) is

achieved. Further, the speed of each slave drive can be set using

different master/slave ratios. The higher-level angular controller ensures

angular synchronism and corrects steady-state errors in the lower-level

speed control loop (also refer to Fig. 3-1, Overview closed-loop control).

Incremental

encoder

Control structure

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Master

setpoint

Drive

converter

T400 T400

CU CU

Motor Motor Motor

Drive converter Drive converter

Master

Slave

Master drive Slave drive 1 If required, add. slave drives

if required,

amplifier

Position and speed of the master

Commands, messa

es/si

nals

setpoints and actual values

Fig. 1-6 Basic cl osed-loop control struct ure of the angular synchronous cont rol (CU: Basic dri ve module)

The closed-loop control for the slave drive requires the following input

quantities:

• Speed master setpoint n* (reference speed for the master and slave)

• Speed- and position actual value of the master (from pulse encoder

signals)

• Additional commands and signals, setpoints and actual values (e. g.

from the automation)

The closed-loop control structure, illustrated above, is independent of the

synchronization. This is because, when synchronizing, only a correction

signal for the differential position actual value can be generated from the

position of the synchronizing marks (refer to Fig. 3-1).

NOTE Synchronization is only necessary if the machine requires this.

Angular synchronous control can also be operated without

synchronization (without synchronizing pulse/marks).

If angular synchronism has to be established between several drives,

then the drive with the highest output or the longest rise time should be

used as the master drive. If this drive runs unsteadily, then it might make

more sense to select a smoother running drive, i.e. deviating from this

recommendation.

NOTES The pulse encoder of the master drive must be simultaneously

connected to the appropriate inputs of the slave drives. It is not

permissible to overload the pulse encoder of the master drive!

Input quantities

Synchronization

Several slave

drives

Overview

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1.8 Informati on and i nstr uctions when using angular

synchronous control

NOTE Applications

Angular synchronous control means that the machine runs in true

angular synchronism which for instance can be realized using

mechanical linkages and couplings (e. g. shafts or gearboxes).

NOTE Applications, which under certain circumstances, are not

practical:

Applications, which can be implemented using a pure closed-loop

speed control. Closed-loop speed control is preferable to angular

synchronism due to the simpler controller optimization, if the task in

hand permits this. Generally, angular synchronous control does not

further improve the control dynamic performance.

Applications, which require load equalization or closed-loop tension

control.

T400 technology module

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2 T400 technology module

The interfaces between the standard software package and the system

environment are explained in this Section. In addition to the local

interfaces of the T400 technology module (terminals and backplane bus

to the basic drive), the three configured communication interfaces are

also involved.

2.1 Communication interfaces

The approximate structure of the standard software package is shown in

Fig. 2-1. It is sub-divided into:

• Communication interfaces: COMBOARD (e. g. PROFIBUS slave),

peer-to-peer and USS slave (USS is only required if the T400 is used

in standalone applications, i.e. is not used with a basic drive. In this

case, only restricted parameterization capability is possible via the

USS-slave interface.)

• Interface to the basic drive (process data PZD, parameterization, fault-

and alarm messages)

• Analog and digital I/O

• Control core (the speed controller can be alternatively located on the

T400 or in the basic drive).

The functions of the control core are explained in detail in Section 0. The

interfaces, via which process- and parameter data are

transferred/exchanged with the T400, are described in the following

Sections.

Local interfaceControl coreCommunications

COMBOARD

(e.g. PROFIBUS)

Peer-to-peer

USS slave

(operation without CU)

Closed-loop angular control

Open-loop control

Closed-loop speed control

Speed/position sensing

Interface CU

Analog I/O

Digital I/O

Fig. 2-1 Structure of the standard soft ware package (CU is the proces sor module of the basi c drive)

T400 technology module

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2.1.1 Interface to the basic drive (CU)

Data, including fast process data and parameters, as well as

faults/alarms, is exchanged between the T400 technology module and the

basic drive converter (abbreviated: ”Basic drive”) using the backplane bus

LBA (Local Bus Adapter) via a parallel DUAL-PORT RAM interface.

The basic drive must be commissioned. For instance, for SIMOVERT

MasterDrives this is realized according to the ”Expert application” mode in

the Operating Instructions[1]. In order to operate the SPA440 standard

software package, the following pre-set basic drive parameters must be

set, refer to Table 2-1 and Table 2-2.

NOTE The T400 supplies the basic drive with the following control words;

however, they are only effective in the drive converter after the basic

drive has been appropriately parameterized.

Variable Word VC (CU2) CUMC DC-Master

Bit Param. Value Param. Value Param. Value

On command (main

contactor)

W1.0 P554 3001 P554 3100 P654 3100

Off2 W1.1 P555..557 3001 P555 3101 P655 3101

Off3 W1.2 P558..560 3001 P558 3102 P658 3102

Setpoint enable W1.6 P564 3001 P564 3106 P664 3106

Fault acknowledgement W1.7 P565-567 3001 P565 3107 P665 3107

Jogging 1 W1.8 P568 3001 P568 3108 P668 3108

Jogging 2 W1.9 P569 3001 P569 3109 P669 3109

External fault 1 W1.15 P575 3001 P575 3115 P675 3115

Speed controller enable W4.9 P585 3004 P585 3409 P685 3409

Speed setpoint

(if H140 = 0)

W2 P443 3002 P443 3002 P644 3002

Suppl. speed setpoint from

the angular controller W5 P433 3005 P224 3005 P634 3005

Pre-control value for the

speed controller W8 P506 3008 P262 3008 P501 3008

Table 2-1 Control word- and setpoint c hannel

Variable Word / VC CUMC DC-Master

Bit Param. Value Param. Value Param. Value

Status word 1 W1 P694.01 968

552

P734.01 0032 U734.01 0032

Speed actual value W2 P694.02 219 P734.02 0091 U734.02 0040

Torque W3 P694.03 7 P734.03 0182 U734.03 0142

Status word 2 W4 P694.04 553 P734.04 0033 U734.04 0033

Drive converter output current W5 P694.05 4 P734.05

U734.05 0116

Table 2-2 Status word- and act ual value channel

Communications

with CU

Basic drive setting

T400 technology module

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2.1.2 Interface to COMBOARD

Communication modules (COMBOARDs; abbreviated: CB) form the

interface between the T400 and a communication’s network. The type of

COMBOARD depends on the network protocol. For example, CB1,CBP

or CBP2 are available for PROFIBUS applications. For the T400, the

COMBOARD is an interface, which can be used to transfer process data

(PZD) and parameters (PKW).

The COMBOARD is parameterized from the basic drive (protocol, baud

rate, telegram length, monitoring,... ). The number of pieces of net

(useful) data can extend up to 10 PZD (each 16 bits).

The parameterization is only made from the T400, if the T400 is used as

standalone solution in the SRT400 with COMBOARD at slot 2.

Parameters H480 - H496 are provided for this special case.

Example Fixed protocol versions are available for PROFIBUS (parameter process

data objects PPO [2, 4]). The required PPO type of the slave is generally

saved in the master. It defines the number of PZD which are transferred.

If, for example, PPO type 4 (6 PZD) is used, PZD7 to PZD10 are

undefined.

COMBOARD communications can be activated or de-activated using

parameter H409.

The first 6 of the process data received from the communications module

are assigned as follows in the factory setting (refer to Chart 410):

PZD Receive words (factory setting) Normalization Display

1 Control word1 (e. g. On) None d460

2 Master setpoint H451 d450

3 Setpoint, displacement setpoint H453 d452

4 Control word2 None d461

5 Setpoint, ratio H455 d454

6 Setpoint, inertia compensation H457 d456

Table 2-3 COMBOARD rec e i ve channels (sampling time 9.6 ms; free PZD, ref er to Chart 410)

The send data are selected via multiplexer (H442 to H449), or using BICO

re-connections. Refer to Chart 440 to normalize the send data.

Telegram reception can be monitored from a time perspective

(watchdog). Two time limits are available. After power-on there is a delay

of H462 ms, and during operation H463 ms for a valid receive telegram.

The error- and alarm messages are transferred to the CU where they are

displayed if the messages were not suppressed (H003 and H004).

Communications

module

T400 in the SRT400

Enable

Receive data

Send data

Monitoring

T400 technology module

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2.1.3 Peer-to-peer interface

The standard software package contains a peer-to-peer interface for fast

data transfer between two modules, e.g. to an additional T400. This

interface has the following factory setting:

Baud rate H363 19200 baud

Monitoring time limit after power-on H360 20 s

Monitoring time limit in operation H361 100 ms

Telegram structure (cannot be

changed)

1 control word

2 floating-point values

Table 2-4 Factory setti ng, peer-to-peer interface

NOTE The peer-to-peer telegram always includes 5 PZD. (PZD2 and PZD3) o

(PZD4 and PZD 5) can, alternatively, be used as single words, double

word or floating-point value (refer to Chart 300). For the factory setting,

floating-point values are transferred.

In order to eliminate data transfer disturbances, the interface terminating

resistors must be switched-in (switches S1/3 to S1/6; refer to [4]).

Parameter H309 is used to enable or inhibit peer-to-peer

communications.

Telegram reception can be monitored from a time perspective. There are

two time limits. After power-on, there is a delay of H360 ms and during

operation H361 ms for a valid receive telegram. The error- and alarm

messages are transferred to the CU where they are displayed if the

messages were not suppressed (refer to H003 and H004).

If the position sensing of the 2 absolute value encoders of the T400 are

used, the peer-to-peer interface cannot be used, as absolute value

encoder 2 uses the same terminals!

2.1.4 Diagnostics interface

A PC can be connected to serial interface 1 (RS232). The interface can

be used with the Service-IBS/ TELEMASTER or with the CFC in the test

mode. Thus, values and connections can be changed.

The baud rate 19200 baud.

T400 PC

Terminal Function 9-pin 25-pin

67 RxD 3 3

68 TxD 2 2

69 Ground 5 7

Communications

via peer-to-peer

Caution

Enable

Monitoring

For absolute value

encoders

T400 technology module

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Table 2-5 Terminals of i nterface X01 on T400 (RS232)

2.1.5 USS-slave interface

Serial interface 1 (RS232 / RS485) can be alternatively used for

parameterization. This is intended for the special case, where the T400 is

used in the SRT400. When used in the basic drive, parameterization is

realized via the basic drive. The following settings are required for this

particular case:

Involves Value Factory Significance

H700 1 1 Enable USS slave

H701 9600 Baud rate (OP1S : 9600 or 19200)

H703 0 Slave address at the USS bus

H704 0 0: RS485 (OP1S)

1: RS232 (SIMOVIS)

S1/8 on

T400

ON OFF Changeover from online operation (CFC, basic start-up) on USS.

This only becomes effective after power-down / when the T400 is

reset

Table 2-6 Setti ngs for USS-slave operati on (f actory = f actory s et ting)

It is not possible to simultaneously use USS and CFC online! USS

operation is not possible if the parameterization is incorrect. This means,

that the error can only be resolved if online operation is selected, and then

the error is, for example, resolved using the basic-IBS (basic start-up

tool). OP1S can only be used from version V2.3 onwards.

Caution:

T400 technology module

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2.2 Terminal assignment

Setpoints and control signals can be read-in and actual values and status

signals output via digital and analog signals. For the T400, the

system/plant signals are connected directly at the appropriate terminals,

which are accessible from the front. Fig. 2-2 shows an overview of the

T400 connections. The following description refers to the terminal

assignment.

2.2.1 Digital I/O

The digital inputs and outputs of the T400 Technology Module have a 24

V signal level. The 24 V power supply for the digital outputs must be

externally connected.

The SPA440 control core uses 5 control signals, which, when required

can be entered via digital inputs (refer Table 2-7) .

Terminal Recommended assignment (control signals)

53 Angular controller enable

54 Synchronizing command

55 Reset position

56 Displacement reset

57 Jog enable

Table 2-7 Recommended terminal assi gnment for the digital i nputs, T400 module

The digital outputs are pre-assigned for status messages, refer to Table

2-8.

When the unit is powered-up, all of the outputs are initially open-circuit

(high ohmic state). After the initialization phase, they are driven with the

values which are present. All of the outputs are connected to ground

when the drive converter is powered-down or when a fault develops.

NOTE Logical ”0”: Output open-circuit or connected to ground

Logical ”1”: Output is closed, i. e. the terminal is at the

connected supply voltage of approx. - 2.5 V.

The max. output load is 50 mA, short-circuit proof

Term. Factory setting BICO param. Enable

46 Synchronism reached H631 H637

47 Angular controller at its limit H632 H638

48 Enable status of the ang. controller H633 H639

49 Fault H634 H640

51 Alarm H635 Not relev.

Table 2-8 Terminal assi gnment of the digital outputs of the T400

Supply voltage

Digital outputs

Properties

T400 technology module

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24V

4 digital I/O

bi-directional

24 V DC

(8 mA input

current)

X5.

5 analog inputs

2 differential inputs

11 bits + sign

± 10 V / 10 k

Ω

±10V

X9.

4 digital

inputs

24 V DC

2 analog outputs

±10 V / 10 mA

11 bits + sign

X9.97

11 bits + VZ

Absolute value

encoder-2

Serial interface 2

Peer-to-peer or

USS

.72

45 P24 external

X5.

2 digital outputs

24 V DC / 100 mA

Base load 40 mA

for external P24-

supply, which can

also be taken from

the basic drive

+24V

P24 external

4 digital inputs

interrupt-capable

24 V DC

(8 mA input

current )

X8.

Zero pulse

Pulse encoder

+15V / 100mA

Track

Track A +

Track B +

.62

Coarse pulse

Track A -

Track B -

.86

Absolute value

encoder 1

85 M

X7.

Serial interface 1

Program download

CFC online

USS / SIMOVIS

RS485, 2-wire

.70

Tx/Rx+

Tx/Rx-

RxD

TxD

Symbolic

hardware

addresses of

the basic

software

package

Ana_In_1

Ana_In_2

Ana_In_3

Ana_In_4

Ana_In_5

Ana_Out_1

Ana_Out_2

BinInput

SSI_1

SSI_2

X02

X01

Increm_1

Increm_2

Communi-

cations

module

e.g.: CB1

T400

Pulse

encoder

Pulse

encoder

Zero

pulse

Coarse pulse

Zero pulse

±10V +

Dual

port

RAM

Dual

port

RAM

TTL

RS232

HTL

TTL

RS422

Selected using

switch S2

HTL

BinInOut

Zero pulse from CU

Tracks A and B from CU

MASTERDRIVES

basic drive

CUx

MASTERDRIVES

basic drive

CUx

Fig. 2-2 Layout of the terminals of t he T400 Technology Module

T400 technology module

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2.2.2 Analog I/O

An output- and input voltage of 5 V corresponds, in the factory setting to

an internal value of 1.0 (100 %). This pre-setting can be changed using

scaling factors and offsets. The following is valid for analog inputs:

Analog value = terminal voltage ⋅ scaling factor / 5 V - offset

Generally, the analog inputs have a smoothing element connected in

series. The smoothing can be de-activated by setting the filter time

constant to 0.

Term-

inal Recommended

assignment Sampling

time Scaling Offset Filter time

constant Value,

smoothed

90 / 91 Inertia compensation 1.2 ms H210 H211 H222 d223

92 / 93 Ratio 9.6 ms H213 H214 H224 d225

94 / 99 Speed master setpoint 9.6 ms H216 H217 H226 d227

95 / 99 Offset setpoint 9.6 ms H219 H220 H228 d229

Table 2-9 Terminal assi gnment of the analog inputs, T400 module

T400 has two analog outputs which are processed in the fastest sampling

time (1.2 ms). The output quantity is selected per multiplexer or the BICO

connection. During operation, every output can be inhibited by a control

signal (output = 0V).

The outputs can be scaled. For the factory setting, 1.0 is output for 5 V.

The output voltage V is obtained as follows:

V = ( value + offset ) ⋅ scaling factor ⋅ 5 V

Terminal Multiplexer BICO input Inhibit input Scaling factor Offset

97 / 99 H618 H620 H621 H161 H160

98 / 99 H619 H622 H623 H163 H162

Table 2-10 Analog output s and assoc i ated parameters

2.2.3 Pulse encoders

Pulse encoders with two tracks, offset through 90 degrees must be

used. If the synchronizing function is used, the zero pulse or a

comparable synchronizing signal (e. g. BERO switch) must be connected.

The T400 module provides 15 V (max. 100 mA) as encoder power

supply.

Encoders with a 15 - 24 V supply voltage, especially: SIEMENS rotary

pulse encoders 1XP8001-1 (for 1LA5 motors, frame sizes 100K to 200L);

Scaling

Analog outputs

Pulse encoder type

Encoder power

supply

Shielding

T400 technology module

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The pulse encoder cable and the cables used to conduct the

synchronizing pulses must be shielded. The cable shield must be

connected at both ends, if possible through clamps, to ground potential

through the lowest impedance connection. This is especially important for

signals from proximity- or switches using contacts.

If the 100 mA of the internal 15 V supply is not adequate, we recommend

the following 15V power supplies:

• Type CM62-PS-220 AC/ 15 DC/ 1

220 V AC to 15V DC, load capacity 1 A

Manufacturer, Phoenix

• Type FMP 15S 500 ”with fast mounting”

110/220 V AC to 15V DC, load capacity 0.5 A

Manufacturer, Block

When selecting the encoder pulse number, the following issues must be

taken into account:

1. Maximum pulse frequency, 1.5 MHz

2. The ratio should be approx. 1:1 as in this case, the best dynamic

performance is obtained. A ratio in the range from 1:4 to 4:1 is

acceptable (definitions, refer to the following sections).

3. The encoder pulse numbers of the master- and slave drives should be

same; however, criteria 1) and 2) have priority.

The master drive pulse encoders are directly connected to the T400. The

slave drive can use the incremental encoder signals from the basic drive

(CU) from the backplane bus.

The operating mode can be parameterized using parameters H018 and

H019. The following should be set:

• Encoder type

• Filter parameterization and filter time constant of the digital filter for the

signals of the two pulse tracks / zero pulse track

• Source of the encoder tracks

The recommended values for H018 and H019 are specified in the

parameter table in Section 4.2. For additional information, refer to Lit.[5]

block NAVS, connector MOD.

15 V power

supply units

Encoder pulse

numbers

T400 technology module

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Encoder 1 Encoder 2

HTL RS422 HTL TTL HTL ±3V

Track A+ and track A 81 62 62 62 62

Track A- - 86 - - -

Track B+ and track B 82 63 63 63 63

Track B- - 87 - - -

Synchronizing pulse N+ 83 64 64 64 64

Synchronizing pulse N - 66 88 - - -

Coarse pulse inputs 84 65 65 65 65

P15 output for the 15 V encoder power supply 80 80 80 80 80

Ground 85 66 66 66 66

Switch S2.1 ON OFF ON OFF

Switch S2.2 ON OFF ON OFF

Switch S2.3 ON OFF OFF ON

Switch S2.4 ON OFF ON OFF

Switch S2.5 ON OFF OFF ON

Table 2-11 Incremental encoder inputs of the T400: Terminal ass i gnment and swit ch setti ngs for various encoder

types

Coarse pulses are used to suppress undesirable synchronizing signals.

For example, by combining coarse- and fine pulses, disturbances can be

suppressed, or just specific synchronizing pulses evaluated.

5 different cases are investigated. The default setting is for synchronizing

pulses which are used independently of the associated coarse pulses

(mode 1). The coarse pulse mode is selected using H022 and H023.

Coarse pulse

Fine pulses

Evaluation signal

Mode 1

Coarse pulse ignored

Coarse pulse

Fine pulses

Evaluation signal

Mode 2

Y = XG AND XF

only 1st pulse

Coarse pulse

Fine pulses

Evaluation signal

Mode 3

Y = XG AND XF

Coarse pulse

Fine pulses

Evaluation signal

Mode 4

Y = XG AND XF

only 1st pulse

Coarse pulse

Fine pulses

Evaluation signal

Mode 5

Y = XG AND XF

Fig. 2-3 Operating modes for coarse puls e evaluation (the synchronizing pulses correspond to t he fine pulses )

Coarse pulse

evaluation

T400 technology module

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Absolute value encoder

When using the absolute value encoder for differential position sensing,

two absolute encoders with SSI or EnDat interface are connected.

We recommend a multi-turn encoder with e.g. 4096 steps per revolution

and 4096 revolutions which can be differentiated between. The encoder

should be a coded rotary encoder.

(function block type to evaluate an absolute value encoder: AENC)

T400

terminal Significance Drive to be connected

72 Absolute encoder 2, data +

73 Absolute encoder 2, data -

74 Absolute encoder 2, clock +

75 Absolute encoder 2, clock -

Master drive

76 Absolute encoder 1, data +

77 Absolute encoder 1, data -

78 Absolute encoder 1, clock +

79 Absolute encoder 1, clock -

Slave drive with T400

Table 2-12: T400 terminals for absolut e value encoder

Function description

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3 Function description

A control-related block diagram of the standard angular synchronism

software package is illustrated in Fig. 3-1.

The closed-loop angular control is implemented on the technology

module. The closed-loop speed c ontrol is either realized on the

connected drive converter or is internally computed on the T400 (refer to

parameter H140).

The setpoints are either received from the basic drive (CU), COMBOARD,

peer-to-peer or analog input or can be entered as fixed value.

Conversion into pulse

number conversion

Closed-loop angular

control

Displace-

ment

determination

synchroniz-

ation

Position difference

Position difference - correction value

Angular controller

P- or PI controller

Displacement

act. value

Displacement -

position difference

Slave

Master

Pulse encoder

Control signals for

synchronizing

Actual value

sensing

Position act. value, slave and master

Status and control signals

Speed actual

values

Closed-loop speed

control Basic drive CU

To the

current

controller

Ramp-function

generator

Speed actual value, slave

Speed setpoint

Inertia

compensation

Master speed

setpoint

(reference speed)

Ratio

Displacement

setpoint

Speed controller

Fig. 3-1 Overview of t he SPA440 st andard softw are package

Function description

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3.1 Ratio

3.1.1 Speed ratio

The master- and slave drives receive the same speed setpoint, whereby

this setpoint is weighted by the (master/slave) speed ratio ü.

The speed ratio ü between the master and slave drive is defined as

follows:

Speed ratio ü = Speed, master drive

Speed, slave drive

Example:

Speed, master drive: nM = 1710 RPM

Ratio ü = 1.5

Speed, slave drive: nS = nM / ü = 1710 RPM / 1.5 = 1140 RPM

NOTE Contrary to the older versions of the angular synchronous control, the

ratio, as floating-point value, can be practically set without any

limitations.

Parameter Use

H040 Multiplexer selection of the source for the ratio

H041 Source for the supplementary ratio

H043 Fixed value, ratio

d044 Actual ratio

d045 Ratio, numerator

d046 Ratio, denominator

H047 Fixed value, supplementary ratio

H048 Multiplexer selection for the relative ratio

H067 Source for the ratio

H068 Source for the relative ratio

H086 Fixed value, fine ratio, numerator

H087 Fixed value, fine ratio, denominator

H088 Enable fine ratio

H155 Resolution for calculating numerator and denominator

Table 3-1 Parameters to define and display the ratio

Function description

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3.1.2 Fine ratio

The ratio is generally entered as a floating-point value. The integer value

for numerator and denominator DN and NM are automatically calculated

from the selected ratio (refer to Chart 80). The calculated ratio exhibits a

maximum error of 0.0001 with respect to the floating-point input (this can

be influenced using the resolution of the ratio H155).

Nominator and denominator can be separately entered as integer value

(”fine ratio”) (refer to Table 3-1). (For example, this may be required if the

ratio is entered with OP1S, whereby only 3 decimal points are possible).

• Ratio: 2/3 (master speed/slave speed)

• Pulses, slave/revolution: 1024

• Pulses, master/revolution: 2048

• Displacement correction should be made

Parameter Value Explanation

H077

H078

5001 Source for fixed value 1st ratio of the displacement

calculation = 1, as the number of pulses between 2

synchronizing operations has been taken into account

(refer to H100, H102, H105, H107)

H086 2 Fine ratio, numerator

H087 3 Fine ratio, denominator

H088 1 Activates the fine ratio

H100 16384 (2⋅4⋅2048) number of edges between 2 synchronizing

signals of the master (2 revolutions)

H102 12288 (3⋅4⋅1024) number of edges between 2 synchronizing

signals of the slave (3 revolutions)

H105 10993 Suppresses the first synchronizing pulse from the master

(synchronizing is only enabled after 1.5 revolutions)

H107 10240 Suppresses the first two synchronizing pulses from the

slave (synchronizing is only enabled after 2.5 revolutions)

Example:

Settings:

Function description

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3.2 Setpoints and actual values

3.2.1 Setpoints

Setpoints can be entered from any interface. A connection must be

established from the required source to the appropriate setpoint input

using BICO technology. When making a selection with the multiplexer, a

selection can be made between the following sources. Also refer to

function chart 500 and the tables specified below.

Setpoint Selection Pre-assigned with ...

Displacement H050 Fixed value (by H066)

Ratio H040 Fixed value (by H043)

Relative ratio H048 Fixed value (by H049)

Master speed setpoint H070 Speed actual value, master

Inertia compensation H080 Differentiation of the speed setpoint

Table 3-2 Multipl exer to selec t the set poi nt channel

Selection Normalization Setpoint sources

0 - Fixed value 0.0

1 - Fixed value (a separate fixed value for each setpoint channel)

2 H210 Analog input 1, smoothed

3 H213 Analog input 2, smoothed

4 H216 Analog input 3, smoothed

5 H219 Analog input 4, smoothed

6 H550 Basic drive, word 2

7 H552 Basic drive, word 3

8 H554 Basic drive, word 5

9 H451 COMBOARD word 2

10 H453 COMBOARD word 3

11 H455 COMBOARD word 5

12 H457 COMBOARD word 6

13 - Peer-to-peer, words 2 + 3

14 - Peer-to-peer, words 4 + 5

15 Speed actual value, master (channel 15 is only available to

select the master setpoint)

Table 3-3 Setpoint sources

Function description

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3.2.2 Actual value sensing

The actual speed, position and position difference are sensed by

counting the pulses from the two pulse encoders from the master- and

slave drives.

The speed actual value sensing is calibrated using parameters H010 to

H013. The speed actual value is referred to the configured rated speed,

i.e. the rated speed has a speed actual value of 1.0.

Speed Pulses

Measuring time

Normalization factor

Encoder pulse No.

Rated speed

All of the parameters which have to be set for the actual value sensing

are listed in Table 3-4:

Param. Significance Explanation

H010 Encoder pulse number, slave Number of pulses (single) per revolution

H011 Encoder pulse number, master Number of pulses (single) per revolution

H012 Rated speed, slave Speed actual value, which is simulated for 1.0

H013 Rated speed, master Speed actual value, which is simulated for 1.0

d014 Speed actual value, slave Display parameter

d015 Speed actual value, master Display parameter

d016 Position actual value, slave Display parameter

d017 Position actual value, master Display parameter

H018 Slave sensing mode Encoder type (always type 1); filter time; behavior for zero pulse;

source of the tracked signals and zero pulse

H019 Master sensing mode Encoder type (always type 1); filter time; behavior for zero pulse

d020 Error code, slave sensing Refer to Section 4.2

d021 Error code, master sensing Refer to Section 4.2

H022 Coarse pulse evaluation, slave Refer to Section 4.2 and 2.2.3

H023 Coarse pulse evaluation,

master

Refer to Section 4.2 and 2.2.3

Table 3-4 Parameters f or t he speed actual value sensi ng

NOTE The explanations in this Manual only assume encoders with 2 tracks A

and B, offset through 90° and possibly with zero pulse! However, the

information is also valid for encoders with separate forwards- and

reverse tracks.

Rated speed, master (H013) and rated system frequency:

If the master setpoint for the slave is referred to the encoder pulses of

the master (H070 = 15), the rated speed of the master (H013) and the

rated system frequency (or the speed for a drive converter) must be

parameterized so that they are identical.

The rated speeds of the master and slave are required to generate the

master setpoint and to display the speed actual value (d014, d015).

These are used when calculating the pos. and pos. difference.

Principle

Function description

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The master and slave position actual values are required to determine

the displacement. To sense the position actual value, the encoder pulse

edges from the master- and slave drives are counted which have been

received since the last time the system was reset with the drives

operational.

The position actual values are reset as follows:

• the control signal reset position (refer to Chart 90)

• when enabling the angular controller

• using the synchronizing pulse (e. g. zero pulse) at the pulse encoder

input. When the synchronizing marks are passed, the position actual

value is set to 0 and runs-up to four times the encoder pulse number in

one revolution.

The position difference is sensed per software using a 32-bit counter.

This means that a maximum pulse number of

±231 = ± 2147483648 quadrupled pulses is possible.

NOTE In order that the position actual values do not overflow (e. g. from 231

ÞÞ

Þ -231), a synchronizing pulse must be generated, at the latest after

231 quadrupled pulses, which then resets the position!

Param. Significance Explanation

d017 Position actual value, master Calculated in quadrupled pulses

d016 Position actual value, slave Calculated in quadrupled pulses

H105 Synchronizing threshold, slave A synchronizing pulse is only evaluated if the position

actual value exceeds threshold H105

H107 Synchronizing threshold, master As for H105, however for the master position

d109 Status of the angular controller

enable

At d109=0, the position is reset

H173 Multiplexer for reset position Selects the source for this control signal

H097

H167

Inputs for the reset position

function

BICO inputs

H181 Input, reset slave position “

H189 Input, reset master position “

Table 3-5 Parameters f or position actual value s ensing

The position difference actual value is defined as the position actual value

through which the slave must be moved, so that the position actual value

of the slave and the position actual value of the master, referred to the

slave, are the same.

The position pulse number of the master drive is re-normalized to the

slave. This means it can be directly compared with the position pulse

number of the slave, i.e. the angle through which the master drive moves,

is represented as a pulse number of the slave. The following algorithm for

the position difference is obtained, taking into account different encoder

Position actual

value sensing

Position difference

sensing

Function description

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pulse numbers for the master- and slave drives. ”Master- and encoder

pulses” refer to the quadrupled position pulses generated by the pulse

encoder. ”Rated pulses” represents the number of position pulses, where

the position actual value should be 1.0.

The quotient of NM / DN corresponds to ratio ü (refer to Section 3.1.2).

A so-called correction pulse number (H093), calculated from the displace-

ment calculation, is added to the position difference for synchronization.

This means that the angular controller is forced to correct the position

difference which is entered. This correction value is zero if

synchronization is not applied or when in the synchronous condition

Par. Significance Explanation

H093 Correction pulse number Number of pulses which, when the displacement is being corrected

are input per sampling time into the angular controller to correct the

displacement

H117 Filter time, position

difference

d124 Differential position actual

value, smoothed

Number of pulse edges (pulses ⋅ 4) which represents the offset

between the master and slave; this is zero when the system is

synchronized.

Table 3-6 Parameters f or t he di fferential position sensing

The pulse number ratio should be approximately 1:1. An inaccuracy of

several pulses can occur, especially for a pulse number ratio ≠ 1. The

highest accuracy is achieved for a pulse number ratio of 1:1, refer to the

example in Fig. 3.5.

Counter saved Counter saved

1 edge

9 edges

123456 78 9

Pulses, master

Pulses, slave

Ratio = 1

Determined position difference: 9 edges - 1 edge = 8 edges

Actual position difference: 4.5 pulses - 0.75 pulses = 3.75 pulses

Ratio = 6

Determined position difference: 9 edges - 6 • 1 edge = 3 edges

Actual position difference: 4.5 pulses - 6 • 0.75 pulses = 0 pulse

Fig. 3-2 Example of inacc uracies when determining the position difference

Calculation

Correction pulse

number

Inaccuracy

Slave encoder pulse No.

Master encoder pulse No.- Pulse

Slave

Pos. difference =

Rated pulses

Pulse

Master

Function description

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The settings when using absolute value encoders are described in the

next section.

3.2.3 Position actual value sensing with absolute value encoders

Para-

meter Description Factory

setting Connector

L098 Enables position sensing using a pulse

encoder (NAVS).

It is necessary to reset after a value is

changed!

1 ---

L099 Enables position sensing using an

absolute value encoder (AENC).

It is necessary to reset after a value is

changed!

0 ---

Table 3-7: Ac tivati ng t he absolute val ue encoder

The absolute value encoder is set using the following parameters. The

required data can be taken from the manufacturers Operating Instructions

for the particular absolute value encoder.

Absolute

encoder

Absolute

encoder

Description

L100 L200 Resolution per turn (RPT)

Example: L100 = 4096 (Operating Instructions, absolute

encoder)

L101 L201 Number of turns (NOT)

only for multi-turn encoders. For single-turn encoders =

Example: A multi-turn encoder is used. L101 = 4096

(Operating Instructions, absolute encoder)

L102 L202 Preceding zero bits (PZB)

Number of non-relevant bits at the start of the position

value transfer. This is valid for SSI encoders, with which

the various protocol versions are specified.

Example: L102 = 0 (Operating Instructions, absolute

encoder)

L103 L203 Alarm bit position (ABP)

Position of the interrupt bit within the data transfer

protocol of an SSI encoder. If there is no interrupt bit,

then ABP = 0 applies.

Example: L103 = 0 (Operating Instructions, absolute

encoder)

L104 L204 Clock frequency (MDF)

There are four possible clock frequencies for data

transfer.

0 : Clock frequency = 100 kHz, period = 10 µs

1 : Clock frequency = 500 kHz, period = 2 µs

2 : Clock frequency = 1 MHz, period = 1 µs

3 : Clock frequency = 2 MHz, period = 0.5 µs

Example: L104 = 0 (Operating Instructions, absolute

encoder)

Settings

Function description

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L105 L205 Encoder type (MDT)

Specification of the encoder type. The differentiation

between coded rotary encoders and length measuring

systems has an influence on the velocity output

(parameter c114 or c214).

0 : SSI (coded rotary encoder)

1 : SSI (coded length measuring system)

2 : EnDat (coded rotary encoder)

3 : EnDat (coded length measuring system)

4 : SSI (coded length measuring system with range

correction)

5 : EnDat (coded length measuring system with range

correction)

Example: L105 = 0 (Operating Instructions, absolute

encoder)

L106 L206 Data coding (MDC)

0 : Binary code (permissible for EnDat and SSI)

1 : Gray code (permissible for SSI)

2 : Gray Excess code (permissible for SSI single-turn

encoders)

Example: L106 = 1 (Operating Instructions, absolute

encoder)

L107 L207 Control word (CW)

Bit 0 : Enables the parity monitoring for an SSI encoder.

A check is made for even parity. The parity bit is directly

transferred after the position value, i.e. as 14th bit or as

26th bit.

0 = No parity monitoring (permissible for SSI, EnDat)

1 = Parity monitoring, even parity (permissible for SSI).

Bit 1 : Resets the AENC block and deletes the fault

messages and alarms as well as individual bits of the

fault word.

When using an EnDat encoder, its alarms and alarm bits

are reset.

For SSI encoders, after connecting-up and powering-up

the encoder, it is necessary to reset. A 0 to 1 signal edge

is required to reset.

Example: L107 = 0000h (hexadecimal value, with all bits

= 0, setting, bit 0 from the Operating Instructions,

absolute encoder)

L108 L208 Gearbox ratio (NFG)

Takes into account a gear ratio between the coded rotary

encoder and the drive system. The position values and

the speed are converted over to the drive system.

For a length measuring system, the gear ratio is not

taken into account.

The following applies: Position(drive) = gear ratio *

position(encoder).

Example: L208 = 1.0 (recommended setting)

L109 L209 Normalization, position (NFP)

Normalization basis for the offset input (OFF).

Example: L109 = 1.0 (recommended setting)

L110 L210 Normalization, speed (NFY)

This value influences the output value Y of the speed:

Y = NFY * revolutions/min.

Factory setting: 0.0

Example: L110 = 1.0 (i.e. for 100 revolutions/min, c114 =

100.0 is displayed at the output)

Function description

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L111 L211 Position offset (OFF)

When entering an offsets ≠ 0 the encoder zero position is

shifted.

The offset value has the same normalization as the

position outputs.

It is subtracted from the encoder position actual value.

Example:

L111 = .... (must be determined from the position

normalization, refer to Section 4)

L112 L212 Upper speed limit (LU)

Maximum operating speed of the encoder where valid

position values can still be determined. The data is a

value normalized to the speed output (parameter c114

and c214).

Example: L112 = 6000.0 (i.e. 6000 revolutions/min, must,

if required, be adapted)

²³L120 L220 Offset, number of rotations

This is used to enter an offset for the number of

revolutions (parameter c116 or c216). This determines

the scaled position actual value.

Example: L120 = ... (must be determined from the

position normalization, refer to Section 6.2.6)

L121 L221 Scaling, position actual value

This normalizes the scaled position actual value (c125 or

c225).

Example: L121 = ... (must be determined from the

position normalization, refer to Section 4)

L122 L222 Selection, MUL/DIV:

0: The scaling factor L121 (or L221) is multiplied by the

value supplied from AENC.

1: The value supplied from AENC is divided by the

scaling factor L121 (or L221). The scaling factor must be

assigned its inverse value: L121 = 1.0 / L121.

The selection must be made if the scaling factor < 0.1

and otherwise the multiplication would be too inaccurate.

Example: 1: L122 = 0 (the scaling factor L121 = 3.431

determined from the position normalization and can

therefore be multiplied)

Example: 2: L122 = 1 (the original scaling factor L121U =

0.01234 originally determined from the position

normalization, is less than 0.1. The scaling factor to be

entered, L121 = 1.0 / L121U = 81.037.

L123 L223 Offset, position actual value:

The position can only be normalized if a defined point

has the position actual value 0.0. However, if this point is

not at 0.0, then it can be shifted to 0.0 using the offset.

The following applies for AENC 1:

if L122 = 0 : c125 = (c115 + c116 – L120) * L121 + L123.

if L122 = 1 : c125 = (c115 + c116 – L120) / L121 + L123.

The corresponding is true for AENC 2.

Example: H123 = 10000.0 (reference point 1 for the

position normalization is at 10000.0 mm, however, it

must be 0.0 and is therefore shifted via L123 (offset).

Table 3-8: Set tings for absolute val ue encoders (examples onl y for AENC1)

Parameters L100 – L106 (or L200 – L206) are INIT parameters, i.e. after a value has been

changed, a reset is required (e.g. power off/on).

INIT parameters

Function description

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c114 Speed actual value AENC1, slave only display KR4114

c115 Position counter AENC1, slave only display KR4115

c116 Revolution counter AENC1, slave only display KR4116

c118 Error code AENC1, slave (refer below) only display ---

c119 Error word AENC1, slave (refer below) only display ---

c125 Position actual value AENC1, slave

[length units]

only display KR4125

c214 Speed actual value AENC2, master only display KR4214

c215 Position counter AENC2, master only display KR4215

c216 Revolution counter AENC2, master only display KR4216

c218 Error code AENC2, master (refer below) only display ---

c219 Error word AENC2, master (refer below) only display ---

c225 Position actual value AENC2, master

[length units]

only display KR4225

c300 Differential position, master – slave

[length units]

only display KR4300

Table 3-9: Diagnos t i c parameters for absolute val ue encoders

L301 Adaptation, division differential position

(Y1 = c300/L301)

1.0 ---

L302 Adaptation, multiplication differential

position Y2 = Y1 * L302.

This value is saved in connector KR3124

via the filter smoothed with H117 and

transferred to the angular controller.

1.0 ---

Table 3-10: Parameter and c onnectors f or absolute val ue encoders

The position actual values can be represented in length units. A length

unit can be freely selected, e.g. 1 length unit = 1 mm or 1 length unit = 1

Procedure when normalizing the position (as an example, AENC1).

Parameters L111, L120, L121, L122 and L123 must be defined using the

position normalization.

1. Prerequisites:

L111 = 0.0 (Offset zero position).

L120 = 0.0 (Offset, number of revolutions)

L121 = 1.0 (Scaling factor).

L122 = 0 (Multiplication of the scaling factor).

The defined first position should be, e.g. 10000 mm: L123 = 10000.

These values should first be entered.

The angular synchronism may still not be activated (H172=0), as the

values from the absolute value encoder block have still not been

normalized in this phase and therefore are not correct.

2. Move to the first position (in this case 10,000 mm). The first position

is now used as a virtual zero point.

Diagnostics

Normalization of

the position actual

values

Position

normalization

Function description

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Read-off c115 and enter in L111.

Read-off c116 and enter in L120.

A value of 10000 must now be in c125.

3. Traverse to a second position. The distance lDiff to the first position

must be known.

lDiff = 15014.3 mm; i.e. the second position is 25014.3 mm, as the first

position = 10000 mm.

Read-off parameter c125.

Example 1: If c125 = 26023.5, a scaling factor is obtained

L121 = 15014.3 / (26023.5 – 10000) = 0.937

This value is greater than 0.1, which means that L122 can be kept at

Example 2: If c125 = 1234567.8, then this results in a scaling factor

L121 = 15014.3 / (1234567.8 – 10000) = 0.0123

This value is less than 0.1, a correction must be made:

L122 = 1 (it is divided by the scaling factor).

L121 = (1234567.8 – 10000) / 15014.3 = 81.560

4. Check:

Move to the "second position" position and read-off c125 (in this case,

c125 = 25014.3).

Then move to the "first position" and ready-off c125 (in this case,

c125 = 10000).

5. Proceed in the same way for the master drive (AENC2).

6. After position normalization, the synchronous operation function

can be activated. The slave will now always control itself to track the

master position.

If the position is to shift, then this can be corrected via the offset slave

L123 or offset master L223.

Example:

Actual slave position = 12000.0 mm, display c125 = 12000.5 mm.

Then

L123 = L123old + real position – c125 = 10000.0 + 12000.0 – 12000.5

= 9999.5

This means that the display is c125 = 12000.0

The position actual value must be re-normalized if the encoder type is

changed.

When using the plausibility check (function chart 75 of the SPA440

Operating Instructions) the dn enable (H118 and H119) must be set to a

higher value (e.g. 1.2), if the speed actual value source (parameter H192

or H195) was not configured.

A higher value is not required for the dn enable if the speed actual values

from the master and slave from the absolute value encoder blocks are

Function description

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used. In this particular case, the source parameters should be set as

follows:

H192 = 4114 (speed actual value AENC1, observe the normalization

L110!)

H195 = 4214 (speed actual value AENC2, observe the normalization

L210!)

Parameters c118 and c218

This involves erroneous input parameters (configuring error)

communication errors (possibly erroneous encoder specification) or

operating errors.

Bit 0 - 1 Not specified

Bit 2 Timeout

Bit 3 Communications error:

The component of messages (telegrams) with parity/CRC errors is,

on the average, 10% and more.

If the error rate decreases the error bit is automatically reset.

Bit 4 Communication errors:

On the average, a parity or CFC error occurs at each second

position transfer (or more frequently). The error bit is automatically

reset if the error rate decreases.

Bit 5 Not specified

Bit 6 Parity check only possible in the SSI mode

Bit 7 Illegal data coding

Bit 8 Illegal encoder type

Bit 9 Illegal clock cycle frequency

Bit 10 Format error: Contradictory or illegal data

Bit 11 Hardware address illegal or already assigned

Bit 12-15 Not specified

Table 3-11: Error c odes for absolute value encoders

Monitoring parameters c119 and c219

Error status word of an EnDat encoder. The significance of the error bits

can be taken from the manufacturers data sheets.

Fault word = 0000Hex, as long as no fault is present.

Fault word = FFFFHex, as long as an SSI encoder sends a set interrupt

bit.

Faults and alarms can also be sent to the basic unit (CU):

Fault Significance Alarm Binector

F125 Fault AENC2 master A106 B0212

F126 Fault AENC1 slave A107 B0211

Error codes for the

absolute value

encoders

Errors words of the

absolute encoder

Faults, alarms via

Function description

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3.3 Determining the displacement and synchronization

3.3.1 Synchronization

The differential position actual value is determined as a result of the

difference between the pulses which have occurred since the position

difference was reset. This does not indicate the relative position of the

drives to one another! The displacement is determined if the position

of two drives with respect to one another regarding their

synchronizing pulses (e.g. zero pulses) must be identified and

corrected.

Synchronization involves determining and correcting the displacement,

which isn’t clear from the position difference, e.g. after the drives have

been rotated with the drive converter powered-down. For instance, it

makes sense to first synchronize the drives after they have been

powered-up, as they are still not in defined positions at the instant of

power-on. Initial synchronization can be automatically initiated (refer to

H168, H169). After this initial synchronization, additional synchronized

operations are required, if errors occur in the position actual value

sensing of the drives, as a result of disturbances for example, wheel slip

(also refer to Section 3.8.1)

NOTE For angular synchronous control, synchronization and therefore the

availability of synchronizing marks is not a prerequisite (if the

displacement is not specified)!

Synchronization is sub-divided into:

1. Determining the displacement from the position of the synchronizing

marks, whereby a correction value for the differential position actual

value is generated,

2. Correcting the differential position actual value by correcting the

displacement.

In principle, it is adequate to synchronize just once. Continuous

synchronization is mandatory under the following conditions:

• The (pulse number) ratio cannot be precisely entered. While fractions

can be precisely set, irrational ratios (e.g. π

ππ

π) cannot be precisely

entered !

• Encoder pulses can be lost

• Closed-loop position control of a traversing gear (refer to Section3.8.1)

should be executed. As the pulse encoders are mounted on the motor,

they do not emulate the actual position of the crane (position actual

values). For wheel slip, position actual value sensing drive errors

occur, which can only be corrected by synchronizing.

Synchronization, i. e. correcting an displacement which may have been

identified, is realized by activating a synchronizing command (H174). The

synchronizing command must be inhibited for applications which do not

require synchronization.

Task

Enable

Synchronization

sequence

Function description

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The differential position actual value can be corrected using the

calculated displacement, either once within a sampling time, or distributed

over several sampling times.

• Directly setting the displacement

The differential position actual value is set directly to a correction value,

which is retrieved from the position of the synchronizing marks, if a

synchronizing command is present, and after at least one synchronizing

pulse has been received.

Thus, the angular controller receives a system deviation, generated from

the displacement calculation, which must be corrected. As there is a time

delay between the instant that the displacement is determined, and the

instant that the displacement is set per software, then the difference

pulses, which are received during this time, must be taken into account.

This is possible when configuring the speed sensing blocks by

appropriately connecting-up the setting inputs and selecting specific

setting modes. The differential position actual value is corrected, so that

no pulses are lost between determining the displacement and correcting

the differential position actual value.

• Successively setting the displacement in n sampling times

When the displacement is set once, this can result in large steps in the

differential position actual value at the angular synchronous controller and

can even result in overshoot. Steps such as these can be avoided by

successively setting the displacement. Correction is then step-by-step, i.e.

in n sampling times by the correction pulse number (H093):

n = displacement/H093.

H093 is used to define how many pulses of the defined displacement per

sampling time should be corrected. If the angular controller is inactive,

then the differential position value would assume the displacement

setpoint after n sampling cycles. In order that the displacement correction

isn’t too high, the correction pulse number H093 should be set to

extremely low values (typically =1). The value of the correction pulse

number is subtracted from the differential position actual value in each

sampling time until synchronism is achieved.

NOTE A synchronizing operation, started once is executed until synchronism

is achieved (correction value is 0); this can no longer be interrupted !

3.3.2 Determining the displacement

The number of encoder pulses between two synchronizing pulses, the so-

called synchronizing pulse number, must be entered in order to determine

the displacement actual value (refer to Fig. 3-3). The synchronizing

pulse numbers from the master- and slave drives are entered using

parameters H100 and H102.

If a small deviation occurs between the entered and actual pulse number,

e.g. as a result of an encoder error, then this is corrected by the

synchronization.

Correction pulse

number

Synchronizing

pulse number

Function description

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Synchronizing

pulse, master

Track A

Track B

Pulse

edges

Synchronizing

pulse, slave

Track A

Track B

Pulse

edges

Master drive, pulses, pulse edges

Slave drive, pulses, pulse edges

Synchronizing pulse number, master H100 (in this case: 52)

Synchronizing pulse number, slave H102 (in this case: 104)

Fig. 3-3 Explanation of the sync hronizing pulse number

The displacement actual value can be determined once if the master- and

slave drives pass over the two synchronizing marks at least once. This

can be determined in two ways:

• "continuous” (H091=0) displacement determination:

As soon as the displacement actual value has been determined once, i. e.

both synchronizing marks have been passed once, then an displacement

actual value (d094, d095) is calculated each time a synchronizing mark is

passed. The number of synchronizing pulses passed is counted and is

evaluated with the synchronizing pulse numbers (H100 and H102). This

allows the actual displacement to be determined, even if the associated

synchronizing pulse of the other drive is missing. Several revolutions of

the machine parts to be synchronized may be included in the

displacement actual value. For a synchronizing operation, several

synchronizing pulses which are passed are corrected (”revolutions”).

This is the default mode.

• ”Retrigger” displacement calculation (H091=1):

When synchronizing, correction is only made within a synchronizing

pulse period. This corresponds, for example, for a zero pulse during one

encoder revolution.

The “Retrigger” operating mode should be used, if

1. if, for technology reasons it is sufficient or it makes more sense to only

synchronize within one “revolution”, or

2. if the synchronizing pulse number can only be determined with

insufficient accuracy. In this case, both synchronizing pulses are

required in order to determine the precise displacement.

Operating mode

Function description

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In order to determine a new displacement, both synchronizing marks

must be again passed. The number of synchronizing marks which are

passed is not counted. If an displacement of several revolutions is to be

obtained, then this is lost the next time the displacement is calculated.

NOTE In the “Retrigger” mode, the danger exists, that the angular control

loop becomes unstable if the dynamic performance is set too high and

for low-frequency synchronizing pulses. This is because if the two

synchronizing pulses occur one after the another, alternating positive

and negative displacement actual values could be determined, which

the angular controller would attempt to correct

Example: +10° would be obtained from an displacement of -370°

The displacement is determined when the synchronizing pulse edges

are received using the position actual values from the master- and slave

drives. Using the example of the switching cam in Fig. 3-4, this

corresponds to edge a for clockwise direction of rotation or edge b for

counter-clockwise direction of rotation.

The synchronizing circuit has a so-called direction of rotation-

dependent edge evaluation, i.e. synchronization is realized for both

directions of rotations at the same edge of the switching cam and more

precisely, at the front (positive) edge of the synchronizing pulse when

rotating clockwise (in Fig. 3-4, edge a). When rotating counter-clockwise,

synchronization is realized at the falling edge of the synchronizing pulse (i.

e. at edge a).

RL LL

rox

switch

S=switching cams, length L with edges a and b

Fig. 3-4 Determining the displac ement and synchronizing for clockwise- and counter-

clockwis e di rections of rotation

The synchronizing command can be parameterized for either signal level-

or edge control using parameter H092. The synchronizing command must

be 1 for at least the time it takes to determine the displacement. For

signal level control, the displacement is corrected as long as the signal is

active (logical 1); for edge control, correction is only executed once after a

positive (0→1) edge. The displacement isn’t suddenly corrected, but it is

corrected with a pulse number, which can be set using parameter H093,

at each sampling time.

Resetting the displacement calculation is realized by

• using the reset position control signal (refer to Chart 90)

• by enabling the angular controller

NOTE The displacement calculation should only be reset briefly when

required, for example, when the drive starts. After this, it is

Edge evaluation

Command type

Resetting

displacement

calculation

Function description

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automatically controlled by the internal monitoring function

The displacement at the instant that at least one synchronizing pulse is

received, is calculated using the function block Displace in the CFC Chart

SYNC02.

NOTES • The distance between two synchronizing operations may not exceed

231 quadrupled pulses.

• The time between two synchronizing operations must be greater

than 4.8 ms (for safety reasons, 4x sampling time for a basic

sampling time of 1.2 ms)

• The synchronizing pulse must be inactive for T > 1.6 ms, i. e. low

(for safety, 2x sampling time for a basic sampling time of 1.2 ms).

Master- and slave drive with pulse encoders mounted on the motor shaft.

The pulse encoders generate two pulse series, displacement through 90°

and zero pulses.

The drives should be synchronized, so that the zero pulses (synchronizing

pulses) are always simultaneously received. The pulse trains would look

like this on a suitable plotter or oscilloscope:

Synchronizing pulse, slave

Synchronizing pulse, master

Track A

Track B

Position act. value, slave

Positon act. value, master

Synchronizing

command

(edge-dependent)

Pulses, master

Pulses, slave

Determine offset Correction duration

Fig. 3-5 Calculating the displacement and synchronization

Displacement

calculation

Synchronizing

example

Function description

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3.3.3 Noise-immune synchronization

An adjustable enable threshold is used to suppress multiple edges (switch

bounce) and suppress disturbances on the synchronizing pulse cable.

Erroneous synchronizing pulses, caused by switch bounce or

disturbances, can have, among others, the following results:

− inaccuracy in the angular position,

− the synchronizing control sense could be reversed, as the rigid

sequence of synchronizing pulses is interrupted (e.g. master-,

slave-, master drive),

− the slave drive could run without any closed-loop control.

Thus, the synchronizing pulse cables must be especially carefully

routed and shielded.

The following diagrams should show the behavior at contact-bounce and

the resulting evaluation.

Signals at the T400 terminals

Internal evaluation

Switching

threshold

Fig. 3-6 Si gnal characteris tic w i t h clear pulse edges , e.g. for zero pulses f rom puls e encoders

Synchronizing pulse at the T400 terminal

Internal evaluation

Switching

threshold

> 0,8

Fig. 3-7 Nois y signal c haracterist i cs, e. g. for proximit y switches.

NOTE Disturbances and noise which occur in the sampling time are

automatically suppressed when processed in the sampling time !

Faults which occur between two leading edges of the synchronizing

pulses can be suppressed by entering an enable threshold when a

specific position actual value is reached. The synchronizing pulses are

Function description

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only evaluated again after the position actual value exceeds the threshold

for the master- (H107) or slave drive (H105) (refer to Fig. 3-8).

Calculating the limit value of the enable thresholds (H105, H107):

1.) If the situation is non-critical, the enable threshold can be set to

approx. 95% of the synchronizing pulse numbers (parameters H100

and H102).

If the synchronizing pulses are noisy or there is the danger, that at high

speeds, an enable threshold for the enable minimum duration tmin (refer

to Fig. 3-8) is not maintained, then enable threshold d can be calculated

using the following formula:

dSS tSFTS

=×− +×

(min )1 ; d > 0

Whereby:

SS Number of pulse edges between 2 synchronizing pulses

TS Time between 2 synchronizing pulses at the maximum speed

tmin Minimum enable time. Time period where synchronization is

permitted; calculation: e.g.: 4 • T1 (4 • base sampling time = 4.8

ms)

SF Safety factor (0.05 to 0.1) if the synchronizing pulse comes earlier

due to mechanical inaccuracy.

Limit value d designates the enable threshold for the synchronizing pulse.

It defines, how many edges (pulses • 4) must be counted after

synchronization (i. e. how high the position actual value must be) before

the next synchronizing operation is enabled. Limit value d must be

separately calculated for master- and slave drive.

Signal at the T400

terminal

Enable

Switching

threshold

Internal

evaluation

Bounce time ( typical 1 ms .. 10 ms)

Inhibit duration f (threshold)

Enabled

Inhibited

syn

tmin

Fig. 3-8: Effect of the enable control (onl y one dri ve is shown)

Function description

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3.3.4 Synchronism achieved

The threshold for the “Synchronism reached” signal can be set using

parameter H103. A high signal is output at digital output terminal 46 when

synchronism is reached.

Dynamic fluctuations in the angular difference, which are mirrored in the

actual displacement, are taken into account by correcting the displace-

ment actual value by the differential angular actual value. This corrected

actual displacement is known as the conditioned actual displacement.

Synchronism is reached, if the conditioned actual displacement has been

determined and this is zero or is a selected displacement setpoint

(including a possible synchronizing displacement setpoint which is

dependent on the direction of rotation), i. e.

conditioned actual displacement = displacement setpoint ±

±±

± H103.

Par. Significance Explanation

d056 Actual displacement setpoint Display parameter

H091 Trigger condition, actual displacement

sensing

0 = continuous

1 = retrigger

H092 Edge evaluation, synchronizing command 0 = level controlled (continuous)

1 = edge-controlled (once)

H093 Correction pulse number Select the lowest possible value (preferably 1);

this should be increased, if the displacement, in spite

of low-frequency synchronizing pulses, must be

quickly corrected, or if required, for the “Retrigger”

operating mode

d094 Displacement actual value Display parameter;

also includes, if relevant, a set displacement setpoint

d095 Actual displacement - differential position

act. value

Display parameter

d096 Actual displacement sensing, error

identification:

Bit 0 = Overflow SSslave

Bit 1 = Overflow SSmaster

Bit 2 = Overflow SSslave ⋅ (H102)

Bit 3 = Overflow SSmaster ⋅ (H100)

Bit 8 = Overflow displacement- diff. pos.

actual value

Display parameter

SS = Sum of the synchronizing pulses

H100 Synchronizing pulse number, master Pulse edges (pulses *4) of the master drive, which are

received between 2 synchronizing pulses

H102 Synchronizing pulse number, slave Pulse edges (pulses *4) of the slave drive, which are

received between 2 synchronizing pulses

H103 Response threshold, synchronism reached If the actual displacement = displacement setpoint ±

H103, synchronism has been reached.

H105 Enable threshold, slave synchronization To suppress the effects of contact bounce and

suppressing disturbances on the zero pulse cable.

H107 Enable threshold, master synchronization Same as H105

Table 3-12 Parameters f or displacement s ensing/synchronization

Conditioned actual

displacement

Function description

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3.4 Closed-loop angul ar control

Closed-loop angular synchronous control refers to a cascading speed

control loop with a higher-level angular control. The angular controller has

the task to control the relative angular position between the master- and

slave drive to zero or to an displacement setpoint. Angular differences,

which can be obtained due to different load levels and speed fluctuations

are corrected. The implementation of an angular controller is shown in

Function Chart 110 (Appendix).

3.4.1 Enable signals

The angular controller is enabled as a result of the following two

conditions

• External enable, angular controller enable (H173, H131,H139), and

• Enable threshold of the angular controller (H118)

The angular controller is first enabled. The angular control (d109) is

actually enabled by automatically monitoring the speed actual value of the

slave. An enable threshold defines the margin between the speed

setpoint of the slave and speed actual value of the slave. As soon as the

enable threshold is reached, the angular controller is automatically

switched-in. The displacement calculation is simultaneously reset

together with the position actual values of the slave/master. This avoids

unnecessary overshoot and non-stable rotary motion of the closed-loop

angular synchronous control if there is a considerable speed difference

between the master and slave (e. g: when powering-up or powering-down

a slave while the master is running).

The SPA440 standard software package permits this automatic

monitoring function to also synchronize a stationary slave with a flying

master, and to establish angular synchronism. Before the slave speed

actual value approaches its setpoint, or an enable threshold is reached,

the angular controller becomes inactive. The displacement calculation

and slave/master position are simultaneously reset. Only the speed

control operates during this time. Synchronization is only executed after

the angular controller has been actually enabled.

3.4.2 Displacement setpoint

A shift between the relative angular position of the master- and slave

drives can be set using the displacement setpoint. If synchronization was

not realized, the displacement setpoint refers to the angular drive position

at the instant that the differential position actual value was last set, e.g.

that the angular controller was enabled. If synchronization was realized,

the displacement setpoint refers to the synchronized angular position.

The displacement setpoint is defined as the number of slave-encoder

pulse edges (pulses ⋅ 4), which the slave drive leads with respect to the

master drive. The limits can be set using parameters H054, H055.

Encoder pulse number, slave = 1000 (H010)

Principle

Flying

synchronization

Examples:

Function description

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The slave drive should lead the master drive by 0.5 revolutions

→ displacement setpoint = 0.5 * (1000 * 4) = 2000 pulses

The displacement setpoint is fed to the angular controller via a ramp-

function generator. The ramp-up time should be selected to be as high as

possible (recommended: 5 s to 10 s).

NOTE The displacement setpoint, in the displacement calculation =

retrigger (H091=1) mode, should be a maximum of half of a revolution

of the parts which are to be synchronized (safety-/control margin, refer

to Section 3.3.1)

It is possible to provide an displacement setpoint depending on the

direction of rotation. Generally, independent of the direction of rotation,

the same edge of the synchronizing signal is always used (i. e. the same

encoder position). Various displacements can be added to the speed

setpoint using parameters H062 to H064 depending on the direction of

rotation of the master and slave.

Param. Master speed Slave speed Displacement for positive

value

H062 Positive Positive Slave lags

H063 Negative Positive Slave lags

H064 Positive Negative Slave leads

H065 Negative Negative Slave leads

Table 3-13 Directi on of rotation-dependent synchronizing displac ement setpoint

3.4.3 Angular controller

The angular controller can be operated as P- or PI controller (H110).

Optionally, the P gain can be adapted as a function of ratio ü.

The differential position actual value is smoothed using a PT1 element.

The smoothing time is set using parameter H117. The smoothed

differential position actual value is used as actual value for the angular

controller.

The angular controller provides a supplementary speed setpoint for the

speed controller at its output. For high speed ratios ü, an over-

proportional high supplementary speed setpoint is demanded and at low

speeds, an appropriately below-proportional low supplementary speed

setpoint. This non-linear interdependency is simulated using a polygon

characteristic (refer to Fig. 3-9),

The polygon characteristic sets the P gain, dependent on the ratio. The

characteristic linearly interpolated between transition points A and B.

The P gain should be adapted if the ratio is changed in operation by

factors of approximately > 1.5 or < 0.75.

Direction of

rotation-dependent

synchronous

displacement

Smoothing,

differential position

actual value

Adapting the P gain

Function description

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H116

ue_KP_O

H115

ue_KP

-H115 -H116

H113 KP_UE

H114 KP_UE_O

No adaption for: H115 = H116 = 0

H113 = H114

Fig. 3-9 A dapting the P gain for the angular cont rol l er

The adaption values are determined empirically using the usual

techniques:

1. Starting from the standard setting (no adaption), the highest ratio is

selected. This is entered for ue_KP, and the control should be

optimized for this value (KP_UE).

2. The lowest ratio is then selected. This is entered at ue_KP_0, and the

control should be optimized for this value (KP_UE_0).

Ratio range: 0.2 to 4.0

H116 = ue_KP_0 = 0.2

H114 = KP_UE_0 = 3

H115 = ue_KP = 4.0

H113 = KP_UE = 5

Table 3-14 lists the parameters used in the angular controller. The

structure is illustrated in Chart 110.

Parameter Significance Explanation

H052 Ramp-up time, displacement setpoint

H053 Ramp-down time, displacement

setpoint

H054 Setpoint limiting, positive Displacement setpoint limiting

H055 Setpoint limiting, negative Displacement setpoint limiting

d056 Actual displacement setpoint Display parameter

H062-H065 Direction of rotation-dependent

displacement setpoint

Synchronizing displacement setpoint (refer to

Table 3-13)

H066 Fixed setpoint Default ‘0’

H110 Angular controller as P controller (0 / 1 = no / yes = = PI / P controller)

H111 Integral action time TN I controller

H112 Limit value, angular controller Positive and negative output limiting (as a %

of the rated speed)

H113 P gain, KP_UE P gain for a high ratio ü > ue_KP

Example:

Parameter list

Function description

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Parameter Significance Explanation

H114 P gain, KP_UE_0 For a low ratio

H115 Limit value, ue_KP From a P gain = KP_UE

H116 Limit value, ue_KP_0 From a P gain = KP_UE_0

H117 Smoothing, differential pos. act. value Smoothing time

H118 Threshold for angular controller enable

and monitoring the slave speed

Reduce for a low speed setpoint (default 0.1)

d120 Output, angular controller Display parameter

d121 System deviation, angular controller Display parameter

d122 I component, angular controller Display parameter

d109 Status of the angular controller enable Also available at digital terminal 48

Table 3-14 Parameters f or t he angul ar controller

3.5 Closed-loop speed contr ol

The closed-loop speed control is either external using the connected

drive converter or internal on the T400 processor module. The ”Closed-

loop speed control external or internal” option is used to select one of

these alternatives, which can be controlled using parameter H140 (H140

= 1 Þ

ÞÞ

Þ internal on the T400).

Parameter H140 = 0 is the default setting, i. e. the closed-loop speed

control is implemented in the drive converter of the slave drive. It receives

a speed setpoint via the communications interface to the basic drive.

The speed controller structure is illustrated in function chart 120.

3.5.1 Ratio

Ratio ü is defined as the ratio between the speed of the master drive

referred to the speed of the slave drive. The actual ratio comprises three

parts (refer to Chart 80):

• Ratio (d060)

• Relative change of the ratio (d061)

• Supplementary ratio (this is added)

A ratio, entered as absolute value is used, for example, to set stretching

factors and compression factors for material webs in a user-friendly

fashion. The absolute ratio is multiplied by a value, which is supplied from

a source which can be selected using H048, H068. If this factor has the

value 1.0, the selected ratio is not changed.

A fixed ratio can be set using parameter H047; the product of d060 with

d061 is added to this value.

External or internal

Supplementary

ratio

Relative change

Function description

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3.5.2 Master speed setpoint

The master speed setpoint is the speed setpoint at which the master

drive should rotate. The speed setpoint for the slave drive is calculated

from the speed master setpoint after smoothing (H072; refer to Chart

115) and after dividing by the ratio. This is fed to the speed control which

is superimposed on an angular control.

The master speed setpoint source is selected using a parameter (H070,

H071). The setpoint smoothing (in ms) is set using parameter H072. This

is recommended, if the master speed actual value is used as master

setpoint (setting, H070 = 15).

NOTE If the angular controller or synchronization is used, then the slave

master setpoint with respect to the master may only be changed using

ratio ü.

The angular difference, which occurs as a result of the ratio, does not

appear as differential position value, so that the angular controller does

not have to work to correct it.

3.5.3 Inertia compensation

System deviations from angular synchronism, which can occur when the

master speed setpoint changes quickly, can be reduced using the ”inertia

compensation” function. The inertia compensation acts as pre-control

value for the speed controller.

The sources for the inertia compensation can be selected using

parameters H080 and H244.

The following drawing clearly illustrates the characteristics of the DT1

element and the influence of the parameters:

X(t)

Y(t)

XH083

H082

Fig. 3-10 Step respons e of the DT1 element to illustrate the use of parameters H082

and H083

H082 generally lies in the range between 100 ms and 500 ms. The

magnitude of the differential element output quantity is set using

parameter H083.

Setting:

Function description

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3.5.4 Speed controller Kp adaption

The speed controller is a PI controller. If extremely low speeds (n* < 0.05

nrated) are used, then we recommend a speed setpoint-dependent

adaption of the P gain. This can be implemented using an adjustable

polygon characteristic.

The characteristic is linearly interpolated between the corner points A and

H144

n_KP_O

H143

n_KP

-H143 -H144

H142 KP

H141 KP_O

Fig. 3-11 P gain adaption for the speed controller

The adaption values should be determined using the usual techniques

and using the following experiments:

1. Starting from the standard setting (no adaption), the lowest speed

should be determined, where the already optimized drive, manifests

the required control quality.

2. Then, for n_KP_0, the value n_KP_0 = n_KP/2 is approximately

defined.

3. The speed is entered as under 2. and approached. The closed-loop

control is then optimized with KP_0.

4. The values for KP_0 and n_KP_0 must still, if required, be varied.

3.5.5 Jogging

When jogging is enabled, a jog setpoint is added to the master setpoint.

This means that the slave speed can be changed with respect to the

master speed, and it is possible to take-up or slack-off with respect to the

master. Jogging is not practical in the closed-loop angular control

mode, except for test purposes, as the angular controller acts to oppose

the jog setpoint.

The jog setpoint is set as fixed value using parameter H130. The source

of the jog enable is defined using H171, H208 (refer to Chart 115).

Function description

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3.5.6 Parameters to the speed controller

Param. Significance Explanation

H040 Multiplexer, ratio Only required due to compatibility to V2.01.

H048 Multiplexer, relative ratio Only required due to compatibility to V2.01.

H070 Multiplexer, master speed setpoint Only required due to compatibility to V2.01.

H072 Smoothing, master speed setpoint

H080 Multiplexer, inertia compensation Only required due to compatibility to V2.01.

H130 Jog setpoint Selectable supplementary speed value

H132 Speed setpoint limiting, positive

H133 Speed setpoint limiting, negative

H134 Speed controller output limiting, positive Reference to the speed controller on T400

H135 Speed controller output limiting, negative Reference to the speed controller on T400

H140 Speed controller calculated on T400 0/1 == no/yes

H141 KP: P gain At high speeds

n > n_KP

H142 KP_0: P gain At low speeds

H143 Limit value for KP Speed n_KP, from the P gain = KP

H144 Limit value for KP_0 Speed n_KP_0, up to the P gain = KP_0

H145 Integral action time, speed controller Default 200 ms

d150 Speed controller output Effective at H140=1

d152 Actual basic drive setpoint At H140=1, d152=d150

At H140=0, d152= speed setpoint

d153 KP speed controller

H171 Jog enable Only required due to compatibility to V2.01.

Table 3-15 Parameters t o t he speed controll ers

Function description

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3.6 Open-loop control

In order to control open-loop angular synchronism, in addition to the

setpoint, five control signals have to be handled (the control signals in this

documentation are always written in italics):

• displacement reset

• reset position

• angular controller enable

• synchronizing commend

• jog enable

The sources of these control signals can be selected per multiplexer

(refer to H170 to H174), or can be connected-up as required using BICO

connection.

Several options are possible to generate control words for the basic drive

or for output via the communications interface:

• Fixed values can entered

• Control words can be transferred from one interface to another (e. g.

control word 1 from CB to control word 1 CU)

• The control word can be selected bit by bit (e. g. by combining a CB

control word with digital inputs)

Also refer to function charts 170 to 570.

3.7 Faults, alarm and status display

3.7.1 General information on faults and alarms

Fault- and alarm statuses contain various monitoring quantities (Table

3-16). The quantities, which are to be transferred to the basic drive as

alarm or fault are selected using the two masks H003 or H004.

If at least one of the bits, enabled per mask, is set to 1, then the

associated digital output is activated (fault, terminal 49; alarm, terminal

51).

In the factory setting, all faults and alarms are de-activated, i. e. H003 =

H004 = 0.

The basic drive is fault tripped if a bit is set in the fault word and it is

appropriately enabled with mask parameter H003 (behaves the same as

OFF2, i. e. the equipment is powered-down and the drive coasts-down).

The fault is saved in the basic drive. As soon as the cause has been

resolved, i.e. the associated bit has become 0, then the fault can be

acknowledged on the basic drive. The fault cannot be acknowledged as

long as a fault exists (=”1”), and is transferred to the basic drive via the

dual port RAM!

Fault

Function description

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When appropriately enabled with mask parameter H004, alarms are

displayed as appropriate numbers on the operator panels. They do not

influence the drive. They cannot be acknowledged, but can be deleted

automatically when the cause has been removed, as soon as the

appropriate bit has become 0.

Bit Monitoring Fault Alarm

0 Time overflow COMBOARD (correct data have not been received) F116 A097

1 Time overflow peer-to-peer (correct data have not been received) F117 A098

2 Speed controller at its limit F118 A099

3 Angular controller at its limit F119 A100

4 External fault F120 A101

5 Master speed not plausible (deviation w. r. t. the master setpoint is too high) F121 A102

6 Slave speed not plausible (deviation w. r. t. the setpoint is too high) F122 A103

7 Error, speed sensing, master (illegal parameterization, refer to d021) F123 A104

8 Error, speed sensing, slave (illegal parameterization, refer to d120) F124 A105

Table 3-16 Monitoring functions and associ at ed faults and al arms

Fault- and alarm messages can be suppressed using selectable masks.

The appropriate monitoring function is evaluated if a bit in the mask is set

to 1.

Example: H003 = 16#0021 (input with CFC)

H003 = 0000 0000 0010 0001 (digital input with OP1S)

Bit 0 = 1 Þ

ÞÞ

Þ time monitoring COMBOARD (watchdog) can initiate a fault

Bit 4 = 1 Þ

ÞÞ

Þ external fault can initiate a fault

We recommend that when commissioning the basic drive, the fault- and

alarm messages of the T400 are de-activated using parameters H003

and H004. When the system is operated, these monitoring functions

should be re-enabled.

3.7.2 Monitoring the communication coupling

The communication monitoring function checks, whether in a definable

period, a valid telegram (and error-free) has been received. If this is not

the case, the associated error bit is set. If valid telegrams are again

received after an error, the error bit is again reset.

In order to make the first commissioning steps easier, so that they are not

hindered by non-relevant fault trips, when the angular synchronous

software package is supplied, the communication errors and alarms are

suppressed per mask (H003, H004).

If communications are used, the associated status bits to initiate a

fault must be re-enabled!

Alarms

Suppressing the

fault/alarm

message

Principle

Note

Power-on time limit

Function description

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After power-up, it must be assumed that it will take several seconds until

the communication channels become operational. Thus, the so-called

power-on time limit is decisive for this particular phase (peer H360;

COMBOARD H462).

As soon as the initialization delay time after power-on has expired, or

already valid telegrams have been received, the cyclic monitoring time for

the telegram error identification becomes effective (watchdog). This is

defined using parameter H361 (peer), H496 (COMBOARD). For this

monitoring time, for CB1 (PROFIBUS), if necessary, the number of nodes

must be taken into account, as the reception of telegrams depends on the

number of nodes (stations) and the send clock cycle.

3.8 Application example

3.8.1 Synchronous operation and synchronizing using as an example a

gantry crane

The following traversing gear of a container crane can be used as a

specific example for the necessity of having synchronization.

Both sides of the crane traversing gear (fixed legs-master drive and

moving legs-slave drive) should operate with position synchronous control

and in synchronism. This prevents the crane running skew in the rails

along the quay.

Synchronization is required in this case, as the pulse encoders are

mounted on the motor and therefore do not directly represent the

movement of the crane (position actual value), but instead, the position of

the wheels (as a result of slip, wheel slip, etc.). If the wheels slip, then

errors can occur in the drive actual value sensing resulting in errors in the

position difference as controlled variable between the two drives.

The task of synchronization is to correct the above mentioned errors. The

position actual values of the two drives are set to defined, actual position

values when fixed synchronizing marks are passed. The difference

between the two drives, after the second drive has passed its mark, is

known as displacement. This displacement is the real position difference

between the two drives, which must be corrected.

As it involves a linear-axis application, synchronization is always realized

when the position value of the master and slave is approx. 0.0. Thus, in

this case, synchronization must always be enabled. This means that the

position-dependent synchronization must be de-activated (H105 = H107 =

0.0).

To realize this, the position actual value is set to zero on both sides when

the synchronizing mark is passed - Bero proximity switch 3. The position

marks are mechanically located and precisely aligned along the crane

track.

Time limit for cyclic

operation

Task description

Necessity

Task

Bero proximity

switch

Function description

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If the crane traversing gear arrives at the synchronizing mark in a skew

position, then at first, the position actual value of side 1 is set to zero, and

then the position actual value of side 2. The position actual values of the

master and slave are therefore corrected.

The pulses, which are sensed between these two events, represent the

displacement. The displacement is added to the position difference (in

small steps), whereby the angular controller identifies a position

difference which is the same as the displacement. The skew position is

resolved after the position difference has been corrected.

Side 1

master drive

Side 2

slave drive

Crane traversing

gear in the skew

position

121

Fine signal

evaluation

Synchronizing marks

Coarse signal

evaluation

(BERO)

Coarse signal mark

Fine signal mark

Motion direction

Fig. 3-12 Clos ed-l oop synchronous operation of a crane t raversing gear

Displacement

Parameters and connectors

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4 Parameters and connectors

4.1 Parameter handling

Parameters are used to

• visualize internal quantities (monitoring parameters)

• to change fixed values

• to change connections (BICO parameters)

All of the parameters which refer to the function and setting of the

technology module are called technology parameters. The technology

parameters for the closed-loop synchronous control appear in the function

charts with the following symbols:

Offset actual value

d094

Parameter which can be changed Monitoring parameters

Display text

Pre-setting

Parameter number

Rated speed

(1500 RPM)

H123

Fig. 4-1 Representing parameters in the function charts

When changing parameters, it should be observed that there are

initialization parameters, which only become effective after the T400 has

re-started.

In addition to technology parameters, there are so-called basic drive

parameters for the drive converters used. These should be taken,

together with the associated function charts of the documentation of the

drive converter used.

It should be noted, that the parameters are selected by entering a number

(e.g. at the drive converter operator panel). However, for the display, the

most significant position is replaced by a letter, which is intended to

symbolize as to whether it involves a quantity which can be changed or

not changed.

Number “1956“ is entered to select technology parameter “H956“.

Value Significance Parameter display (example)

range can be changed cannot be

changed

0 ... 999 Lower parameter range of the drive

converter

P123 r123

1000 ... 1999 Lower parameter range of the T400 H123 d123

2000 ... 2999 Upper parameter range of the drive

converter

U123 n123

3000 ... 3999 Upper parameter range of the T400 L123 c123

Table 4-1 Parameter number s pecification

Definition

Example

Parameters and connectors

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4.1.1 BICO parameters

Contrary to (value) parameters, BICO parameters define connections.

This means that parameters specify a fixed value at an input, and on the

other hand, BICO parameters select the signal source, which is

connected to the input. This signal source must be defined in the form of

a connector. The BICO parameter appears as a parameter in the symbol

of a BICO input (refer to Fig. 4-2). The source and target of a BICO

connection must have the same data type. This means that digital

quantities (BOOL) cannot, for example, be connected to floating-point

inputs. Thus, for the data type used, there are different symbols in the

function charts for connectors and BICO inputs.

Re-wiring work demands memory space if new connections are to be

generated, and if it involves connections between various time sectors. If

the available memory space can no longer accept connection changes,

then this can be identified when the required re-connection is no longer

possible (OP1S display jumps to the old connector value).

Rest the module (power OFF - ON). Memory space which is not used is

enabled when the module restarts.

Fig. 4-2 Symbols for connectors and BICO inputs

4.1.2 Resources to adapt the software and commissioning

Various resources are available to adapt the standard software package

to particular applications. The resources essentially differ by the

intervention possibilities, which are shown in the following table. The

parameter name, displayed at OP1S, is a maximum of 16 characters

long, and it is possible to toggle between German and English using

initialization parameter H000 (reset is required after a change has been

made!).

Changes not

possible

Remedy:

L430 (2541)

K (200,8)

S.control

word

KR3155 Speed

H681 (0123)

B (120,3)

S.enable

L321 (3155)

KR (330,1)

S.speed actual

value

B0123 Status

bit_XY

PZD_123

K2541

CU_DoppelXY

KK5021 P501 (5021)

KK (60,2)

S.double

word

Connecting:

BOOLean values

16-bit values

32-bit values

Floating-point values

Connector

name

Connector number BICO input name

Number of the

connected connector

(factory setting)

BICO parameter

BICO inputs

Connectors

Chart, sector of the

source for the factory

setting

Data type symbol

Parameters and connectors

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Name Explanation

PMU Input field for all MASTERDRIVES- and DC Master units (with 4-digit display)

OP1S Operator device with numerical keypad and 4-line text display; can be directly connected to

the PMU.

SIMOVIS Start-up- and parameterizing software for the PC (Windows). It provides an oscilloscope

function for MASTERDRIVES MC.

CFC Graphic engineering tool which is used to generate the standard software package. It is

connected to the service interface of the T400.

Prerequisite: STEP 7; D7-SYS

Service-IBS

(Service-

start-up)

Simple start-up- and diagnostics tool for PC (DOS). It can also be used as Telemaster for

remote diagnostics.

Table 4-2 Adaption- and s tart-up tools

Intervention CFC PMU OP1S SIMOVIS Service-IBS

View value Any Parameter Parameter Parameter Any

Change value Any Parameter Parameter Parameter Any

Change connection Any BICO BICO BICO Any

Insert block Yes No No No No

Delete block Yes No No No No

Change execution

sequence

YesNoNoNo No

Change cycle time for

processing

YesNoNoNo No

Duplicate software Yes No No No No

Duplicate the complete

parameter set

No No No Yes (Macro)

Documentation Charts No No Parameter

lists

Table 4-3 Adaption- and s tart-up tools

For several parameter types, as a result of the limited resolution at input

or due to conversion operations, rounding-off errors can be expected.

Further, in some cases, more decimal places are offered than can

actually be set.

I/O can be read and changed using CFC online or the simple IBS

program (start-up program) (TELEMASTER) via the T400. This allows

parameters to be influenced.

If a connection between function blocks is required, which is not intended

as BICO connection, then this can be simply realized using the basic IBS

program (TELEMASTER). In this case, the complete path name (CFC

software package) of the source and target are required in the following

form:

CFC-chart name.Block name.Connector name

Changing

connections:

Parameters and connectors

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To realize this, the parameter list, in addition to the parameter description,

contains the complete I/O designation, which can be used as source or

target for a connection.

If a connection is changed using the simple IBS, this is not identified as

a parameter change, and therefore cannot be read-out with SIMOVIS.

This means that it cannot be transferred to any other modules with

angular synchronism!

4.2 Parameter list

The parameters used in the standard angular synchronism software

package are listed on the following pages. The list has the following

format:

Parameter Description Data

Hxyz (Lxyz)

Parameter

designation

Initialization

parameter

Parameter description for a technology parameter which can be set

Parameter with the supplement ini t i al i zation parameter, means when this

parameter is changed, the change only becomes effective after the power

supply voltage has been powered-up again.

Chart name.Block name.Connection

Value, factory setting

type

Min lower limit

Max upper limit

Chart chart, sector

dxxx (cxyz)

Parameter

designation

Parameter description for a visualization parameter (cannot be set).

Letters ”d” or ”c” symbolize the displacement values

1000 (”d”) or 3000 (”c”). This should be taken into account when selecting

the parameter with OP1(S).

Chart name.Block name.Connection

Type

Chart chart, sector

Table 4-4 Listi ng t ype for input- or di splay parameters

Type

abbrev. Type Significance Example, display

on OP1S Value range,

OP1S

BO BOOL Logical quantity 0 0, 1

I INT Integer number; signed -12345 -32768 ...32767

W WORD Integer number; unsigned; hexadecimal and binary

displayed at OP1(S)

2F03hex

0010111100000011

0000 ... FFFF

(0 ... 65535)

DI DINT Double integer number (32 bit); signed 123456789 ±2147483647

R REAL Floating-point number. Input using OP1(S) is

restricted to 6 places before the decimal point and 3

places after the decimal point, whereby the range is

limited to 199999.999.

123456.789 ±2147483.647

SD SDTIME Time in [ms] 200.000 ms 0 ... 2147483.647

N2 INT 16-bit fixed point quantity for drive converter comp.

Value range: -32768 ... 32767 => -200% ... 200%

N4 DINT As for N2; however 32-bit resolution:

16#40000000 = 1073741824 => 100%

Table 4-5 Data types and range for parameterization with OP 1S

Caution:

Parameters and connectors

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Table 4-6 Parameters of the SPA440 standard software package

Parameter Description Data

H000

Language select

Initialization

parameter

0 = German

1 = English

IF_CU.DRIVE.PLA

Value: 0

Type: I

d001

Software Type

Identification of the angular synchronism, standard software package

on T400 = 440

PAR_GER.SW_TYP.Y

Type: I

Chart: 40, 3

d002

Software Version

Actual software version (2.020)

PAR_GER.SWVERS.Y

Type: R

Chart: 40, 3

H003

Error Mask

Fault messages are enabled bitwise

Bit 0 COMBOARD, receive faulted F116

Bit 1 Peer-to-peer, receive faulted F117

Bit 2 Speed controller at its limit F118

Bit 3 Angular controller at its limit F119

Bit 4 External fault (refer to H665) F120

Bit 5 Master speed outside the tolerance (refer to H119) F121

Bit 6 Slave speed outside the tolerance (refer to H118) F122

Bit 7 Error, speed sensing, master (refer to d020) F123

Bit 8 Error, speed sensing, slave (refer to d021) F124

Bits 9 ..15 can be optionally assigned. In the default setting, all of the error

messages are suppressed to facilitate commissioning. If communications are

used, the monitoring function must be re-enabled

CONTR.ErrorMask.I2

Value: 16#0000

Type: W

Chart: 160, 4

H004

Warning Mask

Warnings are enabled bitwise

Bit 0 COMBOARD, data receive faulted A097

Bit 1 Peer-to-peer, data receive faulted A098

Bit 2 Speed controller at its limit A099

Bit 3 Angular controller at its limit A100

Bit 4 External fault (refer to H665) A101

Bit 5 Master speed outside its tolerance (refer to H119) A102

Bit 6 Slave speed outside its tolerance (refer to H118) A103

Bit 7 Error, speed sensing, master (refer to d020) A104

Bit 8 Error, speed sensing, slave (refer to d021) A105

Bits 9 ..15 can be optionally assigned. The default suppresses all warning

messages!

CONTR.WarnMaske.I2

Value: 16#0000

Type: W

Chart: 160, 7

d005

State of Control

Status of the standard angular synchronous control software package

Bit 0 Angular controller enabled

Bit 1 Speed controller on T400 enabled

Bit 2 Synchronism reached

Bit 3 Angular controller at its limit

Bit 4 Speed controller at its limit

Bit 5 Master speed outside its tolerance (refer to H119)

Bit 6 Slave speed outside its tolerance (refer to H118)

Bit 7 Time overflow, basic drive

Bit 8 PROFIBUS, data receive faulted

Bit 9 Peer-to-peer, data receive faulted

Bit 10 Slave has synchronized (10 ms pulse)

Bit 11 Master has synchronized (10 ms pulse)

Bit 12 Position actual value slave > enable threshold

Bit 13 Status displacement determined

Bit 14 Warning active

Bit 15 Fault active

CONTR.Statuswort.QS

Value: 16#0000

Type: W

Chart: 40, 7

d006

Error Bits

Status of the monitored error sources. The assignment corresponds to the

mask in H003

CONTR.Fehlerzustand.QS

Type: W

Chart: 160, 4

Parameters and connectors

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Parameter Description Data

d007

Warning Bits

Status of the monitored warning sources. The assignment corresponds to the

mask in H004

CONTR.Warnzustand.QS

Type: W

Chart: 160, 6

H008

TechBoard ParTyp

Initialization

parameter

H008 is used to define the data type which is used to transfer type R

parameters (real) via the USS slave interface. Generally, real parameters

must be converted into a 32-bit fixed-point value (e. g. for OP1S).

0: Transfer in the fixed-point format

1: Transfer in the floating-point format

IF_CU.DRIVE.TF

Value: 0

Type: BO

Chart: 40,1

H009

T400 = Baseboard

Initialization

parameter

Activates basic drive converter functions if the T400 is used in the SRT400

without a basic drive, and if it should behave with respect to an adjacent T400

just like a basic drive. In this case, all of the parameter numbers are shifted

(offset) by 1000. This means, that H123 becomes P123.

Caution: Only set H009 to 1, if parameterization is still possible, as it is

neither possible to operate in the basic drive nor parameterize via the PMU or

OP1(S)!

0 T400 operates as technology module (in the basic drive or SRT400)

1 T400 behaves just like a basic drive (in the SRT400 as basic drive)

IF_CU.DRIVE.BBF

Value: 0

Type: BO

Chart: 40,1

H010

Pulses Slave

Initialization

parameter

Number of pulses (of a track) per revolution of the incremental encoder at the

slave drive.

SYNCO2.SlavePulse.X

Value: 1024

Type: I

Chart: 60, 4

H011

Pulses Master

Initialization

parameter

Number of pulses (of a track) per revolution of the incremental encoder at the

master drive (=speed sensing 2);

SYNCO2.MasterPulse.X

Value: 1024

Type: I

Chart: 70, 4

H012

Nom. Speed Slave

Nominal (rated) speed of the slave drive in RPM. This is referred to speed

1.0. A sign reversal of the value corresponds to interchanging the pulse

encoder tracks. It is not permissible to use the value 0.

SYNCO2.SlaveNnenn.X

Value: 1500.0

Type: R

Chart: 60, 4

H013

Nom. Speed Master

Nominal (rated) speed of the master drive in RPM. This is referred to speed

1.0. A sign reversal of the value corresponds to interchanging the pulse

encoder tracks. It is not permissible to use the value 0.

It is especially important to enter the right value when using the master

encoder signal as master setpoint for the slave.

SYNCO2.MasterNnenn.X

Value: 1500.0

Type: R

Chart: 70, 4

d014

Speed Slave

Speed actual value of the slave in RPM; (normalization can be selected with

parameter H058)

SYNCO2.n_Slave.Y

Type: R

Chart: 60, 7

d015

Speed Master

Speed actual value of the master in RPM (normalization can be selected with

parameter H059)

SYNCO2.n_Master.Y

Type: R

Chart: 70, 7

d016

Slave Position

Number of quadrupled pulses of the slave drive since the last synchronizing

pulse. For a negative direction of rotation, the value is counted down

(decremented).

SYNCO2.Slave.YP

Type: R

Chart: 60, 7

d017

Master Position

Number of quadrupled pulses of the master drive since the last synchronizing

pulse. For a negative direction of rotation, the value is counted down

(decremented).

SYNCO2.Master.YP

Type: R

Chart: 70, 6

Parameters and connectors

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Parameter Description Data

H018

Mode Slave Speed

Initialization

parameter

Slave speed sensing mode 1

The mode of the speed sensing block for the slave drive is selected using this

parameter; this especially involves the digital filter, the encoder type, the

coarse signal type selection and the direction of rotation dependency of the

synchronizing pulse (zero encoder pulse), as well as the source of the

encoder pulses.

The selected mode is highlighted (in bold letters). Refer to the SIMADYN D

Reference Manual for an additional description as well as the function block

library, function block NAVS, connection MOD.

- - - X: the last hexadecimal position = 2 has the following significance:

Bit 0

0 encoder 1: Two pulse tracks, offset through 90°

1 encoder 2: There is a dedicated track for each direction of rotation

Bit 3..1 digital filter with time constant/limiting frequency 500 ns / 2 MHz

000x no filter

001x 500 ns (encoder 1) 125 ns (encoder 2)

010x 2 µs (encoder 1) illegal (encoder 2)

011x 8 µs (encoder 1) illegal (encoder 2)

100x 16 µs (encoder 1) illegal (encoder 2)

Rest illegal

- - X -: the last but one position = E has the following significance:

Bit 4 setting mode for input S

0 set YP to S V

1 subtract SV from YP

Bit 5 setting mode for input SD

0 set YDP to SVD

1 subtract SV D from YDP

Bit 6 source of the encoder tracks (can only be selected for terminal XE1)

0 T400

1 from the BASEBOARD

Bit 7 source of the zero pulse (can only be selected for terminal XE1)

0 from terminal XE1 of the T400

1 from the BASEBOARD

XX - -: the two highest positions = 7F has the following significance:

Correcting the standstill limit for 127 sampling cycles

SYNCO2.Slave.MOD

Value: 16#7FE2

Type: W

Chart: 60, 2

Parameters and connectors

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Parameter Description Data

H019

Mode MasterSpeed

Initialization

parameter

Operating mode of master speed sensing 2

For this particular software package, the only difference between H018 and

H019 is in the last but one position (refer below)

This parameter is used to set the speed sensing block mode for the master

drive, especially the digital filter, the encoder type, the coarse pulse version

and the source of the encoder pulses.

In the following text, only those operating modes will be described which are

possible when supplied from the factory. Refer to H018 for additional

information.

- - - X: last position = 2 has the following significance:

Digital filter with time constant/limiting frequency 500 ns / 2 MHz

Encoder type : pulse encoder with 2 tracks offset through 90 degrees

- - X -: last but one position = 0 has the following significance:

Zero- and incremental pulses from the terminal, encoder 2 of the T400

Setting mode S=0 : set YP to SV

Setting mode SD=0: set YDP to SVD (contrary to

parameter H018, however this is not relevant for this particular software

package, as YDP is not accessed by the master speed sensing block.)

XX - -: the two highest position = 7F have the following significance:

Correcting the standstill limit at 127 sampling cycles

SYNCO2.Master.MOD

Value: 16#7F02

Type: W

Chart: 70, 4

d020

Error Code Slave

Error code of the slave drive speed sensing. In order to use angular

synchronism, the value must be 0. If this value is not 0, an error has been

made when parameterizing the speed sensing.

The cases designated with *) can occur after the software package has been

modified in-line with application specific requirements.

Significance of the error bits

0 Parameters which may not be 0: H010, H012, H044

1 Sampling time > 20 ms *)

2 H018, illegal filter parameterization

3 Slave without master *)

4 Master and slave in various sampling times *)

5 Several masters use the same encoder *)

6 Master and slave use the same encoder *)

7 Pulse counter overflow

SYNCO2.Slave.YFC

Type: W

Chart: 60, 7

d021

ErrorCode Master

Error code of the master drive speed sensing. In order to use angular

synchronism, the value must be 0. If this value is not 0, an error has been

made when parameterizing the speed sensing.

The cases designated with *) can occur after the software package has been

modified in-line with application specific requirements.

Significance of the error bits

0 Parameters which may not be 0: H011, H013, H044

1 Sampling time > 20 ms *)

2 H018, illegal filter parameterization

3 Slave without master *)

4 Master and slave in various sampling times *)

5 Several masters use the same encoder *)

6 Master and slave use the same encoder *)

7 Pulse counter overflow

SYNCO2.Master.YFC

Type: W

Chart: 70, 6

Parameters and connectors

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Parameter Description Data

H022

CoarsePulseSlave

Sets the synchronizing type of the slave speed sensing. The value has

several functions, however, only the coarse pulse evaluation selection can be

modified in this application (refer to Fig. 2-3 ).

Bit(s) Value Significance

0 0 Synchronization using the zero pulse

1 0 For the zero pulse, the pos. is set to the setting value 0.0

3...2 00 Not evaluated

6...4 XYZ Coarse pulse version number (refer to Doc. T400)

000 Example: No. 0 ( coarse pulse is not evaluated; as for

mode 1)

011 Example: No. 3 (mode 3; the zero pulse is always

evaluated if the coarse pulse has a high signal level)

15...7 any Not evaluated

SYNCO2.Slave.SYM

Value: 0

Type: W

Chart: 60, 3

H023

CoarsePulseMaster

Sets the synchronizing type of the master speed sensing. The value has

several functions, however, only the coarse pulse evaluation selection can be

modified in this application.

Significance, refer to H022.

SYNCO2.Master.SYM

Value: 0

Type: W

Chart: 70, 3

H024

COMBOARD ParTyp

Initialization

parameter

H024 is used to define the data type parameter type R (real = floating point)

which is transferred via the COMBOARD interface.

0: Transfer in the fixed-point format

1: Transfer in the floating-point format

IF_CU.DRIVE.CF1

Value: 0

Type: BO

Chart: 40, 1

d025

State dig. Inputs

Digital inputs 1 .. 8 and their inverse values, combined as a word:

0 BinInput 1 (terminal 53)

1 BinInput 2 (terminal 54)

2 BinInput 3 (terminal 55)

3 BinInput 4 (terminal 56)

4 BinInput 5 (terminal 57)

5 BinInput 6 (terminal 58)

6 BinInput 7 (terminal 59)

7 BinInput 8 (terminal 60)

8 BinInput 1 inverse (terminal 53)

9 BinInput 2 inverse (terminal 54)

10 BinInput 3 inverse (terminal 55)

11 BinInput 4 inverse (terminal 56)

12 BinInput 5 inverse (terminal 57)

13 BinInput 6 inverse (terminal 58)

14 BinInput 7 inverse (terminal 59)

15 BinInput 8 inverse (terminal 60)

T400_EA.Invert_Bin.QS

Type: W

Chart: 52, 7

d026

Control Word1 CU

Control word 1; is sent to the basic drive converter.

Bit Significance

0 On (main contactor) 1=ON

1 /OFF2 (voltage-free) 0=OFF

2 /OFF3 (fast stop) 0=OFF

3 Pulse enable

4 Ramp-function generator enable

5 Start ramp-function generator

6 Setpoint enable 1=enable

7 Acknowledge fault 1=acknowledge

8 Jogging 1

9 Jogging 2

10 Control requested

11 Enable positive direction of rotation

12 Enable negative direction of rotation

13 Motorized potentiometer, raise

14 Motorized potentiometer, lower

15 Fault, external 1 0 = fault

IF_CU.Steuerwort1.QS

Type W

Chart: 220, 4

Parameters and connectors

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Parameter Description Data

d027

Control Word2 CU

2nd control word for the basic drive. Only bit 9 (enabling the speed controller

in the basic drive) is used.

IF_CU.Steuerwort2.QS

Type: W

Chart: 220, 8

d028 ... d031

Display R1 ...

Display R4

Four display parameters, type REAL (floating point) to display connectors

without their own display parameter. The source is selected using parameters

L028 ... L031.

Free_FBs.Display_R.Y1 ... Free_FBs.Display_R.Y4

Type: R

Chart: 470, 8

d032 ... d035

Display B1 ...

Display B4

Four display parameters, type BOOL to display connectors without their own

display parameter. The source is selected using parameters L032 ... L032.

Free_FBs.Display_BO.Q1 ... Free_FBs.Display_BO.Q4

Type: BO

Chart: 470, 8

d036, d037

Display I1 ...

Display I2

Two display parameters, type integer (16-bit) to display connectors without

their own display parameter. The source is selected using parameters L036

and L037.

Free_FBs.Display_I.Y1, Free_FBs.Display_I.Y2

Type: BO

Chart: 470, 8

d038, d039

Display W1 ...

Display W2

Two display parameters, type word (16-bit) to display connectors without their

own display parameter. The source is selected using parameters L038 and

L039.

Free_FBs.Display_W.Y1, Free_FBs.Display_W.Y2

Type: BO

Chart: 470, 8

H040

MUX ratio

Multiplexer selection of the source for the ratio:

0 Fixed value 0.0

1 Fixed value, parameter H043

2 Analog value 1, smoothed

3 Analog value 2, smoothed

4 Analog value 3, smoothed

5 Analog value 4, smoothed

6 Actual value1 from the basic drive

7 Actual value2 from the basic drive

8 Actual value3 from the basic drive

9 Setpoint1 from the COMBOARD

10 Setpoint2 from the COMBOARD

11 Setpoint3 from the COMBOARD

12 Setpoint4 from the COMBOARD

13 Peer Float1

14 Peer Float2

MUXsoll.MUX_Uebersetzung.XCS

Value: 1

Min: 0

Max: 14

Type: I

Chart: 500, 1

H041

S.Addition.Ratio

Source for the supplementary ratio.

SYNCO1.UE4PRO.X2

Value: 3047

Type: I

Chart: 80,2

H043

Constant Ratio

Fixed value for the ratio.

SYNCO1.CONST_UEB.X1

Value: 1.0

Type: R

Chart: 30,3

d044

Ratio

Actual ratio calculated from the fixed value and the relevant ratio

Actual ratio = (d060 * d061) + source (H041)

SYNCO1.UE4PRO.Y

Type: R

Chart: 80, 4

d045

Ratio Numerator

Actual value of the ratio numerator

SYNCO1.PNRAT.NM

Type: DI

Chart: 80, 5

d046

RatioDenominator

Actual value of the ratio denominator

SYNCO1.PNRAT.DN

Type: DI

Chart: 80, 5

H047

Addition. Ratio

Additional ratio: Summand to enter the ratio as follows:

ratio * rel.ratio + additional ratio

SYNCO1.CONST_UEB.X3

Value: 0.0

Type: R

Chart: 80, 1

Parameters and connectors

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Parameter Description Data

H048

MUXrelativeRatio

Multiplexer selection of the source for the relative ratio

0 Fixed value 0.0

1 Fixed value, parameter H049

2 Analog value 1, smoothed

3 Analog value 2, smoothed

4 Analog value 3, smoothed

5 Analog value 4, smoothed

6 Actual value1 from the basic drive

7 Actual value2 from the basic drive

8 Actual value3 from the basic drive

9 Setpoint1 from the COMBOARD

10 Setpoint2 from the COMBOARD

11 Setpoint3 from the COMBOARD

12 Setpoint4 from the COMBOARD

13 Peer Float1

14 Peer Float2

MUXsoll.MUX_RelUebersetz.XCS

Value: 1

Min: 0

Max: 14

Type: I

Chart: 500, 4

H049

Rel. Ratio Const

Fixed value for a factor to relatively change the ratio

SYNCO1.CONST_UEB.X2

Value: 1.0

Type: R

Chart: 30, 3

H050

MUXdisplace.Setp

Multiplexer selection of the source for the displacement setpoint

0 Fixed value 0.0

1 Fixed value, parameter H066

2 Analog value 1, smoothed

3 Analog value 2, smoothed

4 Analog value 3, smoothed

5 Analog value 4, smoothed

6 Actual value1 from the basic drive

7 Actual value2 from the basic drive

8 Actual value3 from the basic drive

9 Setpoint1 from the COMBOARD

10 Setpoint2 from the COMBOARD

11 Setpoint3 from the COMBOARD

12 Setpoint4 from the COMBOARD

13 Peer Float1

14 Peer Float2

MUXsoll.MUX_Versatz.XCS

Value: 1

Min: 0

Max: 14

Type: I

Chart: 500, 1

H051

S.Displacem.Setp

Source for the displacement setpoint (angular controller).

SYNCO2.Q_Versatz.X

Value: 3050

Type: I

Chart: 110, 1

H052

RmpUp Displacem

H053

RampDownDisplace

Time, in which the displacement setpoint changes by 2048 quadrupled pulses

(2048 quadrupled pulses correspond to the maximum or minimum

displacement setpoint, i.e. half a revolution, also refer to H054 and H055).

SYNCO2.HLG_Versatz.TU

SYNCO2.HLG_Versatz.TD

Value: 2.5 ms

Min: 0 ms

Type: SD

Chart: 110, 2

H054

Max.Displacement

Upper displacement setpoint limit (pulses*4)

When the displacement calculation is in the retrigger mode (i. e. H091=1), the

maximum displacement setpoint should not exceed the ”half pulse number

(*4) value per revolution (i. e. half a revolution) of the parts to be

synchronized” (control margin)!

SYNCO2.HLG_Versatz.LU

Value: 2048

Min: 0

Type: R

Chart: 110, 3

H055

Min.Displacement

Lower displacement setpoint limit (pulses*4)

When the displacement calculation is in the retrigger mode (i. e. H091=1), the

maximum displacement setpoint should not exceed the ”half pulse number

(*4) value per revolution (i. e. half a revolution) of the parts to be

synchronized” (control margin).

SYNCO2.HLG_Versatz.LL

Value: -2048

Min: 0

Type: R

Chart: 110, 3

d056

DisplacementSetp

Displacement setpoint (pulses*4) at the ramp-function generator output

(angular controller)

SYNCO2.HLG_Versatz.Y

Type: R

Chart: 110, 4

H057

S.set Displ.Ramp

Source of the control signal to set the displacement ramp-function generator.

SYNCO2.HLG_Versatz.S

Value: 0175

Type: I

Chart: 110, 1

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 71

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H058

Q.Norm. n_Slave

Source for the normalization factor to display the slave drive speed (d014). In

the factory setting, this is linked to the rated slave drive speed.

SYNCO2.n_Slave.X1

Value: 3012

Type: I

Chart: 60, 7

H059

Q.Norm. n_Master

Source for the normalization factor to display the master drive speed (d015).

In the factory setting, this is linked to the rated master drive speed.

SYNCO2.n_Master.X1

Value: 3013

Type: I

Chart: 60, 6

d060

Ratio 1

Actual ratio before being multiplied by the relative ratio.

SYNCO1.CONST_UEB.Y4

Type: R

Chart: 80, 2

d061

Ratio relative

Actual value for the relative ratio.

SYNCO1.CONST_UEB.Y5

Type: R

Chart: 80, 2

H062 - H065

DisplaceMas+Sla+

f(n)

Direction of rotation-dependent displacement of the synchronization.

This is only necessary, if different displacement values are required as a

function of the directions of rotation of the master and slave.

H062 Displacement setpoint for: n_Master > 0; n_Slave > 0

H063 Displacement setpoint for: n_Master < 0; n_Slave > 0

H064 Displacement setpoint for: n_Master > 0; n_Slave < 0

H065 Displacement setpoint for: n_Master < 0; n_Slave < 0

The displacement setpoints correspond to the number of pulses*4

SYNC01.DREFS1.X1 and .X2 SYNC01.DREFS2.X1 and .X2

Value: 0.0

Type: R

Chart: 100, 1

H066

Const.Displacem.

Fixed displacement setpoint (pulses*4)

SYNCO1.FixVersatz.X

Value: 0.0

Type: R

Chart: 30, 3

H067

S.Ratio

Source for the speed ratio before being multiplied by the relative ratio.

SYNCO1.CONST_UEB.X4

Value: 3040

Type: I

Chart: 80, 1

H068

S.relative Ratio

Source for the relative ratio before being multiplied by the ratio.

SYNCO1.CONST_UEB.X5

Type: I

Chart: 80, 1

H070

MUX Refer.speed

Multiplexer selection of the source for the master speed setpoint

0 Fixed value 0.0

1 Fixed value, parameter H073

2 Analog value 1, smoothed

3 Analog value 2, smoothed

4 Analog value 3, smoothed

5 Analog value 4, smoothed

6 Actual value1 from the basic drive

7 Actual value2 from the basic drive

8 Actual value3 from the basic drive

9 Setpoint1 from the COMBOARD

10 Setpoint2 from the COMBOARD

11 Setpoint3 from the COMBOARD

12 Setpoint4 from the COMBOARD

13 Peer Float1

14 Peer Float2

15 Speed, master

MUXsoll.MUX_Leitsollwert.XCS

Value: 15

Min: 0

Max: 15

Type: I

Chart: 500, 7

H071

S.ReferenceSpeed

Source for the master setpoint (speed setpoint for the master and slave)

SYNCO1.Leitsollwert.X

Value: 3070

Type: I

Chart: 115, 1

H072

Tfilt Ref. Speed

Smoothing time (PT1 element) for the master speed setpoint

SYNCO1.SREFSM.T

Value: 10 ms

Type: SD

Chart: 115, 2

H073

Const. Ref.Speed

Fixed value, master speed setpoint

SYNCO1.fixLeitsoll.X

Value: 0.0

Type: R

Chart: 30,3

d074

Refer.Speed filt

Actual value of the smoothed master speed setpoint

SYNCO1.SREFSM.Y

Type: R

Chart: 115, 3

d076

Reference Speed

Actual value of the master speed setpoint (before smoothing)

SYNCO1.Leitsollwert.Y

Type: R

Chart: 115, 2

Parameters and connectors

72 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H077

S.DisplaceNumer.

Source for the value of the ratio numerator for the displacement calculation.

SYNCO2.Displace.NM

Value: 5088

Type: I

Chart: 100, 4

H078

S.DisplaceDenom

Source for the value of the ratio denominator for the displacement

calculation.

SYNCO2.Displace.DN

Value: 5089

Type: I

Chart: 100, 4

H079

S.DT1 Acc. Comp.

Source for the input quantity of the high-pass filter to generate inertia

compensation.

SYNCO1.DT1_BAusgleich.X

Value: 3129

Type: I

Chart: 120, 6

H080

MUX Accel.Comp.

Selects the source for the inertia compensation (pre-control value for the

speed controller):

0 Fixed value 0.0

1 From dn/dt generated value

2 Analog value 1, smoothed

3 Analog value 2, smoothed

4 Analog value 3, smoothed

5 Analog value 4, smoothed

6 Actual value1 from the basic drive

7 Actual value2 from the basic drive

8 Actual value3 from the basic drive

9 Setpoint1 from the COMBOARD

10 Setpoint2 from the COMBOARD

11 Setpoint3 from the COMBOARD

12 Setpoint4 from the COMBOARD

13 Peer Float1

14 Peer Float2

MUXsoll.MUX_BAusgleich.XCS

Value: 1

Min: 0

Max: 14

Type: I

Chart: 500, 5

H082

Tfilt Acc.Comp.

Smoothing time constant of the derivative action element (DT1 element) to

generate the inertia compensation value; higher time values signify a lower

influence.

SYNCO1.DT1_BAusgleich.T1

Value: 100ms

Type: SD

Chart: 120, 7

H083

Tdif Accel.Comp.

Differentiating time constant of the DT1 element to generate the inertia

compensation value; higher values signify a higher influence.

SYNCO1.DT1_BAusgleich.TD

Value: 4 ms

Type: R

Chart: 120, 7

d085

DT1 (SpeedSetp.)

Actual value of the inertia compensation.

SYNCO1.DT1_BAusgleich.Y

Type: R

Chart: 120, 7

H086

Fine Ratio Numer

This is used to directly enter numerator and denominator of the ratio.

Constant.DINT_Const.X1

Value: 1000

Type: DI

Chart: 80, 3

H087

Fine Ratio Denom

Refer to H086

Constant.DINT_Const.X2

Value: 1000

Type: I

Chart: 80, 3

H088

enable FineRatio

The source of the ratio is changed-over using H088

0 The numerator and denominator are automatically calculated

1 Fine setting (H086, H087)

SYNCO1.FEINPZ.I1

Value: 0

Type: BO

Chart: 80, 6

H090

Pos.Correct Mode

H090 is used to define whether the position can always be corrected or only if

there is an active synchronizing command. The position correction is required

for a position reset and for the displacement correction. For H090=0, the

edge-controlled correction mode only works, if after passing the

synchronizing marks, the synchronizing command = 1.

0 Displacement correction or reset only as long as the synchronizing

command=1

1 Displacement correction is always possible

CONTR.LagekorrektLogik.I2

Value: 1

Type: BO

Chart: 60, 4

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 73

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H091

SynchrRetrigMode

Selects whether synchronization (determining the displacement and

displacement correction) should be realized in the ”retrigger” mode or

”continuously”.

0 = Continuously

The displacement is sensed over several revolutions and corrected

(parameters H100 and H102 have to be set!)

1 = Retrigger

The displacement is only determined over 1 revolution and corrected.

Only

the actual position since the last synchronizing operation is evaluated.

(this may be recommendable for negative ratios and a

negative displacement setpoint)

SYNCO2.Displace.RTM

Value: 0

Type: BO

Chart: 100, 6

H092

Synchr.Edge Mode

Evaluation modes of the ”synchronizing command” (i. e. displacement

correction). The synchronizing command must be 1 while synchronizing.

H092 is used to define whether the displacement correction should be made

continuously or only once.

0 = Continuous (signal level-controlled)

1 = Once (edge controlled)

SYNCO2.Displace.ENM

Value: 0

Type: BO

Chart: 100, 6

H093

CorrectionPulses

Number of quadrupled pulses, which are fed to the angular controller to

correct the displacement for displacement correction per sampling time.

This generates a position difference, which the angular controller corrects.

A lower value (e.g. 1) is recommended in order to achieve low-oscillation

synchronization.

This value must be increased (e. g. to 10) if, for very low-frequency

synchronizing pulses (e. g. as a result of a high ratio or small speed), fast

synchronization is required

SYNCO2.Displace.CPN

Value: 1

Type: R

Chart: 100, 7

d094

act.Displacement

Displacement actual value in quadrupled slave pulses since the displacement

determination was enabled and after both synchronizing pulses have been

received. (Synchronizing command is not required.) It is the actual angular

difference between the synchronizing pulses.

It is only re-calculated at the instant in time that one (H91=0; setting of H100

and H102) or two (H091=1) synchronizing pulses occur.

It contains the set displacement- (d056) as well as the direction of rotation-

dependent synchronizing displacement setpoints (H062 - H065).

In the synchronous status, it is 0 or includes the displacement setpoint.

This status is signaled to terminal 46, taking into account a tolerance

bandwidth which can be set using H103.

SYNCO2.Displace.DV

Type: R

Chart: 100, 7

d095

Displ.-Pos.diff

Difference ”actual displacement minus the position difference actual value” in

quadrupled slave pulses. This value is zero (independent of a possibly

existing displacement setpoint) if the system is in the angular synchronous

status!

During synchronizing, this value is not equal to zero, and during

synchronization, is always less.

Update, as is described for d094.

The following is essentially valid: d095 = d094 - d124

SYNCO2.Displace.DVD

Type: R

Chart: 100, 7

d096

ErrorCode Displ.

Error IDs from the displacement sensing. The error ID is deleted when the

position difference is reset.

Bit Hex Significance

0 1 Overflow, number of synchronizing operations 1 ( more than 231 )

1 2 Overflow, number of synchronizing operations 2 ( more than 231 )

2 4 Number of synchronizing operations 1 * PR1 > 231

3 8 Number of synchronizing operations 1 * PR2 >231

If one of the bits 0-3 is set, then synchronization was probably erroneous.

8 100= Displacement position difference cannot be represented with 32 bit,

i. e. synchronization must be repeated.

SYNCO2.Displace.FC

Type: W

Chart: 100, 7

Parameters and connectors

74 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H097

S.Reset Pos_1

Source for the 2nd digital signal to reset the position and displacement.

CONTR.Zus_Lage-RS.I1

Value: 0108

Type: I

Chart: 90, 1

H098

S.Synchr.Command

Source for the 2nd digital signal to enable displacement correction.

CONTR.OR_Sync.I1

Value: 0173

Type: I

Chart: 90, 1

H100

SyncPulsesMaster

The synchronizing pulse number is set in the master drive, and corresponds

to one revolution in quadrupled pulses. The default for H100 is set for a pulse

encoder with 1024 pulses, and is 4 ⋅ 1024 = 4096.

SYNCO2.Displace.PR2

Value: 4096

Type: DI

Chart: 100, 5

H101

S.StopStartSynch

Source for the signal to end the start synchronizing (refer to H168).

CONTR.SyncFlipFlop.R

Value: 0105

Type: BI

Chart: 90,6

H102

SyncPulses Slave

The synchronizing pulse number is set to the slave drive and corresponds to

one revolution in quadrupled pulses. The default for H102 is set for a pulse

encoder with 1024 pulses, and is 4 ⋅ 1024 = 4096.

SYNCO2.Displace.PR1

Value: 4096

Type: DI

Chart: 100, 6

H103

Threshold Synchr

If the actual displacement is less than this response threshold, then the

”synchronism” reached status bit is set to 1. In the other case, it is reset to 0.

SYNCO2.CmpSynchr.L

Value: 20.0

Type: R

Chart: 100, 6

H104

S.Enable Control

Source for the control signal to enable the angular controller.

SYNCO2.AngleControl.EN

Value: 0109

Type: I

Chart: 110, 6

H105

Thresh.SyncSlave

Minimum number of quadrupled pulses, which must be received after an

effective synchronizing pulse, before a new synchronizing pulse may become

effective. This is used, for example, to suppress multiple edges due to switch

bounce.

Caution: The pulse number specified here must be greater than the number

of pulses, which are received while the synchronizing pulse is active (active

time). This threshold value is also effective for the first synchronization (after

power off,

power on / restart).

SYNCO2.CmpSPslave.X2

Value: 500

Unit: Pulse

Type: R

Chart: 60, 3

H107

Thresh.SyncMaster

Enable threshold, synchronizing, master. The function is as for H105 for the

master speed sensing.

SYNCO2.CmpSPmaster.X2

Value: 500

Type: R

Chart: 70, 2

H108

S.KP Pos.Contrl.

Source for the input quantity of the characteristic to adapt the P gain of the

angular controller.

SYNCO2.AngleKP.X

Value: 3044

Type: I

Chart: 110, 1

d109

enable Pos.Cntrl

Actual status of the angular controller enable

1: Angular controller enabled

0: Angular controller inhibited

CONTR.WR-Freigabe.Q

Value: 0

Type: BO

Chart: 90, 7

H110

Hold I-Component

The angular controller mode can be changed-over using this parameter:

0 = Controller operates as PI controller

1 = Controller operates as P controller (the I component is kept constant)

Caution: Only changeover from 0 to 1 when the controller is inhibited, as

otherwise the I component will not be cancelled!

SYNCO2.AngleControl.HI

Value: 1

Type: BO

Chart: 110, 7

H111

Tn Pos.Control

Integral action time of the angular controller (only relevant for H110 = 0)

The minimum integral action time corresponds to the sampling time, in which

the AngleControl block is configured.

SYNCO2.AngleControl.TN

Value: 500 ms

Type: SD

Chart: 110, 7

H112

Max. Position

Absolute value of the maximum output quantity of the angular controller

SYNCO2.SYNMAX.X

Value: 0.3

Type: R

Chart: 110, 5

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 75

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H113

KP_UE Pos.Contrl

P gain (angular controller) without adaption or

P gain for the largest ratio ue_KP

SYNCO2.AngleKP.B2

Value: 1.0

Type: R

Chart: 110, 3

H114

KP_UE_0 PosCntrl

P gain (angular controller) for low ratios ue_KP_0

SYNCO2.AngleKP.B1

Value: 1.0

Type: R

Chart: 110, 2

H115

ue_KP Value

Limit of the ratio ü, which is linearly interpolated up to from ue_KP_0. For ü >

ue_KP, KP = KP_UE (angular controller).

SYNCO2.AngleKP.A2

Value: 0.0

Type: R

Chart: 110, 3

H116

ue_KP_0 Value

Limit of the ratio ü, from which is linearly interpolated up to ue_KP_0. For ü <

ue_KP_0, KP = KP_UE_0 (angular controller)

SYNCO2.AngleKP.A1

Value: 0.0

Type: R

Chart: 110, 3

H117

Tfilt Pos.Differ

Smoothing time constant (PT1 element) for the differential position actual

value

SYNCO2.LageDifferenz.T

Value: 4.0 ms

Type: SD

Chart: 60, 7

H118

dn enable Max.

Maximum system deviation between the speed setpoint and actual value of

the slave when the angular controller is enabled. The angular controller is

only enabled if the system deviation lies below the threshold (N_soll_slave

H136 - H118). A low value must be set for a low speed setpoint.

SYNCO2.dnFreigabe.X

Value 0.1

Type R

Chart: 75, 3

H119

dn Master Max.

Maximum deviation of the speed actual value of the master to its setpoint.

SYNCO2.dnMaster.X

Value 0.1

Type R

Chart: 75, 3

d120

Outp.Pos.Control

Angular controller output = supplementary speed setpoint

SYNCO2.PT_Angle.Y

Type: R

Chart: 110, 7

d121

Diff.Pos.Control

Actual angular deviation (referred to the slave pulses). A possibly existing

displacement setpoint is taken into account:

Angular controller, system deviation = displacement setpoint - differential

actual value.

(The differential position actual value includes the displacement setpoint as

”steady-state component”)

SYNCO2.AngleControl.YE

Type: R

Chart: 110, 5

d122

IntegralComp.Pos

Integral component of the angular controller output

SYNCO2.AngleControl.YI

Type: R

d123

KP Pos.Control

Actual P gain of the angular controller. This value must be multiplied by 104,

so that small KP values do not have to be entered using the OP1S.

SYNCO2.AngleKP.Y

Type: R

Chart: 110, 3

d124

Pos.Diff. filt

Smoothed differential angular actual value, smoothed with H117. This is

independent of the displacement determination or the synchronizing pulses;

this means that it provides no information about the position with respect to

one another (synchronism). On the other hand, d094 is the displacement

actual value between two synchronizing pulses.

After successful synchronization, this value is 0 or contains the selected

displacement setpoint!

SYNCO2.LageDifferenz.Y

Unit: Pulse

Type: R

Chart: 60, 8

H125

n_max Ramp Gen.

Upper limit of the speed setpoint at the ramp-function generator

SYNCO1.HLG_Speed.LU

Value: 1.0

Type R

Chart: 115, 5

H126

n_min Ramp Gen.

Lower limit of the speed setpoint at the ramp-function generator

SYNCO1.HLG_Speed.LL

Value: -1.0

Type R

Chart: 115, 5

H127

n Ramp Up Time

Time, in which the speed setpoint may change from 0 to rated speed.

SYNCO1.HLG_Speed.TU

Value: 0 ms

Type R

Chart: 115, 6

Parameters and connectors

76 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H128

n Ramp Down Time

Time, in which the speed setpoint may change from the rated speed to 0.

SYNCO1.HLG_Speed.TD

Value: 0 ms

Type R

Chart: 115, 6

H129

SpeedSetpRampOut

Speed setpoint after the ramp-function generator.

SYNCO1.HLG_Speed.Y

Value: 0 ms

Type R

Chart: 115, 7

H130

Jog Setpoint

Supplementary speed setpoint, which is added to the master setpoint in the

jog mode.

CONTR.TIPPEN.X

Value: 0.0

Type: R

Chart: 115, 1

H131

S.enablePosCtrll

Source for the 1st control signal to enable the angular controller.

CONTR.Steuerbits.I1

Value: 0172

Type: I

Chart: 90, 5

H132

Max. n_Setpoint

Upper speed setpoint limit for the speed controller on T400.

Caution: H132 must be > H133

SYNCO2.NsollLimit.LU

Value: 1.0

Type: R

Chart: 120, 2

H133

Min. n_Setpoint

Lower speed setpoint limit for the speed controller on T400

Caution: H132 must be > H133

SYNCO2.NsollLimit.LL

Value: -1.0

Type: R

Chart: 120, 2

H134

Max. n-Controller

Upper limit of the speed controller output on T400

Caution: H134 must be > H135

SYNCO2. SpeedControl.LU

Value: 1.0

Type: R

Chart: 120, 6

H135

Min. n-Controller

Lower limit of the speed controller output on T400

Caution: H134 must be > H135

SYNCO2.SpeedControl.LL

Value: -1.0

Type: R

Chart: 120, 6

d136

Speed Setpoint

Actual speed setpoint after smoothing and multiplication with the ratio.

SYNCO1.SREFR.Y

Type: R

Chart: 115, 3

d137

Speed Setp. ltd.

Actual speed setpoint sum after limiting (setpoint for the speed controller on

T400).

SYNCO2.NsollLimit.Y

Type: R

Chart: 120, 2

H138

Tfilt Pos.Cntrl

Smoothing time constant for the angular controller output

SYNCO2.PT_Angle.T

Value: 0 ms

Type R

Chart: 110, 7

H139

S.enablePosCtrl2

Source for the 2nd control signal to enable the angular controller.

CONTR.WR-Freigabe.I1

Value: 0193

Type: I

Chart: 90, 5

H140

ModeSpeedControl

The speed controller can be either computed on the T400 or in the basic

drive.

0 The T400 outputs the speed setpoint, taking into account the limits on

the basic drive. The speed controller blocks on the T400 are no longer

processed.

1 Speed controller is on the T400. The torque setpoint is transferred to the

basic drive.

CONTR.SCONI.I

Value: 0

Type: BO

Chart: 120, 5

H141

KP Speed Control

Upper Y value of the 2-point characteristic for the KP adaption of the speed

controller. P gain for large speed setpoints or if H143 = H144.

SYNCO2.SpeedKP.B2

Value: 10.0

Type: R

Chart: 120, 2

H142

KP_O SpeedContrl

Lower Y value of the 2-point characteristic for the KP adaption of the speed

controller. P gain for low speed setpoints.

SYNCO2.SpeedKP.B1

Value: 10.0

Type: R

Chart: 120, 2

H143

n_KP Threshold

Limit value of the speed setpoint which is interpolated up to, starting from

n_KP_0. The P gain = KP for n > n_KP

SYNCO2.SpeedKP.A2

Value: 0.0

Type: R

Chart: 120, 3

H144

n_KP_0 Threshold

Limit value of the speed setpoint which is interpolated from up to n_KP. For n

< n_KP_0, the P gain = n_KP_0

SYNCO2.SpeedKP.A1

Value: 0.0

Type: R

Chart: 120, 2

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 77

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H145

Tn SpeedControl

Integral action time of the speed controller

SYNCO2. SpeedControl. TN

Value: 200ms

Type R

Chart: 120, 5

H146

Tfilt Speed

Smoothing time (PT1 element) for the slave speed actual value, which is

used for the closed-loop speed control

SYNCO2.NslaveFilter.T

Value: 4.0ms

Type: R

Chart: 60, 7

d147

Control Word 1

Control word 1 for the basic drive

IF_CU.Sammeln.Y1

Type: W

Chart: 230, 7

d148

Control Word 2

Control word 2 for the basic drive

IF_CU.Sammeln.Y4

Type: W

Chart: 230, 7

H149

T SyncPulsMaster

Pulse extension for the synchronizing pulse of the master-speed sensing. (for

diagnostics)

CONTR.Puls_SS_Master.T

Value: 10 ms

Type: SD

Chart: 70, 6

d150

Outp.SpeedContrl

Speed controller output

SYNCO2.SpeedControl.Y

Type: R

Chart: 120, 7

d151

DifferSpeedCntrl

Setpoint/actual value deviation of the speed controller

SYNCO2.SpeedControl.YE

Type: R

Chart: 120, 4

d152

SetpSpeed;Torque

Actual setpoint for the basic drive:

H140 = 1 torque setpoint (d150)

H140 = 0 speed setpoint

SYNCO2.SetpSwitch.Y

Type: R

Chart: 115, 7

d153

KP Speed Control

Effective P gain of the speed controller

SYNCO2.SpeedKP.Y

Type: R

Chart: 120, 3

H154

S.SlaveSynchrPos

Source for the slave position for synchronizing enable of the position sensing

of the slave drive.

SYNCO2.CmpSPslave.X1

Value: 3186

Type: I

Chart: 60, 3

H155

Ratio Resolution

Initialization

connection

Resolution when calculating the numerator- and denominator components

from the ratio. H155 specifies the numerator of the ratio. The value should

not exceed 100000. Examples:

H155 Ratio Numer. Denominator

10000 1.2351 10000 12351

10000 0.0333 10000 333

1000 0.0333 1000 33

SYNCO1.PNRAT.RR

Value: 10000

Type: R

Chart: 80, 4

H156

S.Ref_Pos_1

Source for the main setpoint of the angular controller.

SYNCO2.AngleControl.W1

Value: 3056

Type: I

Chart: 110, 5

H157

S.Ref_Pos_2

Source for the supplementary setpoint of the angular controller.

SYNCO2.AngleControl.W2

Value: 3000

Type: I

Chart: 110, 5

H158

S.Act_Pos_1

Source for the actual value of the angular controller.

SYNCO2.AngleControl.X1

Value: 3124

Type: I

Chart: 110, 5

H159

S.Act_Pos_2

Source for the supplementary actual value of the angular controller.

SYNCO2.AngleControl.X2

Value: 3000

Type: I

Chart: 110, 5

H160

Aout 1 Offset

Offset value of analog output 1 (terminal 97; also refer to H161)

T400_EA.AnaOut_1.OFF

Value: 0.0

Type: R

Chart: 51, 3

H161

Aout 1 Scalefact

Scaling factor for analog output 1 (terminal 97)

Output voltage = (input value + offset) * 5 V / scaling factor

T400_EA.AnaOut_1.SF

Value: 1.0

Type: R

Chart: 51, 4

H162

Aout 2 Offset

Offset value of analog output 2 (terminal 98; also refer to H163)

T400_EA.AnaOut_2.OFF

Value: 0.0

Type: R

Chart: 51, 3

Parameters and connectors

78 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H163

Aout 2 Scalefact

Scaling factor for analog output 2 (terminal 98)

Output voltage = (input value + offset) * 5 V / scaling factor

T400_EA.AnaOut_2.SF

Value: 1.0

Type: R

Chart: 51, 4

H164

Erase EEPROM

Task to re-establish the factory setting. All of the changes are deleted.

Beforehand, H165 must be set to 165. Deleting is started when H164 = 1. If

data is deleted, it cannot be re-done (retrieved)!

CONTR. EEPROM_T400. ERA

Value: 0

Type: BO

Chart: 40, 1

H165

Key EEPROM

Password to prevent the change memory being accidentally erased

(EEPROM). H165 must be set to 165 before erasing.

CONTR. EEPROM_T400. KEY

Value: 0

Type: I

Chart: 40, 1

d166

State EEPROM

Indicates whether the standard software package is unchanged (factory

settings), or whether parameters were changed (change memory not empty).

d166 = 1 change memory empty Þ

ÞÞ

Þ factory setting

CONTR. EEPROM_T400. EPE

Type: BO

Chart: 40, 3

H167

S.Pos.Reset_1

Source for the 1st digital signal to reset position and offset.

CONTR.Steuerbits.I3

Value: 0173

Type: I

Chart: 90, 1

H168

DelayStartSynchr

When the start synchronization is enabled (H169 = 1), after the power supply

is switched-on and after the power-on delay has expired (according to H168),

a synchronizing command is output once.

CONTR. Start_Sync. T

Value: 1000 ms

Type: SD

Chart: 90, 6

H169

EnableStartSynch

Enables start synchronization (refer to H168)

0 Not enabled

1 Enabled

CONTR.EnableAutoSync.I

Value: 0

Type: BO

Chart: 90,5

H170

MUX Displ.Reset

Multiplexer selection of the digital source to reset the displacement setpoint

0 Fixed value 0

1 Fixed value 1

2 Control word from CU bit 0

3 Digital input 3 (terminal 55)

4 Digital input 4 (terminal 56)

5 Digital input 5 (terminal 57)

6 Digital input 6 (terminal 58)

7 Digital input 7 (terminal 59)

8 Digital input 8 (terminal 60)

9 Control word 2 CB bit 0

10 Control word 2 CB bit 1

11 Control word 2 CB bit 2

12 Control word 2 CB bit 3

13 Control word 2 CB bit 4

14 Control word 2 CB bit 5

15 Control word 2 CB bit 6

16 Control word 2 CB bit 7

17 Control word, peer bit 0

18 Control word, peer bit 1

19 Control word, peer bit 2

20 Control word, peer bit 3

21 Control word, peer bit 4

22 Control word, peer bit 5

23 Control word, peer bit 6

24 Control word, peer bit 7

25 Control word 2 CB bit 0

26 Control word 2 CB bit 1

27 Control word 2 CB bit 2

28 Control word 2 CB bit 3

29 Control word 2 CB bit 4

30 Control word 2 CB bit 5

31 Control word 2 CB bit 6

32 Control word 2 CB bit 7

MUX_B.MUX_VersatzReset.XCS

Value: 0

Type: BO

Chart: 520, 2

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 79

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H171

MUX enable Jog

Multiplexer selection of the digital source to enable jog operation.

Selected as for H170 except: 2 control word from the basic drive, bit

MUX_B.MUX_TippFreigabe.XCS

Value: 0

Type: BO

Chart: 520, 3

H172

MUX en.Pos.Cntrl

Multiplexer selection of the digital source to enable the angular controller.

Selected as for H170 except: 2 control word from the basic drive, bit

MUX_B.MUX_WReglerFreig.XCS

Value: 0

Type: BO

Chart: 520, 5

H173

MUX Reset Posit.

Multiplexer selection of the digital source to reset position and displacement.

Selected as for H170 except: 2 control word from the basic drive, bit

MUX_B.MUX_LageReset.XCS

Value: 0

Type: BO

Chart: 520, 6

H174

MUX Synchr.Cmd

Multiplexer selection of the digital source for the synchronizing command.

This enables displacement errors to be corrected.

Selected as for H170 except: 2 control word from the basic drive, bit

MUX_B.MUX_SyncSignal.XCS

Value: 0

Type: BO

Chart: 520, 8

d175

Displacem. Reset

Actual value for the control signal to reset the position difference.

CONTR.Steuerbits.Q4

Type: BO

Chart: 60, 2

d176

Enable Jog

Actual value for the control input j og enabl e

CONTR.Steuerbits.Q7

Type: BO

Chart: 115, 2

d177

EnableSpeedCntrl

Actual value for the control input angul ar controller enable

CONTR.Steuerbits.Q1

Type: BO

Chart: 90, 6

d178

Reset Position

Actual value for the control input reset position (H167)

CONTR.Steuerbits.Q3

Type: BO

Chart: 90, 2

d179

Synchron.Command

Actual value for the control input (H191) synchronizing command

CONTR.Steuerbits.Q2

Type: BO

Chart: 90, 2

H180

S.EnableSynSlave

Source for the digital signal to enable slave drive synchronization.

SYNCO2.Slave.SP

Value: 0154

Type: I

Chart: 60, 4

H181

S.ResetSlavePos.

Source for the digital signal to reset the slave drive position.

SYNCO2.Slave.R

Value: 0097

Type: I

Chart: 60, 4

H182

S.Slave Numerat.

Source for the numerator of the speed ratio.

SYNCO2.Slave.NM

Value: 5088

Type: I

Chart: 60, 4

H183

S.Slave Denomin.

Source for the denominator of the speed ratio.

SYNCO2.Slave.DN

Value: 5089

Type: I

Chart: 60, 4

H184

S.Corr.Pos.Diff.

Source for the digital signal to enable the differential position correction of the

slave drive. As long as the signal at this input is 1, the position difference is

corrected as follows at each processing cycle:

Position difference (new) = position difference (old) – position difference-

correction value

(prerequisite, H018 is in the factory setting)

CONTR.LagekorrektLogik.I1

Value: 0098

Type: I

Chart: 60, 4

H185

S.Reset PosDiff2

Source for the 2nd digital signal to reset the determined position difference

(slave drive).

CONTR.PosDiff_Reset.I1

Value: 0108

Type: I

Chart: 60, 1

H186

S.Abs.Pos.Slave

Source for the slave drive position to generate the absolute value and sign.

SYNCO2.Pos_Slave_Abs.X

Value: 3016

Type: I

Chart: 60, 1

Parameters and connectors

80 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H187

S.ResetPos.Diff1

Source for the 1st digital signal to reset the determined position difference

(slave drive).

CONTR.Steuerbits.I4

Value: 0170

Type: I

Chart: 60, 1

H188

S.EnableSynMaster

Source for the signal to enable synchronization of the master speed sensing.

SYNCO2.Master.SP

Value: 0190

Type: I

Chart: 70, 4

H189

S.ResetMasterPos

Source for the signal to set the master position actual value to zero.

SYNCO2.Master.R

Value: 0097

Type: I

Chart: 70, 4

H190

S.MasterSynchPos

Source for the position actual value to enable synchronization of the master

speed sensing.

SYNCO2.CmpSPmaster.X1

Value: 3017

Type: I

Chart: 70, 1

H191

S.Synchr.Comd2

Source for the control signal synchronizing command to enable the

displacement correction.

CONTR.Steuerbits.I2

Value: 0174

Type: I

Chart: 90, 1

H192

S.n_Slave Compar

Source for the input signal of the comparator to monitor the slave speed. If

the slave speed reaches the setpoint speed, then the angular controller can

be enabled.

SYNCO2.CMP_nSlave.X

Value: 3018

Type: I

Chart: 75, 2

H193

S.n_ref SlaveCmp

Source for the setpoint of the slave speed. (comparator to enable the angular

controller)

SYNCO2.CMP_nSlave.M

Value: 3136

Type: I

Chart: 75, 2

H195

S.n_MasterCompar

Source for the input signal of the comparator to monitor the master speed.

SYNCO2.CMP_nMaster.X

Value: 3019

Type: I

Chart: 75, 2

H196

S.n_ref MastComp

Source for the master speed setpoint. (comparator to check the plausibility of

the master speed)

SYNCO2.CMP_nMaster.M

Value: 3076

Type: I

Chart: 75, 2

H197

S.FineRatioNumer

Source for the numerator of the fine ratio.

SYNCO1.FEIN_NM.X2

Value: 5086

Type: I

Chart: 80, 5

H198

S.FineRatioDenom

Source for the denominator of the fine ratio.

SYNCO1.FEIN_DN.X2

Value: 5087

Type: I

Chart: 80, 5

H199

S.Abs.Pos.Master

Source for the position of the master drive to generate the absolute value and

sign.

SYNCO2.Pos_Master_Abs.X

Value: 3017

Type: I

Chart: 70, 6

H200

S.1 n(ref-act)

Source for the main setpoint of the speed controller (without limiting).

SYNCO2.SpeedControl.W1

Value: 3137

Type: I

Chart: 120, 3

H201

S.2 n(ref-act)

Source for the supplementary setpoint of the speed controller (without

limiting).

SYNCO2.SpeedControl.W2

Value: 3000

Type: I

Chart: 120, 3

H202

S.3 n(ref-act)

Source for the 1st actual value of the speed controller.

SYNCO2.SpeedControl.X1

Value: 3146

Type: I

Chart: 120, 3

H203

S.4 n(ref-act)

Source for the 2nd actual value of the speed controller.

SYNCO2.SpeedControl.X2

Value: 3000

Type: I

Chart: 120, 3

H204

S.KP (speedCtrl)

Source for the input quantity of the KP adaption characteristic of the speed

controller.

SYNCO2.SpeedKP.X

Value: 3129

Type: I

Chart: 120, 1

H205

S.n(ref,speed)

Source for the main setpoint of the speed controller (before limiting).

SYNCO2.SumNsoll.X1

Value: 3129

Type: I

Chart: 120, 1

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 81

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H206

S.n(addit.)

Source for the supplementary setpoint of the speed controller (before

limiting).

SYNCO2.SumNsoll.X2

Value: 3120

Type: I

Chart: 120, 1

H207

S.Jog Ref.Speed

Source for the jog setpoint.

SYNCO1.Tippen-Schalter.X2

Value: 3120

Type: I

Chart: 115, 1

H208

S.enable Jog

Source for the signal to enable the jog setpoint. When enabled, the jog

setpoint is added to the speed setpoint.

CONTR.Steuerbits.I7

Value: 3120

Type: I

Chart: 115, 1

H209

T SyncPulseSlave

Pulse extension for the synchronizing pulse of the slave speed sensing. (for

diagnostics).

CONTR.Puls_SS_Slave.T

Value: 10 ms

Type: SD

Chart: 60, 7

H210

AI 1 Scalefactor

Scaling factor SF for analog input 1 (setting, refer to d212).

T400_EA.AnaIn_1.SF

Value: 1.0

Type: R

Chart: 50, 3

H211

AI 1 Offset

Offset for analog input 1 (setting, refer to d212).

T400_EA.AnaIn_1.OFF

Value: 0.0

Type: R

Chart: 50, 4

d212

AI 1 act. value

Actual measured value at the analog input 1 (AI1). This analog input is

sensed in the fastest time sector (T1). The measured value is obtained as

follows:

d212 = terminal voltage * scaling factor / 5 V + offset

d212 = terminal voltage * H210 / 5 V + H211

T400_EA.AnaIn_1.Y

Type: R

Chart: 50, 5

H213

AI 2 Scalefactor

Scaling factor SF for analog input 2 (setting, refer to d215).

T400_EA.AnaIn_2.SF

Value: 1.0

Type: R

Chart: 50, 3

H214

AI 2 Offset

Offset value for analog input 2 (setting, refer to d215).

T400_EA.AnaIn_2.OFF

Value: 0.0

Type: R

Chart: 50, 4

d215

AI 2 act. value

Actual measured value at analog input 2 (AI2). This analog input is sensed in

time sector T2. The measured value is obtained as follows:

d215 = terminal voltage * scaling factor / 5 V + offset

d215 = terminal voltage * H213 / 5 V + H214

T400_EA.AnaIn_2.Y

Type: R

Chart: 50, 5

H216

AI 3 Scalefactor

Scaling factor SF for analog input 3 (setting, refer to d218).

T400_EA.AnaIn_3.SF

Value: 1.0

Type: R

Chart: 50, 3

H217

AI 3 Offset

Offset value for analog input 3 (setting, refer to d218).

T400_EA.AnaIn_3.OFF

Value: 0.0

Type: R

Chart: 50, 4

d218

AI 3 act. value

Actual measured value at analog input 3 (AI3). This analog input is sensed in

time sector T2. The measured value is obtained as follows:

d218 = terminal voltage * scaling factor / 5 V + offset

d218 = terminal voltage * H216 / 5 V + H217

T400_EA.AnaIn_3.Y

Type: R

Chart: 50, 5

H219

AI 4 Scalefactor

Scaling factor SF for analog input 4 (setting, refer to d221).

T400_EA.AnaIn_4.SF

Value: 1.0

Type: R

Chart: 50, 3

H220

AI 4 Offset

Offset value for analog input 4 (setting, refer to d221).

T400_EA.AnaIn_4.OFF

Value: 0.0

Type: R

Chart: 50, 4

d221

AI 4 act. value

Actual measured value at analog input 4 (AI4). This analog input is sensed in

time sector T2. The measured value is obtained as follows:

d221 = terminal voltage * scaling factor / 5 V + offset

d221 = terminal voltage * H219 / 5 V + H220

T400_EA.AnaIn_4.Y

Type: R

Chart: 50, 5

Parameters and connectors

82 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H222

AI 1 Filter Time

Smoothing time constant for the 1st analog input. A value of 0 de-activates

the filter.

T400_EA.AE1_FILT.T

Value: 500

Type: R

Unit: ms

Chart: 50, 5

d223

AI 1 filtered

Analog value 1 after smoothing with smoothing time constant H222.

T400_EA.AE1_FILT.Y

Type: R

H224

AI 2 Filter Time

Smoothing time constant for the 2nd analog input. A value of 0 de-actives the

filter.

T400_EA.AE2_FILT.T

Value: 0.0

Type: R

Unit: ms

Chart: 50, 5

d225

AI 2 filtered

Analog value 2 after smoothing with the smoothing time constant H224.

T400_EA.AE2_FILT.Y

Type: R

H226

AI Filter Time

Smoothing time constant for the 3rd analog input. A value of 0 de-activates

the filter.

T400_EA.AE3_FILT.T

Value: 0.0

Type: R

Unit: ms

Chart: 50, 5

d227

AI 3 filtered

Analog value 3 after smoothing with the smoothing time constant H226.

T400_EA.AE3_FILT.Y

Type: R

Chart: 50, 6

H228

AI 4 Filter Time

Smoothing time constant for the 4th analog input. A value of 0 de-activates

the filter.

T400_EA.AE4_FILT.T

Value: 0.0

Type: R

Unit: ms

Chart: 50, 5

d229

AI 4 filtered

Analog value 4 after smoothing with the smoothing time constant H228.

T400_EA.AE4_FILT.Y

Type: R

Chart: 50, 6

H230 ... H233

S.set AE1 zero ...

S.set AE4 zero

4 sources for digital signals to set the 4 analog inputs to zero.

T400_EA.AE1_FILT.S ... T400_EA.AE4_FILT.S

Type: I

Value: 0000

Chart: 50, 4

H234

S.Position Diff1

Source for the position difference for the displacement calculation.

SYNCO2.Displ_Ist.X1

Value: 3118

Type: I

Chart: 80, 4

H235

S.Position Diff2

Source for a correction value of the position difference for the displacement

calculation.

SYNCO2.Displ_Ist.X2

Value: 3062

Type: I

Chart: 80, 4

H236

S.ResetDisplacem

Source for the signal to reset the displacement calculation.

SYNCO2.Displace.R

Value: 0097

Type: I

Chart: 80, 4

H237

S.Setp Displace1

Source for the displacement setpoint (this checks whether synchronism has

been reached).

SYNCO2.DisplacmentSetp.X1

Value: 3051

Type: I

Chart: 80, 4

H238

S.Setp Displace2

Source for the value to correct the displacement setpoint (this checks

whether synchronism has been reached).

SYNCO2.DisplacmentSetp.X2

Value: 3062

Type: I

Chart: 80, 4

H239

S.Ratio n_ref

Source for the ratio to calculate the slave setpoint speed from the master

setpoint.

SYNCO1.SREFR.X2

Value: 3044

Type: I

Chart: 115, 2

H240

S.Slave n_ref_1

1st source for the setpoint speed of the slave for the ramp-function generator.

SYNCO1.SSUM.X2

Value: 3136

Type: I

Chart: 115, 4

H241

S.Slave n_ref_2

2nd source for the setpoint speed of the slave for the ramp-function generator.

(this is used for the jog setpoint)

SYNCO1.SSUM.X1

Value: 3176

Type: I

Chart: 115, 4

H242

S.SV Int(speed)

Source for the setting value of the integral component of the speed controller.

SYNCO2.SpeedControl.SV

Value: 3137

Type: I

Chart: 120, 4

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 83

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H243

S.Set Int(speed)

Source for the signal to set the integral component of the speed controller.

SYNCO2.SpeedControl.S

Value: 0000

Type: I

Chart: 120, 4

H244

S.Precontrol

Source for the pre-control value of the speed controller.

SYNCO2.EnVorstSpeed.X2

Value: 3080

Type: I

Chart: 120, 5

H245

S.enable PreCtrl

Source for the signal to enable the pre-control of the speed controller.

SYNCO2.EnVorstSpeed.I

Value: 0140

Type: I

Chart: 120, 5

d246

Status Word1 CU

Status word 1 from the basic drive (in the factory setting; i. e. at H558 =

2571).

IF_CU.Q_ZWort1.Y

Type: W

Chart: 180, 1

d300

Peer W1 send

Word 1 for output at the peer-to-peer interface.

IF_Peer.Peer_Zustand_W1.Y

Type: W

Chart: 300, 6

H303

MUX word 1 Peer

Multiplexer selection of the source for the value, output as PZD 1, at the peer-

to-peer interface

0 Fixed value 0

1 Fixed value H306

2 Status word 1 from peer-to-peer (refer to H310 ... H325)

3 Status word, angular synchronism

4 Control word 1 from the COMBOARD (PZD 1, receive)

5 Control word 2 from the COMBOARD (PZD 4, receive)

6 Status word 1 basic drive (PZD 1 receive)

7 Status word 2 basic drive (PZD 4 receive)

8 Control word 1 peer-to-peer (PZD 1 receive)

9 Control word 1 for the basic drive

10 Control word 2 for the basic drive

MUX_Peer.MUX_Peer_W1.XCS

Value: 2

Min: 0

Max: 10

Type: I

Chart: 570, 2

H304

MUX float1 Peer

Multiplexer selection of the source for output as 1st floating-point value at the

peer-to-peer interface

0 Fixed value 0.0

1 Actual setpoint for the basic drive (speed or torque)

2 Displacement setpoint

3Ratio

4 Master speed setpoint

5 Relative ratio

6 Inertia compensation

7 Speed setpoint (limited)

8 Slave speed (smoothed)

9 Speed controller output

10 System deviation, speed controller

11 KP speed controller

12 Speed setpoint after the ramp-function generator

13 Angular controller output

14 System deviation, angular controller

15 KP angular controller

16 Displacement actual value

17 Displacement – differential position actual value

18 Position difference (smoothed)

19 Speed actual value slave

20 Position actual value slave

21 Speed actual value master

22 Position actual value master

23 Actual value1 from the basic drive

24 Actual value2 from the basic drive

25 Actual value3 from the basic drive

26 Setpoint1 from the COMBOARD

27 Setpoint2 from the COMBOARD

28 Setpoint3 from the COMBOARD

29 Setpoint4 from the COMBOARD

30 Floating-point value1 from peer-to-peer

31 Floating-point value2 from peer-to-peer

32 Fixed value H307

MUX_Peer.MUX_Peer_W2.XCS

Value: 1

Min: 0

Max: 32

Type: I

Chart: 570, 6

Parameters and connectors

84 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H305

MUX float2 Peer

Multiplexer selection of the source for output as 2nd floating-point value at the

peer-to-peer interface.

0 .. 31 as for H304

32 Fixed value H308

MUX_Peer.MUX_Peer_W3.XCS

Value: 0

Min: 0

Max: 32

Type: I

Chart: 570, 7

H306

W1 Peer constant

Fixed value to output via peer-to-peer.

MUX_Peer.Festwert_Peer.X

Value 0

Type: W

Chart: 570, 1

H307

W2 Peer constant

Fixed value to output via peer-to-peer. (word1 + word2 as floating-point

value)

MUX_Peer.MUX_Peer_W2.X32

Value 0.0

Type: R

Chart: 570, 3

H308

W3 Peer constant

Fixed value to output via peer-to-peer. (word4 + word5 as floating-point

value)

MUX_Peer.MUX_Peer_W3.X32

Value 0.0

Type: R

Chart: 570, 6

H309

Peer enable

Initialization

parameter

Enables communications via the peer-to-peer interface and also its

monitoring.

0 Inhibited

1 Enabled

IF_Peer. Enable_Peer.I

Value: 1

Type: BO

Chart: 300, 1

H310 ... H325

S.PeerState1_B0 ...

S.PeerState1_B15

Select sources for the bits of status word 1 of the peer-to-peer interface.

H310 Bit 0 H318 Bit 8

H311 Bit 1 H319 Bit 9

H312 Bit 2 H320 Bit 10

H313 Bit 3 H321 Bit 11

H314 Bit 4 H322 Bit 12

H315 Bit 5 H323 Bit 13

H316 Bit 6 H324 Bit 14

H317 Bit 7 H325 Bit 15

IF_Peer.Zustandswort1.I1 ... I15

Type I

Chart: 310, 5 –

d327

Status Word Peer

Status word to output at the peer-to-peer interface. The status word is

combined by selecting sources H310 ... H325.

IF_Peer.Zustandswort1.QS

Type: W

Chart: 310, 7

d329 ... d333

PZD1 Peer ...

PZD5 Peer

5 process data from the peer-to-peer interface.

IF_Peer.Peer_Empf_W1.Y

IF_Peer.PZD2_PZD3.YWL ... YWH

IF_Peer.PZD4_PZD5.YWL ... YWH

Type: W

Chart: 300, 2

H334

S.ContrlWordPeer

Source for the control word for output at the peer-to-peer interface.

IF_Peer.STW_NOP.X

Type: I

Chart: 310, 1

H335

S.Peer PZD2

Source for the 2nd PZD for output at the peer-to-peer interface.

IF_Peer.PZD2_3_out.XWL

Type: I

Chart: 300, 5

H336

S.Peer PZD3

Source for the 3rd PZD for output at the peer-to-peer interface.

IF_Peer.PZD2_3_out.XWH

Type: I

Chart: 300, 5

H337

S.Peer DW1

Source for the 1st double word for output at the peer-to-peer interface (PZD2

+ PZD3).

IF_Peer.PZD2_3_out.XDI

Type: I

Chart: 300, 5

H338

S.Peer Float1

Source for the 1st floating-point value for output at the peer-to-peer interface

(PZD2 + PZD3).

IF_Peer.PZD2_3_out.XR

Value: 3304

Type: I

Chart: 300, 5

H339

Peer Sendtype1

Selects the data to be output as PZD2 + PZD3:

0: PZD2, PZD3 as single words

1: DW1 double word 1 (H337)

2: Float1 (H338)

IF_Peer.PZD2_3_out.SEL

Value: 0

Type: I

Chart: 300, 6

H340

S.Peer PZD4

Source for the 4th PZD for output at the peer-to-peer interface.

IF_Peer.PZD45_out.XWL

Type: I

Chart: 300, 5

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 85

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H341

S.Peer PZD5

Source for the 5th PZD for output at the peer-to-peer interface.

IF_Peer.PZD45_out.XWH

Type: I

Chart: 300, 5

H342

S.Peer DW2

Source for the 2nd double word for output at the peer-to-peer interface (PZD4

+ PZD5).

IF_Peer.PZD45_out.XDI

Type: I

Chart: 300, 5

H343

S.Peer Float2

Source for the 2nd floating-point value for output at the peer-to-peer interface

(PZD4 + PZD5).

IF_Peer.PZD45_out.XR

Value: 3305

Type: I

Chart: 300, 5

H344

Peer Sendtype2

Selects the data to be output as PZD4 + PZD5:

0: PZD4, PZD5 as single words

1: DW2 double word 2 (H342)

2: Float2 (H343)

IF_Peer.PZD45_out.SEL

Value: 0

Type: I

Chart: 300, 6

H345

S.Peer PZD1

Source for the 1st PZD for output at the peer-to-peer interface.

IF_Peer.Peer_Zustand_W1.X

Value: 2303

Type: I

Chart: 300, 5

d346

Peer ControlWord

Receive data from the peer-to-peer interface, word 1.

IF_Peer.STW_NOP.Y

Type: W

Chart: 310, 1

H360

tmaxPeer PowerOn

Time in which a valid telegram must be received after the device has been

powered-up. If a telegram was not received after T > H360 has expired, fault

F117 is generated (if this was not suppressed using H003).

IF_Peer.StartTimeout.T

Value: 20 s

Type: SD

Chart: 300, 6

H361

tmax Peer OpMode

Monitoring time during operation. If no data are received within the time

interval, parameterized using H361, fault F117 is generated (if this is not

suppressed with H003).

IF_Peer. Empf_PEER.TMX

Value: 100 ms

Type: SD

Chart: 300, 1

H362

Mask Peer tmax

The status word of the receive block of the peer-to-peer interface is masked

using H362. If the result of this bitwise AND logic operation is not equal to 0,

then a communications error is assumed. If the error remains for longer than

the time parameterized in H360, the power-on monitoring signals a fault (refer

to H360).

IF_Peer.Filter.I2

Value 16#FFFF

Type: W

Chart: 300, 4

H363

Baud Rate Peer

Baud rate for peer-to-peer communications.

Permissible values: 9600, 19200, 38400, 93750, 187500

IF_Peer.PEER_Zentral.BDR

Value: 19200

Type: DI

Chart: 300, 1

d364

Peer RecStateYTS

Status output of the receive block CRV as information for the fault signal

‘F117’

IF_Peer.Empf_PEER.YTS

Type: W

Chart: 300, 4

H381 ... H388

S.PZD1 CU ...

S.PZD8 CU

Selects 8 sources for output as PZD to the basic drive converter. The source

must either be a word- or integer type. Factory setting:

H381 = 2026 Control word 1 (Chart220)

H382 = 2500 Setpoint1 CU N2

H383 = 2502 Setpoint2 CU N2

H384 = 2027 Control word 2 (Chart220)

H385 = 2504 Setpoint3 CU N2

H386 = 2506 Setpoint4 CU N2

H387 = 2510 Setpoint CU DW high

H388 = 2508 Setpoint5 CU N2

IF_CU.Sammeln.X1 ... X8

Type: I

Chart: 410, 5

H401

CB actval1 norm.

Normalization factor for the 1st actual value for output in the N2 format at the

communications interface.

Output value = 100% * source(H822) / H401

IF_COM.Istwert_W2.NF

Value 1.0

Type: R

Chart: 440, 2

Parameters and connectors

86 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H403

CB actval2 norm.

Normalization factor for the 2nd actual value for output in the N2 format at the

communications interface.

Output value = 100% * source(H823)/ H403

IF_COM.Istwert_W3.NF

Value 1.0

Type: R

H405

CB actval3 norm.

Normalization factor for the 3rd actual value for output in the N2 format at the

communications interface.

Output value = 100% * source(H824) / H405

IF_COM.Istwert_W5.NF

Value 1.0

Type: R

H407

CB actval4 norm.

Normalization factor for the 4th actual value for output in the N2 format at the

communications interface.

Output value = 100% * source(H825) / H407

IF_COM.Istwert_W6.NF

Value 1.0

Type: R

H409

ComBoard enable

Initialization

parameter

Enables communications via PROFIBUS and its monitoring.

0 Inhibited

1 Enabled

IF_COM.Enable_ComBoard.I

Value: 1

Type: BO

Chart: 400, 1

H410 ... H425

S.CB state1 B0 ...

S.CB state1 B15

Sources for the bits of status word 1 to output at COMBOARD. All of the

status bits are connected to constant 0 in the factory setting.

H410 Bit 0 H418 Bit 8

H411 Bit 1 H419 Bit 9

H412 Bit 2 H420 Bit 10

H413 Bit 3 H421 Bit 11

H414 Bit 4 H422 Bit 12

H415 Bit 5 H423 Bit 13

H416 Bit 6 H424 Bit 14

H417 Bit 7 H425 Bit 15

IF_COM.Zustandswort1.I1 ... I16

Value 0

Type BO

Chart: 430, 1 - 2

H426 ... H441

S.CB state2 B0 ...

S.CB state2 B15

Sources for the bits of status word 2 to output at COMBOARD. All of the

status bits are connected to constant 0 in the factory setting.

H426 Bit 0 H434 Bit 8

H427 Bit 1 H435 Bit 9

H428 Bit 2 H436 Bit 10

H429 Bit 3 H437 Bit 11

H430 Bit 4 H438 Bit 12

H431 Bit 5 H439 Bit 13

H432 Bit 6 H440 Bit 14

H433 Bit 7 H441 Bit 15

IF_COM.Zustandswort2.I1 ... I16

Value 0

Type BO

H442

MUX word1 CB

Multiplexer selection of the source for the value output, at the COMBOARD

interface as PZD 1

0 Fixed value 0

1 Fixed value H443

2 Status word 1 from the COMBOARD

3 Status word angular synchronism

4 Control word 1 from the COMBOARD (PZD 1, receive)

5 Control word 2 from the COMBOARD (PZD 4, receive)

6 Status word 1 basic drive (PZD 1, receive)

7 Status word 2 basic drive (PZD 4, receive)

8 Control word 1 peer-to-peer (PZD 1, receive)

9 Control word 1 for the basic drive

10 Control word 2 for the basic drive

MUX_CB.MUX_COM_W1.XCS

Value: 0

Min: 0

Max: 10

Type: I

Chart: 560, 3

H443

word1 CB constan

Fixed value for output at the communications interface as PZD1.

MUX_CB.Festwerte_CB.X1

Value: 0

Type: W

Chart: 560, 2

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 87

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H444

MUX word4 CB

Multiplexer selection of the source for the value output, at the COMBOARD

interface as PZD 4

0 Fixed value 0

1 Fixed value H445

2 Status word 2 from the COMBOARD

3 Status word angular synchronism

4 Control word 1 from the COMBOARD (PZD 1, receive)

5 Control word 2 from the COMBOARD (PZD 4, receive)

6 Status word 1 basic drive (PZD 1, receive)

7 Status word 2 basic drive (PZD 4, receive)

8 Control word 1 peer-to-peer (PZD 1, receive)

9 Control word 1 for the basic drive

10 Control word 2 for the basic drive

MUX_CB.MUX_COM_W4.XCS

Value: 0

Min: 0

Max: 10

Type: I

Chart: 5600, 7

H445

word4 CB constan

Fixed value for output at the communications interface, as PZD 4.

MUX_CB.Festwerte_CB.X2

Value: 0

Type: W

Chart: 560, 6

H446

MUX word2 CB

Multiplexer selection of the source for the value output at COMBOARD,

as PZD 2.

0 .. 31 Refer to H304

32 Fixed value H470

MUX_CB.MUX_CB_W2.XCS

Value: 1

Min: 0

Max: 32

Type: I

Chart: 550, 3

H447

MUX word3 CB

Multiplexer selection of the source for the value output at COMBOARD,

as PZD 3.

0 .. 31 Refer to H304

32 Fixed value H471

MUX_CB.MUX_CB_W3.XCS

Value: 0

Min: 0

Max: 32

Type: I

Chart: 550, 4

H448

MUX word5 CB

Multiplexer selection of the source for the value output at COMBOARD,

as PZD 5.

0 .. 31 Refer to H304

32 Fixed value H472

MUX_CB.MUX_CB_W5.XCS

Value: 0

Min: 0

Max: 32

Type: I

Chart: 550, 6

H449

MUX word6 CB

Multiplexer selection of the source for the value output as PZD 6 at

COMBOARD.

0 .. 31 Refer to H304

32 Fixed value H473

MUX_CB.MUX_CB_W6 XCS

Value: 0

Min: 0

Max: 32

Type: I

Chart: 550, 7

d450

CB Setp_1 rec.

1st setpoint from the communications module.

IF_COM.Sollwert_W2.Y

Type: R

Chart: 410, 7

H451

CB Setp_1 norm.

Normalization factor for the 1st setpoint from the communications module.

d450 = H451 * source(H813) / 100%

IF_COM.Sollwert_W2.NF

Value 1.0

Type: R

Chart: 410, 6

d452

CB Setp_2 rec.

2nd setpoint from the communications module.

IF_COM.Sollwert_W3.Y

Type: R

Chart: 410, 7

H453

CB Set_2 norm.

Normalization factor for the 2nd setpoint from the communications module.

d452 = H453 * source(H814) / 100%

IF_COM.Sollwert_W3.NF

Value 1.0

Type: R

Chart: 410, 6

d454

CB Setp_3 rec.

3rd setpoint from the communications module.

IF_COM.Sollwert_W5.Y

Type: R

Chart: 410, 7

H455

CB Setp_3 norm.

Normalization factor for the 3rd setpoint from the communications module.

d454 = H455 * source(H815) / 100%

IF_COM.Sollwert_W5.NF

Value 1.0

Type: R

Chart: 410, 6

d456

CB Setp_4 rec.

4th setpoint from the communications module.

IF_COM.Sollwert_W6.Y

Type: R

Chart: 410, 7

Parameters and connectors

88 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H457

CB setp_4 norm.

Normalization factor for the 4th setpoint from the communications module.

d456 = H457 * source(H816) / 100%

IF_COM.Sollwert_W6.NF

Value 1.0

Type: R

Chart: 410, 6

d458

Word 1 CB Send

Send data of the communications interface, word 1

IF_COM.Sammeln2.Y3

Type: W

d459

Word 4 CB Send

Send data of the communications interface, word 4

IF_COM.Sammeln2.Y4

Type: W

d460

ControlWord 1 CB

Process data, which interprets control word1 from the communications

module. Connected with PZD1 from CB in the factory setting.

IF_COM.Verteil2.Y3

Type: W

Chart: 420, 1

d461

ControlWord 2 CB

Process data, which interprets control word1 from the communications

module. Connected with PZD4 from CB in the factory setting.

IF_COM.Verteil2.Y4

Type: W

Chart: 420, 5

H462

tmax CB PowerOn

Time, in which a valid telegram must be received after the device has been

powered-up. If a telegram was not received after T > H462 has expired, fault

F116 is generated (if this was not suppressed using H003).

IF_COM.StartTimeout.T

Value: 20000 ms

Type: SD

Chart: 400, 5

H463

tmax CB OpMode

Monitoring time during operation. If no data are received within the time

interval, parameterized using H463, fault F116 is generated (if this is not

suppressed with H003).

IF_COM. Empf-COM.TMX

Value: 100 ms

Type: SD

Chart: 400, 1

H464

Mask tmax CB

The status word of the receive block of the peer-to-peer interface is masked

using H464. If the result of this bitwise AND logic operation is not equal to 0,

then a communications error is assumed. If the error remains for longer than

the time parameterized in H462, the power-on monitoring signals a fault (refer

to H462).

IF_COM.Filter.I2

Value 16#FFFF

Type: W

Chart: 400, 4

d465

CB receive state

Status display of receive block CRV as information for the fault message

‘F116’

IF_COM.Empf-COM.YTS

Type: W

Chart: 400, 3

d466

Status Word1 CB

1st status word for the communications module (as PZD1).

IF_COM.Zustandswort1.QS

Type: W

Chart: 430, 4

d467

Status Word2 CB

2nd status word for the communications module (as PZD4).

IF_COM.Zustandswort2.QS

Type: W

Chart: 430, 7

H470

W2 CB constant

Fixed value for output via COMBOARD (as actual value1)

MUX_CB.MUX_CB_W2.X32

Value 0.0

Type: R

Chart: 550, 1

H471

W3 CB constant

Fixed value for output via COMBOARD (as actual value2)

MUX_CB.MUX_CB_W3.X32

Value 0.0

Type: R

Chart: 550, 3

H472

W5 CB constant

Fixed value for output via COMBOARD (as actual value3)

MUX_CB.MUX_CB_W5.X32

Value 0.0

Type: R

Chart: 550, 5

H473

W6 CB constant

Fixed value for output via COMBOARD (as actual value4)

MUX_CB.MUX_CB_W6.X32

Value 0.0

Type: R

Chart: 550, 7

H480

CB Slave address

Slave address of the COMBOARD.

This parameter is only relevant for operation without basic drive. For

operation with basic drive, the COMBOARD is parameterized from the basic

drive.

IF_COM.ComBoardConfig.MAA

Value 3

Type: I

Chart: 400, 6

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 89

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H481 ... H493

CB Parameter 1 ....

CB Parameter 13

Parameterizing the COMBOARD. The settings are made depending on the

COMBOARD type used (refer to the User Documentation of the

COMBOARD; H482 = 2 sets PPO type 2 for Profibus)

These parameters are only relevant when using the system without basic

drive. When used with the basic drive, the COMBOARD is parameterized

from the basic drive.

IF_COM.ComBoardConfig. P01 ... P13

Value 0

except

H482 = 2

Type: I

Chart: 400, 6 - 8

H495

CB Param.valid

The COMBOARD settings are set valid. In operation, H495 must be set to 1.

After a parameter change (H480 .. H493), H495 is first set to 0 and then to 1,

in order to update the parameters on COMBOARD.

This parameter is only relevant for operation without a basic drive. When a

basic drive is used, the COMBOARD is parameterized from the basic drive.

IF_COM.ComBoardConfig.SET

Value 1

Type: BO

Chart: 400, 6

d496

CB state SRT400

Status of the COMBOARD. This is only relevant for operation without basic

drive. When used with the basic drive, 16#7CB3 is displayed (i.e. ”Basic drive

available”).

IF_COM.ComBoardConfig.YTS

Type: W

Chart: 400, 8

H498

S.Setp DW_CU

Source for the setpoint for output as double word (N4 normalization) at the

basic drive (normalization H499).

IF_CU.SollwertN4CU.X

Type: I

Chart: 230, 1

H499

CU DW norm.

Normalization factor for the setpoint for output as double word at the basic

drive. In the factory setting, the high word is output as PZD7:

Double word = 100 % * source(H498) / H499

IF_CU.SollwertN4CU.NF

Value 1.0

Type: R

Chart: 230, 2

H500

S.CU setp_1

Source for the 1st setpoint for output at the basic drive (normalization H501).

IF_CU.Sollwert_W2.X

Type: I

Chart: 230, 1

H501

CU setp_1 norm.

Normalization factor for the 1st setpoint for output at the basic drive. In the

factory setting, output as PZD2:

PZD2 = 100 % * source(H500) / H501

IF_CU.Sollwert_W2.NF

Value 1.0

Type: R

Chart: 230, 2

H502

S.CU setp_2

Source for the 2nd setpoint for output to the basic drive (normalization H503).

IF_CU.Sollwert_W3.X

Type: I

Chart: 230, 1

H503

CU setp_2 norm.

Normalization factor for the 2nd setpoint for output at the basic drive. In the

factory setting, output as PZD3:

PZD3 = 100 % * source(H502) / H503

IF_CU.Sollwert_W3.NF

Value 1.0

Type: R

Chart: 230, 2

H504

S.CU setp_3

Source for the 3rd setpoint for output at the basic drive (normalization H505).

IF_CU.Sollwert_W5.X

Type: I

Chart: 230, 1

H505

CU setp_3 norm.

Normalization factor for the 3rd setpoint for output at the basic drive. In the

factory setting, output as PZD5:

PZD5 = 100 % * source(H504) / H505

IF_CU.Sollwert_W5.NF

Value 1.0

Type: R

Chart: 230, 2

H506

S.CU setp_4

Source for the 4th setpoint for output at the basic drive (normalization H507).

IF_CU.Sollwert_W6.X

Type: I

Chart: 230, 1

H507

CU setp_4 norm.

Normalization factor for the 4th setpoint for output at the basic drive. In the

factory setting, output as PZD6:

PZD6 = 100 % * source(H506) / H507

IF_CU.Sollwert_W6.NF

Value 1.0

Type: R

Chart: 230, 2

H508

S.CU setp_5

Source for the 5th setpoint for output at the basic drive (normalization H509).

IF_CU.Sollwert_W8.X

Type: I

Chart: 230, 1

Parameters and connectors

90 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H509

CU setp_5 norm.

Normalization factor for the 5th setpoint for output at the basic drive. In the

factory setting, output as PZD8:

PZD8 = 100 % * source(H508) / H509

IF_CU.Sollwert_W8.NF

Value 1.0

Type: R

Chart: 230, 2

H510 ... H525

S.Bit0 CTW1 CU ...

S.Bit15 CTW1 CU

Sources for the bits of control word 1 for outputs at the basic drive.

Par. Bit Factory Significance

H510 Bit 0 0650 On (main contactor) 1=ON

H511 Bit 1 0651 /OFF2 (powered-down) 0=OFF

H512 Bit 2 0652 /OFF3 (fast stop) 0=OFF

H513 Bit 3 0653 Pulse enable

H514 Bit 4 0654 Ramp-function generator enable

H515 Bit 5 0655 Start, ramp-function generator

H516 Bit 6 0656 Setpoint enable 1=enable

H517 Bit 7 0657 Acknowledge fault 1=acknowledge

H518 Bit 8 0658 Jogging 1

H519 Bit 9 0659 Jogging 2

H520 Bit 10 0660 Control requested

H521 Bit 11 0661 Enable positive direction of rotation

H522 Bit 12 0662 Enable negative direction of rotation

H523 Bit 13 0663 Motorized potentiometer, raise

H524 Bit 14 0664 Motorized potentiometer, lower

H525 Bit 15 0665 Fault, external 1 0 = fault

IF_CU.Steuerwort1.I1 ... I15

IF_CU.Q_ext_Error.I

Type I

Chart: 220, 1...

H526 ... H541

S.Bit0 CTW2 ...

S.Bit15 CTW2

Sources for the bits of control word 2 for output at the basic drive. Only

bit 9 (speed controller enable) is used.

H526 Bit 0 H534 Bit 8

H527 Bit 1 H535 Bit 9 0546

H528 Bit 2 H536 Bit 10

H529 Bit 3 H537 Bit 11

H530 Bit 4 H538 Bit 12

H531 Bit 5 H539 Bit 13

H532 Bit 6 H540 Bit 14

H533 Bit 7 H541 Bit 15

IF_CU.Steuerwort2. I1 ... I16

Type I

Chart: 220, 5

H542

Mask CU ready

Using this mask, a bit of status word 1 from the basic drive can be selected,

which then signals the operational readiness of the basic drive. Status word 1

of the basic drive is AND'ed bitwise with H542. If at least the 1st bit of the

result word is set, the following is valid: ”Basic drive ready”. This is the

prerequisite for the speed controller enable.

IF_CU.BereitBitMaske.I2

Value 16#0004

Type: W

Chart: 90, 5

H543

TestEnable CU n

For test purposes, the speed controller can be enabled in the basic drive,

bypassing the enable logic.

IF_CU.n-Reg_Freigabe.I2

Value 0

Type: BO

Chart: 90, 7

H544

MUX Speed enable

Multiplexer selection of the source to enable the speed controller in the basic

drive. In order that the speed controller is enabled, the basic drive must be

ready (refer to H542)

0 Fixed value 0

1 Fixed value 1

2 Bit 9 from control word 2 from the COMBOARD

3 Bit 10 from control word 1 from the COMBOARD

4 Bit 9 from control word 1 from peer-to-peer

5 Digital input 8 (terminal 60)

6 Bit 15 from the control word from the basic drive

MUX_CU.Mux_Enable_nRegl.XCS

Value: 1

Min: 0

Max: 5

Type: BO

Chart: 560, 3

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 91

6DD1903-0BB0 Edition 05.01

Parameter Description Data

d545 ... d548

CPU load T1 to T4

d549

Total CPU load

Computer utilization level of the standard software package, assigned

according to time sectors. T1 is the fastest (highest priority), T5 is the slowest

time sector.

It is important that the total CPU load are not utilized more than 100% , as

otherwise they will not be processed in the configured time intervals.

d545 Utilization of T1

d546 Utilization of T2

d547 Utilization of T3

d548 Utilization of T4

d549 Total CPU load

IF_CU.LoadMeasure.YC1 ... YC4, IF_CU.LoadMeasure.Y

Type: R

Chart: 40, 7

H550

CU actval1 norm.

Normalization factor for the 1st actual value channel (factory setting: PZD2) of

the receive data from the basic drive

d551 = H550 * PZD2 / 100%

IF_CU.Istwert_W2.NF

Value 1.0

Type: R

Chart: 170, 7

d551

CU actval1

Actual value1 basic drive (factory setting: PZD2) after normalization

IF_CU.Istwert_W2.Y

Type: R

Chart: 170, 7

H552

CU actval2 norm.

Normalization factor for the 2nd actual value channel (factory setting: PZD3)

of the receive data from the basic drive

d553 = H552 * PZD3 / 100%

IF_CU.Istwert_W3.NF

Value 1.0

Type: R

Chart: 170, 7

d553

CU actval2

Actual value2 basic drive (factory setting: PZD3) after normalization

IF_CU.Istwert_W3.Y

Type: R

Chart: 170, 7

H554

CU actval3 norm.

Normalization factor for the 3rd actual value channel (factory setting: PZD5) of

the receive data from the basic drive

d555 = H554 * PZD5 / 100%

IF_CU.Istwert_W5.NF

Value 1.0

Type: R

Chart: 170, 7

d555

CU actval3

Actual value3 basic drive (factory setting: PZD5) after normalization

IF_CU.Istwert_W5.Y

Type: R

Chart: 170, 7

d556

CTW from CU

Optional control word; e.g. to control angular synchronism via SIMOLINK è

basic drive è T400.

IF_CU.STW_SPA.Y

Type: W

Chart: 180, 6

H557

S.CTW from CU

Source for an optional control word. Factory setting, PZD6 from the basic

drive. The selected source is split-up into status bits and inverse status bits

(connectors 0550 and onwards).

IF_CU.STW_SPA.X

Value: 2576

Type: I

Chart: 180, 1

H558

S.StatusWord1 CU

Source for status word1 from the basic drive. The selected source is split-up

into status bits and inverse status bits (connectors 0510 and onwards).

IF_CU.Q_ZWort1.X

Value: 2571

Type: I

Chart: 180, 1

H559

S.StatusWord2 CU

Source for the status word1 from the basic drive. The selected source is split-

up into status bits (connectors 0480 and onwards).

IF_CU.Zustand2CU.IS

Value: 2571

Type: I

Chart: 180, 1

d560

CU Status Word 1

Receive word 1 from the basic drive (PZD1) = status word 1

IF_CU.Verteilung.X1

Type: I

d561

CU Status Word 2

Receive word 4 from the basic drive (PZD4) = status word 2

IF_CU.Verteilung.X4

Type: I

d562

CU Rec.State

Status of the receive channel from the basic drive

IF_CU.Empf_BASE.YTS

Type: W

Chart: 150, 4

H563

S.actval_1 CU

Source of the 1st actual value from the basic drive, which should be converted

from the N2 format into the floating-point format (normalization factor H550).

IF_CU.Istwert_W2.X

Value: 2572

Type: I

Chart: 170, 4

Parameters and connectors

92 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H564

S.actval_2 CU

Source of the 2nd actual value from the basic drive, which should be

converted from the N2 format into the floating-point format (normalization

factor H552).

IF_CU.Istwert_W3.X

Value: 2573

Type: I

Chart: 170, 4

H565

S.actval_3 CU

Source of the 3rd actual value from the basic drive, which should be

converted from the N2 format into the floating-point format (normalization

factor H554).

IF_CU.Istwert_W5.X

Value: 2575

Type: I

Chart: 170, 4

H567

S.DW high CU

Source of the double word (high word) from the basic drive, which should be

converted from the N4 format into the floating-point format (normalization

factor H558).

IF_CU.W_DW.XWH

Value: 2582

Type: I

Chart: 170, 3

H568

S.DW low CU

Source of the double word (low word) from the basic drive, which should be

converted from the N4 format into the floating-point format (normalization

factor H558).

IF_CU.W_DW.XWL

Value: 2581

Type: I

Chart: 170, 3

H569

S.DW CU

Source of the double word from the basic drive, which is to be directly

converted into the floating-point format.

IF_CU.CU_DI_R.X

Value: 5567

Type: I

Chart: 170, 5

d570

CU DW_R

Result of the double word è floating-point conversion (received from the

basic drive)

IF_CU.CU_DI_R.Y

Type: R

Chart: 170, 7

d571 .. d584

PZD1 CU rec....

PZD14 CU rec.

Actual value of the first 14 process data from the basic drive. In the factory

setting, only PZD1 (status word 1) is evaluated.

IF_CU.Verteilung.Y1 ... Y8

IF_CU.Verteil2CU.Y1 ... Y6

Type: W

Chart: 170, 2

H587

S.N4 CU

Source of the double word from the basic drive, which is to be converted from

the N4 format into the floating-point format.

IF_CU.CU_N4_R.X

Value: 5567

Type: I

Chart: 170, 5

H588

CU N4 norm.

Normalization factor for the conversion from N4 into the floating-point format.

For H588 = 1.0, N4 = 100% (16#40000000) is emulated as 1.0.

IF_CU.CU_N4_R.NF

Value: 1.0

Type: R

Chart: 170, 7

d589

CU N4_R

Result of the double word (N4 normalization) -> floating-point conversion

(received from the basic drive)

IF_CU.CU_N4_R.Y

Type: R

Chart: 170, 7

H590

Q.CU_I_R

Source of the actual value from the basic drive which is to be directly

converted into the floating-point format (i.e. PZD= 1234 => d591 = 1234.0 ).

IF_CU.CU_I_R.X

Value: 2577

Type: I

Chart: 170, 4

d591

CU I_R

Actual value from the basic drive after conversion into a floating-point value.

IF_CU.CU_I_R.Y

Type: R

Chart: 170, 7

H592

S.en.Speed CU1

Source for the status word from the basic drive. From this, mask H542

selects a status bit, which is used to enable the speed controller.

IF_CU.BereitBitMaske.I1

Value: 2571

Type: I

Chart: 90, 5

H593

S.en.Speed CU2

Source for an additional condition to enable the speed controller.

IF_CU.Enable_n_Regler.I2

Value: 0547

Type: I

Chart: 90, 6

d601 ... d604

Pin46 input ...

Pin49 input

Input value of the bi-directional I/O of the T400. (For the case, where the

terminals are used as inputs; i.e. driver H637 ... H640 inactive)

Parameter T 400 terminal ´1´ s i gni f i es:

d601 Terminal 46 Synchronism reached

d602 Terminal 47 Angular controller at its limit

d603 Terminal 48 Angular controller enabled

d604 Terminal 49 Fault present

T400_EA.BinOut.Q1 ... Q4

Type: BO

Chart: 53, 3 .. 7

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 93

6DD1903-0BB0 Edition 05.01

Parameter Description Data

d607

Pin84 Coarse P1

Actual value of the 1st coarse pulse input (terminal 84) on the T400.

T400_EA.BinOut.Q7

Type: BO

Chart: 52, 7

d608

Pin65 Coarse P2

Actual value of the 2nd coarse pulse input (terminal 65) on the T400.

T400_EA.BinOut.Q8

Type: BO

Chart: 52, 7

H609

BinInp Inverters

This parameter is available, for compatibility reasons, to earlier software

releases. From version V2.02 onwards, the digital inputs are available

inverted and not inverted, and can be selected using BICO connections.

The digital inputs can be individually inverted using H609. In this case, every

bit from H609 is EXOR’d with the appropriate input bit.

1-bits result in an inversion.

For example: H609 = 16#0005 = 0000 0101b Þ

ÞÞ

Þ inputs 1 and 3 are inverted

T400_EA.Invert_BinInp.I2

Value 16#0000

Type: W

Not included in

the charts!

d610 ... d617

BinInput1 Pin53

Digital inputs of the T400.

d610 Input 1 (terminal 53)

d611 Input 2 (terminal 54)

d612 Input 3 (terminal 55)

d613 Input 4 (terminal 56)

d614 Input 5 (terminal 57)

d615 Input 6 (terminal 58)

d616 Input 7 (terminal 59)

d617 Input 8 (terminal 60)

T400_EA.BinInput.Q1 ... Q8

Type BO

Chart: 52, 3

H618

MUX AnalogOutp 1

Selects the source for the 1st analog output of the T400 (terminal 97).

0 .. 31 as for H304

32 DT1 (n_set) (inertia compensation from n_set)

MUX_AnaOut.MUX_DAC_1.XCS

Value: 1

Min: 0

Max: 31

Type: I

Chart: 510, 4

H619

MUX AnalogOutp 2

Selects the source for the 2nd analog output of the T400 (terminal 98).

0 .. 31 as for H304

32 DT1 (n_set) (inertia compensation from n_set)

MUX_AnaOut.MUX_DAC_2. XCS

Value: 0

Min: 0

Max: 31

Type: I

Chart: 510, 6

H620

S.Analog Outp1

Source for the signal for output at the 1st analog output of the T400.

T400_EA.Filt_DAC1.X

Value: 3618

Type: I

Chart: 51, 2

H621

S.set DAC1 zero

Source of the signal to set the output value to zero for the 1st analog output of

the T400. If H160 = 0.0 (DA1 offset), this allows the analog output to be

inhibited (output voltage = 0V) or enabled.

T400_EA.Filt_DAC1.S

Value: 0000

Type: I

Chart: 51, 2

H622

S.Analog Outp2

Source for the signal for output at the 2nd analog output of the T400.

T400_EA.Filt_DAC2.X

Value: 3619

Type: I

Chart: 51, 2

H623

S.set DAC2 zero

Source of the signal to set the output value to zero for the 2nd analog output

of the T400. If H162 = 0.0 (DA2 offset), this allows the analog output to be

inhibited (output voltage = 0V) or enabled.

T400_EA.Filt_DAC2.S

Value: 0000

Type: I

Chart: 51, 2

H631

S.BiDir Out1

Source for the digital signal for output at terminal 46. The output driver is

activated with H637 = 1.

T400_EA.BinOut.I1

Value: 0105

Type: I

Chart: 53, 1

H632

S.BiDir Out2

Source for the digital signal for output at terminal 47. The output driver is

activated with H638 = 1.

T400_EA.BinOut.I2

Value: 0116

Type: I

Chart: 53, 1

H633

S.BiDir Out3

Source for the digital signal for output at terminal 48. The output driver is

activated with H639 = 1.

T400_EA.BinOut.I3

Value: 0109

Type: I

Chart: 53, 5

Parameters and connectors

94 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H634

S.BiDir Out4

Source for the digital signal for output at terminal 49. The output driver is

activated with H640 = 1.

T400_EA.BinOut.I4

Value: 0003

Type: I

Chart: 53, 5

H635

S.Bin.Output1

Source for the digital signal for output at terminal 51.

T400_EA.BinOut.I6

Value: 0004

Type: I

Chart: 53, 1

H636

S.Bin.Output2

Source for the digital signal for output at terminal 52.

T400_EA.BinOut.I5

Value: 0000

Type: I

Chart: 53, 1

H637 ... H640

enable BiDir1 ...

enable BiDir4

Initialization

parameter

Activates the driver for the bi-directional I/O of the T400.

( 1: Driver active; 0: Only the input can be used)

H637: Terminal 46 H638: Terminal 47

H639: Terminal 48 H640: Terminal 49

T400_EA.BinOut.DI1 ... DI4

Type: BO

Chart: 53, 2 - 6

H650

MUX CTW1 Bit0

Selects the source for bit 0 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 0 from control word 1 from the COMBOARD

3 Bit 0 from control word 1 of the peer-to-peer interface

4 Digital input 1 (terminal 53)

5 Control word from the basic drive, bit 5

MUX_CU.Mux_STW1_B0.XCS

Value: 0

Type: I

Chart: 530, 2

H651

MUX CTW1 Bit1

Selects the source for bit 1 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 1 from control word 1 from the COMBOARD

3 Bit 1 from control word 1 of the peer-to-peer interface

4 Digital input 2 (terminal 54)

5 Control word from the basic drive, bit 6

MUX_CU.Mux_STW1_B1.XCS

Value: 1

Type: I

Chart: 530, 2

H652

MUX CTW1 Bit2

Selects the source for bit 2 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 2 from control word 1 from the COMBOARD

3 Bit 2 from control word 1 of the peer-to-peer interface

4 Digital input 3 (terminal 55)

5 Control word from the basic drive, bit 7

MUX_CU.Mux_STW1_B2.XCS

Value: 1

Type: I

Chart: 530, 2

H653

MUX CTW1 Bit3

Selects the source for bit 3 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 3 from control word 1 from the COMBOARD

3 Bit 3 from control word 1 of the peer-to-peer interface

4 Digital input 4 (terminal 56)

5 Control word from the basic drive, bit 8

MUX_CU.Mux_STW1_B3.XCS

Value: 1

Type: I

Chart: 530, 2

H654

MUX CTW1 Bit4

Selects the source for bit 4 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 4 from control word 1 from the COMBOARD

3 Bit 4 from control word 1 of the peer-to-peer interface

4 Digital input 5 (terminal 57)

5 Control word from the basic drive, Bit 9

MUX_CU.Mux_STW1_B4.XCS

Value: 1

Type: I

Chart: 530, 6

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 95

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H655

MUX CTW1 Bit5

Selects the source for bit 5 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 5 from control word 1 from the COMBOARD

3 Bit 5 from control word 1 of the peer-to-peer interface

4 Digital input 6 (terminal 58)

5 Control word from the basic drive, Bit 10

MUX_CU.Mux_STW1_B5.XCS

Value: 1

Type: I

Chart: 530, 6

H656

MUX CTW1 Bit6

Selects the source for bit 6 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 6 from control word 1 from the COMBOARD

3 Bit 6 from control word 1 of the peer-to-peer interface

4 Digital input 7 (terminal 59)

5 Control word from the basic drive, Bit 11

MUX_CU.Mux_STW1_B6.XCS

Value: 1

Type: I

Chart: 530, 6

H657

MUX CTW1 Bit7

Selects the source for bit 7 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 7 from control word 1 from the COMBOARD

3 Bit 7 from control word 1 of the peer-to-peer interface

4 Digital input 8 (terminal 60)

5 Control word from the basic drive, Bit 12

MUX_CU.Mux_STW1_B7.XCS

Value: 0

Type: I

Chart: 530, 6

H658

MUX CTW1 Bit8

Selects the source for bit 8 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 8 from control word 1 from the COMBOARD

3 Bit 8 from control word 1 of the peer-to-peer interface

4 Coarse pulse input, encoder 2 (terminal 84)

MUX_CU.Mux_STW1_B8.XCS

Value: 0

Type: I

Chart: 540, 2

H659

MUX CTW1 Bit9

Selects the source for bit 9 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 9 from control word 1 from the COMBOARD

3 Bit 9 from control word 1 of the peer-to-peer interface

4 Coarse pulse input, encoder 1 (terminal 65)

MUX_CU.Mux_STW1_B9.XCS

Value: 0

Type: I

Chart: 540, 2

H660

MUX CTW1 Bit10

Selects the source for bit 10 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 10 from control word 1 from the COMBOARD

3 Bit 10 from control word 1 of the peer-to-peer interface

MUX_CU.Mux_STW1_B10.XCS

Value: 1

Type: I

Chart: 540, 2

H661

MUX CTW1 Bit11

Selects the source for bit 11 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 11 from control word 1 from the COMBOARD

3 Bit 11 from control word 1 of the peer-to-peer interface

4 Word 6 bit 13 from the basic drive

MUX_CU.Mux_STW1_B11.XCS

Value: 1

Type: I

Chart: 540, 2

H662

MUX CTW1 Bit12

Selects the source for bit 12 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 12 from control word 1 from the COMBOARD

3 Bit 12 from control word 1 of the peer-to-peer interface

4 Word 6 bit 14 from the basic drive

MUX_CU.Mux_STW1_B12.XCS

Value: 1

Type: I

Chart: 540, 6

Parameters and connectors

96 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H663

MUX CTW1 Bit13

Selects the source for bit 13 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 13 from control word 1 from the COMBOARD

3 Bit 13 from control word 1 of the peer-to-peer interface

MUX_CU.Mux_STW1_B13.XCS

Value: 0

Type: I

Chart: 540, 6

H664

MUX CTW1 Bit14

Selects the source for bit 14 in control word 1 to the basic drive

0 Fixed value 0

1 Fixed value 1

2 Bit 14 from control word 1 from the COMBOARD

3 Bit 14 from control word 1 of the peer-to-peer interface

MUX_CU.Mux_STW1_B14.XCS

Value: 0

Type: I

Chart: 540, 6

H665

MUX CTW1 Bit15

(external fault)

Selects the source for bit 15 (external fault) in control word 1 to the basic

drive (‘1’ = no fault)

0 Fixed value 0

1 Fixed value 1

2 Bit 15 from control word 1 from the COMBOARD

3 Bit 15 from control word 1 of the peer-to-peer interface

4 Fault (refer to H003)

5 Alarm (refer to H004)

6 Digital input 8 (terminal 60)

MUX_CU.Mux_STW1_B15.XCS

Value: 1

Type: I

Chart: 540, 6

d666

Analog output 1

Value, which is output at analog output 1.

T400_EA.Filt_DAC1.Y

Type: R

Chart: 51, 3

d667

Analog output 2

Value, which is output at analog output 2.

T400_EA.Filt_DAC2.Y

Type: R

Chart: 51, 3

H668

T_Filter_DAC1

Smoothing time constant for analog output 1

T400_EA.Filt_DAC1.T

Value: 0 ms

Type: R

Chart: 51, 2

H669

T_Filter_DAC2

Smoothing time constant for analog output 2

T400_EA.Filt_DAC2.T

Value: 0 ms

Type: R

Chart: 51, 2

H700

USS enable

Enables the serial interface 1 of the T400 for operation as USS slave.

Further, switch S1/8 should be set into the ON position. Online operation with

CFC or with the basic IBS (start-up) is then no longer possible!

USS slave is only required for operator control and visualization, if the T400

is to be operated without basic drive (in the SRT400).

Prerequisite for OP1S : Software version from V2.2

IF_USS.Enable.I

Value: 1

Type: BO

Chart: 450, 1

H701

Baud rate USS

Data transfer rate for the USS interface.

Example OP1S: 9600 or 19200

IF_USS.Slave_ZB.BDR

Value: 9600

Type: DI

Chart: 450, 1

H703

USS Address

Station address, USS interface.

IF_USS.Slave_ZB.MAA

Value: 0

Type: I

Chart: 450, 1

H704

USS 4-Wire

Difference between 2-wire (half duplex) and 4-wire operation (full duplex) for

the USS interface.

Value Significance Required for

0 RS485 2-wire (half duplex) for OP1S

1 RS232 4-wire (full duplex) for SIMOVIS

For end nodes on the USS bus (RS485), terminating resistors must be used

to terminate the bus. The appropriate resistors are switched-in using switches

S1/1 and S1/2 on the T400; the resistors are switched-in in the ON setting.

IF_USS.Slave_ZB. WI4

Value: 0

Type: BO

Chart: 450, 1

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 97

6DD1903-0BB0 Edition 05.01

Parameter Description Data

d705

USS rec. state

Status of the central block of the USS interface (@USS_S).

This value is only of significance, if the T400 is operated without basic drive,

and parameterization should be realized via the serial interface 1 of the T400

in the USS protocol (refer to H700 to H704).

IF_USS.Slave_ZB.YTS

Type: W

Chart: 450, 4

d706 ... d707

PZD1 USS ...

PZD2 USS

Two pieces of process data, received from the USS interface.

IF_USS.USS_Dummy.Y1 ... Y2

Type: W

Chart: 450, 6

H708 ... H709

S.PZD1 USS Slave

...

S.PZD2 USS Slave

Sources for 2 words, which are output at the USS interface.

IF_USS.USS_Dummy.X1 ... X2

Value: 2000

Type: I

Chart: 450, 5

d801 ... d810

PZD1 CB rec. ...

PZD10 CB rec.

10 process data when receiving data from the communications module.

Depending on the PPO type used, not all PZD are used. These values are

then undefined!

IF_COM.Verteilung.Y1 ... Y8

IF_COM.Verteil2.Y1 ... Y2

Type: W

Chart: 410, 3

H811

S.Control W1 CB

Selects the source for the 1st control word from the communications module.

IF_COM.Verteil2.X3

Value: 2801

Type: I

Chart: 420, 1

H812

S.Control W2 CB

Selects the source for the 2nd control word from the communications module.

IF_COM.Verteil2.X4

Value: 2804

Type: I

Chart: 420, 1

H813 ... H816

S.setp_1 CB ...

S.setp_4 CB

Selects, from 4 sources, for setpoints from the communications interface,

those which are to be converted from the N2 format into the floating-point

format. Factory setting:

H813 = 2802 PZD2

H814 = 2803 PZD3

H815 = 2805 PZD5

H816 = 2806 PZD6

IF_COM.Sollwert_W2.X, _W3.X, _W5.X, _W6.X

Type: I

Chart: 410, 5

H817

S.setp. I_R CB

Selects the source, which is to be converted from integer to floating-point.

IF_COM.Sollw_IR.X

Value: 2807

Type: I

Chart: 410, 1

H818

Setp. I_R CB

Result of the conversion from integer to floating-point (refer to H817).

IF_COM.Sollw_IR.Y

Type: R

Chart: 410, 2

H819 ... H820

S.DW high CB ...

S.DW low CB

Selects from high and low word, a double word (format N4), which is to be

converted into the floating-point-format. Normalization using H841.

Factory setting:

H819 = 2809 PZD9 IF_COM.Sollw_DW.XWH

H820 = 2810 PZD10 IF_COM.Sollw_DW.XWL

Type: I

Chart: 410, 4

H821

CB setp. DW

Result of the N4 to floating-point conversion (refer to H818, H819, H841).

IF_COM.Sollw_N4.Y

Type: R

Chart: 410, 7

H822 ... H825

S.actval_1 CB ...

S.actval_4 CB

Selects from 4 sources, which are output at the communications interface as

actual values. They are converted from the floating-point format into the N2

format.

Factory setting:

H822 = 3446 Output, multiplexer MuxWord2 CB

H823 = 3447 Output, multiplexer MuxWord3 CB

H824 = 3448 Output, multiplexer MuxWord5 CB

H825 = 3449 Output, multiplexer MuxWord6 CB

IF_COM.Istwert_W2.X, _W3.X, _W5.X, _W6.X

Type: I

Chart: 440, 1

H826

S.actval R_I CB

Selects the source, which should be converted from floating-point to integer.

IF_COM.Ist_RI.X

Value: 3000

Type: I

Chart: 440, 6

H828

S.actval_5 CB

Selects the source, which should be converted from floating-point to double

word.

IF_COM.Ist_R_N4.X

Value: 3000

Type: I

Chart: 440, 1

Parameters and connectors

98 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

H829

Actval5 CB norm.

Normalization for H828. For H829 = 1.0, the input value is emulated as 1.0

for 100% in the N4 format.

IF_COM.Ist_R_N4.NF

Value: 1.0

Type: R

Chart: 440, 2

H831 ... H840

S.PZD1 CB ...

S.PZD10 CB

Selects from 10 sources for output as PZD via the communications interface.

The source must be a word or integer type. Only as many PZD are

transferred as the selected PPO type makes provision for!

Factory setting:

H831 = 2442 Multiplexer Mux Word1 CB (chart 560)

H832 = 2822 Actual value1 CB

H833 = 2823 Actual value2 CB

H834 = 2444 Multiplexer Mux Word4 CB (chart 560)

H835 = 2824 Actual value3 CB

H836 = 2825 Actual value4 CB

H837 = 2827 Actual value R_I CB

H838 = 2000 Constant 0

H839 = 2828 Actual value5 high CB

H840 = 2829 Actual value5 low CB

IF_COM.Sammeln.X1 ... X8

IF_COM.Sammeln2.X1 ... X2

Type: I

Chart: 410, 5

H841

CB DW norm.

Normalization factor for the N4 to floating-point conversion (refer to H818,

H819, H821). For H841, 100% (16#40000000) is converted into 1.0.

IF_COM.Sollw_N4.NF

Value: 1.0

Type: R

Chart: 410, 6

H900 ... H913

S.F125 ... S.F131

S.A106 ... S.A112

Sources for optional digital quantities, which should initiate a fault or alarm in

the basic drive.

Source Fault Source Alarm

H900 F125 H907 A106

H901 F126 H908 A107

H902 F127 H909 A108

H903 F128 H910 A109

H904 F129 H911 A110

H905 F130 H912 A111

H906 F131 H913 A112

CONTR.Fehlerzustand.I10 ... I16

CONTR.Warnzustand.I10 ... I16

Type: I

Chart: 160, 1

160, 4

d921 ... d930

PZD1 CB out ...

PZD10 CB out

Actual value which should output up to 10 process data via the

communications module.

IF_COM.Sammeln.Y1 ... Y8

IF_COM.Sammeln2.Y1 ... Y2

Type: W

Chart: 440, 6

H960 ... H965

Constant I1 ...

Constant I6

6 fixed values, integer type (16 bit, signed)

Constant.INT_Const.X1 ... X6

Value: 0

Type: I

Chart: 30,6

H971 ... H974

Constant W1 ...

Constant W4

4 fixed value, word type (16 bit)

Constant.WORD_Const.X1 ... X4

Value: 16#0000

Type: W

Chart: 30,6

H981 ... H984

Constant DI1 ...

Constant DI4

4 fixed values, double word type (32 bit signed).

Constant.DINT_Const.X3 ... X6

Value: 0

Type: DI

Chart: 30,8

H990 ... H997

Constant R1 ...

Constant R8

8 fixed values, floating-point type.

Constant.Const_Float.X1 ... X8

Value: 0.0

Type: R

Chart: 30,5

d998, d999

SIMADYN D,

SIMOVIS SW ID

Identification parameters for SIMOVIS to identify the standard software

package.

Constant.SIMADYN_D.Y

Chart: 40,3

L028 ... L031

S.Display R1 ...

S.Display R4

Four sources for display parameters, REAL type (floating-point) to display

connectors without their own display parameters. The display is realized

using parameters d028 ... d031.

Free_FBs.Display_R.X1 ... Free_FBs.Display_R.X4

Type: I

Chart: 470, 7

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 99

6DD1903-0BB0 Edition 05.01

Parameter Description Data

L032 ... L035

S.Display B1 ...

S.Display B4

Four sources for display parameters, BOOL type to display connectors

without their own display parameters. The display is realized using

parameters d032 ... d035.

Free_FBs.Display_BO.I1 ... Free_FBs.Display_BO.I4

Type: BO

Chart: 470, 7

L036, L037

S.Display I1,

S.Display I2

Two sources for display parameters, type integer (16 bit) to display

connectors without their own display parameters. The display is realized

using parameters d036 and d037.

Free_FBs.Display_I.X1, Free_FBs.Display_I.X2

Type: BO

Chart: 470, 7

L038, L039

S.Display W1,

S.Display W2

Two sources for display parameters, type word (16 bit) to display connectors

without their own display parameters. The display is realized using

parameters d038 and d039.

Free_FBs.Display_W.X1, Free_FBs.Display_W.X2

Type: BO

Chart: 470, 7

L098 Enables position sensing via pulse encoder (NAVS).

Reset required after value change!

Value !

Type BO

Chart 60, 5

L099 Enables position sensing via absolute value encoder (AENC).

Reset required after value change!

Value 0

Type BO

Chart 60, 7

L100 – L302 Differential position sensing with absolute value encoder:

Setting parameters for the absolute value encoder and

diagnostic parameters. Detailed description,

refer to Section 3.2.3.

L400 Length buffer

Length of Trace-buffer (in double words) for offline-trace with

“symTrace-D7”

TRACE.Trace_Kopplung.TBL

Value: 2048

Min. 0

Max. 256000

Type I

c401 Coupling Trace

0: No interconnection to the trace blocks

1: Interconnection to the trace blocks is activ.

TRACE.Trace_Kopplung.QTS

Typ: B

c402 Status Trace

Status-word of trace. Description in “symTrace-D7” (Help->

Help subjects->Function blocks error messages)

TRACE.Trace_Kopplung.YTS

Typ: W

L605

S.DW_W1

Sources for a double word quantity, which should be split-up into two words.

Free_FBs.DW_W1.X

Value 5000

Type I

Chart 490, 4

L606, L607

S.ADDI_1 X1

S.ADDI_1 X2

Sources for the summands of the 1st integer adder.

Free_FBs.ADDI_1.X1

Value 2000

Type I

Chart 470, 1

L608, L609

S.SUBI_1 X1

S.SUBI_1 X2

Sources for the inputs of the 1st integer subtractor.

Free_FBs.SUBI_1.X1 ... X2

Value 2000

Type I

Chart 470, 1

L646

S.I_R_1

Sources for an integer quantity, which should be converted into floating-point.

Free_FBs.I_R1.X

Value 2000

Type I

Chart 490, 4

L647

S.R_I1

Sources for a floating-point quantity, which should be converted into integer.

Free_FBs.R_I1.X

Value 3000

Type I

Chart 490, 4

L698, L699

S.S RS-FlipFlop1

S.R RS-FlipFlop1

Sources for the setting- and reset input of an RS flipflop (R dominant).

(free block).

Free_FBs.RS_FF2.S ... R

Type I

Chart 460, 1

Parameters and connectors

100 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

L700 ... L702

S.AND1_I1 ...

S.AND1_I3

Three sources for the inputs of the 1st free AND block.

Free_FBs.AND1.I1 ... I3

Type I

Chart 460, 1

L703 ... L705

S.AND2_I1 ...

S.AND2_I3

Three sources for the inputs of the 2nd free AND block.

Free_FBs.AND2.I1 ... I3

Type I

Chart 460, 4

L706 , L707

S.Switch1_0 ...

S.Switch1_1

2 sources for the inputs of the 1st free changeover. The output is selected

using L708.

Free_FBs.Switch1.X1 ... X2

Type I

Chart 460, 1

L708

S.Switch1_sel

Source for the signal to a signal.

0: Source(L706) 1: Source(L707)

Free_FBs.Switch1.I

Type I

Chart 460, 1

L709

S.Edge1

Source for the 1st free edge detecting block.

Free_FBs.Edge1.I

Value I

Chart 430, 6

L710 ... L712

S.OR1_I1 ...

S.OR1_I3

3 sources for the inputs of the 1st free OR block.

Free_FBs.OR1.I1 ... I3

Type I

Chart 460, 1

L713 ... L715

S.OR2_I1 ...

S.OR2_I3

3 sources for the inputs of the 2nd free OR block.

Free_FBs.OR2.I1 ... I3

Type I

Chart 460, 4

L716 , L717

S.Switch2_0 ...

S.Switch2_1

2 sources for the inputs of the 2nd free changeover. The output is selected

using L718.

Free_FBs.Switch2.X1 ... X2

Type I

Chart 460, 4

L718

S.Switch2_sel

Source for the signal to a signal.

0: Source(L716) 1: Source(L717)

Free_FBs.Switch2.I

Value 0000

Type I

Chart 460, 4

L728

S.OnDelay1

Source for the 1st power-on delay.

Free_FBs.OnDelay1.I

Value 0000

Type I

Chart 490, 7

L729

T_OnDelay1

1st power-on delay time.

Free_FBs.OnDelay1.T

Value 100 ms

Type SD

Chart 490, 7

L730

S.OffDelay1

Source for the 1st power-off delay time.

Free_FBs.OffDelay1.I

Value 0000

Type I

Chart 490, 7

L731

T_OffDelay1

1st power-off delay time.

Free_FBs.OffDelay1.T

Value 100 ms

Type SD

Chart 490, 7

L732, L733

S.Not1, S.Not2

Sources for the 2nd logical inverter.

Free_FBs.Not1.I ... Not2.I

Type I

Chart 460, 7

L734, L735

S.S RS-FlipFlop2

S.R RS-FlipFlop2

Sources for the setting- and reset input of an RS flipflop (R dominant).

(free block).

Free_FBs.RS_FF1.S ... R

Type I

Chart 460, 4

L738

S.set_PT1_zero

Source for the digital signal to set the output of the free lowpass filter to zero.

Behavior of the setting function:

Setting 0 è1: Output is immediately set to zero

Setting 1 è0: Output goes to the input value corresponding to L741

Free_FBs.FreePT1.S

Value 0000

Type I

Chart 480, 1

L739

QualityFact.Filt

Quality of the bandstop filter. Practical values lie in the range 1.0 ... 10.0.

Free_FBs.SperrFilt.Q

Value 2.0

Type I

Chart 480, 4

L740

S.PT1_input

Source of the input signal for the lowpass 1st order filter (free block).

Free_FBs.FreePT1.X

Value 3000

Type I

Chart 480, 2

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 101

6DD1903-0BB0 Edition 05.01

Parameter Description Data

L741

Tfilt PT1

Filter time constant of the 1st order lowpass filter.

Free_FBs.FreePT1.T

Value 20 ms

Type SD

Chart 480, 2

L742

S.Band-Stop filt

Source of the input signal for a bandstop filter (free block).

Free_FBs.SperrFilt.X

Value 3000

Type I

Chart 480, 3

L743

S.FilterFrequenc

Source of the input signal for the bandstop frequency (in Hz) of the bandstop

filter.

Free_FBs.SperrFilt.FG

Value 3002

Type I

Chart 480, 3

L744, L745

S.Compare_X,

S.Compare_Y

Sources for the input signals of a comparator.

Free_FBs.Compare.X1 ... X2

Type I

Chart 480, 6

L746

S.Limit_max

Source for the upper limit of a free limiting block.

Free_FBs.Begrenzer.LU

Value 3001

Type I

Chart 480, 6

L747

S.Limit_input

Source for the signal to be limited of a free limiting block.

Free_FBs.Begrenzer.X

Value 3000

Type I

Chart 480, 6

L748

S.Limit_min

Source for the lower limit of a free limiting block.

Free_FBs.Begrenzer.LL

Value 3000

Type I

Chart 480, 6

L749

S.Compare2

Source for the input signal of a comparator with hysteresis (free block).

Free_FBs.Comp2.X

Value 3000

Type I

Chart 480, 1

L750

S.Compare2 Range

Source for the range limit of the comparator with hysteresis (free block).

Free_FBs.Comp2.L

Value 3001

Type I

Chart 480, 1

L751

Compare2 Hyst

Hysteresis of the comparator with hysteresis (free block).

Free_FBs.Comp2.HY

Value 0.1

Type I

Chart 480, 2

L752

S.Compare2 Mid

Source for the comparator center of range with hysteresis (free block).

Free_FBs.Comp2.M

Value 3003

Type I

Chart 480, 1

L753

S.Curve_X

Source for the input signal of a characteristic with 2 points. If the signal is

less than X1, the output = Y1; if it is greater than X2, the output = Y2. The

characteristic is approximately linear between these two points.

Free_FBs.Kennlin.X

Value 3000

Type I

Chart 480, 1

L754, L755

Curve_X1,

Curve_Y1

Value pair for the lefthand characteristic point (lower X coordinate).

Free_FBs.Kennlin.A1 ... B1

Value 0.0

Type I

Chart 480, 2 – 3

L756, L757

Curve_X2,

Curve_Y2

Value pair for the righthand characteristic point (higher X coordinate).

Free_FBs.Kennlin.A2 ... B2

Value 1.0

Type I

Chart 480, 2 - 3

L760

S.FreeWord

Source for a 16-bit value, which is to be split-up into individual bits

(connectors 0760 to 0775)

Free_FBs.Free_W_B_1.IS

Value 2000

Type I

Chart 490, 1

L761... L763

S.DW_high,

S.DW_low,

DW norm.

2 sources for a double word, which are to be converted into a floating-point

value. L763 is the normalization; i. e. the output value for an input value of

16#40000000.

Free_FBs.DW_inp.XWH ... XWL

Free_FBs.Free_N4_R.NF

Type I

Chart 490, 5 - 7

L764, L765

S.Word

Word norm.

Source and normalization for a 16-bit value, which is to be converted into a

floating-point value. L765 is the normalization; i. e. the output value for input

value 16#4000.

Free_FBs.Free_N2_R.X, Free_FBs.Free_N2_R.NF

Type I

Chart 490, 4 - 5

Parameters and connectors

102 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Parameter Description Data

L766, L767

S.Float

Float norm.

Source for a floating-point value, which is to be converted into type N2. L767

is the normalization; i. e. the input value for output = 16#4000.

Free_FBs.Float_N2.X, Free_FBs.Float_N2.NF

Type I

Chart 490, 6 - 7

L786 ... L788

S.ADD1 X1 ...

S.ADD1 X3

Source for the summands of a free adder.

Free_FBs.ADD1.X1 ... X3

Value 3000

Type I

Chart 470, 3

L789 ... L791

S.ADD2 X1 ...

S.ADD2 X3

Source for the summands of a free adder.

Free_FBs.ADD2.X1 ... X3

Value 3000

Type I

Chart 470, 3

L792 ... L793

S.SUB1 X1 ...

S.SUB1 X2

Source for the inputs of a free subtractor (X1 – X2).

Free_FBs.SUB1.X1 ... X3

Value 3000

Type I

Chart 470, 3

L794 ... L795

S.SUB2 X1 ...

S.SUB2 X2

Source for the inputs of a free subtractor (X1 – X2).

Free_FBs.SUB2.X1 ... X3

Value 3000

Type I

Chart 470, 3

L796 ... L798

S.MUL1 X1 ...

S.MUL1 X3

Source for the inputs of a free multiplier.

Free_FBs.MUL1.X1 ... X3

Value 3001

Type I

Chart 470, 5

L799 ... L801

S.MUL2 X1 ...

S.MUL2 X3

Source for the inputs of a free multiplier.

Free_FBs.MUL2.X1 ... X3

Value 3001

Type I

Chart 470, 5

L802 ... L803

S.DIV1 X1 ...

S.DIV1 X2

Source for the inputs of a free divider (X1 / X2).

Free_FBs.DIV1.X1 ... X2

Value 3001

Type I

Chart 470, 5

L804 ... L805

S.DIV2 X1 ...

S.DIV2 X2

Source for the inputs of a free divider (X1 / X2).

Free_FBs.DIV2.X1 ... X2

Value 3001

Type I

Chart 470, 5

L810

S.Free_W_B_2

Source for free word-to-binary converter.

Free_FBs.Free_W_B_2.IS

Value 2000

Type I

Chart 490, 1

L812 ... L813

S.DIVI_1 X1 ...

S.DIVI_1 X2

Source for the inputs of a free integer divider (X1 / X2).

Free_FBs.DIVI_1.X1 ... X2

Value 2001

Type I

Chart 470, 1

L814 ... L815

S.MULI_1 X1 ...

S.MULI_1 X2

Source for the inputs of a free integer multiplier.

Free_FBs.MULI_1.X1 ... X2

Value 2001

Type I

Chart 470, 1

L816, L817

S.W_DW1 high

S.W_DW1 low

Source for free word-to-double-word converter.

Free_FBs.WDW1.XWH ... XWL

Value 2000

Type I

Chart 490, 4

L818

S.Integrator X

Source of the input quantity of the freely available integrator.

Free_FBs.Integrator.X

Value 3000

Type I

Chart 480, 5

L819

Integrator LU

Upper limit value of the freely available integrator

Free_FBs.Integrator.LU

Value 1.0

Type R

Chart 480, 6

L820

Integrator LL

Lower limit value of the freely available integrator

Free_FBs.Integrator.LL

Value -1.0

Type R

Chart 480, 6

L821

S.Integrator SV

Source for the setting value of the freely available integrator

Free_FBs.Integrator.SV

Value 3000

Type R

Chart 480, 5

L822

Integrator T

Integration time constant of the freely available integrator

Free_FBs.Integrator.TI

Value 1000 ms

Type SD

Chart 480, 6

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 103

6DD1903-0BB0 Edition 05.01

Parameter Description Data

L823

S.Integrator set

Source for the setting signal of the freely available integrator.

Free_FBs.Integrator.S

Value 0000

Type I

Chart 480, 5

L824 , L825

S.Switch3_0 ...

S.Switch3_1

2 sources for the inputs of the 3rd free changeover switch. The output is

selected using L826.

Free_FBs.Switch3.X1 ... X2

Type I

Chart 460, 5

L826

S.Switch3_sel

Source for the signal to a signal.

0: Source(L824) 1: Source(L825)

Free_FBs.Switch3.I

Value 0000

Type I

Chart 460, 5

L827, L828

S.Switch4_0 ...

S.Switch4_1

2 sources for the inputs of the 4th free changeover switch. The output is

selected using L829.

Free_FBs.Switch4.X1 ... X2

Type I

Chart 460, 7

L829

S.Switch4_sel

Source for the signal to a signal.

0: Source(L827) 1: Source(L828)

Free_FBs.Switch4.I

Value 0000

Type I

Chart 460, 7

L830 ... .L832

S.AND_OR1_1 ...

S.AND_OR1_3

Sources of the 1st AND-OR logic in Chart 425. Output is B1830.

Free_FBs.andOR1.I1

Free_FBs.ANDor1.I1 ... I2

Type I

Chart 460, 6

L833 ... .L835

S.AND_OR2_1 ...

S.AND_OR2_3

Sources of the 2nd AND-OR logic in Chart 425. Output is B1833.

Free_FBs.andOR2.I1

Free_FBs.ANDor2.I1 ... I2

Type I

Chart 460, 6

Parameters and connectors

104 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

4.3 Connector list

TC Chart Path Name Significance

0000 30,2 Constant.FALSE.Q BOOL constant FALSE

0001 30,2 Constant.TRUE.Q BOOL constant TRUE

0003 160,7 CONTR.ErrorMask.Q Fault

0004 160,8 CONTR.WarnMaske.Q Alarm

0005 160,7 CONTR.Stoerung.Q No fault

0020 60,8 CONTR.ErrorNAVSslave.Q Error, speed sensing slave

0021 70,7 CONTR.ErrorNAVSMaster.Q Error, speed sensing master

0097 90,3 CONTR.Zus_Lage-RS.Q Position reset

0098 90,3 CONTR.OR_Sync.Q Synchronizing command

0100 90,7 CONTR.SyncFlipFlop.QN Automatic start synchronization, inverse

0101 90,7 CONTR.SyncFlipFlop.Q Automatic start synchronization

0102 100.7 SYNCO2.CmpSynchr.QU Displacement > synchronism threshold (H103)

0103 100.7 SYNCO2.CmpSynchr.QM Displacement within threshold range

0104 100.7 SYNCO2.CmpSynchr.QL Displacement < synchronism threshold (H103) (negative)

0105 100,8 SYNCO2.DisplValid.Q Synchronism reached

0106 100,8 SYNCO2.Displace.DC Displacement determined

0108 90,7 CONTR.Lage_RS.Q Angular controller inhibit

0109 90,7 CONTR.WR-Freigabe.Q Status of the angular controller enable

0110 100,3 SYNCO1.SignNmaster.QU n_slave > 0

0111 100,3 SYNCO1.SignNmaster.QE n_slave = 0

0112 100,3 SYNCO1.SignNmaster.QL n_slave < 0

0113 100,3 SYNCO1.SignNslave.QU n_master > 0

0114 100,3 SYNCO1.SignNslave.QE n_master = 0

0115 100,3 SYNCO1.SignNslave.QL n_master < 0

0116 110,7 SYNCO2.AngleLimit.Q Angular controller at its limit

0134 120,8 SYNCO2.SpeedCtrlLimit.Q Speed controller at its limit

0140 120,5 CONTR.SCONI.Q Speed controller enable

0148 70,7 SYNCO2.Master.SS Position master drive set when synchronized

0149 70,7 CONTR.Puls_SS_Master.Q Pulse extension, position master set when synchronized

0150 60,7 SYNCO2.Slave.SS Slave position set when synchronized

0152 60,4 SYNCO2.CmpSPslave.QL Position, slave < 0

0153 60,4 SYNCO2.CmpSPslave.QE 0 < slave position < threshold

0154 60,4 SYNCO2.CmpSPslave.QU Slave position > threshold (H105)

0160 75,6 SYNCO2.dnErrSlave.Q Speed deviation, slave

0161 75,6 SYNCO2.dnError.Q Speed deviation

0162 75,6 SYNCO2.dnErrMaster.Q Speed deviation, master

0170 520,2 MUX_B.MUX_VersatzReset.Q Output, multiplexer displacement reset

0171 520,4 MUX_B.MUX_TippFreigabe.Q Output, multiplexer jog enable

0172 520,5 MUX_B.MUX_WReglerFreig.Q Output, multiplexer angular controller enable

0173 520,7 MUX_B.MUX_LageReset.Q Output, multiplexer reset position

0174 520,8 MUX_B.MUX_SyncSignal.Q Output, multiplexer synchronizing command

0175 60,2 CONTR.Steuerbits.Q4 Reset position difference

0176 115,3 CONTR.Steuerbits.Q7 Jog enable

0177 90,6 CONTR.Steuerbits.Q1 Inverter enable

0179 90,2 CONTR.Steuerbits.Q2 Sync command

0186 60,2 SYNCO2.Pos_Slave_Abs.SN Slave position negative

0188 70,3 SYNCO2.CmpSPmaster.QL Position master < 0

0189 70,3 SYNCO2.CmpSPmaster.QE 0 < position master threshold (H107)

0190 70,3 SYNCO2.CmpSPmaster.QU Position master > threshold (H107)

0192 75,4 SYNCO2.CMP_nSlave.QU nslave > range

0193 75,5 SYNCO2.CMP_nSlave.QM Slave speed within the permissible range

0194 75,4 SYNCO2.CMP_nSlave.QL nslave < range

0195 75,4 SYNCO2.CMP_nMaster.QU nmaster > range

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 105

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

0196 75,5 SYNCO2.CMP_nMaster.QM Master speed in the permissible range

0197 75,4 SYNCO2.CMP_nMaster.QL nmaster < range

0199 70,8 SYNCO2.Pos_Master_Abs.SN Position master negative

0209 60,7 CONTR.Puls_SS_Slave.Q Extended pulse, slave position set when synchronized

0211 72,2 IN_AENC.S_AENC.QF Fault word of the absolute value encoder sensing, slave

0212 72,2 IN_AENC.M_AENC.QF Fault word of the absolute value encoder sensing, master

0300 310,4 IF_Peer.Steuerwort1.Q1 Peer CTW.0

0301 310,4 IF_Peer.Steuerwort1.Q2 Peer CTW.1

0302 310,4 IF_Peer.Steuerwort1.Q3 Peer CTW.2

0303 310,4 IF_Peer.Steuerwort1.Q4 Peer CTW.3

0304 310,4 IF_Peer.Steuerwort1.Q5 Peer CTW.4

0305 310,4 IF_Peer.Steuerwort1.Q6 Peer CTW.5

0306 310,4 IF_Peer.Steuerwort1.Q7 Peer CTW.6

0307 310,4 IF_Peer.Steuerwort1.Q8 Peer CTW.7

0308 310,4 IF_Peer.Steuerwort1.Q9 Peer CTW.8

0309 310,4 IF_Peer.Steuerwort1.Q10 Peer CTW.9

0310 310,4 IF_Peer.Steuerwort1.Q11 Peer CTW.10

0311 310,4 IF_Peer.Steuerwort1.Q12 Peer CTW.11

0312 310,4 IF_Peer.Steuerwort1.Q13 Peer CTW.12

0313 310,4 IF_Peer.Steuerwort1.Q14 Peer CTW.13

0314 310,4 IF_Peer.Steuerwort1.Q15 Peer CTW.14

0315 310,4 IF_Peer.Steuerwort1.Q16 Peer CTW.15

0320 310,4 IF_Peer.invSteuerwort.Q1 Peer CTW.0 inverse

0321 310,4 IF_Peer.invSteuerwort.Q2 Peer CTW.1 inverse

0322 310,4 IF_Peer.invSteuerwort.Q3 Peer CTW.2 inverse

0323 310,4 IF_Peer.invSteuerwort.Q4 Peer CTW.3 inverse

0324 310,4 IF_Peer.invSteuerwort.Q5 Peer CTW.4 inverse

0325 310,4 IF_Peer.invSteuerwort.Q6 Peer CTW.5 inverse

0326 310,4 IF_Peer.invSteuerwort.Q7 Peer CTW.6 inverse

0327 310,4 IF_Peer.invSteuerwort.Q8 Peer CTW.7 inverse

0328 310,4 IF_Peer.invSteuerwort.Q9 Peer CTW.8 inverse

0329 310,4 IF_Peer.invSteuerwort.Q10 Peer CTW.9 inverse

0330 310,4 IF_Peer.invSteuerwort.Q11 Peer CTW.10 inverse

0331 310,4 IF_Peer.invSteuerwort.Q12 Peer CTW.11 inverse

0332 310,4 IF_Peer.invSteuerwort.Q13 Peer CTW.12 inverse

0333 310,4 IF_Peer.invSteuerwort.Q14 Peer CTW.13 inverse

0334 310,4 IF_Peer.invSteuerwort.Q15 Peer CTW.14 inverse

0335 310,4 IF_Peer.invSteuerwort.Q16 Peer CTW.15 inverse

0360 300,7 IF_Peer.Timeout_Peer.Q Timeout peer

0361 300,4 IF_Peer.Empf_PEER.QTS Peer receive initialized

0362 300,4 IF_Peer.Send_PEER.QTS Peer send initialized

0400 400,4 IF_COM.Empf-COM.QTS CB receive initialized

0401 400,4 IF_COM.E_init_inv.Q CB receive not initialized

0402 400,4 IF_COM.Send_COM.QTS CB send initialized

0403 400,4 IF_COM.S_init_inv.Q CB send not initialized

0405 400,7 IF_COM.Timeout_CB.Q Timeout CB

0480 180,8 IF_CU.Zustand2CU.Q1 CU status2.0

0481 180,8 IF_CU.Zustand2CU.Q2 CU status2.1

0482 180,8 IF_CU.Zustand2CU.Q3 CU status2.2

0483 180,8 IF_CU.Zustand2CU.Q4 CU status2.3

0484 180,8 IF_CU.Zustand2CU.Q5 CU status2.4

0485 180,8 IF_CU.Zustand2CU.Q6 CU status2.5

0486 180,8 IF_CU.Zustand2CU.Q7 CU status2.6

0487 180,8 IF_CU.Zustand2CU.Q8 CU status2.7

0488 180,8 IF_CU.Zustand2CU.Q9 CU status2.8

Parameters and connectors

106 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

0489 180,8 IF_CU.Zustand2CU.Q10 CU status2.9

0490 180,8 IF_CU.Zustand2CU.Q11 CU status2.10

0491 180,8 IF_CU.Zustand2CU.Q12 CU status2.11

0492 180,8 IF_CU.Zustand2CU.Q13 CU status2.12

0493 180,8 IF_CU.Zustand2CU.Q14 CU status2.13

0494 180,8 IF_CU.Zustand2CU.Q15 CU status2.14

0495 180,8 IF_CU.Zustand2CU.Q16 CU status2.15

0500 150,5 IF_CU.Empf_BASE.QTS CU receive initialized

0501 150,5 IF_CU.Send_BASE.QTS CU send initialized

0502 150,5 IF_CU.Empf_BASE.QT CU timeout

0503 150,5 IF_CU.DRIVE.BS CU in operation

0504 150,5 IF_CU.CU_Einit_inv.Q CU receive not initialized

0505 150,5 IF_CU.CU_Sinit_inv.Q CU send not initialized

0506 150,5 IF_CU.CU_Timeout_inv.Q CU no timeout

0507 150,5 IF_CU.CU_RDY_INV.Q CU not operational

0510 180,4 IF_CU.Zustandswort1.Q1 CU status1.0

0511 180,4 IF_CU.Zustandswort1.Q2 CU status1.1

0512 180,4 IF_CU.Zustandswort1.Q3 CU status1.2

0513 180,4 IF_CU.Zustandswort1.Q4 CU status1.3

0514 180,4 IF_CU.Zustandswort1.Q5 CU status1.4

0515 180,4 IF_CU.Zustandswort1.Q6 CU status1.5

0516 180,4 IF_CU.Zustandswort1.Q7 CU status1.6

0517 180,4 IF_CU.Zustandswort1.Q8 CU status1.7

0518 180,4 IF_CU.Zustandswort1.Q9 CU status1.8

0519 180,4 IF_CU.Zustandswort1.Q10 CU status1.9

0520 180,4 IF_CU.Zustandswort1.Q11 CU status1.10

0521 180,4 IF_CU.Zustandswort1.Q12 CU status1.11

0522 180,4 IF_CU.Zustandswort1.Q13 CU status1.12

0523 180,4 IF_CU.Zustandswort1.Q14 CU status1.13

0524 180,4 IF_CU.Zustandswort1.Q15 CU status1.14

0525 180,4 IF_CU.Zustandswort1.Q16 CU status1.15

0526 220,3 IF_CU.Q_ext_Error.Q External fault in control word for CU

0530 180,4 IF_CU.Zustand1_inv.Q1 CU status1.0 inverse

0531 180,4 IF_CU.Zustand1_inv.Q2 CU status1.1 inverse

0532 180,4 IF_CU.Zustand1_inv.Q3 CU status1.2 inverse

0533 180,4 IF_CU.Zustand1_inv.Q4 CU status1.3 inverse

0534 180,4 IF_CU.Zustand1_inv.Q5 CU status1.4 inverse

0535 180,4 IF_CU.Zustand1_inv.Q6 CU status1.5 inverse

0536 180,4 IF_CU.Zustand1_inv.Q7 CU status1.6 inverse

0537 180,4 IF_CU.Zustand1_inv.Q8 CU status1.7 inverse

0538 180,4 IF_CU.Zustand1_inv.Q9 CU status1.8 inverse

0539 180,4 IF_CU.Zustand1_inv.Q10 CU status1.9 inverse

0540 180,4 IF_CU.Zustand1_inv.Q11 CU status1.10 inverse

0541 180,4 IF_CU.Zustand1_inv.Q12 CU status1.11 inverse

0542 180,4 IF_CU.Zustand1_inv.Q13 CU status1.12 inverse

0543 180,4 IF_CU.Zustand1_inv.Q14 CU status1.13 inverse

0544 180,4 IF_CU.Zustand1_inv.Q15 CU status1.14 inverse

0545 180,4 IF_CU.Zustand1_inv.Q16 CU status1.15 inverse

0546 90,8 IF_CU.n-Reg Freigabe.Q Speed controller CU; enabling the speed controller in the basic

drive

0547 560,4 MUX_CU.Mux_Enable_nRegl.Q Output, multiplexer speed controller enable for the basic drive

0550 180,7 IF_CU.SteuerwortSPA440.Q1 CTW from CU.0

0551 180,7 IF_CU.SteuerwortSPA440.Q2 CTW from CU.1

0552 180,7 IF_CU.SteuerwortSPA440.Q3 CTW from CU.2

0553 180,7 IF_CU.SteuerwortSPA440.Q4 CTW from CU.3

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 107

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

0554 180,7 IF_CU.SteuerwortSPA440.Q5 CTW from CU.4

0555 180,7 IF_CU.SteuerwortSPA440.Q6 CTW from CU.5

0556 180,7 IF_CU.SteuerwortSPA440.Q7 CTW from CU.6

0557 180,7 IF_CU.SteuerwortSPA440.Q8 CTW from CU.7

0558 180,7 IF_CU.SteuerwortSPA440.Q9 CTW from CU.8

0559 180,7 IF_CU.SteuerwortSPA440.Q10 CTW from CU.9

0560 180,7 IF_CU.SteuerwortSPA440.Q11 CTW from CU.10

0561 180,7 IF_CU.SteuerwortSPA440.Q12 CTW from CU.11

0562 180,7 IF_CU.SteuerwortSPA440.Q13 CTW from CU.12

0563 180,7 IF_CU.SteuerwortSPA440.Q14 CTW from CU.13

0564 180,7 IF_CU.SteuerwortSPA440.Q15 CTW from CU.14

0565 180,7 IF_CU.SteuerwortSPA440.Q16 CTW from CU.15

0570 180,7 IF_CU.STWSPAibit.Q1 CTW from CU.0 inverse

0571 180,7 IF_CU.STWSPAibit.Q2 CTW from CU.1 inverse

0572 180,7 IF_CU.STWSPAibit.Q3 CTW from CU.2 inverse

0573 180,7 IF_CU.STWSPAibit.Q4 CTW from CU.3 inverse

0574 180,7 IF_CU.STWSPAibit.Q5 CTW from CU.4 inverse

0575 180,7 IF_CU.STWSPAibit.Q6 CTW from CU.5 inverse

0576 180,7 IF_CU.STWSPAibit.Q7 CTW from CU.6 inverse

0577 180,7 IF_CU.STWSPAibit.Q8 CTW from CU.7 inverse

0578 180,7 IF_CU.STWSPAibit.Q9 CTW from CU.8 inverse

0579 180,7 IF_CU.STWSPAibit.Q10 CTW from CU.9 inverse

0580 180,7 IF_CU.STWSPAibit.Q11 CTW from CU.10 inverse

0581 180,7 IF_CU.STWSPAibit.Q12 CTW from CU.11 inverse

0582 180,7 IF_CU.STWSPAibit.Q13 CTW from CU.12 inverse

0583 180,7 IF_CU.STWSPAibit.Q14 CTW from CU.13 inverse

0584 180,7 IF_CU.STWSPAibit.Q15 CTW from CU.14 inverse

0585 180,7 IF_CU.STWSPAibit.Q16 CTW from CU.15 inverse

0601 53,4 T400_EA.BinOut.Q1 Terminal 46

0602 53,4 T400_EA.BinOut.Q2 Terminal 47

0603 53,8 T400_EA.BinOut.Q3 Terminal 48

0604 53,8 T400_EA.BinOut.Q4 Terminal 49

0607 52,8 T400_EA.BinOut.Q7 Coarse pulse 1 (terminal 84)

0608 52,8 T400_EA.BinOut.Q8 Coarse pulse 2 (terminal 65)

0610 52,4 T400_EA.BinInput.Q1 BinInput 1 (terminal 53)

0611 52,4 T400_EA.BinInput.Q2 BinInput 2 (terminal 54)

0612 52,4 T400_EA.BinInput.Q3 BinInput 3 (terminal 55)

0613 52,4 T400_EA.BinInput.Q4 BinInput 4 (terminal 56)

0614 52,4 T400_EA.BinInput.Q5 BinInput 5 (terminal 57)

0615 52,4 T400_EA.BinInput.Q6 BinInput 6 (terminal 58)

0616 52,4 T400_EA.BinInput.Q7 BinInput 7 (terminal 59)

0617 52,4 T400_EA.BinInput.Q8 BinInput 8 (terminal 60)

0620 52,4 T400_EA.BinInput.Q9 BinInput 1 (terminal 53) inverse

0621 52,4 T400_EA.BinInput.Q10 BinInput 2 (terminal 54) inverse

0622 52,4 T400_EA.BinInput.Q11 BinInput 3 (terminal 55) inverse

0623 52,4 T400_EA.BinInput.Q12 BinInput 4 (terminal 56) inverse

0624 52,4 T400_EA.BinInput.Q13 BinInput 5 (terminal 57) inverse

0625 52,4 T400_EA.BinInput.Q14 BinInput 6 (terminal 58) inverse

0626 52,4 T400_EA.BinInput.Q15 BinInput 7 (terminal 59) inverse

0627 52,4 T400_EA.BinInput.Q16 BinInput 8 (terminal 60) inverse

0631 53,4 T400_EA.Klemme46inv.Q Terminal 46 inverse

0632 53,4 T400_EA.Klemme47inv.Q Terminal 47 inverse

0633 53,8 T400_EA.Klemme48inv.Q Terminal 48 inverse

0634 53,8 T400_EA.Klemme49inv.Q Terminal 49 inverse

0635 52,8 T400_EA.Klemme84inv.Q Coarse pulse 1 (terminal 84) inverse

Parameters and connectors

108 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

0636 52,8 T400_EA.Klemme65inv.Q Coarse pulse 2 (terminal 65) inverse

0650 530,3 MUX_CU.Mux_STW1_B0.Q Output multiplexer, control word1 bit 0

0651 530,3 MUX_CU.Mux_STW1_B1.Q Output multiplexer, control word1 bit1

0652 530,3 MUX_CU.Mux_STW1_B2.Q Output multiplexer, control word1 bit2

0653 530,3 MUX_CU.Mux_STW1_B3.Q Output multiplexer, control word1 bit3

0654 530,7 MUX_CU.Mux_STW1_B4.Q Output multiplexer, control word1 bit4

0655 530,7 MUX_CU.Mux_STW1_B5.Q Output multiplexer, control word1 bit5

0656 530,7 MUX_CU.Mux_STW1_B6.Q Output multiplexer, control word1 bit6

0657 530,7 MUX_CU.Mux_STW1_B7.Q Output multiplexer, control word1 bit7

0658 540,3 MUX_CU.Mux_STW1_B8.Q Output multiplexer, control word1 bit8

0659 540,3 MUX_CU.Mux_STW1_B9.Q Output multiplexer, control word1 bit9

0660 540,3 MUX_CU.Mux_STW1_B10.Q Output multiplexer, control word1 bit10

0661 540,3 MUX_CU.Mux_STW1_B11.Q Output multiplexer, control word1 bit11

0662 540,7 MUX_CU.Mux_STW1_B12.Q Output multiplexer, control word1 bit12

0663 540,7 MUX_CU.Mux_STW1_B13.Q Output multiplexer ,control word1 bit13

0664 540,7 MUX_CU.Mux_STW1_B14.Q Output multiplexer, control word1 bit14

0665 540,7 MUX_CU.Mux_STW1_B15.Q Output multiplexer, control word1 bit15

0698 460,2 Free_FBs.RS_FF2.Q RSFF1_Q (output, free RS flipflop)

0699 460,2 Free_FBs.RS_FF2.QN RSFF1_QN (inv. output free RS flipflop)

0700 460,2 Free_FBs.AND1.Q AND1_Q (output, free AND logic gate)

0703 460,5 Free_FBs.AND2.Q AND2_Q (output, free AND logic gate)

0708 490,8 Free_FBs.Edge1.QN Edge detector: falling edge identified

0709 490,8 Free_FBs.Edge1.QP Edge detector: rising edge identified

0710 460,2 Free_FBs.OR1.Q Q_OR1 (output, free OR logic gate)

0713 460,5 Free_FBs.OR2.Q Q_OR2 (output, free OR logic gate)

0728 490,8 Free_FBs.OnDelay1.Q Output, power-on delay

0730 490,8 Free_FBs.OffDelay1.Q Output, power-off delay

0732 460,8 Free_FBs.Not1.Q Not1_Q (output, free inverter)

0733 460,8 Free_FBs.Not2.Q Not2_Q (output, free inverter)

0734 460,5 Free_FBs.RS_FF1.Q RSFF2_Q (output, free RS flipflop)

0735 460,5 Free_FBs.RS_FF1.QN RSFF2_QN (inv. output free RS flipflop)

0743 480,8 Free_FBs.Compare.QE Output, free comparator: X = Y

0744 480,8 Free_FBs.Compare.QU Output, free comparator: X > Y

0745 480,8 Free_FBs.Compare.QL Output, free comparator: X < Y

0746 480,8 Free_FBs.Begrenzer.QU Output, free limiter: upper limit reached

0748 480,8 Free_FBs.Begrenzer.QL Output, free limiter: lower limit reached

0749 480,3 Free_FBs.Comp2.QU Output, free comparator: input quantity > range

0750 480,3 Free_FBs.Comp2.QM Output, free comparator: input quantity in range

0751 480,3 Free_FBs.Comp2.QL Output, free comparator: input quantity < range

0760 490,2 Free_FBs.Free_W_B_1.Q1 FreeWord_0

0761 490,2 Free_FBs.Free_W_B_1.Q2 FreeWord_1

0762 490,2 Free_FBs.Free_W_B_1.Q3 FreeWord_2

0763 490,2 Free_FBs.Free_W_B_1.Q4 FreeWord_3

0764 490,2 Free_FBs.Free_W_B_1.Q5 FreeWord_4

0765 490,2 Free_FBs.Free_W_B_1.Q6 FreeWord_5

0766 490,2 Free_FBs.Free_W_B_1.Q7 FreeWord_6

0767 490,2 Free_FBs.Free_W_B_1.Q8 FreeWord_7

0768 490,2 Free_FBs.Free_W_B_1.Q9 FreeWord_8

0769 490,2 Free_FBs.Free_W_B_1.Q10 FreeWord_9

0770 490,2 Free_FBs.Free_W_B_1.Q11 FreeWord_10

0771 490,2 Free_FBs.Free_W_B_1.Q12 FreeWord_11

0772 490,2 Free_FBs.Free_W_B_1.Q13 FreeWord_12

0773 490,2 Free_FBs.Free_W_B_1.Q14 FreeWord_13

0774 490,2 Free_FBs.Free_W_B_1.Q15 FreeWord_14

0775 490,2 Free_FBs.Free_W_B_1.Q16 FreeWord_15

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 109

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

0800 420,3 IF_COM.Steuerwort1.Q1 CB control W1.0

0801 420,3 IF_COM.Steuerwort1.Q2 CB control W1.1

0802 420,3 IF_COM.Steuerwort1.Q3 CB control W1.2

0803 420,3 IF_COM.Steuerwort1.Q4 CB control W1.3

0804 420,3 IF_COM.Steuerwort1.Q5 CB control W1.4

0805 420,3 IF_COM.Steuerwort1.Q6 CB control W1.5

0806 420,3 IF_COM.Steuerwort1.Q7 CB control W1.6

0807 420,3 IF_COM.Steuerwort1.Q8 CB control W1.7

0808 420,3 IF_COM.Steuerwort1.Q9 CB control W1.8

0809 420,3 IF_COM.Steuerwort1.Q10 CB control W1.9

0810 420,3 IF_COM.Steuerwort1.Q11 CB control W1.10

0811 420,3 IF_COM.Steuerwort1.Q12 CB control W1.11

0812 420,3 IF_COM.Steuerwort1.Q13 CB control W1.12

0813 420,3 IF_COM.Steuerwort1.Q14 CB control W1.13

0814 420,3 IF_COM.Steuerwort1.Q15 CB control W1.14

0815 420,3 IF_COM.Steuerwort1.Q16 CB control W1.15

0817 480,7 Free_FBs.Integrator.QU Free integrator at the upper limit value

0818 480,7 Free_FBs.Integrator.QL Free integrator at the lower limit value

0820 420,7 IF_COM.Steuerwort2.Q1 CB control W2.0

0821 420,7 IF_COM.Steuerwort2.Q2 CB control W2.1

0822 420,7 IF_COM.Steuerwort2.Q3 CB control W2.2

0823 420,7 IF_COM.Steuerwort2.Q4 CB control W2.3

0824 420,7 IF_COM.Steuerwort2.Q5 CB control W2.4

0825 420,7 IF_COM.Steuerwort2.Q6 CB control W2.5

0826 420,7 IF_COM.Steuerwort2.Q7 CB control W2.6

0827 420,7 IF_COM.Steuerwort2.Q8 CB control W2.7

0828 420,7 IF_COM.Steuerwort2.Q9 CB control W2.8

0829 420,7 IF_COM.Steuerwort2.Q10 CB control W2.9

0830 420,7 IF_COM.Steuerwort2.Q11 CB control W2.10

0831 420,7 IF_COM.Steuerwort2.Q12 CB control W2.11

0832 420,7 IF_COM.Steuerwort2.Q13 CB control W2.12

0833 420,7 IF_COM.Steuerwort2.Q14 CB control W2.13

0834 420,7 IF_COM.Steuerwort2.Q15 CB control W2.14

0835 420,7 IF_COM.Steuerwort2.Q16 CB control W2.15

0840 420,3 IF_COM.STW1_inv.Q1 CB CTW1.0 inverse

0841 420,3 IF_COM.STW1_inv.Q2 CB CTW1.1 inverse

0842 420,3 IF_COM.STW1_inv.Q3 CB CTW1.2 inverse

0843 420,3 IF_COM.STW1_inv.Q4 CB CTW1.3 inverse

0844 420,3 IF_COM.STW1_inv.Q5 CB CTW1.4 inverse

0845 420,3 IF_COM.STW1_inv.Q6 CB CTW1.5 inverse

0846 420,3 IF_COM.STW1_inv.Q7 CB CTW1.6 inverse

0847 420,3 IF_COM.STW1_inv.Q8 CB CTW1.7 inverse

0848 420,3 IF_COM.STW1_inv.Q9 CB CTW1.8 inverse

0849 420,3 IF_COM.STW1_inv.Q10 CB CTW1.9 inverse

0850 420,3 IF_COM.STW1_inv.Q11 CB CTW1.10 inverse

0851 420,3 IF_COM.STW1_inv.Q12 CB CTW1.11 inverse

0852 420,3 IF_COM.STW1_inv.Q13 CB CTW1.12 inverse

0853 420,3 IF_COM.STW1_inv.Q14 CB CTW1.13 inverse

0854 420,3 IF_COM.STW1_inv.Q15 CB CTW1.14 inverse

0855 420,3 IF_COM.STW1_inv.Q16 CB CTW1.15 inverse

0860 420,7 IF_COM.STW2_inv.Q1 CB CTW2.0 inverse

0861 420,7 IF_COM.STW2_inv.Q2 CB CTW2.1 inverse

0862 420,7 IF_COM.STW2_inv.Q3 CB CTW2.2 inverse

0863 420,7 IF_COM.STW2_inv.Q4 CB CTW2.3 inverse

0864 420,7 IF_COM.STW2_inv.Q5 CB CTW2.4 inverse

Parameters and connectors

110 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

0865 420,7 IF_COM.STW2_inv.Q6 CB CTW2.5 inverse

0866 420,7 IF_COM.STW2_inv.Q7 CB CTW2.6 inverse

0867 420,7 IF_COM.STW2_inv.Q8 CB CTW2.7 inverse

0868 420,7 IF_COM.STW2_inv.Q9 CB CTW2.8 inverse

0869 420,7 IF_COM.STW2_inv.Q10 CB CTW2.9 inverse

0870 420,7 IF_COM.STW2_inv.Q11 CB CTW2.10 inverse

0871 420,7 IF_COM.STW2_inv.Q12 CB CTW2.11 inverse

0872 420,7 IF_COM.STW2_inv.Q13 CB CTW2.12 inverse

0873 420,7 IF_COM.STW2_inv.Q14 CB CTW2.13 inverse

0874 420,7 IF_COM.STW2_inv.Q15 CB CTW2.14 inverse

0875 420,7 IF_COM.STW2_inv.Q16 CB CTW2.15 inverse

1810 490,2 Free_FBs.Free_W_B_2.Q1 FreeWord2_0

1811 490,2 Free_FBs.Free_W_B_2.Q2 FreeWord2_1

1812 490,2 Free_FBs.Free_W_B_2.Q3 FreeWord2_2

1813 490,2 Free_FBs.Free_W_B_2.Q4 FreeWord2_3

1814 490,2 Free_FBs.Free_W_B_2.Q5 FreeWord2_4

1815 490,2 Free_FBs.Free_W_B_2.Q6 FreeWord2_5

1816 490,2 Free_FBs.Free_W_B_2.Q7 FreeWord2_6

1817 490,2 Free_FBs.Free_W_B_2.Q8 FreeWord2_7

1818 490,2 Free_FBs.Free_W_B_2.Q9 FreeWord2_8

1819 490,2 Free_FBs.Free_W_B_2.Q10 FreeWord2_9

1820 490,2 Free_FBs.Free_W_B_2.Q11 FreeWord2_10

1821 490,2 Free_FBs.Free_W_B_2.Q12 FreeWord2_11

1822 490,2 Free_FBs.Free_W_B_2.Q13 FreeWord2_12

1823 490,2 Free_FBs.Free_W_B_2.Q14 FreeWord2_13

1824 490,2 Free_FBs.Free_W_B_2.Q15 FreeWord2_14

1825 490,2 Free_FBs.Free_W_B_2.Q16 FreeWord2_15

1830 460,8 Free_FBs.andOR1.Q AND_OR1 (output, AND-OR logic)

1833 460,8 Free_FBs.andOR2.Q AND_OR2 (output, AND-OR logic)

2000 30,2 Constant.INT_Const.Y7 Constant, word 0

2001 30,2 Constant.INT_Const.Y8 Constant, word 1

2002 30,2 Constant.WORD_Const.Y5 Constant, word 16#FFFF

2003 160,6 CONTR.ErrorMask.QS Error status (for the basic drive)

2004 160,8 CONTR.WarnMaske.QS Alarm status (for the basic drive)

2005 40,7 CONTR.Statuswort.QS Status word, angular synchronism

2006 160,4 CONTR.Fehlerzustand.QS Error bits

2007 160,6 CONTR.Warnzustand.QS Alarm bits

2010 60,4 SYNCO2.SlavePulse.Y Encoder pulses, slave

2011 70,5 SYNCO2.MasterPulse.Y Encoder pulses, master

2020 60,7 SYNCO2.Slave.YFC Error code, slave-speed sensing

2021 70,7 SYNCO2.Master.YFC Error code, master

2025 52,8 T400_EA.Invert_Bin.QS Status binary input (binary inputs and inverse values)

2026 220,4 IF_CU.Steuerwort1.QS Control word1 CU

2027 220,8 IF_CU.Steuerwort2.QS Control word2 CU

2096 100.8 SYNCO2.Displace.FC Error identification, displacement calculation

2246 180,2 IF_CU.Q_ZWort1.Y Status word 1CU

2303 570,3 MUX_Peer.MUX_Peer_W1.Y Output, multiplexer for 1st PZD send peer-to-peer

2306 570,2 MUX_Peer.Festwert_Peer.Y Fixed value for PZD1 send peer-to-peer

2327 310,8 IF_Peer.Zustandswort1.QS Status word, peer

2329 300,7 IF_Peer.Peer_Empf_W1.Y PZD1 from peer

2330 300,7 IF_Peer.PZD2_PZD3.YWL PZD2 from peer

2331 300,7 IF_Peer.PZD2_PZD3.YWH PZD3 from peer

2332 300,7 IF_Peer.PZD4_PZD5.YWL PZD4 from peer

2333 300,7 IF_Peer.PZD4_PZD5.YWH PZD5 from peer

2346 310,2 IF_Peer.STW_NOP.Y Control word peer

Parameters and connectors

SPA440 angular synchronous control - SIMADYN D - Manual 111

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

2442 560,4 MUX_CB.MUX_COM_W1.Y Output, multiplexer word1 CB

2443 560,2 MUX_CB.Festwerte_CB.Y1 Fixed value for CB word 1

2444 560,7 MUX_CB.MUX_COM_W4.Y Output, multiplexer word4 CB

2445 560,6 MUX_CB.Festwerte_CB.Y2 Fixed value for CB word 4

2460 420,2 IF_COM.Verteil2.Y3 CB CTW1 (control word1 from CB)

2461 420,6 IF_COM.Verteil2.Y4 CB CTW2 (control word2 from CB)

2466 430,4 IF_COM.Zustandswort1.QS Status word1 CB

2467 430,8 IF_COM.Zustandswort2.QS Status word2 CB

2500 230,4 IF_CU.Sollwert_W2.Y Setpoint1 CU N2

2502 230,4 IF_CU.Sollwert_W3.Y Setpoint2 CU N2

2504 230,4 IF_CU.Sollwert_W5.Y Setpoint3 CU N2

2506 230,4 IF_CU.Sollwert_W6.Y Setpoint4 CU N2

2508 230,4 IF_CU.Sollwert_W8.Y Setpoint5 CU N2

2509 230,5 IF_CU.DW_W_CU.YWL Setpoint6 low CU

2510 230,5 IF_CU.DW_W_CU.YWH Setpoint6 high CU

2571 170,7 IF_CU.Verteilung.Y1 PZD1 from CU

2572 170,7 IF_CU.Verteilung.Y2 PZD2 from CU

2573 170,7 IF_CU.Verteilung.Y3 PZD3 from CU

2574 170,7 IF_CU.Verteilung.Y4 PZD4 from CU

2575 170,7 IF_CU.Verteilung.Y5 PZD5 from CU

2576 170,7 IF_CU.Verteilung.Y6 PZD6 from CU

2577 170,7 IF_CU.Verteilung.Y7 PZD7 from CU

2578 170,7 IF_CU.Verteilung.Y8 PZD8 from CU

2579 170,7 IF_CU.VerteilCU_CB.Y1 PZD9 from CU

2580 170,7 IF_CU.VerteilCU_CB.Y2 PZD10 from CU

2581 170,7 IF_CU.VerteilCU_CB.Y3 PZD11 from CU

2582 170,7 IF_CU.VerteilCU_CB.Y4 PZD12 from CU

2583 170,7 IF_CU.VerteilCU_CB.Y5 PZD13 from CU

2584 170,7 IF_CU.VerteilCU_CB.Y6 PZD14 from CU

2605 490,6 Free_FBs.DW_W1.YWH DW_W1 high (output, double word Þ

ÞÞ

Þ word converter high word)

2606 490,6 Free_FBs.DW_W1.YWL DW_W1 low (output, double word Þ

ÞÞ

Þ word converter low word)

2607 470,2 Free_FBs.ADDI_1.Y ADDI_Y (output, free adder type int)

2608 470,2 Free_FBs.SUBI_1.Y SUBI_Y (output, free subtractor type int)

2647 490,5 Free_FBs.R_I1.Y R_I1 (output, floating-point Þ

ÞÞ

Þ integer converter)

2706 450,7 IF_USS.USS_Dummy.Y1 PZD1 USS

2707 450,7 IF_USS.USS_Dummy.Y2 PZD2 USS

2766 490,8 Free_FBs.Float_N2.Y R_N2 (output, floating-point Þ

ÞÞ

Þ N2 converter)

2801 410,7 IF_COM.Verteilung.Y1 PZD1 from CB

2802 410,7 IF_COM.Verteilung.Y2 PZD2 from CB

2803 410,7 IF_COM.Verteilung.Y3 PZD3 from CB

2804 410,7 IF_COM.Verteilung.Y4 PZD4 from CB

2805 410,7 IF_COM.Verteilung.Y5 PZD5 from CB

2806 410,7 IF_COM.Verteilung.Y6 PZD6 from CB

2807 410,7 IF_COM.Verteilung.Y7 PZD7 from CB

2808 410,7 IF_COM.Verteilung.Y8 PZD8 from CB

2809 410,7 IF_COM.Verteil2.Y1 PZD9 from CB

2810 410,7 IF_COM.Verteil2.Y2 PZD10 from CB

2812 470,2 Free_FBs.DIVI_1.Y DIVI_1 Y (output, free divider type int)

2813 470,2 Free_FBs.DIVI_1.MOD DIVI_1 (modulo output, free divider type int)

2814 470,2 Free_FBs.MULI_1.Y MULI_1Y (output, free multiplier type int)

2822 440,3 IF_COM.Istwert_W2.Y Actual value1 CB

2823 440,3 IF_COM.Istwert_W3.Y Actual value2 CB

2824 440,3 IF_COM.Istwert_W5.Y Actual value3 CB

2825 440,3 IF_COM.Istwert_W6.Y Actual value4 CB

2827 440,7 IF_COM.Ist_RI.Y Actual value R_I CB

Parameters and connectors

112 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

TC Chart Path Name Significance

2828 440,4 IF_COM.Ist_DW_W.YWH Actual value5 high CB

2829 440,4 IF_COM.Ist_DW_W.YWL Actual value5 low CB

2960 30,6 Constant.INT_Const.Y1 Fixed value I1 (16 bit, signed)

2961 30,6 Constant.INT_Const.Y2 Fixed value I2

2962 30,6 Constant.INT_Const.Y3 Fixed value I3

2963 30,6 Constant.INT_Const.Y4 Fixed value I4

2964 30,6 Constant.INT_Const.Y5 Fixed value I5

2965 30,6 Constant.INT_Const.Y6 Fixed value I6

2971 30,6 Constant.WORD_Const.Y1 Fixed value W1 (16 bit, unsigned)

2972 30,6 Constant.WORD_Const.Y2 Fixed value W2

2973 30,6 Constant.WORD_Const.Y3 Fixed value W3

2974 30,6 Constant.WORD_Const.Y4 Fixed value W4

3000 30,2 Constant.Float_Const.Y1 Floating-point constant 0.0

3001 30,2 Constant.Float_Const.Y2 Floating-point constant 1.0

3002 30,2 Constant.Float_Const.Y3 Floating-point constant 2.0

3003 30,2 Constant.Float_Const.Y4 Floating-point constant 0.5

3004 30,2 Constant.Float_Const.Y5 Floating-point constant -1.0

3012 60,5 SYNCO2.SlaveNnenn.Y Rated speed, slave

3013 70,4 SYNCO2.MasterNnenn.Y Rated speed, master

3014 60,8 SYNCO2.n_Slave.Y Speed, slave

3015 60,7 SYNCO2.Master.Y Speed, master

3016 60,8 SYNCO2.Slave.YP Position, slave

3017 60,8 SYNCO2.Master.YP Position, master

3018 60,8 SYNCO2.Slave.Y Speed, slave normalized

3019 60,7 SYNCO2.Master.Y Speed, master normalized

3040 500,3 MUXsoll.MUX_Uebersetzung.Y Output multiplexer ratio

3043 30,7 SYNCO1.CONST_UEB.Y1 Fixed value ratio

3044 80,4 SYNCO1.UE4PRO.Y Ratio with supplementary ratio and relative ratio

3047 80,1 SYNCO1.CONST_UEB.Y3 Fixed value supplementary ratio

3048 500,5 MUXsoll.MUX_RelUebersetz.Y Output multiplexer relative ratio

3049 30,7 SYNCO1.CONST_UEB.Y2 Fixed value relative ratio

3050 500,4 MUXsoll.MUX_Versatz.Y Output multiplexer displacement setpoint

3051 110,2 SYNCO2.Q_Versatz.Y Displacement setpoint before the ramp-function generator

3056 110,4 SYNCO2.HLG_Versatz.Y Displacement setpoint after the ramp-function generator

3060 80,2 SYNCO1.CONST_UEB.Y4 Value for ratio (without rel. ratio; without supplementary ratio)

3061 80,2 SYNCO1.CONST_UEB.Y5 Value for relative ratio

3062 100,7 SYNCO1.DREFSS.Y Direction of rotation-dependent displacement

3066 30,7 SYNCO1.FixVersatz.Y Fixed value displacement

3070 500,8 MUXsoll.MUX_Leitsollwert.Y Output, multiplexer master setpoint

3073 30,7 SYNCO1.fixLeitsoll.Y Fixed value, master setpoint

3074 115,7 SYNCO1.SREFSM.Y Master setpoint, smoothed

3076 115,2 SYNCO1.Leitsollwert.Y Master setpoint

3080 500,7 MUXsoll.MUX_BAusgleich.Y Output, multiplexer inertia compensation

3085 120,8 SYNCO1.DT1_BAusgleich.Y DT1 (n_set)

3091 100,8 SYNCO2.Displace.CVP Correction pulses (to correct the position difference)

3094 100,8 SYNCO2.Displace.DV Displacement actual value

3095 100,8 SYNCO2.Displace.DVD Displacement - position difference

3117 60,8 SYNCO2.Slave.YDP Inverse position difference

3118 60,8 SYNCO2.YDP_neg.Y Position difference

3120 110,8 SYNCO2.PT_Angle.Y Angular controller output

3121 110,5 SYNCO2.AngleControl.YE System deviation of the angular controller

3122 110,7 SYNCO2.AngleControl.YI I component of the angular controller

3123 110,4 SYNCO2.AngleKP.Y KP angular controller

3124 60,8 SYNCO2.LageDifferenz.Y Position difference smoothed

3129 115,7 SYNCO1.HLG_Speed.Y speed septpoint after the ramp-function generator

Parameters and connectors

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TC Chart Path Name Significance

3130 115,2 CONTR.TIPPEN.Y Jog setpoint (fixed value)

3136 115,4 SYNCO1.SREFR.Y Setpoint speed, slave

3137 120,2 SYNCO2.NsollLimit.Y Speed setpoint limited

3145 120,6 SYNCO2.SpeedControl.YI Integral component of the speed controller

3146 60,8 SYNCO2.NslaveFilter.Y Speed, slave smoothed

3150 120,8 SYNCO2.SpeedControl.Y Speed controller output

3151 120,4 SYNCO2.SpeedControl.YE Speed controller system deviation

3152 115,8 SYNCO2.SetpSwitch.Y Setpoint for the basic drive (n_set or Mset)

3153 120,7 SYNCO2.SpeedKP.Y KP speed controller

3176 115,7 SYNCO1.Tippen-Schalter.Y Jog setpoint

3186 60,2 SYNCO2.Pos_Slave_Abs.Y Absolute position actual value of the slave

3199 70,8 SYNCO2.Pos_Master_Abs.Y Absolute value (position, master)

3223 50,6 T400_EA.AE1_FILT.Y AE1 smoothed

3225 50,6 T400_EA.AE2_FILT.Y AE2 smoothed

3227 50,6 T400_EA.AE3_FILT.Y AE3 smoothed

3229 50,6 T400_EA.AE4_FILT.Y AE4 smoothed

3234 100,5 SYNCO2.Displ_Ist.Y Differential position value to determine the displacement

3304 570,6 MUX_Peer.MUX_Peer_W2.Y Output multiplexer for 1st floating-point value, send peer

3305 570,8 MUX_Peer.MUX_Peer_W3.Y Output multiplexer for 2nd floating-point value, send peer

3330 300,3 IF_Peer.PZD2_PZD3.YR Peer float 1 (receive)

3332 300,3 IF_Peer.PZD4_PZD5.YR Peer float 2 (receive)

3446 550,3 MUX_CB.MUX_CB_W2.Y Output, multiplexer word2 CB

3447 550,5 MUX_CB.MUX_CB_W3.Y Output, multiplexer word3 CB

3448 550,6 MUX_CB.MUX_CB_W5.Y Output, multiplexer word5 CB

3449 550,8 MUX_CB.MUX_CB_W6.Y Output, multiplexer word6 CB

3450 410,7 IF_COM.Sollwert_W2.Y Setpoint1 CB

3452 410,7 IF_COM.Sollwert_W3.Y Setpoint2 CB

3454 410,7 IF_COM.Sollwert_W5.Y Setpoint3 CB

3456 410,7 IF_COM.Sollwert_W6.Y Setpoint4 CB

3551 170,7 IF_CU.Istwert_W2.Y Actual value1 CU

3553 170,7 IF_CU.Istwert_W3.Y Actual value2 CU

3555 170,7 IF_CU.Istwert_W5.Y Actual value3 CU

3570 170,7 IF_CU.CU_DI_R.Y CU DW_R (double word as floating-point value)

3589 170,7 IF_CU.CU_N4_R.Y CU N4_R (double word in the N4 normalization Þ

ÞÞ

Þ floating-point)

3591 170,7 IF_CU.CU_I_R.Y CU actual value_I_R

3604 490,5 Free_FBs.I_R1.Y I_R1 (output, integer Þ

ÞÞ

Þ floating-point converter)

3618 510,4 MUX_AnaOut.MUX_DAC_1.Y Output, multiplexer DAC1

3619 510,7 MUX_AnaOut.MUX_DAC_2.Y Output, multiplexer DAC2

3666 51,3 T400_EA.Filt_DAC1.Y Analog output 1

3667 51,3 T400_EA.Filt_DAC2.Y Analog output 2

3706 460,2 Free_FBs.Switch1.Y Switch1 (output, free changeover switch)

3716 460,4 Free_FBs.Switch2.Y Switch2 (output, free changeover switch)

3740 480,2 Free_FBs.FreePT1.Y PT1_out (output, free lowpass filter)

3742 480,5 Free_FBs.SperrFilt.Y Output, bandstop

3747 480,8 Free_FBs.Begrenzer.Y Output, free limiter

3753 480,3 Free_FBs.Kennlin.Y Output, free 2-point characteristic

3763 490,7 Free_FBs.Free_N4_R.Y DW_float (output, double word Þ

ÞÞ

Þ floating-point converter)

3765 490,5 Free_FBs.Free_N2_R.Y Word_float (output, word Þ

ÞÞ

Þ floating-point converter)

3786 470,4 Free_FBs.ADD1.Y ADD_1 (output, free adder)

3789 470,4 Free_FBs.ADD2.Y ADD_2 (output, free adder)

3792 470,2 Free_FBs.SUB1.Y SUB_1 (output, free subtractor)

3794 470,4 Free_FBs.SUB2.Y SUB_2 (output, free subtractor)

3796 470,6 Free_FBs.MUL1.Y MUL_1 (output, free multiplier)

3799 470,6 Free_FBs.MUL2.Y MUL_2 (output, free multiplier)

3802 470,6 Free_FBs.DIV1.Y DIV_1 (output, free divider)

Parameters and connectors

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TC Chart Path Name Significance

3804 470,6 Free_FBs.DIV2.Y DIV_2 (output, free divider)

3818 410,7 IF_COM.Sollw_IR.Y Setpoint I_R CB

3819 480,7 Free_FBs.Integrator.Y Output, free integrator

3821 410,7 IF_COM.Sollw_N4.Y Setpoint DW CB

3825 460,6 Free_FBs.Switch3.Y Switch3 (output, free changeover switch)

3827 460,8 Free_FBs.Switch4.Y Switch4 (output, free changeover switch)

3990 30,5 Constant.Const_Float.Y1 Fixed value1 R1 (floating-point)

3991 30,5 Constant.Const_Float.Y2 Fixed value1 R2 (floating-point)

3992 30,5 Constant.Const_Float.Y3 Fixed value1 R3 (floating-point)

3993 30,5 Constant.Const_Float.Y4 Fixed value1 R4 (floating-point)

3994 30,5 Constant.Const_Float.Y5 Fixed value1 R5 (floating-point)

3995 30,5 Constant.Const_Float.Y6 Fixed value1 R6 (floating-point)

3996 30,5 Constant.Const_Float.Y7 Fixed value1 R7 (floating-point)

3997 30,5 Constant.Const_Float.Y8 Fixed value1 R8 (floating-point)

4114 72,2 IN_AENC.S_AENC.Y Speed actual value AENC1, slave

4115 72,2 IN_AENC.S_AENC.YP Position counter AENC1, slave

4116 72,2 IN_AENC.S_AENC.YRC Revolution counter AENC1, slave

4125 72,2 IN_AENC.S_POS.Y Position actual value AENC1, slave [length units]

4214 72,2 IN_AENC.M_AENC.Y Speed actual value AENC2, master

4215 72,2 IN_AENC.M_AENC.YP Position counter AENC2, master

4216 72,2 IN_AENC.M_AENC.YRC Revolution counter AENC2, master

4225 72,2 IN_AENC.M_POS.Y Position actual value AENC2, master [length units]

4300 72,5 IN_AENC.DELTA_Pos.Y Differential position master – slave [length units]

5000 30,2 Constant.DINT_Const.Y8 Double word, constant 0

5001 30,2 Constant.DINT_Const.Y7 Double word, constant 1

5086 80,4 Constant.DINT_Const.Y1 Fixed value fine ratio, numerator

5087 80,4 Constant.DINT_Const.Y2 Fixed value fine ratio, denominator

5088 80,7 SYNCO1.FEIN_NM.Y Ratio, numerator

5089 80,7 SYNCO1.FEIN_DN.Y Ratio, denominator

5330 300,7 IF_Peer.PZD2_PZD3.YDI Peer DW1 (receive)

5332 300,7 IF_Peer.PZD4_PZD5.YDI Peer DW2 (receive)

5567 170,6 IF_CU.W_DW.Y Output of the word Þ

ÞÞ

Þ double word conversion for PZD from the

5814 470,2 Free_FBs.MULI_1.YDI MULI_1 (double word output, free multiplier type int)

5816 490,6 Free_FBs.WDW1.Y W_DW1 (output, word Þ

ÞÞ

Þ double word converter)

5981 30,8 Constant.DINT_Const.Y3 Fixed value DI1 (double word)

5982 30,8 Constant.DINT_Const.Y4 Fixed value DI2

5983 30,8 Constant.DINT_Const.Y5 Fixed value DI3

5984 30,8 Constant.DINT_Const.Y6 Fixed value DI4

Start-up

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5 Start-up

WARNING

Only start to commission the system, if adequate and effective measures have

been made to ensure that the system and drive can be safely electrically and

mechanically used.

Ensure that all of the safety- and EMERGENCY OFF signals are connected

and effective and that the drive can be powered-down at any time.

5.1 Commissioning, general

The principal commissioning sequence is shown as follows:

Commissioning the basic drive

Parameterization, basic drive f. oper. w/ the T400

Commission the open-loop control

Parameterize the setpoint input

Commission the closed-loop technology control

Fig. 5-1 Commissioni ng sequence

We recommend that the sequence, shown in Fig. 5-1, is maintained when

starting-up the equipment, so that possible problems which occur, can be

more easily pinpointed.

The basic drive should be commissioned according to the Operating

Instructions of the drive converter (e.g. Lit.[1]).

In order to be able to use the SPA440 standard software package, the

parameters, listed in Table 2-1 and Table 2-2 must be set on the basic

drive for the setpoint/actual value channels and for the CU control.

All of the enable signals, used in the standard software package, are

listed in Table 5-1, and should be switched-in or set according to the

particular application.

Commissioning,

basic drive

Parameterization,

basic drive for use

with T400

Start-up

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Control Parameter Explanation

Enable:

• Synchronizing H174

• Angular controller H172, H118 External and internal enable

• Speed controller

• COMBOARD

• Peer-to-peer

• Jog

H140 = 1

H409

H309

H171

Speed controller activated on T400

Enable COMBOARD communications

Enable peer communications

Enable Jog

Reset:

• Position

(master/slave)

• Displacement

calculation

H173

H170

Table 5-1 Control signal s

The enabling and appropriate input for particular functions must be set.

An oscilloscope should be used to evaluate the control quality and, if

required, to check the pulse encoder signals. Further, the displacement

can be easily visualized by plotting the synchronizing marks (zero pulses)

in 2 channels. When setting displacement values, a storage oscilloscope

or a stroboscope is extremely helpful.

The flowcharts in Fig. 5-1 show the sequence when commissioning the

three main functions - speed controller, angular controller and

synchronization.

Information on the following flowcharts:

Signficance:

Additional information under n) at the

transition to the particular flowchart

Notes

Flowcharts

Start-up

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5.2 Commissioni ng, closed-loop speed control

Start

First time that the basic driveis commissioned

- motor data, drive converter data

- if required, log-on the T400

CU signals an error?

F080, F070

Speed sensing

- H010 encoder pulses, slave

- H011 encoder pulses, master

- H012 rated speed, slave

- H013 rated speed, master

- H018 operating mode, slave speed sensing

- H019 operating mode, master speed sensing

- H022 coarse pulse mode, slave

- H023 coarse pulse mode, master

Power-down the equipment and power-up again

(accept initialization parameter)

Enable errors and alarms

- H003 fault mask

- H004 alarm mask

Basic drive interface

- setpoint channels according to Table 2.1

- actual value channels according to Table 2.2

Define sources for setpoints

- H040 speed ratio

- H048 relative ratio

- H050 offset setpoint

- H070 master setpoint

- H080 inertia compensation

Define sources for control signals

- H170 offset reset

- H171 jog enable

- H172 ang. controller enable = 0 (actually, inhibit)

- H173 reset position

- H174 synchronizing command

Select process data to the basic drive

- H510 ... H525 control word 1

- H526 ... H544 control word 2

- H501 ... H509 normalization PZD1, 2, 3, 5 and 8

Scaling of the analog inputs used

- H210 ... H220 scaling and offsets

- H222 ... H228 smoothing times

Check hardware Power-down equipment

Fig. 5-2 Start-up, cl osed-loop speed control (start-A): Speed actual value sensing, setpoi nt

Start-up

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Drive rotates?

Enter master setpoint, approx. 0.05

(e.g. via fixed value)

Speed actual value

present? (d014)

Speed and torque

sign the same?

Drive rotates in the

required direction?

Setpoint, ON command, all

enable signals available?

CU torque limits high enough?

Drive overloaded,

locked, blocked?

Slowly increase the torque limi

until the drive rotates or the

maximum value is reached

Check tracks A, B ; if

required interchange

Speed sign

correct?

Yes

OFF

Power-down unit

Power down

Remove cause

Yes

Fig. 5-3 Commissioning the c l osed-loop speed control (A-B): Dri ve rotates , torque

Start-up

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Increase the speed

setpoint by 0.05 .. 0.1

up to max. speed

OFF

Does the

speed actual value

d014 and setpoint

d136 coincide?

Setpoint

limiting?

Does the slave drive

run smoothly ?

Required torque

selected?

Increase the torque limits by

between 5% to 10% until the

required torque is reached

Rated or maximum speed

reached?

Set the ramp-up and ramp-down

times of the speed ramp-function

generator of the basic drive

(e.g. CUMC: P462, P464)

Optimize the speed

controller

Satisfactory result

attainable ?

Check:

pulse encoder setting;

torque limits

Yes

Fig. 5-4 Commissioning the c l osed-loop speed control (B-C): Speed controller optimization, torque limit

Start-up

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Speed control

subsequently optimized?

Does jog function ?

Optimize controller

Yes

Setpoints, check ON/OFF

control

Fixed ratio?

For each requested ratio, approach the maximum

demanded operating speed

Master speed = slave speed

d015 = ü · d014 ?

Sources for

the ratio correct?

(H040, H048)

Setpoint speed = master setpoint / ü

d136 = d076 / d044 ?

Is synchronism used at very low

speeds?

For safety, check the pulse encoder

signals

Speed control start-up completed

Yes

Setpoints, check ON/OFF

control

No Yes

Change the ratio or reduce

the master setpoint

Refer to the KP adaption,

speed controller

(Section 3.5.4)

Fig. 5-5 Commissi oni ng the closed-l oop speed control (C-end): Ratio

Start-up

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The fault/error causes specified here represent help when troubleshooting

the closed-loop speed control; however, other causes are conceivable.

The following table provides an overview of frequently required basic drive

parameters when troubleshooting. Also refer to the setpoint- and actual

value channels in Table 2-1 and Table 2-2.

Parameter CU 2 CU MC CU VC DC-Master

T400 log-on P090 Automatic

COMBOARD log-on P091 Automatic

Configuration, serial interface P682 ... P700 ...

Configuration, CB1 /CBP P695 ... P711 ...

Control word 1 r550 r550 r650

Control word 2 r551 r551 r652

Status word 1 r552 r552 r653

Status word 2 r553 r553 r654

Closed-loop control mode (V/Hz, ..) P163 P367

Speed limit values n_max

n_min

P452

P453,P457

P452

P453

P642, P632

P643, P633

Torque limit values M_max / M1

M_min / M2

P492

P498

P263

P264

Maximum current P128

Speed ramp-funct. gener. ramp-up time

ramp-down time

P462

P464

P462

P464

Reference speed P353

Reference torque P485 P354

Establish factory setting P052

Motor identification routine P052

Table 5-2 List of i mport ant paramet ers for troubles hooting in the bas i c drive

a) Basic drive signals fault F080:

T400 correctly inserted, correct slot? T400 defective? SPA440 standard

software package on T400? Does T400 have to be logged-on? CB

correctly inserted, correct slot? CB defective?

b) Basic drive signals fault F070:

If parameterized (P91=3), correct interface module type? SCB1/2 inserted

correctly for the selected protocol (P682)? Correct slot? Hardware

defective? If required, replace the module

c) Drive does not rotate when an ON command is output and a setpoint

is present:

Check whether all of the required control word enable signals are present

(setpoint-, inverter-, ramp-function generator enabled, clockwise/counter-

clockwise direction of rotation, etc.): Control word =

16#9C7F

Setpoint available (d074)? Ratio correctly entered (d136)? Setpoint

channel correctly set in the basic drive? Correct frequency limits?

d) Drive does not rotate, although all of the enable signals present:

Can the drive be operated V/Hz-controlled or closed-loop frequency

controlled?

Start-up

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If required, establish the factory setting and carry-out a motor

identification routine.

e) No speed actual value:

Wiring correct (ground connections)?

For the slave drive: Are the speed encoder cables correctly connected

to the CU (for VC: Connector X132)?

For the master drive: T400 connecting cables O.K.?

Power supply voltage at the pulse encoder?

Are all of the signals available with respect to ground and do they have

the correct phase position (oscilloscope!)?

Yes: Defective technology module? Replace the technology

module

No: Check the pulse encoder and cables

f) Polarity of the torque setpoint- and speed actual value different:

Prerequisite: The motor is not driven:

If the drive converter and pulse encoder are correctly connected, for a

positive torque setpoint, the motor must turn clockwise (when viewing the

drive side), and a positive speed actual value must be obtained.

Otherwise, tracks A and B of the pulse encoder must be interchanged

(slave), or a negative value entered at H012 (rated speed, slave) (this is

accepted by powering-down and powering-up the unit!).

Note: For motors running under no-load conditions or under low

conditions, fluctuations can occur, also in the polarity (sign).

g) The drive does not rotate in the required direction:

Power-down the unit, change the phase sequence at the motor/drive

converter (point f) check!),

Reverse the direction of rotation, speed actual value by

- interchanging pulse encoder track A/B or,

- reverse the polarity at H012 (rated speed, slave)

h) Setpoint limiting is effective:

The quotient of the master setpoint (d074) and the ratio (d044) may not

exceed or fall below the setpoint limits, min/max frequency.

i) Poor optimization:

Execute the motor identification run and optimize the speed controller.

Are all of the units which are used O.K.?

Have all of the cables (especially the pulse encoder cables) been carefully

routed and shielded, especially the long encoder cables?

Does the subordinate (lower level) closed-loop torque control operate

perfectly (test parameterization, motor data, etc.)?

Is the driven load mechanically O.K. (no play, elasticity, etc.)?

Is the pulse encoder mechanically O.K.?

k) Checking the pulse encoder signals:

The pulse encoder signals must be perfectly received (no noise) when

using the angular synchronous control. We therefore urgently recommend

that the following measurements are made using an oscilloscope (directly

at the terminals of the T400; refer to Function Charts 60 and 70):

1) At all speeds, the phase shift between tracks A and B of an encoder

must be 1 µs.

2) Noise spikes (duration > 0.5 µs) may not be present in the vicinity of

the switching threshold of the pulse encoder input circuit, i.e. not in the

Start-up

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range B:

U / V

Fig. 5-6: Signals of an incremental enc oder with HTL si gnal l evel

3) If a synchronizing pulse is used, we recommend that an oscillogram

plot is made of it.

5.3 Commissioni ng the angul ar control

The fault causes, specified here are intended to help troubleshoot the

angular control; however, other causes are conceivable.

a) The differential position actual value quickly moves away from 0 after

the actual value sensing has been enabled (angular controller):

The pre-control has been correctly set, if the differential position actual

value only very slowly drifts away from zero without the angular controller

intervening. The prerequisites for this are:

- the master drive runs smoothly (speed controller optimization),

- the master setpoint corresponds to the master drive speed,

- the slave drive runs smoothly (speed controller optimization),

- when the master setpoint is entered as analog signal, the adaption is

correct

b) If the differential position actual value is too high, possible causes

could be:

- Speed controller goes to its limit?

Yes: Þ

ÞÞ

Þ correctly select the torque limits, remove the overload

condition

- Angular controller goes to its limit?

Yes: Þ

ÞÞ

Þ ensure that

frequency limit > [speed setpoint (d136) + angular controller limit

(H112)] !

- If required adapt the enable threshold of the angular controller,

H118

c) Check the ratio which has been set and the data on the present ratio.

If possible, check, for example, the synchronizing pulses and a connected

process or material web. For example, does it continually move away

from the required position?

Start-up

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The position difference

d124 only drifts slowly away?

Set the largest ratio which is used (or fixed)

Start

Set the angular controller limit to H112 = 0.0

Set "reset position" constant to 0 ;

source H173 = 0

Enter the largest possible speed master setpoint

Enable the angular controller: H173 = 1

Pre-control has been optimized

Inhibit the angular controller, H173 = 0

Set the angular controller limit H112 to the

required value (generally between 0.1 and 0.3)

Switch the angular controller into the P controller

mode: H110 = 1

Set the KP gain H113 to 0.0

Position difference smoothing, H117 = 4 ms

Inhibit the ang.controller, H173 = 0

Yes

Fig. 5-7: Commissioning t he angul ar control (start-A): Basi c setting

Start-up

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Position difference

d124 within the required

tolerance?

Enable angular controller: H173 = 1

Optimize the angular controller

(as PI controller:

H110 = 0)

- KP: H113

- integral action time Tn: H111

(refer to the next section)

Are different ratios used?

P-gain adaption (ratio)

- enter the largest/smallest ratio in H115 / H116

- after optimization, enter the associated KP values in H113 /

H114

All of the different ratios

can be set?

Position difference

d124 within the required

tolerance?

All

required speeds can

be set?

Define the "reset position" source, H173

Angular controller

commissioning completed

Yes

Fig. 5-8 Commissi oni ng the angular control (A-end): Ratio

Start-up

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5.3.1 Information regarding optimizing the angular controller

Procedure:

1. If there are low to average demands placed on the control quality:

Set the experience value:

A KP of between 2 and 6 provides, for many applications, adequate

precision and dynamic performance.

2. For average up to high demands on the dynamic performance, or if

the experience value does not result in a satisfactory result:

- Enter a master setpoint of 0

- Increase the P gain in steps of 2 until the slave drive starts to oscillate.

The speed actual value can be monitored at analog output 1 (terminals 97

/ 99). If the slave drive remains absolutely steady for a P gain > 2, then it

is necessary to excite oscillation by deflecting the motor from its quiescent

position. This can be realized, for example, by entering a jog setpoint

(H130, approx. 0.01; enable H171).

- Reduce the P gain H113 in steps of between 0.5 to 1 until oscillation

stops. Then multiply the value which was reached, by 0.5 to 0.7 and save

H113.

3. For high demands placed on the control quality:

- For high demands placed on the control quality, the speed actual

value must be extremely accurate, e. g. via analog output 1 (terminals 97

/ 99) trace the signal using a fast plotter or a storage oscilloscope. In this

case, the speed actual value is compensated by offset value H160 and

the analog output gain can be adapted using H161 so that the speed

ripple can be easily monitored.

- For average slave drive speeds, excite using the jog setpoint

(parameter H130 = 0.01), and monitor the transfer characteristic. The

simplest solution is to write an enable signal using a switch connected to

a digital input. Vary the P gain until a good result is achieved.

- Under certain circumstances, the optimization result can be improved

by increasing the position differe nce smoothing (H117). However,

generally the default value of 4 ms should be used.

4. Angular errors

- If the master setpoint is inaccurate, (e. g. if fed via an analog input or if

incorrectly adapted (rated speed)), the P control results in an angular

error which is dependent on the P gain. If this error causes disturbances,

the angular controller must be parameterized as PI controller (H110 = 0).

The integral action time should be set using parameter H111. Starting

with high values of Tn (approx. 5 s), the system should be optimized and

Tn changed towards lower values.

- If the ratio was incorrectly set, an enabled integral component would

”drift away”, i. e. would go to its limit.

Start-up

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5.4 Commissioning synchronization

When commissioning the synchronization, the speed- and angular control

must have been completely commissioned. The synchronizing function

must be inhibited (H174 = 0) if synchronization is not required.

Number of

synchronizing pulses the same

(do they slowly drift

apart)?

Offset setpoint = 0.0 (H050 = 0)

Start

Set parameters

(refer to Section 3.3.1)

- H091 ... H093 offset modes and correction pulse No.

- H100, H102 pulse numbers, master and slave

- H103 threshold for synchronism reached

- H174 source for synchronizing command

Inhibit synchronizing (H174 = 0)

Enable the speed- and angular controllers

Operate the master- and slave drive at approx.

30% of the rated speed

Inhibit synchronizing (H174 = 1)

Slave drive runs smoothly?

Inhibit speed- and angular controlle

OFF

Yes

Fig. 5-9 Commissi oni ng synchronizing (start-A )

Prerequisite

Start-up

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The synchronizing function is only possible when the synchronizing

pulses are perfect (e. g. zero pulses). The cable routing should be

checked so that it provides immunity against noise and disturbances, and

is sufficiently shielded; the synchronizing pulse shapes must be checked

using an oscilloscope.

Enter offset values

(refer to Section 3.4.2)

Start

Wait,

if required increase the

correction pulse number

H093

(e. g. from 1 to 2)

If synchronizing hasn't been realized

after approx. 30 s (|d095|>32765),

then an excessive system deviation

has built-up

Wait

End

Number of

synchronizing pulses the same

and they do no drift

apart (1) ?

Offset value

d094 in the required range?

Are

offset values

required ?

Are the

offset values

reached (1) ?

|d095|

Offset - position difference < 32765

Yes

(1) Monitor the signals using an oscilloscope

or connect the synchronizing pulses to a

stroboscope

Fig. 5-10 Commissioning s ynchronizing (A-end)

The synchronizing troubleshooting information represents a help when

troubleshooting; however, other causes are conceivable.

a) The number of synchronizing pulses from the master and slave are

not equal in any time unit:

- Check the master setpoint

- Check the ratio (ü ⋅ nset slave ≅ nact

Caution

Start-up

SPA440 angular synchronous control - SIMADYN D - Manual 129

6DD1903-0BB0 Edition 05.01

master d015)

- Check the synchronizing pulses/signal encoder

b) The slave drive does not run smoothly after synchronizing has been

enabled:

- If possible, reduce the correction pulse number H093 (minimum = 1),

- Check the synchronizing pulse trains

- Check the speed- and angular controller optimization; if required, re-

optimize.

- Check the master drive; if required, re-optimize the master drive

- Investigate the mechanical system for play, torsional oscillations etc.

c) The number of synchronizing pulses from the master and slave are

not equal after synchronizing has been enabled, in any time unit:

- Check the synchronizing pulses/signal encoder

- Check the displacement parameters (H050 to H067 and H090 to

H107) Especially check the synchronizing pulse numbers

d) Synchronization has not been completed (absolute displacement

actual value - position difference > 32765)

- Refer to c)

- If displacement d094 has an increasing trend, then the correcting

influence of the synchronizing is probably too low Þ

ÞÞ

Þ slightly

increase H093 (e.g. from 1 to 2); commence again at the start

e) Displacement setpoints are not reached:

- Check the parameterization (H050 to H067 and H090 to H107)

(displacement setpoint limiting reached?)

- Check the mechanical design and if required change

- Check the response threshold H103

5.5 Tr ace function with “symTrace-D7”

With “symTrace-D7”, a product from the company “sympat”, it is possible

to establish a connection to an application based on D7-SYS (e.g. the

axial winder SPW420). With “symTrace-D7” you are able to trace every

value in your CFC-application.The trace offers you two different options:

online and offline trace. With the online trace you can trace values in

intervals of a few ten-milliseconds. This is only practical for slowly

changing values, e.g. the diameter actual value.

If you want to trace quickly-changing values you need the offline trace.

With this option you can trace values within the shortest cycle-time.

Therefore the values must be saved in a buffer. Some special function

blocks have been placed in the project for that reason. You will find them

in the plan “TRACE”.

With the parameter L400 you are able to change the length of the trace-

buffer. The standard setting is 2048 (double words). Furtheron with the

c401 and c402 two display parameters show you the state of the trace

coupling (-> see parameter list).

For more information please read the online help in “symTrace-D7”.

Literature

130 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

6 Literature

1. Instruction Manual for SIMOVERT Master Drives -- Vector Control

(VC), types of construction A to D, Order No.: 6SE7080-0Ad20, 1995.

2. Instruction Manual for SIMOVERT Master Drives -- Communications

module CB1, Order No.: 6SE7087-6CX84-0AK0, 1994.

3. Configuring Communications D7-SYS- SIMADYN D Manual, Order

No. 6DD1987-1AA1, Oct. 1997.

4. Hardware - SIMADYN D Manual, Order No. 6DD1987-1BA1, 1997.

5. SIMADYN D, Function Block Library, Reference Manual, Order No.

6DD1987-1CA1, October 97.

Appendix

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7 Appendix

Para. Factory set Units Start-up val ue Significance Type

H000 0 Language selection I

d001 440 Software type (identification) i

d002 2.1 Software version I

H003 16#0000 Fault message enable W

H004 16#0000 Alarm message enable W

d005 Status word, angular synchronism W

d006 Error bits W

d007 Alarm bits W

H008 0 TechBoard parameter type (1= floating point) BO

H009 0 T400 = baseboard BO

H010 1024 Pulse Encoder pulse number, slave (pulse number) I

H011 1024 Pulse Encoder pulse number, master (pulse number) I

H012 1500.0 RPM Rated speed, slave R

H013 1500.0 RPM Rated speed, master R

d014 Speed actual value, slave / H012 R

d015 Speed actual value, master / H013 R

d016 Pulse Position actual value, slave R

d017 Pulse Position actual value, master R

H018 16#7FE2 Slave speed sensing mode W

H019 16#7F02 Master speed sensing mode W

d020 Error code, slave speed sensing W

d021 Error code, master speed sensing W

H022 16#0000 Coarse pulse mode, slave sensing W

H023 16#0000 Coarse pulse mode, master sensing W

H024 0 COMBOARD parameter type (1= floating point) BO

d025 Status of the digital inputs W

d026 Control word1 for the basic drive converter W

d027 Control word2 for the basic drive converter W

d028 ..

d039

Free visualization parameter. Selecting the source using

parameters L028 .. L039

H040 1 Multiplexer selection, ratio I

H041 3047 Source for the supplementary ratio I

H043 1.0 Fixed value, ratio R

d044 Actual ratio R

d045 Pulse Ratio, numerator R

d046 Pulse Ratio, denominator R

H047 0.0 Fixed value, supplementary ratio R

H048 1 Multiplexer, relative ratio I

H049 1.0 Fixed value, relative ratio R

H050 1 Multiplexer, displacement setpoint I

H051 3050 Source for the displacement setpoint I

H052 2.5 ms Ramp-up time, displacement setpoint SD

H053 2.5 ms Ramp-down time, displacement setpoint SD

H054 +2048 Pulse Maximum value, displacement setpoint (positive) R

H055 -2048 Pulse Maximum value, displacement setpoint (negative) R

d056 Pulse Actual displacement setpoint R

H057 0175 Source, setting signal for the displacem.ramp-function

gener.

Appendix

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Para. Factory set Units Start-up val ue Significance Type

H058 3012 Source for the normalization factor, slave speed I

H059 3013 Source for the normalization factor, master speed I

d060 Ratio_1 (refer to Chart 80) R

d061 Relative ratio R

H062 0.0 Pulse Synchronizing displacem. setpoint n_master ≥ 0, n_slave ≥

H063 0.0 Pulse Synchronizing displacem. setpoint n_master < 0, n_slave ≥

H064 0.0 Pulse Synchronizing displacem. setpoint n_master ≥ 0, n_slave <

H065 0.0 Pulse Synchronizing displacem. setpoint n_master < 0, n_slave <

H066 0.0 Pulse Fixed value, displacement setpoint R

H067 3040 Source for the ratio I

H068 3048 Source for the relative ratio I

H070 15 Multiplexer for the master speed setpoint R

H071 3070 Source for the master speed setpoint I

H072 10 ms Smoothing, master speed setpoint SD

H073 0.0 Fixed value, master speed setpoint R

d074 Actual master speed setpoint, smoothed R

d076 Master speed setpoint (before smoothing) R

H077 5088 Source for numerator (ratio to determine the displacement) I

H078 5089 Source for the denominator (ratio to determine the

displacement)

H079 3129 Source for input DT1 (inertia compensation) I

H080 1 Multiplexer selection, inertia compensation I

H082 100 ms Smoothing time, inertia compensation SD

H083 4 ms Differentiating time, inertia compensation R

d085 Output DT1 (inertia compensation) R

H086 1000 Fine setting, ratio, numerator DI

H087 1000 Fine setting, ratio, denominator DI

H088 0 Enable fine setting, ratio BO

H090 1 Position correction mode BO

H091 0 RETRIGGER synchronizing BO

H092 0 Synchronizing command, edge-controlled BO

H093 1.0 Pulse Correction pulse number R

d094 Pulse Displacement actual value R

d095 Pulse Displacement actual value - differential position actual

value

d096 Error identification, displacement sensing W

H097 0108 Source 2 for reset, position and displacement I

H098 0101 Source for the synchronizing command 2 I

H100 4096 Pulse Synchronizing pulse number, master DI

H101 0105 Source to end start synchronization I

H102 4096 Pulse Synchronizing pulse number, slave DI

H103 20.0 Pulse Response threshold ”synchronism reached” R

H104 0109 Source for controller enable I

H105 500 Pulse Enable threshold, synchronizing, slave R

H107 500 Pulse Enable threshold, synchronizing, master R

H108 3044 Source for the input KP characteristic angular controller I

d109 Angular controller enable status BO

H110 1 Angular controller as P controller BO

Appendix

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Para. Factory set Units Start-up val ue Significance Type

H111 500 ms Integral action time, angular controller SD

H112 0.3 Limit value, angular controller R

H113 1.0 P gain, angular controller KP_UE R

H114 1.0 P gain, angular controller KP_UE_0 R

H115 0.0 Limit value ue_KP R

H116 0.0 Limit value ue_KP_0 R

H117 4.0 ms Smoothing, differential position actual value SD

H118 0.1 Source for the angular controller enable (n_slave) R

H119 0.1 Source for monitoring the master speed R

d120 Output, angular controller R

d121 Pulse System deviation, angular controller R

d122 I component, angular controller R

d123 KP angular controller R

d124 Pulse Differential position actual value, smoothed R

H125 1.0 Upper limit, speed ramp-function generator R

H126 -1.0 Lower limit, speed ramp-function generator R

H127 0 ms Ramp-up time, speed setpoint R

H128 0 ms Ramp-down time, speed setpoint R

d129 ms Speed setpoint after the ramp-function generator R

H130 0.0 Jog setpoint (fixed value) R

H131 0172 Source, angular controller enable 1 I

H132 1.0 Speed setpoint limiting positive R

H133 -1.0 Speed setpoint limiting negative R

H134 1.0 Speed controller output limiting positive R

H135 -1.0 Speed controller output limiting negative R

d136 Actual speed setpoint R

d137 Speed setpoint limited R

H138 0 ms Smoothing time constant, angular controller output R

H139 0193 Source, angular controller enable 2 I

H140 0 Compute speed controller on T400 BO

H141 10.0 P gain, speed controller KP R

H142 10.0 P gain, speed controller KP_O R

H143 0.0 Limit value n_KP R

H144 0.0 Limit value n_KP_0 R

H145 200 ms Integral action time, speed controller R

H146 4.0 ms Smoothing, speed actual value R

d147 Control word 1 for the basic drive W

d148 Control word 2 for the basic drive W

H149 10 ms Pulse extension, synchronizing pulse master SD

d150 Speed controller output R

d151 System deviation, speed controller R

d152 Actual basic drive setpoint (n or M) R

d153 KP speed controller R

H154 3186 Source, slave position (synchronizing enable) I

H155 10000 Resolution for the ratio R

H156 3056 Source, actual value1 for the angular controller I

H157 3000 Source, actual value2 for the angular controller I

H158 3124 Source, setpoint1 for the angular controller I

H159 3000 Source, setpoint2 for the angular controller I

H160 0.0 Offset, analog output 1 R

Appendix

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Para. Factory set Units Start-up val ue Significance Type

H161 1.0 Scaling, analog output 1 R

H162 0.0 Offset, analog output 2 R

H163 1.0 Scaling, analog output 2 R

H164 0 Erase change memory BO

H165 0 Key, change memory I

d166 Status, change memory BO

H167 0173 Source, position reset 1 I

H168 1000 ms Delay start synchronization SD

H169 0 Enable start synchronization BO

H170 0 Multiplexer, displacement reset I

H171 0 Multiplexer, jog enable I

H172 0 Multiplexer, angular controller enable I

H173 0 Multiplexer, reset position I

H174 0 Multiplexer, synchronizing command I

d175 Actual value, displacement reset BO

d176 Actual value, jog enable BO

d177 Actual value, angular controller enable (control signal) BO

d178 Actual value, reset position BO

d179 Actual value, synchronizing command BO

H180 0154 Source, enable synchronization, slave I

H181 0097 Source, reset the slave position I

H182 5088 Source, numerator of the ratio (slave) I

H183 5089 Source, denominator of the ratio (slave) I

H184 0098 Source, enable position difference correction I

H185 0108 Source to reset, position difference 1 I

H186 3016 Source, slave position for absolute value I

H187 0170 Source to reset, position difference 2 I

H188 0190 Source, enable synchronization, master I

H189 0097 Source, reset the master position actual value I

H190 3199 Source, position (synchronizing enable, master) I

H191 0174 Source, synchronizing command I

H192 3014 Source, actual speed (plausibility, slave speed) I

H193 3136 Source, setpoint speed (plausibility, slave speed) I

H195 3015 Source, actual speed (plausibility, master speed) I

H196 3076 Source, setpoint speed (plausibility, master speed) I

H197 5086 Source, fine ratio, numerator I

H198 5087 Source, fine ratio, denominator I

H199 3017 Source, position (absolute position, master) I

H200 3137 Source, setpoint speed 1 (speed controller) I

H201 3000 Source, setpoint speed 2 (speed controller) I

H202 3146 Source, actual speed 1 (speed controller) I

H203 3000 Source, actual speed 2 (speed controller) I

H204 3129 Source, input KP characteristic (speed controller) I

H205 3129 Source, setp. speed 1, ramp-funct.gen. (speed controller) I

H206 3120 Source, setp. speed 2, ramp-funct.gen. (speed controller) I

H207 3130 Source, jog setpoint I

H208 0171 Source, jog enable I

H209 10.0 ms Pulse extension, slave synchronizing pulse I

H210 1.0 Scaling, analog input 1 R

H211 0.0 Offset, analog input 1 R

Appendix

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Para. Factory set Units Start-up val ue Significance Type

d212 Actual value, analog input 1 R

H213 1.0 Scaling, analog input 2 R

H214 0.0 Offset, analog input 2 R

d215 Actual value, analog input 2 R

H216 1.0 Scaling, analog input 3 R

H217 0.0 Offset, analog input 3 R

d218 Actual value, analog input 3 R

H219 1.0 Scaling, analog input 4 R

H220 0.0 Offset, analog input 4 R

d221 Actual value, analog input 4 R

H222 500 ms Smoothing time, analog input 1 SD

d223 Actual value, analog input 1, smoothed R

H224 0 ms Smoothing time, analog input 2 SD

d225 Actual value, analog input 2, smoothed R

H226 0 ms Smoothing time, analog input 3 SD

d227 Actual value, analog input 3, smoothed R

H228 0 ms Smoothing time, analog input 4 SD

d229 Actual value, analog input 4, smoothed R

H230 0000 Source, zero setting function, analog input 1 I

H231 0000 Source, zero setting function, analog input 2 I

H232 0000 Source, zero setting function, analog input 3 I

H233 0000 Source, zero setting function, analog input 4 I

H234 3118 Source, position difference (displacement calculation) I

H235 3062 Source, position difference correction (displacem.

calculation)

H236 0097 Source, resetting the displacement calculation I

H237 3051 Source, displacement setpoint 1 I

H238 3062 Source, displacement setpoint 2 I

H239 3044 Source, ratio (n_set) I

H240 3136 Source, slave setpoint speed 1 I

H241 3176 Source, slave setpoint speed 2 I

H242 3137 Source f.the setting value of the I comp.(speed controller) I

H243 0000 Source, setting signal I component of the speed controller I

H244 3080 Source for the pre-control value of the speed controller I

H245 0140 Source, enable pre-control (speed controller) I

d246 Status word 1 CU

d300 Peer word 1 send W

H303 2 Multiplexer for peer word 1 send I

H304 1 Multiplexer for peer float 1 send I

H305 0 Multiplexer for peer float 2 send I

H306 0 Fixed value for peer word 1 send W

H307 0.0 Fixed value for peer float 1 send R

H308 0.0 Fixed value for peer float 2 send R

H309 1 Enable peer-to-peer BO

H310-

H325

Sources for status word1, bits 0-15 BO

d327 Status word1 peer W

d329-

d333

PZD1 peer to PZD5 peer W

H334 2329 Source for control word (send peer) I

H335 2000 Source PZD2 (send peer) I

Appendix

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Para. Factory set Units Start-up val ue Significance Type

H336 2000 Source PZD3 (send peer) I

H337 5000 Source, double word 1(send peer) I

H338 3304 Source, float 1 (send Peer) I

H339 2 Send type for PZD2 + PZD3 (send peer) I

H340 2000 Source PZD4 (send peer) I

H341 2000 Source PZD5 (send peer) I

H342 5000 Source, double word 2 (send peer) I

H343 3305 Source, float 2 (send peer) I

H344 2 Send type for PZD4 + PZD5 (send peer) I

H345 2303 Source PZD1 (send peer) I

d346 Peer control word (receive) W

H360 20000 ms Power-on no time limit peer SD

H361 100 ms Time limit peer in operation SD

H362 16#FFFF Mask peer status W

H363 19200 Baud Baud rate peer-to-peer DI

d364 Peer status, receive block W

H381 2026 Source, PZD1 for the basic drive I

H382 2500 Source, PZD2 for the basic drive I

H383 2502 Source, PZD3 for the basic drive I

H384 2027 Source, PZD4 for the basic drive I

H385 2504 Source, PZD5 for the basic drive I

H386 2506 Source, PZD6 for the basic drive I

H387 2510 Source, PZD7 for the basic drive I

H388 2508 Source, PZD8 for the basic drive I

H401 1.0 Normalization, COMBOARD actual value1 send R

H403 1.0 Normalization, COMBOARD actual value2 send R

H405 1.0 Normalization, COMBOARD actual value3 send R

H407 1.0 Normalization, COMBOARD actual value4 send R

H409 1 Enable COMBOARD communications BO

H410-

H425

0 Status word 1 bits 0-15 fixed values BO

H426-

H441

0 Status word 2 bits 0-15 fixed values BO

H442 0 Multiplexer COMBOARD word 1 send I

H443 0 Fixed value COMBOARD word 1 send W

H444 0 Multiplexer COMBOARD word 4 send I

H445 0 Fixed value COMBOARD word 4 send W

H446 1 Multiplexer COMBOARD word 2 send I

H447 0 Multiplexer COMBOARD word 3 send I

H448 0 Multiplexer COMBOARD word 5 send I

H449 0 Multiplexer COMBOARD word 6 send I

d450 COMBOARD setpoint1 receive R

H451 1.0 COMBOARD normalization setpoint1 receive R

d452 COMBOARD setpoint2 receive R

H453 1.0 COMBOARD normalization setpoint2 receive R

d454 COMBOARD setpoint3 receive R

H455 1.0 COMBOARD normalization setpoint3 receive R

d456 COMBOARD setpoint4 receive R

H457 1.0 COMBOARD normalization setpoint4 receive R

d458 COMBOARD word 1 send W

d459 COMBOARD word 4 send W

Appendix

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Para. Factory set Units Start-up val ue Significance Type

d460 COMBOARD control word 1 receive W

d461 COMBOARD control word 2 receive W

H462 20000 ms Power-on time limit COMBOARD SD

H463 100 ms Time limit COMBOARD operational SD

H464 16#FFFF Mask COMBOARD receive status W

d465 Receive status COMBOARD W

d466 Status word1 COMBOARD W

d467 Status word2 COMBOARD W

H470 0.0 Fixed value, COMBOARD send word 2 R

H471 0.0 Fixed value, COMBOARD send word 3 R

H472 0.0 Fixed value, COMBOARD send word 5 R

H473 0.0 Fixed value, COMBOARD send word 6 R

H480 3 Slave address COMBOARD (only for SRT400) I

H481 0 COMBOARD parameter 1 (only for SRT400) I

H482 2 COMBOARD parameter 2 (only for SRT400) I

H483..

H493

0 COMBOARD parameter 3..13 (only for SRT400) I

H495 1 COMBOARD parameters valid (only for SRT400) BO

d496 Status COMBOARD for operation in the SRT400 W

H498 3000 Source, setpoint for double word output I

H499 1.0 Setpoint normalization according to H498 R

H500 3152 Source for the 1st setpoint to the basic drive I

H501 1.0 Normalization, 1st setpoint for the basic drive R

H502 3000 Source for the 2nd setpoint for the basic drive I

H503 1.0 Normalization, 2nd setpoint for the basic drive R

H504 3120 Source for the 3rd setpoint for the basic drive I

H505 1.0 Normalization, 3rd setpoint for the basic drive R

H506 3153 Source for the 4th setpoint for the basic drive I

H507 1.0 Normalization, 4th setpoint for the basic drive R

H508 3080 Source for the 5th setpoint for the basic drive I

H509 1.0 Normalization, 5th setpoint for the basic drive R

H510 0650 Source, control word 1 for the basic drive, bit0 BO

H511 0651 Source, control word 1 for the basic drive, bit1 BO

H512 0652 Source, control word 1 for the basic drive, bit2 BO

H513 0653 Source, control word 1 for the basic drive, bit3 BO

H514 0654 Source, control word 1 for the basic drive, bit4 BO

H515 0655 Source, control word 1 for the basic drive, bit5 BO

H516 0656 Source, control word 1 for the basic drive, bit6 BO

H517 0657 Source, control word 1 for the basic drive, bit7 BO

H518 0658 Source, control word 1 for the basic drive, bit8 BO

H519 0659 Source, control word 1 for the basic drive, bit9 BO

H520 0660 Source, control word 1 for the basic drive, bit10 BO

H521 0661 Source, control word 1 for the basic drive, bit11 BO

H52 0662 Source, control word 1 for the basic drive, bit12 BO

H523 0663 Source, control word 1 for the basic drive, bit13 BO

H524 0664 Source, control word 1 for the basic drive, bit14 BO

H525 0665 Source, control word 1 for the basic drive, bit15 BO

H526-

H541

0 Source, control word 2 for the basic drive, bits0 .. 15

(with the exception of H535)

H535 0546 Source, control word 2 for the basic drive, bit9 BO

H542 16#0004 Mask to identify CU operational readiness W

Appendix

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Para. Factory set Units Start-up val ue Significance Type

H543 0 Test enable for the speed controller in the basic drive BO

H544 1 Multiplexer for speed controller enable I

d545 Computation utilization for T1 (fastest time sector) R

d546 Computation utilization for T2 R

d547 Computation utilization for T3 R

d548 Computation utilization for T4 R

d549 Computation utilization for total CPU load R

H550 1.0 Normalization actual value1, receive from the basic drive R

d551 Actual value1, receive from the basic drive R

H552 1.0 Normalization actual value2, receive from the basic drive R

d553 Actual value2, receive from the basic drive R

H554 1.0 Normalization actual value3, receive from the basic drive R

d555 Actual value3, receive from the basic drive R

d556 Control word from the basic drive W

H557 Source, control word from the basic drive W

H558 2571 Source for status word 1 from the basic drive I

H559 2574 Source for status word 2 from the basic drive I

d560 Status word 1 from the basic drive W

d561 Status word 2 from the basic drive W

d562 Receive status, basic drive interface W

H563 2572 Source for actual value1 from the basic drive I

H564 2573 Source for actual value2 from the basic drive I

H565 2575 Source for actual value3 from the basic drive I

H567 2582 Source for double word (high) from the basic drive I

H568 2581 Source for double word (low) from the basic drive I

H569 5567 Source for double word from the basic drive I

d570 Double word from the basic drive, normalized R

d571-

d585

14 process data from the basic drive W

H587 5567 Source for double word for type conversion (N4 èR) I

H588 1.0 Normalization factor for H587 R

d589 Double word from CU after type conversion (N4èR) R

H590 2577 Source for PZD for type conversion (IèR) I

d591 Result of type conversion (IèR) from H590 R

H592 2571 Source to evaluate the operational readiness I

H593 0547 Source for operational readiness, basic drive I

d601 Digital output, terminal 46 ”synchronism reached” BO

d602 Digital output, terminal 47 ”angular controller at its limit” BO

d603 Digital output, terminal 48 ”angular controller enabled” BO

d604 Digital output, terminal 49 ”fault” BO

d607 Coarse pulse input 1, terminal 84 BO

d608 Coarse pulse input 2, terminal 65 BO

H609 16#0000 Mask to invert digital inputs W

d610 Digital input 1, terminal 53 BO

d611 Digital input 2, terminal 54 BO

d612 Digital input 3, terminal 55 BO

d613 Digital input 4, terminal 56 BO

d614 Digital input 5, terminal 57 BO

d615 Digital input 6, terminal 58 BO

d616 Digital input 7, terminal 59 BO

d617 Digital input 8, terminal 60 BO

Appendix

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Para. Factory set Units Start-up val ue Significance Type

H618 1 Multiplexer for analog output 1 I

H619 0 Multiplexer for analog output 2 I

H620 3618 Source for analog output 1 I

H621 0000 Source to inhibit, analog output 1 I

H622 3619 Source for analog output 2 I

H623 0000 Source to inhibit, analog output 2 I

H631 0105 Source for the bi-directional digital output 1 I

H632 0116 Source for the bi-directional digital output 2 I

H633 0109 Source for the bi-directional digital output 3 I

H634 0003 Source for the bi-directional digital output 4 I

H635 0004 Source for the digital output 1 I

H636 0000 Source for the digital output 2 I

H637 1 Enable bi-directional digital output 1 I

H638 1 Enable bi-directional digital output 2 I

H639 1 Enable bi-directional digital output 3 I

H640 1 Enable bi-directional digital output 4 I

H650 0 Multiplexer for control word 1, bit 0 I

H651 1 Multiplexer for control word 1, bit 1 I

H652 1 Multiplexer for control word 1, bit 2 I

H653 1 Multiplexer for control word 1, bit 3 I

H654 1 Multiplexer for control word 1, bit 4 I

H655 1 Multiplexer for control word 1, bit 5 I

H656 1 Multiplexer for control word 1, bit 6 I

H657 0 Multiplexer for control word 1, bit 7 I

H658 0 Multiplexer for control word 1, bit 8 I

H659 0 Multiplexer for control word 1, bit 9 I

H660 1 Multiplexer for control word 1, bit 10 I

H661 1 Multiplexer for control word 1, bit 11 I

H662 1 Multiplexer for control word 1, bit 12 I

H663 0 Multiplexer for control word 1, bit 13 I

H664 0 Multiplexer for control word 1, bit 14 I

H665 1 Multiplexer for control word 1, bit 15 I

d666 Analog output 1 R

d667 Analog output 2 R

H668 0 ms Smoothing time constant, analog output 1 R

H669 0 ms Smoothing time constant, analog output 2 R

H700 1 Enable USS slave BO

H701 9600 Baud rate USS slave DI

H703 0 Address USS slave I

H704 0 USS slave, 4-wire operation BO

d705 Status USS slave W

d706 PZD1 receive USS W

d707 PZD2 receive USS W

H708 2000 Source for 1st PZD send USS I

H709 2000 Source for 2nd PZD send USS I

d801 –

d810

PZD1 to PZD10 from COMBOARD W

H811 2801 Source for control word 1 from CB I

H812 2804 Source for control word 2 from CB I

H813 2802 Source for setpoint 1 from CB I

H814 2803 Source for setpoint 2 from CB I

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Para. Factory set Units Start-up val ue Significance Type

H815 2805 Source for setpoint 3 from CB I

H816 2806 Source for setpoint 4 from CB I

H817 2807 Source for setpoint integer è REAL from CB I

d818 Result integer è REAL from CB R

H819 2809 Source, high word of the double word from CB I

H820 2810 Source, low word of the double word from CB I

d821 Double word from CB (N4 format) as REAL value R

H822 3446 Source for the 1st actual value at CB I

H823 3447 Source for the 2nd actual value at CB I

H824 3448 Source for the 3rd actual value at CB I

H825 3449 Source for the 4th actual value at CB I

H826 3000 Source for the actual value (REAL è integer) at CB I

H828 3000 Source for the 5th actual value at CB(word o.double word) I

H829 1.0 Normalization for H828 (REAL è N4) R

H831 2442 Source for PZD1 at CB I

H832 2822 Source for PZD2 at CB I

H833 2823 Source for PZD3 at CB I

H834 2444 Source for PZD4 at CB I

H835 2824 Source for PZD5 at CB I

H836 2825 Source for PZD6 at CB I

H837 2827 Source for PZD7 at CB I

H838 2000 Source for PZD8 at CB I

H839 2828 Source for PZD9 at CB I

H840 2829 Source for PZD10 at CB I

H841 1.0 Normalization for double word from CB R

H900 0000 Source for fault message F125 I

H901 0000 Source for fault message F126 I

H902 0000 Source for fault message F127 I

H903 0000 Source for fault message F128 I

H904 0000 Source for fault message F129 I

H905 0000 Source for fault message F130 I

H906 0000 Source for fault message F131 I

H907 0000 Source for alarm A106 I

H908 0000 Source for alarm A107 I

H909 0000 Source for alarm A108 I

H910 0000 Source for alarm A109 I

H911 0000 Source for alarm A110 I

H912 0000 Source for alarm A111 I

H913 0000 Source for alarm A112 I

d921 –

d930

PZD1 to PZD10 for output at CB W

H960 0 Fixed value 1, integer type I

H961 0 Fixed value 2, integer type I

H962 0 Fixed value 3, integer type I

H963 0 Fixed value 4, integer type I

H964 0 Fixed value 5, integer type I

H965 0 Fixed value 6, integer type I

H971 16#0000 Fixed value 1, word type W

H972 16#0000 Fixed value 2, word type W

H973 16#0000 Fixed value 3, word type W

H974 16#0000 Fixed value 4, word type W

Appendix

SPA440 angular synchronous control - SIMADYN D - Manual 141

6DD1903-0BB0 Edition 05.01

Para. Factory set Units Start-up val ue Significance Type

H981 0 Fixed value 1, double word type W

H982 0 Fixed value 2, double word type W

H983 0 Fixed value 3, double word type W

H984 0 Fixed value 4, double word type W

H990 0.0 Fixed value 1, REAL type R

H991 0.0 Fixed value 2, REAL type R

H992 0.0 Fixed value 3, REAL type R

H993 0.0 Fixed value 4, REAL type R

H994 0.0 Fixed value 5, REAL type R

H995 0.0 Fixed value 6, REAL type R

H996 0.0 Fixed value 7, REAL type R

H997 0.0 Fixed value 8, REAL type R

d998 134 Identification of SIMADYN D components I

d999 121 Identification of software for SIMOVIS I

L028 3234 Source for the 1st display parameter, REAL type (d028) I

L029 3330 Source for the 2nd display parameter, REAL type (d029) I

L030 3332 Source for the 3rd display parameter, REAL type (d030) I

L031 3819 Source for the 4th display parameter, REAL type (d031) I

L032 0193 Source for the 1st display parameter, BOOL type (d032) I

L033 0196 Source for the 2nd display parameter, BOOL type (d033) I

L034 0105 Source for the 3rd display parameter, BOOL type (d034) I

L035 0116 Source for the 4th display parameter, BOOL type (d035) I

L036 2500 Source for the 1st display parameter, integer type (d036) I

L037 2502 Source for the 2nd display parameter, integer type (d037) I

L038 2605 Source for the 1st display parameter, word type (d038) I

L039 2606 Source for the 2nd display parameter, word type (d039) I

L098-

L112,

c114-

c119,

L120-

L123,

c125,

L200-

L212,

c214-

c219,

L220-

L223,

c225,

c300,

L301-

L302

new parameters, refers to Chapter 3.2.3

L400 2048 Length buffer I

c401 Coupling Trace BO

c402 Status Trace W

L605 5000 Source, double word quantity (conversion into 2 words) I

L606 2000 Source, input 1 for integer adder 1 I

L607 2000 Source, input 2 for integer adder 1 I

L608 2000 Source, input 1 for integer subtractor 1 I

L609 2000 Source, input 2 for integer subtractor 1 I

L646 2000 Source for integer è REAL conversion I

L647 3000 Source for REAL è integer conversion I

L698 0000 Source for setting input; flipflop 1 I

L699 0000 Source for reset input; flipflop 1 I

Appendix

142 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Para. Factory set Units Start-up val ue Significance Type

L700 0001 Source, 1st input AND logic gate 1 I

L701 0001 Source, 2nd input AND logic gate 1 I

L702 0001 Source, 3rd input AND logic gate 1 I

L703 0001 Source, 1st input AND logic gate 2 I

L704 0001 Source, 2nd input AND logic gate 2 I

L705 0001 Source, 3rd input AND logic gate 2 I

L706 3000 Source, input 0 of changeover switch 1 I

L707 3000 Source, input 1 of changeover switch 1 I

L708 0000 Source, select input of changeover switch 1 I

L709 0000 Source of the 1st edge evaluation block I

L710 0000 Source, 1st input OR logic gate 1 I

L711 0000 Source, 2nd input OR logic gate 1 I

L712 0000 Source, 3rd input OR logic gate 1 I

L713 0000 Source, 1st input OR logic gate 2 I

L714 0000 Source, 2nd input OR logic gate 2 I

L715 0000 Source, 3rd input OR logic gate 2 I

L716 3000 Source, input 0 of changeover switch 2 I

L717 3000 Source, input 1 of changeover switch 2 I

L718 0000 Source, select input of changeover switch 2 I

L728 0000 Source, power-on delay 1 I

L729 100.0 ms Duration, power-on delay 1 SD

L730 0000 Source, power-off delay 1 I

L731 100.0 ms Duration, power-off delay 1 SD

L732 0000 Source for the 1st inverter I

L733 0000 Source for the 2nd inverter I

L734 0000 Source for setting input; flipflop 2 I

L735 0000 Source for reset input; flipflop 2 I

L738 0000 Source to inhibit the 1st PT1 element I

L739 2.0 Quality of the bandstop filter R

L740 3000 Source for the 1st PT1 element I

L741 20.0 ms Filter time constant for the 1st PT1 element SD

L742 3000 Source for the input signal of the bandstop filter I

L743 3002 Source for the bandstop frequency of the bandstop filter I

L744 3000 Source for the X input of the comparator I

L745 3000 Source for the Y input of the comparator I

L746 3001 Source for the upper limit value of the limiter I

L747 3000 Source for the input quantity of the limiter I

L748 3001 Source for the lower limit value of the limiter I

L749 3000 Source for the input, comparator with hysteresis I

L750 3001 Source for the range, comparator with hysteresis I

L751 0.1 Hysteresis of the comparator with hysteresis R

L752 3003 Source for comparison value comparator with hysteresis I

L753 3000 Source for input, free 2-point characteristic I

L754 0.0 X1 value 2-point characteristic R

L755 0.0 Y1 value 2-point characteristic R

L756 1.0 X2 value 2-point characteristic R

L757 1.0 Y2 value 2-point characteristic R

L760 2000 Source for word 1 (word è bits) I

L761 2000 Source for high word (double word è REAL) I

L762 2000 Source for low word (double word è REAL) I

Appendix

SPA440 angular synchronous control - SIMADYN D - Manual 143

6DD1903-0BB0 Edition 05.01

Para. Factory set Units Start-up val ue Significance Type

L763 1.0 Normalization factor for L761, L762 R

L764 2000 Source for word è REAL conversion I

L765 1.0 Normalization to L764 R

L766 3000 Source for REAL è N2 conversion I

L767 1.0 Normalization to L766 R

L786 3000 Source, 1st input, REAL adder 1 I

L787 3000 Source, 2nd input, REAL adder 1 I

L788 3000 Source, 3rd input, REAL adder 1 I

L789 3000 Source, 1st input, REAL adder 2 I

L790 3000 Source, 2nd input, REAL adder 2 I

L791 3000 Source, 3rd input, REAL adder 2 I

L792 3000 Source, 1st input, REAL subtractor 1 I

L793 3000 Source, 2nd input, REAL subtractor 1 I

L794 3000 Source, 1st input, REAL subtractor 2 I

L795 3000 Source, 2nd input, REAL subtractor 2 I

L796 3001 Source, 1st input, REAL multiplier 1 I

L797 3001 Source, 2nd input, REAL multiplier 1 I

L798 3001 Source, 3rd input, REAL multiplier 1 I

L799 3001 Source, 1st input, REAL multiplier 2 I

L800 3001 Source, 2nd input, REAL multiplier 2 I

L801 3001 Source, 3rd input, REAL multiplier 2 I

L802 3001 Source, 1st input, REAL divider 1 I

L803 3001 Source, 2nd input, REAL divider 1 I

L804 3001 Source, 1st input, REAL divider 2 I

L805 3001 Source, 2nd input, REAL divider 2 I

L810 2000 Source for word 2 (word è bits) I

L812 2001 Source, 1st input, integer divider 1 I

L813 2001 Source, 2nd input, integer divider 1 I

L814 2001 Source, 1st input, integer multiplier 1 I

L815 2001 Source, 2nd input, integer multiplier 1 I

L816 2000 Source, high word (word è double word) I

L817 2000 Source, low word (word è double word) I

L818 3000 Source, input free integrator I

L819 1.0 Upper limit, integrator R

L820 -1.0 Lower limit, integrator R

L821 3000 Source, setting value integrator I

L822 1000 ms Integration time, integrator SD

L823 0000 Source for the integrator setting signal I

L824 3000 Source, input 1 of the changeover switch 3 I

L825 3000 Source, input 2 of the changeover switch 3 I

L826 0000 Source, select input of changeover switch 3 I

L827 3000 Source, input 1 of the changeover switch 4 I

L828 3000 Source, input 2 of the changeover switch 4 I

L829 0000 Source, select input of changeover switch 4 I

L830 0000 Source, AND-OR logic 1 (OR) I

L831 0000 Source, AND-OR logic 1 (AND 1) I

L832 0001 Source, AND-OR logic 1 (AND 2) I

L833 0000 Source, AND-OR logic 2 (OR) I

L834 0000 Source, AND-OR logic 2 (AND 1) I

L835 0001 Source, AND-OR logic 2 (AND 2) I

Appendix

144 SPA440 angular synchronous control - SIMADYN D - Manual

6DD1903-0BB0 Edition 05.01

Changes

SPA440 angular synchronous control - SIMADYN D - Manual 145

6DD1903-0BB0 Edition 05.01

8 Changes

1. Parameters d129, H138, H668, H669 supplemented in the

Documentation

2. Factory setting, parameters H544, H651-H656, H660-H662

3. Pulse ratio no longer used (this is now automatically generated)

4. Definition, speed ratio inverted

1. Can be freely wired using BICO technology (many new parameters!).

2. Digital input quantities, also available inverted.

3. Bi-directional outputs can be de-activated.

4. Possible to inhibit analog inputs and outputs.

5. Freely-available blocks.

6. The ratio resolution can be changed.

7. Different data types for the peer-to-peer interface.

8. Double words can be received and sent.

9. Monitoring parameters are not identical with version 2.01 (are in some

instances used as parameter which can be changed).

1. For release V2.1: Angular synchronism can also be implemented

using 2 absolute value encoders by comparing the two position

actual values

Edition 11/98

Edition 06/99

Edition 05/01

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

Function charts for the standard software package Angular Synchronous Control SPA440

General

Contents

General symbols

Control symbols

Constants

General parameter and status word

T400

Analog inputs

Analog outputs

Binary inputs

Binary outputs and bidirectional I/O

Speed and position sensing

Slave drive

Master drive

Absolut encoders

Plausibility check

Speed ratio

Control

Control bits

Displacement (offset) calculation

Angle controller

Master speed setpoint

Speed controller on T400

Inverter interface

Communication status

Faults and alarms

Process data receiption

Status words

Control words

Process data transmission

100

110

115

120

150

160

170

180

220

230

Communication

Peer to peer settings and PZD

Peer to peer control and status word

COMBOARD general settings

COMBOARD reception

COMBOARD control words

COMBOARD status words

COMBOARD transmission

USS slave

Free function blocks

Logical gates

Arithmetic and display parameter

Miscellaneous functions

Type conversion

Multiplexer

setpoint channels

Analog outputs

Binary control

Control word 1 (part 1)

Control word 1 (part 2)

CB actual values

CB status words

Peer to peer

300

310

400

410

420

430

440

450

460

470

480

490

500

510

520

530

540

550

560

570

Contents Chart Contents Chart

- 10 -

General

Contents

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 20 -

Allgemeines

Allgemeine Symbole

Parameter name

(factory setting)

Hxyz

Parameter Name

dxyz

H234 (fact.)

B (chart)

Parametername

-1

Technology parameters

technology parameter

e.g. H231

dsiplay parameter

e.g. d123

Connection to a floating-

point source (fact.) which

can be modified with

H123

H123 (fact.)

K (chart)

Parameter name

Logic and arithmetic

Logical inversion

AND operation

Inputs and outputs may

be of binary or vector data

type

Multiplication

Y = X1 * X2

Dividor

Y =

X Y

Absolute value

Y = | X |

X Y

Negation

Y = - X

Adder

Y = X1 + X2

X1 Y

Miscellaneous

Multiplexer

e.g. with 5 inputs

Selection

Operational amplifier

Switch selection with 2

inputs

Sign determination

Y = sign ( X )

Selection

X Y

Symbol ExplanationsExplanationsExplanations SymbolSymbol

A+

coarse

pulse

A-

B+

B-

N+

N-

Pluse encoder

Here: 2 tracks A, B and

zero pulse N;

interface RS422

Edge detector

Generats a pulse for the

positive edge of X

H123 (fact.)

KR (chart)

Parameter name

R-S-Flip-Flop

set

reset

H123 (3412)

KR (120,7)

S.Setpoint speed

Excample:

parameter name (factory setting)

(chart, sector) for

the factory setting

Data type symbol:

B BOOL

K 16bit

KK 32bit

KR floating point

parameter

number

Connection to a integer

source (fact.) which can

be modified with H123

Connection to a boolean

source (fact.) which can

be modified with H234

OR operation

Inputs and outputs may

be of binary or vector data

type

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 25 -

Allgemeines

Regelungstechnische Symbole

PT1

DT1

Xmin

Xmax

Kp Tn

X<Y

X>Y

Y=X

Low pass filter

T time constant

TdT

High pass filter

T = smoothing time

constant

Td = derivative action

time constant

Limiter function

Xmin <= X <= Xmax

Switch on delay T1

Converter

here: fixed point to

floationg point

(100% converted to 1.0)

hysteresis

1.0

100 %

Limiter

signalling if the input

quantity exceeds the limits

interval limit

average interval value

X > Y

Y < X

X = Y

upper

limit

lower

limit input at the

lower limit

input at the

upper limit

input output

input

Limit value monitor with

hysteresis

proportional gain integral action time

enable

system

deviation output

integrator

value

PI controller

Curve defined by 2 points

(X1,Y1) and (X2,Y2)

symmetrical to the Y-axis

Ramp function with

setting function

input output

ramp-up time

input output

ramp-down

time

setting value set

ExplanationsSymbol ExplanationsSymbol Symbol Explanations

Switch off delay T1

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 30 -

General

Constants

B0000 Logisch 00

B0001 Logisch 11

Wort 0

K20000

Wort 1

K20011

Doppelwort 0

KK50000

Doppelwort 1

KK50011

Real 0.0

KR30000.0

Real 1.0

KR30011.0

Real 2.0

KR30022.0

Wort 16#FFFF

K200216#FFFF

Real 0.5

KR30030.5

Real -1.0

KR3004-1.0

Setpoints fixed values

Const.Displacem.

(0.0)

H066

Constant Ratio

(1.0)

H043

Rel.Ratio Const

(1.0)

H049

Const. Ref.Speed

(0.0)

H073

KR3066

KR3049

KR3043

KR3073

Fixed values for free usage

Constant R1

(0.0)

H990

Constant R2

(0.0)

H991

Constant R3

(0.0)

H992

Constant R4

(0.0)

H993

Constant R5

(0.0)

H994

Constant R6

(0.0)

H995

Constant R7

(0.0)

H996

Constant R8

(0.0)

H997

KR3990

KR3991

KR3992

KR3993

KR3994

KR3995

KR3996

KR3997

Constant I1

(0)

H960

Constant I2

(0)

H961

Constant I3

(0)

H962

Constant I4

(0)

H963

Constant I5

(0)

H964

Constant I6

(0)

H965

ConstantW1

(0)

H971

Constant W2

(0)

H972

Constant W3

(0)

H973

Constant W4

(0)

H974

K2960

Floating point (R) 16bit integer (I, W)

K2961

K2962

K2963

K2964

K2965

K2971

K2972

K2973

K2974

32bit integer (DI)

Constant DI1

(0)

H981

ConstantDI2

(0)

H982

Constant DI3

(0)

H983

Constant DI4

(0)

H984

KK5981

KK5982

KK5983

KK5984

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

Restore factory setting

Timeout CB (B0405) [400,6]

Status word angular

synchronous control

Timeout Peer (B0360) [300,7]

Speed controller limitation (B0134) [120,8]

Angle controller limitation (B0116) [110,8]

Fault (B0003) [160,6]

Speed deviation master (B0162) [75,6]

Speed deviation slave (B0160) [75,6]

Enable speed controller (B0140) [120,5]

Warning (B0004) [160,8]

- 40 -

General

General parameter and status word

Status of angle controller (B0109) [90,7]

Running synchron (B0105) [100,8]

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

State of Control

d005

Timeout inverter (B0502) [150,5]

General settings

Language select

(0)

H000

Sofware Version

d002

Software Type

d001

0 german

1 english

CPU load

CPU load T1

d545

CPU load T2

d546

CPU load T3

d547

CPU load T4

d548

CPU load T5

d549

Erase EEPROM

(0)

H164

Key EEPROM

(0)

H165

State EEPROM

d166

Restore factory settings:

Set

H165 = 165

H164 = 1

All parameter changes are deleted and set to the

original factory setting.

This operation can not be canceled !

T400 = Baseboard

(0)

H009

Use T400 as Baseboard

(operation without inverter with

additional T400; parameter

numbers differ!

P; L

TechBoard ParTyp

(0)

H008

COMBOARD ParTyp

(0)

H024

Select the data type for the

transmission of floating-

point parameters

Synchr. pulse Slave (10ms) (B0209) [60,8]

Synchr. pulse Master (10ms) (B0149) [70,7]

Slaveposition > enable threshold (B0154) [60,3]

Displacement updated (B0106) [100,8]

Status word angular synchr.K2005

SIMADYN D

d998

SIMOVIS SW ID

d999

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 50 -

T400

Analog inputs

PT1

Hardware filter

500 µs

DPT1

12 bit

5 V

AE1 Scalefactor

(1.0)

H210

AE1 Offset

(0.0)

H211

AE1 Filter Time

(500 ms)

H222

AE1 act. value

d212 AE1 smoothed

d223

set output zero

PT1

Hardware filter

500 µs

DPT1

12 bit

5 V

AE2 Scalefactor

(1.0)

H213

AE2 Offset

(0.0)

H214

AE2 Filter Time

(0 ms)

H224

AE2 Iact. value

d215 AE2 smoothed

d225

PT1

Hardware filter

500 µs

DPT1

12 bit

5 V

AE4 Scalefactor

(1.0)

H219

AE4 Offset

(0.0)

H220

AE4 Filter Time

(0 ms)

H228

AE4 act. value

d221 AE4 smoothed

d229

PT1

Hardware filter

500 µs

DPT1

12 bit

5 V

AE3 Scalefactor

(1.0)

H216

AE3 Offset

(0.0)

H217

AE3 Filter Time

(0 ms)

H226

AE3 act. value

d218 AE3 smoothed

d227

Terminal 95

Terminal 94

Terminal 92

Terminal 93

Terminal 90

Terminal 91

±10 V

Task cycle time:

Input Task cykle time

AE1 T1 1,2 ms

AE2 T2 4,8 ms

AE3 T2 4,8 ms

AE4 T2 4,8 ms

H230 (0000)

B (30,2)

Q.setAE1_Null

AE1 smoothedKR3223

set output zero

H231 (0000)

B (30,2)

Q.setAE2_Null

AE2 smoothedKR3225

AE3 smoothed

KR3227

set output zero

H232 (0000)

B (30,2)

Q.setAE3_Null

set output zero

H233 (0000)

B (30,2)

Q.setAE4_Null

AE4 smoothedKR3229

Function diagram

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FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 51 -

T400

Analog outputs

H160

(0.0)

Aout 1 Offset

H161

(1.0)

Aout 1 Scalefact

12 Bit

Terminal 97

Terminal 99

H162

(0.0)

Aout 2 Offset

H163

(1.0)

Aout 2 Scalefact

12 Bit

Terminal 98

Terminal 99

±10 V

10 V

-10 V

10 V

-10 V

H620 (3618)

KR (510,4)

S. Analog Outp1

H622 (3619)

KR (510,7)

S.Analog Outp2

Analog output 1

d666

Analog output 2

d667

5 V

PT1

T_Filter_DAC1

(0 ms)

H668

PT1

T_Filter_DAC2

(0 ms)

H669

set output zero

H621 (0000)

B (30,2)

S.set DAC1 zero

KR3666

set output zero

H623 (0000)

B (30,2)

S.set DAC2 zero

KR3667

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 52 -

T400

Binary inputs

24V

Terminal 54

BinInput2 Pin54

d611

24V

Terminal 60

24V

Terminal 59

24V

Terminal 58

24V

Terminal 57

24V

Terminal 56

24V

Terminal 55

24V

Terminal 53

BinInput1 Pin53

d610 Pin84 Coarse P1

d607

Pin65 Coarse P2

d608

Coarse pulse inputs (T3)Binary inputs (T3)

B0610 BinInput 1

B0620 BinInput 1 inv.

B0611 BinInput 2

B0621 BinInput 2 inv.

BinInput3 Pin55

d612

B0612 BinInput 3

B0622 BinInput 3 inv.

BinInput4 Pin56

d613

B0613 BinInput 4

B0623 BinInput 4 inv.

BinInput5 Pin57

d614

B0614 BinInput 5

B0624 BinInput 5 inv.

BinInput6 Pin58

d615

B0615 BinInput 6

B0625 BinInput 6 inv.

BinInput7 Pin59

d616

B0616 BinInput 7

B0626 BinInput 7 inv.

BinInput8 Pin60

d617

B0617 BinInput 8

B0627 BinInput 8 inv.

24V

Terminal 65

24V

Terminal 84

B0607 Coarse pulse 1

B0635 Coarse pulse 1 inv.

B0608 Coarse pulse 2

B0636 Coarse pulse 2 inv.

Bit 0 BinInput 1

Bit 6 BinInput 7

Bit 1 BinInput 2

Bit 2 BinInput 3

Bit 3 BinInput 4

Bit 4 BinInput 5

Bit 5 BinInput 6

Bit 7 BinInput 8

Bit 8 BinInput 1 inv

Bit 9 BinInput 2 inv

Bit 12 BinInput 5 inv

Bit 10 BinInput 3 inv

Bit 11 BinInput 4 inv

Bit 13 BinInput 6 inv

Bit 14 BinInput 7 inv

Bit 15 BinInput 8 inv

K2025

State dig.Inputs

d025

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 53 -

T400

Binayry outputs and bidirectional outputs

Terminal 51

Terminal 45

24V

Pin46 Input

d601

Bidirectional input/output

Terminal 46

B0631 Terminal 46 inv

B0601 Terminal 46

H631 (0105)

B (100,8)

S.BiDir Out 1

enable BiDir1

(1)

H637

Pin47 Input

d602

Terminal 47

B0632 Terminal 47 inv

B0602 Terminal 47

H632 (0116)

B (110,7)

S.BiDir Out 2

enable BiDir2

(1)

H638

Pin48 Input

d603

Terminal 48

B0633 Terminal 48 inv

B0603 Terminal 48

H633 (0109)

B (90,7)

S.BiDir Out 3

enable BiDir3

(1)

H639

Pin49 Input

d604

Terminal 49

B0634 Terminal 49 inv

B0604 Terminal 49

H634 (0003)

B (160,6)

S.BiDir Out 4

enable BiDir4

(1)

H640

H635 (0004)

B (160,8)

S.Bin.Output1

H636 (0000)

B (30,2)

S.Bin.Output2

Terminal 52

Supply voltage for output

drivers

Binary outputs

Warning:

H637 ... H640 are initialization parameters.

Modification takes places after the next

power on.

If bidirectional outputs are enabled as

output the corresponding input value is

inverted!

E.g.: H640 = 1

d604 displays the inverse

level to terminal 49

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 60 -

Speed and position sensing

Slave

from inverter

Mode Slave Speed

Bit 7 (1)

H018

Mode Slave Speed

Bit 6 (11)

H018

Coarse

pulses

handling

CoarsePulsSlave

(0)

H022

Mode

Pulses

Synchronization

Nominal speed

Slave Position

d016

Speed Slave

d014

Error Code Slave

d020

Enable

synchronization

Mode Slave Speed

Bits 0..5, 8..15

H018

Nom. Speed Slave

(1500.0)

H012

0.0

Position sensing slave

drive

Speed

Actual value

position

Error code

Pulses Slave

(1024)

H010

Pulses per

revolution

Speed ratio

Numerator

Denominator

Track A

Track B

Zero pulse

incremental

encoder

Coarse pulse

Position

difference

-1

Position set for

synchr. pulse

PT1

d124

Pos.Diff. filt

actual value displacement [100, 5]

position difference [60.8]

correction pulses [100, 6]

Position difference correcting value

H187 (0170)

B (520,2)

S.ResetPos.Diff1

Correct position difference

Position difference

calculation

Position sensing

Reset

Displacem. Reset

d175

pulses slave

K2010

H181 (0097)

B (90,3)

S.ResetSlavePos.

H180 (0154)

B (60,4)

S.EnableSynSlave

K2020

B0020 Error position

sensing slave

n_Slave norm.KR3018

Speed slave

smoothed

KR3146

Tfilt Speed

(4.0ms)

H146

Position slave

KR3016

B0150 SyncImpuls Slave

0T B0209 SyncSlave 10ms

T SyncPulseSlave

(10 ms)

H209

position differenceKR3118

inv. position difference

KR3117

position

difference

smoothed

KR3124

H154 (3186)

KR (60,2)

S.SlaveSynchrPos B0154

position > threshold

B0152

position < 0

B0153

H182 (5088)

KK (80,7)

S.Slave Numerat.

H183 (5089)

KK (80,7)

S.Slave Denomin

H185 (0108)

B (90,7)

S.Reset PosDiff2

H184 (0098)

B (90,3)

S.Corr.Pos.Diff.

B0175

Pos.Correct Mode

(1)

H090

H058 (3012)

KR (60,5)

S.Norm. n_Slave

Absolut pos. slave

KR3186

H186 (3016)

KR (60,7)

S.Abs.Pos.Slave

B0186 slave position

negativ

Thresh.SyncSlave

(500.0)

H105

Speed slaveKR3014

KR3012

Enable, position

sensing with

incr. encoders

L098=1

L099=0

Enable, abs. enc

Position difference from absolut encoders [72,8]

Tfilt Pos.Differ

(4 ms)

H117

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 70 -

Speed and position sensing

Master

Coarse pulse

handling

H023

(0)

CoarsePulsMaster

0.0

A+

Coarse

pulse

A-

B+

B-

N+

N-

Mode

Pulses

Synchronization

Nominal speed

Master Position

d017

Speed Master

d015

Errorcode master

d021

Enable

synchronization

Mode MasterSpeed

(16#7F02)

H019

Nom.Speed Master

(1500.0)

H013

Position sensing

master drive

Speed

Position

Error code

Pulses per revolution

Pulses Master

(1024)

H011

Terminal

Position set for

synchronization

Example: RS422 encoder

Reset

n_Master normalizedKR3019

Position master

KR3017

Abs. value master position

KR3199

B0199 Position master negativ

H199 (3017)

KR (70,7)

S.Abs.Pos.Master

B0148 SyncImpuls master

0T B0149 SyncMaster 10ms

T SyncPulsMaster

(10 ms)

H149

B0021 Error position sensing master

Error code master

K2021

H190 (3017)

KR (70,7)

S.MasterSynchPos

ThreshSyncMaster

(500.0)

H107

B0190

master pos > threshold

B0188

Position master < 0

B0189 H188 (0190)

B (70,3)

S.EnablSynMaster

H189 (0097)

B (90,3)

S.ResetMasterPos

Pulses master

K2011

Enable synchronization

depending on the master

position

H059 (3013)

KR (70,4)

Q.Norm. n_Master

Speed masterKR3015

KR3013

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

Master and Slave

Sensing, absolut encoders

- 72 -

Sensing

Absolut

encoder

SLAVE

Terminals

76 - 79

YRC

YSP

c114

c116

c115

L208

...

L212

YRC

YSP

c214

c216

c215

L120

L121 L122

L123

c125

L220

L221 L222

L223

c225

c300

L301 L302

PT1

d124

Pos.Diff. filt

Tfilt position diff. (4 ms)

H117

Position diff.

KR3118

Position diff..

filtered

KR3124

L099

Enable Abs-Enc

Position difference from incremental encoders [60, 7]

c118

c119

c218

c219

YFC

L200

...

L206

L108

...

L112

L100

...

L106

Sensing

Absolut

encoder

MASTER

Terminals

72 -75

Slave Master

L100 L200 Resolution per turn

L101 L201 Number of turns

L102 L202 Preceding z ero bits

L103 L203 Alarm bit position

L104 L204 Clock frequency

L105 L205 Encoder type

L106 L206 Data coding

L107 L207 Control w ord

L108 L208 Gearbox ratio

L109 L209 Normaliz ation position

L110 L210 Normalization speed

L 111 L211 Posi ti on offse t

L112 L212 U pper limit speed

L120 L220 Offset, number of rotations

L121 L221 Scaling, positon actual value

L122 L222 Selection MUL/DI V

L123 L223 Scaling, positon actual value

Slave Master

c114 c214 Speed actual value

c115 c215 Positi on cou n ter

c116 c216 Nu mb e r of r ota tions

c118 c218 E r r or cod e

c119 c219 E r r or sta tu s

Settings, absolut encoders

Only useful for linear axis!

(no range overflow)

B0211

B0212

Enable absolut encoders:

L098=0 and L099=1

KR4300

KR4125

KR4225

KR4114

KR4115

KR4116

KR4214

KR4215

KR4216

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 75 -

Speed and position sensing

Plausibility check

0.1

dn enable Max.

(0.1)

H118

0.1

dn Master Max.

(0.1)

H119

X<Y

X>Y

X=Y

X<Y

X>Y

X=Y

H192 (3018)

KR (60,8)

S.n_Slave Compar

H193 (3136)

KR (115,4)

S.n_ref SlaveCmp

H195 (3019)

KR (70,7)

S.n_Master Compar

H196 (3076)

KR (115,2)

S.n_ref MastComp

B0192

nSlave > Range

B0194

nSlave < Range

B0193 Slave speed within enable range

B0160 Speed deviation Slave

B0195

nMaster > Range

B0197

nMaster < Range

B0196 Master speed within enable range

B0162 Speed deviation Master

B0161 Speed deviation

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 80 -

Speed and position sensing

Speed ratio

Addition. Ratio

(0.0)

H047

Ratio

d044

Calculation of

speed ratio

components

enable FineRatio

(0)

H088

Ratio Numerator

d045

d046

RatioDenominator

H067 (3040)

KR (500,3)

S.Ratio

H068 (3048)

KR (500,5)

S.relative Ratio Ratio relative

d061

Ratio 1

d060

KR3060

KR3047 H041 (3047)

KR (80,1)

S. Addition.Ratio

actual ratioKR3044

Ratio Resolution

(10000)

H155

Fine Ratio Numer

(1000.0)

H086 fixed value numerator

KK5086

Fine Ratio Denom

(1000.0)

H087 fixed value denominator

KK5087

H197 (5086)

KK (80,4)

S.FineRatioNumer

H198 (5087)

KK (80,4)

S.FineRatioDenom

Ratio numeratorKK5088

Ratio denominatorKK5089

relative ratio

KR3061

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 90 -

Control

Conrol bits

Automatic

synchronization after

power on

H191 (0174)

B (520,8)

S.Synchr.Comd2

DelayStartSynchr.

(1000ms)

H168

EnableStartSynch

(0)

H169

Synchron.Command

d179

S Q

Enable displacement correction

B0179

H101 (0105)

B (100,8)

S.StopStartSynch

B0098 synchroning command

B0101 StartSynchr

B0100 inv.StartSynchr

H098 (0101)

B (90,7)

S.Synchr.Command

H167 (0173)

B (520,7)

S.Pos.Reset_1 Reset Position

d178

H097 (0108)

B (90,7)

S.Pos.Reset_2 B0097 Position + displacement reset

Reset position and displacement

enable Pos.Cntrl

d109

H131 (0172)

B (520,5)

S.enablePosCtr11

EnableSpeedCntrl

d177

H139 (0193)

B (75,5)

S.enablePosCTR12

B0177

B0109 status of angle controller

B0108 angle controller inhibit

Enable angle controller

bitwise ANDed

(at least one bit = 1 of the

AND operation)

TestEnable CU n

(0)

H543

Mask CU ready

(16#0004)

H542

16 bit

Enable inverter speed controller

H592 (2571)

K (170,3)

S.en.Speed CU1

H593 (0547)

B (560,4)

S.en.Speed CU2

B0546

n-controller CU

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 100 -

Control

Displacement (offset) calculation

SyncPulsesMaster

(4096)

H100

SyncPulses Slave

(4096)

H102

CorrectionPulses

(1.0)

H093

H091

(0)

SynchrRetrigMode

H092

(0)

Synchr.Edge Mode

Position slave [60,8]

Position master [70,8]

Synchronization command [90,8]

SyncImpuls Master[70,8]

SyncImpuls Slave [60,7]

Reset displacement

Displacement calculation

Threshold Synchr

(20.0)

H103 0.0

act.Displacement

d094

Displ.- Pos.diff

d095

Correction pulses

Displacement

- position difference

actual value

position difference

Master has synchronized

Slave has synchronized

X<Y

X>Y

X=Y

H235 (3062)

KR (100,3)

S.Position Diff2

H234 (3118)

KR (60,7)

S.Position Diff1

Enable displacement correction

H236 (0097)

B (90,3)

S.ResetDisplacem

Correction pulses

KR3091

Displacement - position

difference

KR3095

ErrorCode Displ.

d096 Error code displacem.

K2096

Actual value displacement Actual value

displacement

KR3094

H237 (3051)

KR (110,2)

S.Setp Displace1

H238 (3062)

KR (100,3)

S.Setp Displace2

B0102 Displacement > setpoint

B0104 Displacement < setpoint

B0103 Displacement within threshold

Direction depending displacement

n_Master

normalized [70,8]

n_Slave norm.

[60,8]

DisplaceMas+Sla+

H062 (0.0)

DisplaceMas-Sla+

H063 (0.0)

DisplaceMas+Sla-

H064 (0.0)

DisplaceMas- Sla-

H065 (0.0)

B0110 n_Slave > 0

B0111 n_Slave = 0

B0112 n_Slave < 0

B0113 n_Master > 0

B0114 n_Master = 0

B0115 n_Master < 0

direction depending

displacement

KR3062

Actual value displacement [100,8]

B0106 Displacement

determined

Displacement determined

B0105

Synchronism reached

KR3234

H077 (5088)

KK (80,7)

S.DisplaceNumer.

H078 (5089)

KK (80,7)

S.DisplaceDenom Ratio denominator

Ratio numerator

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

Kp Tn

- 110 -

Control

Angle controller

set value

Tn Pos.Control

(500ms)

H111

Max. Position

(0.3)

H112

KP_UE Pos.Contrl

(1.0)

H113

KP_UE_0 PosCntrl

(1.0)

H114 KP Pos.Control

d123

H110

(1)

Hold I-Component

enable

ue_KP_0 Value

(0.0)

H116

H115

(0.0)

ue_KP Value

Set

KP adaption

angle controller

Diff.Pos.Control

d121

H051 (3050)

KR (500,4)

S.Displacem.Setup

-1

-4

PT1

Tfilt Pos.Cntrl

(0 ms)

H138

H108 (3044)

KR (80,4)

S.KP Pos.Contrl.

Max.Displacement

(2048.0)

H054

H055

(-2048.0)

Min.Displacement

RmpUp Displacem

(2.5 ms)

H052

RmpUp Displacem

(2.5 ms)

H052

KR3051

H057 (0175)

B (60,2)

S.set Displ.Ramp

KR3056

DisplacementSetp

d056

H156 (3056)

KR (110,4)

S.Ref_Pos_1

H157 (3000)

KR (30,2)

S.Ref_Pos_2

H158 (3124)

KR (60,8)

S.Act_Pos_1

H159 (3000)

KR (30,2)

S.Act_Pos_2

H104 (0109)

B (90,7)

S.Enable Control

Integrator comp.

angle controller

KR3122

IntegralComp.Pos

d122

KP angle controller

KR3123

Output angle

controller

KR3120

Outp.Pos.Control

d120

B0116 Angle controller

limitation active

Ramp generator displacement setpoint

KP normalized

The input values of the angle controller use the normalization

1.0 = a quarter of a speed sensor pulse.

This normalization results in very small proportional gains for

the angle controller which can not be entered with OP1S.

The factor 10

-4

allows to work with bigger values.

KP normiert

[110,4]

Deviation angle

controller

KR3121

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

PT1

Tfilt Ref. Speed

(10ms)

H072 Refer.Speed filt

d074

Reference Speed

d076

H208 (0171)

B (520,4)

S.enable Jog

Jog Setpoint

(0.0)

H130

0.0

H127

(0.0ms)

n Ramp Up

Time

H128

(0.0ms)

n Ramp Down

Time

n_max Ramp Gen.

(1.0)

H125

H126

(-1.0)

n_min Ramp Gen.

- 115 -

Control

Master speed setpoint

SetpSpeed;Torque

d152

Output speed controller [120, 8]

Enable speed

controller [120, 5]

Speed controller on CU

H071 (3070)

KR (500,8)

S.ReferenceSpeedt SpeedSetpRampOut

d129

Enable Jog

d176

KR3076 KR3074

Speed Setpoint

d136

KR3136

H239 (3044)

KR (80,4)

S.Ratio n_ref

H240 (3136)

KR (115,4)

S.Slave n_ref_1

H241 (3176)

KR (115,3)

S.Slave n_ref_2

Jog setpointKR3176

n setpoint after rampKR3129

Setpoint for

inverter

KR3152

B0176 Jog enable

Fixed value joggingKR3130

H207 (3130)

KR (115,2)

S.Jog Ref.Speed

Setpoint for the inverter (CU)

Mode

Speed controller on T400

Speed setpoint

Torque setpoint

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 120 -

Control

Speed controller on T400

Kp Tn

Tn SpeedControl

(200ms)

H145

Max n-Controller

(1.0)

H134

H135

(-1.0)

Min n-Controller

Outp.SpeedContrl

d150

precontrol

Max. n_Setpoint

(1.0)

H132

H133

(-1.0)

Min n_Setpoint

DifferSpeedCntrl

d151

KP Speed Control

(10.0)

H141

KP_0 SpeedContrl

(10.0)

H142

n_KP_0 Threshold

(0.0)

H144

H143

(0.0)

n_KP Threshold

KP Speed Control

d153

Speed Setp. ltd.

d137

DT1

H082

(100ms)

Tfilt Acc.Comp.

Tdif Accel.Comp.

(4 ms)

H083

H140

(0)

ModeSpeedControl

enable

KP adaption

speed controller

DT1 (SpeedSetp.)

d085

H205 (3129)

KR (115,7)

S.n(ref,speed)

H206 (3120)

KR (110,8)

S.n(addit.)

H200 (3137)

KR (120,2)

S.1 n(ref-act)

H201 (3000)

KR (30,2)

S.2 n(ref-act)

H202 (3146)

KR (60,8)

S.3 n(ref-act)

H203 (3000)

KR (30,2)

S.4 n(ref-act) H242 (3137)

KR (120,2)

S.SV Int(speed)

H243 (0000)

B (30,2)

S.Set Int(speed)

set value set

B0140 enable speed controller

H204 (3129)

KR (115,7)

S.KP(speedCtrl) KP speed controller

KR3153

H245 (0140)

B (120,5)

S.enable PreCtrl

H244 (3080)

KR (500,7)

S.Precontrol

0.0

Output speed

controller

KR3150

B0134 Speed controller

limitation active

H079 (3129)

KR (115,7)

S.DT1 Acc. Comp.

DT1 (n setp)KR3085

Inertia compensation / precontrol

Integral comp. speed controllerKR3145

Speed setpoint

limited

KR3137

Deviation

speed

controller

KR3051

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 150 -

Inverter interface

Communication status

maximum

time interval

between 2

telegrams

Timeout

receive initialized

Control and monitoring functions

for the inverter interface

100 ms

B0502 CU Timeout

inverter in operation B0503 CU in operation

B0500 CU receive init.

B0504 CU receive not init.

B0506 CU no Timeout

send initialized B0501 CU send init.

B0505 CU send not init.

CU Rec.State

d562

B0507 CU not operational

Status receive

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 160 -

Inverter interface

Errors and alarms

bitwise ANDed

Error Mask

(0)

H003

16 bit

(send to the inverter)

bitwise ANDed

Warning Mask

(0)

H004

16 bit

(send to inverter)

Bit 0

Bit 6

Timeout CB [400,7] Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

Alarm status word

Timeout Peer [300,7]

Speed controller limitation [120,8]

Angle controller limitation [110,8]

Extern fault [220,3]

Speed deviation master [75,6]

Speed deviation slave [75,6]

Error position sensing master [70,7]

Error position sensing slave [60,8]

A103

A097

A098

A099

A100

A101

A102

A104

A105

A106

A107

A108

A109

A110

A111

A112

Bit 0

Bit 6

Timeout CB [400,7] Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

Error status word

Timeout Peer [300,7]

Speed controller limitation [120,8]

Angle controller limitation [110,8]

Extern fault [220,3]

Speed deviation master [75,6]

Speed deviation slave [75,6]

Error position sensing master [70,7]

Error position sensing slave [60,8]

F122

F116

F117

F118

F119

F120

F121

F123

F124

F125

F126

F127

F128

F129

F130

F131

16 bit

at least 1 bit set of the

Alarm status

at least 1 bit of the error

status set

Error Bits

d006

Warning Bits

d007

H900 (0000)

B (30,2)

S.F125

H901 (0000)

B (30,2)

S.F126

H902 (0000)

B (30,2)

S.F127

H903 (0000)

B (30,2)

S.F128

H904 (0000)

B (30,2)

S.F129

H905 (0000)

B (30,2)

S.F130

H906 (0000)

B (30,2)

S.F131

H907 (0000)

B (30,2)

S.A106

H908 (0000)

B (30,2)

S.A107

H909 (0000)

B (30,2)

S.A108

H910 (0000)

B (30,2)

S.A109

H911 (0000)

B (30,2)

S.A110

H912 (0000)

B (30,2)

S.A111

H913 (0000)

B (30,2)

S.A112

Error statusK2003

B0003 Fault

Errorbits

K2006

AlarmsbitsK2007 B0004 Alarm

Alarm statusK2004

B0005 no fault

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 170 -

Inverter interface

Process data reception

PZD1 (status word1)

1.0

100 %

CU actval1 norm.

(1.0)

H550 CU actval1

d551

PZD 2

Receive process data

from inverter

PZD 3

PZD4 (status word2)

PZD 5

CU actval2 norm

(1.0)

H552 CU actval2

d553

CU actval3 norm

(1.0)

H554 CU actval3

d555

PZD 6

1.0

100 %

1.0

100 %

PZD1 from CUK2571

d571 d584

PZD1 .. PZD14 CU rec.

PZD2 from CU

K2572

PZD3 from CUK2573

PZD4 from CUK2574

PZD5 from CUK2575

PZD6 from CUK2576

PZD 7

PZD7 from CUK2577

PZD 8

PZD8 from CUK2578

PZD 9

PZD9 from CUK2579

PZD 10

PZD10 from CUK2580

PZD 11

PZD11 from CUK2581

PZD 12

PZD12 from CUK2582

PZD 13

PZD13 from CUK2583

PZD 14

PZD14 from CUK2584

H563 (2572)

K (170,3)

S.actval_1 CU

Actual value1 CUKR3551

H564 (2573)

K (170,3)

S.actval_2 CU

Actual value2 CUKR3553

H565 (2575)

K (170,3)

S.actval_3 CU

Actual value3 CUKR3555

CU N4 norm.

(1.0)

H588 CU N4_R

d589

1.0

100 %

H568 (2581)

K (170,3)

S.DW low CU CU N4_R

KR3589

H567 (2582)

K (170,3)

S.DW high CU

Four 16bit process data word are converted to floating-point

Convert a double word to floating-point

high

low

CU I_R

d591

H590 (2577)

K (170,3)

S.CU I_R

CU Actual value_I_RKR3591

. . .

CU DW_RKR3570

CU DW_R

d570

KK5567 H587 (5567)

KK (170,5)

S.N4 CU

H569 (5567)

KK (170,5)

S.DW CU

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 180 -

Inverter interface

Status words

CU status word 1 CU status word 2

H558 (2571)

K (170,3)

S.StatusWord1 CU

Bit 0 Ready to switch on

Bit 6 Switch-on inhibit

Bit 1 Ready for operation

Bit 2 Run

Bit 3 Fault active

Bit 4 OFF2 active

Bit 5 OFF3 active

Bit 7 Warning active

Bit 8 no setp./act.value deviation

Bit 9 PcD-control requested

Bit 12 req.energ. main conta.

Bit 10 Comp. value reached

Bit 11 Low voltage fault

Bit 13 Ramp funct.gen. active

Bit 14 positve speed setpoint

Bit 15

B0510 CU status1.0

B0511 CU status1.1

B0512 CU status1.2

B0513 CU status1.3

B0514 CU status1.4

B0515 CU status1.5

B0516 CU status1.6

B0517 CU status1.7

B0518 CU status1.8

B0519 CU status1.9

B0520 CU status1.10

B0521 CU status1.11

B0522 CU status1.12

B0523 CU status1.13

B0524 CU status1.14

B0525 CU status1.15

B0480 CU status2.0

B0481 CU status2.1

B0482 CU status2.2

B0483 CU status2.3

B0484 CU status2.4

B0485 CU status2.5

B0486 CU status2.6

B0487 CU status2.7

B0488 CU status2 .8

B0489 CU status2 .9

B0490 CU status2.10

B0491 CU status2.11

B0492 CU status2.12

B0493 CU status2.13

B0494 CU status2.14

B0495 CU status2.15

H559 (2574)

K (170,3)

S.StatusWord2 CU

B0545 CU status1.15 inv

B0530 CU status1.0 inv

.....

...

inverted status sbits

Status Word1 CU

d246

K2246

H557 (2576)

K (170,3)

S.CTW from CU B0550 CTW from CU.0

B0565 CTW from CU.15

B0570 CTW from CU.0 inv

B0585 CTW from CU.15 inv

...

CTW from CU

d556

H557 can be used to select any communication

PZD to control the angle synchronism software.

Control bits are B0550 ... B0565 (inverted bits

B0570 .. B0585)

Bit 0 Flying restart/exitation

Bit 6 Fault overtemperature

Bit 1

Bit 2 Overspeed

Bit 3 ext. fault 1 active

Bit 4 ext. fault 2 active

Bit 5 Alarm overload

Bit 7 Alarm overtemperature

Bit 8 Alarm overtemp. motor

Bit 9 Fault overtemp. motor

Bit 12 Bypass contactor enable

Bit 10

Bit 11 Fault motor blocked

Bit 13

Bit 14

Bit 15 Pre-charging active

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 220 -

Inverter interface

Control words

Control word 1

for the inverter

H510 (0650)

B (530,3)

S.Bit0 CTW1 CU... Bit15 CTW1 CU

Bit 0 ON

Bit 6 Setpoint enable

Bit 1 /OFF2

Bit 2 /OFF3

Bit 3 Inverter enable

Bit 4 Ramp funct.gen enable

Bit 5 Start ramp funct.gen.

Bit 7 Edge fault acknowledge

Bit 8 Jogging 1

Bit 9 Jogging 2

Bit 12 counter clockw. enable

Bit 10 Control requested

Bit 11 Clochwise seq. enable

Bit 13 Raise motor potentiom

Bit 14 Lower motor

potentiom

Bit 15 0= extern fault

B (530,3)

H512 (0652) B (530,3)

H511 (0651)

B (530,3)

H513 (0653)

B (530,7)

H514 (0654)

B (530,7)

H515 (0655)

B (530,7)

H516 (0656)

B (530,7)

H517 (0657)

B (540,3)

H518 (0658)

B (540,3)

H519 (0659)

B (540,3)

H520 (0660)

B (540,3)

H521 (0661)

B (540,7)

H522 (0662)

B (540,7)

H523 (0663)

B (540,7)

H524 (0664)

B (540,7)

H525 (0665)

Control word1 CU

K2026

Control word 2

for the inverter

H526 (0000)

B (30,2)

S.Bit0 CTW2 CU ... Bit15 CTW2 CU

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9 Enable speed cntrl.

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B (30,2)

H528 (0000) B (30,2)

H527 (0000)

B (30,2)

H529 (0000)

B (30,2)

H530 (0000)

B (30,2)

H531 (0000)

B (30,2)

H532 (0000)

B (30,2)

H533 (0000)

B (30,2)

H534 (0000)

B (90,8)

H535 (0546)

B (30,2)

H536 (0000)

B (30,2)

H537 (0000)

B (30,2)

H538 (0000)

B (30,2)

H539 (0000)

B (30,2)

H540 (0000)

B (30,2)

H541 (0000)

Control word2 CU

K2027

Control Word1 CU

d026

Control Word2 CU

d027

B0526 ext. Fault

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 230 -

Inverter interface

Process data transmission

100 %

1.0

H501

(1.0)

CU setp_1 norm.

H505

(1.0)

CU setp_3 norm.

100 %

1.0

100 %

1.0

H503

(1.0)

CU setp_2 norm.

100 %

1.0

H509

(1.0)

CU setp_5 norm.

100 %

1.0

H507

(1.0)

CU setp_4 norm.

Process data

transmission to

inverter

PZD 1

Control word 1

PZD 2

setpoint

PZD 3

PZD 4

Control word 2

PZD 5

add. setp. speed

PZD 6

KP adaption

PZD 7

PZD 8

Inertia compens.

H381 (2026)

K (220,4)

S. PZD1 CU

Control Word 1

d147

H382 (2500)

K (230,4)

S. PZD2 CU

H383 (2502)

K (230,4)

S. PZD3 CU

H384 (2027)

K (220,8)

S. PZD4 CU

H385 (2504)

K (230,4)

S. PZD5 CU

H386 (2506)

K (230,4)

S. PZD6 CU

H387 (2510)

K (230,5)

S. PZD7 CU

H388 (2508)

K (230,4)

S. PZD8 CU

Control Word 2

d148

H500 (3152)

KR (115,8)

S.CU setp_1

setpoint1 CU N2K2500

H502 (3000)

KR (30,2)

S.CU setp_2

setpoint2 CU N2K2502

H504 (3120)

KR (110,8)

S.CU setp_3

setpoint3 CU N2K2504

H506 (3153)

KR (120,3)

S.CU setp_4

setpoint4 CU N2K2506

H508 (3080)

KR (500,7)

S.CU setp_5

setpoint5 CU N2K2508

H499

(1.0)

CU DW norm.

100 %

1.0

H498 (3000)

KR (30,2)

S.Setp DW_ CU

high

low

setpoint6 high CUK2510

setpoint6 low CUK2509

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 300 -

Communication

Peer to peer settings and PZD

Peer enable

(1)

H309

tmax Peer OpMode

(100ms)

H361

maximum time

interval between 2

telegrams Timeout

receive status

Enable

Peer RecStateYTS

d364

bitwise ANDed

at least 1 bit set T0

tmaxPeer PowerOn

(20000 ms)

H360

Control and monitoring functions for

the peer to peer interface

Mask Peer tmax

(16#FFFF)

H362

16 bit

Baud Rate Peer

(19200)

H363 Baud rate

B0360 Timeout Peer

B0361 Peer receive initialized

B0362 Peer send initialized

Process data

receiption

PZD1 from PeerK2329

PZD1 Peer

d329

PZD2 from Peer

K2330

PZD3 from Peer

K2331

PZD4 from Peer

K2332

PZD5 from Peer

K2333

Peer DW1KK5330

Peer Float1

KR3330

Peer DW2KK5332

Peer Float2

KR3332

PZD 2 + PZD 3

PZD 4 + PZD 5

PZD 1

Process data words PZD2, PZD3 and PZD4, PZD5 may be

transmitted as word, double word or floating point values.

The

floating-point

connectors KR3330 and KR3332 must not

be used if there is no floating point value transmission!

Process data

transmission

peer to peer

H345 (2303)

K (30,2)

S.Peer PZD1

H335 (2000)

K (30,2)

S.Peer PZD2

H336 (2000)

K (30,2)

S.Peer PZD3

H340 (2000)

K (30,2)

S.Peer PZD4

H341 (2000)

K (30,2)

S.Peer PZD5

H338 (3304)

KR (570,6)

S.Peer Float1

H337 (5000)

K (30,2)

S.Peer DW1

Peer Sendtype1

(2)

H339

Peer Sendtype2

(2)

H344

H343 (3305)

KR (570,8)

S.Peer Float2

H342 (5000)

K (30,2)

S.Peer DW2

PZD 2 + PZD 3

PZD 4 + PZD 5

PZD 1

PZD5 Peer

d333

....

Peer W1 send

d300

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 310 -

Communication

Peer to peer control and status word

Status word peer

H310 (0000)

B (30,2)

S.PeerState1_B0 ... S.PeerState1_B15

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B (30,2)

H312 (0000) B (30,2)

H311 (0000)

B (30,2)

H313 (0000)

B (30,2)

H314 (0000)

B (30,2)

H315 (0000)

B (30,2)

H316 (0000)

B (30,2)

H317 (0001)

B (30,2)

H318 (0001)

B (360,7)

H319 (0666)

B (30,2)

H320 (0001)

B (30,2)

H321 (0000)

B (30,2)

H322 (0001)

B (30,2)

H323 (0001)

B (30,2)

H324 (0000)

B (30,2)

H325 (0000)

status word peer

K2327

Status Word Peer

d327

Control word peer

H334 (2329)

K (300,3)

S.ContrlWordPeer

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B0300 Peer CTW.0

B0301 Peer CTW.1

B0302 Peer CTW.2

B0303 Peer CTW.3

B0304 Peer CTW.4

B0305 Peer CTW.5

B0306 Peer CTW.6

B0307 Peer CTW.7

B0308 Peer CTW.8

B0309 Peer CTW.9

B0310 Peer CTW.10

B0311 Peer CTW.11

B0312 Peer CTW.12

B0313 Peer CTW.13

B0314 Peer CTW.14

B0315 Peer CTW.15

B0335 Peer CTW.15 inv

B0320 Peer CTW.0 inv

.....

...

inverted control bits

Peer ControlWord

d346

K2346

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 400 -

Communication

COMBOARD general settings

ComBoard enable

(1)

H409

tmax CB OpMode

(100ms)

H463

Maximun time

interval between 2

telegrams

Timeout

Receives status

Enable

CB receive state

d465

tmax CB PowerOn

(20000 ms)

H462

Timeout CB

Control and monitoring functions of

the communication board

(COMBOARD)

CB Parameter 1

(0)

H481

CB Parameter 2

(2)

H482

CB Parameter 3

(0)

H483

CB Parameter 4

(0)

H484

CB Parameter 5

(0)

H485

CB Parameter 6

(0)

H486

CB Parameter 7

(0)

H487

CB Parameter 8

(0)

H488

CB Parameter 9

(0)

H489

CB Parameter 10

(0)

H490

CB Parameter 13

(0)

H493

CB Parameter 11

(0)

H491

CB Parameter 12

(0)

H492

CB Param.valid

(1)

H495

CB Slave address

(3)

H480

CB state SRT400

d496

Configuration valid

Slave address of the

COMBOARDs

Parameter setting for the

COMBOARD

(depending on the type of

COMBOARD)

State of

Configuration

Configuration of the COMBOARD:

These parameters are reserved for a

COMBOARD in SRT400 applications.

If the T400 is placed in the electronic

box of the inverter the configuration of

the COMBOARD is done by inverter

parameters (e.g. P918 for the bus

address with Masterdrives MC).

Mask tmax CB

(16#FFFF)

H464

Configuration COMBOARD

16 bit

Receive initialized B0400 CB receive init.

B0401 CB receive not init.

send initialized B0402 CB send init.

B0403 CB send not init.

B0405 Timeout CB

bitwise ANDed

at least 1 bit set

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 410 -

Communication

COMBOARD receiption

PZD 1

Control word

1.0

100 %

CB Setp_1 norm

(1.0)

H451 CB Setp_1 rec.

d450

PZD 2

Process data

receiption from

COMBOARD

PZD 3

PZD 4

PZD 5

CB Setp_2 norm

(1.0)

H453 CB Setp_2 rec.

d452

PZD 6

1.0

100 %

PZD1 from CBK2801

d801 d810

PZD1 CB rec. ...

PZD10 CB rec.

PZD2 from CBK2802

PZD3 from CBK2803

PZD4 from CBK2804

PZD5 from CBK2805

PZD6 from CBK2806

PZD 7

PZD7 from CBK2807

PZD 8

PZD8 from CBK2808

PZD 9

PZD9 from CBK2809

PZD 10

PZD10 from CBK2810

H813 (2802)

K (410,3)

S.setp_1 CB

setpoint1 CBKR3450

H814 (2803)

K (410,3)

S.setp_2 CB

setpoint2 CBKR3452

CB DW norm.

(1.0)

H841 CB setp. DW

d821

1.0

100 %

H820 (2810)

K (410,3)

S.DW low CB setpoint DW CB

KR3821

H819 (2809)

K (410,3)

S.DW high CB

Conversion of 16bit process data to floating point

Conversion of double word to floating point

. . . .

high

low

CB Setp_3 norm

(1.0)

H455 CB Setp_3 rec.

d454

1.0

100 %

H815 (2805)

K (410,3)

S.setp_3 CB

setpoint3 CBKR3454

CB Setp_4 norm

(1.0)

H457 CB Setp_4 rec.

d456

1.0

100 %

H816 (2806)

K (410,3)

S.setp_4 CB

setpoint4 CBKR3456

The maximum number of

PZD depends on the actual

PPO type.

H817 (2807)

K (410,3)

S.setp. I_R CB

setpoint I_R CBKR3818

Setp. I_R CB

d818

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 420 -

Communication

COMBOARD control words

CB Control word 1

Bit 0 OFF1 = 0

Bit 6 Setpoint enable

Bit 1 OFF2 = 0

Bit 2 OFF3 = 0

Bit 3 Inverter enable

Bit 4 Ramp funct.gen. enable

Bit 5 Start ramp funtion gen.

Bit 7 Fault acknowledge

Bit 8 Jogging 1

Bit 9 Jogging 2

Bit 12 Counter clockw. enable

Bit 10 Control requested

Bit 11 Clockwise seq. enable

Bit 13 Raise motor potentiom.

Bit 14 Lower motor potent.

Bit 15 External fault = 0

B0800 CB Control W1.0

B0801 CB Control W1.1

B0802 CB Control W1.2

B0803 CB Control W1.3

B0804 CB Control W1.4

B0805 CB Control W1.5

B0806 CB Control W1.6

B0807 CB Control W1.7

B0808 CB Control W1.8

B0809 CB Control W1.9

B0810 CB Control W1.10

B0811 CB Control W1.11

B0812 CB Control W1.12

B0813 CB Control W1.13

B0814 CB Control W1.14

B0815 CB Control W1.15

B0855 CB CTW1.15 inv

B0840 CB CTW1.0 inv

.....

...

inverted bits of the control word

ControlWord 1 CB

d460

H811 (2801)

K (410,3)

S.Control W1 CB

CB CTW1K2460

CB Control word 2

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9 Enable speed controller

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B0820 CB Control W2.0

B0821 CB Control W2.1

B0822 CB Control W2.2

B0823 CB Control W2.3

B0824 CB Control W2.4

B0825 CB Control W2.5

B0826 CB Control W2.6

B0827 CB Control W2.7

B0828 CB Control W2.8

B0829 CB Control W2.9

B0830 CB Control W2.10

B0831 CB Control W2.11

B0832 CB Control W2.12

B0833 CB Control W2.13

B0834 CB Control W2.14

B0835 CB Control W2.15

B0875 CB CTW2.15 inv

B0860 CB CTW2.0 inv

.....

...

inverted bits of the control word

ControlWord 2 CB

d461

H812 (2804)

K (410,3)

S.Control W2 CB

CB CTW2K2461

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 430 -

Communication

COMBOARD status words

Status word 1

for COMBOARD

H410 (0000)

B (30,2)

S.CB state1 B0 ... S.CB state1 B15

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B (30,2)

H412 (0000) B (30,2)

H411 (0000)

B (30,2)

H413 (0000)

B (30,2)

H414 (0000)

B (30,2)

H415 (0000)

B (30,2)

H416 (0000)

B (30,2)

H417 (0000)

B (30,2)

H418 (0000)

H419 (0000)

B (330,3)

H420 (0000)

B (30,2)

H421 (0000)

B (30,2)

H422 (0000)

B (30,2)

H423 (0000)

B (30,2)

H424 (0000)

B (30,2)

H425 (0000)

Status word 1 CBK2466

Status Word1 CB

d466

Status word 2

for COMBOARD

H426 (0000)

B (30,2)

S.CB state2 B0 ... S.CB state2 B15

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B (30,2)

H428 (0000) B (30,2)

H427 (0000)

B (30,2)

H429 (0000)

B (30,2)

H430 (0000)

B (30,2)

H431 (0000)

B (240,8)

H432 (0548)

B (30,2)

H433 (0000)

B (30,2)

H434 (0000)

B (30,2)

H435 (0000)

B (30,2)

H436 (0000)

B (30,2)

H437 (0000)

B (30,2)

H438 (0000)

B (30,2)

H439 (0000)

B (30,2)

H440 (0000)

B (30,2)

H441 (0000)

Status word 2 CBK2467

Status Word2 CB

d467

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 440 -

Communication

COMBORAD transmission

100 %

1.0

Process data

transmission

COMBOARD

H401

(1.0)

CB actval1 norm.

H405

(1.0)

CB actval3 norm.

100 %

1.0

100 %

1.0

H403

(1.0)

CB actval2 norm.

100 %

1.0

H829

(1.0)

Actval5 CB norm.

100 %

1.0

H407

(1.0)

CB actval4 norm.

Conversion to double word

H822 (3446)

KR (550,3)

S.actval_1 CB

Actual value1 CBK2822

H823 (3447)

KR (550,5)

S.actval_2 CB

Actual value2 CBK2823

H824 (3448)

KR (550,6)

S.actval_3 CB

Actual value3 CBK2824

H825 (3449)

KR (550,8)

S.actval_4 CB

Actual value4 CBK2825

H828 (3000)

KR (30,2)

S.actval_1 CB

high

low

Actual value5 high CBK2828

Actual value5 low CBK2829

H831 (2442)

K (560,4)

S. PZD1 CB

PZD1 CB out

d921

H832 (2822)

K (440,3)

S. PZD2 CB

H833 (2823)

K (440,3)

S. PZD3 CB

H834 (2444)

K (560,7)

S. PZD4 CB

H835 (2824)

K (440,3)

S. PZD5 CB

H836 (2825)

K (440,3)

S. PZD6 CB

H837 (2827)

K (440,7)

S. PZD7 CB

H838 (2000)

K (30,2)

S. PZD8 CB

PZD10 CB out

d930

. . . . . .

PZD 1

Status word 1

PZD 2

PZD 3

PZD 4

PZD 5

PZD 6

PZD 7

PZD 8

PZD 9

PZD 10

H839 (2828)

K (440,4)

S. PZD9 CB

H840 (2829)

K (440,4)

S. PZD10 CB

H826 (3000)

KR (30,2)

S.actval R_I CB

Actual value R_I CBK2827

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

USS unable

(1)

H700

Baud rate USS

(9600)

H701

Baud rate

(OP1S: 9600 bps or 19200 bps)

USS bus address

Receives statusEnable

USS slave operation

The USS slave coupling is required for visualizing or changing

parameters using OP1S or SIMOVIS only if the T400 is working

stand alone in the SRT400 rack.

For enabling set T400 switch S1/8 = ON. The switching

becomes valid after the next power on. Online communication

with other service tools using the same interface (e.g. CFC) will

be disabled!

If there is no access with OP1S caused by not supported

parameter setting (e.g. wrong baud rate) set S1/8 = OFF and

use the Service-IBS program to correct the parameters.

- 450 -

Communication

USS slave

USS Address

(0)

H703

USS 4-Wire

(0)

H704

USS rec. state

d705

Duplex / half duplex operation

0: RS485 (2 wires)

1: RS232 (4 wires)

Receive

H708 (2000)

K (30,2)

S.PZD1 USS Slave

PZD1

PZD2

PZD1

PZD2

Transmit

PZD1 USSK2706

PZD2 USS

K2707

H709 (2000)

K (30,2)

S.PZD2 USS Slave

PZD1 USS

d706 PZD2 USS

d707

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 460 -

Free function blocks

Logical gates

1 1

L699 (0000)

B (30,2)

S.R RS-FlipFlop1

L698 (0000)

B (30,2)

S.S RS-FlipFlop1

B0698 RSFF1_Q

B0699 RSFF1_QN

L700 (0001)

B (30,2)

S.AND1_I1

L701 (0001)

B (30,2)

S.AND1_I2

L702 (0001)

B (30,2)

S.AND1_I3

B0700 AND1_Q

L703 (0001)

B (30,2)

S.AND2_I1

L704 (0001)

B (30,2)

S.AND2_I2

L705 (0001)

B (30,2)

S.AND2_I3

B0703 AND2_Q

L735 (0000)

B (30,2)

S.R RS-FlipFlop2

L734 (0000)

B (30,2)

S.S RS-FlipFlop2

B0734 RSFF2_Q

B0735 RSFF2_QN

L710 (0000)

B (30,2)

S.OR1_I1

L711 (0000)

B (30,2)

S.OR1_I2

L712 (0000)

B (30,2)

S.OR1_I3

B0710 Q_OR1

L713 (0000)

B (30,2)

S.OR2_I1

L714 (0000)

B (30,2)

S.OR2_I2

L715 (0000)

B (30,2)

S.OR2_I3

B0713 Q_OR2

L708 (0000)

B (30,2)

S.Switch1_sel

L706 (3000)

KR (30,2)

S.Switch1_0

L707 (3000)

KR (30,2)

S.Switch1_1 Switch1

KR3706

L718 (0000)

B (30,2)

S.Switch2_sel

L716 (3000)

KR (30,2)

S.Switch2_0

L717 (3000)

KR (30,2)

S.Switch2_1 Switch2

KR3716

L732 (0000)

B (30,2)

S.Not1

B0732 Not1_Q

L733 (0000)

B (30,2)

S.Not2

B0733 Not2_Q

L826 (0000)

B (30,2)

S.Switch3_sel

L824 (3000)

KR (30,2)

S.Switch3_0

L825 (3000)

KR (30,2)

S.Switch3_1 Switch3

KR3825

L829 (0000)

B (30,2)

S.Switch4_sel

L827 (3000)

KR (30,2)

S.Switch4_0

L828 (3000)

KR (30,2)

S.Switch4_1 Switch4

KR3827

L830 (0000)

B (30,2)

S.AND_OR1_1

L831 (0000)

B (30,2)

S.AND_OR1_2

L832 (0001)

B (30,2)

S.AND_OR1_3

B1830

AND_OR1

L833 (0000)

B (30,2)

S.AND_OR2_1

L834 (0000)

B (30,2)

S.AND_OR2_2

L835 (0001)

B (30,2)

S.AND_OR2_3

B1833

AND_OR2

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 470 -

Free function blocks

Arithmetic and display parameters

L606 (2000)

K (30,2)

S.ADDI_1 X1

L607 (2000)

K (30,2)

S.ADDI_1 X2

ADDI_YK2607

L608 (2000)

K (30,2)

S.SUBI_1 X1

L609 (2000)

K (30,2)

S.SUBI_1 X2

SUBI_YK2608

L812 (2001)

K (30,2)

S.DIVI_1 X1

L813 (2001)

K (30,2)

S.DIVI_1 X2

DIVI_1 Y

K2812

DIVI_1 (MOD)K2813

X1 modulo X2

L814 (2001)

K (30,2)

S.MULI_1 X1

L815 (2001)

K (30,2)

S.MULI_1 X2

MULI_1 Y

K2814

MULI_1 (DW)KK5814

double word result

L786 (3000)

KR (30,2)

S.ADD1 X1

L787 (3000)

KR (30,2)

S.ADD1 X2

L788 (3000)

KR (30,2)

S.ADD1 X3

ADD_1KR3786

L789 (3000)

KR (30,2)

S.ADD2 X1

L790 (3000)

KR (30,2)

S.ADD2 X2

L791 (3000)

KR (30,2)

S.ADD2 X3

ADD_2KR3789

L792 (3000)

KR (30,2)

S.SUB1 X1

L793 (3000)

KR (30,2)

S.SUB1 X2

SUB_1KR3792

L794 (3000)

KR (30,2)

S.SUB2 X1

L795 (3000)

KR (30,2)

S.SUB2 X2

SUB_2KR3794

L796 (3001)

KR (30,2)

S.MUL1 X1

L797 (3001)

KR (30,2)

S.MUL1 X2

L798 (3001)

KR (30,2)

S.MUL1 X3

MUL_1KR3796

L799 (3001)

KR (30,2)

S.MUL2 X1

L800 (3001)

KR (30,2)

S.MUL2 X2

L801 (3001)

KR (30,2)

S.MUL2 X3

MUL_2KR3799

L802 (3001)

KR (30,2)

S.DIV1 X1

L803 (3001)

KR (30,2)

S.DIV1 X2

DIV_1KR3802

L804 (3001)

KR (30,2)

S.DIV2 X1

L805 (3001)

KR (30,2)

S.DIV2 X2

DIV_2KR3804

L028 (3234)

KR (100,5)

S.Display R1 Display R1

d028

L029 (3330)

KR (300,3)

S.Display R2 Display R2

d029

L030 (3332)

KR (300,3)

S.Display R3 Display R3

d030

L031 (3819)

KR (480,7)

S.Display R4 Display R4

d031

L032 (0193)

B (75,5)

S.Display B1 Display B1

d032

L033 (0196)

B (75,5)

S.Display B2 Display B2

d033

L034 (0105)

B (100,8)

S.Display B3 Display B3

d034

L035 (0116)

B (110,7)

S.Display B4 Display B4

d035

Display I1

d036

L036 (2500)

K (230,4)

S.Display I1

Display I2

d037

L037 (2502)

K (230,4)

S.Display I2

Display W1

d038

L038 (2605)

K (490,5)

S.Display W1

Display W2

d039

L039 (2606)

K (490,5)

S.Display W2

Word parameters

Integer parameters

BOOL parameters

Floating point parameters

Display parameters

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 480 -

Free function blocks

Miscellaneous functions

PT1

X<Y

X>Y

X=Y

Comparator

X > Y

X = Y

X < Y

L740 (3000)

KR (30,2)

S.PT1_input

PT1_outKR3740

Tfilt PT1

(20ms)

L741

L742 (3000)

KR (30,2)

S.Band-Stop filt

Band stopKR3742

L743 (3002)

KR (30,2)

S.FilterFrequenc

L744 (3000)

KR (30,2)

S.Compare_X

L745 (3000)

KR (30,2)

S.Compare_Y

B0744 Compare X>Y

B0745 Compare X<Y

B0743 Compare X=Y

L746 (3001)

KR (30,2)

S.Limit_max

L748 (3000)

KR (30,2)

S.Limit_min

L747 (3000)

KR (30,2)

S.Limit_input

B0748 Limit_min

B0746 Limit_max

Limit_outKR3747

B0747

Limit_aktiv

Band stop filter

Low pass filter

1. order

Limiter

L749 (3000)

KR (30,2)

S.Compare2

Compare2 Hyst

(0.1)

L751

B0749 Compare2 X>Y

B0750 Compare2 X=Y

B0751 Compare2 X<Y

L756

(1.0)

Curve_X2

Curve_X1

(0.0)

L754

Curve_Y1

(0.0)

L755

Curve_Y2

(1.0)

L757

L753 (3000)

KR (30,2)

S.Curve_X characteristic_Y

KR3753

2 point

characteristic

QualityFact.Filt

(2.0)

L739

Comparator

with

Hysteresis

Integrator LU

(1.0)

L819

L820

(-1.0)

Integrator LL

L823 (0000)

B (30,2)

S.Integrator set

L818 (3000)

KR (30,2)

S.Integrator X

L821 (3000)

KR (30,2)

S.Integrator SV

Integrator T

(1000 ms)

L822

KR3819

B0817 at upper limit

B0818 at lower limit

L752 (3003)

KR (30,2)

S. Compare2 Mid

L738 (0000)

B (30,2)

S.set_PT1_zero

L750 (3001)

KR (30,2)

S.Compare2 Range

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 490 -

Free function blocks

Type conversion

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B0760 FreeWord_0

B0761 FreeWord_1

B0762 FreeWord_2

B0763 FreeWord_3

B0764 FreeWord_4

B0765 FreeWord_5

B0766 FreeWord_6

B0767 FreeWord_7

B0768 FreeWord_8

B0769 FreeWord_9

B0770 FreeWord_10

B0771 FreeWord_11

B0772 FreeWord_12

B0773 FreeWord_13

B0774 FreeWord_14

B0775 FreeWord_15

L760 (2000)

K (30,2)

S.FreeWord DW norm.

(1.0)

L763

1.0

100 %

L762 (2000)

K (30,2)

S.DW_low

L761 (2000)

K (30,2)

S.DW_high

high

low

Word norm.

(1.0)

L765

1.0

100 %

L764 (2000)

K (30,2)

S.Word

DW_floatKR3763

Word_Float

KR3765

100 %

1.0

L767

(1.0)

Float norm.

L766 (3000)

KR (30,2)

S.Float Float_N2

K2766

Bit 0

Bit 6

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 7

Bit 8

Bit 9

Bit 12

Bit 10

Bit 11

Bit 13

Bit 14

Bit 15

B1810 FreeWord2_0

B1811 FreeWord2_1

B1812 FreeWord2_2

B1813 FreeWord2_3

B1814 FreeWord2_4

B1815 FreeWord2_5

B1816 FreeWord2_6

B1817 FreeWord2_7

B1818 FreeWord2_8

B1819 FreeWord2_9

B1820 FreeWord2_10

B1821 FreeWord2_11

B1822 FreeWord2_12

B1823 FreeWord2_13

B1824 FreeWord2_14

B1825 FreeWord2_15

L810 (2000)

K (30,2)

S.Free_W_B_2

L646 (2000)

K (30,2)

S.I_R_1

I_R1KR3604

high

low

DW_W1 high

K2605

DW_W1 lowK2606

L605 (5000)

KK (30,2)

S.DW_W1

L817 (2000)

K (30,2)

S.W_DW1 low

L816 (2000)

K (30,2)

S.W_DW1 high

high

low W_DW1

KK5816

L647 (3000)

KR (30,2)

S.R_I1

R_I1K2647

L728 (0000)

B (30,2)

S.OnDelay1

T_OnDelay1

(100ms)

L729

B0728 OnDelay1_Q

L730 (0000)

B (30,2)

S.OffDelay1

T_OffDelay1

(100ms)

L731

B0730 OffDelay1_Q

L709 (0000)

B (30,2)

S.Edge1

B0709 Edge1_Q

B0708 Edge1_QN

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 500 -

Multiplexer

Setpoint channels

AE1 filtered [50,6]

Actual value1 CU [170,7]

AE3 filtered [50,6]

AE2 filtered [50,6]

AE4 filtered [50,6]

Setpoint1 CB [410,7]

Peer Float1 [300,4]

Peer Float2 [300,4]

0.0

MUX displace.Setp

(1)

H050

Fixed value displacement [30,3]

Actual value2 CU [170,7]

Actual value3 CU [170,7]

Setpoint2 CB [410,7]

Setpoint3 CB [410,7]

Setpoint4 CB [410,7]

The input assignment for inputs 2 to

14 is identical with each multiplexer

on this page

DT1(n_setp) [120,8] 0

0.0

MUX Accel.Comp.

(1)

H080

Fixed value ration [30,3]

0.0

MUX ratio

(1)

H040

Fixed value rel. ration [30,3]

0.0

MUXrelativeRatio

(1)

H048

Fixed value reference speed [30,3]

0.0

15n_Master normalized[70,7]

MUX Refer.speed

(15)

H070

Mux displacement

setpoint

KR3050 Mux inertia compensationKR3080

Mux ratio

KR3040 Mux relative ratioKR3048

Mux reference

speed

KR3070

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 510 -

Multiplexer

Analog outputs

MUX AnalogOutp 1

(1)

H618

0.0

Setpoint for inverter [115,8]

Displacement setpoint [110,1]

Ratio[80,4]

Reference speed setpoint [115,2]

Relative ratio [80,2]

Mux inertia compensation [500,7]

Output speed controller [120,8]

Speed setpoint limited [120,2]

Speed slave filtered [60,8]

Deviation speed controller [120,4]

KP speed controller [120,3]

n setpoint after ramp [115,7]

Deviation angle controller [110,5]

KP angle controller [110,4]

Displacement actual value [100,8]

Displacement - position difference [100,8]

position deviation filtered [60,8]

n_Slave norm. [60,8]

Position slave [60,8]

n_Master normalized [70,7]

Position master [70,7]

Actual value1 CU [170,7]

setpoint1 CB [410,7]

setpoint2 CB [410,7]

setpoint3 CB [410,7]

setpoint4 CB [410,7]

Peer Float1 [300,3]

Peer Float2 [300,3]

MUX AnalogOutp 2

(0)

H619

The input assignment

for both multiplexers

on this page is

identical

Output angle controller [110,8]

32DT1(n setp) [120,8]

Mux DAC1KR3618 Mux DAC2KR3619

Actual value2 CU [170,7]

Actual value3 CU [170,7]

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 520 -

Multiplexer

Binary control

MUX Displ.Reset

(0)

H170

BinInput 3 [52,4]

BinInput 4 [52,4]

BinInput 5 [52,4]

BinInput 6 [52,4]

BinInput 7 [52,4]

BinInput 8 [52,4]

CB Control W2.0 [420,7]

Peer CTW.0 [310,4]

MUX enable Jog

(0)

H171

MUX en.Pos.Cntrl

(0)

H172

MUX Reset Posit.

(0)

H173

MUX Synchr.Cmd

(0)

H174

Identical input

assignment for all

multiplexers of this

chart (except input 2)

CTW from CU.0[180,7]

1 1 1

0 0

CTW from CU.1

[180,7] CTW from CU.2

[180,7]

CB Control W2.1 [420,7]

CB Control W2.2 [420,7]

CB Control W2.3 [420,7]

CB Control W2.4 [420,7]

CB Control W2.5 [420,7]

CB Control W2.6 [420,7]

CB Control W2.7 [420,7]

Peer CTW.1 [310,4]

Peer CTW.2 [310,4]

Peer CTW.3 [310,4]

Peer CTW.4 [310,4]

Peer CTW.5 [310,4]

Peer CTW.6 [310,4]

Peer CTW.7 [310,4]

CB Control W1.0 [420,4]

CB Control W1.1 [420,4]

CB Control W1.2 [420,4]

CB Control W1.3 [420,4]

CB Control W1.4 [420,4]

CB Control W1.5 [420,4]

CB Control W1.6 [420,4]

CB Control W1.7 [420,4]

B0170

Mux displacement

reset B0171

Mux jog enable

B0172

Mux enable angle

controller B0173

Mux reset position

B0174

Mux synchronizing

command

CTW from CU.3

[180,7] CTW from CU.4

[180,7]

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 530 -

Multiplexer

Control word (part 1)

CB Control W1.0 [420,4]

Peer CTW.0 [310,4]

BinInput 1 [52,4]

MUX CTW1 Bit0

(0)

H650

CTW from CU.5[180,7]

CB Control W1.1 [420,4]

Peer CTW.1 [300,7]

BinInput 2 [52,4]

MUX CTW1 Bit1

(1)

H651

CTW from CU.6 [180,7]

CB Control W1.2 [420,4]

Peer CTW.2 [310,4]

BinInput 2 [52,4]

MUX CTW1 Bit2

(1)

H652

CTW from CU.7 [180,7]

CB Control W1.3 [420,4]

Peer CTW.3 [310,4]

BinInput 3 [52,4]

MUX CTW1 Bit3

(1)

H653

CTW from CU.8 [180,7]

CB Control W1.7 [420,4]

Peer CTW.7 [310,4]

BinInput 8 [52,4]

MUX CTW1 Bit7

(0)

H657

CTW from CU.12 [180,7]

CB Control W1.4 [420,4]

Peer CTW.4 [310,4]

BinInput 5 [52,4]

MUX CTW1 Bit4

(1)

H654

CTW from CU.9 [180,7]

CB Control W1.5 [420,4]

Peer CTW.5 [310,4]

BinInput 6 [52,4]

MUX CTW1 Bit5

(1)

H655

CTW from CU.10 [180,7]

CB Control W1.6 [420,4]

Peer CTW.6 [310,4]

BinInput 7 [52,4]

MUX CTW1 Bit6

(1)

H656

CTW from CU.11 [180,7]

ON (/OFF1)

not OFF2

not OFF3

Inverter enable

Ramp function

generator enable

Start ramp function

generator

Setpoint enable

Edge fault

acknowlege

B0650

Bit0 Control word1

B0651

Bit1 Control word1

B0652

Bit2 Control word1

B0653

Bit3 Control word1

B0654

Bit4 Control word1

B0655

Bit5 Control word1

B0656

Bit6 Control word1

B0657

Bit7 Control word1

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 540 -

Multiplexer

Control word 1 (part 2)

CB Control W1.8 [420,4]

Peer CTW.8 [310,4]

Coarse pulse 1 [52,8]

MUX CTW1 Bit8

(0)

H658

CB Control W1.9 [420,4]

Peer CTW.9 [310,4]

Coarse pulse 2 [52,8]

MUX CTW1 Bit9

(0)

H659

CB Control W1.10 [420,4]

Peer CTW.10 [310,4]

MUX CTW1 Bit10

(1)

H660

CB Control W1.11 [420,4]

Peer CTW.11 [310,4]

MUX CTW1 Bit11

(1)

H661

CTW from CU.13 [180,7]

CB Control W1.12 [420,4]

Peer CTW.12 [310,4]

MUX CTW1 Bit12

(1)

H662

CTW from CU.14 [180,7]

CB Control W1.13 [420,4]

Peer CTW.13 [310,4]

MUX CTW1 Bit13

(0)

H663

CB Control W1.14 [420,4]

Peer CTW.14 [310,4]

MUX CTW1 Bit14

(0)

H664

CB Control W1.15 [420,4]

Peer CTW.15 [310,4]

BinInput 8 [52,4]

MUX CTW1 Bit15

(1)

H665

Fault [200,6]

Warning [200,8] 5

No external fault

Lower motor

potentiometer

Raise motor

potentiometer

Counter clockwise

phase sequence

enable

Clockwise phase

sequence enable

Control requested

Jogging 2

Jogging 1

B0658

Bit8 Control word1

B0659

Bit9 Control word1

B0660

Bit10 Control word1

B0661

Bit11 Control word1

B0662

Bit12 Control word1

B0663

Bit13 Control word1

B0664

Bit14 Control word1

B0665

Bit15 Control word1

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 550 -

Multiplexer

CB actual values

Mux word2 CB

(1)

H446

0.0

Speed slave filtered [60,8]

position deviation filtered [60,8]

W2 CB constant

(0.0)

H470

Mux word3 CB

(0)

H447

Mux word5 CB

(0)

H448

Mux word6 CB

(0)

H449

W3 CB constant

(0.0)

H471

W5 CB constant

(0.0)

H472

W6 CB constant

(0.0)

H473

Input assignment for each

multiplexer of this chart;

except input 32

Actual value1 CU [170,7]

setpoint1 CB [410,7]

setpoint2 CB [410,7]

setpoint3 CB [410,7]

setpoint4 CB [410,7]

Peer Float1 [300,3]

Peer Float2 [300,3]

Actual value2 CU [170,7]

Actual value3 CU [170,7]

Mux word2 CB

KR3446 Mux word3 CB

KR3447 Mux word5 CB

KR3448 Mux word6 CB

KR3449

Setpoint for inverter [115,8]

Displacement setpoint [110,1]

Ratio[80,4]

Reference speed setpoint [115,2]

Relative ratio [80,2]

Mux inertia compensation [500,7]

Output speed controller [120,8]

Speed setpoint limited [120,2]

Deviation speed controller [120,4]

KP speed controller [120,3]

n setpoint after ramp [115,7]

Deviation angle controller [110,5]

KP angle controller [110,4]

Displacement actual value [100,8]

Displacement - position differ. [100,8]

n_Slave norm. [60,8]

Position slave [60,8]

n_Master normalized [70,7]

Position master [70,7]

Output angle controller [110,8]

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

- 560 -

Multiplexer

CB status words

word1 CB constan

(0)

H443

Status word1 CB [430,4]

Status word angle synchr.[40,7]

PZD1 from CB [410,3]

PZD4 from CB [410,3]

PZD1 from CU [170,3]

PZD1 from Peer [300,3]

MUX word1 CB

(0)

H442

word4 CB constan

(0)

H445

Statusword2 CB [430,8]

MUX word4 CB

(0)

H444

Control word 1 CU [220,4]

Control word 2 CU [220,8]

CB Control W2.10 [420,8]

Peer CTW.10 [300,4]

BinInput 8 [52,4]

MUX Speed enable

(1)

H544

6CTW from CU.15 [180,7]

PZD4 from CU [170,3]

Status word angle synchr.[40,7]

PZD1 from CB [410,3]

PZD4 from CB [410,3]

PZD1 from CU [170,3]

PZD1 from Peer [300,3]

Control word 1 CU [220,4]

Control word 2 CU [220,8]

PZD4 from CU [170,3]

Mux word1 CBK2442 Mux word4 CBK2444

CB Control W1.11 [420,4]

B0547 Mux enable speed controller

K2443 K2445

Function diagram

87654321

FPlan_english.vsd

Angular Synchr. Control SPA44005.01

W1 Peer constant

(0)

H306

Status word Peer [310,8]

Status word angle synchr. [40,7]

MUX word 1 Peer

(2)

H303

- 570 -

Multiplexer

Peer to peer

MUX float1 Peer

(1)

H304

0.0

Speed slave filtered [60,8]

position deviation filtered [60,8]

W2 Peer constant

(0.0)

H307

MUX float2 Peer

(0)

H305

W3 Peer constant

(0.0)

H308

PZD1 from CB [410,3]

PZD4 from CB [410,3]

PZD1 from CU [170,3]

PZD1 from Peer [300,3]

Control word 1 CU [220,4]

Control word 2 CU [220,8]

PZD4 from CU [170,3]

Mux word1 Peer

K2303

Actual value1 CU [170,7]

setpoint1 CB [410,7]

setpoint2 CB [410,7]

setpoint3 CB [410,7]

setpoint4 CB [410,7]

Peer Float1 [300,3]

Peer Float2 [300,3]

Actual value2 CU [170,7]

Actual value3 CU [170,7]

Mux word2 Peer

KR3304

Mux word3 Peer

KR3305

K2306

Setpoint for inverter [115,8]

Displacement setpoint [110,1]

Ratio[80,4]

Reference speed setpoint [115,2]

Relative ratio [80,2]

Mux inertia compensation [500,7]

Output speed controller [120,8]

Speed setpoint limited [120,2]

Deviation speed controller [120,4]

KP speed controller [120,3]

n setpoint after ramp [115,7]

Deviation angle controller [110,5]

KP angle controller [110,4]

Displacement actual value [100,8]

Displacement - position difference [100,8]

n_Slave norm. [60,8]

Position slave [60,8]

n_Master normalized [70,7]

Position master [70,7]

Output angle controller [110,8]

The input assignment

for both multiplexers is

identical