Settings IndraDrive R02 - SIMEL · PDF fileTo map a motor, the IndraDrive C must be switched...

ISO 9001 : 2000 page1

Simel s.p.a. Via Cento , 6/b 44049 VIGARANO MAINARDA (Ferrara ) Italy www.simel-linear.com

Handbook to Map the Simel Tubular

Motors on Bosch Rexroth IndraDrive C

and IndraDrive Cs drives

Rev. 0.2

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Index

INDEX ......................................................................................................................................................................... 2

1 PRELIMINARY OPERATIONS AND ELECTRICAL CONNECTIONS ............................................................................ 3

1.1 IDENTIFICATION OF THE DRIVE........................................................................................................................................ 3 1.2 CONNECTING THE MOTOR CABLE TO THE INDRADRIVE C ..................................................................................................... 3 1.3 CONNECTION OF THE ENCODER CABLE AND THE THERMAL PROTECTOR TO THE INDRADRIVE C .................................................... 4 1.4 CONNECTION OF THE MOTOR CABLE TO THE INDRADRIVE CS ............................................................................................... 4 1.5 CONNECTION OF THE ENCODER CABLE AND THE THERMAL PROTECTOR TO THE INDRADRIVE CS ................................................... 5

2 MAPPING THE MOTORS WITH THE INDRAWORKS ENGINEERING AND INDRAWORKS DS SOFTWARE ............... 6

2.1 INITIAL OPERATIONS .................................................................................................................................................... 6 2.2 INDRAWORKS ENGINEERING INTERFACE .......................................................................................................................... 6 2.3 CONFIGURATION OF THE MOTOR WINDOW ...................................................................................................................... 7 2.4 CONFIGURATION OF THE MOTOR: TEMPERATURE/BRAKE WINDOW ...................................................................................... 8 2.5 CONFIGURATION OF THE SETTINGS OF MOTOR ENCODER WINDOW ...................................................................................... 9 2.6 CONFIGURATION OF THE SCALING/UNITS WINDOW ......................................................................................................... 10 2.7 CONFIGURATION OF THE MECHANICAL GEAR WINDOW .................................................................................................... 10

3 FIGURE REFERENCE ...........................................................................................................................................12

4 REVISION INDEX ...............................................................................................................................................12

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1 Preliminary operations and electrical connections

1.1 Identification of the drive

The drive’s ID plate is shown in Fig. 1 and is generally located on the front; the Device type code for the IndraDrive

Cs is HCS01, while for the IndraDrive C it is HCS02.

1.2 Connecting the motor cable to the IndraDrive C

The power supply cable of the tubular motors is screened and consists of a protection conducer plus three power

wires; these can be distinguished from one another by their numbering or by different colouring (see the option type

in Table 1).

The phases of the motor cable are connected to the drive on the X5 connector, the connections must comply with

the allocations of Table 1. The connection of the motor cable must comply with the installation conditions specified in

the drive installation handbook; the motor cable in particular must be fixed on the accessory HAS02 as shown in Fig. 2.

Table 1: connection of the motor cable to the IndraDrive C.

Motor cable IndraDrive C X5 connector

Option 1 Option 2 Option 3 1 Grey Blue A1

2 Brown Brown A2

3 Black Black A3

PE (G/V) PE (G/V) PE (G/V) GND

Fig. 1 – ID plate of the drive.

Fig. 2 – Connection between the motor cable and the X5 connector of the IndraDrive C with the accessory HAS02.

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1.3 Connection of the encoder cable and the thermal protector to the IndraDrive C

The encoder cable of the motor consists of eight cables: six are for the encoder SinCos 1 Vpp while the remaining

two are for the motor’s thermal protector (PTC Thermik).

The SinCos encoder cable must be terminated with a 15 pole male D-Sub connector, which will be connected to

the X4 connector. The function of the pins and their allocation is stated in Table 2.

The cables of the thermal protector must be connected to the X6 connector, the connections must comply with

the allocations of Table 3.

Table 2: connection of the encoder cable to IndraDrive C.

Encoder Cable Function IndraDrive C X4 connector

Red + 5 V 12

Blue GND_Encoder 10

Yellow A+ (+Sin) 7

Green A- (-Sin) 8

Grey B+ (+Cos) 6

Pink B- (-Cos) 5

Screen-cables Shield 14

Table 3: connection of the cables of the motor’s thermal protector to the IndraDrive C.

Encoder Cable Function IndraDrive C X6 connector

Brown MotTemp+ 1

White MotTemp- 2

1.4 Connection of the motor cable to the IndraDrive Cs

The power supply cable of the tubular motors is screened and consists of a protection conducer plus three power

wires; these can be distinguished from one another by their numbering or by different colouring (see the option type

in Table 4).

The phases of the motor cable are connected to the drive on the X5 connector, the connections must comply with

the allocations of Table 4. The connection of the motor cable, shown in Fig. 3, must comply with the installation

conditions specified in the drive installation handbook.

Fig. 3 – Connection between the motor cable and the X5 connector of the IndraDrive Cs.

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Table 4: connection of the motor cable to IndraDrive Cs.

Motor cable IndraDrive Cs X5 connector

Option 1 Option 2 Option 3 1 Grey Blue A1

2 Brown Brown A2

3 Black Black A3

PE (G/V) PE (G/V) PE (G/V) Connect as shown in Fig. 5

1.5 Connection of the encoder cable and the thermal protector to the IndraDrive Cs

The encoder cable of the motor consists of eight cables: six are for the encoder SinCos 1 Vpp while the remaining

two are for the motor’s thermal protector (PTC Thermik).

The SinCos encoder cable must be terminated with a 15 pole male D-Sub connector, which will be connected to

the X4 connector. The function of the pins and their allocation is stated in Table 5.

The cables of the thermal protector must be connected to the X6 connector, the connections must comply with

the allocations of Table 6.

Table 5: connection of the encoder cable to the IndraDrive Cs.

Encoder Cable Function IndraDrive Cs X4 connector

Red + 5 V 12

Blue GND_Encoder 4

Yellow A+ (+Sin) 2

Green A- (-Sin) 3

Grey B+ (+Cos) 5

Pink B- (-Cos) 6

Screen-cables Shield 1

Table 6: connection of the cables of the motor’s thermal protector to the IndraDrive Cs.

Encoder Cable Function IndraDrive Cs X6 connector

Brown MotTemp+ 1

White MotTemp- 2

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2 Mapping the motors with the IndraWorks Engineering and IndraWorks

Ds software

2.1 Initial operations

To map a motor, the IndraDrive C must be switched on and then connected to the IndraWorks Engineering or

IndraWorks Ds software through the programming ports (Serial, Ethernet…). Select the PM operating mode by

pressing, for example, the related button on the Engineering or IndraWorks Ds toolbar, shown respectively in Fig. 4

with a red circle. PM on the drive’s display confirms that the parameter setting operating mode is active.

The instructions on how to map the tubular motors on the IndraDrive C refer to the IndraWorks 08V06.0172

software.

2.2 IndraWorks Engineering Interface

Mapping the linear tubular motors on the IndraDrive C involves defining a set of parameters in five different

windows:

• Motor.

• Motor: Temperature/Brake.

• Motor Encoder Setting.

• Scaling/Units.

• Mechanical Gear.

The position of these windows is slightly different between the Engineering and the IndraWorks Ds program: Fig. 4

and Fig. 5 show a screenshot of the Engineering software and the IndraWorks Ds software where these windows are

shown, respectively.

Setting the parameters in the windows however is the same for the two programs; therefore, the paragraphs

below apply to both the Engineering software and IndraWorks Ds.

Fig. 4 – General screenshot of the Engineering software.

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2.3 Configuration of the Motor window

In the Motor window, shown in Fig. 6, ten parameters are entered to define the motor; follow the procedure

below to set them correctly:

• From the dropdown menu “Motor category” select “Synchronous third-party motor”.

• Type the name of the motor to define in the field “Motor type”.

• Select the option “Linear”, found below the field “Motor type”.

• Enter information about the motor to be mapped by copying the data shown in Table 7.

Table 7: parameter values of the Motor window for the four types of tubular motors.

Parameter m.u. GM1 GM2 FM1 FM2

Number of pole pairs mm 20.0 20.0 28.8 28.8

Maximum motor velocity mm/min 180000 180000 180000 180000

Motor peak current ARMS 9.0 9.0 10.0 10.0

Motor current at standstill ARMS 1.48 1.25 2.25 1.83

Limit value of flux-generating current ARMS -3.20 -2.70 -4.7 -3.80

Torque/Force constant N/ ARMS 24.8 48.6 43.9 82.9

Direct axis induct. Of motor mH 7.6 15.15 13.3 25.75

Quadrature axis induct. Of motor mH 7.6 15.15 13.3 25.75

Stator resistance Ω 12.37 25.60 9.71 19.32

Rotor inertia kg A(*

) B

(*

)

A = slider G.Rod

B = slider F.Rod

(*) = the Rotor inertia parameter corresponds to the weight of the transposed part of the motor; therefore, in

installations with transposed slider and still stator, it corresponds to the weight of the slider, while in installations with

fixed slider and transposed stator, it corresponds to the weight of the stator. The weight of the slider can be deduced

from the Slider catalogue, alternatively visit http://www.simel-linear.com/wordpress/index.php/prodotti/slider/. The

weights of the stators of the motors are: GM1=2.3 kg, GM2=3.3 kg, FM1=4.2 kg, FM2=6.4 kg.

Fig. 5 – General screenshot of the IndraWorks Ds software.

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2.4 Configuration of the Motor: Temperature/Brake window

The Motor: Temperature/Brake window, shown in Fig. 7, shows the specifications of the motor’s temperature

probe. The configuration of this window is the same for all four motors:

• From the dropdown menu “Temperature sensor” select “User-defined”.

• Set the parameter “Motor warning temperature” to 105 °C.

• Set the parameter “Motor shutdown temperature” to 115 °C.

• Set the parameter “Therm. Time constant of winding” to 10 s.

• Set the parameter “Therm. Time constant of motor” to 0.0 s.

• Set the parameter “Therm. Short time overl. Winding” to 2.2.

• Deselect the option “Motor holding brake available”, found in the section “Motor Brake” (only with

IndraWorks Engineering).

• Press the “Change” button next to the item “Temperature sensor characteristic”: the window “Parameter

editor” will open (parameter P-0-0513.0.0) in which data must be entered for Table 8.

Fig. 6 – Motor screenshot with the FM2 motor data.

Fig. 7- Motor Screen shot: Temperature/Brake.

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Table 8: table values to be entered for the parameter P-0-0513.0.0 to map the temperature sensor.

Elements Resistance Elements Resistance

0 30 14 6000

1 75 15 14000

2 120 16 18000

3 165 17 18900

4 210 18 19500

5 260 19 20000

6 315 20 20001

7 375 21 20002

8 440 22 20003

9 520 23 20004

10 630 24 20005

11 750 25 20006

12 1200 26 20007

13 2820 27 20008

2.5 Configuration of the Settings of Motor Encoder window

The Settings of Motor Encoder window, shown in Fig. 8, must be set as follows:

• From the dropdown menu “Motor encoder”, select “Incremental encoder with sine signals (1 Vpp, 5V

supply)”.

• From the dropdown menu “Assignment motor encoder – opt. Slot” select “X4 (Option 1) : EN2”.

• In the section “Encoder type”, select the option “Rotational direction inverted”, deselect the option

“Encoder distance-coded”. Select the option “Linear encoder” and set the parameter “Resolution” to 20.0

mm for the GM1 and GM2 motors or to 28.8 mm for the FM1 and FM2 motors.

• Set the parameters “Motor side” and “Encoder side” both to 1.

• Set the parameter “Absolute encoder range” to 0.0 mm.

• Deselect the option “Force absolute encoder evaluation”.

Fig. 8 – Settings of Motor Encoder screenshot.

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2.6 Configuration of the Scaling/Units window

The Scaling/Units window, shown in Fig. 9, must be set as follows:

• In the section “Scaling type”, select the option “Linear”.

• In the section “Position data format”, select the option “absolute”.

• In the section “Negation of position, velocity and torque/force data”, select the option “no”.

• In the section “Data with reference to…”, select the option “Load”.

2.7 Configuration of the Mechanical Gear window

The Mechanical Gear window, shown in Fig. 10, must be set as follows:

• In the section “Position data in”, select the option “absolute format”.

• Set “Maximum travel range” depending on the admissible stroke of the slider.

• Set “Feed constant k” to 20.0 mm/Rev for the GM1 and GM2 motors or to 28.8 mm/Rev for the FM1 and

FM2 motors.

• Set both “Input revolutions of load gear n1” and “Output revolutions of load gear n2” to 1.

• Enter the load mass in the field “Load inertia, with reference to motor”.

Fig. 9 – Scaling/Units screenshot.

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Fig. 10 – Mechanical Gear screenshot.

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3 Figure reference

Figure no. Reference of the figure

Fig. 1 Fig. 2-2, pg. 12, “Rexroth IndraDrive, Drive Controllers, Power sections HCS02, Instruction Manual”, R911319657 Ed. 02.

Fig. 2 Fig. 7-3, pg. 48, “Rexroth IndraDrive, Drive Controllers, Power sections HCS02, Instruction Manual”, R911319657 Ed. 02.

4 Revision Index

Revision Index Date Notes

Rev 0.0 01/07/2010 First edition.

Rev 0.1 28/09/2010 Updating of motor peak current in Table 7.

Rev 0.2 10/11/2010 Updating of temperature sensor (PTC) data in Table 8.

Settings IndraDrive R02 - SIMEL · PDF fileTo map a motor, the IndraDrive C must be switched...

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