Universidad Tecnològica de Querètaro

Transcription

Universidad
Tecnològica
de Querètaro
Firmado digitalmente por
Universidad Tecnològica de
Querètaro
Nombre de reconocimiento (DN):
cn=Universidad Tecnològica de
Querètaro, o=UTEQ, ou=UTEQ,
[email protected], c=MX
Fecha: 2014.01.23 17:42:14 -06'00'
UNIVERSIDAD TECNOLÓGICA DE QUERÉTARO
Nombre del proyecto:
“Probador para servomotores de la Marca Control Techniques”
Empresa:
Vidriera Monterrey S.A. de C.V. (Planta Querétaro)
Memoria que como parte de los requisitos para obtener el título de:
INGENIERO EN TECNOLOGIAS DE AUTOMATIZACION
Presenta:
Alberto Hernández González
Asesor de la UTEQ
Asesor de la Organización
ING. Ubaldo Flora Velasco
Ing. Joel Reyes Zertuche
Santiago de Querétaro, Qro. Enero 2014.
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RESUMEN
Vitro planta Querétaro es una empresa que se dedica a la fabricación de
envases de vidrio para la industria alimentaria, sodera y cervezera. En los
ultimos años han tenido lugar renovaciones en los 3 hornos con los que cuenta
la planta, lo que implica que mas del 85% del equipo tanto de fundición de vidrio
como de formación de envases es de última generación operado por
servomotores; debido al gran número de mecanismos servocontrolados , asi
como las condiciones ambientales y el tipo de proceso en si, se hace necesario
que en el taller electrónico se cuente con un stock de refacciones, que incluyen
varios servomotores para cuestion de reemplazo por falla o por rotación de
equipo, sin embargo, ya que existen mecanismos que impactan de manera
directa a la producción de una linea, es vital garantizar que las refacciones
existentes operen de manera correcta. Este proyecto va encaminado a generar
una propuesta de un probador electrónico que ayude a garantizar que los
servomotores de la marca Control Tecniques, que se encuentran en el stock de
refacciones, los cuales operan 4 de los mecanismos criticos de una linea de
producción, funcionen de manera correcta una vez realizado el mantenimiento al
servomotor, con lo que se pretende una reducción del 15% en el tiempo
implicado por falla electrónica por reemplazo de componente.
Palabras clave: mecanismos servocontrolados, servomotores, propuesta,
mecanismos críticos.
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SUMMARY
This project was developed inside Vitro plant Queretaro, one of the most
important plants of the glass container division of the Vitro Company. This project
consists in a design and proposal of an electronic instrument (tester) that helps
to solve the problem of the poor quality of the Control Techniques servomotors
maintenance. In order to achieve the result, it was necessary to do some
research about the servomotors and drivers, and the necessary software to
configure the operation of the hardware. Besides, it was necessary a complete
investigation on the plant registers about the operation servomotors’ conditions
(ambient and electronic) that are working in the plant. Finally, based on an
industrial pc connected to a driver to outlook variables inside, the proposal was
presented to the people involved, with great results. Personally, the internship
was a growing stage of my universitary life, and the perfect opportunity to
improve the knowledge acquired at school, and also I’ve got more knowledge
about servomotors.
Alberto Hernández González
Date: January 17, 2014
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DEDICATORIAS
Dedico esta memoria principalmente a mis padres quienes son fuente de
inspiración, me apoyaron y pusieron todo de su parte para lograr mis objetivos,
a mi hermana por el afecto e interés mostrado a lo largo de mi carrera y a dios
por darme la oportunidad de culminar mi carrera profesional.
A su vez dedico este trabajo a mi hermana Esmeralda quien a pesar de ya no
estar presente, fue y es fuente de inspiración y aliento en aquellos momentos de
flaqueza, y que es la persona que siempre me cuida desde cualquier lugar en
donde esté. Cada logro es por ti hermanita…..
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AGRADECIMIENTOS
Agradezco a la empresa VIDRIERA MONTERREY S.A. DE C.V., así como
a toda el área de Ingeniería de Planta y en especial al Departamento electrónico,
por el apoyo que me brindaron en mi estancia en la empresa para la realización
de este proyecto.
Agradezco al Ing. Joel Reyes Zertuche por el apoyo brindado dentro de la
empresa y a mi asesor Ing. Ubaldo Flora Velasco por haberme guiado para la
realización de este proyecto.
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Índice
RESUMEN
SUMMARY
DEDICATORIAS
AGRADECIMIENTOS
INDICE
I.INTRODUCCIÓN
II.- ANTECEDENTES
2.1.- ANTECEDENTES DE LA EMPRESA
2.2.- ANTECEDENTES DEL PROYECTO
III.- JUSTIFICACIÓN
IV.- OBJETIVOS
V.- ALCANCES
VI.- ANÁLISIS DE RIESGOS
VII.- FUNDAMENTACION TEÓRICA
7.1 EL SERVOMOTOR
7.2 ESTADO DEL ARTE
VIII.- PLAN DE ACTIVIDADES.
IX.- RECURSOS MATERIALES Y HUMANOS.
X.- DESARROLLO DEL PROYECTO
10.1.- PRESENTACIÓN DE LA PROPUESTA
10.2.- IDENTIFICACIÓN DE LOS MECANISMOS
10.3.- RECOLECTAR INFORMACION ACERCA DE LA
TEMPERATURA DE OPERACIÓN DE LOS EQUIPOS
10.4.- IDENTIFICAR LAS CONDICIONES AMBIENTALES DE
OPERACIÓN
10.5.- RECOLECTAR INFORMACIÓN DE LAS FALLAS
OCURRIDAS EN LOS MECANISMOS
10.6.- INVESTIGACIÓN ACERCA DE SERVOMOTORES
CONTROL TECHNIQUES
10.6.1.10.6.2.10.6.3.-
OPERACIÓN
SOFTWARE UTILIZADO
MÉTODOS DE CONTROL
10.7.- DISEÑO DEL PROYECTO
10.7.1.10.7.2.10.7.3.-
DISEÑO MECÁNICO
DISEÑO ELÉCTRICO
DISEÑO ELECTRÓNICO Y DE SOFTWARE
10.8.- ELABORACIÓN DE PRESUPUESTO
XI.- RESULTADOS OBTENIDOS.
XII.- CONCLUSIONES.
XIII.- ANEXOS
XIV.- BIBLIOGRAFÍA
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I.- Introducción.
En la industria en general, empieza a evidenciarse un auge importante de
la utilización de servomotores en máquinas que, tradicionalmente, trabajan con
componentes mecánicos, neumáticos e hidráulicos, no porque estos sean de
menor calidad o no cumplan con lo requerido, sino porque los servomotores
poseen características de adaptabilidad y flexibilidad mayores.
Sin embargo debido a que el equipo electrónico
para la formación de
envases de vidrio está sujeto a condiciones hostiles de temperatura, humedad, y
suciedad; la importancia del buen mantenimiento de los equipos críticos es vital
para la continuidad al proceso.
Para el desarrollo de este proyecto se plantea el diseño de un probador
para servomotores de la Marca Control Techniques, que satisfaga la necesidad
de contar con refacciones confiables en el taller electrónico; para su posterior
uso en el mantenimiento a equipos críticos del área de formado, con lo que se
pretende una reducción en el tiempo muerto generado por falla electrónica.
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II.
Antecedentes
2.1 Antecedentes de la empresa
Vitro es el principal fabricante de vidrio en México y uno de los más
importantes en el mundo, con más de 100 años de existencia. Ofrece productos
y servicios enfocados a dos tipos de negocios: envases de vidrio y vidrio plano.
Al año 2013 cuenta con instalaciones y una amplia red de distribución en 10
países de América y Europa. Además, sus productos son comercializados en
todo el mundo.
Ubicada en Coahuila #5 Col. Obrera. Vitro planta Querétaro es una de las
más grandes de la división de envases, actualmente cuenta con el horno de
fundición de vidrio más grande de Latinoamérica y produce envases de vidrio,
tanto para consumo nacional como para exportación en sus 3 hornos y 12 líneas
de producción, cuya capacidad conjunta supera las 1,250 toneladas de vidrio
fundido por día.
Misión: Vitro es una empresa comprometida con el cliente, que se dedica a
ofrecer productos y servicios de valor agregado, en mercados rentables y en
crecimiento. Esta misión se sustenta a través de nuestros valores, el desarrollo
de nuestra gente y tecnología de vanguardia.
Visión: Convertirnos en una empresa líder en la industria del vidrio en
términos de rentabilidad, eficiencia, calidad y servicio.
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2.2 Antecedentes del proyecto
Actualmente para las máquinas formadoras de vidrio (llamadas máquinas
I.S. por sus siglas en inglés “individual sections”), se cuenta con un probador
para servomotores de la marca Magnetics, con drives TDE Magno, que fue
adquirido al fabricante y enviado desde Italia con el correspondiente gasto que
esto implica. El mismo, representa a una máquina I.S. de una única sección, con
los mecanismos y sistemas que la integran, y en la que es posible diagnosticar y
poner en funcionamiento las refacciones de los distintos mecanismos que
operan en una máquina formadora de vidrio. Sin embargo, para los equipos
críticos con servomotores Control Techniques del departamento de formado,
actualmente no se cuenta con una manera de poner en operación y diagnosticar
eficientemente las refacciones que se encuentran en el taller electrónico hasta el
momento de ser instalados, siendo esto una debilidad para el mantenimiento
electrónico a equipos de carácter crítico.
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III. Justificación.
Debido a las recientes renovaciones a la planta Querétaro, el 85 % del
equipo tanto de fundición de vidrio como de formación de envases que se
encuentra en la planta, es tecnología de última generación en su mayoría
operada por servomotores.
El departamento de formado, que es la base de la industria de fabricación
de envases, cuenta con 12 líneas de producción con un promedio de 50
servomotores por línea (40 de los cuales pertenecen a los mecanismos dentro
de una máquina I.S.); que procesan cada una en promedio 104 toneladas de
vidrio fundido a 1300°C por día (dependiendo del producto fabricado). Causa por
la cual el ambiente en el que opera el equipo electrónico está sujeto a
condiciones hostiles de temperatura, humedad, y suciedad durante las 24 horas
los 365 días del año, dando mayor importancia al correcto mantenimiento de los
equipos críticos, ya que en caso de falla, las pérdidas son cuantiosas en virtud
del tiempo implicado, siendo reflejado en el indicador de “tiempo muerto” y
afectando la eficiencia de la empresa.
Por esta razón el garantizar que las refacciones electrónicas que se
instalaran cumplan con los requisitos necesarios de operación, es vital para
realizar reparaciones con alta eficiencia; asegurando que el desperdicio de
recursos en forma de vidrio fundido, tiempo de personal y maquinaria causado
por paro total en la línea de producción se reduzca, con el consecuente ahorro.
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Dado que actualmente para los servomotores Control Techniques, no es
posible ponerlos en operación o diagnosticar su estado hasta el momento de ser
instalados, el tiempo que se invierte en una reparación o cambio, se puede
duplicar e incluso triplicar contra el tiempo pronosticado. Por lo que la fabricación
en México de un probador para servomotores de esta marca, plantea una
solución viable en la reducción del tiempo muerto generado por falla electrónica.
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IV. Objetivo
Diseñar y proponer un dispositivo electrónico que sirva como herramienta
de diagnóstico para los servomotores marca Control Techniques, utilizados en
los equipos críticos para las líneas de las máquinas formadoras de vidrio
(máquinas I.S.); con el objetivo de poder monitorear las variables eléctricas del
servomotor reparado y/o desmontado, garantizando así la operación correcta de
los equipos del stock de refacciones, minimizando el tiempo muerto generado
por falla electrónica hasta en un 15%.
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V. Alcances
Identificación de los mecanismos y las condiciones de operación de los
elementos servomotor para los siguientes mecanismos:
Mecanismo distribuidor de gota (DGE= distribuidor de gota
electrónico)
Banda acarreadora
Banda transversal
Mecanismo de transferencia entre bandas (Transfer)
Inicio= 2 de septiembre 2013
Fin= 20 de septiembre 2013
Identificación de las fallas más recurrentes en los mismos.
Fin= 27 de septiembre 2013.
Investigación y documentación acerca de los sistemas servomotor, medios
de control, software implicado para su puesta en operación, etc.
Fin= 25 de octubre 2013.
Desarrollo y presentación del proyecto para un probador electrónico que
garantice el correcto diagnóstico de equipos servomotor.
Inicio= 28 de octubre 2013
Fin= 7 de diciembre 2013
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VI. Análisis de riesgos.
Dentro de los riesgos existentes para la elaboración de este proyecto,
tenemos que existe un contrato de confidencialidad que rige a la empresa, por lo
que la documentación técnica, diagramas e información con respecto a los
diversos mecanismos, su operación y diseño, están protegidos por la Ley de la
propiedad industrial (DOF 09-04-2012). Por este motivo tendrán que ser
omitidos dentro del presente trabajo con las dificultades que esto implica.
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VII.
Fundamentación teórica.
7.1 El servomotor
A) Generalidades
Es pertinente explicar que un servomotor; en su definición más básica es:
“Un servomotor es un motor que puede ser controlado en su velocidad de
funcionamiento y en la posición dentro de un rango de operación para ejecutar la
actividad requerida.” (es.wikipedia.org/wiki/Servomotor, parr.10)
Este control es realizado mediante un dispositivo llamado encoder o
resolver, que mediante una señal electrónicamente codificada, indica las
acciones de velocidad y movimiento a ejecutar. El servomotor es instalado en un
equipo o máquina, para permitir que esta tenga control de la posición, dirección
y velocidad de una carga o herramienta, mediante su utilización.
“De hecho, la palabra servo viene de siervo, que básicamente quiere decir
que puede cumplir cualquier función que le sea programada desde un control
maestro, teniendo siempre el mando de la posición en la que se encuentra.”
(www.todorobot.com.ar )
En el artículo sobre servomotores publicado en la revista Metal actual
escrito por Carlos Elías Sepúlveda Lozano(2013), menciona que:
Otras partes del equipo incluyen la fuente de energía y un controlador de
movimiento programable o posicionador, que trabajan juntos para desarrollar de
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forma precisa las tareas o trabajos de la aplicación. Los primeros servomotores
utilizaban un sistema de funcionamiento con corriente continua (DC, por sus
siglas en inglés), en la que los electrones generadores de corriente se mueven
en un solo sentido: del polo negativo al polo positivo, la energía necesaria para
el movimiento es mínima y puede generarse con pilas y baterías, por lo que los
voltajes requeridos son pequeños. En la actualidad, los servomotores utilizados
son de corriente alterna (AC por sus siglas en inglés), en estos los electrones
cambian de sentido en todo momento (alternan), realizando la transformación de
energía mecánica en eléctrica. .Este tipo de servomotores admite voltajes más
altos, por lo que son ideales para las potencias requeridas por las máquinas al
momento de desempeñar el proceso solicitado.
Continuando con el funcionamiento interno, las máquinas actuales, que
cuentan con esta tecnología, pueden venir con el servomotor eléctrico
totalmente o un sistema denominado “hibrido”, que consiste en la combinación
de un servomotor eléctrico y uno hidráulico funcionando conjuntamente, la cual
consume 70 por ciento menos fluidos hidráulicos que los sistemas tradicionales
de este tipo. El sistema eléctrico basa su funcionamiento en, como su nombre lo
indica, corriente eléctrica; mientras que el servomotor hidráulico realiza sus
movimientos gracias a el aceite, que es el que genera la potencia, al mover los
pistones ubicados estratégicamente. ( P. 35 ).
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B) Funcionamiento
Con respecto a su funcionamiento Carlos Elías (2013), menciona que:
El sistema servo se comunica mediante pulsos eléctricos a través de un
circuito de control para determinar el ángulo de posición del motor, “el servo
espera recibir un pulso cada 20 milisegundos (0.02 segundos).
La longitud del pulso determinará los giros de motor; un pulso de 1.5 ms.,
por ejemplo, hará que el motor vaya a una posición de 90 grados (posición
neutra). Si el pulso es menor de 1.5 ms., entonces el motor se acercará a los 0
grados. Si el pulso es mayor de 1.5ms, el eje se moverá acercándose a los 180
grados.” Luego de esto, al interior del "drive" o controlador se encuentra un
programa que tiene la capacidad de completar la tarea de una aplicación
específica; el cual monitorea la posición del motor y comunica al accionamiento
servocontrolado la necesidad de mover el servomotor hacia la posición deseada
o comandada (figura 7.1). Dicho accionamiento aplica la cantidad de potencia
necesaria sobre el motor para de esa forma mover la carga. En caso que el
funcionamiento del motor no sea adecuado, en cuanto a velocidad, el dispositivo
de retroalimentación alerta al control de la situación, que genera y ejerce más
potencia sobre el motor hasta obtener la velocidad ideal para la acción realizada;
si la velocidad es muy alta al principio, ocurrirá lo inverso. (P.35-36)
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Figura 7.1 Esquema de accionamiento de un servomotor.
C) Ventajas de los servomotores
Las máquinas que usan en su sistema de funcionamiento central
servomotores, presentan características que influyen positivamente en la
productividad de las empresas que las poseen. Una de estas ventajas se da
gracias a la energía utilizada; la cantidad de voltaje aplicado al servomotor es
proporcional a la distancia que éste necesita desplazarse. En este caso, si el eje
requiere regresar una distancia amplia, el motor regresará a máxima velocidad,
si sólo requiere regresar un pequeño trayecto, el motor correrá a velocidad lenta.
A esto se le llama control proporcional, por lo que emplea la energía necesaria
sin desperdicios.
Los servomotores brindan una capacidad de sobrecarga de trabajo de
entre 300 y 400 por ciento más, lo que quiere decir que puede trabajar tres
veces más rápido y potente que su velocidad y torque nominal –valor constante
al que puede trabajar el motor–, sin que sufra daño alguno. Además, requieren
menor mantenimiento porque es electrónico; a falta de fricción entre los
elementos el deterioro es bajo.
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Carlos Elías Sepúlveda (2013), también menciona que:
El hecho de que el tamaño de los servomotores sea más reducido no
incide en su potencia, puesto que, precisamente, una característica importante
de estos equipos es la capacidad de torque que tienen con una estructura física
reducida, lo que implica un menor peso (entre 40 y 50 por ciento más livianos
que los hidráulicos, dependiendo la aplicación). En fuerza y potencia, los
servomotores igualan a los motores mecánicos e hidráulicos, puesto que tienen
variadas posibilidades. .
Gracias a estas habilidades, los servos se usan en aplicaciones como
corte, impresión, etiquetado, empacado, manipulación de alimentos, robótica y
automatización de fábricas. Las especificaciones del diseño también incluyen:
reversa rápida, auto ajuste y funciones programables para que el servo ejecute
tareas específicas. En el mercado existen máquinas como plegadoras,
punzonadoras, prensas, entre otras, que mediante el uso de un servomotor
eléctrico ejercen su fuerza principal de trabajo, optimizando tareas y labores en
pro de una producción rentable. (P. 36-38)
En general la principal
y única desventaja de los sistemas con
servomotores es que son en su mayoría más caros que las otras alternativas
eléctricas.
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7.2 Estado del arte
a) Servomotores y drives
Los primeros servos utilizaban motores de corriente continua de baja
inercia. Pero el uso de escobillas reducía su fiabilidad, pronto se paso a los
motores síncronos de imanes permanentes. Existen principalmente dos tipos de
drives para motores síncronos de imanes permanentes, diferenciados por la
forma de señal de corriente que comunica el motor y por el tipo de sistema de
retroalimentación:
• Drive con conmutación tipo bloque / Brushless DC
• Drive con conmutación Sinusoidal / Brushless AC
La tecnología Brushless DC ha sido la primera que se aplicó para el control
de motores Brushless síncronos, el desarrollo de la tecnología del tratamiento
digital de la señal ha permitido el desarrollo de la tecnología Brushless AC.
Los drives Brushless DC requieren de un encoder de baja resolución para
realizar la conmutación, por motivos de coste se opta por sensores de efecto
Hall, normalmente hay seis puntos de conmutación por revolución. Mientras que
los Brushless AC necesitan un encoder absoluto de alta resolución (4096 -16384
puntos de conmutación por vuelta).
En la actualidad, cada fabricante es proveedor tanto de los motores como
de los drives para controlarlos, siendo pocas veces compatible con otras marcas
de accionamientos o de drives. Sin embargo la evolución de la electrónica
industrial ha traído como consecuencia la evolución de los controladores, de
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manera que son capaces de controlar una diversidad de motores (del mismo
fabricante) con un solo drive, lo que ofrece flexibilidad en los procesos, y;
además la posibilidad de interconexión entre los drives y los sistemas
productivos mediante protocolos de comunicación estándar integrados dentro
del mismo controlador. Lo cual facilita la integración de diversos fabricantes
dentro de un mismo sistema. Facilitando así el diseño y la integración con otros
elementos.
b) Probadores para servomotores.
Existen numerosas empresas que ofrecen sus servicios de diagnóstico y
mantenimiento a servomotores de cualquier marca, sin embargo, son pocos los
proveedores que ofrecen maquinaria o equipo de prueba para este tipo de
equipos; en general son empresas integradoras que desarrollan proyectos de
esta índole, con el correspondiente sobreprecio que implica el propio desarrollo.
Sin embargo, para satisfacer la rotación de equipo por mantenimiento
preventivo, predictivo y correctivo, significa un alto costo invertido para
garantizar el buen funcionamiento del equipo de refacción.
En la actualidad; los fabricantes de servomotores ofrecen soluciones
variadas de software para diagnóstico "in sitio" de los equipos propios de la
marca, lo que representa una gran ventaja en el diagnóstico de fallas ocurridas
en el sistema, no así en el diagnóstico de refacciones, puesto que es necesario
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reemplazar el equipo en operación por el equipo de reserva, de manera que se
puedan realizar las pruebas de operación correspondientes, lo que implica
incrementar el tiempo de paro, y por lo tanto el tiempo muerto de la línea de
producción.
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VIII. Plan de actividades.
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IX.Recursos materiales y humanos.
Debido a la naturaleza de este proyecto y a los acuerdos hechos con todas
las partes involucradas. Se requerirán los siguientes recursos para su
elaboración:
Recursos materiales:
Computadora
Bitácoras de mantenimiento
Registro de inspección diaria a equipos críticos.
Libros especializados en servomecanismos y control.
Internet.
Software de diseño mecánico, eléctrico y electrónico (AUTOCAD y
AUTOCAD Electrical).
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Recursos humanos:
Ingeniería de planta
Departamento electrónico I.P.
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X. Desarrollo del proyecto
Como parte de Emerson, Control Techniques es un fabricante líder de
tecnología de control de motores y conversión de potencia para aplicaciones
comerciales e industriales. Sus innovadores productos se utilizan en las
aplicaciones más exigentes, en las que se requieren rendimiento, fiabilidad y
eficiencia energética.
En 1985 se convirtió en Control Techniques y durante el primer año
presentó con éxito el Commander, un accionamiento digital de CA, y el Mentor,
el primer accionamiento digital de CC. A partir de ese momento, la presencia
global y la gama de productos de Control Techniques no dejaron de crecer, con
la introducción de una gama completa de productos de automatización industrial
en 1992 y el lanzamiento del Unidrive, el primer accionamiento de CA universal,
en 1995.
Control Techniques pasó a formar parte de Emerson Electric Co. en 1995,
cuando ya contaba con 45 centros de accionamientos en todo el mundo. Su
planteamiento centrado en la fuerte inversión en investigación y desarrollo y su
dedicación al diseño y la innovación siguen vigentes en la actualidad.
Control Techniques, que cuenta con instalaciones de producción,
ingeniería y diseño en todo el mundo, se dedica a crear soluciones innovadoras
de servo accionamientos y accionamientos de CA y CC para uso en equipo
industrial y procesos de fabricación, así como a desarrollar sistemas de
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conversión energética de gran eficiencia para aplicaciones de energía
renovable.
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10.1 Presentación de la propuesta.
Para este proyecto se presentó ante los involucrados la siguiente
propuesta:
Una interfaz Hombre máquina, con la capacidad de configurar un
controlador Unidrive Sp de la marca Control Techniques, con el fin de poder
poner en operación un servomotor de la misma marca, de la gama Unimotor Fm
en su versión de 23.4 Nm y 15.3Nm a 3000rpm, pudiendo así diagnosticar su
correcto funcionamiento por medio de
una aplicación de visualización de
parámetros como corriente, torque, etc.
Pc industrial
Driver Control
Techniques
Servomotor
Figura 10.1.1 Esquema básico de conexión del probador para servomotores.
Lo cual fue aprobado por su simplicidad y factibilidad para satisfacer con la
necesidad antes ya descrita.
29
10.2 Identificación de los mecanismos.
En el departamento de formado, se cuenta con 4 mecanismos de carácter
crítico que utilizan servomotores marca Control Techniques los cuales son los
siguientes:
Mecanismo distribuidor de gota (DGE= distribuidor de gota electrónico)
Banda acarreadora
Banda transversal
Mecanismo de transferencia entre bandas (Transfer)
Cuyas características y funcionamiento se describen a continuación:
Distribuidor de gota electrónico:
Motor Unimotor Fm Control Techniques Mod. 142UPC300BAAEA165240
Con un torque de 15.3 Nm a 3000 rpm.
Su función es la de distribuir las gotas de vidrio fundido que caen por
gravedad desde el alimentador, hacia las secciones de la máquina I.S. por
medio de un ciclo continuo de 10 posiciones prefijadas dentro del control de la
máquina. Esto lo hace en un ciclo continuo de repeticiones mientras se
encuentre en operación. Su movimiento es tanto de avance como de retroceso,
según la posición fijada; y su tiempo de respuesta depende de la velocidad de
operación de la máquina.
30
Banda Acarreadora
Su función es hacer mover una cadena de acero inoxidable de entre 22 y
30 mts de largo y recibir las botellas de vidrio en su estado aún incandescente
(aproximadamente 600 ºC) desde la máquina I.S. y transportarlas a lo largo de
entre 10 y 15 metros, cruzando un tratamiento térmico, hasta la posición del
mecanismo transfer. Todo esto a velocidad controlada y en correcta sincronía
con la MÁQUINA I.S.
Transfer
Su función es transferir a 90º las botellas aun incandescentes entre la
banda acarreadora y la banda transversal. Esta función la realiza mediante
paletas de un material no metálico (grafito o Pizarra) que giran alrededor de una
leva establecida por la forma del mecanismo, y que se mueve en sincronía con
el resto de los mecanismos.
31
Banda transversal
Su función mover una cadena de entre 6 y 7.5 metros de largo para recibir
las botellas desde el transfer, de manera que puedan ser empujadas de manera
longitudinal por otro mecanismo hacia el interior de un horno de tratamientos
(templador). Esto a velocidad controlada y en sincronía con el resto de los
mecanismos.
De estos mecanismos depende el 100% de la producción de una línea de
formación de envases; en caso de falla el estiraje de la máquina se ve mermado
así como su eficiencia.
32
10.3 Recolectar información acerca de la temperatura de
operación de los mecanismos.
Los dispositivos electrónicos o eléctricos, por su misma naturaleza
eléctrica, generan cantidades relativas de calor dentro de su accionamiento, esto
es una condición normal y está prevista dentro del diseño de los mismos. Sin
embargo sigue siendo un factor que decrementa su vida útil. En ambientes
industriales estas condiciones, dependen del proceso en que se encuentran
inmersos los mecanismos y de su forma de operación.
El fabricante especifica que el ambiente óptimo de prueba y operación de
sus equipos es de 20 ºC (Anexo 1. P. 8) y que sobre los 40ºC las condiciones de
torque deben ser adecuadas de acuerdo a su operación. También menciona que
su temperatura máxima de operación constante es de 100ºC. Sin embargo esto
impacta directamente en el consumo de corriente y en el torque necesario para
mover los mecanismos; razón por la cual, debido a las condiciones hostiles del
proceso de fabricación de vidrio y a las condiciones en que tienen que operar los
servomotores en la planta Querétaro, en la actualidad todos los servomotores
cuentan con sistemas de enfriamiento por aire a baja presión y alto volumen,
con lo que se logra una operación óptima en un rango estable.
Anexo 3, Registro de temperaturas en el periodo comprendido del 13 de
junio al 3 de septiembre. Se eligió este periodo de tiempo debido a la
disponibilidad de las bitácoras de registro y a que es el periodo en que la planta
Querétaro se encuentra al 100% de su capacidad de producción
33
Resultados:
34
Figura 10.3.1 Registro de temperatura diaria de operación en °C del servomotor
en el mecanismo "distribuidor de gota" de la linea de producción de la máquina
I.S. 10.
I.S. 11.
35
I.S. 12.
I.S. 13.
36
I.S. 14.
I.S. 21.
37
I.S. 22.
I.S. 23.
38
I.S. 24.
Figura 10.3.10 Registro de temperatura diaria de operación en °C del
servomotor en el mecanismo "distribuidor de gota" de la linea de producción de
la máquina I.S. 31.
39
40
Resultados:
41
servomotor en el mecanismo de la "banda acarreadora" de la linea de
producción de la máquina I.S. 10.
42
43
44
45
46
47
Resultados:
48
servomotor en el mecanismo "transfer" de la linea de producción de la máquina
I.S. 10.
I.S. 11.
49
I.S. 12.
I.S. 13.
50
I.S. 14.
I.S. 21.
51
I.S. 22.
I.S. 23.
52
I.S. 24.
I.S. 31.
53
I.S. 32.
I.S. 33.
54
Resultados:
55
servomotor en el mecanismo de la "banda transversal" de la linea de producción
de la máquina I.S. 10.
56
57
58
59
60
61
Conclusiones:
De acuerdo a los datos obtenidos, podemos notar que la operación de los
diferentes mecanismos se encuentra en un rango constante de temperatura, sin
embargo, en algunos de ellos llega incluso a superar los 100ºC que especifica el
fabricante como temperatura máxima de operación continua, lo que repercute de
manera directa en la vida útil de los servomotores, esto a pesar del enfriamiento
con el que ya se cuenta.
62
10.4 Identificar las condiciones ambientales de operación.
Debido a la forma de operación de las máquinas formadoras de vidrio, las
condiciones en que operan los mecanismos van más allá de las condiciones
normales de operación que especifica el fabricante (Anexo 1. P. 23) de máximo
40ºC de temperatura ambiente de operación; pudiendo llegar a los 58ºC en el
área de formado en época calurosa. Esto aunado al tipo y forma de lubricación
de la moldura para formación de vidrio, ya que al ser aplicada, se volatiliza en su
mayor parte, haciendo que exista condensado de aceite en las superficies
cercanas a la máquina, como se muestra en la siguiente imagen:
Figura 10.4.1 Equipo D.G. control Techniques. Condiciones de operación.
63
A esto se le suma el grafito y el polvo que es arrastrado por los ductos de
enfriamiento, (componente también del lubricante de moldura, usado como
desmoldante), lo que ocasiona que los equipos generen constantemente una
capa de suciedad en el exterior que periódicamente es limpiada para evitar el
sobrecalentamiento del equipo, pues actúa como aislante térmico evitando la
interacción entre la superficie y el enfriamiento.
Figura 10.4.2. Equipo B. Acarreadora Control Techniques. Condiciones de
operación.
64
Finalmente en la figura 10.4.3 podemos notar que la cantidad de humedad
circundante a los mecanismos en un día normal, sin lluvia y alrededor del
mediodía, es bastante elevada pudiendo llegar al 92% de humedad, esto es por
el enfriamiento que se necesita para algunos de los procesos dentro de la
formación de envases, en donde se requiere aspersión de agua con un
componente soluble en ella, que sirve para enfriamiento, tal es el caso del
mecanismo de corte de gotas de vidrio, en el que es vital ya que su operación
necesita de contacto intermitente con el vidrio fundido a 1300ºc, sin el cual el
metal se dañaría perdiendo así su función.
Figura 10.4.3 Equipo servomotor control Techniques. Condiciones de operación
%Humedad relativa y temperatura del aire de enfriamiento.
65
10.5 Recolectar información de las fallas ocurridas en los
mecanismos.
MAQ. 21 SECC. 10 PARO DE SECC. A LAS 21:30HRS. YA NO ARRANCÓ SE
REALIZAN VARIAS PRUEBAS ARRANCA A LAS 04:30 HRS. ENCONTRANDO
03/01/2012 DAÑADO CABLE DE POTENCIA DE LA INVERSIÓN.
MAQ 24=SE PARA EL SERVO-DISTRIBUIDOR...SE CHECA UN BUEN RATO Y
16/01/2012 SE ARRANCA SIN PROBLEMAS.
MAQ. 13 PARO DE DISTRIBUIDOR DE GOTA SE ENCUENTRA GABINETE
EXCESO DE HUMEDAD SE SECA CON TRAPO Y AIRE SE CAMBIA FUENTE
19/01/2012 DE 24 VDC POR DAÑARSE.
MAQ. 12 FALLA SERVO DE CUCHILLAS PIERDE CICLO DE CORTE, SE
CAMBIA SENSOR Y PLACA SENSORA FALLA CONTINUA, SE ATERRIZA
20 01 2012
GABINETE, POR ÚLTIMO SE CAMBIA SERVO-DRIVERS EN DOS
OCACIONES OPERANDO OK.
***MAQ 24 SE ACUDE POR 4 PITAZOS POR FALLA DE DGE, SE APOYA EN
22/01/2012
FALLA…
24/01/2012 MAQ 12. AL LLEGAR BANDA TRANSVERSAL PARADA POR QUEMARSE LOS
CABLES DEL SERVO, SE BUSCA GUARDA Y SE COLOCA…
MAQ. 33: -SE RECIBE EMPUJADOR "HEYE" CON PROBLEMA EN EL EJE
"Z"...SE PRUEBA CON OTRO SERVO...FUNCIONA BIEN. SE DESACOPLA EL
26/01/2012 QUE ESTABAOPERANDO Y SE PRUEBA POR FUERA OPERANDO BIEN...SE
OPTA POR CAMBIAR EL SERVO Y SE ARRANCA...CON APOYO DE TODA LA
"BANDA"...ARRANCA + - A LA 1:55 A.M.
MAQ 12. SE ASISTE A 4 EN 2 OCASIONES POR PARO DE BANDA
TRANSVERSAL ALARMANDO FALLA DE POTENCIA, SE REVISAN CABLES
27/01/2012
APARENTEMENTE OK (SE ENCUENTRA EL DUCTO PARA PROTEGER LOS
CABLES EN EL SUELO), SE ARRANCA DE INMEDIATO.
MAQ. 32: -GRAN PARTE DEL TURNO SE ESTUVO CON JRZ CHECANDO
01/02/2012 FALLA DEL DISTRIBUIDOR DE GOTA...YA QUE SE SALIA SOLO Y
ALARMABA A-09 EL DRIVE...POR ULTIMO SE PRUEBA CON UN CABLE DEL
RESOLVER...O.K. (QUEDA DE MODO PROVISIONAL).
MAQ. 13 PARO DE MÁQUINA POR PARARSE MOTOR DE CHORREADOR
ALARMA EN DRIVER "LT.AC" SOBRECARGA DE INTENCIDAD DE SALIDA,
15/02/2012
SE REESTABLECE DE INMEDIATO. ANTES DEL PARO EL MOTOR DE TUBO
YA ESTABA PARADO POR FALLA A TIERRA.
01/03/2012 MAQ. 13: -SE ACUDE POR 4 PITAZOS POR PARARSE LAS CUCHILLAS ALAR
MANDO "E"...SE RESTABLECE...
MAQ 31. AL INICIO DE TURNO SE ASISTE A 4 PITAZOS POR PARO DE
MÁQUINA, SE ENCUENTRAN TAPONES ALARMANDO A5, SE PUENTEA
08/03/2012
TERMICO Y SE ARRANCA, PERO TIENEN PROBLEMAS PARA CARGAR,
MECANICOS CAMBIAN CUCHILLAS.
MAQ 24. A LAS 15:30 SE PARA MÁQUINA POR ALARMAR "OC" INVERSOR
DE CHORREADOR, SE REVISA ENCONTRANDO LINEAS DAÑADAS, SE
10/03/2012
METE UN CABLE POR FUERA, SE ARRANCA A LAS 16:20 APOYA
PERSONAL DE IP.
20/03/2012 MÁQUINA 33 SE ACUDE A 4 PITAZOS POR PARARSE EL TRANSFER.
66
09/04/2012 MAQ. 12, SE APOYA EN CAMBIO DE MOTOR DE CHORREADOR.
MÁQUINA 12.-SE ACUDE POR 4 PITAZOS POR PARO DE DGE, ALARMANDO
TERMICO DE MOTOR A5, SE COLOCA PUENTE Y SE ARRANCA, AL
09/04/2012
REVISAR SE ENCUENTRA MOTOR SIN ENFTO, SE HABILITA CON
MECANICO DE IP.
MAQ. 33 TIRAN PRODUCCIÓN A SOTANO POR PARARCE TRANSFER
ALARMANDO "ALTA TEMPERATURA EN MOTOR" ALGUIEN POR
14/04/2012
EQUIVOCACIÓN AL QUERER ARRANCAR TRANSFER PARO LA BANDA
ACARREADORA SE REESTABLECE DE INMEDIATO.
MAQ. 32, SE ACUDE POR 4 PITAZOS POR PARARSE DISTRIBUIDOR POR
17/04/2012 DAÑARSE RESOLVER ABSOLUTO, SE DESHABILITA EN PANTALLA Y
ARRANCAN.
MAQ. 31: -SE ACUDE POR DOS LARGOS...SE ENCONTRO MECANISMO DE
TAPONES PARADO Y EL DRIVE EN MODO "RUN"...JUNTO CON MECANICOS
SE DESACOPLA Y ARRANCA SIN PROBLEMA...SE CHECA MANUALMENTE
31/05/2012
EL MECANISMO Y SUBE Y BAJA BIEN...SE OPTA POR CAMBIAR EL
MOTOR...JUNTO CON JRZ SE CHECA CORRIENTE...O.K. CABE MENCIONAR
QUE NO ALARMO "NADA"...40 MIN.
08/06/2012 MAQ. 32, SE ACUDE POR 2 PITAZOS LARGOS POR DAÑARSE EL
TRANSFER, SE APOYA A CAMBIARLO.
MÁQUINA 31.- SE ACUDE A DOS PITAZOS LARGOS POR PARO DE
MÁQUINA ENCONTRANDO SERVO DE CUCHILLAS ALARMANDO (A05), SE
REVISA CABLE DE POTENCIA ENCONTRANDOLO DAÑADO, SE REPARA Y
10/06/2012
SE PONE EN OPERACION TOMA DE 35 A 75 AMP.
RATO DESPUES SE PARA, ALARMANDO CUCHILLAS, SE OPTA POR
CAMBIARLO SE ARRANCA PERO SIGUE TOMANDO LA MISMA CORRIENTE.
MAQ. 12: -DURANTE EL CAMBIO DE MOLDURA: -SE CAMBIA EL MOTOR DEL
13/06/2012
CHORREADOR.
MAQ. 10: -SE ACUDE POR DOS PITAZOS LARGOS...SE ENCONTRO
MÁQUINA SIN VIDRIO POR PARARSE EL DISTRIBUIDOR DE GOTA;
25/06/2012 OCASIONADO POR AFLOJARSE LOS TORNILLOS DEL COPLE Y DAÑAR LA
CUÑA Y EL CUÑERO DEL SERVO-MOTOR...JUNTO CON MECANICOS DE I.S.
SE CAMBIA Y SE VUELVE A ALINEAR...DE 4:30 A 6:00...
27/06/2012 MÁQUINA 12 SE RECIBE MÁQUINA PARADA POR DAÑARSE MECANISMO
DE DISTRIBUIDOR SE CAMBIA SERVOMOTOR… OK..
MAQ. 31: -SE ACUDE POR DOS LARGOS...SE ENCONTRARON SERVOS DE
TUBO, TAPONES Y DISTRIBUIDOR PARADOS POR ALARMAR A LAS 5:15
12/07/2012 "CAN BUS TARJETA DE FRECUENCIA CS4L0001 SLAVE 20"...SE ARRANCA
DE INMEDIATO...MECANICOS APROVECHAN PARA CAMBIAR LAS
CUCHILLAS…
MISMA MÁQUINA SE ACUDE A DOS LARGOS POR FALLAR EL SERVO DE
18/07/2012 CUCHILLAS, SE ENCONTRO CABLE DE POTENCIA DAÑADO SE REPARA Y
ARRANCA OK + - 30 MIN.
MÁQUINA 32.- SE ACUDE EN DOS OCACIONES POR DOS PITAZOS
LARGOS, POR PARO DE BANDA TRANSVERSAL SE CAMBIA
21/07/2012
SERVOMOTOR POR ESTAR ALARMANDO FALLA EN EL CIRCUITO
RESOLVER…
MÁQUINA 22.- SE RECIBE TRANFER PARADO JUNTO CON JOEL Y
30/07/2012 ELECTRONICOS DEL GRUPO D SE CAMBIAN CABLES DE POTENCIA Y
RESOLVER POR ESTAR VARIANDO LA VELOCIDAD QUEDA OK RESTO DEL
67
TURNO SIN PROBLEMAS.
06/08/2012
15/08/2012
19/08/2012
27/08/2012
03/12/2012
16/12/2012
17/12/2012
19/12/2012
21/12/2012
02/01/2013
22/01/2013
06/02/2012
MAQ 33 SE ACUDE A 2 PITAZOS LARGOS POR FALLAR TRANSFER FALLA
MECANICA.
MAQ. 14, SE ACUDE POR 2 PITAZOS LARGOS POR PARO DE
DISTRIBUIDOR, COMENTA SUPERVISOR DE HORNO 1, QUE FALLO LA
CARGA Y ORDENO CORTAR VIDRIO Y SE PARO DISTRIBUIDOR ARRANCA
SIN PROBLEMAS,
MÁQUINA 12.- SE ACUDE A DOS LARGOS POR PARO DE DISTRIBUIDOR,
SE REVISA Y SE ENCUENTRA AMARRADO EL MOTOR JUNTO CON
ELECTRICO Y MECANICO DE IP SE CAMBIA Y SE PONE EN OPERACIÓN.
MAQ 33. A LAS 4:00 SE ASISTE A 2 PITAZOS LARGOS POR PARO DE LAS
CUCHILLAS, SE ENCUENTRA ALARMANDO A3 SE INTENTA CAMBIAR
CABLE DE POTENCIA PERO NO SE ENCUENTRA NINGUNO, SE REVISA
CABLE Y SE REPARA TRAMO DAÑADO, ARRANCA 4:50... A LAS 5:50 SE
VUELVEN A PARAR LAS CUCHILLAS PERO AHORA MUESTRA "ERROR DE
SEGUIMIENTO", SE REALIZAN VARIAS PRUEBAS CON JRZ Y SE DECIDE
CAMBIAR SERVO JUNTO CON MIXTO Y GRUPO D...
MAQ. 22: -AL INICIO DE TURNO SE ACUDE POR "DOS LARGOS"...SE SALIO
EL MECANISMO DEL DISTRIBUIDOR POR FALLA EN EL SENSOR QUE
DETECTA MECANISMO ADENTRO...SE ARRANCA DE INMEDIATO.
MAQ. 13: -SE ACUDE POR "DOS LARGOS"; YA QUE SE PARO TODA LA
MÁQUINA POR PARARSE EL MOTOR DEL DISTRIBUIDOR...SE DETECTA
QUE NO SE MUEVE EL MECANISMO MANUALMENTE...SE DESACOPLA Y SE
ENCUENTRA MOTOR AMARRADO...AL QUITAR LA POLEA DEL MOTOR SE
ENCONTRO Y TRAPO TOTALMENTE ENREDADO EN LA FLECHA DEL
MOTOR...SE CAMBIA Y O.K.
MAQ. 32: -SE ACUDE POR "DOS LARGOS" POR PARARSE EL
DISTRIBUIDOR DE GOTA...ALARMANDO "ERROR DE SE
GUIMIENTO"...JUNTO CON MECANICOS SE DESACOPLA MECANISMO DEL
SERVO...ENCONTRANDO EL MECANISMO AMARRADO..SE CAMBIA MOTOR
OK..
MÁQUINA 13.- SE ACUDE EN DOS OCACIONES POR PARO DE
CHORREADOR JUNTO CON PERSONAL DE TIEMPO EXTRA SE CAMBIA
MOTOR
MAQ. 13, SE ASISTE POR 2 PITAZOS LARGOS POR PARASE MÁQUINA, SE
ENCUENTRA MOTOR DE CHORREADOR DAÑADO, SE CAMBIA OK
MAQ. 13: -POR SOLICITUD DEL ING. RICARDO SE MONITOREA LA
CORRIENTE DEL SERVO DEL DOSIFICADOR EN LA APLICACION POWER
TOOLS PRO...PICOS DE 197.7 % DE LA IN. DEL MOTOR.
MAQ. 14, SE ASISTE POR 2 PITAZOS LARGOS POR FALLA CAIDA DE
CARGA MECANICOS DE IS A CARGO, DESPUES SE PARA DISTRIBUIDOR
SE TRATA DE ARRANCAR PERO PIDE REFERNCIA Y NO LA HACE, SE
EVISA Y SE ENCUENTRA CABLE LARGO DE RESOLVER DAÑADO POR
CONTRATISTAS AL ESTAR HACIENDO MOVIMIENTOS, SE EMPATA Y
CONTINUA IGUAL, SE REVISA Y SE ENCUENTRA OTRO TRAMO DE CABLE
DAÑADO, SE REPARA SE HACE REFERENCIA Y SE GRABA OFFSET
MECANICOS ALINEAN CANALES ARRANCA OK INTERVENCION EO +/- 120
TODO ESTO JUNTO CON JRZ, APOYA EI.
MAQ #24 FALLA DE DISTRIBUIDOR .MECAQNICOS DAÑAN CONECTOR
DE SERVOMOTOR , OCACIONASNDO DAÑOS EN INVERSOR , EL CUAL SE
CAMBIO , EL CUAL SE ALIMENTA CON OTRA LINEA DE 440, SE CAMBIA
68
MOTOR
MÁQUINA 32.- SE ACUDE A DOS LARGOS POR PARO DE BANDA
TRANSVERSAL APROX. A LA 1:00 A.M. SE INICIA PROBANDO
PROBICIONALMENTE CON UN MOTOR NUEVO Y CABLES NUEVOS FALLA
CONTINUA, EN LAS ALARMAS NOS MUESTRA FALLA DE DRIVE, SE
03/03/2013
PROCEDE A CAMBIARLO POR UN DRIVE DE RESERVA, AL ENERGIZAR
ESTE DRIVE BORRO TODOS LOS DATOS DE PRODUCCION, SE VUELVE A
COLOCAR OTRO DRIVE NUEVO AHORA SI DA PERMISO DE ARRANCAR
JOEL REYES CARGA DATOS ALMACENADOS Y AJUSTA PARAMETROS
18/04/2013 MAQ. 13: -REPORTAN QUE SE PARO LA BANDA TRANSVERSAL...SE
ENCONTRO ALARMANDO "01.AC"...SE RESTABLECE INVERSOR...
MAQ. 32 SE ASISTE A 2 PITAZOS LARGOS POR PARO DE BANDA
TRANSVERSAL POR ATORARSE CON VIDRIOS, MECANICOS A CARGO, SE
22/04/2013 APOYA EN ARRANQUE DESPUES DE UN RATO SE VUELVE A PARAR,
AHORA PIDEN SE PARE EL STACKER PARA ENDEREZAR ALGUNAS
PLACAS.
MÁQUINA 13 SE ACUDE A 2 PITAZOS LARGOS POR PARARSE
28/04/2013 DISTRIBUIDOR DE GOTA Y SECCIONES, SALIENDO EL SHUT Y CORTANDO
VIDRIO.... CUCHILLAS Y TAPONES SIGUIERON TRABAJANDO...
MAQ 12. SE ASISTE A 2 PITAZOS LARGOS POR PARO DEL DISTRIBUIDOR,
02/05/2013 SE REVISA ALARMANDO "ERROR DE SEGUMIENTO" Y "TIMEOUT
POSICION", ARRANCAN DE INMEDIATO.
MAQ. 32, SE ASISTE POR 2 PITAZOS LARGOS POR DAÑARSE LAS
13/05/2013
CUCHILLAS, MECANICOS DE IS A CARGO SE APOYA.
MÁQUINA 13 SE ACUDE POR DOS LARGOS POR PARARSE LA BANDA
15/05/2013 TRANSVERSAL, POR POSIBLE ATORON...SE RESTABLECE SIN
PROBLEMAS...
MÁQUINA 13 SE ACUDE A 2 PITAZOS LARGOS EN 3 OCACIONES PRIMERA
20/05/2013 POR FALLAR CAIDA DE CARGHA TAPANDO LOS EMBUDOS...SEGUNDA
POR FALLAR TRANFER Y 3RA POR FALLAR BANDA TRANSVERSAL.......
MAQ 21. SE RECIBE PARADA POR CAMBIO DEL MECANISMO DE
21/05/2013
DISTRIBUIDOR, SE APOYA EN ARRANQUE.
MAQ.13.- SE ASISTE POR 2 PITAZOS LARGOS EN DOS OCASIONES LA
22/05/2013 PRIMERA POR PARO DE BANDA TRANSVERSAL SE RESTABLECE OK. 5
MIN. Y LA SEGUNDA POR CAIDA DE CARGA IS A CARGO.
MAQ 13. SE ASISTE A 2 PITAZOS LARGOS POR PARO DE BANDA
23/05/2013 TRANSVERSAL, SE ARRANCA DE IMEDIATO; (BALEROS DEL SERVO
DAÑADOS).
MÁQUINA 11 SE ASISTE VARIAS VECES POR PARO DE BANDA
TRANSVERSAL ALARMANDO SOBRE TAEMPERATURA EN EL MOTOR
28/05/2013
JUNTO CON GRUPO A SE COLOCA PUENTE EN TERMICO FALLA
CONTINUA SE REVISA Y SE ENCUENTRA CON AMPERAJE ALTO ( 15 AMP. )
15/06/2013 MAQ 32. SE ASISTE A 2 PITAZOS LARGOS POR PARO DE LA BANDA
TRANSVERSAL, MECANICO LA DESTENSA.
20/06/2013 TRANSVERSAL ALARMANDO SL2.ER, SE PRUEBA CON OTRO SERVO POR
FUERA PERO FALLA CONTINUA, DESPUES DE VARIAS PRUEBAS SE
GRABA UNA TARJETA, Y SE CARGA CON DRIVE DEL STACKER…
69
MÁQUINA 24 SE CHECA DISTRIBUIDOR POR NO PODER ARRANCAR, SE
23/06/2013 REVISA POR ALARMAR 0.1AC, SE CAMBIA MOTOR POR SUMIRSE UN PIN Y
FALLA CONTINUA, SE CAMBIA CABLE DE POTENCIA Y ARRANCA OK,
MAQ. 23, SE RECIBE MÁQUINA PARADA POR DAÑARSE BANDA
24/06/2013 ACARREADORA, SE APOYA EN ARRANQUE Y SE AJUSTA RECHAZO,
MECANICOS DE IS ACARGO.
24/06/2013 TRANSVERSAL POR ALARMAR 0.1 AC EN DRIVE, ANGEL VAZQUEZ
MODIFICA ALGUNOS PARAMETROS…
MAQ. 24: -SE ACUDE POR DOS LARGOS...YA QUE SE PARO EL MOTOR DEL
TRANSFER...SE PRUEBA CON OTRO MOTOR, SE PRUEBAN CON OTROS
26/06/2013
CABLES Y POR ULTIMO SE CAMBIA DRIVE...JUNTO CON COMPAÑEROS
DEL GRUPO C Y CESAR SE METEN CABLES POR LA CHAROLA...O.K.
70
10.6 Investigación acerca de servomotores Control
Techniques.
10.6.1
Un motor
Operación.
eléctrico
sin
escobillas o
motor brushless es
un motor
eléctrico que no emplea escobillas para realizar el cambio de polaridad en el
rotor.
Los motores eléctricos solían tener un colector de delgas o un par de
anillos rozantes. Estos sistemas, que producen rozamiento, disminuyen el
rendimiento, desprenden calor y ruido, requieren mucho mantenimiento y
pueden producir partículas de carbón que manchan el motor de un polvo que,
además, puede ser conductor.
Actualmente este tipo de motores brushless se muestran muy ventajosos,
ya que son más baratos de fabricar, pesan menos y requieren menos
mantenimiento, aunque su control es mucho más complejo. Esta complejidad
prácticamente se ha eliminado con los controles electrónicos.
Por su parte Control Techniques diseña productos con un probado proceso
de desarrollo que prioriza innovación y rentabilidad por lo que ofrece un
completo rango de soluciones fiables en servo motorización y control. La unión
de robustos servomotores de tipo brushless con un control electrónico muy
71
completo, flexible y confiable, hacen que se convierta en una marca líder en el
control de movimiento.
Figura 10.6.1.1 Unimotor Control Techniques . Corte transversal.
Los servomotores de la serie Unimotor Fm (utilizados en los mecanismos)
son servomotores sin escobillas o brushless de corriente alterna (AC) de alto
desempeño, diseñados para ser operados con los controladores Control
Techniques. La denominación FM hace referencia a su flexibilidad de adaptarse
a un amplio rango de aplicaciones (Flexible Motor), cumpliendo con
especificaciones de normas como la IP 65, la cual dice que el motor puede
operar en ambientes en donde se le lánze agua en cualquier direccion y que es
resistente a la incrustacion de polvo.
72
Figura 10.6.1.2 Servomotores CT de la serie Unimotor FM.
Los controladores Unidrive SP (figura 10.6.1.3), son la familia de
accionamientos inteligentes de alto rendimiento de Control Techniques; le
permite conseguir, con rendimiento y flexibilidad, formas mejores de controlar
una aplicación, aumentar la velocidad, mejorar los procesos y reducir el espacio
ocupado por el sistema. Lo máximo en accionamientos de CA.
Unidrive SP es una completa gama de automatización de accionamientos
que abarca el espectro de potencia desde 0,37 kW hasta 1,9 MW. Todos los
modelos comparten la misma interface de control flexible, con independencia de
su potencia.
73
Figura 10.6.1.3 Unidrive SP
74
10.6.2
Software utilizado.
Para la configuración de los diversos controladores de la marca Control
Techniques, se cuenta con el software llamado CT PowerTools actualmente en
su versión 5,2 compilada en septiembre de 2011. Basado en ambiente Windows,
el paquete de software de Control Techniques facilita el acceso a todas las
funciones del accionamiento. Es una herramienta de configuración para la
puesta en servicio, optimización y supervisión de los accionamientos de
Control Techniques. Entre otras funciones está optimizar la puesta a punto
del accionamiento, realizar una copia de seguridad de la configuración y
establecer una red de comunicaciones.
Le permite:
Utilizar los asistentes de configuración para la puesta en servicio del
accionamiento.
Leer, guardar y cargar los parámetros de configuración del accionamiento.
Gestionar los datos de la tarjeta Smartcard del accionamiento.
Visualizar y modificar la configuración con diagramas animados.
Figura 10.6.2.1Pantalla inicial software CT PowerTools 5,2
75
Para complementar este software tenemos CTScope en su versión 1.1.2
(figura 10.6.2.2), que es un completo osciloscopio por software para ver y
analizar los valores cambiantes en el accionamiento. Puede definirse la base
temporal para que proporcione una captura de alta velocidad para la puesta a
punto o para tendencias a más largo plazo. La interface de usuario se basa en
un osciloscopio tradicional, por lo que resultará familiar y cómodo para
ingenieros de todo el mundo.
Figura 10.6.2.2 Software CT Scope logotipo y pantalla principal
Ambos software son con licencia gratuita, proporcionados por el fabricante
en su página web, solamente es necesario registrarse por internet para poder
descargarlos.
76
10.6.3
Métodos de control.
Los accionamientos Unidrive SP permiten controlar motores de alto
rendimiento,
como
motores
de
inducción,
servomotores
asíncronos
y
servomotores síncronos. El modo de control se selecciona fácilmente con el
teclado del accionamiento o en el software de configuración.
• Modo servo: control dinámico y preciso para una amplia variedad de
motores rotativos y lineales.
• Modo vectorial de lazo cerrado: control con máxima precisión de
motores de inducción que ofrece el par total a velocidad cero.
• Modo de control del flujo del rotor (RFC): gran rendimiento dinámico y
estabilidad sin dispositivos de realimentación.
• Modo vectorial de lazo abierto: buen rendimiento de motores en bucle
abierto con una configuración mínima.
• Modo de control de T/f de lazo abierto: un algoritmo de control simple
que es idóneo para motores paralelos.
• Modo regenerativo: modo de control de entrada activa para la
eliminación de armónicos y la regeneración.
Los accionamientos Unidrive incluyen el hardware necesario para la
conexión con codificadores de realimentación de prácticamente cualquier tipo, lo
que permite al diseñador seleccionar la tecnología más adecuada para la
aplicación:
• Incremental: ofrece un buen equilibrio entre costo y rendimiento.
77
• SinCos: proporciona una mayor resolución de posición para aplicaciones
de precisión y baja velocidad.
• SSI: aporta la realimentación de posición absoluta.
• EnDat e HIPERFACE: estos codificadores transfieren los datos de
posición mediante una red de comunicaciones de alta velocidad, que a menudo
se combina con la tecnología SinCos.
Sencilla integración de la seguridad
La entrada de Safe Torque Off (anteriormente denominada Secure Disable)
de
los accionamientos Unidrive
SP
permite
desactivar la
salida
del
accionamiento para que no genere par. La fiabilidad es mucho mayor que si se
tiene un contactor conectado a la salida del accionamiento y, además, no
requiere espacio adicional, carece de piezas móviles y no incrementa los costes.
• Certificado por BGIA y TÜV.
• Permite que el accionamiento forme parte del sistema de seguridad de la
máquina.
• Reduce el costo en los diseños de seguridad de las máquinas que deben
cumplir la norma EN 954-1 categoría 3 y la norma EN 81-1 para ascensores.
• Elimina uno o más contactores de alimentación.
• Elimina dispositivos de comprobación de realimentación.
• El accionamiento puede recibir alimentación de forma continua. Safe
Torque Off puede formar parte de un sistema acorde a la categoría 4 de la
norma EN 954-1.
78
10.7 Diseño del proyecto.
10.7.1
Diseño mecánico.
La aplicación de los principios de ergonomía al diseñar máquinas
contribuye a aumentar la seguridad, reduciendo el estrés y los esfuerzos físicos
del operador, mejorando así la eficacia y la fiabilidad del funcionamiento,
reduciendo la probabilidad de errores en todas las fases de la utilización de la
máquina.
Se deben observar los siguientes principios en el diseño al asignar
funciones al operador y a la máquina:
Dimensiones del cuerpo.
Movimientos y posturas forzadas en la utilización de la máquina.
Magnitud de los esfuerzos y amplitud de movimientos.
Ruido, vibraciones y efectos térmicos. Ritmos de trabajo repetitivos.
Iluminación localizada en las zonas de trabajo.
Diseñar órganos de accionamiento visibles, identificables, y maniobrables
con seguridad.
Diseñar y colocar las señales, cuadrantes y visualizadores de tal forma
que la presentación de la información pueda ser detectada, identificada e
interpretada convenientemente desde el puesto de mando.
79
Figura 10.7.1.1 Clasificación de la zona de visión de una persona
Figura 10.7.1.2 Dimensiones estructurales del cuerpo de hombres y mujeres
adultos.
80
De acuerdo a la norma ISO 9241 Sobre las normas técnicas para la
implementación de pantallas de visualización, en su 5ª parte sobre estaciones
de trabajo ubicación y requerimientos de postura refiere que:
“La altura del borde superior de la pantalla debe de estar relacionada con la
altura de los ojos del operador y no deberá superar la línea superior de los ojos.”
(ISO 9241 ,parte5)
Lo que de acuerdo con la información de la figura 10.7.1.2, ubica esta
posición en un promedio de a 1.60 cm con respecto de la superficie del suelo.
Continuando con el diseño mecánico, para evitar vibraciones que excedan
las estipuladas como máximas en la norma ISO 2372-1974. Que se refiere a la
Vibración mecánica de máquinas con velocidades de operación entre 10 y 200
rev/s.; es necesario incluir un sistema que amortigüe las posibles vibraciones
generadas en un momento dado por un servomotor defectuoso, ya que pudieran
llegar a niveles críticos, afectando incluso la operación del sistema. Para esta
función un sistema simple formado por un elemento elastómero (Tal es el caso
del neopreno) cumpliría su objetivo, evitando así daños al sistema, manteniendo
la vibración dentro de los rangos permisibles estipulados en la norma antes
mencionada.
81
Figura 10.7.1.3 Plano isométrico de estructura metálica para probador de
servomotores (Anexo2 plano 2).
82
Figura 10.7.1.4 Plano de distribución del tablero parte1 (Anexo2 plano 1).
Figura 10.7.1.5 Plano de distribución del tablero parte2 (Anexo2 plano 1).
83
10.7.2
Diseño eléctrico.
En los sistemas industriales, el uso seguro y responsable de la energía
eléctrica
es un aspecto crítico para el diseño de cualquier sistema de
distribución y/o control. En México, los sistemas eléctricos están regidos por la
Norma Oficial Mexicana con número de referencia NOM-001-SEDE-2012 acerca
de instalaciones eléctricas, cuyo objetivo es establecer las especificaciones y
lineamientos de carácter técnico que deben satisfacer las instalaciones
destinadas a la utilización de la energía eléctrica, a fin de que ofrezcan
condiciones adecuadas de seguridad para las personas y sus propiedades, en lo
referente a la protección contra:
- Las descargas eléctricas
- Los efectos térmicos
- Las sobrecorrientes
- Las corrientes de falla
- Las sobretensiones
En este caso iniciando con el artículo 210 sobre Circuitos derivados
tenemos que:
En su fracción 23 dice que las Cargas permisibles en ningún caso deben
exceder a la capacidad nominal del circuito derivado; Está permitido que un
circuito derivado individual alimente cualquier carga dentro de su valor nominal.
Es decir, en un circuito derivado que suministre energía, sólo debe alimentar las
cargas de acuerdo con su tamaño, como se especifica en la Tabla 10.7.2.1.
84
Tabla 10.7.2.1 Resumen de los requisitos para circuitos derivados de acuerdo a
la Nom 001 SEDE-2012 en su artículo 210-24
Por lo que haciendo referencia al artículo 220 de la misma norma, el cual
especifica el cálculo de los circuitos derivados, alimentadores y acometidas, en
su fracción 18 dice que:
Para circuitos que alimentan cargas que consisten de un equipo de
utilización accionado por motor que está fijo en su sitio y que tiene un motor de
más de 93.25 watts (⅛ H.P.) en combinación con otras cargas, la carga total
calculada se debe basar en el 125 por ciento de la carga del motor más grande
más la suma de las otras cargas, por lo que para este caso tenemos que el
consumo del controlador y el servomotor control Techniques es de 13.5
amperes, multiplicado por el factor de corrección de 1.25, tenemos que la carga
seria de 16.87 amperes, sumado al consumo de la fuente para alimentar la pc
industrial (panel touch) y el control tenemos una carga total de 17.87 amperes,
debido a esto, es necesario un sistema de protección de 20 amperes, por ser el
85
rango comercial más cercano, y de acuerdo a la Tabla 10.7.2.1, el cableado
tendria que ser con calibre 14 AWG, para los circuitos de potencia.
Figura 10.7.2.2 Esquema eléctrico, diagrama de potencia (Anexo 2 plano5)
86
Debido a que es necesaria la transformacion de energia entre la
alimentación del sistema (440 VCA) para ser utilizada en el control y el panel pc
(24 VCD) es necesario la implementación de un transformador de 440VCA a 127
VCA, el cual servirá para alimentar la fuente de 24VCD; por lo que el artículo
408-36, sobre la proteccion de sobrecorriente, indica que cuando un panel de
alumbrado y control es alimentado a través de un transformador, la protección
contra sobre corriente se debe localizar en el lado secundario del transformador.
De manera que es necesaria la implementación de un sistema contra
cortocircuito entre la fuente y el transformador.
Tomando como referencia el artículo 430 de la misma norma, que trata
sobre los conductores de los alimentadores, la protección contra sobrecargas,
los circuitos de control, los controladores y los centros de control de motores.
Podemos definir el diseño del control eléctrico utilizado en el presente proyecto,
el cual seguirá el esquema propuesto en la misma norma, incluido en la figura
10.7.2.2.3
87
Figura 10.7.2.3 Esquema incluido en la la Nom 001 SEDE-2012 en su artículo
430 sobre la conexión de motores
88
Figura 10.7.2.4 Esquema eléctrico, diagrama de control (Anexo 2 plano5)
89
10.7.3
Diseño electrónico y de software.
El software propiedad de Control Techniques, y distribuido de forma
gratuita, trabaja sobre plataforma Windows por lo que el panel Pc marca
Advantech Mod. PPC-3120-3S51, satisface las necesidades tanto de hardware
como de software, ya que posee las siguientes características:
Sistema operativo Windows Xp embedded
12.1" TFT XGA LED Panel with resistive touchscreen
Embedded Intel® Atom™ processor D2550 1.86 GHz
System memory up to 4 GB DDR3 1066 SDRAM
Supports one internal SATA 2.5" HDD and 1 x mSATA socket
Optional PCI/PCIe x1 expansion kit
Fanless design and low power consumption
Automatic data flow control over RS-485
Adjust RS-232/422/485 through BIOS
COM1/COM2 pin9 RI/5V/12V adjustable through BIOS
LED backlight Auto dimming
Una vez teniendo en cuenta esto, las comunicaciones con el controlador se
realizan directamente desde el panel Pc, mediante un cable Control Techniques
Rs 232-485 y comunicación Ethernet en configuración crossover.
90
Figura 10.7.3.1 Esquema eléctrico, diagrama de comunicaciones (Anexo 2
plano7)
Una vez realizada la conexión eléctrica y electrónica de los dispositivos, es
necesaria la configuración del controlador mediante el software CT Power Tools,
el cual nos brinda una interfaz de estilo Windows para su manipulación. Este
software, nos permite la configuración de una gran variedad de controladores de
Control Techniques por lo que al abrirlo y generar un nuevo proyecto, nos
mostrara la ventana de selección de la familia de controladores a utilizar, de la
que se seleccionará la familia Unidrive Sp, abriéndose inmediatamente la
interfaz de configuración y/o diagnóstico.
91
En la figura 10.7.3.2, podemos observar la primera ventana que hemos de
configurar seleccionando la pestaña “Driver/ Encoder” que se encuentra al
desplegar la pestaña de “Hardware” en la que se tendrá que seleccionar de una
lista el controlador utilizado, en este caso el controlador SP 1406; y el tipo de
motor que se conectará al driver 142U2C300, así como el método de control en
modo servo. Una vez hecho esto el sistema carga los valores nominales del
motor desde su base de datos los cuales no se modificarán.
Figura 10.7.3.2 Interfaz de programa CT Power Tools 5.2 (En azul
selección de componentes.)
Una vez realizada esta acción se procederá a seleccionar en la misma
pestaña de “Hardware” la pestaña “Slot 1” con lo que se procederá a dar de alta
el modulo Sm que se colocará en la ranura correspondiente… Nota: en caso de
92
equivocar la ranura, el sistema no funcionará, enviando la alarma y/o el código
de error de hardware.
En la figura 10.7.3.3 se observa la configuración del módulo Sm-resolver
que será colocado en la ranura del Slot 1, con lo que se da de alta el módulo
dentro del controlador.
selección de modulo Sm de slot 1 )
En este tipo de módulo resolver, el sistema reconoce automáticamente los
parámetros del sistema por lo que no es necesario modificar los parámetros ya
cargados.
Continuando con la configuración del “Hardware” seleccionamos la pestaña
“Slot 2” en la que seleccionamos la opción de Sm- Ethernet.
93
selección de modulo Sm-Ethernet de slot 2 ).
En este caso inmediatamente el sistema nos exigirá configurar la dirección
IP que tendrá el controlador, la cual colocamos en el mismo dominio que se
encuentra configurada la computadora.
Una vez realizadas estas acciones básicas, el sistema está preparado para
la operación continua del servomotor, con rampas de arranque y paro por
default, por lo que se tendrá una operación continua del servomotor,
simplemente es necesario cargarlas al controlador mediante comunicación 232485, presionando en la barra de herramientas el botón de download.
94
Para la configuración del programa CT Scope, al abrir el programa es
necesario contar con el modulo Sm-Ethernet conectado a la PC. Por lo que al
abrir el programa nos pedirá la dirección Ethernet del controlador con el que
será comunicado, una vez configurada esta opción, el sistema trabaja como un
osciloscopio virtual en tiempo real, con la capacidad de configurarse de manera
intuitiva los parámetros a visualizar de un servomotor en operación. Con lo que
se puede diagnosticar el servomotor encontrando fallas mecánicas y/o
eléctricas/electrónicas dentro del mismo.
Figura 10.7.3.5 Interfaz de programa CT Scope.
95
10.8 Elaboración de presupuesto.
La tendencia actual de toda industria es la integración de los sistemas
productivos mediante sistemas informáticos llamados ERP (por sus siglas en
inglés, Enterprise Resource Planning) los cuales son sistemas de información
gerenciales que integran y manejan muchos de los negocios asociados con las
operaciones de producción y los aspectos de distribución de una compañía,
tales como: logística, distribución, inventario, envíos, facturas y contabilidad
ventas, entregas, pagos, producción, administración de inventarios, calidad de
administración y la administración de recursos humanos.
Desde el año 2008 Vitro entro en dicha tendencia empresarial, integrando a
su sistema productivo el sistema llamado SAP Business Suite, en cual se
incluyen una serie de herramientas destinadas a la gestión de las actividades
que se realizan dentro de la empresa.
Para la realización de cualquier actividad dentro de la empresa, el proceso
es el siguiente:
- Se crea un aviso y una orden de trabajo para la actividad que se realizará,
la cual notifica al área involucrada para el desarrollo de la misma.
- Una vez creada la orden de trabajo, se dan de alta los códigos vitro
correspondientes al número de parte de los elementos que se utilizarán para el
desarrollo de la actividad.
96
- El sistema en automático genera una canasta de componentes, la cual
llega al departamento de abastecimientos. Ahí se realizan los movimientos
pertinentes y los tramites correspondientes, de manera que el sistema envía y
requiere 3 cotizaciones por parte de proveedores certificados por el grupo vitro
para proseguir adelante con el proyecto.
- Una vez que se tienen las 3 cotizaciones, abastecimientos envía la mejor
propuesta de regreso al departamento involucrado directamente, para su
validación.
- Una vez validada se regresa a abastecimientos para la compra de
componentes, los cuales se entregan a almacén general, y de ahí se canalizan
al área involucrada.
-Finalmente se asignan los componentes y el material humano, se realiza
la actividad o proyecto y se cierra la orden y el aviso de trabajo dentro del
sistema.
En la tabla 10.8.1 se presenta el listado de componentes requeridos para el
proyecto, así como la cotización aproximada, realizada con proveedores locales
de los elementos del sistema.
97
Tabla 10.8.1 Listado y cotización de componentes
No. de
parte
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
Descripción del componente
Panel Pc Advantech modelo PPC-3120-3S51
Cable serial CT coms cable RS 232-485
Cable Ethernet crossover 1metro de longitud
Controlador CT Unidrive Sp 1406 con display
Modulo SM-Resolver Control techniques
Modulo SM- Ethernet Control techniques
Interruptor termomagnético 3 fases Moeller Xpole
C20 MW242950
Portafusibles Shnaider Electric de 3 fases modelo
TeSys DF
Contactor Siemens mod. 3RT1026-1BB40
Contacto auxiliar Siemens 3RH1921-1DA11
Relevador de sobrecarga siemens 3RU11264BB0
Contacto N.O. Allen bradley 800f-x10
Contacto N.C. Allen Bradley 800f-x01
Lámpara led roja 24vcd Allen bradley 800f-Q3R
Lámpara led Azul 24vcd Allen bradley 800f-Q3B
Botón emergencia iluminado Allen Bradley
800FM-LMP44
Botón de reset iluminado Allen bradley
Botón selector 2 posiciones retentivo Allen
bradley
Base para contactos Allen bradley Ip66
Transformador General Electric 9T58K00510
750Kva
Fuente de 24 Vcd Allen Bradley 1606-XLP50E
Clema portafusible Allen bradley 1492-H 500vca
Base metálica de acuerdo a diseño.
Cable resolver 3 metros mod. SRBABB003
Cable de potencia 3 metros mod. PSBAFA003
Prensaestopa plástica capacidad 10-14 mm
PG16
rejilla para ventilación soler palau 10 x 10 cm
Gabinete ATLANTIC IP55-IK10 60x60x25 cm
Total
98
canti
dad
1 pza
1 pza
1 pza
1 pza
1 pza
1 pza
1 pza
Precio MXN
1 pza
134.45
1 pza
1 pza
1 pza
1092.34
66.32
364.32
4 pza
1 pza
1 pza
1 pza
1 pza
119.76
29.94
26.81
26.81
155.40
1 pza
1 pza
128.29
138.90
3 pza
1 pza
248.04
456.85
1 pza
3 pza
1 pza
1 pza
1 pza
2 pza
912.45
245.41
1245.82
332.54
345.32
10.08
2 pza
1 pza
32.58
2294.97
65 641,56
22132,06
321,25
14,50
31850.23
1284.32
1284.32
344.43
XI.- Resultados obtenidos.
En primera instancia, se logró el objetivo de generar un proyecto como
propuesta para realizar el monitoreo de las variables de operación de un
servomotor que haya sido reparado y/o desmontado para su análisis y posterior
validación como refacción. El cual fue presentado ante los involucrados, los
cuales expresaron su satisfacción al respecto y como prueba de ello el presente
documento que avala dicha propuesta.
Como resultado de la presentación del proyecto, se acordó, junto con el
responsable del área, realizar el proyecto de manera provisional utilizando
elementos que actualmente se encontraban dentro del stock de refacciones del
departamento electrónico. Dando así la pauta para verificar la operación física
del proyecto, incluyendo el monitoreo de las variables de las actuales
refacciones que se encontraban en stock, lo cual arrojo resultados favorables, ya
que el sistema cumplió ampliamente con las expectativas, realizando el
monitoreo de las principales variables, como son corriente consumida, torque
suministrado, velocidad, entre otras que pudieron visualizarse mediante el
osciloscopio Control Techniques, dando así la oportunidad al personal de
diagnosticar de manera eficiente la operación de las refacciones, entre las
cuales se encontró una en especial que se encontraba dañada e inoperante.
Con lo que se cumplen los objetivos en cuanto a operación y factibilidad del
proyecto, ya que su operación cumple con normas mexicanas e internacionales
vigentes, así como los estándares y requisitos Vitro.
99
En cuanto a los beneficios en reducción en Tiempo muerto y pérdidas de
producción, es necesario que exista en primera instancia algún evento que
involucre la falla y/o remplazo del componente, cosa que no es deseable en
ninguno de los casos, por lo que será necesario esperar a ver los beneficios en
cuanto a este rubro.
Finalmente a la presentación y prueba de operación del proyecto
provisional, se agregó la realización de la orden y el aviso correspondiente, así
como la canasta de componentes. Actualmente el proyecto se encuentra siendo
procesado por el área de abastecimientos, en espera de su validación y
posterior construcción. Con lo que se superan las expectativas y los objetivos
propuestos para el presente proyecto, en espera de comprobar todo el potencial
que se puede lograr en su fase final de construcción.
100
XII.- Conclusiones.
El proyecto que se realizó de manera satisfactoria, contribuirá de manera
positiva en la reparación y diagnóstico del equipo que se encuentra en el stock
de refacciones del departamento electrónico, lo cual mejorará la calidad de las
reparaciones que se realicen en un futuro, con el consecuente ahorro en tiempo
muerto que esto implica.
En lo que respecta a los objetivos planteados en el proyecto, se han
satisfecho los puntos más relevantes en cuanto a operación provisional del
equipo, sin embargo habrá que esperar a que sea validado para su construcción
e implementación para desplegar todo su potencial, sin embargo actualmente
ya se han visto reflejados los beneficios de ahorro en el tiempo muerto y en
pérdidas de producción causadas por falla electrónica.
Personalmente, lo más importante de este proyecto
es que me deja
muchas cosas relevantes para reflexionar y me ha ayudado a reforzar los
conocimientos adquiridos en mi formación como ingeniero, como puntos
angulares para llevar a cabo una buena implementación. De la misma manera
me deja una valiosa contribución a mi crecimiento profesional, ya que el manejo
de servomotores de carácter industrial había sido muy limitado durante mi
formación profesional.
En cuanto a las partes involucradas, se ha cumplido ampliamente con las
expectativas que se tenían, llegando a buen fin con este proceso, lo que
101
enaltece tanto a la empresa involucrada como a la institución educativa, por lo
que el objetivo de las prácticas profesionales se cumple satisfactoriamente,
generando beneficios para ambas partes.
102
103
Unimotor
Product Data
055 to 250 Frames
0.72 Nm to 136 Nm
(408 Nm Peak)
Introduction to Unimotor fm
Overview
Faster set-up, optimised performance
Unimotor
is a high performance brushless AC servo motor
range matched for use with Control Techniques drives. ‘
’
stands for flexible motor, designed to accommodate a wide
range of applications. The motors are available in seven frame
sizes with various mounting arrangements and motor lengths.
When a Control Techniques servo drive is connected to a Unimotor
»UUFEXJUIB4JO$PTPS"CTPMVUFFODPEFSJUDBOSFDPHOJTFBOE
communicate with the motor to obtain the “electronic nameplate”
data. This motor data can then be used to automatically optimise
UIFESJWFTFUUJOHT5IJTGFBUVSFTJNQMJ»FTDPNNJTTJPOJOHBOE
maintenance, ensures consistent performance and saves time.
Reliability and innovation
Unimotor
is designed using a proven development process
that prioritises innovation and reliability. This process has resulted
in Control Techniques’ market leading reputation for both
performance and quality.
Matched motor and drive combinations
Control Techniques motors and drives are designed to function as an
optimised system. Unimotor
is the perfect partner for Unidrive
, Digitax ST, Unidrive M and Epsilon EP drives.
Accuracy and resolution to suit your application
requirements
Choosing the right feedback device for your application is critical in
getting optimum performance. Unimotor
has a range of feedback
options that offer different levels of accuracy and resolution to suit
most applications:
« Resolver: robust for extreme applications and conditions
- low accuracy, medium resolution
« *ODSFNFOUBMFODPEFSIJHIBDDVSBDZNFEJVNSFTPMVUJPO
« *OEVDUJWFBCTPMVUFNFEJVNBDDVSBDZNFEJVNSFTPMVUJPO
« 0QUJDBM4JO$PT"CTPMVUFIJHIBDDVSBDZIJHISFTPMVUJPO
Features
Unimotor
is suitable for a wide range of industrial applications,
due to its extensive range of features
« Torque range: from 0.72 Nm to 136 Nm
« 4JOHMFUVSOBOENVMUJUVSO)JQFSGBDFBOE&O%"5QSPUPDPMTTVQQPSUFE
Ideal for retrofit
« Standard and high energy parking brakes
« /VNFSPVTDPOOFDUPSWBSJBOUTFHWFSUJDBMMPXQSP»MF
90° rotatable and hybrid box on frame size 250
« 7BSJFUZPG¼BOHFQPTTJCJMJUJFT*&$/&."
« Various shaft diameters; keyed or plain
« *1DPOGPSNBODFTFBMFEBHBJOTUXBUFSTQSBZBOEEVTUXIFO
mounted and connected
« Low inertia for high dynamic performance; high inertia option
available
« World class performance
« Supported by rigorous testing for performance and reliability
« Optional high peak torque motors; up to 5 times stall torque
« Winding voltages of 400V and 220V
« Rated speeds include 1500 rpm, 2000 rpm, 3000 rpm,
4000 rpm, 6000 rpm and others available
JTBOJEFBMSFUSP»UDIPJDFXJUIGFBUVSFTUPFOTVSFJU
Unimotor
can integrate easily with your existing servo motor applications.
Unimotor
has been designed so that existing Unimotor
DVTUPNFSTDBOFBTJMZNJHSBUFUPUIFOFXQMBUGPSN"MMDPOOFDUPS
JOUFSGBDFUZQFTBOENPVOUJOHEJNFOTJPOTSFNBJOUIFTBNF*GZPVBSF
QMBOJOHUPSFUSP»UZPVSTZTUFN6OJNPUPS
is the obvious choice.
Custom built motors
"TQBSUPGPVSDPNNJUNFOUUPZPVXFDBOEFTJHOTQFDJBMQSPEVDUT
UPNFFUZPVSBQQMJDBUJPOTQFDJ»DSFRVJSFNFOUT
Wide range of accessories
has a wide range of accessories to meet all your
Unimotor
system requirements:
« Feedback and power cables for static and dynamic applications
« Fan boxes
« Gearboxes
« Cable connectors
2
www.controltechniques.com
Torque performance QPeak QStall at 220V nominal QStall at 400V nominal
1500 0.72
136
73.2
0.72
Conformance and standards
408
219
Motor Speed (rpm)
2000
58.7
0.72
176
73.2
0.72
219
3000
41.1
0.72
23.4
0.72
123
70.2
4000
12.4
0.72
10.8
0.72
37.2
32.4
6000
0.72
1
6.6
19.8
10
100
Torque (Nm)
1000
/#5IFTFMFDUJPOPGESJWFNPUPSDPNCJOBUJPOTTIPVMECFCBTFEPOEVUZMPBEQSP»MFTPGUIFBQQMJDBUJPO
QUALITY
MANAGEMENT
003
FM 30610
3
Ordering information
Use the information below in the illustration to create an order code for a Unimotor
095
Frame size
U
2
B
30
Motor voltage
Peak torque selection
Stator length
055-190 Frame
055 Frame
055 Frame
055
E = 220V
075
U = 400V
095
115
250 Frame
U = 400V
142
2 = Standard peak torque
075-142 Frame
P = High peak torque
190-250 Frame
190
250
1
V
Winding speed
Brake
Connection type
055 Frame
055 Frame
A
30 = 3000 rpm
0 =/PU»UUFE
B
60 = 6000 rpm
1 = Parking brake
»UUFE7ED
C
075 Frame
075-190 Frame
20 = 2000 rpm
075-190 Frame
055 Frame
B = Power and Signal
90° rotatable
075-190 Frame
V = Power and Signal vertical
A
30 = 3000 rpm
0 =/PU»UUFE4UE
B
40 = 4000 rpm
C
60 = 6000 rpm
1 = Parking brake
»UUFE7ED
C = Power 90° rotatable and
Signal vertical
5 = High energy
dissipation
parking brake 24V
*H = Power hybrid box
BOE4JHOBMWFSUJDBM4UE
D
250 Frame
095-142 Frame 10 = 1000 rpm
A
15 = 1500 rpm
B
20 = 2000 rpm*
250 Frame
C
25 = 2500 rpm*
0 =/PU»UUFE4UE
D
250 Frame
5 = High energy
dissipation
parking brake 24V
E
190 Frame
A
B
C
D
E
F
G
H
250 frame
*
250 D and E lengths, winding speed equal and
above 2500rpm must use the Hybrid box.
*
250 F lengths, winding speed equal and above
2000rpm must use the Hybrid box.
D*
E*
F*
Additional options - available upon request
"EEJUJPOBMPQUJPOTBSFBWBJMBCMFVQPOSFRVFTUCVUNBZSFRVJSFBMPOHFSMFBEUJNFUPDPNQMFUFQMFBTFDIFDLXJUIUIF%SJWF$FOUSF%JTUSJCVUPSGPSEFUBJMT
Frame size
055
Motor voltage
Peak torque selection
Stator length
Winding speed
Brake
Connection type
055-250 Frame
055-250 Frame
055-250 Frame
055-250 Frame
055-250 Frame
055 Frame
XX = Special
X = Special
075
Signal vertical
095
115
X = Special
142
A = 1PXFSBOE4JHOBM»YFE
075-115 Frame
190
250
B = Power and Signal 90° rotatable
Signal vertical
X = Special
142-190 Frame
A = 1PXFSBOE4JHOBM»YFE
B = Power and Signal 90° rotatable
Signal vertical
H = Hybrid box
X = Special
250 Frame
4
A
CA
A
100
Output shaft
055-250 Frame
Feedback device
Inertia
PCD
055 Frame
055 Frame
A = Keyed
AR = Resolver
B = Plain shaft
CP =*ODSFNFOUBM&ODPEFS
4096 ppr
A = Standard
MP =*ODSFNFOUBM&ODPEFS4UE
&2*
2048 ppr
A = Standard
FM =*OEVDUJWF"CTPMVUF4JOHMFUVSO
&$*
B = High
TL = Optical SinCos Multi-turn
SKM 36
A = Standard
UL = Optical SinCos Single turn
SKS 36
EM =*OEVDUJWF"CTPMVUF.VMUJUVSO
190
Shaft diameter
055 Frame
063
075-190 Frame
075
250 Frame
FB =0QUJDBM"CTPMVUF4JOHMFUVSO
14.0
"
B-E
115 Frame
19.0
"$
4096 ppr
24.0
D-E
EQN 1325
142 Frame
"&
ECN 1313
EC = *OEVDUJWF"CTPMVUF.VMUJUVSO
&2*
165
FC =*OEVDUJWF"CTPMVUF4JOHMFUVSO
LC = *OEVDUJWF"CTPMVUF.VMUJUVSO1
&2*
215
RA = Optical SinCos Multi-turn
SRM 50
SA = Optical SinCos Single turn
SRS 50
NC = *OEVDUJWF"CTPMVUF4JOHMFUVSO1
"
B-D
19.0
115
EB = 0QUJDBM"CTPMVUF.VMUJUVSO
11.0
14.0
095 Frame
100
075-142 Frame
AE = Resolver
CA =*ODSFNFOUBM&ODPEFS4UE
"$
11.0
075 Frame
24.0
190 Frame
&$*
")
32.0
250 Frame
&$*
300
D-F
48.0
190-250 Frame
AE = Resolver
CA =*ODSFNFOUBM&ODPEFS
4096 ppr
EB =0QUJDBM"CTPMVUF.VMUJUVSO
EQN 1325
FB =0QUJDBM"CTPMVUF4JOHMFUVSO
ECN 1313
RA = Optical SinCos Multi-turn
SRM 50
SA = Optical SinCos Single turn
SRS 50
1
Serial comms only
Output shaft
Feedback device
Inertia
075-250 Frame
075-250 Frame
055-250 Frame
PCD***
Shaft diameter
055 Frame
F = Key and Half
key supplied
separately
MA =*ODSFNFOUBM&ODPEFS2
2048 ppr
GB =0QUJDBM"CTPMVUF.VMUJUVSO
EQN 1337
14.0
Max
HB =0QUJDBM"CTPMVUF4JOHMFUVSO
ECN 1325
XXX =
Special
X = Special
WB =0QUJDBM"CTPMVUF4JOHMFUVSO
ECN 1313
X = Special
XX = Special
070
9.0
075 Frame
080
19.0
Max
085
XXX =
Special
Notes
2
095 Frame
Not available on the 190 or 250 frame
Motors with X in the part number will require the additional
ending -S*** as these are speical customer designed motors.
098
22.0
Max
115
XXX =
Special
115 Frame
24.0
Max
XXX =
Special
130
Motors with the ending -G*** are motors that have
gearboxes supplied and assembled to the motor.
*** Optional PCD’s will have a different register diameter
from the standard motors.
142 Frame
/"
32.0
Max
XXX =
Special
149
190 Frame
42.0
Max
XXX =
Special
5
Ratings
3 Phase VPWM drives 200-240Vrms
¥U$XJOEJOH$NBYJNVNBNCJFOU"MMEBUBTVCKFDUUPUPMFSBODF
Motor frame size (mm)
055E2
Frame length
$POUJOVPVTTUBMMUPSRVF/N
4UBOEBSE
QFBLUPSRVFTFMFDUJPONBY/N
)JHI1
4UBOEBSEJOFSUJBLHDNõ
075E2
A
B
C
A
B
C
0.72
1.18
1.65
1.2
2.2
2.88
4.72
6.60
3.6
6.6
/"
/"
/"
6
0.12
0.23
0.34
)JHIJOFSUJBLHDNõ
8JOEJOHUIFSNBMUJNFDPOTUT
4UBOEBSENPUPSXFJHIUVOCSBLFELH
4UBOEBSENPUPSXFJHIUCSBLFELH
Rated speed 2000 (rpm)
,U/N"
,F7LSQN
=
3BUFEUPSRVF/N
3.9
2.3
4.3
5.9
7.5
9.0
9.3
11.7
6.9
12.9
17.7
22.5
27.0
11
15.5
19.5
10.4
19.4
26.6
33.8
40.5
0.7
1.2
1.6
2.0
1.8
2.9
4.0
5.1
6.2
1.1
1.5
2.0
2.4
3.7
4.8
5.9
7.0
8.1
74
94
100
172
168
183
221
228
1.20
1.50
1.80
3.60
4.40
5.20
6.00
5.10
6.30
7.50
8.70
9.90
1.60
1.90
2.20
4.10
4.90
5.70
6.50
5.70
6.90
8.70
9.30
10.50
5.5
6.9
8.2
$%
$%
,U/N"
,F7LSQN
1.1
2.1
3.0
2.2
4.0
0.9
1.6
2.3
2.8
1.7
3.1
4.3
5.4
6.5
0.23
0.44
0.63
0.80
0.46
0.84
1.15
1.45
1.72
45.80
15.30
8.52
5.72
20.69
6.24
3.16
2.31
1.71
74.10
34.71
21.50
16.16
72.40
22.50
13.73
10.79
8.70
,U/N"
,F7LSQN
1.05
1.48
1.1
2.0
2.8
3.5
2.0
3.9
5.4
6.8
8.1
0.97
1.36
1.81
1.3
2.4
3.4
4.2
2.5
4.7
6.4
8.1
9.7
0.22
0.33
0.46
0.35
0.63
0.88
1.10
0.63
1.23
1.70
2.14
2.54
28.00
14.10
9.50
15.91
6.22
3.35
2.37
8.03
2.68
1.35
1.03
0.77
50.00
32.00
23.00
30.33
14.74
9.54
7.08
22.04
8.70
6.10
4.48
3.99
,U/N"
,F7LSQN
=
$%
4UBMMDVSSFOU"
$%
$%
3BUFEQPXFSL8
3QIQI
ß
-QIQI
N)
,U/N"
,F7LSQN
=
,U/N"
,F7LSQN
1.0
1.7
2.3
2.9
1.8
3.0
4.0
4.9
5.7
1.7
3.1
4.4
5.5
3.2
6.0
8.2
10.5
12.5
0.42
0.71
0.96
1.21
0.75
1.26
1.68
2.05
2.39
12.10
4.05
2.30
1.48
5.15
1.64
0.92
0.62
0.42
19.60
8.88
5.85
4.20
13.00
7.28
3.80
2.75
2.18
$%
$%
,U/N"
,F7LSQN
0.45
27.00
0.43
26.00
0.48
29.00
0.68
0.90
1.20
0.9
1.6
2.1
2.6
1.3
2.1
2.8
1.61
2.74
3.44
2.6
4.7
6.6
8.3
4.9
9.2
12.6
3BUFEQPXFSL8
0.43
0.57
0.75
0.57
1.01
1.32
1.63
0.82
1.32
1.76
8.50
3.60
2.40
5.20
1.77
0.95
0.65
2.00
0.67
0.39
-QIQI
N)
16.00
8.20
6.30
8.30
3.70
3.10
1.86
5.51
2.58
1.70
3BUFEUPSRVF/N
4UBMMDVSSFOU"
3QIQI
ß
C/D $POTVMU%SJWF$FOUSF%JTUSJCVUPS
Not available
Stall torque, rated torque and power relate to maximum
continuous operation tested in a 20°C ambient at 12kHz
drive switching frequency
Control Techniques have an ongoing process of
development and reserve the right to change the
TQFDJ»DBUJPOXJUIPVUOPUJDF
"MMPUIFS»HVSFTSFMBUFUPB$NPUPSUFNQFSBUVSF
Maximum intermittent winding temperature is 140°C
5IFJOGPSNBUJPODPOUBJOFEJOUIJTTQFDJ»DBUJPOJTGPS
guidance only and does not form part of any contract
6
3.8
0.70
3BUFEUPSRVF/N
N/A
3.1
0.91
55.00
3BUFEQPXFSL8
E
0.87
52.50
4UBMMDVSSFOU"
D
0.74
45.00
3BUFEUPSRVF/N
-QIQI
N)
C
81
-QIQI
N)
3QIQI
ß
B
42.0
3QIQI
ß
,U/N"
,F7LSQN
=
A
38.0
3BUFEQPXFSL8
D
34.0
$%
4UBMMDVSSFOU"
095E2
115E2
A
B
C
142E2
D
E
A
B
C
190E2
D
E
A
$%
B
C
21.8
$%
D
E
41.1
$%
F
G
58.7
$%
H
3.5
6.6
9.4
12.4
15.3
5.7
10.8
15.3
19.8
23.4
10.5
19.8
28.2
37.2
45.9
17.1
32.4
45.9
59.4
70.2
14
26.4
37.6
49.6
61.2
22.8
43.2
61.2
79.2
93.6
4.4
6.7
9.0
11.4
13.8
9.0
15.6
22.2
28.8
35.4
48.7
86.4
123.1
161.8
9.5
11.8
14.1
16.6
18.9
23.3
29.9
36.5
43.1
49.7
93.9
131.6
168.3
207.0
175
185
198
217
241
213
217
275
301
365
240
242
319
632
7.80
9.70
11.60
13.50
15.40
10.50
13.30
16.10
18.90
21.70
25.30
33.90
42.50
51.30
9.00
10.90
12.80
14.70
17.20
12.20
15.00
17.80
19.60
23.40
27.30
35.90
44.50
53.10
3.2
6.1
8.7
10.8
14.0
5.3
10.3
14.6
18.4
21.3
65.4
/"
$%
/"
20.0
123.0
/"
$%
/"
36.9
176.0
/"
$%
/"
50.4
2.5
4.8
6.8
8.9
11.0
4.1
7.8
11.0
14.2
16.8
15.6
29.4
42.1
0.67
1.28
1.82
2.26
2.93
1.11
2.16
3.06
3.85
4.46
4.19
7.73
10.6
8.33
2.82
1.51
0.99
0.72
4.28
1.33
0.66
0.45
0.32
0.50
0.15
0.10
43.50
14.91
9.89
7.11
5.77
26.74
11.53
7.31
5.55
4.40
7.77
2.50
2.65
3.0
5.5
8.1
10.4
12.6
4.9
9.0
12.2
15.8
/"
3.8
7.1
10.2
13.4
16.5
6.2
11.7
16.5
21.3
23.5
44.2
0.94
1.73
2.54
3.27
3.96
1.54
2.83
3.83
4.96
6.03
10.4
3.70
1.30
0.73
0.47
0.37
1.90
0.26
0.23
0.22
0.17
0.06
15.94
7.23
4.82
3.37
3.49
11.87
4.05
2.49
3.32
2.62
1.26
2.5
4.7
6.3
7.5
$%
3.6
7.0
$%
/"
/"
/"
/"
/"
4.9
9.2
13.1
17.3
8.0
15.0
1.05
1.97
2.64
3.14
1.51
2.93
2.07
0.70
0.44
0.29
1.20
0.38
8.57
4.34
3.57
2.53
9.45
3.47
2.2
4.0
$%
/"
2.9
$%
/"
/"
/"
/"
/"
/"
7.5
14.1
12.2
1.38
2.51
1.82
0.96
0.30
0.49
3.43
2.09
3.96
/"
$%
19.2
$%
73.2
219.0
/"
/"
$%
$%
$%
$%
$%
/"
/"
/"
/"
/"
/"
/"
/"
/"
/"
/"
33.0
7
Phase VPWM drives 380-480Vrms
055U2
Frame length
4UBOEBSE
)JHI1
075U2
A
B
C
A
B
C
D
A
B
C
D
E
0.72
1.18
1.65
1.2
2.2
3.1
3.9
2.3
4.3
5.9
7.5
9.0
2.88
4.72
6.60
3.6
6.6
9.3
11.7
6.9
12.9
17.7
22.5
27.0
/"
/"
/"
6
11
15.5
19.5
10.4
19.4
26.6
33.8
40.5
0.12
0.23
0.34
0.7
1.2
1.6
2.0
1.8
2.9
4.0
5.1
6.2
1.1
1.5
2.0
2.4
3.7
4.8
5.9
7.0
8.1
)JHIJOFSUJBLHDNõ
,U/N"
,F7LSQN
=
3BUFEUPSRVF/N
34.0
38.0
42.0
81
74
94
100
172
168
183
221
228
1.20
1.50
1.80
3.60
4.40
5.20
6.00
5.10
6.30
7.50
8.70
9.90
1.60
1.90
2.20
4.10
4.90
5.70
6.50
5.70
6.90
8.70
9.30
10.50
$%
4UBMMDVSSFOU"
$%
$%
3BUFEQPXFSL8
3QIQI
ß
-QIQI
N)
,U/N"
,F7LSQN
=
4.0
5.5
6.9
8.2
0.5
1.0
1.3
1.7
1.0
1.8
2.5
3.2
3.8
0.23
0.44
0.63
0.80
0.46
0.84
1.15
1.45
1.72
144.00
48.20
25.00
15.70
64.00
17.00
9.90
6.00
4.30
214.00
99.20
59.20
44.70
202.00
54.50
36.50
25.60
18.90
,U/N"
,F7LSQN
1.48
1.1
2.0
2.8
3.5
2.0
3.9
5.4
6.8
8.1
0.79
1.00
0.8
1.4
2.0
2.5
1.5
2.7
3.7
4.7
5.7
0.22
0.33
0.46
0.35
0.63
0.88
1.10
0.63
1.23
1.70
2.14
2.54
28.00
45.00
31.00
60.80
20.10
10.50
7.50
24.50
6.80
4.00
2.74
2.00
50.00
100.00
75.00
98.40
41.80
27.60
19.70
57.90
24.30
15.50
13.62
8.50
$%
$%
$%
3BUFEQPXFSL8
3QIQI
ß
-QIQI
N)
,U/N"
,F7LSQN
=
,U/N"
,F7LSQN
1.0
1.7
2.3
2.9
1.8
3.0
4.0
4.9
5.7
1.0
1.9
2.6
3.3
2.0
3.6
5.0
6.3
7.5
0.42
0.71
0.96
1.21
0.75
1.26
1.68
2.05
2.39
36.80
10.50
6.30
4.20
12.70
4.08
2.10
1.50
1.03
54.90
24.80
14.90
10.80
31.50
13.60
8.50
6.30
4.80
$%
$%
,U/N"
,F7LSQN
0.74
45.00
0.79
47.50
0.83
50.00
0.68
0.90
1.20
0.9
1.6
2.1
2.6
1.3
2.1
2.8
0.97
1.50
2.00
1.5
2.8
3.9
4.9
2.9
5.4
7.4
0.43
0.57
0.75
0.57
1.01
1.32
1.63
0.82
1.32
1.76
28.00
10.70
7.80
15.00
5.00
2.66
1.90
5.45
1.82
1.05
50.00
25.00
20.00
24.00
10.60
6.80
4.80
14.10
6.00
3.80
3BUFEUPSRVF/N
4UBMMDVSSFOU"
3BUFEQPXFSL8
N/A
2.2
1.05
4UBMMDVSSFOU"
-QIQI
N)
3.8
0.97
,U/N"
,F7LSQN
=
3QIQI
ß
3.0
0.70
3BUFEUPSRVF/N
2.1
1.65
100.00
3BUFEQPXFSL8
1.1
1.49
90.00
4UBMMDVSSFOU"
-QIQI
N)
,U/N"
,F7LSQN
0.74
45.00
3BUFEUPSRVF/N
3QIQI
ß
095U2
Not available
8
115U2
142U2
190U2
A
B
C
D
E
A
B
C
D
E
A
B
C
D
E
F
G
H
3.5
6.6
9.4
12.4
15.3
5.7
10.8
15.3
19.8
23.4
9.6
21.8
31.1
41.1
50.6
58.7
66.0
73.2
10.5
19.8
28.2
37.2
45.9
17.1
32.4
45.9
59.4
70.2
28.8
65.4
93.3
123.0
151.6
176.0
198.0
219.0
14
26.4
37.6
49.6
61.2
22.8
43.2
61.2
79.2
93.6
/"
/"
/"
/"
/"
/"
/"
/"
4.4
6.7
9.0
11.4
13.8
9.0
15.6
22.2
28.8
35.4
29.9
48.7
67.5
86.4
105.0
123.1
142.9
161.8
9.5
11.8
14.1
16.6
18.9
23.3
29.9
36.5
43.1
49.7
75.1
93.9
112.7
131.6
150.2
168.3
188.1
207.0
175
185
198
217
241
213
217
275
301
365
217
240
241
242
281
319
476
632
7.80
9.70
11.60
13.50
15.40
10.50
13.30
16.10
18.90
21.70
21.00
25.30
29.60
33.90
38.20
42.50
46.80
51.30
9.00
10.90
12.80
14.70
17.20
12.20
15.00
17.80
19.60
23.40
23.00
27.30
31.60
35.90
40.20
44.50
48.80
53.10
3.2
6.1
8.7
10.8
14.0
5.3
10.3
14.6
18.4
21.3
9.3
20.0
28.4
36.9
43.8
50.4
53.0
54.7
1.5
2.8
4.0
5.2
6.4
2.4
4.5
6.4
8.3
9.8
4.0
9.1
13.0
17.2
21.1
24.5
27.5
30.5
0.67
1.28
1.82
2.26
2.93
1.11
2.16
3.06
3.85
4.46
1.95
4.19
5.90
7.73
9.20
10.6
11.1
11.5
27.80
8.55
4.55
2.96
2.17
12.00
3.60
2.10
1.35
0.98
6.15
1.54
0.83
0.50
0.39
0.30
0.26
0.17
108.00
40.50
25.70
21.90
17.36
83.00
35.90
18.70
13.60
10.70
52.90
23.55
15.00
8.81
8.68
7.16
6.89
4.63
3.0
5.5
8.1
10.4
12.6
4.9
9.0
12.2
15.8
18.0
8.7
19.2
25.0
33.0
34.0
35.0
36.0
36.8
2.2
4.2
5.9
7.8
9.6
3.6
6.8
9.6
12.4
14.7
6.0
13.7
19.4
25.7
31.6
36.7
41.3
45.8
0.94
1.73
2.54
3.27
3.96
1.54
2.83
3.83
4.96
5.65
2.73
6.03
7.85
10.4
10.7
11.0
11.3
11.6
12.60
3.86
2.02
1.40
1.08
5.30
2.06
0.97
0.61
0.42
2.73
0.70
0.41
0.22
0.17
0.11
0.15
0.09
49.30
21.57
13.27
8.60
10.96
37.00
19.10
12.60
6.10
7.21
23.50
10.47
7.35
4.89
3.86
3.60
3.06
2.46
2.5
4.7
6.3
7.5
8.7
3.6
7.0
8.9
10.7
12.2
7.0
17.5
21.5
29.0
/"
/"
/"
/"
3.0
5.5
7.9
10.4
12.8
4.8
9.0
12.8
16.5
19.5
8.0
18.2
25.9
32.3
1.05
1.97
2.64
3.14
3.64
1.51
2.93
3.73
4.48
5.11
2.90
7.30
9.01
12.10
6.42
2.14
1.16
0.73
0.57
3.00
1.00
0.53
0.35
0.25
1.35
0.38
0.21
0.11
26.73
10.20
6.60
4.70
3.90
21.00
7.50
5.67
3.60
3.25
13.21
6.05
3.75
2.40
2.2
4.0
$%
$%
/"
2.9
4.5
$%
$%
/"
/"
/"
/"
/"
/"
/"
/"
/"
4.4
8.3
7.2
13.5
1.38
2.51
1.82
2.83
3.10
0.97
1.33
0.46
12.30
4.81
9.23
3.44
9
Phase VPWM drives 380-480Vrms
Frame length
D
E
F
92
116
136
276.0
348.0
408.0
275
337
400
408
502
597
439
486
608
57.5
65.5
73.7
68.5
76.5
84.5
1000
1000
1000
75
92
106
17.2
21.7
25.4
7.9
9.6
11.1
0.61
0.48
0.34
22.9
19.1
14.9
1500
1500
1500
67
76
84
25.8
32.5
38.1
10.5
11.9
13.2
0.27
0.21
0.15
10
8.6
6.6
1500
1500
1500
65
73
81
34.4
43.4
50.9
10.2
11.5
12.7
0.15
0.1
0.08
5.7
4.2
3.7
1500
1500
1500
4UBMMDVSSFOU"
62
70
77
43.0
54.2
63.6
3QIQI
ß
9.7
11
12.1
0.09
0.08
0.06
3.5
3.1
2.6
4UBOEBSE
)JHI1
)JHIJOFSUJBLHDNõ
Speed 1000 (rpm)
,U/N"
,F7LSQN
=
3BUFETQFFESQN
3BUFEUPSRVF/N
4UBMMDVSSFOU"
3BUFEQPXFSL8
3QIQI
ß
-QIQI
N)
Speed 1500 (rpm)
,U/N"
,F7LSQN
=
3BUFETQFFESQN
3BUFEUPSRVF/N
4UBMMDVSSFOU"
3BUFEQPXFSL8
3QIQI
ß
-QIQI
N)
Speed 2000 (rpm)
,U/N"
,F7LSQN
=
3BUFETQFFESQN
3BUFEUPSRVF/N
4UBMMDVSSFOU"
3BUFEQPXFSL8
3QIQI
ß
-QIQI
N)
Speed 2500 (rpm)
,U/N"
,F7LSQN
=
3BUFETQFFESQN
3BUFEUPSRVF/N
3BUFEQPXFSL8
-QIQI
N)
N/A
For the 250 motor frame size, resolver feedback is standard.
250U2
Not available
/"
/"
,U/N"
,F7LSQN
,U/N"
,F7LSQN
,U/N"
,F7LSQN
,U/N"
,F7LSQN
/"
The Unimotor fm 250 servo motor has been designed to give
HSFBUFTUNPUPSFG»DJFODZVQUPBSBUFEPSSNTTQFFEPG
rpm. The range does include the optional speeds of 2000rpm
and 2500rpm. These windings will allow the end user to enter the
intermittent speed zone as well as the intermittent torque zone on
the 250 motor.
These higher speed windings are designed with optimum kt values
that allow increased speed without demanding very high currents
The Unimotor fm 250 is designed for S2 to S6 duties and as such the
rms values play an important part in the motor selection for torque
and speed.
10
Standard (2) peak torque
1FBLUPSRVFEF»OFEGPSBNBYJNVNQFSJPEPGNT3.4SQN¥NBY$$BNCJFOU
SC = stall current
4
055
075
3.5
095
Peak factor (x SC)
3
115
2.5
142
2
190
1.5
250
1
0.5
0
0
20
40
60
80
100
% rms current
High (P) peak torque
1FBLUPSRVFEF»OFEGPSBNBYJNVNQFSJPEPGNT3.4SQN¥NBY$$BNCJFOU
SC = stall current
6
075
095
5
115
Peak factor (x SC)
4
142
3
2
1
0
0
20
40
60
80
100
% rms current
11
Dimensions
Frame size 055
D
B
NOTE: Output key dimensions
(E,F,G and H) are applicable
to keyed units only.
M E
Optional
key
P
Motor flange
4 holes R (H14)
equispaced on a
mounting PCD S
For vertical
connectors,
allow
approximately
175.0mm
clearance for
mating cable
K
L
N
F
G
C
H
Tapped hole
thread size
I to depth J
A
T
Motor housing
Standard motor dimension (mm) Note all dimensions shown are at nominal
Unbraked
length
A
Braked
length
B
A
B
055A
118.0
90.0
158.0
130.0
055B
142.0
114.0
182.0
154.0
055C
166.0
138.0
206.0
178.0
Flange
thickness
Register
length
Register
diameter
Overall
height
Flange
square
Fixing hole Fixing hold
diameter
PCD
Motor
housing
K
L
M (j6)
N
P
R (H14)
S
T
7.0
2.5
40.0
99.0
55.0
5.8
63.0
55.0
Note all dimensions shown are at nominal
Braked
length
Power
connector
M5
Output shaft dimensions (mm)
Vertical connectors dimension (mm)
Unbraked
length
Mounting
bolts
Signal
connector
Shaft
diameter
Shaft
length
Key
height
Key
length
Key to
shaft
end
Key
width
Tapped
hole
thread
size
Tapped
hole
depth
C (j6)
D
E
F
G
H (h9)
I
J
B1
B2
B1
B2
N
N
055A
75.0
83.0
115.0
123.0
104.0
93.0
9.0 Opt
9.0
20.0
10.2
15.0
1.0
3.0
M4
10.0
055B
99.0
107.0
139.0
147.0
104.0
93.0
11.0 A-C Std
11.0
23.0
12.5
15.0
1.5
4.0
M4
10.0
055C
123.0
131.0
163.0
173.0
104.0
93.0
14.0 Max
14.0
30.0
16.0
25.0
1.5
5.0
M5
12.5
/05&4IBGUPQUJPOTCFMPXUIFTUBOEBSE4UE
EJNFOTJPOTXJMMSFRVJSFDVTUPNFS
approval and may not be covered by warranty.
Optional connector height (mm)
C type
96.00
V type
105.0
Optional flange dimensions (mm)
PCD code
070
12
Front end frame
type
Flat
Flange thickness
Register length
Fixing hole
diameter
Flange square
Fixing hole
diameter
Fixing hold PCD
K
L
M (j6)
P
R (H14)
S
6
3
50
60
5.5
70
Mounting
bolts
M5
Frame size 075
D
B
F
G
C (j6)
H (h9)
4 holes R (H14)
equispaced on a
mounting PCD S
K Flange
L
Optional key
P
Motor flange
N
M (j6)
E
Tapped hole
thread size
I to depth J
T
Motor housing
For vertical
connectors,
allow
approximately
175.0mm
clearance for
mating cable
A
Unbraked
length
Braked
length
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
075A
208.2
157.2
253.2
202.2
075B
238.2
187.2
283.2
232.2
075C
268.2
217.2
313.2
262.2
075D
298.2
247.2
343.2
292.2
Optional flat flange motor
dimensions (mm)
Unbraked
length
Flange thickness
Register
length
Register
diameter
Overall
height
Flange
square
Fixing hole
diameter
Fixing hole
PCD
Motor
housing
K (± 0.5)
L (± 0.1)
M (j6)
N (± 1.0)
P (± 0.1)
R (H14)
S (± 0.4)
T (± 0.45)
5.8
2.40
60.0
118.5
70.0
5.8
75.0
75.0
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
075A
192.6
141.6
237.6
186.6
075B
222.6
171.6
267.6
216.6
075C
252.6
201.6
297.6
246.6
075D
282.6
231.6
327.6
276.6
Front end
frame type
Flange square
Fixing hole PCD
Register diameter
Fixing hole diameter
P (± 0.1)
S (± 0.4)
M (j6)
R (H14)
075
Extended
70.0
66.7 - 75.0
60.0
5.80
080
Extended
70.0
75.0 - 80.0
60.0
5.80
085
Flat
80.0
85.0
70.0
7.00
PCD code
Shaft
diameter
C (j6)
Overall height
Connection type
N (± 1.0)
118.5
B
126.0
C
126.0
M5
Braked
length
A
Mounting
bolts
Shaft
length
Key height
Key
length
D (± 0.45) E (To IEC 72-1) F (± 0.25)
Key to shaft
end
Key
width
Tapped hole
thread size
Tapped hole
depth
G (± 1.1)
H (h9)
I
J (± 0.4)
11.0 A Std
11.0
23.0
12.5
14.0
3.6
4.0
M4 x 0.4
11.0
14.0 B-D Std
14.0
30.0
16.0
22.0
3.6
5.0
M5 x 0.8
13.5
19.0 Max
19.0
40.0
21.5
32.0
3.6
6.0
M6 x 1.0
17.0
EJNFOTJPOTXJMMSFRVJSFDVTUPNFSBQQSPWBMBOENBZOPUCF
covered by warranty.
13
Frame size 095
B
D
F
G
C (j6)
H (h9)
4 holes R (H14)
equispaced on a
mounting PCD S
K Flange
P
Motor flange
Optional key
L
For vertical
connectors,
allow
N approximately
175.0mm
clearance for
mating cable
E
M (j6)
Tapped hole
thread size
I to depth J
T
Motor housing
A
Unbraked
length
Braked
length
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
095A
226.9
175.9
271.9
220.9
095B
256.9
205.9
301.9
250.9
095C
286.9
235.9
331.9
280.9
095D
316.9
265.9
361.9
310.9
095E
346.9
295.9
391.9
340.9
dimensions (mm)
Unbraked
length
Flange
thickness
Register
length
Register
diameter
Overall
height
Flange
square
Fixing hole
diameter
Fixing hole
PCD
Motor
housing
K (± 0.5)
L (± 0.1)
M (j6)
N (± 1.0)
P (± 0.1)
R (H14)
S (± 0.4)
T (± 0.6)
5.9
2.80
80.0
131.5
90.0
7.0
100.0
95.0
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
095A
201.8
150.8
246.8
195.8
095B
231.8
180.8
276.8
225.8
095C
261.8
210.8
306.8
255.8
095D
291.8
240.8
336.8
285.8
095E
321.8
270.8
366.8
315.8
PCD code
Front end frame
type
098
Extended
115
Flat
Overall height
Connection type
N (± 1.0)
14
B
139.0
C
139.0
Flange square
Fixing hole PCD
Register
diameter
Flange thickness
Fixing hole
diameter
P (± 0.1)
S (± 0.4)
M (j6)
K (± 0.5)
R (H14)
90.0
98.43
73.0
6.8
7.0
105.0
115.0
95.0
6.8
10.0
Shaft
diameter
C (j6)
131.5
M6
Braked
length
A
Mounting
bolts
Shaft
length
Key height
Key
length
D (± 0.45) E (To IEC 72-1) F (± 0.25)
Key to shaft
end
Key
width
Tapped hole
thread size
Tapped hole
depth
G (± 1.1)
H (h9)
I
J (± 0.4)
M5 x 0.8
13.5
14.0 A Std
14.0
30.0
16.0
22.0
3.6
5.0
19.0 B-E Std
19.0
40.0
21.5
32.0
3.6
6.0
M6 x 1.0
17.0
22.0 Max
22.0
50.0
24.5
40.0
4.6
6.0
M8 x 1.25
20.0
Frame size 115
B
D
F
G
C (j6/k6)
H (h9)
4 holes R (H14)
equispaced on a
mounting PCD S
K Flange
P
Motor flange
Optional key
For vertical
connectors,
allow
N approximately
175.0mm
clearance for
mating cable
E
M (j6)
T
Motor housing
L
Tapped hole
thread size
I to depth J
A
Unbraked
length
Braked
length
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
115A
245.2
202.
290.2
247.0
115B
275.2
232.0
320.2
277.0
115C
305.2
262.0
350.2
307.0
115D
335.2
292.0
380.2
337.0
115E
365.2
322.0
410.2
367.0
dimensions (mm)
Unbraked
length
Flange
thickness
Register
length
Register
diameter
Overall
height
Flange
square
Fixing hole
diameter
Fixing hole
PCD
Motor
housing
K (± 0.5)
L (± 0.1)
M (j6)
N (± 1.0)
P (± 0.2)
R (H14)
S (± 0.4)
T (± 0.6)
9.6
2.80
95.0
149.0
105.0
10.0
115.0
115.0
Mounting
bolts
M8
Braked
length
PCD
code
Front end
frame type
Flange square
Fixing hole PCD
Register diameter
Fixing hole diameter
P (± 0.2)
S (± 0.4)
M (j6)
R (H14)
130
Flat
130.0
130.0
110.0
10.0
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
115A
214.4
171.2
259.4
216.2
115B
244.4
201.2
289.4
246.2
115C
274.4
231.2
319.4
276.2
115D
304.4
261.2
349.4
306.2
115E
334.4
291.2
379.4
336.2
Connection type
Overall height
N (± 1.0)
A
149.0
B
156.5
C
156.5
Output shaft dimensions(mm)
Shaft
diameter
C (j6)
Shaft
length
Key height
Key
length
Key
width
Tapped hole
thread size
Tapped hole
depth
G (± 1.1)
H (h9)
I
J (± 0.4)
19.0 A-C Std
19.0
40.0
21.5
32.0
3.6
6.0
M6 x 1.0
17.0
22.0 Opt
22.0
50.0
24.5
40.0
4.6
6.0
M8 x 1.25
20.0
24.0 D-E Std
24.0
50.0
27.0
40.0
4.6
8.0
M8 x 1.25
20.0
28.0
60.0
31.0
50.0
4.6
8.0
M10 x 1.5
23.0
80.0
35.0
70.0
4.6
10.0
M12 x 1.75
29.0
28.0 Opt
32.0 Max
,
D (± 0.45) E (To IEC 72-1) F (± 0.25)
Key to shaft
end
15
Frame size 142
B
D
F
G
C (j6/k6)
H (h9)
4 holes R (H14)
equispaced on a
mounting PCD S
K Flange
L
For vertical
connectors,
allow
N approximately
175.0mm
clearance for
mating cable
P
Motor flange
Optional
key
M (j6)
E
Tapped hole
thread size
I to depth J
A
T
Motor housing
Unbraked
length
Braked
length
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
142A
226.2
183.0
271.2
228.0
142B
256.2
213.0
301.2
258.0
142C
286.2
243.0
331.2
288.0
142D
316.2
273.0
361.2
318.0
142E
346.2
303.0
391.2
348.0
Braked
length
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
142A
273.4
230.2
318.4
275.2
Register
diameter
Overall height
vertical
Flange
square
Fixing hole
diameter
Fixing hole
PCD
Motor
housing
K (± 0.5)
L (± 0.1)
M (j6)
N (± 1.0)
P (± 0.2)
R (H14)
S (± 0.4)
T (± 0.7)
11.6
3.4
130.0
176.0
142.0
12.0
165.0
142.0
PCD code
149
Front end frame
type
Extended
303.4
260.2
348.4
305.2
333.4
290.2
378.4
335.2
142D
363.4
320.2
408.4
365.2
Shaft
diameter
142E
393.4
350.2
438.4
395.2
C (j6)
Connection type
Mounting
bolts
M10
Flange square
Fixing hole PCD
Register
diameter
Flange
thickness
Fixing hole
diameter
P (± 0.2)
S (± 0.1)
M (j6)
K (± 0.5)
R (H14)
140.0
149.23
114.3
11.5
12.0
142B
142C
16
Register
length
Optional motor flange
dimensions (mm)
Unbraked
length
Flange
thickness
Shaft
length
Key height
Key
length
D (± 0.45) E (To IEC 72-1) F (± 0.25)
Key to shaft
end
Key
width
Tapped hole
thread size
Tapped hole
depth
G (± 1.1)
H (h9)
I
J (± 0.4)
22.0 Opt
22.0
50.0
24.5
40.0
4.6
6.0
M8 x 1.25
20.0
24.0 A-E Std
24.0
50.0
27.0
40.0
4.6
8.0
M8 x 1.25
20.0
Overall height
28.0 Opt
28.0
60.0
31.0
50.0
4.6
8.0
M10 x 1.5
23.0
N (± 1.0)
32.0 Max
80.0
35.0
70.0
4.6
10.0
M12 x 1.75
29.0
A
176.0
B
183.5
C
183.5
,
Frame size 190
B
D
F
G
C (k6)
H (h9)
4 holes R (H14)
equispaced on a
mounting PCD S
K Flange
L
P
Motor flange
Optional
key
N
M (j6)
E
Tapped hole
thread size
I to depth J
For vertical
connectors,
allow
approximately
300.0mm
clearance for
mating cable
A
T
Motor housing
Unbraked
length
Braked
length
A (± 0.9) B (± 1.0) A (± 0.9) B (± 1.0)
190A
237.4
198.2
318.2
279.0
190B
264.3
225.1
345.2
306.0
190C
291.3
252.1
372.1
332.9
190D
318.2
279.0
399.1
359.9
190E
345.2
306.0
426.0
386.8
190F
372.1
332.9
453.0
413.8
190G
399.1
359.9
479.9
440.7
190H
426.0
386.8
506.9
467.7
Flange
thickness
Register
length
Register
diameter
Overall
height
Flange
square
Fixing hole
diameter
Fixing hole
PCD
Motor
housing
K (± 0.5)
L (± 0.1)
M (j6)
N (± 1.0)
P (± 0.2)
R (H14)
S (± 0.4)
T (± 1.5)
15.0
3.90
180.0
232.0
190.0
14.5
215.0
190.0
Overall height
N (± 1.0)
245.0
B
252.5
C
252.5
M12
Connection type
A
Mounting
bolts
28.0 Opt
32.0 A-H Std
38.0 Opt
42.0 Max
Shaft
diameter
Shaft
length
Key height
Key
length
Key to shaft
end
Key
width
Tapped hole
thread size
Tapped hole
depth
C (j6)
D (± 0.45)
E (To IEC 72-1)
F (± 0.25)
G (± 1.1)
H (h9)
I
J (± 0.4)
L
28.0
60.0
31.0
50.0
4.6
8.0
M10 x 1.5
23.0
80.0
35.0
70.0
4.6
10.0
M12 x 1.75
29.0
L
80.0
41.0
70.0
4.6
10.0
M12 x 1.75
29.0
110.0
45.0
100.0
4.6
12.0
M16 x 2.0
37.0
L
17
Frame size 250
D
A1
F
B1
G
C (k6)
H (h9)
U
4 holes R (H14)
equispaced on a
mounting PCD S
K Flange
L
P
Motor flange
Optional
key
N
M (j6)
E
V
Tapped hole
thread size
I to depth J
T
Motor housing
For vertical
connectors,
allow
approximately
300.0mm
clearance for
mating cable
A
Motor Length
A (± 1.3)
A1 (± 2.0)
B1 (± 1.3)
Flange
thickness
Register
length
Register
diameter
K (± 0.5)
L (± 0.1)
M (j6)
20.0
4.50
250.0
Overall
height
Flange
square
N (± 1.0) P (± 0.6)
Fixing
hole
diameter
Fixing
hole
PCD
Motor
housing
Hybrid
box
width
Signal
connector
height
R (H14)
S (± 0.4)
T (± 1.0)
U (± 0.4)
V (± 1.0)
18.5
300.0
249.5
186.0
228.5
Mounting
bolts
Unbraked motor
250D
370.7
406.1
179.7
250E
400.7
436.1
209.7
250F
430.7
466.1
239.7
Braked motor
250D
442.5
477.9
251.5
250E
472.5
507.9
281.5
250F
502.5
537.9
311.5
362.8
256.0
M16
Shaft
diameter
Shaft
length
Key height
Key
length
Key to shaft end
Key
width
Tapped hole
thread size
Tapped hole
depth
C (k6)
D (± 0.45)
E (To IEC 72-1)
F (± 0.25)
G (± 1.1)
H (h9)
I
J (± 0.4)
38.0 Opt
38.0
80.0
41.0
70.0
4.6
10.0
M12 x 1.75
29.0
42.0 Opt
42.0
110.0
45.0
100.0
6.0
12.0
M16 x 2.0
37.0
48.0 D-F Std
48.0
110.0
51.5
100.0
6.0
14.0
M16 x 2.0
37.0
Power overall height
Signal overall height
N (± 1.0)
V (± 1.0)
V
291.5
221.0
C
312.5
221.0
Connection type
18
EJNFOTJPOTXJMMSFRVJSF
customer approval and may not be covered by warranty.
Motor selection
Motor derating
"OZBEWFSTFPQFSBUJOHDPOEJUJPOTSFRVJSFUIBUUIFNPUPSQFSGPSNBODFCFEFSBUFE5IFTFDPOEJUJPOTJODMVEF
ambient temperature above 40°C, motor mounting position, drive switching frequency or the drive being
oversized for the motor.
Ambient temperatures
The ambient temperature around the motor must be taken into account. For ambient temperatures above
$UIFUPSRVFNVTUCFEFSBUFEVTJOHUIFGPMMPXJOHGPSNVMBBTBHVJEFMJOF/PUF0OMZBQQMJFTUP
SQNNPUPSTBOEBTTVNFTDPQQFSMPTTFTEPNJOBUF
/FXEFSBUFEUPSRVF4QFDJ»FEUPSRVFY¢<"NCJFOUUFNQFSBUVSF$
>
'PSFYBNQMFXJUIBOBNCJFOUUFNQFSBUVSFPG$UIFOFXEFSBUFEUPSRVFXJMMCFYTQFDJ»FEUPSRVF
Mounting arrangements
The motor torque must be derated if the motor mounting surface is heated from an external source, such as a
gearbox. The motor is connected to a poor thermal conductor. The motor is mounted with the connectors on
UIFTJEFPSWFSUJDBM5IFNPUPSJTJOBDPO»OFETQBDFXJUISFTUSJDUFEBJS¼PX
Drive switching frequency Most Unidrive
and Digitax ST nominal current ratings are reduced for the higher switching frequencies. See
the appropriate drive manual for details.
4FFUIFUBCMFCFMPXGPSUIFNPUPSEFSBUFGBDUPST5IFTF»HVSFTBSFGPSHVJEBODFPOMZ
/PUF0OMZBQQMJFTUPNPUPSTVQUPSQNSNT
GPSGSBNFTJ[FTUPBOESQNSNT
GPSGSBNFTJ[F"TTVNFTDPQQFSMPTTFT
dominate on all frame sizes.
Motor derate factors
Motor type/frame
Switching
frequency
055
075
095
A-C
A-D
A-E
115
A-C
142
D-E
A-C
190
D-F
A-B
250
C-H
D-F
3kHz
0.92
0.93
0.88
0.89
0.84
0.87
0.81
0.98
/"
0.88
4kHz
0.93
0.94
0.91
0.91
0.87
0.91
0.86
0.99
0.55
0.90
6kHz
0.95
0.95
0.93
0.93
0.90
0.94
0.89
0.99
0.77
0.94
8kHz
0.96
0.98
0.97
0.97
0.95
0.97
0.96
1
0.90
0.98
12/16kHz
1
1
1
1
1
1
1
1
1
1
Thermal test conditions
5IFQFSGPSNBODFEBUBTIPXOIBTCFFOSFDPSEFEVOEFSUIFGPMMPXJOHDPOEJUJPOT"NCJFOUUFNQFSBUVSF$
with the motor mounted on a thermally isolated aluminum plate as shown below.
5IFSNBM*TPMBUPS
Plate
Motor
Dynomometer
Thermal protection
Motor type/frame
Aluminium heatsink plate
055
110 x 110 x 27mm
075-095
250 x 250 x 15mm
115-142
350 x 350 x 20mm
190
500 x 500 x 20mm
250
500 x 500 x 20mm
5IFSNJTUPSQSPUFDUJPO$
JTCVJMUJOUPUIFNPUPSXJOEJOHTBOEHJWFTBOJOEJDBUJPOPGTFSJPVTPWFSIFBUJOH
problems. The installer must connect the thermistor to the drive. Failure to do so will invalidate the motor
warranty in respect of a burnt out winding.
Environmental conditions "OZMJRVJETPSHBTFTUIBUNBZDPNFJOUPDPOUBDUXJUIUIFNPUPSNVTUCFDIFDLFEUPFOTVSFDPNQMJBODFXJUI
the appropriate international standards.
19
Declaration of Conformity
Manufacturers Name: Control Techniques Dynamics Limited
Manufacturers’ Address: 4PVUI8BZ8BMXPSUI*OEVTUSJBM&TUBUF"OEPWFS)BNQTIJSF41"#
Declare under our sole responsibility that the Brushless Permanent Magnet Servo Motors described below comply with applicable
Health and Safety Requirements of Annex I of the Low Voltage Directive 2006/95/EC and Annex II of the ATEX Directive 94/9/EC and
the EMC Directive 2004/108/EC. Confidential technical documentation has been compiled according to the specific requirements of
each directive:
Description of product: #SVTIMFTT1FSNBOFOU.BHOFU4FSWP.PUPST5ZQFT766.4-6%7&&;&%
Standard rating: ATEX rating: 'SBNF4J[FUP7"$L8NBYJNVN4QFFE31.5IFSNBM$MBTTJ»DBUJPO%FMUB$
6OJNPUPS6.BOEGNGSBNFTJ[FUP7"$L8NBYJNVN4QFFE31.5IFSNBM
$MBTTJ»DBUJPO%FMUB$
Atex Gas
Atex Dust
&Y**(&YQ[55B$
#4*"5&99
&Y**%&YU%"*15$#4*"5&99
The following standards have either been referred to or have been complied with in part or in full:
Reference
EN 60034-1:2004
EN 60034-5:2001
EN 60034-6:1993
EN 60034-7:1993
EN 60034-8:2007
EN 60034-14:2004
EN 60204-1:2006
Title
Rotating electrical machines – Part 1: Rating and performance
3PUBUJOHFMFDUSJDBMNBDIJOFT¯1BSU*1$PEF
3PUBUJOHFMFDUSJDBMNBDIJOFT¯1BSU*$3BUJOH
3PUBUJOHFMFDUSJDBMNBDIJOFT¯1BSU*.3BUJOH
Rotating electrical machines – Part 8: Terminal markings and direction of rotation
Rotating electrical machines – Part 14: Mechanical vibration
Safety of machinery – Electrical equipment of machines Part1: General requirements
EN 60079-0:2006
EN 60079-2:2007
EN 61241-0:2006
EN 61241-1:2004
Electrical apparatus for explosive gas atmospheres – general requirements
Electrical apparatus for explosive gas atmospheres – pressurised enclosures “p”
Electrical apparatus for use in the presence of combustible dust – general requirements
Electrical apparatus for use in the presence of combustible dust - Part 1: Protection by enclosures “tD”
Brake specification
Static torque
Motor
frame
Supply
volts
Input
power
Standard brake (01)
High energy brake (05)
Release
time
Moment of inertia
Backlash
Size
Vdc
Watts
Nm
Nm
kgcm² *
Degrees**
24
6.3
1.8
/"
ms nom
055
22
0.03
0.75
075
24
6.3
2
2.2
22
0.07
1.03
095
24
16
11
12.2
60
0.39
0.94
115
24
16
11
12.2
60
0.44
0.56
142
24
19.5
18
22
75
0.54
0.56
190 (A-D)
24
25
38
42
95
3.07
0.77
190 (E-H)
24
25
120
4.95
0.77
24
62
/"
67
250
135
252
16.37
0.77
60
« The brakes are intended for parking duty and are not for dynamic
or safety use
« Refer to your Drive Centre or Distributor if your application
requires dynamic braking in emergency conditions
« To provide protection to the brake control circuit it is recommended
that a diode is connected across the output terminals of the solid
state or relay contacts devices
20
/PUFLHDNõYLHNõ#BDLMBTIGJHVSFXJMMJODSFBTFXJUIUJNF
« Larger torque brakes are available as an option. Please contact
your Drive Centre or Distributor for details
« 'JHVSFTBSFTIPXOBU$CSBLFUFNQFSBUVSF"QQMZUIFEFSBUF
GBDUPSPGUPUIFTUBOEBSECSBLFUPSRVF»HVSFTJGNPUPS
UFNQFSBUVSFJTBCPWF$"EFSBUFGBDUPSPGBQQMJFTUPUIF
high energy brake if motor temperature is above 100°C
« The brake will engage when power is removed
Feedback
Feedback type
Encoder
supply
voltage¹
AR
Resolver
7Vdc
Excitation 5kHz
1
KR
MR
CR
EM (Multi-turn)
FM (Single turn)
*ODSFNFOUBM
Encoder
5Vdc
1024
2048
4096
5Vdc
16
5Vdc
7 - 12Vdc
Feedback device
part number code
Sincos cycles or
incremental pulses
per revolution
Resolution
available to
position loop²&³
Notes:
Feedback Accuracy1
055 motors
LM (Multi-turn)
NM (Single turn)
TL (Multi-turn)
UL (Single turn)
*OEVDUJWF"CTPMVUF
Encoder EnDat 2.1
*OEVDUJWF"CTPMVUF
Encoder EnDat 2.2
4FSJBMDPNNT
POMZ
SinCos Optical
Encoder
Hiperface
Medium
CJU
Medium
CJU
CJU
CJU
High
Y?CJUT
High
Low
²
Medium
16
Medium
Y?CJUT
Medium
²
128
Y?CJU
²
Medium
CJU
Medium
CJU
Medium
²
High
Medium
"CTPMVUFQPTJUJPO
524288
CJUT
Medium
"CTPMVUFQPTJUJPO
524288
CJUT
Very high
1.04x10^6
Medium
4096
²
Medium
²
High
075-250 motors
AE
Resolver
CA
*ODSFNFOUBM
Encoder
MA
EC (Multi-turn)
FC (Single turn)
LC (Multi-turn)
NC (Single turn)
*OEVDUJWF"CTPMVUF
Encoder EnDat 2.1
*OEVDUJWF"CTPMVUF
Encoder EnDat 2.2
4FSJBMDPNNT
POMZ
6 Vdc rms
Excitation 6kHz
1
4096
5Vdc
2048
7 - 10Vdc
32
7-10Vdc
32
RA (Multi-turn)
SA (Single turn)
EB (Multi-turn)
FB (Single turn)
SinCos Optical
Encoder
Hiperface
0QUJDBM"CTPMVUF
Encoder EnDat 2.2
7 - 12Vdc
CJU
CJUT
1024
Very High
2.08x10^6
3.6 - 14Vdc
2048
CJUT
Resolver
"QBTTJWFXPVOEEFWJDFDPOTJTUJOHPGBTUBUPSBOESPUPSFMFNFOUTFYDJUFE
from an external source, such as an SM-Resolver, the resolver produces
two output signals that correspond to the sine and cosine angle of the
motor shaft. This is a robust absolute device of low accuracy, capable of
withstanding high temperature and high levels of vibration. Positional
information is absolute within one turn - i.e. position is not lost when the
drive is powered down.
Incremental Encoder
"OFMFDUSPOJDEFWJDFVTJOHBOPQUJDBMEJTD5IFQPTJUJPOJTEFUFSNJOFE
by counting steps or pulses. Two sequences of pulses in quadrature are
VTFETPUIFEJSFDUJPOTFOTJOHNBZCFEFUFSNJOFEBOEYQVMTFTQFSSFW
NBZCFVTFEGPSSFTPMVUJPOJOUIFESJWF"NBSLFSQVMTFPDDVSTPODFQFS
revolution and is used to zero the position count. The encoder also provides
commutation signals, which are required to determine the absolute
position during the motor phasing test. This device is available in 4096,
2048 and 1024 ppr version. Positional information is non absolute - i.e.
position is lost when the drive is powered down.
5IFPVUQVUGSPNUIFSFTPMWFSJTBO
analogue output. The resolution is
determined by the analogue to digital
converter used. The value shown is when
UIFSFTPMWFSJTVTFEJODPOKVODUJPOXJUIUIF
SM-Resolver.
5IFTJOBOEDPTJOFPVUQVUTGSPNUIF4JO$PT
optical encoders are analogue outputs. With
and Digitax ST the resolutions
Unidrive
quoted above are when the encoder type is
set to either SC Endat or SC Hiper depending
on the encoder.
5IFJOGPSNBUJPOJTTVQQMJFECZUIF
feedback device manufacturer and relates
to it as a standalone device. The values may
change when mounted into the motor and
connected to a drive.
5IFTFWBMVFTIBWFOPUCFFOWFSJ»FECZ$5
Dynamics.
²
²
Medium
²
High
'PS4JO$PT*OUFHSBMOPO
MJOFBSJUZ²
For SinCos Differential nonMJOFBSJUZ²
5PUBMBDDVSBDZ²
Very High
²
%JGGFSFOUJBMOPO
MJOFBSJUZTJHOBMQFSJPE
SinCos/Absolute Encoders
Types available: Optical or Inductive - which can be single or multi-turn.
1) Optical:"OFMFDUSPOJDEFWJDFVTJOHBOPQUJDBMEJTD"OBCTPMVUFFODPEFS
with high resolution that employs a combination of absolute information,
USBOTNJUUFEWJBBTFSJBMMJOLBOETJOFDPTJOFTJHOBMTXJUIJODSFNFOUBM
techniques.
2) Inductive:"OFMFDUSPOJDEFWJDFVTJOHJOEVDUJWFMZDPVQMFE1$#´T"O
absolute encoder with medium resolution that employs a combination
PGBCTPMVUFJOGPSNBUJPOUSBOTNJUUFEWJBBTFSJBMMJOLBOETJOFDPTJOF
signals with incremental techniques. This encoder can be operated with the
ESJWFVTJOHFJUIFSTJOFDPOTJOFPSBCTPMVUFTFSJBM
WBMVFTPOMZ1PTJUJPOBM
information is absolute within 4096 turns - i.e. position is not lost when
the drive is powered down. Multi-turn: "TQSFWJPVTCVUXJUIFYUSBHFBS
wheels included so that the output is unique for each shaft position and
the encoder has the additional ability to count complete turns of the motor
shaft up to 4096 revolutions.
Electronic nameplating NPUPSPOMZ
"WBJMBCMFPOCPUIUIFTFUZQFTPGFODPEFSTBOEBMMPXTRVJDLTFUVQUJNFTBT
the motor information is stored on board the encoder .
21
Cable information
PS
B
A
F
A
015
Cable type
Jacket
Phase & ground:
conductor size
Connection details drive end
Connection details motor end
Cable length
PS = 1PXFS4UBOEBSE
PB = 1PXFSXJUICSBLF
B = PUR
C = OFS
H** = NNõ
G = NNõ
A = NNõ
B = NNõ
C* = NNõ
* Ring terminals for Drive studs only
** Only available in OFS
D* = NNõ
E* = NNõ
10A
C = 6 way power extension connector
A = 055 -115 power connector
16A
F = Unidrive
B = 142 -250 power connector
22A
G = Unidrive
30A
H = Digitax ST and SP0 Ferrules
39A
J = Unidrive
53A
K = Epsilon EP Ferrules
70A
X = Cut end
TJ[F
'FSSVMFT
TJ[F
3JOHUFSNJOBMT
.JON
.BYN
J = 250 hybrid ferrules
X = Cut end
TJ[F
3JOHUFSNJOBMT
Cable type
PS for motor without brakes, PB for motors with brake.
Jacket
B is for the PUR sheath and is the Dynamic cable selection. C is for the OFS sheath and is the Static cable selection.
Conductor size 4FMFDUUIFDPOEVDUPSTJ[FBDDPSEJOHUPUIFNPUPST45"--$633&/5$BCMFTPGNNõand above will be
»UUFEXJUISJOHUFSNJOBMTPOMZ3BUJOHTBSFGPSJOEJWJEVBMDBCMFTOPUMBTIFEUPHFUIFS
JOGSFFBJSUFNQFSBUVSF
up to 40°C - make allowances as appropriate.
Connection detail drive end
Select the correct drive end connection for the drive in use.
Connection detail motor end
Select the correct motor end connection for the motor in use.
Length
Numbers represent the required cable length in metres.
SI
B
Cable type
A
Jacket
A
A
Special options
Connection details motor end
SI = *ODSFNFOUBM&ODPEFSIZQFSCPMPJEQJOT
B = PUR
A = Standard cable
A = Encoder 17 pin connector
SR = Resolver
C** = OFS
E = Twisted screened SS cable
B = Resolver 12 pin connector
SS = 4JO$PT&ODPEFS
SE = *ODSFNFOUBM&ODPEFSTQMJUQJOT
L = NNEJB4*DBCMF
C = 4JO$PTQJODPOOFDUPS)JQFSGBDF
015
Cable length*
.JON
.BYN
E = 17 pin extension connector
F = 90° Encoder 17 pin connector
Connection details drive end
A = Digitax ST/Unidrive
G = 90° Resolver 12 pin connector
/Epsilon EP Encoder 15 pin connector
B = 3FTPMWFS 4JO$PT'FSSVMFT
H = 90° 4JO$PTQJODPOOFDUPS)JQFSGBDF
N = 4JO$PTQJODPOOFDUPS&O%BU
F = Epsilon Encoder 26 pin connector
O = 90° 4JO$PTQJODPOOFDUPS&O%BU
I = Extension connector male pins
X = Cut end
H = Digitax ST/Unidrive
4JO$PTQJODPOOFDUPS
X = Cut end
.BYDBCMFMFOHUINXJUIUIF4*#"4*$"BTTUBOEBSENPOMZJG7UPMFSBODFDBOCFNBJOUBJOFENXJUIUIF4*#-)FJEFOIBJO&$'$N&#'#N
XJUIUIF44#"DBCMF&$'$N&#'#NXJUIUIF44#&DBCMF
0'4POMZBWBJMBCMFPO4*FODPEFSDBCMF
Cable type
Choose the cable type to match the feedback device.
Jacket
B is for the PUR sheath and is the Dynamic cable selection. C is for the OFS sheath and is the Static cable selection.
Special options "JTGPSTUBOEBSEDBCMF-JTGPSUIFMPXDPTUNNJODSFNFOUBMDBCMF
Connection detail drive end
Select the correct drive end connection for the drive in use.
Connection detail motor end
Select the correct motor end connection for the motor feedback device in use.
Length
Numbers represent the required cable length in metres.
22
Motor connector details
Power plug
2
4
6
1
5
055 -142 without brake
Function
Function
1IBTF63
1
1IBTF63
1IBTF74
2
1IBTF74
Ground
3
190 -250 with brake
190 -250 without brake
Function
Function
Pin
1IBTF63
U
V
1IBTF74
W
1IBTF85
Ground
1IBTF85
4
+
u
w
055 -142 with brake
Pin
v
-
3
1IBTF85
1IBTF74
Ground
5
Brake
6
Brake
-
Brake
Shell
Screen
Shell
Screen
Screen
1IBTF63
Ground
1IBTF85
Brake
Screen
Signal plug
11
10
16
8
1
12
9
2
13
17
15
12
2
14
11
4
8
7
6
10
3
9
7
1
5
3
5
6
4
Heidenhain Absolute encoders
Incremental encoder
(CR, MR, KR, CA, MA, KA , CR) (EM, FM, EC, FC, EB, FB, LC, NC, LM, NM)
Resolver
(AR, AE)
SICK Sin/Cos
encoders (TL, UL, RA, SA)
Pin
Function
Function
Function
Function
1
Thermistor
Thermistor
Excitation High
REF Cos
2
Thermistor
Thermistor
Excitation Low
%BUB
Cos High
- Data
3
4
4DSFFO0QUJDBMFODPEFSPOMZ
S1
Cos Low
$PT
5
4*OWFSTF
Sin High
4JO
6
S2
Sin Low
REF Sin
Thermistor
Thermistor
Thermistor
Thermistor
7
8
9
10
11
12
13
14
15
4*OWFSTF
S3
4*OWFSTF
$IBOOFM"
*OEFY
*OEFY*OWFSTF
$IBOOFM"*OWFSTF
Channel B
$IBOOFM#*OWFSTF
$MPDL
- Clock
Screen
$PT
0 Volts
- Data
7
%BUB
-
- Cos
4JO
- Sin
16
7
17
0 Volts
0 Volts
7
Body
Screen
Screen
Screen
23
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8BSTBX"QQMJDBUJPO$FOUFS
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$BQF5PXO"QQMJDBUJPO$FOUFS
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5
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Singapore Drive Center
5
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5
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&NFSTPO';&
5
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5
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5
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4UPDLIPMN"QQMJDBUJPO$FOUFS
5
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;VSJDI%SJWF$FOUFS
5
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-BVTBOOF"QQMJDBUJPO$FOUFS
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5BJQFJ"QQMJDBUJPO$FOUFS
5
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5
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*TUBOCVM%SJWF$FOUFS
5
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$IBSMPUUF"QQMJDBUJPO$FOUFS
5
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Cleveland Drive Center
5
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%FUSPJU"QQMJDBUJPO$FOUFS
5
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Minneapolis Drive Center
"NFSJDBT)FBERVBSUFST
5
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5
[email protected]
1SPWJEFODF"QQMJDBUJPO$FOUFS
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.JBNJ"QQMJDBUJPO$FOUFS
5
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&VSP5FDIOJRVFT4"
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"DNF*OEVTUSJBM&MFDUSPOJD
Services Ltd
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&NFSTPO';&
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EGYPT
1U"QJLPO*OEPOFTJB
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5
5
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#-4"VUPNBUJPO-UE
5
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*OHFOJFSrB:%FTBSSPMMP
5FDOPMwHJDP4"
5
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ICELAND
Samey ehf
5
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LEBANON
#MBDL#PY"VUPNBUJPO$POUSPM
5
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LITHUANIA
&MJOUB6"#
5
[email protected]
1U:VB&TB4FNQVSOB4FKBIUFSB MALTA
EL SALVADOR
Mekanika Limited
4FSWJFMFDUSJD*OEVTUSJBM4"EF$7 5
[email protected] 5
5
[email protected]
[email protected]
ISRAEL
MEXICO
Dor Drives Systems Ltd
FINLAND
.&-$4"4"EF$7
5
SKS Control
5
5
[email protected]
KDFSWFSB!NFMDTBDPN
DPOUSPM!TLT»
KENYA
MOROCCO
GUATEMALA
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Cietec
.*$&4"
5
5
5
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PHILIPPINES
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Singapore Ltd
5
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"1"503$0/530-4Q[PP
5
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PORTUGAL
)BSLFS4VNOFS4"
5
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SAUDI ARABIA
""CVOBZZBO&MFDUSJD$PSQ
5
aec-salesmarketing@
abunayyangroup.com
SERBIA & MONTENEGRO
.BTUFS*O[FOKFSJOHEPP
5
PG»DF!NBTUFSJO[FOKFSJOHST
SLOVENIA
PS Logatec
5
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TUNISIA
4*"#FO%KFNBB$*&
5
CFOEKFNBB!QMBOFUUO
HONDURAS
Temtronics Honduras
5
[email protected] [email protected]
KUWAIT
&NFSTPO';&
5
[email protected]
PUERTO RICO
.PUJPO*OEVTUSJFT*OD
URUGUAY
5
[email protected] 4&$0*/4"
5
KPTFCBSSPO!TFDPJODPNVZ
QATAR
NEW ZEALAND
&NFSTPO';&
VENEZUELA
"EWBODFE.PUPS$POUSPM1I
5
%JHJNFY4JTUFNBT$"
5
5
[email protected]
[email protected]
[email protected]
CROATIA
;JHH1SPEPP
5
[email protected]
LATVIA
EMT
5
KBOJT!FNUMW
PERU
*OUFDI4"
5
BSUVSNVKBNFE!JOUFDITBDPN
COLOMBIA
4JTUSPOJD-5%"
5
[email protected]
1/
3FEFT&MFDUSJDBT4"
5
HUNGARY
Control-VH Kft
5
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© Control Techniques 2013. The information contained in this brochure is for guidance only and does not
form part of any contract. The accuracy cannot be guaranteed as Control Techniques have an ongoing process
PGEFWFMPQNFOUBOESFTFSWFUIFSJHIUUPDIBOHFUIFTQFDJ»DBUJPOPGUIFJSQSPEVDUTXJUIPVUOPUJDF
ROMANIA
$*5"VUPNBUJ[BSJ
5
PG»DF!DJUBVUPNBUJ[BSJSP
* Operated by sister company
VIETNAM
N.Duc Thinh
5
[email protected]
104
CONTROL
TECHNIQUES
CONTROL
TECHNIQUES
105
CT-COMMS-CABLE
The DB9 connector
used with RS232 on
older PCs and laptops.
CT-USB-CABLE
Drivers  ZIP 1.2MB
The USB connector
is used with newer
PCs and laptops.
Drives Supported
Commander SE
Commander SL*
Commander SK
Commander SX
Commander GP20
Unidrive SP
Affinity
Digitax ST
Mentor MP/Quantum MP
* requires 9500-0078 Easy
Commissioning Pack
Compatible Software
CT Soft
SE Soft
SX Soft
CT Scope
SyPTLite
SyPTPro
PowerTools Pro
NOTE:
The USB drivers will work on the
following Windows operating
systems:
Windows 2000, Windows XP,
Windows Vista (32 Bit only)
and Windows 7 (32 Bit only)
User Guide
SM-Ethernet
Solutions Module for:
•
•
•
•
•
Unidrive SP
Commander SK
Digitax ST
Mentor MP
Affinity
Part Number: 0471-0047-06
Issue: 6
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or
incorrect installation or adjustment of the optional parameters of the equipment or from mismatching the
variable speed drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of commitment
to a policy of continuous development and improvement, the manufacturer reserves the right to change the
specification of the product or its performance, or the content of the guide without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means,
electrical or mechanical including, photocopying, recording or by an information storage or retrieval system,
without permission in writing from the publisher.
Environmental Statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations
and of its products throughout their life cycle. To this end, we operate an Environmental Management
System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS,
our Environment Policy and other relevant information is available on request, or can be found at
www.greendrives.com.
The electronic variable speed drives manufactured by Control Techniques have the potential to save
energy and (through increased machine/process efficiency) reduce raw material consumption and scrap
throughout their long working lifetime. In typical applications, these positive environmental effects far
outweigh the negative impacts of product manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded
but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the
products easy to dismantle into their major component parts for efficient recycling. Many parts snap
together and can be separated without the use of tools, while other parts are secured with conventional
fasteners. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates,
while smaller products come in strong cardboard cartons which themselves have a high-recycled fibre
content. If not re-used, these containers can be recycled. Polythene, used on the protective film and bags
from wrapping product, can be recycled in the same way. Control Techniques' packaging strategy prefers
easily recyclable materials of low environmental impact, and regular reviews identify opportunities for
improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and
best practice.
Software Statement
This Solutions Module (SM) is supplied with the latest software version. When retro-fitting to an existing
system, all software versions should be verified to confirm the same functionality as Solutions Modules of
the same type already present. This also applies to products returned from a Control Techniques Service
Centre or Repair Centre. If there is any doubt please contact the supplier of the product.
The software version of the Solutions Module can be identified by looking at Pr MM.02 and Pr MM.51,
where MM is the relevant menu number for the Solutions Module slot being used.
See Pr MM.02 and Pr MM.51 description later in this manual for more information.
The software version takes the form of xx.yy.zz, where Pr MM.02 displays xx.yy and Pr MM.51 displays zz
(e.g. for software version 01.01.00 Pr MM.02 will display 1.01 and Pr MM.51 will display 0).
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals
(REACH) requires the supplier of an article to inform the recipient if it contains more than a specified
proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a
Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory
authorisation.
For current information on how this requirement applies in relation to specific Control Techniques products,
please approach your usual contact in the first instance. Control Techniques position statement can be
viewed at:
http://www.controltechniques.com/REACH
Copyright
Issue
: © March 2009 Control Techniques Ltd.
:6
Contents
1
Safety information .................................................................... 5
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
Warnings, cautions and notes ........................................................................ 5
Electrical safety - general warning .................................................................. 5
System design and safety of personnel .......................................................... 5
Environmental limits ....................................................................................... 6
Compliance with regulations ........................................................................... 6
Motor .............................................................................................................. 6
Adjusting parameters ...................................................................................... 6
General safety considerations for remote operation ....................................... 7
2
Introduction .............................................................................. 8
2.1
2.2
2.3
2.4
Features ......................................................................................................... 8
Solutions Module identification ....................................................................... 9
Product conformance ..................................................................................... 9
Conventions used in this guide ..................................................................... 10
3
Mechanical installation .......................................................... 11
3.1
General installation ....................................................................................... 11
4
Electrical installation ............................................................. 12
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
SM-Ethernet module information .................................................................. 12
Cabling considerations ................................................................................. 13
Module grounding ......................................................................................... 13
SM-Ethernet cable shield connections ......................................................... 13
Cable ............................................................................................................ 13
Maximum network length .............................................................................. 13
Minimum node to node cable length ............................................................. 14
Network topology .......................................................................................... 14
Typical network connections ........................................................................ 15
5
Getting started ........................................................................ 17
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
5.12
5.13
5.14
5.15
5.16
5.17
5.18
5.19
Minimum software versions required for Ethernet ........................................ 17
Network design considerations ..................................................................... 17
Addressing .................................................................................................... 17
Where do IP addresses come from? ............................................................ 17
Addressing etiquette ..................................................................................... 18
Class types ................................................................................................... 18
Generating the complete address ................................................................ 19
DHCP considerations ................................................................................... 20
Basic principles of routing ............................................................................. 20
Set-up flow chart ........................................................................................... 21
Setting the IP address .................................................................................. 22
Setting the subnet mask ............................................................................... 23
Setting the default gateway .......................................................................... 24
SM-Ethernet baud rate ................................................................................. 25
DHCP (Dynamic Host Configuration Protocol) ............................................. 25
SM-Ethernet operating status ....................................................................... 26
Re-initialising SM-Ethernet ........................................................................... 26
Re-initialise all Solutions Modules ................................................................ 26
Saving parameters to the drive ..................................................................... 27
SM-Ethernet User Guide
Issue: 6
3
6
Protocols ................................................................................. 28
6.1
6.2
6.3
6.4
6.5
6.6
6.7
PC/PLC considerations ................................................................................ 28
Modbus TCP/IP ............................................................................................ 28
Web pages (HTTP) ....................................................................................... 29
FTP ............................................................................................................... 29
SMTP (email) ................................................................................................ 29
SNTP (clock synchronisation) ...................................................................... 29
EtherNet/IP ................................................................................................... 30
7
Web page basics .................................................................... 66
7.1
7.2
Connecting to SM-Ethernet .......................................................................... 66
Web page menu structure ............................................................................ 67
8
FTP/custom pages ................................................................. 73
8.1
8.2
8.3
8.4
8.5
8.6
Introduction ................................................................................................... 73
Managing files .............................................................................................. 73
Connections using FTP ................................................................................ 73
Custom files .................................................................................................. 74
Generating your own pages ......................................................................... 75
Understanding custom pages ....................................................................... 75
9
Applications ............................................................................ 77
9.1
9.2
9.3
9.4
9.5
9.6
Minimum software versions required for Ethernet ........................................ 77
CTSoft .......................................................................................................... 77
CTScope ....................................................................................................... 80
SyPTPro ....................................................................................................... 80
SyPTLite ....................................................................................................... 84
OPC server ................................................................................................... 84
10
Security ................................................................................... 85
10.1
10.2
10.3
10.4
10.5
10.6
Introduction ................................................................................................... 85
General site security issues .......................................................................... 85
Default restrictions ........................................................................................ 85
Account management ................................................................................... 86
Adding new accounts ................................................................................... 86
Security levels .............................................................................................. 87
11
Diagnostics ............................................................................. 88
11.1
11.2
11.3
11.4
11.5
LED diagnostics ............................................................................................ 88
Diagnostic flow chart .................................................................................... 89
Module identification parameters .................................................................. 90
Network configuration parameters ................................................................ 91
Diagnostic parameters .................................................................................. 97
12
Advanced features ............................................................... 101
12.1
12.2
12.3
12.4
12.5
12.6
12.7
Email configuration ..................................................................................... 101
Scheduled events ....................................................................................... 102
Updating and backup .................................................................................. 103
Advanced parameters ................................................................................ 104
Modbus TCP/IP (CT implementation) ......................................................... 108
Supported Modbus function codes ............................................................. 110
Modbus exception codes ............................................................................ 114
13
Quick reference .................................................................... 115
13.1
Complete parameter reference ................................................................... 115
14
Glossary of terms ................................................................. 121
Index ............................................................................125
4
Issue: 6
Safety information
1.1
Warnings, cautions and notes
Safety
Mechanical
Introduction
information
installation
1
A Warning contains information, which is essential for avoiding a safety hazard.
WARNING
CAUTION
A Note contains information, which helps to ensure correct operation of the product.
Electrical safety - general warning
Specific warnings are given at the relevant places in this User Guide.
1.3
System design and safety of personnel
The drive is intended as a component for professional incorporation into complete
equipment or a system. If installed incorrectly, the drive may present a safety hazard.
The drive uses high voltages and currents, carries a high level of stored electrical
energy, and is used to control equipment which can cause injury.
5
Index
Issue: 6
Glossary of
terms
The SECURE DISABLE function on Unidrive SP and the SAFE TORQUE OFF function
on Digitax ST meet the requirements of EN954-1 category 3 for the prevention of
unexpected starting of the drive. They may be used in a safety-related application. The
system designer is responsible for ensuring that the complete system is safe and
designed correctly according to the relevant safety standards.
Quick
reference
The SECURE DISABLE / SAFE TORQUE OFF function is only available as standard on
the Unidrive SP / Digitax ST.
Advanced
features
With the sole exception of the SECURE DISABLE / SAFE TORQUE OFF function,
none of the drive functions must be used to ensure safety of personnel, i.e. they
must not be used for safety-related functions.
Diagnostics
The STOP and SECURE DISABLE / SAFE TORQUE OFF functions of the drive do not
isolate dangerous voltages from the output of the drive or from any external option unit.
The supply must be disconnected by an approved electrical isolation device before
gaining access to the electrical connections.
Security
Close attention is required to the electrical installation and the system design to avoid
hazards, either in normal operation or in the event of equipment malfunction. System
design, installation, start up and maintenance must be carried out by personnel who
have the necessary training and experience. They must read this safety information and
this User Guide carefully.
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The voltages used in the drive can cause severe electrical shock and/or burns, and
could be lethal. Extreme care is necessary at all times when working with or adjacent to
the drive.
Protocols
1.2
Getting
started
NOTE
Electrical
installation
A Caution contains information, which is necessary for avoiding a risk of damage to the
product or other equipment.
Careful consideration must be given to the functions of the drive which might result in a
hazard, either through their intended behavior or through incorrect operation due to a
fault. In any application where a malfunction of the drive or its control system could lead
to or allow damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk - for example, an over-speed
protection device in case of failure of the speed control, or a fail-safe mechanical brake
in case of loss of motor braking.
1.4
Environmental limits
Instructions regarding transport, storage, installation and use of the drive must be
complied with, including the specified environmental limits. Drives must not be
subjected to excessive physical force.
For more information on these limits see the relevant drive user guide.
1.5
Compliance with regulations
The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective earth (ground)
connections.
For instructions in achieving compliance with specific EMC standards, please refer to
the relevant drive user guide.
Within the European Union, all machinery in which this product is used must comply
with the following directives:
98/37/EC: Safety of machinery.
89/336/EEC: Electromagnetic Compatibility.
1.6
Motor
Ensure the motor is installed in accordance with the manufacturer’s recommendations.
Ensure the motor shaft is not exposed.
Standard squirrel cage induction motors are designed for single speed operation. If it is
intended to use the capability of the drive to run a motor at speeds above its designed
maximum, it is strongly recommended that the manufacturer is consulted first.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective. The motor should be installed with a protection thermistor. If necessary, an
electric forced vent fan should be used.
The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive should not be relied upon.
It is essential that the correct value is entered in the motor rated current parameter,
Pr 0.46 for Unidrive SP, Affinity and Digitax ST, Pr 0.06 in Commander SK and Pr 0.28 in
Mentor MP. This affects the thermal protection of the motor.
1.7
Adjusting parameters
Some parameters have a profound effect on the operation of the drive. They must not
be altered without careful consideration of the impact on the controlled system.
Measures must be taken to prevent unwanted changes due to error or tampering
especially if a remote user can access the drive over Ethernet.
6
Issue: 6
General safety considerations for remote operation
SM-Ethernet enables the possibility of remotely controlling a machine from a distance. It
is vital that when connecting to a machine remotely, adequate safety procedures are
implemented to prevent damage to the machine or injury to personnel.
Any connection to a “live” system has the possibility of altering the state of the machine,
adequate procedures must be implemented to cover this situation.
It is the responsibility of the machine builder to ensure that such a system is safe
and complies with current legislation.
Safety
Mechanical
Introduction
information
installation
1.8
Electrical
installation
Getting
started
Protocols
Web page FTP/custom
Applications
basics
pages
Security
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
7
2
Introduction
2.1
Features
The SM-Ethernet is a Solutions Module that can be used on the following products to
provide Ethernet slave connectivity:
•
Unidrive SP
•
Commander SK
•
Affinity
•
Digitax ST
•
Mentor MP
With the exception of Commander SK, it is possible to use more than one SM-Ethernet
module or a combination of SM-Ethernet and other Solutions Modules to add additional
functionality such as extended I/O, gateway functionality, or additional PLC features.
The following list gives an overview of the functionality available within SM-Ethernet.
•
Single RJ45 connectivity with support for shielded twisted pair.
•
10/100Mbs Ethernet with auto-negotiation.
•
Full and half duplex operation with auto-negotiation.
•
Auto crossover detection.
•
TCP/IP.
•
Modbus TCP/IP.
•
EtherNet/IP.
•
Embedded web pages for configuration.
•
Event driven E-mail generation.
•
SyPTPro over Ethernet.
•
OPC server over Ethernet.
•
CTSoft over Ethernet.
•
Static IP configuration or DHCP client.
•
SMTP.
•
SNTP.
•
Firmware updates over Ethernet using web pages.
•
User defined web pages.
•
Integrated security.
•
4kV impulse isolation.
•
Help files integrated into the module.
•
Multiple language support.
SM-Ethernet is powered from the host drive’s internal power supply and draws 280mA
from the supply.
2.1.1
Backup/auxiliary supply
Unidrive SP, Affinity and Digitax ST drives provide a method of powering up the control
circuits (and therefore any Solutions Modules installed) if the AC supply is removed, this
allows the SM-Ethernet to continue operating when the main AC supply is switched off.
For every SM-Ethernet module installed allow for an extra 280mA of supply current to
be drawn from the backup supply.
8
Issue: 6
Solutions Module identification
Safety
Mechanical Electrical
Introduction
information
installation installation
2.2
Figure 2-1 SM-Ethernet
Getting
started
Protocols
The SM-Ethernet can be identified by:
1. The label located on the underside of the Solutions Module.
Figure 2-2 SM-Ethernet label
SM-Ethernet
Hardware
issue
number
STDJ41
Customer
and date code
Ser No : 3000005001
Serial number
Issue: 2.00
2. The color coding across the front of the Solutions Module. SM-Ethernet being beige.
2.2.1
Date code format
Security
The date code is split into two sections: a letter followed by a number. (see Figure 22 SM-Ethernet label on page 9)
The letters go in alphabetical order, starting with A in 1990 (B in 1991, C in 1992 etc.).
Advanced
features
Example:
A date code of R35 would correspond to week 35 of year 2008.
Diagnostics
The letter indicates the year, and the number indicates the week number (within the
year) in which the Solutions Module was built.
2.3
Web page FTP/custom
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pages
Solutions Module
name
Product conformance
Quick
reference
SM-Ethernet complies with IEEE 802.3 and meets the isolation requirements of safety
standard EN50178.
Glossary of
terms
Index
Issue: 6
9
2.4
Conventions used in this guide
The configuration of the host drive and Solutions Module is done using menus and
parameters. A menu is a logical collection of parameters that have similar functionality.
In the case of a Solutions Module, the parameters will appear in one of three menus 15,
16 or 17 depending on the drive type and slot the module is installed into as shown in
Table 2.1 Drive menu availability below. The menu is denoted by the number before the
decimal point.
The method used to determine the menu or parameter is as follows:
•
•
Pr xx.00
- signifies any menu and parameter number 00.
Pr MM.xx
- where MM signifies the menu allocated to the solutions module
(as shown in Table 2.1 Drive menu availability ) and xx signifies the parameter
number.
Table 2.1 Drive menu availability
Drive Type
10
Slot 1
15.xx
Slot 2
16.xx
Slot 3
17.xx
Yes
Unidrive SP
Yes
Yes
Affinity
Yes
Yes
No
Mentor MP
Yes
Yes
Yes
Commander SK
Yes
No
No
Digitax ST
Yes
Yes
No
Issue: 6
WARNING
3.1
Mechanical installation
Before installing or removing a Solutions Module in any drive, ensure the AC supply has
been disconnected for at least 10 minutes and refer to Chapter 1 Safety information on
page 5. If using a DC bus supply ensure this is fully discharged before working on any
drive or Solutions Module.
General installation
The installation of a Solutions Module is illustrated in Figure 3-1.
Figure 3-1 Fitting a Solutions Module
1
Safety
Introduction
information
3
Getting
started
2
Protocols
Web page FTP/custom
Applications
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pages
Security
The Solutions Module connector is located on the underside of the module (1). Push
this into the Solutions Module slot located on the drive until it clicks into place (2). Note
that some drives require a protective tab to be removed from the Solutions Module slot.
For further information, refer to the appropriate drive manual.
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
11
4
Electrical installation
4.1
SM-Ethernet module information
SM-Ethernet provides a standard RJ45 UTP/STP (Un-shielded/Shielded Twisted Pair)
connection to a 10Mbs or 100Mbs Ethernet system. In addition to the RJ45 connector a
grounding tag is supplied for supplementary bonding. SM-Ethernet provides 4
diagnostic LEDs for status and information purposes.
Figure 4-1 SM-Ethernet terminals
Figure 4-1 shows an overview of the module connections and indicators. The default
mode for the RJ45 is crossover.
Figure 4-2 SM-Ethernet Module Layout
Spade
connector
Link / Activity
Speed (On = 100Mbs)
8 7 6 5 4 3 2 1
Not used
Not used
Receive Not used
Module status
Flash access
Transmit +
Transmit Receive +
Not used
Table 4.1 RJ45 pin out details
12
RJ45
Terminal
Internal Crossover Disabled
(Pr MM.43=0)
Internal Crossover Enabled
(Pr MM.43=1)
1
Transmit +Ve
Receive +Ve
2
Transmit -Ve
Receive -Ve
3
Receive +Ve
Transmit +Ve
4
-
-
5
-
-
6
Receive -Ve
Transmit -Ve
7
-
-
8
-
-
Issue: 6
Cabling considerations
To ensure long-term reliability it is recommended that any cables used to connect a
system together are tested using a suitable Ethernet cable tester, this is of particular
importance when cables are constructed on site.
4.3
Module grounding
SM-Ethernet is supplied with a grounding tag on the module that should be connected
to the closest possible grounding point using the minimum length of cable. This will
greatly improve the noise immunity of the module.
4.4
SM-Ethernet cable shield connections
Standard Ethernet UTP or STP cables do not require supplementary grounding.
4.5
Cable
Maximum network length
The main restriction imposed on Ethernet cabling is the length of a single segment of
cable as detailed in Table 4.2. If distances greater than this are required it may be
possible to extend the network with additional switches or by using a fiber optic
converter.
Maximum trunk length
(m)
Copper - UTP/STP CAT 5
10M
100
Copper - UTP/STP CAT 5
100M
100
fiber Optic - Multi-mode
10M
2000
100M
3000
10M
no standard
fiber Optic - Single-mode
100M
up to 100000
Advanced
features
Glossary of
terms
The distances specified are absolute recommended maximums for reliable transmission
of data. The distances for the fiber optic sections will be dependent on the equipment
used on the network. The use of wireless networking products is not recommended for
control systems, as performance may be affected by many external influences.
Quick
reference
NOTE
fiber Optic - Multi-mode
fiber Optic - Single-mode
Diagnostics
Data rate
(bit/s)
Type Of Cable
Security
Table 4.2 Ethernet maximum network lengths
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4.6
Cabling issues are the single biggest cause of network down-time. Ensure cabling is
correctly routed, wiring is correct, connectors are correctly installed and any switches or
routers used are rated for industrial use. Office grade Ethernet equipment does not
generally offer the same degree of noise immunity as equipment intended for industrial
use.
Protocols
NOTE
Getting
started
It is recommended that a minimum specification of CAT5e is installed on new
installations, as this gives a good cost/performance ratio. If you are using existing
cabling this may limit the maximum data rate depending on the cable ratings. In noisy
environments the use of STP or fiber optic cable will offer additional noise immunity.
Safety
Introduction
information
4.2
Index
Issue: 6
13
4.7
Minimum node to node cable length
There is no minimum length of cable recommended in the Ethernet standards for UTP
or STP. For consistency across fieldbus modules, Control Techniques recommends a
minimum network device to device distance of 1 metre of cable. This minimum length
helps to ensure good bend radii on cables and avoids unnecessary strain on
connectors.
4.8
4.8.1
Network topology
Hubs
A hub provides a basic connection between network devices. Each device is connected
to one port on the hub. Any data sent by a device is then sent to all ports on the hub.
The use of hubs is not recommended for use within control systems due to the
increased possibility of collisions. Collisions can cause delays in data transmission and
are best avoided, in severe cases a single node can prevent other nodes on the same
hub (or collision domain) from accessing the network.
If using hubs or repeaters you must ensure that the path variability value and
propagation equivalent values are checked. This is, however, beyond the scope of this
document.
NOTE
4.8.2
Control Techniques do not recommend the use of un-switched hubs.
Switches
Switches offer a better solution to hubs, because after initially learning the addresses of
connected devices the switch will only send data to the port that has the addressed
device connected to it, thus reducing network traffic and possible collisions. The
difference in price between the hub and a switch means that in almost all cases the
switch is the preferred choice. Some managed switches allow the switching of data to
be controlled and monitored, this may be of particular importance on large or high
performance systems.
NOTE
4.8.3
Some switches require a certain time to intitialise (typically 30 to 60 seconds) if SMEthernet is reset.
Routers
A router is used to communicate between two physical networks (or subnets) and
provides some degree of security by allowing only defined connections between the two
networks. A typical use would be connecting the office and manufacturing networks or
connecting a network to an ISP (Internet Service Provider). A router is sometimes
known as a gateway as it provides a “gateway” between two networks. It is generally
recommended that a firewall is used when connecting networks as this provides
additional security features.
4.8.4
Firewalls
A firewall allows separate networks to be connected together in a similar way to a router.
The firewall however offers significantly more security features and control. Typical
features include address translation, port filtering, protocol filtering, URL filtering, port
mapping, service attack prevention, monitoring and virus scanning. This is usually the
preferred method of allowing traffic from a manufacturing network to the business
network. The setup and installation of the firewall should be done by a suitably qualified
engineer and is beyond the scope of this document.
14
Issue: 6
VPN
A VPN (Virtual Private Network) is a method of using a non-secure or public network
that allows devices to be connected together as if they were connected on a private
network. A typical example would be the connection of two remote offices such as
London and New York. Each office would require a high speed Internet connection and
a firewall (or VPN device). In order to configure the VPN, encryption keys are
exchanged so that both offices can communicate. The data is then sent across the
Internet (or shared network) in an encrypted form, giving the illusion of a single
connected network (speed limitations may apply). This is generally used as a low-cost
alternative to a private leased line. Configuration of VPNs is beyond the scope of the
document.
4.9
4.9.1
Typical network connections
Single PC to SM-Ethernet
Protocols
Figure 4-3 Connecting a single PC to SM-Ethernet using a crossover cable
Getting
started
To connect a PC to the SM-Ethernet using the default setting of Pr MM.43 requires a
crossover cable. This allows the two devices to communicate without the need to
change any settings on SM-Ethernet or the use of a switch or hub.
Safety
Introduction
information
4.8.5
Web page FTP/custom
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Security
cross over cable
Diagnostics
Issue: 6
15
Index
Some PCs and network switches provide auto-crossover correction and therefore the
need for a crossover cable may not be necessary. Refer to the PC or network switch
documentation for confirmation.
Glossary of
terms
NOTE
Quick
reference
When purchasing network cables it is recommended that a different color (e.g. pink) is
used for crossover cables to allow easy recognition. When connecting as in Figure 4-3,
to avoid the need for crossover cables it is possible to change the SM-Ethernet RJ45 port
to use a non-crossover cable by setting Pr MM.43 to 1. This will force SM-Ethernet to
detect the type of cable used when it initialises allowing either type to be used. If autodetect is disabled (Pr MM.43=0) a cross-over cable is needed or you need to connect via
a switch. For more information see SM-Ethernet enable auto-crossover detection on
page 95.
Advanced
features
NOTE
4.9.2
Single PC to multiple SM-Ethernet using a single switch
Connecting multiple SM-Ethernet modules should be done using an industrial grade
switch. Each SM-Ethernet or PC is connected to the switch using a standard RJ45 lead
(patch lead).
Figure 4-4 Single PC to multiple SM-Ethernet modules using a switch
Non-crossover cable
Switch
Non-crossover cable
4.9.3
Single PC to multiple SM-Ethernet using more than one switch
When using more than one switch, ensure that the cables connecting the switches are
of the correct type. This will normally be a crossover cable, unless the switch supports
auto crossover correction or has a switch to convert the socket, if this is the case a noncrossover lead may be used. Please consult the documentation supplied with the switch
for more information.
Figure 4-5 Connections with multiple switches
Non-crossover cables
Switch
Non-crossover
cable or crossover
cable (check device
documentation)
Non-crossover cables
Switch
4.9.4
Connection of network subnets
When connecting multiple network subnets a router or firewall should be used to allow
effective management of network traffic. A subnet is identified by the change in the
network section of the IP address (see section 5.7.1 The IP address on page 19 for
more information). A subnet boundary is usually designated by a router or firewall. The
design of larger networks, however, is beyond the scope of this document.
16
Issue: 6
Getting started
5.1
Minimum software versions required for Ethernet
Safety
Introduction
information
5
Table 5.1 below, lists the minimum versions of software required for Ethernet
communication.
Table 5.1 Required software versions for communication over Ethernet
Software Version
Version 01.06.00 or later
Commander SK
Digitax ST
Affinity
Mentor MP
SM-Ethernet
OPC Server
SyPTPro
CTSoft
Network design considerations
Ethernet is an open system allowing many different vendors to design and supply
equipment. When designing an industrial network you must carefully consider the
topology and data traffic on the network to avoid potential problems.
NOTE
Addressing
17
Index
Issue: 6
Glossary of
terms
Where do IP addresses come from?
Every address on a network must be unique. If you do not connect your network to any
other networks the assignment of IP addresses is not critical (although using a standard
system is recommended), as you have full control of the addresses used. The issue of
addressing becomes important when connecting multiple networks together or
connecting to the Internet where there is a strong possibility of duplication of addresses
if a scheme is not followed.
Quick
reference
5.4
Advanced
features
The addressing system used on Ethernet uses two essential numbers for making
connection, these are the IP address and the subnet mask. The address allows a
specific device to be located and the subnet mask defines how many bits represent the
subnet part of the address and how many bits represent the node address (see section
5.7.1 The IP address on page 19). Generally devices on different subnets can only
communicate by using a gateway (typically a router or firewall).
Diagnostics
5.3
The use of un-switched hubs is not recommended.
Security
To avoid bandwidth issues it is recommended that the control network is logically
separate from any other network. Where possible a physically separate network should
be used. If this is not possible, the use of managed network devices should be
considered to prevent unnecessary traffic such as broadcasts reaching the control
network.
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CTScope
Protocols
SM-Applications
Getting
started
5.2
Product
Unidrive SP
5.5
Addressing etiquette
The following list details some points that should be considered when selecting
addresses:
5.6
•
Reserve address space: Ensure you have enough reserve address space on
your chosen addressing scheme to allow for future expansion.
•
Uniqueness: Ensure your addresses are unique, every device on a subnet
must have a unique address.
•
Avoid reserved addresses: For example the address 127.0.0.1 is reserved
as the loop back address.
•
Broadcast and system addresses: The highest and lowest host address on
a subnet are reserve addresses.
•
Use a system: Have a scheme for assigning your addresses, for example
typically servers may have a low IP address and routers a high IP address. It
is not necessary to allocate consecutive IP addresses so it is possible to
reserve ranges for specific uses such as servers, work stations or routers.
Class types
IP addresses are grouped into ranges called classes, each class has a specific set of
addresses and has a typical situation where it is used.
When selecting the class of IP address required, consideration must be given to how
many subnets you need, how many hosts are required and if you will need a public
(worldwide) or a private (local) addressing scheme. Table 5.2 shows an overview of how
the class types are defined and Table 5.3 shows how each class separates the subnet
and host ID.
Table 5.2 Subnets and hosts supported by class type
Address
Class
First Octet
Decimal
Range
Number of
Subnets
Number of
Hosts
A
1-126.x.y.z
126
16,777,214
B
128-191.x.y.z
16,382
65,534
C
192-223.x.y.z
2,097,150
254
Table 5.3 Address components
Address
Class
NOTE
18
IP Address
Subnet
Host Component
Component
A
w.x.y.z
w
x.y.z
B
w.x.y.z
w.x
y.z
C
w.x.y.z
w.x.y
z
Using the subnet mask it is possible to modify the IP addressing such that the ratio of
subnets and host addresses may be changed. This gives you the facility to “adjust”
standard classes to suit your specific requirements.
Issue: 6
Class A addresses
A class A address only uses the first octet to represent the subnet, the remaining octets
are used to represent the host id. These addresses are intended for large organisations
such as universities and the military. These addresses must be requested from the
governing body (InterNIC) when using them publicly (on the Internet) to avoid
duplication.
5.6.2
Class B addresses
A class B address uses the first two octets to represent the subnet, the remaining octets
are used to represent the host id. These addresses are intended for medium to large
size networks. These addresses must be requested from the governing body (InterNIC)
when using them publicly (on the Internet) to avoid duplication. Class B addresses are
generally used on public or private networks.
5.6.3
Class C addresses
Class D & E addresses
5.7
Generating the complete address
A complete IP address consists of an IP address and a subnet mask, these two
numbers are required to allow communication on Ethernet using TCP/IP.
5.7.1
The IP address
The IP address is made up from four 8 bit decimal numbers (octets) and is written as
follows:
w.x.y.z
The subnet mask
Completing the address
Glossary of
terms
To determine which part of the address constitutes the network address and which part
constitutes the node address, the IP address is bit-wise ANDed with the subnet mask.
Figure 5-1 shows how the IP address and subnet mask are used to determine the
subnet address and the host address.
Quick
reference
5.7.3
192.168.0.1 /24
Advanced
features
Alternative subnet mask notation:
Diagnostics
The subnet mask defines what part of the address constitutes the subnet within the IP
address and what part of the address constitutes the host address. The subnet mask is
bit-wise ANDed with the address to give the subnet to which the host belongs. A typical
class C subnet mask would be 255.255.255.0, this may alternatively be written as ‘/24’
as in the example below, showing an IP address of 192.168.0.1 with a subnet mask of
255.255.255.0. This alternative notation indicates the number of bits representing the
subnet part of the address, starting from the most significant bit.
Security
5.7.2
for example192.168.0.1 (class c)
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These addresses are reserved for multicasting and experimental use.
Protocols
5.6.4
Getting
started
Class C addresses use the first 3 octets as the subnet address and the remaining octet
as the host id. A class C address is normally used on a private network only, due to the
restriction on the number of hosts on the network. Class C addresses will not be routed
onto the Internet.
Safety
Introduction
information
5.6.1
Index
Issue: 6
19
Figure 5-1 Completing the address
IP Address
w
x
y
z
192
168
0
1
w
x
y
z
255
255
255
0
bit-wise AND
Subnet Mask
Subnet Address
5.8
5.8.1
w
x
y
z
192
168
0
0
Host
Address
DHCP considerations
Using fixed IP addressing
Using fixed IP addresses (manually configured) on SM-Ethernet means that if a module
fails, the IP address can be restored to a replacement module without the need to
reconfigure the DHCP server. Using fixed addresses also prevents the DHCP server
from changing the address. When using fixed IP addresses, it is vital that the SMEthernet IP address is reserved on the DHCP server to prevent duplicate addressing.
NOTE
5.8.2
If using manual IP address configuration please note that the IP address subnet mask
and the default gateway must also be set manually. For more information on manual
configuration see section 7.2.6 Network on page 72.
Using DHCP
If DHCP is used it is recommended that the allocated IP address is allocated SMEthernet’s MAC address, this strategy prevents the IP address changing on the SMEthernet. Any leased addresses should be leased permanently to prevent IP address
changes.
NOTE
5.9
If SM-Ethernet is configured to use DHCP and the module requires exchanging, the new
SM-Ethernet module will have a different MAC address and hence the DHCP server will
issue the new module with a different IP address.
Basic principles of routing
Routing is required to get TCP/IP packets from one subnet to another. In an IP network
nodes from one subnet cannot communicate directly with nodes on a different subnet.
To allow nodes to communicate, a router (or similar device) is required to allow the two
subnets to exchange data. This means that any node wishing to communicate with a
node that is not on its own subnet, must know the address of a router that is on its own
subnet. This is sometimes called a gateway or default gateway.
20
Issue: 6
Set-up flow chart
Safety
Introduction
information
5.10
Start
See Chapter 4
PING all drives
from a command
prompt to test
connections
See Chapter 5
Ensure each drive
Is correctly
grounded
See Chapter 4
Connect to each
drive using a web
browser
See Chapter 7
Ensure segment
lengths no longer
than maximum
limits.
See Chapter 4
Save module
settings on drive.
See Chapter 5
Configure
additional features
using a web
browser
See Chapter 7
END
See Chapter 4
A dedicated
Ethernet cable
tester Is
recommended.
Diagnostics
See Chapter 5
Check data rate.
(Pr MM.04)
See Chapter 5
Ensure PC is on
the same subnet
or the default
gateway on the
drive & PC are set
See Chapter 5
Advanced
features
Configure the IP
address, subnet
mask and default
gateway
Any changes
made will require a
module reset to be
activated
Pr MM.32 = ON
Quick
reference
Glossary of
terms
Index
Issue: 6
Security
Perform cable
tests
Web page FTP/custom
Applications
basics
pages
Ensure the correct
cable types are
used
Note: Redundant
systems require
specialist hardware.
Protocols
Ensure that there
are no circular
loops between
devices/switches
Getting
started
Connect all drives
together using
approved cable /
connectors /
switches
21
5.11
Setting the IP address
The SM-Ethernet IP address is formed by taking the component parts of the address
from parameters Pr MM.10 to Pr MM.13 and combining them as in Figure 5-2. The
address is then used in conjunction with the subnet mask.
Figure 5-2 The IP address
SM-Ethernet IP address
NOTE
Wip
Xip
Yip
Zip
Pr MM.10
Pr MM.11
Pr MM.12
Pr MM.13
When DHCP is enabled (see section 5.15 DHCP (Dynamic Host Configuration
Protocol) on page 25) the whole IP address is acquired from the DHCP server and written to the parameters in the drive during start-up. This could take several minutes depending on server availability and network status.
5.11.1 SM-Ethernet IP address Wip
SM-Ethernet IP address Wip
Pr MM.10
Default
192
Range
0 to 255
Access
RW
This is the most significant octet of SM-Ethernet’s IP address. When using DHCP this
will be updated from the DHCP server.
5.11.2 SM-Ethernet IP address Xip
SM-Ethernet IP address Xip
Pr MM.11
Default
168
Range
0 to 255
Access
RW
This is the second most significant octet of SM-Ethernet’s IP address. When using
DHCP this will be updated from the DHCP server.
5.11.3 SM-Ethernet IP address Yip
SM-Ethernet IP address Yip
Pr MM.12
Default
1
Range
0 to 255
Access
RW
This is the third most significant octet of SM-Ethernet’s IP address. When using DHCP
this will be updated from the DHCP server.
5.11.4 SM-Ethernet IP address Zip
SM-Ethernet IP address Zip
Pr MM.13
Default
100
Range
0 to 255
Access
RW
This is the least significant octet of SM-Ethernet’s IP address. When using DHCP this
will be updated from the DHCP server.
22
Issue: 6
Setting the subnet mask
The SM-Ethernet subnet mask is formed by taking the component parts of the subnet
mask from parameters Pr MM.14 to Pr MM.17 and combining them as in Figure 5-3.
The subnet mask is then used in conjunction with the IP address.
Figure 5-3 The subnet mask
SM-Ethernet
subnet mask
NOTE
Wsubnet
Pr MM.14
Xsubnet
Pr MM.15
Ysubnet
Pr MM.16
Zsubnet
Pr MM.17
When DHCP is enabled the whole subnet mask address is acquired from the DHCP
server and written to the parameters in the drive during start-up. This could take several
minutes depending on server availability and network status.
Getting
started
5.12.1 SM-Ethernet IP subnet mask Wsubnet
SM-Ethernet IP subnet mask Wsubnet
Default
255
Range
0 to 255
Access
RW
Protocols
Pr MM.14
5.12.2 SM-Ethernet IP subnet mask Xsubnet
SM-Ethernet IP address Xsubnet
Default
255
Range
0 to 255
Access
RW
5.12.3 SM-Ethernet IP subnet mask Ysubnet
Diagnostics
SM-Ethernet IP subnet mask Ysubnet
Pr MM.16
255
Range
0 to 255
Access
RW
This is the third most significant octet of SM-Ethernet’s IP subnet mask. When using
Quick
reference
5.12.4 SM-Ethernet IP subnet mask Zsubnet
Default
0
Range
0 to 255
Access
RW
Glossary of
terms
SM-Ethernet IP subnet mask Zsubnet
Pr MM.17
23
Index
This is the least significant octet of SM-Ethernet’s IP subnet mask. When using DHCP
Issue: 6
Advanced
features
Default
Security
This is the second most significant octet of SM-Ethernet’s IP subnet mask. When using
Web page FTP/custom
Applications
basics
pages
This is the most significant octet of SM-Ethernet’s IP subnet mask. When using DHCP
Pr MM.15
Safety
Introduction
information
5.12
5.13
Setting the default gateway
The SM-Ethernet’s default gateway is formed by taking the component parts of the
default gateway from parameters Pr MM.18 to Pr MM.21 and combining them as in
Figure 5-4. The default gateway is then used in conjunction with the IP address and
subnet mask to locate hosts on different subnets.
Figure 5-4 The default gateway
SM-Ethernet
subnet mask
Wgateway Xgateway
Pr MM.18
Pr MM.19
Ygateway Zgateway
Pr MM.20
Pr MM.21
The default gateway is a routing device that allows a host to reach other devices that
are not on the same subnet. The default gateway must be on the same subnet as the
host that is trying to use it.
NOTE
When DHCP is enabled the whole default gateway address is acquired from the DHCP
server and written to the parameters in the drive during start-up. This could take several
minutes depending on server availability.
NOTE
When communication is performed through a gateway, the devices on both sides of the
gateway must be configured to see their side of the gateway for communications to be
established.
5.13.1 SM-Ethernet IP default gateway Wgateway
SM-Ethernet IP default gateway Wgateway
Pr MM.18
Default
192
Range
0 to 255
Access
RW
This is the most significant octet of SM-Ethernet’s default gateway address. When using
5.13.2 SM-Ethernet IP default gateway Xgateway
SM-Ethernet IP default gateway Xgateway
Pr MM.19
Default
168
Range
0 to 255
Access
RW
This is the second most significant octet of SM-Ethernet’s default gateway address.
When using DHCP this will be updated from the DHCP server.
5.13.3 SM-Ethernet IP default gateway Ygateway
SM-Ethernet IP default gateway Ygateway
Pr MM.20
Default
1
Range
0 to 255
Access
RW
This is the third most significant octet of SM-Ethernet’s default gateway address. When
using DHCP this will be updated from the DHCP server.
24
Issue: 6
SM-Ethernet IP default gateway Zgateway
Pr MM.21
Default
254
Range
0 to 255
Access
RW
This is the least significant octet of SM-Ethernet’s default gateway address. When using
5.14
SM-Ethernet baud rate
SM-Ethernet baud rate
Default
0
Range
0 to 2
Access
RW
Table 5.4 SM-Ethernet baud rate
5.15
baud rate
0
Auto detect
1
10Mbs
2
100Mbs
Web page FTP/custom
Applications
basics
pages
NOTE
Pr MM.04
This parameter should normally be left in the auto detect state.
DHCP (Dynamic Host Configuration Protocol)
5.15.1 DHCP enable
0
Ranges
0 to 1
Access
RW
Table 5.5 DHCP options
DHCP enable
0
Use local configuration
1
Use DHCP server
Quick
reference
Pr MM.05
Advanced
features
This parameter determines if the module gets it’s network configuration (IP address,
subnet mask, etc.) from the host drive parameters or from a DHCP server on the
network. The DHCP server can be configured to give the module the next free address
or an address based on the MAC address of SM-Ethernet.
Diagnostics
Default
Security
DHCP enable
Pr MM.05
Protocols
SM-Ethernet can be set to automatically detect the baud rate or be fixed at either 10Mbs
or 100Mbs. Pr MM.44 will indicate the data rate that is being used by the SM-Ethernet.
Getting
started
Pr MM.04
Safety
Introduction
information
5.13.4 SM-Ethernet IP default gateway Zgateway
Glossary of
terms
A DHCP server will typically provide SM-Ethernet with an IP address, subnet mask,
default gateway and DNS information.
Index
Issue: 6
25
5.15.2 DHCP server configuration
When using DHCP it is possible that every time SM-Ethernet re-initialises it will receive
a new IP address. This will make it difficult to keep track of what IP address is allocated
to a particular module and when using a Modbus IP master this would also require reconfiguration.
Control Techniques recommend that the leased IP address for SM-Ethernet is allocated
to SM-Ethernet’s MAC address. This will prevent SM-Ethernet’s IP address changing
when it re-initialises or when the DHCP server renews the SM-Ethernet’s lease.
5.16
SM-Ethernet operating status
SM-Ethernet operating status
Pr MM.06
Default
N/A
Range
-95 to 9999
Access
RO
This parameter gives an approximation of the number of packets per second processed
on SM-Ethernet, a value of zero indicates that SM-Ethernet is initialised and ready to
communicate.
If this parameter is a negative value this indicates that the module is initialising or there
is a fault. If this value is still negative after 3 minutes see section 11.5.1 SM-Ethernet
diagnostic information on page 97.
5.17
Re-initialising SM-Ethernet
Re-initialising SM-Ethernet
Pr MM.32
Default
OFF
Range
OFF / ON
Access
RW
Changes to the SM-Ethernet configuration will not take effect until the SM-Ethernet has
been re-initialised.
To re-initialise SM-Ethernet:
1. Set Pr MM.32 to ON.
2. Before the reset takes place Pr MM.32 will be reset to OFF.
3. The SM-Ethernet will re-initialise using the updated configuration.
NOTE
5.18
This sequence does NOT store the SM-Ethernet configuration parameters in the host
drive or the SM-Ethernet FLASH memory. Pr MM.32 will revert to OFF immediately and
may not be visible on the display.
Re-initialise all Solutions Modules
To re-initialise all Solutions Modules installed on a drive:
1. Set Pr MM.00 to 1070. (See note regarding Commander SK).
2. Press the red RESET button on the drive.
NOTE
NOTE
26
This sequence does NOT store the SM-Ethernet configuration parameters in the drive or
the SM-Ethernet FLASH memory. The 1070 reset will not work in the SM-Ethernet
module if Pr MM.37 is set to ON, although it will work for any other modules.
On Commander SK drives, Pr 00.00 is not available, a different menu number must be
used, e.g. Pr 01.00.
Issue: 6
Saving parameters to the drive
To avoid loss of the configured settings when the drive is powered down it is necessary
to write 1000 to Pr MM.00 and then press the reset button to perform a drive save.
To store drive parameters:
•
Set Pr MM.00 to 1000. (See notes).
•
Press the red RESET button.
The drive will store all parameters (except Menu 20), but the operation of the SMEthernet will not be affected. Changes made to the SM-Ethernet configuration
parameters will not take effect until the SM-Ethernet is re-initialised.
NOTE
Protocols
On Commander SK drives, Pr 00.00 is not available, a different menu number must be
used, e.g. Pr 01.00.
Getting
started
NOTE
Menu 20 may be saved in memory (not Commander SK) if an SM-Applications is installed. See the SM-APPLICATIONS/SM-APPLICATIONS LITE User Guide documentation for more information. If the host drive is running on a low voltage supply only or
has a UU trip active the value 1001 must be used instead of 1000.
Safety
Introduction
information
5.19
Web page FTP/custom
Applications
basics
pages
Security
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
27
6
Protocols
SM-Ethernet supports a wide range of protocols for communicating over Ethernet, each
protocol has a specific use and it is important to understand how to use each protocol
before designing a system.
6.1
PC/PLC considerations
If the subnet of the host PC/PLC is different to the subnet of SM-Ethernet, then both
SM-Ethernet and the PC/PLC must be configured with the address of a gateway that
allows communication between the two devices.
6.2
Modbus TCP/IP
Modbus TCP/IP is one of the most widely supported industrial Ethernet based protocols
offering the functionality and simplicity of the Modbus protocol, with the flexibility of
Ethernet. Table 6.1 shows the supported Modbus function codes.
The SM-Ethernet implementation of Modbus TCP/IP follows the specification provided
by the Modbus organisation. Modbus TCP/IP uses the standard Protocol Data Unit
(PDU) but without the CRC bytes and encapsulates it within a Modbus TCP/IP
Application Data Unit (ADU) for transmission. This means that the Modbus PDU is the
same for both standard and Ethernet based transmission.
Table 6.1 Supported Modbus function codes
Code
3
Description
Read multiple 16 bit registers.
6
Write single 16 bit register.
16
Write multiple 16 bit registers.
23
Read and write multiple 16 bit registers.
Modbus TCP/IP port
The port number used for Modbus TCP/IP may be reconfigured to a different port
number using Pr 62.04 as detailed in Table 6.2 SM-Ethernet Modbus TCP/IP
configuration .
Table 6.2 SM-Ethernet Modbus TCP/IP configuration
SM-Ethernet Modbus TCP/IP configuration
Pr 62.04
Default
502
Range
0 to 65535
Access
RW
A timer is available under the MODBUS IP configuration section of the web pages to
allow loss of MODBUS communications to be managed (see Chapter 12 Advanced
features on page 101 for more Modbus I/P options).
NOTE
Unidrive SP versions prior to V01.06.00 with SM-Ethernet versions after V01.01.00 are
not capable of supporting CMP Port-ID 0. This will prevent communications to the drive,
ensure the latest drive and SM-Ethernet firmware are used.
NOTE
The SM-Ethernet module must request control of the EIA-485 (RS-485) buffer to enable
reliable communication in this mode. This is done by setting Pr MM.37 to ON.
28
Issue: 6
Web pages (HTTP)
Web page access is provided to allow configuration of the drive and Solutions
Module(s). The web pages also allow parameters to be monitored and configuration
settings to be uploaded or downloaded.
In addition to the standard web pages it is possible to generate custom pages for
displaying drive parameters for diagnostic or basic HMI (human machine interface) style
displays. For more information on custom web pages please refer to Chapter 8 FTP/
custom pages on page 73.
To view web pages on SM-Ethernet one of the following web browsers should be used:
•
Microsoft Internet Explorer (version 5.0 or later).
•
Netscape (version 6.0 or later).
•
Mozilla (version 1 or later).
•
Opera (version 8 or later).
Getting
started
The standard web pages provide access to the following features:
•
Parameters.
Protocol configuration.
•
Network configuration.
•
General configuration.
Help pages providing guidance on use.
•
System file updates for SM-Ethernet.
•
Language support.
For details of the web pages please see Chapter 7 Web page basics on page 66.
6.4
FTP
FTP will allow custom web page changes on SM-Ethernet. If an appropriate network
infrastructure exists it will be possible to perform these updates remotely.
•
Web page languages
•
Custom web pages
6.5
SMTP (email)
SNTP (clock synchronisation)
Glossary of
terms
SNTP allows synchronisation of SM-Ethernet’s real-time clock with the time on a server.
This time information can be written to parameters or can be used to trigger events
specified in the 'Scheduled Events'. For more information on SNTP and scheduled
events see section 12.2 Scheduled events on page 102.
Quick
reference
6.6
Advanced
features
SM-Ethernet provides a method for sending Emails based on events. Up to 3 Email
messages may be configured to transmit on a pre-defined condition. For more
information on SMTP see section 12.1 Email configuration on page 101.
Diagnostics
See Chapter 8 FTP/custom pages on page 73 for more details.
Security
SM-Ethernet has a basic file system that will allow the user to upload files. The following
facilities are supported:
Web page FTP/custom
Applications
basics
pages
•
Protocols
•
Safety
Introduction
information
6.3
Index
Issue: 6
29
6.7
EtherNet/IP
SM-Ethernet (v01.03.00 and later) supports the EtherNet/IP protocol and conforms to
the EtherNet/IP adaptation of the Common Industrial Protocol (CIP) Specification. This
is the same upper-layer protocol and object model as used in DeviceNet.
The SM-Ethernet module will operate as a slave device and the following functionality is
supported.
•
6.7.1
Variable length input assembly object (instance 100).
•
Variable length output assembly object (instance 101).
•
Maximum assembly object size of 160 bytes (40 parameters).
•
Explicit (non-cyclic) access to parameters.
•
A.C. and D.C. Drive Profiles.
•
Management of consistent data transfer between SM-Ethernet and SMApplications modules.
•
Configuration via the web page interface.
Performance
The performance of EtherNet/IP will depend on several factors, including the data rate,
EtherNet/IP thread priority and network traffic. If the EtherNet/IP thread is allocated a
high priority and the network traffic is dominated by EtherNet/IP then the following
performance should be achieved.
•
Turn around time for polled (implicit) data of 2ms.
•
Turn around time for non-cyclic (explicit) data of 5ms.
NOTE
Access to SM-Applications using the inter-option communication channel will extend
these times.
NOTE
These network performance timings are not guaranteed and will vary depending on the
network configuration.
NOTE
The performance values stated above will also be slower on Commander SK due to the
hardware differences of the Commander SK.
6.7.2
Configuration
The EtherNet/IP configuration can be accessed from the top-level PROTOCOLS menu
of the web page interface. From this page, the following general configuration settings
can be viewed or changed.
•
Connection status (view only).
•
Advanced EDS file - disabled or enabled.
•
Requested packet interval (RPI) timeout trip - disabled or enabled.
•
Read consistency - disabled or enabled.
•
Write consistency - disabled or enabled.
The cyclic (implicit) data parameter mapping configuration can also be changed from
this page. For more information on cyclic data parameter mappings see section
6.7.10Configuring SM-Ethernet cyclic parameters on page 33.
NOTE
30
The user must be logged in as an “Administrator” or “Super user” to change the configuration settings.
Issue: 6
Connection Status
This indicates if a cyclic (implicit) connection has been made and whether cyclic data
transfer is in progress. If no cyclic connection has been made then the status will
indicate “Awaiting Connection”, if a cyclic connection has been made then the status will
indicate “Connected”.
6.7.4
Advanced EDS File
If the advanced EDS file is disabled, then the identity object will only contain the product
code and revision number, if the advanced EDS file is enabled, then the information in
the identity object will also contain details of other option modules installed in the other
option slots and an appropriate EDS file containing a comprehensive parameter list will
be required by the PLC.
Control Techniques does not currently provide advanced EDS files, but suitable generic
files are usually available from the PLC supplier.
6.7.5
Getting
started
For more information on the identity object see section 6.7.23 Identity object on
page 47.
Requested Packet Interval (RPI) timeout trip
Read consistency (data skew)
Glossary of
terms
The trigger parameter is a parameter that is used by SM-Ethernet to allow cyclic parameters to be sampled and is configured from the EtherNet/IP sub-menu of the PROTOCOLS menu. This parameter value will be set to zero when either the SM-Ethernet
module or the drive is reset.
Quick
reference
NOTE
Advanced
features
Whether consistency is enabled or not, data will always be consistent for an individual
parameter, i.e. all 4 bytes of a 32 bit value will be consistent.
Diagnostics
It is therefore possible, by controlling the trigger parameters, that an SM-Applications
module can ensure that the values in the cyclic data parameters are not sampled until
all values are updated.
Security
Under normal conditions, cyclic data is sampled at the EtherNet/IP task tick rate and
transmitted at the Requested Packet Interval (RPI). However, if another option module
was in the process of modifying the mapped parameters while these parameters were
being sampled, then the data transmitted across the network may not be consistent
across the entire assembly object. If read consistency is enabled (and a trigger
parameter specified) then data will only be sampled when the trigger parameter
contains a non-zero value. This trigger parameter will then be set to zero after the data
has been sampled.
Web page FTP/custom
Applications
basics
pages
6.7.6
The trip will only occur if the drive experiences a loss of network traffic for the specified
duration, i.e. if data was being received but was then interrupted. The trip will not occur
if no network traffic has been detected.
Protocols
This timeout is defined by the EtherNet/IP protocol and is configured in the PLC master.
If enabled, then SM-Ethernet will monitor the data traffic and if data is not received
within the specified time, it will force a drive trip (SL1.Er, SL2.Er or SL3.Er, depending
on which slot the solutions module is installed to, for Unidrive SP/Affinity/Digitax ST/
Mentor MP or SL.Er for Commander SK) and a trip code in Pr MM.50 of 50. This
indicates that SM-Ethernet has detected that the cyclic data communication has been
interrupted.
NOTE
Safety
Introduction
information
6.7.3
Index
Issue: 6
31
6.7.7
Write consistency (data skew)
Under normal conditions, cyclic data is written whenever a value in the assembly object
changes. However, if another option module was in the process of reading the mapped
parameters while these parameters were being written, then the data obtained will not
be consistent. If write consistency is enabled (and a trigger parameter specified) then
data will only be written when the trigger parameter contains a value of zero. This trigger
parameter will then be set to one after the data has been written.
It is therefore possible, by controlling the trigger parameters, that an SM-Applications
module can ensure that the values sampled are consistent.
Whether consistency is enabled or not, data will always be consistent for an individual
parameter, i.e. all 4 bytes of a 32 bit value will be consistent.
NOTE
The trigger parameter is a parameter that is used by SM-Ethernet to allow cyclic parameters to be written and is configured from the EtherNet/IP sub-menu of the PROTOCOLS menu. This parameter value will be set to zero when either the SM-Ethernet
module or the drive is reset.
Example
In this example, Pr 20.01 is set as the “read trigger” parameter and Pr 20.02 set as the
“write trigger” parameter in the SM-Ethernet module, the PLC master is configured to
add the values of Pr 20.11, Pr 20.12 and Pr 20.13, and write the result to Pr 20.21, the
SM-Applications module is configured to increment the values of Pr 20.11, Pr 20.12 and
Pr 20.13 by 1 each time the background task is executed.
With read and write consistency enabled, SM-Ethernet will sample the cyclic data
parameters when the value of Pr 20.01 is not zero and write the cyclic data when the
value of Pr 20.02 is zero.
The DPL code in the SM-Application module may be written as follows:
Initial{
// Initialise variable
newvalue=0
} //Initial
Background{
top:
if #20.02=1 then
newvalue=#20.11
// Store #20.11 value
#20.11=newvalue+1
// Increment #20.11 by 1
newvalue=#20.12
#20.12=newvalue+1
newvalue=#20.13
#20.13=newvalue+1
#20.01=1
// Enable sampling
#20.02=0
// Enable PLC writes
endif
goto top: // main background loop
} //Background
32
Issue: 6
Non-cyclic (explicit) data transfer
Non-cyclic or explicit messaging is used to read and write parameters non-cyclically by
means of assembly objects. All of the AC Drives profile attributes can be accessed
using explicit messaging. For more information on the AC Drives profile see section
6.7.26 AC/DC Drive object on page 60.
The Control Techniques object (class 100 or 0x64) provides access to all drive
parameters using the following format.
Class code:
Parameter
Read code:
14 (0x0E)
Get_Attribute_Single
Write code:
16 (0x10)
Set_Attribute_Single
An instance value of 0 is not a valid value in this context, therefore an instance value of
200 (0xC8) should be used to access menu 0 parameters. For more information on the
Control Techniques object see section 6.7.27 Control Techniques object on page 64.
Cyclic (implicit or polled) data transfer
Protocols
6.7.9
Menu
Attribute:
Cyclic data is a method of data transfer that must be set-up during network
configuration, but is transmitted automatically once configuration is complete.
Some PLCs provide the option of transmitting a configuration assembly object. The SMEthernet module does not use a configuration object, if one is required by the PLC configuration tool, then instance 1 should be specified with a length of 0 bytes.
NOTE
The web pages are used to configure the parameter information that is transmitted within
the assembly objects. For more information on configuring the mapping parameters see
section 6.7.10 Configuring SM-Ethernet cyclic parameters on page 33.
33
Index
Issue: 6
Glossary of
terms
The SM-Ethernet parameter mapping configuration screen refers to bytes of data, the
PLC configuration tool may refer to words of data, a data word consists of 2 bytes or 16
bits of data. A double word (32 bits or 4 bytes) is used for each drive parameter.
Quick
reference
The first requirement is to set the number of bytes to be allocated (mapping size), this
can range from 4 to 160 bytes in increments of 4. Each drive parameter requires 4 bytes
of data, this means that the minimum number of parameters that can be allocated is 1
and the maximum is 40.
Advanced
features
In order to use cyclic data over EtherNet/IP, SM-Ethernet must be configured to map the
required parameter data to the assembly object. Object 100 (0x64) is used for reading
parameters and object 101 (0x65) is used for writing parameters. To change the
mapping configuration, open the web page “EtherNet/IP” from the PROTOCOLS menu,
and select the appropriate assembly object, from here the required parameters may be
mapped to the selected assembly object. Figure 6-1 on page 34, shows a sample web
page configuration screen for mapping parameters.
Diagnostics
6.7.10 Configuring SM-Ethernet cyclic parameters
Security
NOTE
Web page FTP/custom
Applications
basics
pages
EtherNet/IP transfers cyclic data using assembly objects, “cyclic data” is also
sometimes referred to as “polled data” or “implicit data”. The terms “input” and “output”
refer to data from the perspective of the PLC, an “output” assembly object is used to
transfer cyclic data from the PLC to SM-Ethernet, conversely, an “input” assembly
object transfers data from SM-Ethernet to the PLC.
NOTE
Getting
started
NOTE
100 (0x64)
Instance:
Safety
Introduction
information
6.7.8
Figure 6-1 SM-Ethernet parameter mapping configuration
Parameter
mapping table.
Parameter list.
A single parameter may be selected by “dragging” it from the parameter list on the left
side of the page to the parameter mapping table on the right side of the page or,
alternatively, “double-clicking” on it will append it to the end of the list in the table.
A range of parameters may be selected by “double-clicking” on the ‘Parameter mapping
table’ at the position required to be allocated up to, the table will be automatically filled
up to this position. If no parameter has been previously allocated, the first parameter in
the parameter list will be used.
The “TIDY” button can be used to remove any un-allocated spaces in the parameter
mapping table by moving allocated parameters up.
To remove all allocated mappings in the table, the “CLEAR” button can be pressed.
To accept the changes made, click on the “APPLY” button. To cancel the changes and
revert back to the previous configuration, click on the “CANCEL” button.
NOTE
34
If the web pages are not displayed as shown or do not function correctly then the browser
settings may need to be checked to allow the Java script controls to function correctly.
Issue: 6
Due to the many different makes of PLCs available, the information in this section may
not be relevant to all types of PLCs. The information supplied in this section relates to
the “ControlLogix” family of controllers supplied by “Allen Bradley”.
NOTE
Although the Allen Bradley PLCs are mentioned in this document, this does not represent an endorsement of any particular PLC type or PLC manufacturer.
When configuring the PLC for cyclic communication with SM-Ethernet, the length of
each parameter data word and the number of parameters must be specified correctly,
Figure 6-2, shows the PLC configuration for 40 input parameters and 40 output
parameters, as each parameter consists of 32 bits (4 bytes), the length of each data
word should be set to 32 bits (DINT - double integer word).
Figure 6-2 PLC configuration
Length of each data word.
Quick
reference
Table 6.3 Control Techniques assembly objects
Type
Length
Default Length
(bytes)
(bytes)
Bytes 0 to 3
Default Mappings
Glossary of
terms
Number
Advanced
features
An assembly object is an object which contains a group of attributes to control or
monitor the drive operation. These attributes can be members of EtherNet/IP
objects or drive parameters. SM-Ethernet supports a series of standard assembly
objects (see section 6.7.13 Supported drive assembly objects on page 36) and two
Control Techniques objects to access the drive parameters.
Diagnostics
6.7.12 Assembly objects
Security
SM-Ethernet IP address.
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Number of data words
(parameters).
Protocols
In order to communicate with the SM-Ethernet, the PLC must have the SM-Ethernet IP
address set correctly as illustrated in Figure 6-2.
Getting
started
The length of each data word (Comm Format in the PLC configuration in Figure 6-2)
must normally be configured when the Ethernet module is created within the PLC and
can not be changed. If a different length is required then a new Ethernet module must
be created.
Safety
Introduction
information
6.7.11 Configuring the PLC
Bytes 4 to 7
0x64 (10010)
Input
4 to 160
8
Pr 10.40
Pr 2.01
0x65 (10110)
Output
4 to 160
8
Pr 6.42
Pr 1.21
Index
Issue: 6
35
6.7.13 Supported drive assembly objects
The EtherNet/IP protocol includes a series of pre-defined assembly objects to control
and monitor the drive operation. Table 6.4 Pre-defined drive assembly objects on
page 36 lists these assembly objects and their functions.
NOTE
Conformance with the pre-defined assembly objects specification can only be guaranteed if the speed reference configuration of the drive has not been changed from the default settings. For information on setting default values, refer to the appropriate drive user
guide.
Table 6.4 Pre-defined drive assembly objects
Object
Type
0x14 (2010)
Output
Object name
Basic speed control output.
0x15 (2110)
Output
Extended speed control output.
0x16 (2210)
Output
Speed and torque control output.
0x17 (2310)
Output
Extended speed and torque control output.
0x46 (7010)
Input
Basic speed feedback.
0x47 (7110)
Input
Extended speed feedback.
0x48 (7210)
Input
Basic speed and torque feedback.
0x49 (7310)
Input
Extended speed and torque feedback.
6.7.14 Basic speed control
Output assembly object 0x14 (2010)
The PLC or scanner must be configured for 4 output bytes (or 2 output words) if this
assembly object is to be used.
Table 6.5 Basic speed control
Data word
Function
Word 0
Basic control word.
Word 1
Speed reference (SpeedRef).
Basic control word
The basic control word consists of 2 bytes (16 bits), with only 2 bits of the low byte being
used as shown below.
b15
b14
b13
b12
b11
b7
b6
b5
b4
b3
b10
b9
b2
b1
FaultRst
b8
b0
RunFwd
The individual bit functions are described as follows:
36
Name
Control Word
Description
RunFwd
b0
Set this bit to command the drive to run in the forward
direction.
FaultRst
b2
A 0 to 1 transition will reset the drive if the drive was in a
trip state.
Issue: 6
For the drive to run at the speed specified in Word 1, Pr 6.43 must be ON and bit 0, bit
7 and bit 8 of the drive control word (Pr 6.42) must all be set to 1 and the external
hardware enable signal must be present.
The individual bit functions for the drive control word are shown in Table 6.6 below.
Table 6.6 Drive control word bit functions
Bit
Function
0
Drive enable.
Equivalent parameter
Pr 6.15
1
Run forward.
Pr 6.30
2
Jog forward.
Pr 6.31
3
Run reverse.
Pr 6.32
4
Forward/reverse.
Pr 6.33
Run.
Pr 6.34
6
Not stop.
Pr 6.39
7
Auto/manual.
N/A
8
Analog/preset reference.
Pr 1.42
Pr 6.37
Reserved.
N/A
11
Reserved.
N/A
12
Trip drive.
N/A
13
Reserved.
Pr 10.33
14
Keypad watchdog.
N/A
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Jog reverse.
Protocols
9
10
Getting
started
5
Speed reference (SpeedRef)
The speed reference word utilises 2 bytes (16 bits) as shown below.
b15
b14
b13
b12
b11
b9
b8
b6
b5
b4
b3
b2
b1
b0
SpeedRef (low byte)
6.7.15 Extended speed control
Table 6.7 Extended speed control
Quick
reference
Data word
Function
Extended control word.
Word 1
Glossary of
terms
Word 0
Advanced
features
Diagnostics
For more information on the setting of the speed reference see section 6.7.26 AC/DC
Drive object on page 60.
Security
b10
SpeedRef (high byte)
b7
Safety
Introduction
information
NOTE
Index
Issue: 6
37
Extended control word
The extended control word consists of 2 bytes (16 bits), with only the low byte used as
shown.
b15
b14
b13
b12
b11
b6
b5
b4
b3
NetRef
NetCtrl
b7
b10
b9
b8
b2
b1
b0
FaultRst
RunRev
RunFwd
Name
Control Word
Description
RunFwd
b0
direction.
RunRev
b1
Set this bit to command the drive to run in the reverse
direction.
FaultRst
b2
trip state.
NetCtrl
b5
Used in conjunction with Pr 6.43 to enable the drive
control word bits b0-b6 and bit 9 (Pr 6.42).
NetRef
b6
Set this bit to command the drive to use the remote
speed reference value specified in Word 1.
NOTE
NOTE
For information on the drive control word see Table 6.6 Drive control word bit
functions on page 37.
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
b7
b6
b5
b4
b3
SpeedRef (low byte)
6.7.16 Basic speed and torque control
Table 6.8 Basic speed and torque control
Data Word
38
Function
Word 0
Basic control word.
Word 1
Word 2
Torque reference (TorqueRef).
Issue: 6
The basic control word consists of 2 bytes (16 bits), with only 2 bits of the low byte being
b15
b14
b13
b12
b11
b7
b6
b5
b4
b3
b10
b9
b2
b1
FaultRst
b8
b0
RunFwd
Control Word
Description
RunFwd
b0
direction.
FaultRst
b2
trip state.
7 and bit 8 of the drive control word (Pr 6.42) must all be set to 1.
NOTE
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
b7
b6
b5
b4
b3
SpeedRef (low byte)
Torque reference (TorqueRef)
Diagnostics
The torque reference word utilises 2 bytes (16 bits) as shown below.
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
b6
b5
b4
b3
Advanced
features
TorqueRef (high byte)
b7
Security
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Protocols
NOTE
Getting
started
Name
Safety
Introduction
information
Basic control word
TorqueRef (low byte)
Quick
reference
For more information on the setting of the torque reference see section 6.7.26 AC/DC
Glossary of
terms
Index
Issue: 6
39
6.7.17 Extended speed and torque control
Table 6.9 Extended speed and torque control
Data word
Function
Word 0
Extended control word.
Word 1
Word 2
Torque reference (TorqueRef).
Extended control word
The extended control word consists of 2 bytes (16 bits), with only 5 bits of the low byte
b15
b7
b14
b13
b12
b11
b6
b5
b4
b3
NetRef
NetCtrl
b10
b9
b8
b2
b1
b0
FaultRst
RunRev
RunFwd
Name
Control Word
Description
RunFwd
b0
direction.
RunRev
b1
Set this bit to command the drive to run in the reverse
direction.
FaultRst
b2
trip state.
NetCtrl
b5
Used in conjunction with Pr 6.43 to enable the drive
control word bits b0-b6 and bit 9 (Pr 6.42).
NetRef
b6
Set this bit to command the drive to use the remote
speed reference value specified in Word 1.
NOTE
NOTE
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
b7
b6
b5
b4
b3
SpeedRef (low byte)
40
Issue: 6
The torque reference word utilises 2 bytes (16 bits) as shown below.
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
TorqueRef (high byte)
b7
b6
b5
b4
b3
TorqueRef (low byte)
For more information on the setting of the torque reference see section 6.7.26 AC/DC
6.7.18 Basic speed feedback
Input assembly object 0x46 (7010)
Getting
started
The PLC or scanner must be configured for 4 input bytes (or 2 input words) if this
Safety
Introduction
information
Torque reference (TorqueRef)
Table 6.10 Basic speed feedback
Protocols
Data word
Function
Basic status word.
Word 1
Speed feedback (SpeedActual).
Basic status word
The basic status word consists of 2 bytes (16 bits), with only 2 bits of the low byte used
as shown below.
b15
b14
b13
b12
b11
b7
b6
b5
b4
b3
b10
b9
b2
b1
Running1
(Fwd)
b8
b0
Faulted
Security
Bit
b2
Faulted
Description
Diagnostics
b0
Name
Indicates whether the drive is OK or tripped
(0=OK, 1=Tripped).
Advanced
features
Running1 Indicates if the drive is running in the forward direction
(Fwd)
(0=False, 1=True).
Speed feedback (SpeedActual)
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
Quick
reference
The speed feedback word utilises 2 bytes (16 bits) as shown below.
b15
b6
b5
b4
b3
Glossary of
terms
SpeedActual (high byte)
b7
SpeedActual (low byte)
41
Index
For more information on the speed feedback see section 6.7.26 AC/DC Drive object on
page 60.
Issue: 6
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Word 0
6.7.19 Extended speed feedback
Table 6.11 Extended speed feedback
Data word
Function
Word 0
Extended status word.
Word 1
Extended status word
The extended status word consists of 2 bytes (16 bits), with the bits having functions as
shown below.
b15
b14
b13
b12
b11
b10
b9
b8
DriveState
b7
b6
b5
b4
b3
b2
b1
b0
At
Reference
RefFrom
Net
CtrlFrom
Net
Ready
Running2
(Rev)
Running1
(Fwd)
Warning
Faulted
The DriveState byte returns a code to indicate the operating state of the drive as shown
in Table 6.12 below.
Table 6.12 DriveState codes
Code
b15 - b8
State
1
00000001
Startup
Description
2
00000010
Not_Ready
Inhibit.
3
00000011
Ready
Ready.
4
00000100
Enabled
Run or Stop (Stop is only enabled by default in
Servo mode).
5
00000101
Stopping
Deceleration or Injection.
6
00000110
Fault_Stop
7
00000111
Faulted
0
00000000
Vendor Specific
This state is skipped over on CT drives.
AC_UU (this will only occur if Mains Loss is
enabled).
Tripped.
All other DriveType states, e.g. Scan, Orienting,
Regen Active, etc.
The individual bits of the low byte of the extended status word are described in Table
6.13 Extended status word (low byte) on page 43.
42
Issue: 6
Name
Bit
Safety
Introduction
information
Table 6.13 Extended status word (low byte)
Description
b0
Indicates whether the drive is OK or tripped.
0=OK (Pr 10.01=1).
1=Tripped (Pr 10.01=0).
Faulted
Indicates if one of the drive alarms is active.
b2
Indicates if the drive is running in the forward direction.
0=False, 1=True.
Running2
(Rev)
b3
Indicates if the drive is running in the reverse direction.
0=False, 1=True.
Ready
b4
The ‘Ready’ bit is set depending on which state the drive is in.
Ready = True.
Enabled = True.
Stopping = True.
All others = False.
CtrlFromNet
b5
Indicates if the drive is being controlled from the ‘Drive Control Word’.
0=False, 1=True.
RefFromNet
b6
Indicates if the speed reference is derived from Pr 1.21.
0=False (Pr 1.50<>1 OR Pr 1.49<>3).
1=True (Pr 1.50=1 AND Pr 1.49=3).
AtReference
b7
Indicates if the drive speed has reached the set reference.
0=False (Pr 10.06=0).
1=True (Pr 10.06=1).
Protocols
b1
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b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
SpeedActuall(high byte)
b7
b6
b5
b4
b3
Diagnostics
6.7.20 Basic speed and torque feedback
Advanced
features
Table 6.14 Basic speed and torque feedback
Function
Quick
reference
Word 0
Security
page 60.
Data word
Getting
started
Warning
Running1
(Fwd)
Basic status word
Word 1
Word 2
Torque feedback (TorqueActual).
Glossary of
terms
Index
Issue: 6
43
Basic status word
The basic status word consists of 2 bytes (16 bits), with only the low byte used as shown
below.
b15
b14
b13
b12
b11
b7
b6
b5
b4
b3
b10
b9
b8
b2
b1
b0
Running1
(Fwd)
Faulted
Bit
Name
b0
b2
Faulted
Description
Indicates whether the drive is OK or tripped
(0=OK, 1=Tripped).
Running1 Indicates if the drive is running in the forward direction
(Fwd)
(0=False, 1=True).
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
SpeedActual (high byte)
b7
b6
b5
b4
b3
page 60.
Torque feedback (TorqueActual)
The torque feedback word utilises 2 bytes (16 bits) as shown below.
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
TorqueActual (high byte)
b7
b6
b5
b4
b3
TorqueActual (low byte)
For more information on the torque feedback see section 6.7.26 AC/DC Drive object on
page 60.
6.7.21 Extended speed and torque feedback
Table 6.15 Basic speed and torque feedback
Data word
Word 0
44
Function
Extended status word.
Word 1
Word 2
Torque feedback (TorqueActual).
Issue: 6
The extended status word consists of 2 bytes (16 bits), with the bits having functions as
shown below.
b15
b14
b13
b12
b11
b10
b9
b8
DriveState
b7
b6
b5
At
Reference
RefFrom
Net
CtrlFrom
Net
b4
b3
b2
b1
b0
Ready
Running2
(Rev)
Running1
(Fwd)
Warning
Faulted
The DriveState byte returns a code to indicate the operating state of the drive as shown
in Table 6.16.
Table 6.16 DriveState codes
State
00000001
Startup
Description
2
00000010
Not_Ready
Inhibit.
3
00000011
Ready
Ready.
4
00000100
Enabled
Run or Stop (Stop is only enabled by default in
Servo mode).
5
00000101
Stopping
Deceleration or Injection.
6
00000110
Fault_Stop
7
00000111
Faulted
0
00000000
Vendor Specific
This state is skipped over on CT drives.
Protocols
AC_UU (this will only occur if Mains Loss is
enabled).
Tripped.
All other DriveType states, e.g. Scan, Orienting,
Regen Active, etc.
The individual bits of the low byte of the extended status word are described in Table
6.17 Extended status word (low byte) on page 46.
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b15 - b8
1
Getting
started
Code
Safety
Introduction
information
Extended status word
Security
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
45
Table 6.17 Extended status word (low byte)
Name
Bit
Description
Faulted
b0
Indicates whether the drive is OK or tripped.
0=OK (Pr 10.01=1).
1=Tripped (Pr 10.01=0).
Warning
b1
Indicates if one of the drive alarms is active.
Running1
(Fwd)
b2
Indicates if the drive is running in the forward direction.
0=False, 1=True.
Running2
(Rev)
b3
Indicates if the drive is running in the reverse direction.
0=False, 1=True.
Ready
b4
The ‘Ready’ bit is set depending on which state the drive is in.
Ready = True.
Enabled = True.
Stopping = True.
All others = False.
CtrlFromNet
b5
Indicates if the drive is being controlled from the ‘Drive Control Word’.
0=False, 1=True.
RefFromNet
b6
Indicates if the speed reference is derived from Pr 1.21.
0=False (Pr 1.50<>1 OR Pr 1.49<>3).
1=True (Pr 1.50=1 AND Pr 1.49=3).
AtReference
b7
Indicates if the drive speed has reached the set reference.
0=False (Pr 10.06=0).
1=True (Pr 10.06=1).
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
SpeedActuall(high byte)
b7
b6
b5
b4
b3
page 60.
Torque feedback (TorqueActual)
The torque feedback word utilises 2 bytes (16 bits) as shown below.
b15
b14
b13
b12
b11
b10
b9
b8
b2
b1
b0
TorqueActual (high byte)
b7
b6
b5
b4
b3
TorqueActual (low byte)
For more information on the torque feedback see section 6.7.26 AC/DC Drive object on
page 60
46
Issue: 6
The Object Model has the following object classes present.
Table 6.18 Supported Objects
No. of
Effect
Instances
Class Code
Identity
0x01 (110)
1
Provides device information
(See Table 6.19 on page 47)
Motor Data
0x28 (4010)
2
Defines the motor data
(For AC motors, see Table 6.25 on page 52)
(For DC motors, see Table 6.27 on page 53)
Control Supervisor
0x29 (4110)
1
Provides drive control and monitoring
information
AC/DC Drive
0x2A (4210)
1
Provides information on the drive running
state
Control Techniques
Group
0x64 (10010)
45
Provides an interface to drive parameters
TCP/IP Interface
0xF5 (24510)
1
Provides the mechanism to configure the
TCP/IP interface
(See Section 6.7.28)
Ethernet Link
0xF6 (24610)
1
Maintains link specific counters and status
information
(See Section 6.7.29)
Getting
started
Object Class
Table 6.19 Identity object
Name
Data Type
Get
VendorID
UINT
2
Get
DeviceType
UINT
3
Get
ProductCode
UINT
4
Get
Revision
USINT
6
Get
SerialNumber
UDINT
7
Get
ProductName
SHORT_STRING
Diagnostics
Access
1
Security
Attribute
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0x01 (110)
The identity object provides identification of and general information about the device.
Protocols
6.7.23 Identity object
Class:
Safety
Introduction
information
6.7.22 Object Model
Advanced
features
Vendor ID
VendorID
Class
0x01
Default
0x101 (25710)
Instance
0x01
Data Type
UINT
Attribute
0x01
Access
Get
Quick
reference
Name:
Glossary of
terms
Returns the vendor ID code 0x101 (25710) for Control Techniques.
Index
Issue: 6
47
Device type
Name:
DeviceType
Class
0x01
Default
0x02
Instance
0x01
Data Type
UINT
Attribute
0x02
Access
Get
Returns the device type code. The following codes are used:
Device Type code Drive type
0x02
AC Drive
0x13
DC Drive
Product code
Name:
ProductCode
Class
0x01
Default
See below
Instance
0x01
Data Type
UINT
Attribute
0x03
Access
Get
Returns a 16 bit value to identify the drive type, major revision number and drive mode
and also links a node to the installed EDS files. If a basic EDS file is used then the
product code is calculated as shown in Table 6.20 Basic product code below.
Table 6.20 Basic product code
b15 b14 b13 b12 b11 b10
Product
b9
b8
Major Revision
b7
b6
b5
b4
b3
Mode
b2
b1
b0
0
Product (b15 to b13)
The product code is defined as follows:
Product Code
Description
AC Drive (Type: 0x02)
1
DC Drive (Type: 0x13)
Unidrive SP
Mentor MP
2
Commander SK
Reserved
4
GP20
Reserved
5
Digitax ST
Reserved
6
Affinity
Reserved
Major Revision (b12 to b9)
The major revision returned will be calculated from the formula:
#11.29 * 3.
Where #11.29 is the value of Pr 11.29 before the decimal point.
e.g. For a value of “1.09” in Pr 11.29, the major revision returned is 3.
48
Issue: 6
Mode
Safety
Introduction
information
Mode (b8 to b6)
The mode value is defined as follows:
Description
AC Drive (Type: 0x02)
DC Drive (Type: 0x13)
0
Commander SE
Reserved
1
Open Loop
Reserved
2
Closed Loop Vector
Mentor MP
3
Servo
Reserved
4
Regen
Reserved
Bits b5 to b0 are not used and will be set to 0.
Table 6.21 Advanced product code
Product
b9
Major Revision + Slot
b8
b7
b6
Mode
b5
b4
b3
b2
Slot X
b1
Protocols
b15 b14 b13 b12 b11 b10
b0
Slot Y
Major Revision + Slot (b12 to b9)
The value contains the major revision number of the drive firmware and the slot that
the SM-Ethernet module is installed in.
The value returned will be calculated from the formula:
#11.29 * 3 + (Slot -1)
Where #11.29 is the value of Pr 11.29 before the decimal point and Slot is the slot
number that the SM-Ethernet module is installed in.
Slot X = Pr MM.01/100. (Any fractional part of result ignored)
Glossary of
terms
Slot Y = Pr MM.01/100. (Any fractional part of result ignored)
For the option module ID codes see Table 6.22 Option modules ID codes on
page 50).
Index
The advanced EDS file mode is not supported on Commander SK.
Issue: 6
Quick
reference
Slot Y (b2 to b0)
This indicates the option module family type installed in the highest numbered slot,
excluding the slot where this SM-Ethernet is installed.
Advanced
features
Slot X (b5 to b3)
This indicates the option module family type installed in the lowest numbered slot,
excluding the slot where this SM-Ethernet is installed.
Diagnostics
Mode (b8 to b6)
(See Table 6.20 Basic product code on page 48).
Security
e.g. For a value of “1.09” in Pr 11.29 and the SM-Ethernet module installed in slot 3,
the value returned will be 5.
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Product (b15 to b13)
(See Table 6.20 Basic product code on page 48).
NOTE
Getting
started
If an advanced EDS file is used then the product code is calculated as shown in
Table 6.21 Advanced product code below.
49
Table 6.22 Option modules ID codes
b5 - b3 (Slot X)
Value
Module Family
Module ID
001
1
Feedback
101
SM-Resolver.
001
1
Feedback
102
SM-Universal Encoder Plus.
001
1
Feedback
104
SM-Encoder Plus.
001
1
Feedback
104
SM-Encoder Output Plus.
010
2
I/O
201
SM-I/O Plus
b2 - b0 (Slot Y)
Module
010
2
I/O
203
SM-I/O Timer
010
2
I/O
204
SM-I/O PELV
010
2
I/O
205
SM-I/O 24V
010
2
I/O
206
SM-I/O 120V
010
2
I/O
207
SM-I/O Lite
010
2
I/O
208
SM-I/O 32
011
3
Applications
301
SM-Applications
011
3
Applications
302
SM-Applications Lite
011
3
Applications
303
SM-EZMotion
011
3
Applications
304
SM-Applications Plus
011
3
Applications
305
SM-Applications Lite V2
100
4
Fieldbus
401
SM-LON
100
4
Fieldbus
403
SM-PROFIBUS DP
100
4
Fieldbus
404
SM-Interbus
100
4
Fieldbus
406
SM-CAN
100
4
Fieldbus
407
SM-DeviceNet
100
4
Fieldbus
408
SM-CANopen
100
4
Fieldbus
409
SM-Sercos
100
4
Fieldbus
410
SM-Ethernet
100
4
Fieldbus
421
SM-EtherCAT
101
5
Position
501
SM-SLM
Revision
Name:
Revision
Class
0x01
Default
N/A
Instance
0x01
Data Type
ARRAY of USINT
Attribute
0x04
Access
Get
Returns 2 bytes to indicate the minor and sub-version revision numbers.
If a basic generic EDS file is used then only the minor revision in the upper byte is
returned as shown in Table 6.23 Basic revision on page 51.
50
Issue: 6
b15 b14 b13 b12 b11 b10
b9
b8
Minor Revision
b7
b6
b5
b4
b3
b2
b1
b0
12710 (All bits set to 1)
0
The minor revision returned will be calculated from the formula:
#11.29 Mod 100 + 1.
Where “#11.29 Mod 100” refers to the fractional value of Pr 11.29, (the value after the
decimal point).
e.g. For a value of “1.09” in Pr 11.29, the minor revision returned is 10.
If an advanced EDS file is used then the revision number is calculated as shown below.
Table 6.24 Advanced revision
b9
b8
Sub-version
b7
b6
0
b5
b4
b3
b2
b1
Protocols
b15 b14 b13 b12 b11 b10
b0
Minor Revision
The minor revision returned will be calculated from the formula:
#11.29 Mod 100 + 1.
Where “#11.29 Mod 100” refers to the fractional value of Pr 11.29, (the value after
the decimal point).
e.g. For a value of “1.09” in Pr 11.29, the minor revision returned is 10.
Sub-version
The sub-version returned will be calculated from the formula:
Web page FTP/custom
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Minor revision
Security
#11.34 + 1.
e.g. For a value of “1” in Pr 11.34, the sub-version returned is 2.
Diagnostics
Serial Number
Name:
SerialNumber
Class
0x01
Default
N/A
Instance
0x01
Data Type
UDINT
Attribute
0x06
Access
Get
Advanced
features
Returns the least 3 significant bytes of the SM-Ethernet MAC address. The MAC
address is set during production, and cannot be changed. This value is also displayed in
Pr MM.35.
Quick
reference
This can be used to find the complete MAC address of the module by combining the
numbers with 00:0D:1E:xx.xx.xx. Where xx.xx.xx. is a value in Pr MM.35 converted to
base 16 (HEX). e.g. If Pr MM.35 contains the value of 1193046, this would give the
complete MAC address of 00 0D 1E 12 34 56.
Glossary of
terms
NOTE
Getting
started
Bits b0 to b6 are used to inform the configuration tool that the advanced EDS file is not
enabled and each bit will be set to 1.
Safety
Introduction
information
Table 6.23 Basic revision
Index
Issue: 6
51
Product Name
Name:
ProductName
Class
0x01
Default
SM-Ethernet
Instance
0x01
Data Type
SHORT_STRING
Attribute
0x07
Access
Get
Returns 12 bytes (ASCII) to indicate the product name as a short string. The first byte
specifies the number of following bytes that constitute the product name. The SMEthernet returns the string “SM-Ethernet”.
6.7.24 Motor data object
Class:
0x28 (4010)
There are 2 instances of the Motor data object. Instance 1 will represent menu 5 motor
information (motor map 1) and instance 2 will represent menu 21 motor information
(motor map 2). The instance being used by the other dependant objects will be
determined by Pr 21.15, to use the second motor map objects (instance 2), Pr 21.15
should be set to ON. Pr 21.15 is polled in the background task, so the user should be
aware that during motor map changeover, the RPM speed reference may not be
accurate. The available attributes and associated functions for the AC motor data object
are shown in Table 6.25 AC Motor data object attributes below, the available attributes
and associated functions for the DC motor data object are shown in Table 6.27 DC
Motor data object attributes on page 53.
Table 6.25 AC Motor data object attributes
AC Motor Instance Attributes
Drive Parameter
Attribute ID
Name
Access
Instance 1
0x03 (310)
MotorType (*)
Get/Set
Pr 64.13
Instance 2
Pr 64.14
Pr 21.07
(scaled to 100mA units)
0x06 (610)
RatedCurrent
Get/Set
Pr 5.07
0x07 (710)
RatedVoltage
Get/Set
Pr 5.09
Pr 21.09
Pr 21.06
(scaled to Hz)
0x09 (910)
RatedFreq
Get/Set
Pr 5.06
(scaled to Hz)
0x0F (1510)
BaseSpeed
Get/Set
Pr 5.08
(scaled to rpm units)
Pr 21.08
0x64 (10010)
Motor2Select
Get
Set
Pr 21.15
Pr 11.45
Pr 21.15
Pr 11.45
(* The MotorType attribute has no effect on drive operation, it is only used to provide information to
the user as shown in Table 6.26 Supported motor types below).
NOTE
In Open loop mode, only attributes 6 and 7 will be supported.
Table 6.26 Supported motor types
Value
2
52
Motor Type
AC
DC
Reserved
FC DC motor
6
Wound rotor induction motor
Reserved
7
Squirrel cage induction motor (default)
Reserved
9
Sinusoidal PM BL motor
Reserved
10
Trapezoidal PM BL motor
Reserved
Issue: 6
DC Motor Instance Attributes
Drive Parameter
Name
Access
Instance 1
Instance 2
0x03 (310)
MotorType (*)
Get/Set
Pr 64.13
Pr 64.14
0x06 (610)
RatedCurrent
Get/Set
Pr 5.07
Pr 21.07
0x07 (710)
RatedVoltage
Get/Set
Pr 5.09
Pr 21.09
Get/Set
Pr 5.08
Pr 21.08
Pr 5.70
Pr 21.24
Pr 5.70 * Pr 5.69 / 100
Pr 5.69 = MinFieldCur *
100 / Pr 5.70
Pr 21.24 * Pr 5.69 / 100
Pr 5.69 = MinFieldCur *
100 / Pr 21.24
0x0F (1510)
BaseSpeed
0x10 (1610)
RatedFieldCur Get/Set
0x11 (1710)
MinFieldCur
Pr 5.69 will be written with Pr 5.69 will be written with
the appropriate instance
the appropriate instance
value, depending on which value, depending on which
motor map is selected.
motor map is selected.
Motor2Select
Get
Set
Pr 5.73
Pr 21.23
Pr 21.15
Pr 11.45
Pr 21.15
Pr 11.45
(* The MotorType attribute has no effect on drive operation, it is only used to provide information to
the user as shown in Table 6.26 Supported motor types on page 52).
Motor type
MotorType1
Class
0x28
Default
7
Instance
0x01
Data Type
USINT
Attribute
0x03
Access
Get/Set
Security
Name:
Returns or sets the motor type to be used by the drive for instance 1.
0x28
Default
7
Instance
0x02
Data Type
USINT
Attribute
0x03
Access
Get/Set
Advanced
features
MotorType2
Class
Diagnostics
Name:
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pages
RatedFieldVolt Get/Set
0x64 (10010)
Protocols
0x12 (1810)
Get
Set
Getting
started
Attribute ID
Safety
Introduction
information
Table 6.27 DC Motor data object attributes
Returns or sets the motor type to be used by the drive for instance 2.
Quick
reference
Glossary of
terms
Index
Issue: 6
53
Rated current
Name:
RatedCurrent1
Class
0x28
Default
Pr 5.07 / 10
Instance
0x01
Data Type
USINT
Attribute
0x06
Access
Get/Set
Returns or sets the rated motor current in Amps for instance 1. This attribute is linked to
Pr 5.07.
Set
Pr 5.07 = RatedCurrent1 * 10.
Get
RatedCurrent1 = Pr 5.07 / 10.
Name:
RatedCurrent2
Class
0x28
Default
Pr 21.07 / 10
Instance
0x02
Data Type
USINT
Attribute
0x06
Access
Get/Set
Returns or sets the rated motor current in Amps for instance 2. This attribute is linked to
Pr 21.07.
Set
Pr 21.07 = RatedCurrent2 * 10.
Get
RatedCurrent2 = Pr 21.07 / 10.
Rated voltage
Name:
RatedVoltage1
Class
0x28
Default
Pr 5.09
Instance
0x01
Data Type
USINT
Attribute
0x07
Access
Get/Set
Returns or sets the rated motor voltage in Volts for instance 1. This attribute is linked to
Pr 5.09.
Name:
RatedVoltage2
Class
0x28
Default
Pr 21.09
Instance
0x02
Data Type
USINT
Attribute
0x07
Access
Get/Set
Returns or sets the rated motor voltage in Volts for instance 2. This attribute is linked to
Pr 21.09.
54
Issue: 6
Name:
RatedFreq1
Class
0x28
Default
Pr 5.06 / 10
Instance
0x01
Data Type
USINT
Attribute
0x09
Access
Get/Set
Returns or sets the rated motor frequency in Hertz for instance 1. This attribute is linked
to Pr 5.06.
Set
Pr 5.06 = RatedFreq1 * 10.
Get
RatedFreq1 = Pr 5.06 / 10.
RatedFreq2
Class
0x28
Default
Pr 21.06 / 10
Instance
0x02
Data Type
USINT
Attribute
0x09
Access
Get/Set
Getting
started
Name:
RatedFreq2 = Pr 21.06 / 10.
Base speed
Name:
BaseSpeed1
Class
0x28
Default
Pr 5.08
Instance
0x01
Data Type
USINT
Attribute
0x0F
Access
Get/Set
Returns or sets the base speed of the motor in RPM for instance 1. This attribute is
linked to Pr 5.08.
0x28
Default
Pr 21.08
Instance
0x02
Data Type
USINT
Attribute
0x0F
Access
Get/Set
Returns or sets the base speed of the motor in RPM for instance 2. This attribute is
linked to Pr 21.08.
Advanced
features
Motor2Select
0x28
Default
Instance
0x01
Data Type
USINT
Attribute
0x64
Access
Get/Set
Issue: 6
Index
Any change in this attribute will be implemented when the drive is disabled.
Glossary of
terms
Motor2Select
Class
Quick
reference
Name:
Selects between Motor Map 1 and Motor Map 2. This attribute is linked to Pr 11.45.
When this bit is set to 1, Motor Map 2 will be active.
NOTE
Diagnostics
BaseSpeed2
Class
Security
Name:
Web page FTP/custom
Applications
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pages
Pr 21.06 =RatedFreq2 * 10.
Get
Protocols
Returns or sets the rated motor frequency in Hertz for instance 2. This attribute is linked
to Pr 21.06.
Set
Safety
Introduction
information
Rated frequency
55
6.7.25 Control Supervisor object
Class:
0x29 (4110)
The Control Supervisor object provides access to various attributes which control or
monitor the drive running state. The available attributes and their associated functions
are shown in Table 6.28 below.
Table 6.28 Control Supervisor object attributes
Attribute
ID
Name
0x03 (310)
RunFwd
Get/Set
Pr 6.42 b1
0x04 (410)
RunRev
Get/Set
Pr 6.42 b3
0x05 (510)
NetCtrl
Get/Set
Pr 6.42 b7
0x06 (610)
State
Get
0x07 (710)
RunningFwd
Access
Get
Parameter dependence
1
Pr 10.14=0 AND Pr 10.02=1
0
Pr 10.14=1 OR Pr 10.02=0
1
Pr 10.14=1 AND Pr 10.02=1
0x08 (810)
RunningRev
Get
0x09 (910)
Ready
Get
0x0A (1010)
Faulted
Get
Inverse of Pr 10.01
0x0B (1110)
Warning
Get
Pr 10.19
Dummy parameter, sets Pr 10.38 to
100 on a 0 to 1 transition
0x0C (1210)
FaultRst
Get/Set
0x0D (1310)
FaultCode
Get
0x0F (1510)
CtrlFormNet
Get
0x66 (10210)
DriveEnable
Get/Set
0
Pr 10.14=0 OR Pr 10.02=0
1
Pr 6.42 b7=1 AND Pr 6.43=1
0
Pr 6.42 b7=0 OR Pr 6.43=0
Pr 6.42 b0
RunFwd
Name:
RunFwd
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x03
Access
Get/Set
Set to 1 to run the drive in the forward direction.
Get/Set Pr 6.42 (bit 1).
RunRev
Name:
RunRev
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x04
Access
Get/Set
Set to 1 to run the drive in the reverse direction.
Get/SetPr 6.42 (bit 3).
56
Issue: 6
Name:
NetCtrl
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x05
Access
Get/Set
Safety
Introduction
information
NetCtrl
Switches between terminal and fieldbus control.
Get/SetPr 6.42 (bit 7)
0 = Terminal control.
1 = Fieldbus control.
State
State
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x06
Access
Get
Getting
started
Name:
Protocols
This returns a code to indicate the current running state of the drive as shown in
Table 6.29 below.
Table 6.29 Control Supervisor state attribute
Description
Startup
This state is skipped over on CT drives
2
Not_Ready
Inhibit
3
Ready
Ready
4
Enabled
Run or Stop (Stop is only enabled by default in Servo mode)
5
Stopping
Decelerating or DC injection braking
6
Fault_Stop
ACUU (AC Under Voltage) - this will only occur if mains loss
is enabled
7
Faulted
Tripped
Vendor Specific
All other DriveType states, e.g. Scan, Orienting, Regen
Active, etc.
0
Security
State
1
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Code
RunningFwd
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x07
Access
Get
Advanced
features
Name:
Diagnostics
RunningFwd
Indicates that the drive is running in the forward direction.
Quick
reference
This attribute will be set to 1 when Pr 10.14 = 0 and Pr 10.02 = 1.
RunningRev
RunningRev
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x08
Access
Get
Glossary of
terms
Name:
Index
Indicates that the drive is running in the reverse direction.
This attribute will be set to 1 when Pr 10.14=1 and Pr 10.02=1.
Issue: 6
57
Ready
Name:
Ready
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x09
Access
Get
The Ready attribute will be set in accordance with the state as shown in Table 6.30
below.
Table 6.30 Control Supervisor Ready attribute
Code
State
Ready state
3
Ready
True
4
Enabled
True
5
Stopping
True
All others
False
Faulted
Name:
Faulted
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x0A
Access
Get
Indicates that the drive is tripped, i.e. not OK (inverse of Pr 10.01).
Get 1 = Pr 10.01 = 0.
Get 0 = Pr 10.01 = 1.
Warning
Name:
Warning
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x0B
Access
Get
Indicates that one of the drive alarms is active.
Get Pr 10.19.
FaultRst
Name:
FaultRst
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x0C
Access
Get/Set
Resets the drive from a tripped condition.
Sets Pr 10.38 to 100 on a 0 to 1 transition.
58
Issue: 6
Name:
FaultCode
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x0D
Access
Get
The fault code attribute will return the ODVA fault code as follows:
If the drive is not OK, the drive fault code is obtained from Pr 10.20, if the drive fault
code is listed in Table 6.31, then SM-Ethernet will return the ODVA fault code as shown
in Table 6.31 below.
If the drive fault code is not listed in Table 6.31 then SM-Ethernet will return the ODVA
code as follows:
ODVA Fault Code = 0x1000 + drive fault code.
Getting
started
Table 6.31 Control Supervisor fault code attribute
Drive Fault Code
ODVA Fault
Code
1
0x3220
20
0x2310
2
0x3210
21
0x4300
3
0x2300
26
0x5112
4
0x7112
32
0x3130
6
0x9000
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pages
ODVA Fault
Code
Protocols
Drive Fault Code
CtrlFromNet
Name:
CtrlFromNet
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x0F
Access
Get
Security
Indicates whether the drive is operating under fieldbus or terminal control.
This attribute will be set to 1 if Pr 6.42 (bit 7) = 1 and Pr 6.43 = 1 (fieldbus).
Diagnostics
DriveEnable
DriveEnable
Class
0x29
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x66
Access
Get/Set
Advanced
features
Name:
The external hardware enable signal must also be present before the drive will enter the
Ready state.
Glossary of
terms
NOTE
Pr 6.42 bit 0.
Quick
reference
Enables the drive. This puts the drive into the “Ready” state, allowing the RunFwd and
RunRev attributes to control the drive. RunFwd and RunRev will have no effect if
DriveEnable is not set to 1.
Get/Set
Safety
Introduction
information
FaultCode
Index
Issue: 6
59
6.7.26 AC/DC Drive object
Class:
0x2A (4210)
The AC/DC Drive object provides information on the drive running state and supports
the following attributes:
Table 6.32 AC/DC Drive object attributes
Attribute
ID
Name
0x03 (310)
AtReference
Get
Pr 10.06
0x04 (410)
NetRef
Get/Set
Pr 6.42 (bit 8)
0x06 (610)
DriveMode
Get/Set
0x07 (710)
Access
Closed Loop
Pr 3.02
Open Loop
Pr 5.04
Get/Set
Closed Loop
Pr 1.21
(scaled to 0 decimal places)
Get
Open Loop
Pr 1.21 * 60 / NofPP
Set
Open Loop
Pr 1.21 = SpeedRef * NofPP / 60
SpeedActual
0x08 (810)
Parameter dependence
Get
SpeedRef
0x0B (1110)
TorqueActual
Get
Pr 4.20
(scaled to 1 decimal place)
0x0C (1210)
TorqueRef
Get/Set
Pr 4.08
(scaled to 1 decimal place)
0x1D (2910)
RefFromNet
Get
1
Pr 1.49=3 AND Pr 1.50=1
0
Pr 1.49<>3 OR Pr 1.50<>1
NOTE
NofPP = Number of Pole Pairs.
NOTE
NetRef can only be changed between local and remote when the drive is in speed control
mode. If a change is requested when in torque mode then an error code will be returned.
AtReference
Name:
AtReference
Class
0x2A
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x03
Access
Get
Indicates that the drive is running at the requested speed.
Get Pr 10.06
0 = Drive not running at requested speed.
1 = Drive running at requested speed.
NetRef
Name:
NetRef
Class
0x2A
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x04
Access
Get/Set
Selects the source of the speed reference.
Get/SetPr 6.42 bit 8
0 = analog speed reference.
1 = digital speed reference.
60
Issue: 6
The NetRef can only be changed between local and remote when the drive is configured
in speed control mode. If a change is requested when in torque mode then a ‘Device
State Conflict’ error code 0x10 will be returned.
DriveMode
Name:
DriveMode
Class
0x2A
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x06
Access
Get/Set
DriveMode does not allow the operating mode of the drive to be changed. Pr 4.11 will be
written to as shown in Table 6.33 below, provided that the drive is already in the correct
operating mode.
Access
Current drive mode (Pr 11.31)
2
Closed Loop Speed (0)
Servo (3)
2
Mentor MP
3
Torque Control (1)
Open loop (1)
3
Torque Control (1)
Closed loop vector (2)
3
Torque Control (1)
Servo (3)
3
Torque Control (1)
Mentor MP
0
Don’t care
Regen (4)
0
User defined
Torque control with speed override (2) OR
Coiler/uncoiler mode (3) OR
Speed control with torque feed-forward (4)
Don’t care
0
Invalid Attribute Value (0x09)
Don’t care
1
Open Loop Speed (0)
Open loop (1)
1
Device State Conflict (0x10)
Closed loop vector (2) OR
Servo (3) OR
Regen (4) OR
Mentor MP
2
Servo (3) OR
Mentor MP
2
Open loop (1) OR
Regen (4)
3
Torque Control (1)
Open loop (1) OR
Servo (3) OR
Mentor MP
3
Regen (4)
Quick
reference
Closed loop vector (2)
Advanced
features
Diagnostics
Open loop (1)
2
Security
Pr 11.31 will never be changed by setting the DriveMode attribute. An error (0x10) will
be generated if the requested DriveMode value does not correspond to the current
DriveType operating mode.
Glossary of
terms
NOTE
Open Loop Speed (0)
Web page FTP/custom
Applications
basics
pages
Set
Mode (Pr 4.11)
1
Protocols
Get
Value
Getting
started
Table 6.33 AC/DC Drive object DriveMode attribute
Safety
Introduction
information
NOTE
Index
Issue: 6
61
SpeedActual
Name:
SpeedActual
Class
0x2A
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x07
Access
Get
Returns the actual speed of the motor in RPM. The source of the motor speed depends
on the operating mode of the drive.
Get
Pr 5.04 (Open Loop).
Get
Pr 3.02 (Closed Loop or Servo).
SpeedRef
Name:
SpeedRef
Class
0x2A
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x08
Access
Get/Set
Sets or returns the speed reference in RPM.
Closed loop, Servo
Get/Set SpeedRef = Pr 1.21 (Scaled to 0 decimal places).
Open loop
Get SpeedRef = (Pr 1.21 * 60) / Pole Pairs (Scaled to 0 decimal places).
Set
Pr 1.21 = (SpeedRef * Pole Pairs) / 60 (Scaled to 0 decimal places).
TorqueActual
Name:
TorqueActual
Class
0x2A
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x0B
Access
Get
Returns the actual load on the motor as a percentage of the rated motor load. This
attribute has 1 decimal place precision, a value of 1000 represents 100.0% load.
Get
Pr 4.20.
TorqueRef
Name:
Class
0x2A
Default
N/A
Instance
0x01
Data Type
USINT
Attribute
0x0C
Access
Get/Set
Sets the load (torque) reference as % of rated motor load (torque). This attribute has 1
decimal place precision, so a value of 1000 represents 100.0% load.
Set Pr 4.08 = TorqueRef / 10.
Get TorqueRef = Pr 4.08 * 10.
62
Issue: 6
Name:
RefFromNet
Class
0x2A
Default
Instance
0x01
Data Type
USINT
Attribute
0x1D
Access
Get
Safety
Introduction
information
RefFromNet
Indicates the source of the speed reference.
TRUE if Pr 1.49 = 3 and Pr 1.50 = 1.
FALSE otherwise.
Getting
started
Protocols
Web page FTP/custom
Applications
basics
pages
Security
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
63
6.7.27 Control Techniques object
Class:
0x64 (10010)
The Control Techniques object provides access to all drive parameters. For example,
parameter Pr 4.20 would be accessed as Class 100, Instance 4, Attribute 20.
Table 6.34 Control Techniques object
Instance
Menu
0x01 (110)
1
Frequency / speed reference.
0x02 (210)
2
Ramps control.
0x03 (310)
3
Speed control.
0x04 (410)
4
Current control.
0x05 (510)
5
Motor control.
0x06 (610)
6
Sequencing.
0x07 (710)
7
Analog I/O.
0x08 (810)
8
Digital I/O.
0x09 (910)
9
Logic.
0x0A (1010)
10
Drive status.
0x0B (1110)
11
Drive set-up.
0x0C (1210)
12
Programmable thresholds.
0x0D (1310)
13
Position control.
0x0E (1410)
14
Process PID loop.
0x0F (1510)
15
Slot 1 configuration.
0x10 (1610)
16
0x11 (1710)
17
0x12 (1810)
18
User application menu 1.
0x13 (1910)
19
0x14 (2010)
20
0x15 (2110)
21
Second motor map.
0x16 (2210)
22
Additional menu 0 setup
0x17 (2310)
23
Header selections
0x3C (6010)
60
Fieldbus virtual parameter menu.
0x3D (6110)
61
General module virtual parameter menu.
0x3E (6210)
62
DNS server virtual parameter menu.
0x3F (6310)
63
Modbus TCP/IP virtual parameter menu.
0x40 (6410)
64
EtherNet/IP virtual parameter menu.
0x46 (7010) 0x57 (8710)
70 - 87
Menus of option module (if installed) in the lowest numbered
slot.
0x64 (10010) 0x7F (12710)
100 - 127 Menus of option module (if installed) in slot 1.
0x82 (13010) 0x9D (15710)
0xA0 (16010) 0xBB (18710)
0xC8 (20010)
64
Name
0
Menu 0.
Issue: 6
Class:
0xF5 (24510)
The TCP/IP Interface object provides the mechanism to configure the SM-Ethernet
TCP/IP network interface. Examples of configurable items include the device IP
address, network mask and gateway address.
NOTE
This object is normally configured by the PLC software.
6.7.29 Ethernet Link object
Class:
0xF6 (24610)
The Ethernet Link object maintains link-specific counters and status information for the
Ethernet 802.3 communication interface.
NOTE
Safety
Introduction
information
6.7.28 TCP/IP Interface object
This object is normally configured by the PLC software.
Getting
started
Protocols
Web page FTP/custom
Applications
basics
pages
Security
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
65
7
Web page basics
7.1
Connecting to SM-Ethernet
If you are using DHCP, all settings on the SM-Ethernet module will be configured by the
network DHCP server, you can confirm this is working by checking the IP address has
been correctly configured in parameters Pr MM.10 to Pr MM.13. In order to
communicate, the PC must be on the same subnet as the drive or you must have a
gateway specified for the host PC and the SM-Ethernet module.
NOTE
7.1.1
If you are not using DHCP you will need to manually configure the address, subnet
mask and default gateway (if you are connecting from a different subnet) see section
5.11 Setting the IP address on page 22.
Making a connection
To connect to SM-Ethernet, enter the address of the SM-Ethernet module (see section
5.11 Setting the IP address on page 22) into the browser window as follows:
http://192.168.1.100 (this is the default address)
Replacing the address (192.168.1.100) with the address of the SM-Ethernet module
you wish to communicate with.
NOTE
66
The default IP address when not using DHCP is 192.168.1.100. In order to communicate
with this address your PC will need to be on the same subnet or have a gateway capable
of reaching this address, additionally SM-Ethernet will also require a gateway configured
to communicate with the PC in this case.
Issue: 6
Glossary of
terms
Drive Menus
Editor
Custom
Pages
Quick
reference
Profile
Advanced
Editor
Summary
Advanced
features
Module
Info
Email
Parameter
File
Modbus
TCP/IP
Diagnostics
Index
Home
Page
Scheduled
Events
Security
PROTOCOLS
Summary
EtherNet/IP
Communication
Modules
NETWORK
User Menu
CONFIGURATION
Application
Web page FTP/custom
Applications
basics
pages
Protocols
Issue: 6
Update
Getting
started
PARAMETERS
Backup
HELP
Security
Reset
LOG-OUT / LOG-IN
Web page menu structure
The menu structure on SM-Ethernet is logically grouped by function to allow for ease of
navigation.
Figure 7-1 Web page structure
67
Safety
Introduction
information
HOME
7.2
7.2.1
The home page
Figure 7-2 shows the initial home page when connected to SM-Ethernet.
Figure 7-2 The home page
The home page contains the following main areas:
68
•
Top-level menu - this is the menu that is used to navigate to the menus on
SM-Ethernet. Click on the items to make a selection.
•
Sub-menu - the sub-menu sub divides the top-level menu in to more subsections. Click on the items to make a selection.
•
Drive details - contains more details about the SM-Ethernet usage and
settings. The section also details any Solutions Modules installed to the drive
and their firmware versions.
•
User menu parameter summary - details the parameters that the user has
previously defined to appear in this menu.
•
Drive name - this is the name allocated to SM-Ethernet during set-up.
•
Language packs installed - this area of the screen will indicate whether any
languages (other than English) are installed in the module. Click on the image
to select that language display or alternatively the language can be changed
from within the user profile menu.
Issue: 6
Logging in
Before you can view any additional screens you must login to SM-Ethernet. The default
username is root and the default password is ut72. The root username cannot be
changed, but the password should be changed to prevent unauthorized access to SMEthernet. This account is not appropriate for day to day use, and an Administrator
account should be created as soon as is practically possible. The password for the root
account should be noted in a secure place as this password is not reset when the
module is defaulted.
Figure 7-3 shows the login screen, after entering the details click the “LOG-IN” button to
login. If you lose your passwords you will need to contact your supplier or local drive
centre for instructions on how to change the password. The inactivity logout is
configurable per account, although it cannot be set to ‘Disabled’ for Super User and
Administrator accounts.
NOTE
The root account password cannot be reset back to the default (ut72) as this would be
less than the minimum length allowed for a password.
Web page FTP/custom
Applications
basics
pages
Figure 7-3 Log-in
Protocols
Passwords are case sensitive and must be at least 6 characters in length and limited to
a maximum of 15 characters. For security reasons passwords should be recorded in a
secure location known only to the account user.
Getting
started
NOTE
Safety
Introduction
information
7.2.2
5 minutes
•
15 minutes
•
30 minutes
•
60 minutes
•
Disabled (‘Read Only’ and ‘General User’ accounts only)
Quick
reference
Default (10 minutes)
•
Advanced
features
•
Diagnostics
Depending on which page is active, after a period of inactivity you may be automatically
logged out. This can be configured from the Profile sub-menu of the HOME page to one
of the following options:
Security
When you have finished working with the module you should log-out using the log out
option in the top-level menu. This prevents unauthorized access to SM-Ethernet.
Glossary of
terms
Index
Issue: 6
69
7.2.3
Home
Homepage - Displays information about the drive and user configured parameters.
Module Info - Shows technical information about SM-Ethernet. This information
includes the MAC address, SM-Ethernet firmware version, the power-up time, file
system availability and other parameters.
Profile - Allows users to change passwords, languages and session timeout lengths.
Custom pages - Only present if custom pages have been defined.
7.2.4
Parameters
Drive Menus - Displays a list of the menus within the host drive.
Editor - Shows the parameter editor interface.
The “operators” and “source” options supported by the “Advanced Editor” can also
be used in the “Update Value” box to modify the selected parameter.
Advanced Editor - Allows direct parameter access by means of a command line
instruction, in a similar way to the immediate window in SyPTPro.
The syntax of the command instruction is as follows:
{#[int]mm.pp} {[operator][-][source]}
NOTE
For clarity, spaces may be inserted between command arguments as required.
The terminology is described in Table 7.1 Advanced editor command line syntax .
Table 7.1 Advanced editor command line syntax
Command
Description
Example
Result
Destination parameter (required)
#mm.pp
Represents the destination menu
and parameter.
int
Forces parameter data type to be
treated as an integer.
=
Use source value directly (optional). #20.21 = 123
#20.21
Returns the value
of Pr 20.21.
Integer function (optional)
# int 1.21 = 50
Pr 1.21 displays
the value “5.0”.
Operator (required)
Increment destination value by 1.
++
Note: Cannot be used with the “-”
function.
#20.21 ++
Increments the
value of Pr 20.21
value by 1.
#20.21 --
Decrements the
value of Pr 20.21
value by 1.
Decrement destination value by 1.
--
70
Note: Cannot be used with the “-”
function.
Writes the value
“123” to Pr 20.21.
+=
Increment destination value by
source value.
#1.21 += #20.21
Increments the
value of Pr 1.21 by
the value of
Pr 20.21.
-=
Decrement destination value by
source value.
#1.21 -= #20.21
Decrements the
value of Pr 1.21 by
the value of
Pr 20.21.
Issue: 6
Command
Description
Example
Safety
Introduction
information
Table 7.1 Advanced editor command line syntax
Result
^=
Exclusively ORs
the value of
Exclusive OR destination value with
Pr 20.20 with the
#20.20 ^= #20.21
source value.
value of Pr 20.21
and writes the
result to Pr 20.20.
&=
AND destination value with source
value.
|=
OR destination value with source
value.
ANDs the value of
Pr 20.20 with the
#20.20 &= #20.21 value of Pr 20.21
and writes the
result to Pr 20.20.
#20.20 |= #20.21
Getting
started
ORs the value of
Pr 20.20 with the
value of Pr 20.21
and writes the
result to Pr 20.20.
Negate function (optional)
Protocols
Negates the source value
Writes Pr 20.20
with a value equal,
#20.20 = - #20.21 but of opposite
polarity, to the
Note: Cannot be used with the “++”
value of Pr 20.21.
or “--” operators.
Note: Cannot be used without the
source parameter specified.
-
Web page FTP/custom
Applications
basics
pages
Source parameter (required unless “++” or “--” operators used)
#mm.pp
n
or
0xn
Represents the source menu and
parameter.
#20.20 = #20.21
Writes the value of
Pr 20.21 into
Pr 20.20
Represents a number to be used for #20.20 = 1500
Writes the value
the source value.
“1500” into
or
Pr 20.20
Note: Can be specified in decimal or
#20.20 = 0x05DC
hexadecimal.
Protocols
Summary - Displays and allows editing of the protocol thread priority levels.
Scheduled Events - Configure events to trigger at certain times or on certain event
conditions, also configures the time source server.
Glossary of
terms
EtherNet/IP - Displays and allows editing of the EtherNet/IP settings and parameter
mappings.
Quick
reference
Email - Allows setting up of event triggered e-mails and configuration of the mail
server settings.
Advanced
features
Modbus TCP/IP - Displays and allows editing of the TCP/IP settings for Modbus
TCP/IP.
Diagnostics
7.2.5
Security
Parameter File - Allows a CTSoft parameter file to be downloaded from the host
drive for setting up parameters.
Index
Issue: 6
71
7.2.6
Network
Summary - Allows SM-Ethernet to scan the local subnet for other SM-Ethernet
modules.
Modules - The network scan option scans for any module that is within broadcast
range. This is not limited by subnets, but by gateways and proxy servers. It can be
on the same subnet, or a different subnet, as long as it is not behind a gateway that
does not forward broadcast messages. The web pages will only show the first 250
modules found. The modules web page can also be used to configure the IP address
settings of other modules on the network, other modules do not have to have valid
IP settings to be found. This means that when manually configuring IP addresses,
only one module needs to be configured through parameters, the others can all be
left with the default settings and configured through the web page of the module that
has a valid IP address.
NOTE
7.2.7
The Ethernet discovery protocol is not compatible across versions. Modules running
firmware version V01.00.00 may not locate modules running version V01.01.00 and
above and visa-versa.
Configuration
Communications - Displays and allows changes to the Ethernet and TCP/IP
settings. The Ethernet settings which can be changed here are baud rate, duplex
mode and crossover compensation. (The only possible change in the TCP/IP section
is the option to enable or disable the DHCP server).
Application - Allows the displayed information on the Homepage to be viewed or
changed. This includes the drive name, network name, drive function and contact
details.
User Menu - Allows configuration of the user menu (as shown on the home page
under Parameter Summary) to be changed.
Update - Allows system files, language files and backup files to be uploaded to the
SM-Ethernet module.
Backup - Allows data from the module to be downloaded for backup and security
reasons. This file can include the application configuration, module parameter values
and module security settings. This file can be uploaded to any SM-Ethernet module
(Decrypt module security settings not selected) or only to the SM-Ethernet module
that was used to create the backup file (Decrypt module security settings selected)
using the Update menu option.
Security - Provides user accounts and password management facilities along with
a facility to configure the connection filters.
Reset - Allows the module to be reset.
7.2.8
Help
These pages provide a basic level of help on the features of the SM-Ethernet module.
7.2.9
Log-Out
This option logs the current user out of the web pages.
72
Issue: 6
FTP/custom pages
8.1
Introduction
SM-Ethernet gives you the facility to generate customised web pages (similar to HMI
screens) that can be viewed using a web browser. Figure 8-1 shows one of the supplied
custom web pages that can be used as a starting point for your own pages.
Figure 8-1 Custom web page
Safety
Introduction
information
8
Getting
started
Protocols
Managing files
Connections using FTP
73
Index
Glossary of
terms
Issue: 6
Quick
reference
These instructions are generic and should be suitable for most FTP programs.
•
Open the FTP program.
•
Set the host to the IP address of the drive you wish to communicate with.
•
Set the port to 21.
•
Bypass any proxy server.
•
Set server type to ftp.
•
Enter the user name and password for an Administrative account. See section
10.4 Account management on page 86.
•
Select active mode.
•
Set the default remote directory to /system/.
•
Connect to SM-Ethernet.
Advanced
features
8.3
Diagnostics
In order to upload to SM-Ethernet and download from SM-Ethernet custom web pages
on the drive you must connect to the drive using an FTP program. Most popular FTP
programs should be suitable for this purpose.
Security
8.2
To avoid potential problems Control Techniques recommend that custom web page
design is performed only by suitably experienced personnel. Support on this subject will
be limited to interfacing to the drive only. General web design techniques will not be
supported.
Web page FTP/custom
Applications
basics
pages
NOTE
8.4
Custom files
After connecting to SM-Ethernet you should see a listing of the file structure.
Figure 8-2 Directory structure
Figure 8-2 shows an example of the directory structure on SM-Ethernet, the files
required to generate custom pages are contained within the custom directory.
Figure 8-3 Custom files
Figure 8-3 shows the files for the custom pages that are installed by default on SMEthernet, however index.htm is the only required file, and if this exists the custom pages
will appear in the sub-menu when logged in. The files are defined as follows.
• smethernet.htm - contains the Javascript for connecting to the drive parameters
and should not be changed.
• index.htm - contains examples of how to use the Javascript to display pages on a
web page for monitoring of values.
• config.htm - contains examples of how to use Javascript to write to parameters in
the drive.
• style.css - contains the cascading style sheet definitions for the web pages.
•
NOTE
74
images - contains the images for the custom pages, these may be added to if required.
If these files are not present then please contact your supplier or local drive centre as the
custom pages will need to be uploaded into the SM-Ethernet module using the FTP connection.
Issue: 6
Generating your own pages
Before starting to modify the pages on SM-Ethernet it is recommended that the current
files are backed up onto your PC. This will enable you to restore the files to a known
working state. The procedure for modifying the pages is as follows:
• Copy the directory structure to your local hard disk.
• Edit the index.htm and config.htm to your requirements.
• Add any additional web pages following the structure of index.htm and config.htm.
• Insert any additional images in the images directory.
• Upload the files to the drive and test them.
NOTE
From within index.htm and config.htm there are entries that use the features of
smethernet.htm for displaying and updating values. These are contained within <script>
and </script> tags as shown below:
http://129.111.0.136/US/20.21=5/dynamic/writeparval.xml
<status value="0" text="OK" />
Index
Reading of parameters is performed in a similar way but uses the URL as follows:
Issue: 6
Glossary of
terms
SM-Ethernet then decodes the information in the address and returns an XML stream
containing the results of the operation, as detailed below, indicating the success of the
operation.
Quick
reference
This is decoded as write the value 5 to Pr 20.21 and return the result of this request in
an XML web page on SM-Ethernet with address 129.111.0.136.
Advanced
features
The final stage of the process is the method that SM-Ethernet uses to communicate to
the drive. The Javascript in smethernet.htm requests a URL from the drive in the
format:
Diagnostics
This process is transparent to the end user and the only browser support required is
Javascript.
Security
<script>
new Light("light1", "10.1", {imageOn:"images/healthy_on.gif",
imageOff:"images/illum_off.gif"});
</script>
Web page FTP/custom
Applications
basics
pages
The custom pages are controlled exclusively by the Javascript contained in the library
file smethernet.htm, this contains the code required to communicate with parameters in
the SM-Ethernet and the host drive. The index.htm and config.htm contain a link to
smethernet.htm as a reference for the Javascripts required for displaying state,
updating values and for producing some of the on-screen objects such as sliders and
switches.
Protocols
Understanding custom pages
Getting
started
8.6
To test the web pages on the module you will need to log-in to the web pages then select
custom pages from the home page option. You can access the pages directly as http://
WWW.XXX.YYY.ZZZ/FS/system/custom/index.htm (where WWW.XXX.YYY.ZZZ is the
target SM-Ethernet module’s IP address). You must still be logged in to view these pages
(some user accounts can be configured to be permanently logged in see section
10.6 Security levels on page 87).
Safety
Introduction
information
8.5
75
http://129.111.0.136/US/1.21/dynamic/readparval.xml
This is decoded as a single read of Pr 1.21 from the SM-Ethernet module with the
address 129.111.0.136. For multiple parameters each parameter is separated by the
underscore character as follows:
http://129.111.0.136/US/1.21_1.24/dynamic/readparval.xml
The response to the URL request above would be:
<parameters>
<parameter name="1.21" value="55" dp="1" text="5.5Hz" />
<parameter name="1.24" value="0" dp="1" text="0.0Hz" />
</parameters>
showing the values read from each parameter along with the number of decimal places
for the parameter.
NOTE
76
To read or write the parameters you must be logged in with appropriate security access.
Issue: 6
Applications
SM-Ethernet provides an alternative to the EIA-485 (RS-485) connections provided on
the front of the drive. By using SM-Ethernet it is possible to communicate to the drive
using the following range of Control Techniques products.
•
CTSoft.
•
CTScope
•
SyPTPro.
•
SyPTLite.
•
OPC server.
This means that any applications that are familiar to the engineer can now be used over
Ethernet as if the user were connected locally.
Minimum software versions required for Ethernet
Table 9.1 Required software versions for communication over Ethernet
Commander SK
Digitax ST
Affinity
Mentor MP
SM-Applications
SM-Ethernet
OPC Server
CTScope
SyPTPro
CTSoft
Diagnostics
Advanced
features
CTSoft
Installing CTSoft
Glossary of
terms
To install CTSoft follow the instructions provided with the software. To use CTSoft with
Ethernet will require a version of CTSoft that has support for Ethernet and the
associated API or communication server. Please contact the supplier of the drive for
more information.
Quick
reference
9.2.1
Software Version
Security
9.2
Product
Unidrive SP
Web page FTP/custom
Applications
basics
pages
Table 9.1 below, lists the products used in this chapter and their minimum versions of
software required for Ethernet communication.
Protocols
9.1
Getting
started
CAUTION
Some parameters have a profound effect on the operation of the drive. They must not
be altered without careful consideration of the impact on the controlled system.
Measures must be taken to prevent unwanted changes due to error or tampering
especially if a remote user can access the drive over Ethernet.
Safety
Introduction
information
9
Index
Issue: 6
77
9.2.2
Basic configuration of CTSoft
After installing CTSoft double click on the program icon. The window shown in Figure 91 on page 78 will be displayed. Ensure the drive is connected to the Ethernet network
and the PC is on the same subnet (or the drive and PC have suitable gateway
addresses configured).
Figure 9-1 CTSoft start-up
Select the “Work with a drive” option and select the correct drive type followed by
clicking on the “OK” button.
From the navigation panel (Explorer) double click on the drive properties from the list as
shown in Figure 9-2 Drive properties on page 78.
Figure 9-2 Drive properties
78
Issue: 6
Safety
Introduction
information
Figure 9-3 Drive properties settings
Advanced
Settings
Getting
started
Protocols
Figure 9-3 shows the settings required to specify the IP address of the SM-Ethernet
module that the software will directly connect to. The IP address is always required.
To connect to a single drive via Ethernet all that is required is the IP address. The Slot
and Sub node fields should be left blank.
Advanced settings
Glossary of
terms
These are accessed using the button (as shown in Figure 9-3). The Port number will
affect all communications and should not usually be changed, any changes to this Port
must be matched on the SM-Ethernet module. The Unit ID should normally be blank, if
not this informs the software that a third party gateway is in use and communications via
SM-Ethernet will not be possible (for a gateway example see Knowledge Base Article
COMMS024).
Quick
reference
9.2.3
Advanced
features
For example, if the host drive has a SM-Ethernet installed in Slot 3 and a SMApplications installed in Slot 2, to communicate to a drive with a CTNet node address of
5, a ”slot” number of 2 and a ”Sub node” of 5 should be entered.
Diagnostics
The “Slot” is the slot number of the host drive which contains the SM-Applications
module used to route the CTNet messages onto the CTNet network. The “Sub node” is
the CTNet node address of the drive to be communicated with.
Security
To communicate through the host drive via the SM-Ethernet module to a second drive
on a CTNet network, the “Slot” and “Sub node” values must be entered.
Web page FTP/custom
Applications
basics
pages
From the drive properties menu shown in Figure 9-3 click on the “Comms Settings”
button and select “CT-TCP/IP” from the protocol drop down box, then click on
“advanced” and change the “TCP/IP Extra Timeout” to 2000. Click “OK” and “OK” again
to return to the screen shown in Figure 9-3.
Index
Issue: 6
79
Figure 9-4 Advanced TCP settings
Finally click “OK” to finish the configuration process. Follow the instructions provided
with CTSoft to use the product.
The only configuration possible using CTSoft over SM-Ethernet is a single SM-Ethernet
module on a solitary network drive at the same time.
NOTE
NOTE
9.3
9.3.1
Support for the SM-Ethernet was included in CTSoft Version 01.05.00 and above.
Support for using SM-Ethernet as a gateway to CTNet was included in CTSoft Version
01.06.01 and above.
For communication to be established, the serial priority parameter Pr MM.37 must be set
to ON in SM-Ethernet.
CTScope
Installing CTScope
To install CTScope, follow the instructions provided with the software.
9.3.2
CTScope configuration
All the appropriate configuration settings are displayed on the main screen for
communication over TCP/IP with CTScope.
NOTE
9.4
9.4.1
SyPTPro
Installing SyPTPro
To install SyPTPro follow the instructions provided with the software. To use SyPTPro
with Ethernet will require a version of SyPTPro that has support for Ethernet. Table 9.1
below lists the minimum software version required for communication over Ethernet for
the Control Techniques products used in this section.
80
Issue: 6
SyPTPro configuration
There are a number of possible configurations for using SyPTPro over Ethernet.
1. A single SM-Ethernet module on a solitary network drive.
2. A first drive hosting a single SM-Ethernet module with a single SM-Applications
networked to a second CTNet enabled drive or Beckhoff bus coupler.
3. A first drive hosting two SM-Ethernet modules networked to a second CTNet drive
hosting a single SM-Ethernet module.
Figure 9-5 illustrates these three configurations.
Figure 9-5 SyPTPro over Ethernet routing options
Safety
Introduction
information
9.4.2
Getting
started
Option 1
Protocols
Web page FTP/custom
Applications
basics
pages
Option 2
Ethernet
Security
Option 3
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
For each configuration the following steps must be taken:
Issue: 6
81
Index
1. After installing SyPTPro double click on the program icon. The window shown in
Figure 9-6, below, will be displayed. If the current protocol is not set to “CT-TCP/IP
(Ethernet)”, then click the “Change” button and a window similar to Figure 9-7,
below, will be displayed, select the “CT-TCP/IP” protocol and click “OK”.
2. Select the “Go online and detect drives” option and click “OK”, the communication
settings window will be displayed as shown in Figure 9-8 on page 83.
3. From the communication settings window, select the “Automatically scan local
network” option. (SyPTPro can be instructed to search for all nodes on the local
network, specific nodes grouped together on a particular network or additional
networks (Ethernet or CTNet) via specified IP address(es), these addresses are
added by selecting the “Connect to/through specific nodes” option and clicking on
the “Add” button. Each IP address and port number (if necessary) may now be
added, click on “OK” to accept the changes and return to the PC communication
settings window).
4. When all network options are configured as required, click on “OK” and SyPTPro
will browse the network to find all drives resident on it (depending on the configured
network settings).
Figure 9-6 SyPTPro startup
Figure 9-7 Drive communication settings
NOTE
82
Issue: 6
Safety
Introduction
information
Figure 9-8 PC Communication settings
Getting
started
Protocols
Figure 9-9 Hardware architecture
Web page FTP/custom
Applications
basics
pages
5. A graphical representation of the network is displayed. Figure 9-9, below, shows the
third configuration type. A first drive hosting two SM-Ethernet modules networked to
a second CTNet drive hosting a single SM-Ethernet module.
Security
Diagnostics
Advanced
features
Glossary of
terms
For a system with multiple networks Pr MM.38 can be used to define the group in which
the module is found, this is reflected in SyPTPro by the network number, for example if
a module is set to group 2 it will appear on network Ethernet2 in SyPTPro. Pr MM.38
must match the network number that the module is connected to in SyPTPro otherwise
the node may not be detected.
Quick
reference
NOTE
Index
Issue: 6
83
9.5
SyPTLite
SYPTLite is currently only supported if launched from SyPTPro.
9.6
OPC server
The Control Techniques OPC server can be used to provide communication between an
OPC client (which supports the OPC data access specification) and any suitable Control
Techniques drive. The OPC client configures the OPC server on which drive parameters
to read and the cyclic rate at which they will be read. The OPC server will notify the
client if any of the configured parameter values change, the OPC client then requests
the updated value from the OPC server.
The Control Techniques OPC server version 03.01.00 and above support the TCP/IP
protocol used over Ethernet.
NOTE
84
For further information please contact the supplier of the drive.
Issue: 6
Security
10.1
Introduction
On open networked systems it is important that security is considered. Security covers
aspects such as access to devices using passwords, network infrastructure, company
procedures and backup procedures.
The physical system security should be enforced with acceptable user policies and
appropriate employee guidelines.
10.2
General site security issues
10.2.1 Connecting your computer
NOTE
Control Techniques recommend the use of a quality anti-virus solution on any networked
system. The overall network security policy resides with the network administrators and
any connections to a network should be approved by the network administrators.
10.2.3 Firewall issues
Default restrictions
Issue: 6
85
Index
The global write enable Pr MM.36 is set to 0 by default. This will allow parameters to be
changed within the drive. To prevent changes to drive parameters over Ethernet,
Pr MM.36 should be set to a 1. This will prevent changes via Modbus IP, EtherNet/IP
and the web pages.
Glossary of
terms
10.3.1 Disable Full Access
Quick
reference
By default, access to the drive over Ethernet is set to read/write access. By default, all
services are available. This can be changed using Pr MM.36 (please see section
12.4.7 SM-Ethernet disable full access on page 106 for more information).
Advanced
features
10.3
Some managed switches provide control methods for network traffic, however a firewall
offers significantly more features. Configuration of a switch or firewall is beyond the
scope of this document.
Diagnostics
NOTE
Security
When a high level of security is required between the automation network and the
business network a firewall should be used. This helps prevent unwanted traffic passing
between the networks and can be used to restrict access to certain machines or users.
Web page FTP/custom
Applications
basics
pages
Connecting your computer to a network carries the risk of transferring computer viruses
to other computers on that network. It is vital that when connecting to a network you
ensure that your anti-virus software is up to date and activated. Many operating system
vendors offer regular product updates to increase stability and reduce the risk of
malicious programs causing damage to your corporate infrastructure.
Protocols
10.2.2 Virus considerations
Getting
started
It is important to remember that when connecting your computer to an existing network
you will have an impact on the data and services on that network. Particular care should
be taken not to interrupt the flow of data by disconnecting cables, powering down
switches/routers, or interrupting data flow by sending large amounts of data over the
network.
Safety
Introduction
information
10
10.4
Account management
A user account system is provided to allow an administrator to give access rights to
different classes of user. The system provides accounts for administrator and user
account types. The default username root and password ut72 should be used to gain
initial access to the module. Once logged on, additional accounts should be added as
required, with key members of the engineering staff having supervisor access. It is
recommended that a policy is put into place to ensure that passwords are recorded
elsewhere.
There is a limit on the number of active user accounts allowed, this limit is fixed at 10
and includes logged-in users and any communication accounts in use (e.g. FTP,
EtherNet/IP, etc.).
The maximum number of active logged-in user accounts is 5.
NOTE
10.5
A good company policy on passwords can help prevent problems occurring due to lost
passwords.
Adding new accounts
In order to add a new account you will need to follow the instructions below:
1. Log on to the web pages using the root or an administrator account.
2. Choose the top level CONFIGURATION menu then the Security menu.
3. Select “Add/Modify/Remove user accounts”.
4. Click on “New”.
5. Enter the details as requested in the menu.
6. Click “Apply” to finish.
NOTE
Following changes to the root account password SM-Ethernet should be reset using the
reset function on the web pages.
10.5.1 Administrator accounts
Administrator accounts are intended to provide a high level of access to the drive and
module settings. An administrator account should be reserved for engineering staff who
have a thorough understanding of the drive, SM-Ethernet and the system. Where
possible more than one person should be given administration privileges. An
administrative account is required for adding/removing accounts.
10.5.2 Other user accounts
Other user accounts should be used for engineers that need to make changes to the
system occasionally, different account types are available depending on the facilities
and features required. For more information see section 10.6 Security levels on
page 87.
86
Issue: 6
Security levels
Security levels are provided to allow different types of users to be given different access
rights to the drive and module parameters. Table 10.1 shows the access rights for
specific user types.
Disable session timeout
Upload Firmware
Enable Features
Edit Security Settings
View Security Setttings
Edit Configuration
Edit Parameters
View Config Overviews
View Status Pages
View Parameters
View Help Pages
View Home Page
Table 10.1 Security levels
No
No
No
No
No
No
No
No
No
No
N/A
Yes
Yes
Yes
Yes
No
No
No
No
No
No
No
Yes
General User
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
No
No
Yes
Super User
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
No
Administrator
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Protocols
Yes
Read Only
Getting
started
Open Access
SM-Ethernet will prevent a single user logging in more than once. A maximum of 5
simultaneous web based connections are possible. It is always possible for an
administrator to log in.
10.6.2 Protocol authentication
Certain protocols and services will require a user to authenticate using a password and
a username. This protection is detailed in the relevant protocol section of the user guide.
10.6.3 Connection filtering
Advanced
features
Be careful when enabling connection filtering as it is possible to lose the ability to
communicate with SM-Ethernet. If this situation occurs it is possible to disable
connection filtering by setting Pr MM.39 to 0.
Diagnostics
A list of trusted hosts is stored in the module and only addresses on this list are able to
communicate with SM-Ethernet.
Security
It is possible to configure SM-Ethernet to only accept connections from trusted IP,
network or MAC addresses. This is a very secure method of preventing unauthorized
access to the drive.
Web page FTP/custom
Applications
basics
pages
10.6.1 Limiting access
NOTE
Safety
Introduction
information
10.6
Quick
reference
Glossary of
terms
Index
Issue: 6
87
11
Diagnostics
This section of the manual provides basic diagnostic information intended to enable
resolution of the most common problems encountered when setting up an SM-Ethernet
module on an Ethernet network.
A high percentage of problems reported are basic setup problems that can be avoided
by using the following pages. Start by using the Diagnostic flow chart on page 89 to
determine the possible cause of a problem. If after following the flow chart you are still
experiencing problems please contact your supplier or local drive supplier for support.
NOTE
11.1
Please note that support will be limited to the setting up and networking of the drive and
not network infrastructure design.
LED diagnostics
The SM-Ethernet module is equipped with 4 LEDs on the front panel to aid in the
diagnostics procedure. The functions of these LEDs are described in Table 11.1 LED
functionality below.
Table 11.1 LED functionality
LED Name
LED State
Off
Link / Activity
Steady green
Flashing green
Speed
Module status
Ethernet connection not detected.
Ethernet connection detected.
Ethernet communication detected.
Off
10Mb/s data rate.
On
100Mb/s data rate.
Flashing green (slow)
Running RAM bootloader image.
Flashing green (fast)
Initialising main image.
Steady green
Flashing green and red
Steady red
Flash access
Description
Steady green
Steady red
Running.
Warning (slot or configuration error).
Major fault.
Reading from flash memory.
Writing to flash memory.
Figure 11-1 SM-Ethernet connections and LED indicator layout
Spade
connector
Link / Activity
Speed
8 7 6 5 4 3 2 1
Not used
Not used
Receive Not used
88
Module status
Flash access
Transmit +
Transmit Receive +
Not used
Issue: 6
Getting
started
Protocols
Web page FTP/custom
Applications
basics
pages
Security
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
89
Issue: 6
Safety
Introduction
information
Diagnostic flow chart
11.2
11.3
Module identification parameters
The basic SM-Ethernet configuration parameters can be accessed through the slot
menu in the drive, Pr MM.xx where MM is the menu for SM-Ethernet in the host drive.
11.3.1 SM-Ethernet module ID code
SM-Ethernet - module ID code
Pr MM.01
Default
410 (SM-Ethernet)
Range
-
Access
RO
The module ID code indicates the type of module installed into the slot corresponding to
menu MM. This is useful for checking the module installed is of the correct type,
especially when used with DPL code. The ID code for SM-Ethernet is 410.
11.3.2 SM-Ethernet firmware version
SM-Ethernet firmware - major version (xx.yy)
Pr MM.02
Default
N/A
Range
00.00 to 99.99
Access
RO
SM-Ethernet firmware - minor version (zz)
Pr MM.51
Default
N/A
Range
0 to 99
Access
RO
Unidrive SP (Sizes 1 to 6) / Unidrive SPM / Mentor MP
The software version of the Solutions Modules can be identified by looking at Pr 15.02 or
Pr 16.02 or Pr 17.02 and Pr 15.51 or Pr 16.51 or Pr 17.51.
Menu 15,16 or 17 is Solutions Module slot dependent with menu 17 being the lowest
position nearest the control terminal connections.
The software version takes the form of xx.yy.zz, where Pr 15.02 or Pr 16.02 or Pr 17.02
displays xx.yy and Pr 15.51 or Pr 16.51 or Pr 17.51 displays zz (e.g. for software version
01.01.00 on a module in the middle Solutions Module slot, Pr 16.02 will display 1.01 and
Pr 16.51 will display 0).
Unidrive SP (Size 0) / Digitax ST / Unidrive ES / Affinity
The software version of the Solutions Modules can be identified by looking at Pr 15.02 or
Pr 16.02 and Pr 15.51 or Pr 16.51.
Menu 15 or 16 is Solutions Module slot dependent with menu 15 (Unidrive SP size 0 and
Digitax ST) or menu 16 (Unidrive ES and Affinity) being the position nearest the control
terminal connections.
The software version takes the form of xx.yy.zz, where Pr 15.02 or Pr 16.02 displays
xx.yy and Pr 15.51 or Pr 16.51 displays zz (e.g. for software version 01.01.00 on a module in the middle Solutions Module slot (Unidrive ES and Affinity) or for Unidrive SP size
0 and Digitax ST, the Solutions Module slot nearest the incoming supply terminals),
Pr 16.02 will display 1.01 and Pr 16.51 will display 0).
Commander SK (Sizes B to D and 2 to 6)
The software version of the Solutions Module can be identified by looking at Pr 15.02 and
Pr 15.51. The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy
and Pr 15.51 displays zz (e.g. for software version 01.01.00 Pr 15.02 will display 1.01
and Pr 15.51 will display 0).
90
Issue: 6
SM-Ethernet - user allocated address
Pr MM.03
Default
0
Range
0 to 65535
Access
RW
This is used as a way to identify the node on the network independently of the IP
address. This is not the IP address. This allows SM-Ethernet to be identified without
knowing the IP address and is used in conjunction with Pr MM.38 (see section
12.4.9 SM-Ethernet user allocated group on page 107).
11.4
Network configuration parameters
11.4.1 SM-Ethernet data rate
Pr MM.04
0
Range
0 to 2
Access
RW
The SM-Ethernet will automatically detect the network data rate when set to 0. When
using auto-detect, information about the negotiated setting will be stored in Pr MM.44.
Pr MM.04
bit/s
0
Auto-detect
1
10Mbs
2
100Mbs
Web page FTP/custom
Applications
basics
pages
Table 11.2 SM-Ethernet baud rates
11.4.2 SM-Ethernet DHCP enable
SM-Ethernet - DHCP enable
Default
0 (disabled)
Ranges
0 to 1
Access
RW
Security
Pr MM.05
Quick
reference
11.4.3 SM-Ethernet IP address Wip
Default
192
Range
0-255
Access
RW
Glossary of
terms
SM-Ethernet - IP address Wip
Pr MM.10
91
Index
This is the most significant octet of the module’s IP address. When using DHCP this will
be updated from the DHCP server. The IP address is in the format W.X.Y.Z.
Issue: 6
Advanced
features
It is recommended that the MAC address of the SM-Ethernet module is used to allocate
the IP address when DHCP is enabled.
Diagnostics
If set to a 0 the module will use static IP addressing and get it’s address, subnet mask
and default gateway from parameters Pr MM.10 to Pr MM.13, Pr MM.14 to Pr MM.17
and Pr MM.18 to Pr MM.21 respectively. When set to 1 the module will obtain this
information from a DHCP server on the network.
NOTE
Protocols
Default
Getting
started
SM-Ethernet - data rate
Safety
Introduction
information
11.3.3 SM-Ethernet user allocated address
If DHCP is disabled, (MM.05=0), then this parameter should be saved (xx.00=1000 or
xx.00=1001 if using a DC supply to power the drive) and activated by resetting the SMEthernet module (MM.32=ON).
11.4.4 SM-Ethernet IP address Xip
SM-Ethernet - IP address Xip
Pr MM.11
Default
168
Range
0-255
Access
RW
This is the second most significant octet of the module’s IP address. When using DHCP
this will be updated from the DHCP server. The IP address is in the format W.X.Y.Z.
11.4.5 SM-Ethernet IP address Yip
SM-Ethernet - IP address Yip
Pr MM.12
Default
1
Range
0-255
Access
RW
This is the third most significant octet of the module’s IP address. When using DHCP
this will be updated from the DHCP server. The IP address is in the format W.X.Y.Z.
11.4.6 SM-Ethernet IP address Zip
SM-Ethernet - IP address Zip
Pr MM.13
Default
100
Range
0-255
Access
RW
This is the least significant octet of the module’s IP address. When using DHCP this will
be updated from the DHCP server. The IP address is in the format W.X.Y.Z.
11.4.7 SM-Ethernet IP subnet mask Wsubnet
SM-Ethernet - IP subnet mask Wsubnet
Pr MM.14
Default
255
Range
0-255
Access
RW
This is the most significant octet of the module’s IP subnet mask. When using DHCP
this will be updated from the DHCP server. The IP subnet mask is in the format W.X.Y.Z.
92
Issue: 6
11.4.8 SM-Ethernet IP subnet mask Xsubnet
SM-Ethernet - IP address Xsubnet
Pr MM.15
Default
255
Range
0-255
Access
RW
This is the second most significant octet of the module’s IP subnet mask. When using
DHCP this will be updated from the DHCP server. The IP subnet mask is in the format
W.X.Y.Z.
11.4.9 SM-Ethernet IP subnet mask Ysubnet
Pr MM.16
255
Range
0-255
Access
RW
This is the third most significant octet of the module’s IP subnet mask. When using
DHCP this will be updated from the DHCP server. The IP subnet mask is in the format
W.X.Y.Z.
11.4.10SM-Ethernet IP subnet mask Zsubnet
Pr MM.17
0
Range
0-255
Access
RW
This is the least significant octet of the module’s IP subnet mask. When using DHCP
this will be updated from the DHCP server. The IP subnet mask is in the format W.X.Y.Z.
Quick
reference
11.4.11 SM-Ethernet IP default gateway Wgateway
SM-Ethernet IP - default gateway Wgateway
Default
192
Range
0-255
Access
RW
Issue: 6
93
Index
This is the most significant octet of the module’s IP default gateway address. When
using DHCP this will be updated from the DHCP server. The default gateway address is
in the format W.X.Y.Z.
Glossary of
terms
Pr MM.18
Advanced
features
Diagnostics
Default
Security
SM-Ethernet - IP subnet mask Zsubnet
Web page FTP/custom
Applications
basics
pages
Default
Protocols
SM-Ethernet IP subnet mask Ysubnet
Getting
started
Safety
Introduction
information
11.4.12SM-Ethernet IP default gateway Xgateway
SM-Ethernet IP - default gateway Xgateway
Pr MM.19
Default
168
Range
0-255
Access
RW
This is the second most significant octet of the module’s IP default gateway address.
When using DHCP this will be updated from the DHCP server. The default gateway
address is in the format W.X.Y.Z.
11.4.13SM-Ethernet IP default gateway Ygateway
SM-Ethernet IP - default gateway Ygateway
Pr MM.20
Default
1
Range
0-255
Access
RW
This is the third most significant octet of the module’s IP default gateway address. When
using DHCP this will be updated from the DHCP server. The IP subnet mask is in the
format W.X.Y.Z.
11.4.14SM-Ethernet IP default gateway Zgateway
SM-Ethernet IP - default gateway Zgateway
Pr MM.21
Default
254
Range
0-255
Access
RW
This is the least significant octet of the module’s IP default gateway address. When
using DHCP this will be updated from the DHCP server. The default gateway address is
in the format W,X,Y,Z.
11.4.15SM-Ethernet Duplex mode
SM-Ethernet Duplex mode
Pr MM.42
Default
0 (auto-detect)
Range
0 to 2
Access
RW
This parameter determines how the duplex mode is set on SM-Ethernet. When set to 0
the module will auto-negotiate the duplex mode.
94
Issue: 6
Pr MM.42
bit/s
0
Auto-detect.
1
full duplex.
2
half duplex.
Safety
Introduction
information
Table 11.3 Duplex mode
If this parameter value is changed, then a module save should be performed
(xx.00=1000 or xx.00=1001 if using a DC supply to power the drive) followed by
resetting the SM-Ethernet module (MM.32=ON) to activate the change.
11.4.16SM-Ethernet enable auto-crossover detection
SM-Ethernet - Enable crossover detection
Pr MM.43
0 (disabled)
Range
0 to 1
Access
RW
Table 11.4 Crossover detection
Crossover detection
0
Disabled.
1
Enabled.
Web page FTP/custom
Applications
basics
pages
Pr MM.43
If this parameter value is changed, then a module save should be performed
(xx.00=1000 or xx.00=1001 if using a DC supply to power the drive) followed by
resetting the SM-Ethernet module (MM.32=ON) to activate the change.
11.4.17SM-Ethernet actual baud rate
SM-Ethernet Actual baud rate
Default
0
Range
0 to 2
Access
R
Security
Pr MM.44
Displays the baud rate at which SM-Ethernet is operating.
Actual baud rate
0
Baud rate not set.
10Mbs.
2
100Mbs.
Advanced
features
1
Diagnostics
Table 11.5 Actual baud rate
Pr MM.44
Quick
reference
11.4.18SM-Ethernet actual duplex mode
SM-Ethernet Actual duplex mode
Default
0
Range
0 to 2
Access
R
Glossary of
terms
Pr MM.45
Protocols
This parameter is used to determine if the module should use auto-crossover detection
or use a standard (patch) cable. If it is set to 0 you either need a cross-over cable or you
need to connect via a switch.
Getting
started
Default
Displays the duplex mode that SM-Ethernet is currently using.
Index
Issue: 6
95
Table 11.6 Actual duplex mode
Pr MM.45
Actual duplex mode
0
Duplex mode not set.
1
Full duplex mode.
2
Half duplex mode.
11.4.19SM-Ethernet MAC address UMAC
SM-Ethernet MAC address UMAC
Pr 61.01
Default
00 (Control Techniques)
Range
0 to 255
Access
R
The most significant byte of the MAC address. The MAC address is a unique value
specific to only a single SM-Ethernet module and takes the form U:V:W:X:Y:Z. The MAC
address may be found on the product label on the outside of SM-Ethernet. This part of
the MAC address will always be set to 00 as the first 3 bytes of the MAC address
defines the manufacturer (Control Techniques).
11.4.20SM-Ethernet MAC address VMAC
SM-Ethernet MAC address VMAC
Pr 61.02
Default
0D (Control Techniques)
Range
0 to 255
Access
R
The second most significant byte of the MAC address. The MAC address is a unique
value specific to only a single SM-Ethernet module and takes the form U:V:W:X:Y:Z.
The MAC address may be found on the product label on the outside of SM-Ethernet.
This part of the MAC address will always be set to 0D as the first 3 bytes of the MAC
address defines the manufacturer (Control Techniques).
11.4.21SM-Ethernet MAC address WMAC
SM-Ethernet MAC address UMAC
Pr 61.03
Default
1E (Control Techniques)
Range
0 to 255
Access
R
The third most significant byte of the MAC address. The MAC address is a unique value
address may be found on the product label on the outside of SM-Ethernet. This part of
the MAC address will always be set to 1E as the first 3 bytes of the MAC address
defines the manufacturer (Control Techniques).
96
Issue: 6
SM-Ethernet MAC address XMAC
Pr 61.04
Default
-
Range
0 to 255
Access
R
The fourth most significant byte of the MAC address. The MAC address is a unique
value specific to only a single SM-Ethernet module and takes the form U:V:W:X:Y:Z.
The MAC address may be found on the product label on the outside of SM-Ethernet.
The last 3 bytes form a unique serial number for a specific SM-Ethernet.
11.4.23SM-Ethernet MAC address YMAC
SM-Ethernet MAC address YMAC
Default
-
Range
0 to 255
Access
R
Getting
started
Pr 61.05
SM-Ethernet MAC address ZMAC
Default
-
Range
0 to 255
Access
R
Diagnostic parameters
Diagnostics
11.5
11.5.1 SM-Ethernet diagnostic information
SM-Ethernet - diagnostic information
Default
N/A
Range
-99 to 9999
Access
RO
Advanced
features
Pr MM.06
Security
The least significant byte of the MAC address. The MAC address is a unique value
address may be found on the product label on the outside of SM-Ethernet. The last 3
bytes form a unique serial number for a specific SM-Ethernet.
Web page FTP/custom
Applications
basics
pages
11.4.24SM-Ethernet MAC address ZMAC
Protocols
The fifth most significant byte of the MAC address. The MAC address is a unique value
address may be found on the product label on the outside of SM-Ethernet. The last 3
bytes form a unique serial number for a specific SM-Ethernet.
Pr 61.06
Safety
Introduction
information
11.4.22SM-Ethernet MAC address XMAC
Quick
reference
Glossary of
terms
The diagnostic information for the SM-Ethernet can be viewed in the diagnostic
information parameter (Pr MM.06). When the SM-Ethernet is communicating
successfully over Ethernet, Pr MM.06 will give an indication of the number of frames
that are being processed per second. For a list of operating status codes see Table
11.7 SM-Ethernet operating status codes on page 98.
Index
Issue: 6
97
Table 11.7 SM-Ethernet operating status codes
Pr MM.06
Status
Description
Running states
Indicates the number of frames the SM-Ethernet has transmitted
and received per second.
>0
Network ok
0
Link established
A link has been established but no frames are being transmitted or
received.
-1
Initialisation
complete
The Solutions Module has initialised correctly but no network communication is taking place on Ethernet.
Initialisation states
-2
Protocols
The user protocols such as the web server, discovery, modbus,
etc. are being initialised.
-4
Ethernet
DHCP (if used) has configured the module address. The security
and application settings are being loaded from the file system.
-6
File
-8
Drive
Configuration files are being handled.
-10
Storage
The file system and memory manager are being initialised.
-14
Launch
The application image was successfully extracted and about to be
executed.
-15
Firmware ok
-16
FLASH ok
-17
Program FLASH
-18
Download
The drive interface is being initialised.
Boot loader states
-19
Firmware is tested and is valid and about to be extracted to RAM.
FLASH programming with new firmware finished.
Downloaded firmware being written to FLASH.
New firmware is being downloaded from the FTP server.
Ethernet interface The Ethernet interface is being initialised.
-20
Start
Boot loader RAM image has started.
-81
Functional test
complete
-85
Functional test fail
The module cannot communicate successfully with it’s link partner
(e.g. connected PC).
-86
Drive functional
test fail
The module cannot communicate successfully with the host drive.
-87
Thermal functional test fail
Functional test states
The functional test has completed successfully.
The thermal monitoring circuit on the SM-Ethernet module is not
working correctly.
-88
RAM test fail
The SDRAM memory is not working correctly.
-89
FLASH test fail
The FLASH memory is not working correctly.
-92
Major hardware
fault
The Solutions Module hardware is not working correctly. Remove
and then re-apply power to the drive. If the problem persists the
module should be replaced.
Error Codes
-93
98
The module’s parameters have been incorrectly configured which
Invalid Configurais preventing the module from continuing with it’s initialisation.
tion
Check the module’s configuration.
-94
Major software
fault
-95
Initialisation Failed
The Solutions Module has encountered an unexpected error.
Remove and then re-apply power to the drive. If the problem persists the module should be replaced.
The Solutions Module has encountered an unexpected error.
Remove and then re-apply power to the drive. If the problem persists the module should be replaced.
Issue: 6
11.5.2 SM-Ethernet non-critical warning
SM-Ethernet Solutions Module error status
Pr MM.49
Default
0
Range
0 to 255
Access
R
This parameter provides an indication for the user that a non-critical warning condition
has been encountered. Bit 0 is set if any Solutions Module warning is active. Bits 1
through 7 can be mapped to specific warnings within the module, (this is not currently
possible as there are insufficient warning types to make it necessary).
Safety
Introduction
information
If the SM-Ethernet module does not initialise correctly when the drive is powered up,
remove the power from the module, wait for the drive under-voltage (‘UU’) trip to
disappear and re-apply the power, if the problem persists then the SM-Ethernet module
should be changed.
Getting
started
11.5.3 SM-Ethernet error status
SM-Ethernet Solutions Module error status
Default
0
Range
0 to 255
Access
R
Protocols
Pr MM.50
NOTE
This parameter is reset to 0 if SM-Ethernet is reset.
Web page FTP/custom
Applications
basics
pages
If an error occurs the reason for the error is written to this parameter and the drive may
produce a slot error. A value of 0 indicates that the module has not detected an error.
For a list of SM-Ethernet error codes see Table 11.8 SM-Ethernet error codes on
page 100.
Security
Diagnostics
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
99
Table 11.8 SM-Ethernet error codes
Pr MM.50
100
Error Description
50
EtherNet/IP Requested Packet Interval (RPI) timeout.
51
EtherNet/IP stack has run out of memory.
52
EtherNet/IP socket error.
53
Maximum EtherNet/IP sessions reached.
54
Maximum EtherNet/IP connections reached.
55
EtherNet/IP request limit reached.
61
Invalid configuration parameters.
62
Error initialising drive database.
63
Error initialising file system.
65
Invalid read consistency parameter.
66
Invalid write consistency parameter.
70
No valid menu data available for the module from the drive.
74
The Solutions Module has overheated.
75
The drive is not responding.
76
The Modbus connection has timed out.
80
Inter-option communication failure.
81
Inter-option communication to slot 1 timeout.
82
83
84
Memory allocation error.
85
File system error.
86
Configuration file error.
87
Language file error.
90
Drive not supported.
91
Drive mode not supported.
96
EtherNet/IP error.
97
Missed event task.
98
The Solutions Module background task has not been completed.
99
Software fault.
Issue: 6
Advanced features
12.1
Email configuration
SM-Ethernet provides the facilities for sending email alerts. These emails are configured
based on a trigger condition contained within a parameter.
12.1.1 Requirements
In order to send emails you will need the following:
•
An email address for SM-Ethernet.
•
The IP address of the mail server.
It is recommended that the address used is part of the standard corporate address
structure (i.e. [email protected]), contact your system administrator for
advice on obtaining an email address. SM-Ethernet will not receive email, and facilities
should be put in place to prevent mail going to this account residing on the server.
12.1.3 Email triggers
Under the individual email configuration screens you can configure the individual
message setup for the email. The trigger requires one parameter to trigger the event
and one parameter to re-arm the trigger. The parameter may be the same parameter or
a different parameter depending on the application. For both trigger and re-arm you
must specify the condition that must be true to generate the event.
Issue: 6
101
Index
If the 'From' field of an email is left blank the email will automatically be sent from the
modules drive name. The drive name can be specified in the application details of the
module, which is accessed from the Application menu.
Glossary of
terms
NOTE
Quick
reference
Some email servers and clients may convert the '.par' file to '.dat' if this occurs you should
contact your systems administrator for assistance.
Advanced
features
NOTE
Diagnostics
To complete the process you need to enter an appropriate email source name, a
destination email address, the title of the email, any text you wish to send and then
select if you wish to include a parameter file in the email. Sending a parameter file in the
email is useful for determining the nature of any problems as a snapshot of the drive at
the time of trigger is produced.
If all settings are correct, then the email may be enabled in the ‘Options’ section of the
configuration page.
A test email may also be generated to test the server settings.
Security
The re-arm inhibit should be used to limit the number of mails that could be sent. This is
important as SM-Ethernet has the potential to generate a high volume of email, if the
trigger and re-arm conditions are continuously met. Setting this parameter will prevent
messages from the same source being re-sent until the inhibit time has expired.
Web page FTP/custom
Applications
basics
pages
To setup email on SM-Ethernet you must first be logged in with appropriate permissions.
From the PROTOCOLS menu select Email then select the Modify Configuration
option on the menu. Enter the IP address of the mail server and the port number
required (normally 25) click on “APPLY” to save the settings. You can now add up to 3
configurable email messages.
Protocols
12.1.2 Setup
Getting
started
NOTE
A mail server that accepts SMTP connections without a password.
•
Safety
Introduction
information
12
12.2
Scheduled events
It is possible to configure the SM-Ethernet module to trigger certain events at certain
times. The following examples show what can be achieved:
•
•
•
The SM-Ethernet module could be configured to send an email once every month.
Note that an event cannot send an email directly but it can change the value of a
parameter. The email handler can then be configured to monitor the same
parameter and to transmit when the value changes.
Once every 200ms the SM-Ethernet module could trigger an “Event” task in an SMApplications module, causing it to sample data.
A number of SM-Ethernet modules could write the current date and time to drive
parameters once every second, within 50ms of each other. Thus providing each
drive with a timestamp for scheduling coordinated (not synchronised) motion.
NOTE
Care must be taken to prevent a large amount of emails from being transmitted too
quickly, otherwise the Ethernet network or server may be compromised.
NOTE
As the module has no back-up for the real-time clock it will need synchronising with an
external clock every time the module is reset (except if the module has requested
control of the serial communications buffer, where the reset is inhibited). In order for the
clock to maintain accuracy it is important that re-synchronisation is carried out regularly.
This synchronisation signal can come from a few different sources, but the module can
only be configured to use a single method at any one time.
12.2.1 Requirements
In order to schedule events based upon the time you will need a SNTP server IP
address that does not require a login or a SNTP server that is broadcasting the time on
the same network as the SM-Ethernet module.
12.2.2 SNTP Setup
To setup SNTP on SM-Ethernet you must first be logged in with appropriate
permissions. From the PROTOCOLS menu select Scheduled Events then select the
“Modify Configuration” option. You must now choose which type of SNTP source you
wish to use.
SNTP Broadcast
The module can be set to receive a SNTP timestamp from a server at regular time
intervals. This mechanism involves very little network traffic or configuration on the
module, but does not take into account network transmission delays.
SNTP Requests
The module can request the time from a specified time server at regular intervals, each
node would need to request the time individually when required. This mechanism is
potentially more accurate than the broadcast mechanism but does require each node to
be configured individually and produces more network traffic than a broadcast.
If the source type is set to request you must specify the server IP address and the time
interval between requests.
If the SNTP source is enabled and a time duration is selected for the Update Warning
Delay, then, if SM-Ethernet does not receive a time update from the specified server
within the selected time, a value of 3 is written to Pr MM.49 (non-critical warning).
102
Issue: 6
A total of 10 events can be configured on each SM-Ethernet module. Each event has
the following:
•
•
•
Updating and backup
12.3.1 Updating SM-Ethernet firmware
The SM-Ethernet module firmware and associated files can be updated using the
internal web pages from the CONFIGURATION menu then select the Update menu.
Browse for the file (*.pkg) then click “UPLOAD”. Firmware uploads can take a few
minutes and the status of the update will be shown on screen.
NOTE
Do not reset or power down the drive when uploading firmware as this may result in
data loss or corruption of the system file.
12.3.2 Updating SM-Ethernet language files
Do not reset or power down the drive when uploading the language file as this may
result in data loss or corruption of the system file.
Diagnostics
NOTE
Security
The SM-Ethernet module supports multiple languages, the language files are supplied
as .pkg files (e.g. english.pkg) and can be updated (or added) using the internal web
pages in the same way that the firmware is updated.
Web page FTP/custom
Applications
basics
pages
12.3
Protocols
•
Getting
started
•
Summary - Each event can be given a descriptive name and independently enabled
and disabled. To delete an event, tick the "Remove" option and then "APPLY". The
"Missed Event Trip" option can be used to cause a trip if more than one event is
missed.
Time of first event - This section is used to specify when the event will first occur.
When entering “Hour”, “Minute”, “Second” and “Millisecond” data, no information of
a higher resolution can be omitted. e.g. If you wish the first event to occur at 30
minutes past the next hour, then the values "--:30:00:00" must be entered (the
“Second” and “Millisecond” information must be included).
Event condition - This section has two options, the first option will trigger the event if
the set conditions are met, the second option will trigger the event if the specified
parameter contains a non-zero value.
Event action - This section is used to specify what action is to be taken on the event
being triggered.
Recurrence rule - This section is used to specify when the event will re-occur
following the start condition being met. The minimum recurrence interval is 100ms.
Safety
Introduction
information
12.2.3 Events
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
103
12.3.3 Backup
To backup parameters in the drive using the internal web pages use the
CONFIGURATION menu and select the Backup submenu. Select the options you
require from the following:
•
Application configuration data - contains information such as drive name and
the information from the Current Application Configuration pages.
•
Saved module parameter values - All the internal menus, Pr 60.xx, Pr 61.xx,
Pr 62.xx and Pr MM.xx.
•
Module specific security settings - All the usernames, passwords and security
related functions. If you do not select the decrypt option below these values
may only be used on the module they came from.
•
Decrypted module security settings - Ticking this box allows the security
settings above to be restored to any module. This option is only available to
Adminstrative users.
Click on the “SUBMIT” button and choose a filename and location to save the file.
NOTE
12.4
It is recommended that before and after any changes are made a sequentially named
backup is made. This means that at any point it is possible to restore the module to a
previous state. In the event of data corruption or module failure the data can then be
restored.
Advanced parameters
The parameters listed in this section are for advanced use only. You should only adjust
the following parameters if you have a thorough understanding of SM-Ethernet and the
application.
12.4.1 SM-Ethernet module management
SM-Ethernet - module management
Pr MM.29
Default
0
Range
1000 to 1999
Access
RO
Setting this parameter to 1500 and re-initialising the module activates the protocol “fail
safe” mode. All user protocols (modbus, FTP etc.) are disabled except for the web
interface, which will start with default thread priority.
NOTE
This does not reset passwords.
12.4.2 SM-Ethernet load defaults (reset memory)
SM-Ethernet - load option defaults
Pr MM.30
Default
OFF
Range
OFF/ON
Access
RW
When set to ON and the SM-Ethernet module is reset (Pr MM.32 set to ON), the module
will change it’s parameter values stored in the module’s local memory to default values.
Any user changes or user web pages in the module will be lost. During this operation
communications will be stopped. This parameter will automatically revert to OFF
following the operation. Pr MM.32 must be set to ON to activate the change (see section
5.17 Re-initialising SM-Ethernet on page 26).
104
Issue: 6
The use of this parameter will lose any configuration in the module. Unless you have
made a backup copy of the module’s configuration you will lose all settings. All
passwords and users are deleted, the root password remains unchanged.
12.4.3 SM-Ethernet save option parameters (backup)
SM-Ethernet - save option parameters
Pr MM.31
Default
OFF
Range
OFF/ON
Access
RW
* If the drive is in the under-voltage trip state or is fed from a low voltage backup supply,
the value 1001 should be used and not 1000.
12.4.4 SM-Ethernet re-initialise
SM-Ethernet re-initialise
Pr MM.32
Default
OFF
Range
OFF/ON
Access
RW
Security
This will force the module to re-initialise and start up with the values contained in the slot
menu of the host drive (MM.xx). This parameter will automatically reset to OFF after
completion. During this operation communications will be stopped.
Web page FTP/custom
Applications
basics
pages
To save the parameters in the drive, a value of 1000 should be entered in Pr xx.00 followed by a drive reset (press the reset button, or toggle the reset input, or write the
value 100 to Pr 10.38).
Protocols
NOTE
Getting
started
This will save the module’s current configuration in it’s local memory. During this
operation communications will be stopped. This will save menu 60 (Pr MM.xx), menu
61, web page customisations, email settings, etc. This parameter should only be used to
transfer a SM-Ethernet module to a different drive or when you wish to save any internal
parameters directly (i.e. Pr 61.10). In order to save these parameters in the drive’s
memory a drive save must be performed. This is required as SM-Ethernet will take it’s
operating parameters directly from the slot memory on the host drive at startup.
Safety
Introduction
information
NOTE
The transition of MM.32 from OFF to ON may not be visible on the drive display due to
the update rate of the display.
Diagnostics
NOTE
Writing 1070 to menu Pr MM.00 (to re-initialise all option modules) may not re-initialise
the SM-Ethernet module. The handling of 1070 within SM-Ethernet is dependent on the
state of Pr MM.37. See section 12.4.8 SM-Ethernet reduce serial interface priority on
page 107 for further information.
Advanced
features
Quick
reference
NOTE
Glossary of
terms
Index
Issue: 6
105
12.4.5 SM-Ethernet restore parameters
SM-Ethernet - restore parameters
Pr MM.33
Default
OFF
Range
OFF/ON
Access
RW
This will change the operating parameters for the module by copying the configuration
from the backup copy in the SM-Ethernet module. During this operation
communications will be stopped. The restored parameters will include menu 60 (Pr
MM.xx), menu 61, web page customisations, email settings, etc. This will not save the
current operating menu of the drive (Pr MM.xx), a drive save must be performed to
achieve this.
12.4.6 SM-Ethernet serial number
SM-Ethernet - serial number
Pr MM.35
Default
N/A
Range
0 to 9999
Access
R
The serial number is programmed into the module at the time of manufacture and
consists of the least significant 3 bytes of the MAC address in decimal format.
NOTE
This can be used to find the complete MAC address of the module by combining the
numbers with 00:0D:1E:xx.xx.xx. Where xx.xx.xx. is a value in Pr MM.35 converted to
base 16 (HEX). e.g. If Pr MM.35 contains the value of 1193046, this would give the
complete MAC address of 00 0D 1E 12 34 56.
12.4.7 SM-Ethernet disable full access
SM-Ethernet - disable full access
Pr MM.36
Default
OFF (enabled)
Range
OFF/ON
Access
RW
This parameter will restrict a remote user’s access to the drive. Pr MM.36 = ON ensures
that write access to the drive is disabled. Pr MM.36 = OFF allows full access to the drive
parameters. With this parameter enabled access to the following is not allowed.
106
•
Modbus TCP/IP write.
•
EtherNet/IP write.
•
FTP upload.
•
Web page write access to SM-Ethernet.
Issue: 6
SM-Ethernet reduce serial interface priority
Pr MM.37
NOTE
Default
OFF
Range
OFF/ON
Access
RW
It is not possible for the drive and SM-Ethernet module to support all of the available
serial communication protocols simultaneously. This parameter, when set, allows SMEthernet to request the highest priority (not relevant for Commander SK).
When on:
A remote LCD keypad will work when connected to the RJ45 serial
communications port.
•
A Solutions Module reset using Pr MM.00 = 1070 may not work.
When off:
•
Access to drive parameters and SM-Application parameters will still be
allowed.
•
This will restrict the use of the software tools CTSoft, CTScope, OPC server,
SyPTPro and SyPTLite over Ethernet as SM-Ethernet will not be able to route
messages using inter-option communications.
NOTE
For a system with multiple modules installed, the priority should be set for the module
that is receiving the incoming request.
NOTE
Only one option module can have priority of the serial communications buffer at any
time, priority access will be given to the first module requesting it.
Advanced
features
12.4.9 SM-Ethernet user allocated group
SM-Ethernet - User allocated group
Default
0
Range
0 to 65535
Access
RW
Glossary of
terms
This parameter can be used to provide logical groups for Control Techniques drives.
This will allow grouping independently of the IP settings. This is used in conjunction with
parameter Pr MM.03 (see section 12.4.10 SM-Ethernet user allocated address on
page 108).
Quick
reference
Pr MM.38
Diagnostics
When routing through SM-Ethernet to CTNet, this parameter must be set to ON. Failure
to set this parameter ON will result in communication loss or unstable communications.
Security
NOTE
Web page FTP/custom
Applications
basics
pages
An LCD keypad mounted directly to the drive will not work.
•
Protocols
•
Getting
started
The SM-Ethernet module will request highest priority (it’s actual state is shown in Pr
6.50) and the following restrictions will be applied:
•
The drive’s serial interface will only be able to handle messages of 32 bytes or
less. This will restrict the use of the software tools CTSoft, CTScope, OPC
server, SyPTPro and SyPTLite when communicating via the RJ45 serial
interface connector.
Safety
Introduction
information
12.4.8 SM-Ethernet reduce serial interface priority
Index
Issue: 6
107
12.4.10SM-Ethernet user allocated address
SM-Ethernet - user allocated address
Pr MM.03
Default
0
Range
0 to 65535
Access
RW
This is used as a way to identify the node on the network independently of the IP
address.
12.4.11SM-Ethernet connection filtering
SM-Ethernet - Connection filtering
Pr MM.39
Default
0 (disabled)
Range
0 or 1
Access
RW
When set to a 1 the connection filter list will be enabled. If you make a mistake
configuring the connection filtering and cannot connect to the module, setting this
parameter to 0 will allow communication to be restored.
12.5
Modbus TCP/IP (CT implementation)
Modbus TCP/IP is one of the most widely supported Industrial Ethernet based protocols
offering the functionality and simplicity of the Modbus protocol, combined with the
flexibility of Ethernet. The SM-Ethernet implementation of Modbus TCP/IP uses a
subset of the standard protocol provided by the Modbus organisation.
Modbus TCP/IP is an application layer protocol for communication between automation
devices utilising an Ethernet network connection. It is a client-server protocol where the
client sends a request and waits for the server to respond.
NOTE
The default port for Modbus TCP/IP communication is 502, but this may be
reconfigured using Pr 63.01 on SM-Ethernet.
12.5.1 Data structure
Communication between devices is based upon Application Data Units (ADUs) as
shown in Figure 12-1. The ADU consists of two parts, the Modbus Application Protocol
(MBAP) (Table 12.1) and the Protocol Data Units (see Table 12.2). Modbus TCP/IP
extends the standard PDU to include an IP specific 7-byte header called the Modbus
Application Protocol (MBAP).
Figure 12-1 ADU
MBAP
PDU
ADU (TCP/IP)
NOTE
It is important that when you implement the Modbus TCP ADU as shown in Figure 12-1,
you include the MBAP as well as the PDU.
NOTE
The rest of this section does not repeat the MBAP header for each function code for
reasons of clarity.
108
Issue: 6
Data access using Modbus TCP/IP takes the form of a request for data by the master,
followed by a response from the slave indicating either success (response), or failure
(exception response) as shown in Figure 12-2. If no response is received this indicates
that the message has not been received or the node is unable to reply.
Figure 12-2 Modbus TCP/IP- request, response, exception
Function
Code
Response Data
PDU (Response)
Function
Code
Function Data
PDU (Request)
Exception Data
Getting
started
Function
Code
PDU (Exception Response)
Table 12.1 MBAP
Description
Transaction identifier MSB.
Transaction identifier LSB.
Protocol identifier MSB.
Protocol identifier LSB.
Length MSB.
Length LSB.
Unit identifier.
Security
Table 12.2 PDU
PDU
Diagnostics
Consists of
Function code, 1 byte
Request
Function data, > 1 byte
Function code, 1 byte
Response
Response data, > 1 byte
Exception Error code, 1 byte
Response Exception code, 1 byte
Quick
reference
If accessing one of the SM-Applications parameters (menus 7x, 8x or 9x) on a drive
with more than one SM-Applications module installed, the message will be routed to the
SM-Applications module installed in the lowest slot number, if this is undesireable then
the direct access parameters (menus 10x, 11x, 12x, etc) should be used.
Advanced
features
NOTE
Web page FTP/custom
Applications
basics
pages
The following tables document the structure of the MBAP and PDU, specifically the
functions of each data byte within the overall message structure.
Protocols
MBAP and PDU message structure
Byte
0
1
2
3
4
5
6
Safety
Introduction
information
12.5.2 Data access
Glossary of
terms
Index
Issue: 6
109
12.6
Supported Modbus function codes
Table 12.3 below, details the supported Modbus function codes on SM-Ethernet. All
function codes write to 16 bit registers only, to write to a 32 bit destination see section
12.6.1 Extended data types on page 110.
Table 12.3 Supported function codes
Code
Decimal
Hex.
3
0x03
6
0x06
16
0x10
23
0x17
NOTE
Description
Read multiple 16 bit registers.
Write single 16 bit register.
Write multiple 16 bit registers.
Read and write multiple 16 bit registers.
Control Techniques register numbers are referenced from 0 to 65535 rather than the
traditional 1 to 65536. This is because the Control Techniques implementation of
Modbus in the receiving node adds 1 to the register number effectively preventing
access to parameter Pr 00.00 within the drive.
12.6.1 Extended data types
Standard Modbus registers are 16 bits in size and reference a single drive parameter
(Pr xx.xx). To support 32 bit data types (both integer and floating point) the Modbus
multiple read and write services are used to transfer a contiguous array of 16 bit
registers. Control Techniques products typically contain a mix of 16 bit and 32 bit
registers. To permit the client to select the appropriate 16 bit or 32 bit access the top two
bits of the register address are used to select the required data type as shown in Figure
12-3.
Figure 12-3 Modbus register data type selection
bit 15
bit 14
Type
select
bit 13 - 0
Parameter address
The extended data types are defined such that the type ‘00’ allows for backwards
compatibility.
Table 12.4 Data type field
Type field
bits 15-14
00
01
Selected data type
Comments
INT16
INT32
Backward compatible.
None.
IEEE794 standard not supported
on all servers.
None.
10
Float 32**
11
Reserved
**Not currently supported.
NOTE
110
Control Techniques drive parameters currently do not support Float32. To overcome
this INT32 should be used to represent 32 bit values. If a 32 bit data type is selected
then the server uses two consecutive 16 bit Modbus registers in 'big endian' format
(MSB transmitted first). For details of the data types within each product please consult
the documentation for that product or contact your supplier.
Issue: 6
This function code allows a contiguous array of registers to be read. The server (drive)
imposes an upper limit on the number of registers that may be read and If this is
exceeded the server will issue an exception code 2.
Table 12.5 Client request message
Byte
Table 12.6 Server (drive) response
message
1
Description
Server destination node
address, 0 is broadcast.
Function code 0x03.
2
Start register address MSB.
2
Length of register data
(bytes).
3
Start register address LSB.
3
Register data 0 MSB.
4
Number of 16 bit registers MSB.
4
Register data 0 LSB.
5
Number of 16 bit registers LSB.
5
6
0
Byte
Description
0
Server source node address.
1
Function code 0x03.
Getting
started
NOTE
If only one 16 bit register of a 32 bit register address is read the server returns the least
significant word.
NOTE
For multiple registers, the register data will be returned in ascending order, beginning
with the start register address.
NOTE
The Modbus CRC bytes are not required when using TCP/IP due to the ethernet frame
providing the error checking.
12.6.3 FC06-Write single register
1
Function code 0x06.
2
Register address MSB.
2
Register address MSB.
3
Register address LSB.
3
Register address LSB.
4
Register data MSB.
4
Register data MSB.
5
Register data LSB.
5
Register data LSB.
For each byte in the PDU message, the MSB is transmitted first, followed by the LSB.
Index
NOTE
To write 32 bits of data to a 32 bit register address, the extended data type must be
used (see section 12.6.1 Extended data types on page 110).
Glossary of
terms
NOTE
Description
Advanced
features
NOTE
0
Quick
reference
Byte
1
Description
Function code 0x06.
0
Diagnostics
Byte
message
Security
Writes a value to a single 16 bit register. The normal response is an echo of the request
after the register contents have been successfully written. The register address can
correspond to a 32 bit parameter but only the least significant 16 bits of data will be
returned.
Web page FTP/custom
Applications
basics
pages
Protocols
NOTE
Safety
Introduction
information
12.6.2 FC03-Read multiple registers
Issue: 6
111
12.6.4 FC16-Write multiple registers
Writes a contiguous array of registers. The server imposes an upper limit on the number
of registers that can be written. If this is exceeded the server will discard the request and
the client will time out.
Byte
1
Description
Function code 0x10.
2
2
3
3
4
Number of 16 bit registers MSB.
4
5
Number of 16 bit registers LSB.
5
Number of 16 bit registers
written MSB.
Number of 16 bit registers
written LSB.
0
7
Length of register data to write
(bytes).
8
9
10
6
NOTE
message
Byte
Description
0
1
Function code 0x10.
NOTE
For multiple registers, the register data is transmitted in ascending order, beginning with
the start register address.
NOTE
112
Issue: 6
Reads and writes two contiguous arrays of registers. The server imposes an upper limit
on the number of registers that can be written. If this is exceeded the server will discard
the request and the client will time out.
Byte
0
1
2
3
5
7
9
10
11
13
14
1
Function code 0x17.
Length of register data in read
(bytes).
2
3
4
5
6
For both the request and response message, the register data is transmitted in ascending order, beginning with the start register address.
NOTE
Diagnostics
NOTE
Security
NOTE
12
Web page FTP/custom
Applications
basics
pages
8
Description
0
Protocols
6
Byte
Getting
started
4
Description
Function code 0x17.
Start register address to read
MSB.
Start register address to read
LSB.
Number of 16 bit registers to
read MSB.
read LSB.
Start register address to write
MSB.
Start register address to write
LSB.
write MSB.
write LSB.
Length of register data to write
(bytes).
Table 12.12 Server (drive)
response message
Safety
Introduction
information
12.6.5 FC23-Read and write multiple registers
Advanced
features
Quick
reference
Glossary of
terms
Index
Issue: 6
113
12.7
Modbus exception codes
Modbus exceptions are a response that indicates a failed operation by the client. This is
signalled by the addition of 0x80 in the function code of the response. The specific error
can be identified by the next byte which contains the error code ID, corresponding to the
table below.
Table 12.13 Exception error codes
ID Code
0x01
0x02
0x04
0x06
0x0B
114
Name
Description
The received function code is not
FUNCTION_NOT_SUPPORTED
supported on the server, i.e. not FC3,
FC6, FC16 or FC23.
The parameter reference and/or the
TOO_MANY_REGISTERS
transfer length are/is invalid.
This error is generated when a response
SERVER_FAILURE
to a routed message is found to be
corrupt. CRC error occurred.
This can occur if the module is trying to
SERVER_BUSY
route a message but it cannot get control
of the drive’s communications buffer.
This occurs if there is no response to a
GATEWAY_PROBLEM_NO_RESPONSE
routed message.
Issue: 6
Quick reference
13.1
Complete parameter reference
Safety
Introduction
information
13
The table below lists all the SM-Ethernet set-up parameters that are required to
configure the module.
Table 13.1 SM-Ethernet parameter reference
Parameter
Default
Cross reference Description
Section 11.3.1 on
Module ID code.
page 90
Pr MM.02
-
Section 11.3.2 on
Option software version.
page 90
Pr MM.03
0
Section 11.3.3 on
User allocated address.
page 91
Pr MM.04
0
Section 11.4.1 on
Ethernet data rate.
page 91
Pr MM.05
0
Section 11.4.2 on
DHCP enable.
page 91
Pr MM.06
0
Section 11.5.1 on
Ethernet module diagnostic information.
page 97
Pr MM.10
192
IP address Xip.
Pr MM.11
168
1
Pr MM.13
100
Pr MM.14
255
Subnet mask Wsubnet.
Pr MM.15
255
Pr MM.16
255
Section 5.12 on Subnet mask Xsubnet.
page 23
Subnet mask Ysubnet.
Section 5.11 on
page 22
Web page FTP/custom
Applications
basics
pages
IP address Wip.
Pr MM.12
IP address Yip.
IP address Zip.
Subnet mask Zsubnet
0
Pr MM.18
192
Default gateway Wgateway.
Pr MM.19
168
Pr MM.20
1
Section 5.13 on Default gateway Xgateway.
page 24
Default gateway Ygateway.
Pr MM.21
254
Security
Pr MM.17
Pr MM.30
OFF
Section 12.4.2 on
Load option defaults.
page 104
Pr MM.31
OFF
Section 12.4.3 on
Save option parameters.
page 105
Pr MM.32
OFF
Section 12.4.4 on
Request to re-initialise.
page 105
Pr MM.33
OFF
Section 12.4.5 on
Restore parameters.
page 106
Pr MM.35
0
Pr MM.36
OFF
Section 12.4.7 on
Disable full access.
page 106
Pr MM.37
OFF
Section 12.4.8 on
Reduce SP serial interface priority.
page 107
Quick
reference
0
Advanced
features
Pr MM.29
Diagnostics
Default gateway Zgateway.
Section 12.4.1 on
Module management.
page 104
Section 12.4.6 on
Serial number (partial MAC address).
page 106
Index
Glossary of
terms
Issue: 6
Protocols
410
Getting
started
Pr MM.01
115
Table 13.1 SM-Ethernet parameter reference
Parameter
Default
Pr MM.38
0
Cross reference Description
Pr MM.39
0
Section 12.4.11
on page 108
Connection filtering.
Pr MM.42
0
Section 11.4.15
on page 94
Duplex mode.
Pr MM.43
0
Section 11.4.16
on page 95
Crossover detection.
Pr MM.44
-
Section 11.4.17
on page 95
Actual baud rate.
Pr MM.45
-
Section 11.4.18
on page 95
Actual duplex mode.
Pr MM.49
0
Section 11.5.2 on
Non-critical warning condition.
page 99
Pr MM.50
0
Section 11.5.3 on
Solutions Module error status.
page 99
Pr MM.51
-
Section 11.3.2 on
Solutions Module software sub-version.
page 90
Section 12.4.9 on
User allocated group.
page 107
Table 13.2 SM-Ethernet virtual parameter reference
Parameter
Default
Description
Pr 60.00
0
Parameter zero.
Pr 60.01
410
Module ID code.
Pr 60.02
-
Option software version.
Pr 60.03
0
User allocated address.
Pr 60.04
0
Ethernet data rate.
Pr 60.05
0
DHCP enable.
Pr 60.06
0
Ethernet module diagnostic information.
Pr 60.10
192
IP address Wip.
Pr 60.11
168
IP address Xip.
Pr 60.12
1
IP address Yip.
Pr 60.13
100
IP address Zip.
Pr 60.14
255
Subnet mask Wsubnet.
Pr 60.15
255
Subnet mask Xsubnet.
Pr 60.16
255
Subnet mask Ysubnet.
Pr 60.17
0
Subnet mask Zsubnet.
Pr 60.18
192
Default gateway Wgateway.
Pr 60.19
168
Default gateway Xgateway.
Pr 60.20
1
Default gateway Ygateway.
Pr 60.21
254
Pr 60.29
0
Module management.
Pr 60.30
OFF
Load option defaults.
Pr 60.31
OFF
Save option parameters.
Pr 60.32
OFF
Request to re-initialise.
Pr 60.33
OFF
Pr 60.35
0
Menu 60
116
Default gateway Zgateway.
Restore parameters.
Serial number (partial MAC address).
Issue: 6
Parameter
Default
Pr 60.36
OFF
Disable full access.
Pr 60.37
OFF
Reduce SP serial interface priority.
Pr 60.38
0
Pr 60.39
0
Connection filtering.
Pr 60.42
0
Duplex mode.
Pr 60.43
0
Crossover detection.
Pr 60.44
-
Actual baud rate.
Pr 60.45
-
Actual duplex mode.
Pr 60.49
0
Non-critical warning condition.
Pr 60.50
0
Solutions Module error status.
Pr 60.51
-
Solutions Module software sub-version.
Pr 61.00
0
Parameter zero.
Safety
Introduction
information
Description
User allocated group.
MAC address UMAC.
MAC address VMAC.
Pr 61.03
-
MAC address WMAC.
Pr 61.04
-
MAC address XMAC.
Pr 61.05
-
MAC address YMAC.
Pr 61.06
-
MAC address ZMAC.
Pr 61.07
-
Slot indicator.
Pr 61.10
4 (High)
Web page FTP/custom
Applications
basics
pages
-
Protocols
Pr 61.01
Pr 61.02
Getting
started
Menu 61
Modbus thread priority.
Pr 61.11
3 (Medium) FTP thread priority.
Pr 61.12
3 (Medium) SMTP thread priority.
Pr 61.13
3 (Medium) HTTP thread priority.
Pr 61.14
4 (High)
Pr 61.15
4 (High)
Event thread priority.
Pr 61.20
5000
Pr 61.21
2000
EtherNet/IP thread tick time (µs).
Pr 61.30
2000
Discovery and identification process silent period (ms).
Pr 61.31
30000
Discovery and identification process maximum search time (ms).
Pr 61.32
30000
Discovery and identification process search retention time (ms).
Pr 61.33
250
IP communications timeout (ms).
Pr 61.34
500
IP routing timeout (ms).
Pr 61.50
-
Bootloader software version.
Pr 61.51
-
Bootloader software sub-version.
Pr 62.00
0
Parameter zero.
EtherNet/IP thread priority.
Security
Modbus thread tick time (µs).
Diagnostics
Advanced
features
Primary DNS server WDNS1.
Primary DNS server XDNS1.
Pr 62.03
0
Primary DNS server YDNS1.
Pr 62.04
0
Primary DNS server ZDNS1.
Pr 62.05
0
Secondary DNS server WDNS2.
Pr 62.06
0
Secondary DNS server XDNS2.
Pr 62.07
0
Secondary DNS server YDNS2.
Issue: 6
Index
0
0
Glossary of
terms
Pr 62.01
Pr 62.02
Quick
reference
Menu 62
117
Parameter
Default
Pr 62.08
0
Secondary DNS server ZDNS2.
Description
Pr 62.09
0
Tertiary DNS server WDNS3.
Pr 62.10
0
Tertiary DNS server XDNS3.
Pr 62.11
0
Tertiary DNS server YDNS3.
Pr 62.12
0
Tertiary DNS server ZDNS3.
Pr 63.00
0
Parameter zero.
Pr 63.01
502
Listening Modbus TCP/IP port.
Pr 63.02
10
Maximum number of concurrent Modbus connections.
Pr 63.03
5
Maximum number of priority Modbus connections.
Pr 63.04
2
Maximum number of priority connections per client.
Pr 63.05
OFF
Pr 63.06
1000
Pr 63.10
0
1st Priority connection.
Pr 63.11
0
2nd Priority connection.
Menu 63
Modbus timeout enable.
Modbus timeout time (ms).
Pr 63.12
0
3rd Priority connection.
Pr 63.13
0
4th Priority connection.
Pr 63.14
0
Pr 63.15
0
Pr 63.16
0
Pr 63.17
0
Pr 63.18
0
Pr 63.19
0
Pr 63.20
0
Pr 63.21
0
Pr 63.22
0
Pr 63.23
0
Pr 63.24
0
Pr 63.25
0
Pr 63.26
0
Pr 63.27
0
Pr 63.28
0
Pr 63.29
0
Pr 64.00
0
Parameter zero.
Pr 64.01
1
Parameter alignment.
Pr 64.02
ON
Pr 64.03
OFF
Pr 64.04
0
Pr 64.05
OFF
Pr 64.06
0
Menu 64
118
Endianism.
Read consistency.
Read consistency trigger parameter.
Write consistency.
Write consistency trigger parameter.
Issue: 6
Parameter
Default
Pr 64.10
-
Description
Connection status
8
Primary output assembly object size (bytes).
Pr 64.20
0
Input mapping parameter 1.
Pr 64.21
0
Pr 64.22
0
Pr 64.23
0
Pr 64.24
0
Pr 64.25
0
Pr 64.26
0
Pr 64.27
0
Pr 64.28
0
Pr 64.29
0
Pr 64.30
0
Pr 64.31
0
Pr 64.32
0
Pr 64.33
0
Pr 64.34
0
Pr 64.35
0
Pr 64.36
0
Pr 64.37
0
Pr 64.38
0
Pr 64.39
0
Pr 64.40
0
Pr 64.41
0
Pr 64.42
0
Pr 64.43
0
Pr 64.44
0
Pr 64.45
0
Pr 64.46
0
Pr 64.47
0
Pr 64.48
0
Pr 64.49
0
Pr 64.50
0
Pr 64.51
0
Pr 64.52
0
Pr 64.53
0
Pr 64.54
0
Pr 64.55
0
Pr 64.56
0
Pr 64.57
0
Index
Primary input assembly object size (bytes).
Pr 64.16
Glossary of
terms
8
Quick
reference
Motor 2 type.
Pr 64.15
Advanced
features
Motor 1 type.
7
Diagnostics
7
Pr 64.14
Security
Pr 64.13
Web page FTP/custom
Applications
basics
pages
RPI timeout trip enable.
Advanced EDS file enable.
Protocols
ON
OFF
Getting
started
Pr 64.11
Pr 64.12
Issue: 6
Safety
Introduction
information
119
NOTE
120
Parameter
Default
Pr 64.58
0
Description
Pr 64.59
0
Pr 64.60
0
Output mapping parameter 1.
Pr 64.61
0
Pr 64.62
0
Pr 64.63
0
Pr 64.64
0
Pr 64.65
0
Pr 64.66
0
Pr 64.67
0
Pr 64.68
0
Pr 64.69
0
Pr 64.70
0
Pr 64.71
0
Pr 64.72
0
Pr 64.73
0
Pr 64.74
0
Pr 64.75
0
Pr 64.76
0
Pr 64.77
0
Pr 64.78
0
Pr 64.79
0
Pr 64.80
0
Pr 64.81
0
Pr 64.82
0
Pr 64.83
0
Pr 64.84
0
Pr 64.85
0
Pr 64.86
0
Pr 64.87
0
Pr 64.88
0
Pr 64.89
0
Pr 64.90
0
Pr 64.91
0
Pr 64.92
0
Pr 64.93
0
Pr 64.94
0
Pr 64.95
0
Pr 64.96
0
Pr 64.97
0
Pr 64.98
0
Pr 64.99
0
The parameters in Table 13.2 are configured internally by the web pages and should not
be altered via parameter access directly.
Issue: 6
Glossary of terms
Address: This is the unique network identification given to a networked device to allow
communication on a network. When a device sends or receives data the address is
used to determine the source and the destination of the message.
Assembly object: A software component within the SM-Ethernet which allows access
to the parameters within the drive or which allows control and monitoring of the drive by
using the EtherNet/IP protocol.
Attribute: A sub-division of a Class which uniquely identifies a specific command.
e.g. The VendorID is an attribute of the Identity object class.
Used in conjunction with the Class and Instance properties.
Byte: A collection of 8 binary digits that collectively store a value. This may be signed or
unsigned.
Class: A collection of properties which allow the control or monitoring of a device. Used
in conjunction with the Instance and Attribute properties.
Device: A piece of equipment connected to a network, this may be any type of
equipment including repeaters, hubs, masters or slaves.
Glossary of
terms
Data rate: Determines the communication speed of the network, the higher the value
the more data can be sent across the network in the same time period.
Quick
reference
Cyclic (implicit or polled) data: Data that is transmitted at regular intervals over the
network. Sometimes referred to as “Implicit data” or “Polled data”.
Advanced
features
Crossover lead: A network cable where the terminal connections at one end of the
cable are connected straight through to the other end with the exception of the data pair
which are transposed. Normally used to connect two network devices together as a
separate network.
Diagnostics
Control word: A collection of binary digits that are used to control the drive. Features
typically include directional controls, run controls and other similar functions.
Security
Consistency: A method of ensuring that the data transferred over the network is
transmitted as a single entity, thus preventing data skew when multiple bytes are
transmitted.
Web page FTP/custom
Applications
basics
pages
Bit: A binary digit, this may have the value of 1 or 0.
Protocols
ADU: Application Data Unit. The complete Modbus message frame (ADU) consists of
the Modbus Application Protocol (MBAP) and Protocol Data Unit (PDU).
Getting
started
Auto-crossover detection: A method used to automatically detect if a crossover or
non-crossover network cable is connected.
Safety
Introduction
information
14
Index
Issue: 6
121
DNS: Domain Name Server. This is a server that is used to convert a URL such as
“www.controltechniques.com” to an IP address such as 129.254.254.106.
Double word: A 32 bit word, this may be signed or unsigned.
DHCP: Dynamic Host Configuration Protocol. This is a method of allocating IP settings
of a node from a central server.
Grounding: Describes the electrical safety or shielding connections for the module.
EDS File: Electronic Data Sheet file. A file which specifies the EtherNet/IP device
functionality.
Ethernet address: See MAC address.
EtherNet/IP: An industrial application layer protocol for communicating to devices over
Ethernet. The EtherNet/IP protocol communicates to the drive using assembly objects.
Exception codes: An error response from Modbus.
Explicit data: See Non-cyclic data.
Firewall: A computer or piece of software that restricts connections between different
ports. This can be useful when restricting data flow between two network segments.
FTP: File Transfer Protocol. Used for transferring files.
Gateway: A device that allows devices on different subnets or networks to
communicate with each other.
Hub: A method of connecting computers together on Ethernet. An un-switched hub will
repeat any data received on one port to all ports.
HTTP: Hypertext transfer protocol. This is a document specification protocol. Commonly
used in web pages.
Implicit data: See Cyclic data.
Instance: A collection of properties (Attributes) that are contained within a Class.
Used in conjunction with the Class and Attribute properties.
IP: Internet Protocol, this is the protocol used to transmit bytes across an IP network.
IP address: An address that identifies a node uniquely on a subnet or network.
IP subnet: A part of an IP network that consists of a range of addresses that may be
accessed by all devices on the same network directly.
LED: Light Emmiting Diode.
Long word: A 32 bit data word that may be signed or unsigned.
122
Issue: 6
MAC address: This is a unique address that is assigned to SM-Ethernet at the time of
manufacture. No other device will have this address. The address is used to make
connections to the module before the IP address is assigned.
MBAP: Modbus application protocol. This is a 7 byte header added to the main Modbus
telegram (PDU) which contains IP specific identifiers.
Modbus IP: A protocol that allows Modbus to be sent over TCP/IP. The modbus
protocol allows manipulation of the parameters within the host drive and SM-Ethernet.
MSB: Most Significant Bit/Byte.
Getting
started
Node: A device on the network. This may be either a device such as a drive or part of
the network such as a repeater.
Safety
Introduction
information
LSB: Least Significant Bit/Byte.
Non-crossover lead: See Patch lead.
Patch lead: A network cable where the terminal connections at one end of the cable are
connected straight through to the other end on a pin to pin basis. Normally used to
connect a network device to a network switch.
PC: Personal Computer.
PDU: Protocol Data Unit. This is the main Modbus message telegram, to which is added
the MBAP header to form the complete Modbus telegram.
Security
PLC: Programming Logic Controller.
Diagnostics
Poll rate: The rate at which cyclic data is sent and received on the network.
Polled data: See Cyclic data.
Shielding: A connection to provide additional immunity to noise used on a network
cable.
Index
SMTP: Simple Mail Transfer Protocol. A protocol used for sending email.
Glossary of
terms
Scan rate: See Poll rate.
Quick
reference
Router: A device that is used to connect different networks or subnets, in a similar way
to a firewall, however a router generally allows significantly less control of the data.
Advanced
features
RPI: Requested Packet Interval. Specifies the expected time for the device to respond
to a request.
Issue: 6
Web page FTP/custom
Applications
basics
pages
Octet: A collection of 8 binary digits which form a byte.
Protocols
Non-cyclic (explicit) data: Data that is requested or sent as required and not on a
regular basis. Sometimes referred to as “Explicit data”.
123
SNTP: Simple Network Time Protocol. A protocol used for synchronising time over a
network.
Status word: A value that denotes the status of the drive. Each bit within the word will
have a specific meaning.
Subnet: A part of a network that has IP addresses in the same range. Devices on the
same subnet may communicate directly with other devices on the same subnet without
the use of a gateway.
Subnet mask: Defines which part of the IP address constitutes the subnet address and
which part constitutes the host device address.
Switch: A device that allows Ethernet devices to be interconnected.
TCP: Transmission Control Protocol, this protocol is responsible for ensuring that the
data on the network reaches it’s destination.
URL: Uniform Resource Locator. A method used to give a web site a friendly name
such as www.controltechniques.com as an alternative to an IP address.
VPN: Virtual Private Network. A method of using a non-secure or public network that
allows devices to be connected together as if they were a part of a private network.
Word: A collection of 16 binary digits.
XML: Extensible Markup Language. A document definition that is intended to transfer
data.
124
Issue: 6
Safety
Introduction
information
Index
A
Getting
started
AC/DC Drive object ....................................................................................60
Account management ................................................................................86
Actual baud rate .........................................................................................95
Actual duplex mode ....................................................................................95
Adding new accounts .................................................................................86
Addressing .................................................................................................17
Addressing etiquette ...................................................................................18
Administration accounts .............................................................................86
Advanced EDS File ....................................................................................31
Advanced parameter editor ........................................................................70
Alternative notation .....................................................................................19
Applications ................................................................................................77
Assembly object .................................................................................35, 121
Attribute ....................................................................................................121
Protocols
B
Web page FTP/custom
Applications
basics
pages
Backup .....................................................................................................105
Basic speed and torque control ..................................................................38
Basic speed and torque feedback ..............................................................43
Basic speed control ....................................................................................36
Basic speed feedback ................................................................................41
Baud rate ....................................................................................................25
C
Advanced
features
Quick
reference
Glossary of
terms
Index
Diagnostics
Issue: 6
Security
Cable shield connections ...........................................................................13
Cabling .......................................................................................................13
Cabling considerations ...............................................................................13
Cautions .......................................................................................................5
Class A addresses .....................................................................................19
Class B addresses .....................................................................................19
Class C addresses .....................................................................................19
Class D & E addresses ..............................................................................19
Class Types ................................................................................................18
Client request ...........................................................................111, 112, 113
Complete parameter reference ................................................................115
Completing the address .............................................................................20
Compliance ..................................................................................................6
Configuration ..............................................................................................72
Configuring SM-Ethernet cyclic parameters ...............................................33
Configuring the PLC ...................................................................................35
Conformance ................................................................................................9
Connecting .................................................................................................66
Connecting a PC ........................................................................................15
Connection and indications ........................................................................12
Connection filtering .............................................................................87, 108
Connection of network subnets ..................................................................16
Connections using FTP ..............................................................................73
Control Supervisor object ...........................................................................56
125
Control Techniques assembly objects ........................................................35
Control Techniques object ..........................................................................64
Crossover correction ..................................................................................95
CTNet .........................................................................................................79
CTSoft ........................................................................................................77
Custom files ................................................................................................74
Custom web pages .....................................................................................29
Cyclic (implicit or polled) data ...................................................................121
Cyclic (implicit or polled) data transfer .......................................................33
D
Data format .................................................................................................91
Data rate ...............................................................................................25, 91
Default gateway ....................................................................................24, 93
Default password ........................................................................................69
Default restrictions ......................................................................................85
Default username .......................................................................................69
DHCP considerations .................................................................................20
DHCP enable .......................................................................................25, 91
DHCP options .............................................................................................25
DHCP server configuration .........................................................................26
Diagnostic flow chart ..................................................................................89
Diagnostic parameters ...............................................................................97
Diagnostics .................................................................................................88
Disable full access ....................................................................................106
Downloading .............................................................................................103
Drive save ..................................................................................................27
Duplex mode ..............................................................................................94
E
EDS File ...................................................................................................122
Electrical installation ...................................................................................12
Electrical safety ............................................................................................5
Email ..........................................................................................................29
Email configuration ...................................................................................101
Email triggers ...........................................................................................101
EN954-1 .......................................................................................................5
Environmental limits .....................................................................................6
Error codes ...............................................................................................100
Error status .................................................................................................99
Ethernet Link object ....................................................................................65
EtherNet/IP .........................................................................................30, 122
Extended data types .................................................................................110
Extended speed and torque control ...........................................................40
Extended speed and torque feedback ........................................................44
Extended speed control ..............................................................................37
Extended speed feedback ..........................................................................42
F
File system .................................................................................................29
Firewall issues ............................................................................................85
Firewalls .....................................................................................................14
Firmware updates .......................................................................................30
126
Issue: 6
Safety
Introduction
information
Firmware version ........................................................................................90
Fixed IP addressing ....................................................................................20
FTP .............................................................................................................29
FTP/custom pages .....................................................................................73
G
General safety considerations for remote operation ....................................7
Generating your own pages .......................................................................75
Getting started ............................................................................................17
Glossary of terms .....................................................................................121
Grounding ...................................................................................................13
H
Getting
started
Help ............................................................................................................72
Home page ...........................................................................................68, 70
HTTP ..........................................................................................................29
Hubs ...........................................................................................................14
I
Protocols
ID code .......................................................................................................90
Installing CTSoft .........................................................................................77
Installing SyPTPro ......................................................................................80
Instance ....................................................................................................122
Introduction ...................................................................................................8
IP address ......................................................................................19, 22, 91
Web page FTP/custom
Applications
basics
pages
J
JAVA scripts ...............................................................................................75
L
Security
Language packs .........................................................................................68
Languages ............................................................................................29, 30
Layout .........................................................................................................12
LED Diagnostics .........................................................................................88
Length of cable ...........................................................................................13
Load defaults ............................................................................................104
Logging in ...................................................................................................69
Low voltage supply .....................................................................................27
Diagnostics
M
Advanced
features
MAC address ..............................................................................................96
Managing files ............................................................................................73
Menu 20 .....................................................................................................27
Minimum software versions required for Ethernet ................................17, 77
Modbus exception codes ..........................................................................114
Modbus function codes ......................................................................28, 110
Modbus TCP/IP ..........................................................................................28
Modbus TCP/IP configuration ....................................................................28
Module identification ...................................................................................90
Module information .....................................................................................12
Module management ................................................................................104
Motor ............................................................................................................6
Quick
reference
Glossary of
terms
Index
N
Network ......................................................................................................72
Issue: 6
127
Network configuration parameters .............................................................91
Network connections ..................................................................................15
Network design ...........................................................................................17
Network length ...........................................................................................13
Network topology ........................................................................................14
Node to node cable length .........................................................................14
Non-cyclic (explicit) data ..........................................................................123
Non-cyclic (explicit) data transfer ...............................................................33
O
Object Class .............................................................................................121
Object Model ..............................................................................................47
OPC server .........................................................................................84, 107
Operating status ...................................................................................26, 97
Operating status codes ..............................................................................98
Option modules ID codes ...........................................................................50
P
Parameter editor .........................................................................................70
Parameter File ............................................................................................71
Parameter reference ................................................................................115
Parameters .................................................................................................70
Parameters - adjusting .................................................................................6
Passwords ............................................................................................69, 82
PC/PLC considerations ..............................................................................28
Problems ....................................................................................................88
Protocols ..............................................................................................28, 71
Q
Quick reference ........................................................................................115
R
Read consistency .......................................................................................31
Re-arm .....................................................................................................101
Reduce SP serial interface priority ...........................................................107
Registers ....................................................................................................28
Re-initialising SM-Ethernet .................................................................26, 105
Requested Packet Interval (RPI) Timeout Trip ...........................................31
Reset memory ..........................................................................................104
Restore parameters ..................................................................................106
RJ45 Terminals ..........................................................................................12
Routers .......................................................................................................14
Routing .......................................................................................................20
S
Safety information ........................................................................................5
Safety of personnel ......................................................................................5
Save option parameters ...........................................................................105
Saving parameters .....................................................................................27
Scheduled events .....................................................................................102
SECURE DISABLE ......................................................................................5
Security ......................................................................................................85
Security levels ............................................................................................87
Serial number ...........................................................................................106
128
Issue: 6
Safety
Introduction
information
Server response .......................................................................111, 112, 113
Set-Up Flow Chart ......................................................................................21
Shield .........................................................................................................13
Site security ................................................................................................85
SM-Applications .........................................................................................27
SM-LON module - front view ......................................................................11
SMTP .........................................................................................................29
SNTP ............................................................................................29, 30, 102
Sub menu ...................................................................................................68
Subnet mask ........................................................................................19, 23
Supported drive assembly objects .............................................................36
Switch - using a single switch .....................................................................16
Switch - using multiple switches .................................................................16
Switches .....................................................................................................14
SyPTLite ...............................................................................................82, 83
Getting
started
T
Protocols
TCP/IP Interface object ..............................................................................65
Top level menu ...........................................................................................68
U
Web page FTP/custom
Applications
basics
pages
Understanding custom pages .....................................................................75
Unlock code ................................................................................................69
Un-switched hubs .......................................................................................14
Updating SM-Ethernet firmware ...............................................................103
Updating SM-Ethernet language files .......................................................103
Uploading .................................................................................................103
User accounts ............................................................................................86
User allocated address .......................................................................91, 108
User allocated group ................................................................................107
UU trip ........................................................................................................27
V
Security
Virtual parameter reference ......................................................................116
Virtual Private Network (VPN) ....................................................................15
Virus considerations ...................................................................................85
Diagnostics
W
Advanced
features
Warnings ......................................................................................................5
Web page ...................................................................................................29
Web page basics ........................................................................................66
Web page menu structure ..........................................................................67
Where do IP addresses come from? ..........................................................17
Write consistency .......................................................................................32
Quick
reference
X
XML ............................................................................................................75
Glossary of
terms
Index
Issue: 6
129
0471-0047-06
EF
Guía del usuario
SM-Resolver
Módulo Resolver para
Unidrive SP
Nº de referencia: 0471-0052-04
4ª Edición
Información general
El fabricante no acepta responsabilidad alguna por las consecuencias que puedan derivarse de
instalaciones o ajustes inadecuados, negligentes o incorrectos de los parámetros operativos
opcionales del equipo, o de una mala adaptación del accionamiento de velocidad variable al motor.
El contenido de esta guía se considera correcto en el momento de la impresión. En aras del
compromiso a favor de una política de continuo desarrollo y mejora, el fabricante se reserva el
derecho de modificar sin previo aviso las especificaciones o prestaciones de este producto, así
como el contenido de esta guía.
Reservados todos los derechos. Queda prohibida la reproducción o transmisión de cualquier parte
de esta guía por cualquier medio o manera, ya sea eléctrico o mecánico, incluidos fotocopias,
grabaciones y sistemas de almacenamiento o recuperación de la información, sin la autorización
por escrito del editor.
Versión de software del accionamiento
El SM-Resolver sólo se puede utilizar con accionamientos que disponen de la versión de software
01.01.00 u otra posterior.
Copyright
4ª Edición
© Enero 2005 Control Techniques Drives Ltd
Contenido
1
Cómo usar esta guía ..................................................... 4
1.1
1.2
Personal a que se destina ....................................................................... 4
Información ............................................................................................. 4
2
Información de seguridad ............................................. 5
2.1
2.2
2.3
2.4
2.5
2.6
2.7
Advertencias, precauciones y notas ...................................................... 5
Advertencia general sobre seguridad eléctrica ....................................... 5
Diseño del sistema y seguridad del personal .......................................... 5
Límites medioambientales ...................................................................... 6
Cumplimiento de normativas ................................................................... 6
Motor ....................................................................................................... 6
Ajuste de parámetros .............................................................................. 6
3
Introducción ................................................................... 7
3.1
3.2
3.3
3.4
3.5
Funciones ................................................................................................ 7
Identificación del módulo Resolver ......................................................... 7
Parámetros de configuración .................................................................. 8
Tipos de resólver compatibles ................................................................ 8
Funcionamiento de un resólver ............................................................... 9
4
Instalación del SM-Resolver ....................................... 11
4.1
4.2
4.3
4.4
Ranuras del módulo Resolver ............................................................... 11
Instalación ............................................................................................. 11
Descripción de terminales ..................................................................... 13
Cableado y conexiones del blindaje ...................................................... 13
5
Procedimientos iniciales ............................................ 16
5.1
5.2
5.3
5.4
Instalación ............................................................................................. 16
Configuración del módulo Resolver ...................................................... 17
Salida de simulación del codificador ..................................................... 18
Función de captura ............................................................................... 18
6
Parámetros ................................................................... 19
6.1
6.2
6.3
Introducción ........................................................................................... 19
Descripciones de una línea ................................................................... 21
Descripción de parámetros ................................................................... 26
7
Diagnósticos ................................................................ 34
7.1
Presentación del historial de desconexiones ........................................ 34
8
Datos de terminales .................................................... 37
Índice alfabético .......................................................... 39
Guía del usuario del SM-Resolver
4ª Edición
1
Cómo usar esta guía
1.1
Personal a que se destina
Esta guía está pensada para ser utilizada por personal con la formación y experiencia
necesarias en tareas de configuración, instalación, puesta en servicio y mantenimiento
del sistema.
1.2
Información
Esta guía contiene información relacionada con la identificación del módulo Resolver, la
disposición de terminales para la instalación y la conexión del módulo Resolver al
accionamiento, así como datos de los parámetros e información de diagnóstico.
Además de la información mencionada, se incluyen las especificaciones del módulo.
4
4ª Edición
2
Información de seguridad
2.1
Advertencias, precauciones y notas
Las advertencias contienen información fundamental para evitar poner en peligro la
seguridad.
Las precauciones contienen la información necesaria para evitar daños en el producto
o en otros equipos.
Las notas contienen información que contribuye a garantizar el uso correcto del producto.
2.2
Advertencia general sobre seguridad eléctrica
Las tensiones presentes en el accionamiento pueden provocar descargas eléctricas y
quemaduras graves, cuyo efecto podría ser mortal. Cuando se trabaje con el
accionamiento o cerca de él deben extremarse las precauciones.
Esta Guía del usuario incluye advertencias específicas en las secciones
correspondientes.
2.3
Diseño del sistema y seguridad del personal
El accionamiento es un componente diseñado para el montaje profesional en equipos o
sistemas completos. Si no se instala correctamente, puede representar un riesgo para
la seguridad.
El accionamiento funciona con niveles de intensidad y tensión elevados, acumula gran
cantidad de energía eléctrica y sirve para controlar equipos que pueden causar
lesiones.
Debe prestarse especial atención a la instalación eléctrica y a la configuración del
sistema a fin de evitar riesgos, tanto durante el funcionamiento normal del equipo como
en el caso de que ocurran fallos de funcionamiento. Las tareas de configuración,
instalación, puesta en servicio y mantenimiento del sistema deben ser realizadas por
personal con la formación y experiencia necesarias para este tipo de operaciones. Este
personal debe leer detenidamente la información de seguridad y esta Guía del usuario.
Las funciones STOP (Parada) y SECURE DISABLE (Desconexión segura) del
accionamiento no aíslan las tensiones peligrosas de los terminales de salida del mismo,
ni de las unidades opcionales externas. Antes de acceder a las conexiones eléctricas
es preciso desconectar la alimentación mediante un dispositivo de aislamiento eléctrico
homologado.
A excepción de la función SECURE DISABLE (Desconexión segura), ninguna de
las funciones del accionamiento garantiza la seguridad del personal y, por
consiguiente, no deben emplearse en tareas relacionadas con la seguridad.
Debe prestarse especial atención a las funciones del accionamiento que puedan
representar riesgos, ya sea durante el uso previsto o el funcionamiento incorrecto
debido a un fallo. En cualquier aplicación en la que un mal funcionamiento del
accionamiento o su sistema de control pueda causar daños, pérdidas o lesiones, debe
realizarse un análisis de los riesgos y, si es necesario, tomar medidas adicionales para
4ª Edición
5
paliarlos; por ejemplo, se puede utilizar un dispositivo de protección de sobrevelocidad
en caso de avería del control de velocidad, o un freno mecánico de seguridad para
situaciones en las que falla el frenado del motor.
La función SECURE DISABLE cuenta con homologación1 EN954-1 clase 3 porque
cumple los requisitos de prevención de puesta en marcha accidental del accionamiento,
por lo que puede emplearse en aplicaciones relacionadas con la seguridad.
El diseñador del sistema es responsable de garantizar la seguridad global del
mismo, y su diseño conforme a las normas de seguridad pertinentes.
1Homologación
2.4
BIA independiente para los modelos de tamaño 1 a 3.
Límites medioambientales
Es imprescindible respetar las instrucciones de transporte, almacenamiento, instalación
y uso del accionamiento descritas en la Guía del usuario del Unidrive SP, incluidos los
límites medioambientales especificados. No debe ejercerse demasiada fuerza física
sobre los accionamientos.
2.5
Cumplimiento de normativas
El instalador es responsable del cumplimiento de todas las normativas pertinentes,
como los reglamentos nacionales sobre cableado y las normas de prevención de
accidentes y compatibilidad electromagnética (CEM). Debe prestarse especial atención
a las áreas de sección transversal de los conductores, la selección de fusibles u otros
dispositivos de protección y las conexiones a tierra de protección.
La Guía del usuario del Unidrive SP contiene las instrucciones pertinentes para el
cumplimiento de normas CEM específicas.
En la Unión Europea, toda maquinaria en la que se utilice este producto deberá cumplir
las siguientes directivas:
98/37/CE: Seguridad de las máquinas
89/336/CEE: Compatibilidad electromagnética
2.6
Motor
Debe asegurarse de que el motor está instalado conforme a las recomendaciones del
fabricante. El eje del motor no debe quedar descubierto.
Los motores de inducción de jaula de ardilla estándar están diseñados para funcionar a
velocidad fija. Si este accionamiento va a servir para accionar un motor a velocidades
por encima del límite máximo previsto, se recomienda encarecidamente consultar
primero al fabricante.
El funcionamiento a baja velocidad puede hacer que el motor se caliente en exceso, ya
que el ventilador de refrigeración no es tan efectivo. En ese caso, debe instalarse un
termistor de protección en el motor. Si fuese necesario, utilice un ventilador eléctrico
por presión.
Los parámetros del motor definidos en el accionamiento afectan a la protección del motor,
por lo que no es aconsejable confiar en los valores por defecto del accionamiento.
Es imprescindible introducir valores correctos en el parámetro 0.46 de intensidad
nominal del motor, ya que este parámetro repercute en la protección térmica del motor.
2.7
Ajuste de parámetros
Algunos parámetros influyen enormemente en el funcionamiento del accionamiento.
Estos parámetros no deben modificarse sin considerar detenidamente el efecto que
pueden producir en el sistema bajo control. Para evitar cambios accidentales debidos a
errores o manipulaciones peligrosas, deben tomarse las medidas necesarias.
6
4ª Edición
3
3.1
Introducción
Funciones
El SM-Resolver facilita una interfaz para conectar un resólver al Unidrive SP, que se va
a utilizar para proporcionar al accionamiento datos de realimentación de posición y
velocidad. Además, ofrece una salida de codificador simulado en cuadratura.
Como el SM-Resolver sólo proporciona realimentación de velocidad y posición cuando
se selecciona como origen de realimentación de velocidad/posición del accionamiento,
no funciona si el accionamiento opera en modo de bucle abierto. Del mismo modo, no
es posible utilizar un resólver como referencia de velocidad/posición.
Aunque el SM-Resolver se puede conectar en cualquiera de las tres ranuras para
módulo Resolver, sólo una de ellas permite proporcionar realimentación de velocidad/
posición en cualquier momento (consulte la nota anterior).
Figura 3-1 SM-Resolver
3.2
Identificación del módulo Resolver
El SM-Resolver se identifica por lo siguiente:
1. La etiqueta de la parte inferior del módulo Resolver
2. El código de color a lo largo del frontal del módulo Resolver. Todos los módulos
Resolver del Unidrive SP tienen códigos de color. El código del SM-Resolver es de
color azul claro.
Figura 3-2 Etiqueta del SM-Resolver
4ª Edición
7
3.2.1
Formato de código de fecha
El código de fecha se divide en dos secciones: una letra seguida de un número.
La letra indica el año de fabricación, mientras que el número representa la semana en
la que se fabricó el módulo Resolver.
Las letras en orden alfabético representan un año, empezando por A que corresponde
al año 1990 (B a 1991, C a 1992, etc.).
Ejemplo:
El código de fecha L35 corresponde a la semana 35 del año 2002.
3.3
Parámetros de configuración
Los parámetros asociados con el SM-Resolver se encuentran en el menú 15, 16 o 17.
Cada uno de estos menús está relacionado con una de las ranuras en las que se puede
conectar el SM-Resolver. Consulte la Figura 4-1 en la página 11.
3.4
Tipos de resólver compatibles
El SM-Resolver permite utilizar con el Unidrive SP los resólver que cumplen las
especificaciones siguientes:
Impedancia de entrada:
>85 Ω a 6 kHz
Relación de transformación:
3:1 o 2:1 (entrada:salida)
Número de polos:
2, 4, 6 o 8
Los resólver de CT Dynamics adecuados son los modelos 55RSS y 80RS.
Si el número de polos del resólver es distinto de 2, sólo puede funcionar con un motor
que tenga el mismo número de polos (por ej., un resólver de 6 polos con un motor de 6
polos).
Un resólver de 4 polos genera dos ciclos eléctricos por revolución mecánica, por lo que
no puede proporcionar una posición absoluta (mecánica). Lo mismo sucede con los
resólver de 6 u 8 polos, que no pueden proporcionar la posición absoluta (mecánica).
3.4.1
Salida de excitación del SM-Resolver
Onda de salida: cualquier onda senoidal de 6 kHz a 6 V rms (relación de
transformación = 3:1)
u
transformación = 2:1)
3.4.2
onda senoidal de 6 kHz a 4 V rms (relación de
Entradas del SM-Resolver
Tensión de entrada:
2 V rms
8
4ª Edición
3.5
Funcionamiento de un resólver
Un resólver es un transformador giratorio que genera tensiones de salida en un par de
devanados secundarios senoidal y cosenoidal. Cuando se aplica una tensión de
excitación al devanado primario y el eje del resólver gira, se originan ondas de tensión
con modulación de amplitud en los devanados secundarios, en los que la tensión de
excitación actúa como señal portadora de la modulación. Además, en cada secundario
se produce una doble inversión de fase de la tensión de la portadora por cada
revolución.
En la Figura 3-3 se muestra la relación entre la posición del resólver y las salidas SIN y
COS, así como las inversiones de fase de las ondas portadoras durante la rotación
directa (en la Figura 3-4 encontrará una representación más clara de las inversiones de
fase). En la Figura 3-3 también se ilustra la onda de fase U de un motor de seis polos
cuando el motor y el resólver están alineados para que se produzca una desviación de
fase nula.
Figura 3-3 Modulación de onda senoidal y cosenoidal en devanados secundarios
4ª Edición
9
3.5.1
Dirección de rotación
La rotación directa se define como:
Motor
Secuencia de fase: U V W
Resólver
La modulación de la señal COS produce la modulación de la señal SIN (90°) (consulte
la Figura 3-4).
3.5.2
Punto muerto
El resólver pasa por su posición cero cuando ocurre lo siguiente (consulte la
Figura 3-4):
Entrada SIN
• La modulación es mínima.
• La onda portadora pasar de estar en contrafase a estar en fase con la tensión de
excitación del primario.
Salida COS
• La modulación es máxima.
• La onda portadora está en fase con la tensión de excitación del primario.
Figura 3-4 Condiciones de modulación y fase portadora cerca de la posición cero
del resólver
10
4ª Edición
4
Instalación del SM-Resolver
4.1
Ranuras del módulo Resolver
Antes de instalar el SM-Resolver, consulte el Capítulo 2 Información de seguridad en la
página 5.
Las ranuras en las que se puede conectar el módulo Resolver son tres, como se
muestra en la Figura 4-1. Aunque el módulo Resolver se puede introducir en cualquiera
de estas ranuras, se recomienda utilizar la ranura 3 para el primer módulo, y luego las
ranuras 2 y 1. De esta forma se garantiza al módulo el máximo soporte mecánico una
vez instalado.
Figura 4-1 Ubicación de las ranuras 1, 2 y 3 en el Unidrive SP
Ranura de módulo de
resolución 1 (Menú 15)
4.2
Instalación
1. Antes de instalar el SM-Resolver en el Unidrive SP, asegúrese de que la
alimentación de CA lleva un mínimo de 10 minutos desconectada del
accionamiento.
2. Compruebe que la alimentación de reserva de +24 V y +48 V se ha desconectado
del accionamiento hace más de 10 minutos, si se utiliza.
3. Verifique que el exterior del SM-Resolver no presenta desperfectos, y que no hay
suciedad ni residuos acumulados en el conector de varios terminales.
4. No instale el SM-Resolver en el accionamiento si está dañado o sucio.
5. Retire la tapa del terminal del accionamiento. (Consulte las instrucciones de
extracción y reinstalación en la Ficha de instalación del módulo Resolver del
Unidrive SP que se suministra con el módulo.)
4ª Edición
11
6. Sitúe la clavija de conexión al accionamiento del SM-Resolver sobre el conector de
la ranura adecuada del accionamiento, y empuje hacia abajo hasta que encaje.
Figura 4-2 Instalación del SM-Resolver
7. Vuelva a colocar la tapa del terminal en el accionamiento. (Consulte las
instrucciones de extracción y reinstalación en la Ficha de instalación del módulo
Resolver del Unidrive SP que se suministra con el módulo.)
8. Conecte la alimentación de CA al accionamiento.
9. Ajuste Pr 0.49 en L2 para desbloquear la protección contra escritura.
10. Verifique que los parámetros del menú 15 (ranura 1), 16 (ranura 2) o 17 (ranura 3)
se encuentran disponibles.
11. Compruebe que Pr 15.01, Pr 16.01 o Pr 17.01 presenta el código que corresponde
al SM-Resolver (código = 101).
12. Si las comprobaciones de los pasos 10 y 11 no producen los resultados esperados,
es posible que el SM-Resolver no esté bien insertado o que el módulo Resolver
esté defectuoso.
13. Si aparece un código de desconexión, consulte el Capítulo 7 Diagnósticos en la
página 34.
12
4ª Edición
4.3
Descripción de terminales
Figura 4-3 Terminales del SM-Resolver
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Tabla 4.1 Descripción de terminales del SM-Resolver
Terminal Conexiones de salida de
codificador simulado
4.4
Terminal Conexiones del resólver
1
A
9
SIN LOW
2
A\
10
SIN HIGH
3
0V
11
COS LOW
4
B
12
COS HIGH
5
B\
13
REF HIGH (excitación)
6
0V
14
REF LOW (excitación)
7
Z
15
0V
8
Z\
16
0V
17
0V
Cableado y conexiones del blindaje
El blindaje es importante en la instalación de accionamientos PWM debido a la
presencia de tensiones e intensidades elevadas en el circuito de salida con un amplio
espectro de frecuencias, normalmente de 0 a 20 MHz.
La susceptibilidad de varias entradas a sufrir interferencias electromagnéticas varía con
la incorporación de un blindaje que garantice la transferencia de datos adecuada. Los
circuitos especialmente a riesgo son las entradas analógicas de precisión, en las que
los voltajes inducidos de escasa magnitud pueden dar lugar a errores importantes, y las
entradas rápidas de datos o codificador, en las que los niveles de señal son
relativamente altos pero el ancho de banda es tan amplio que los aumentos a la deriva
de la potencia pueden causar errores por breves que sean.
Tabla 4.2 Propiedades del dispositivo de realimentación
Tipo de entrada
Característica
Requisitos de cableado
Entradas de
resólver
Ancho de banda medio, por ej.
10 kHz, sensible
Entradas de
codificador
Es imprescindible corregir la disposición del
Ancho de banda amplio, por ej.
blindaje. Es aconsejable utilizar cables
500 kHz. Buena inmunidad, pero
compatibles y conexiones de salida
rango limitado en modo común.
correctas.
Ancho de banda amplio para
sistemas de comunicaciones
Enlaces de
avanzados, por ej. 500 kHz a
datos/puerto de
10 MHz.
comunicaciones
Buena inmunidad, pero rango
limitado en modo común.
Blindaje recomendado
Es imprescindible corregir la disposición del
blindaje.
Es aconsejable utilizar cables compatibles y
conexiones de salida correctas, sin
discontinuidad.
Para cumplir los requisitos establecidos por las normas de compatibilidad
electromagnética en relación con las emisiones por radiación, también es preciso
instalar el blindaje de forma correcta.
4ª Edición
13
4.4.1
Requisitos funcionales del blindaje
Estos requisitos son imprescindibles para garantizar la correcta transferencia de datos
del resólver al accionamiento.
Figura 4-4 Requisitos funcionales del blindaje
El resólver separa las conexiones de señalización de las de puesta a tierra mediante un
aislamiento galvánico básico. Gracias a esto, no se necesitan requisitos especiales para
asegurar la inmunidad a sobretensiones transitorias en los cables de más de 30 m.
4.4.2
Cumplimiento de las normas de emisiones genéricas
En este caso, el blindaje exterior del cable se debe conectar a tierra en el extremo del
accionamiento mediante la abrazadera de toma de tierra, como se muestra en la
sección CEM de la Guía del usuario del Unidrive SP. Se recomienda no conectar a 0 V
el blindaje total.
Figura 4-5 Blindaje de conformidad con las normas de emisiones genéricas
14
4ª Edición
4.4.3
Cable recomendado
El cable recomendado para las señales de realimentación es un cable de par trenzado
con blindaje total, como se muestra abajo.
Figura 4-6 Cable de realimentación de par trenzado
Asegúrese de separar los cables de realimentación todo lo que pueda de los cables de
alimentación, y evite tenderlos en paralelo.
4ª Edición
15
5
Procedimientos iniciales
5.1
Instalación
Los circuitos de control se aíslan de los circuitos de potencia del accionamiento
mediante un aislamiento básico solamente, conforme a lo establecido por IEC60664-1.
El instalador debe estar seguro de que los circuitos de control externos están aislados
del contacto humano por al menos una capa de aislamiento calculada para su uso con
la tensión de alimentación de CA.
Si los circuitos de control se van a conectar a otros circuitos con clasificación de tensión
extra-baja de seguridad (SELV) (por ejemplo, un ordenador personal), debe instalarse
una barrera de aislamiento adicional para mantener la clasificación SELV.
El resólver transmite los datos de realimentación como señales analógicas de bajo
voltaje. Asegúrese de que el ruido eléctrico del accionamiento o el motor no afecta
negativamente a la realimentación del resólver. Verifique que el accionamiento y el
motor se han conectado de acuerdo con las instrucciones proporcionadas en el
Capítulo 4 Instalación eléctrica de la Guía del usuario del Unidrive SP, y que se han
seguido las recomendaciones de cableado y blindaje para el cable de realimentación
del resólver descritas en la sección 4.4 Cableado y conexiones del blindaje de la
página 13.
16
4ª Edición
5.2
Configuración del módulo Resolver
Acción
Detalles
Verifique:
• No se ha enviado la señal de activación del accionamiento (terminal
31).
Antes del encendido
• El módulo Resolver está instalado en la ranura correspondiente.
• El resólver se encuentra conectado al SM-Resolver.
Verifique:
• Se ha desactivado la detección de errores de fase del codificador
(Pr 3.40 = 0) para evitar desconexiones Enc2.
Encendido del
• La detección de errores del módulo se ha configurado de manera
accionamiento
adecuada (Pr x.17).
• La pantalla del accionamiento muestra ‘inh’.
Si el accionamiento se desconecta, consulte el Capítulo 7 Diagnósticos en
la página 34.
Identifique las ranuras de módulo Resolver y el menú asociado que se
están utilizando:
Identificación de
• Ranura 1 – Menú 15
ranuras
Introduzca el número equivalente de líneas por revolución en Pr x.10:
Velocidad máx. de
Resolución equivalente en
Configuración de la
Resolución
motor (resólver de 2
líneas del codificador por
resolución operativa
operativa
polos)
revolución (Pr x.10)
y el límite máximo
0 a 3.300 rpm
14 bits
4.096
de velocidad
3.300,1
a
13.200
rpm
12
bits
1.024
variable
13.200,1 a 40.000 rpm
Configuración de la
tensión de
excitación del
resólver
10 bits
256
Configure la tensión de excitación del resólver en un valor correcto:
• Relación de transformación 3:1 (excitación 6 V rms), Pr x.13 = 0
• Relación de transformación 2:1 (excitación 4 V rms), Pr x.13 = 2
Configure el número de polos del resólver:
• 2 polos, Pr x.15 = 0 (valor por defecto)
Configuración del
número de polos del • 4 polos, Pr x.15 = 1
• 6 polos, Pr x.15 = 2
resólver
• 8 polos, Pr x.15 = 3
Si quiere que el SM-Resolver funcione como realimentación de posición/
Activación del
velocidad del accionamiento, ajuste Pr 3.26 en Slot1 (1), Slot2 (2) o Slot3
SM-Resolver
(3) según la ubicación del módulo Resolver.
4ª Edición
17
5.3
Salida de simulación del codificador
El SM-Resolver proporciona una salida de codificador simulado configurada por defecto
como salida en cuadratura de 1024 líneas. Mediante la configuración del parámetro
(Pr x.24) es posible definir el origen de la salida en el mismo resólver o en el codificador
principal del accionamiento (EIA485, sólo codificador).
Tabla 5.1
Simulación basada en el resólver
Simulación basada en el codificador del
accionamiento
Salidas conforme a lo especificado por EIA485
Frecuencia de salida máxima de 500 kHz
Las salidas simuladas se generan en el
hardware. Formato de salida: en cuadratura
con paso por cero (A, B, Z).
Las salidas simuladas son entradas EIA485 del
codificador del accionamiento que se han
guardado en la memoria.
Para reducir el número de líneas por revolución
(hasta un mínimo de 128) en intervalos
definidos, se permite adaptar la salida a escala
como se indica a continuación:
Pr x.25
Coeficiente
0,0000 a 0,0312
1/32
0,0313 a 0,0625
1/16
0,0626 a 0,1250
1/8
0,1251 a 0,2500
1/4
0,2501 a 0,5000
1/2
0,5001 a 3,0000
1
No es posible la puesta en escala.
Cuando el resólver se encuentra en punto
muerto, se produce un paso por cero. Tanto A
como B tienen un valor bajo en la posición cero.
El paso por cero es la versión de la entrada Z
Para determinar la longitud del paso por cero
del codificador del accionamiento guardada en
se utiliza la resolución operativa del resólver, en
la memoria.
lugar de la resolución de la salida de simulación
del codificador.
La extensión mínima de paso por cero es de 300 ns.
5.4
Función de captura
Aunque el SM-Resolver cuenta con una función de captura, no incluye entradas de
captura. Esta función se puede activar mediante SM-Applications o SM-Universal
Encoder Plus. Cuando se suministra una señal de captura, el indicador de captura
(Pr x.39) se ajusta en “ON” (función activada). Cuando está activada, la posición sin
paso por cero (Pr x.30) se transfiere a la posición de captura (Pr x.36).
El indicador de captura no se restablece. Antes de ejecutar funciones de captura
consecutivas, el usuario debe eliminar el indicador de captura (Pr x.39 = “OFF”) en el
SM-Resolver, el origen de la captura y cualquier otro módulo Resolver asociado.
Un resólver de 4 polos genera dos ciclos eléctricos por revolución mecánica, por lo que
no puede proporcionar una posición absoluta (mecánica). Lo mismo sucede con los
resólver de 6 u 8 polos, que no pueden proporcionar la posición absoluta (mecánica).
Éste es el motivo por el que la función de captura no funciona con ningún resólver de 4,
6 u 8 polos.
18
4ª Edición
6
Parámetros
6.1
Introducción
Los parámetros enumerados en este capítulo sirven para programar y controlar el SMResolver.
El SM-Resolver se ha clasificado como módulo elemental porque no dispone de
procesador propio y, por consiguiente, el procesador del accionamiento tiene que
actualizar todos los parámetros.
La escritura/lectura de los parámetros del SM-Resolver se produce gracias a una
operación del accionamiento en segundo plano o durante el intervalo de actualización
combinada de los parámetros de tiempo crítico. El intervalo de actualización combinada
depende de la cantidad y el tipo de módulos elementales que hay instalados en el
accionamiento. Estos parámetros se actualizan a una velocidad de 4 u 8 ms por cada
módulo instalado. El intervalo de actualización combinada corresponde a la suma de
los intervalos de actualización de todos los módulos elementales. (Por ejemplo, si se
instalan dos módulos con intervalo de actualización de 4 ms y 8 ms en el
accionamiento, el intervalo de actualización combinada de los parámetros de tiempo
crítico de cada módulo durará 12 ms.)
Módulo elemental Intervalo de actualización
SM-I/O Plus
8 ms
SM-Encoder Plus
4 ms
SM-Resolver
4 ms
En los menús 15, 16 y 17 existe la misma estructura de parámetros con relación a las
ranuras 1, 2 y 3.
Los cambios de parámetros del SM-Resolver sólo se aplican si el accionamiento no está
activado.
Antes de intentar ajustar cualquier parámetro, consulte el Capítulo 2 Información de
seguridad en la página 5.
4ª Edición
19
Tabla 6.1 Clave de codificación de parámetros
Código
RW
Atributo
Lectura/escritura: puede introducirlo el usuario
RO
Sólo lectura: el usuario sólo puede leerlo
Bit
Parámetro de 1 bit
Bi
Parámetro bipolar
Uni
Parámetro unipolar
Txt
Texto: el parámetro utiliza cadenas de texto en lugar de
números.
FI
Filtrado: los parámetros cuyos valores pueden variar
rápidamente se filtran cuando se muestran en el teclado del
accionamiento para facilitar su visualización.
DE
Destino: indica que éste puede ser un parámetro de
destino.
RA
Dependiente del valor nominal: este parámetro puede tener
valores y rangos distintos con accionamientos de tensión e
intensidad nominal diferentes. La tarjeta SMARTCARD no
transfiere estos parámetros cuando el régimen nominal del
accionamiento de destino y de origen es diferente.
NC
No duplicado: que no se transfiere a SMARTCARD, o
desde esta tarjeta, durante la duplicación.
PT
Protegido: no se puede utilizar como destino.
US
Almacenamiento de usuario: se guarda en la memoria
EEPROM del accionamiento cuando el usuario almacena
un parámetro.
PS
Almacenamiento al apagar: se guarda automáticamente en
la memoria EEPROM del accionamiento al apagar el
sistema.
20
4ª Edición
6.2
Descripciones de una línea
Parámetro
Rango (Ú)
OL
x.01
x.02
x.04
ID de módulo Resolver
Sin función
Realimentación de
velocidad
Cuentarrevoluciones
x.05
Posición
x.06
x.07
x.08
x.09
x.11
x.12
x.13
x.14
Sin función
Sin función
Sin función
Sin función
Líneas por revolución
equivalentes
Sin función
Sin función
Excitación de resólver
Sin función
x.15
Polos de resólver
x.16
Sin función
Nivel de detección de
errores
Sin función
Filtro de realimentación
Sin función
Sin función
Sin función
Sin función
Origen de simulación de
codificador
Numerador de coeficiente
de simulación de
codificador
Sin función
Sin función
Sin función
Cuentarrevoluciones de
reinicio sin paso por cero
x.03
x.10
x.17
x.18
x.19
x.20
x.21
x.22
x.23
x.24
x.25
x.26
x.27
x.28
x.29
x.30
Posición de reinicio sin
paso por cero
x.31
x.32
x.33
x.34
x.35
Sin función
Sin función
Sin función
Sin función
Sin función
x.36
Posición de captura
x.37
x.38
x.39
x.40
Sin función
Sin función
Indicador de captura
Sin función
CL
0 a 599
Por defecto (Ö)
OL
VT
101
±40.000,0 rpm
Tipo
SV
RO Uni
RO
Bi
PT US
FI NC PT
0 a 65.535 revoluciones
RO Uni FI NC PT
0 a 65.535 (1/216 de una
revolución)
RO Uni FI NC PT
0 a 50.000
4.096
RW Uni
US
3:1 (0), 2:1 (1 o 2)
3:1 (0)
RW Uni
US
2 POLOS (0), 4 POLOS (1),
6 POLOS (2), 8 POLOS
(3 a 11)
2 POLOS (0)
RW Uni
US
0a7
1
RW Uni
US
0 a 5 (0 a 16 ms)
0
RW Uni
US
Pr 0.00 a Pr 21.51
Pr 0.00
RW Uni
PT US
0,0000 a 3,0000
1,0000
RW Uni
US
RO Uni
NC PT
0 a 65.535
de una
revolución)
RO Uni
NC PT
0 a 65.535 (1/216 de una
revolución)
RO Uni
NC PT
RW Bit
NC
(1/216
OFF (0) u On (1)
OFF (0)
4ª Edición
21
Rango (Ú)
Parámetro
OL
x.41
x.42
x.43
x.44
x.45
x.46
x.47
x.48
x.49
x.50
x.51
Sin función
Sin función
Sin función
Sin función
Realimentación de
posición inicializada
Sin función
Sin función
Sin función
Bloquear realimentación
de posición
Estado de error de módulo
Resolver
Sin función
Por defecto (Ö)
CL
OL
VT
Tipo
SV
OFF (0) u On (1)
RO Bit
OFF (0) u On (1)
RW Bit
0 a 255
RO Uni
NC PT
NC PT
RW
Lectura/escritura
RO
Sólo lectura
Uni
Unipolar
Bi
Bipolar
Bit
Parámetro de bits
Txt
Cadena de texto
FI
Filtrado
DE
Destino
RA
Dependiente del
valor nominal
PT
Protegido
US
Almacenado por
usuario
NC
No duplicado
PS
Almacenamiento
al apagar
22
4ª Edición
4ª Edición
23
Figura 6-1 Diagrama lógico del SM-Resolver
24
4ª Edición
4ª Edición
25
6.3
Descripción de parámetros
x.01
RO
ID de módulo Resolver
Uni
Ú
PT
0 a 599
Ö
US
101
Velocidad de actualización: escritura durante el encendido
En el menú de la ranura correspondiente se muestra la nueva categoría del módulo
Resolver, con los valores de parámetro por defecto pertenecientes a la nueva
categoría. Si no se instala ningún módulo Resolver en la ranura, este parámetro tiene
valor cero. Sin embargo, cuando hay un módulo instalado, este parámetro muestra el
código de identificación indicado en la tabla.
Código
Módulo Resolver
0
Categoría
Módulo
elemental
Ningún módulo instalado
9
101
SM-Resolver
Realimentación
102
SM-Universal Encoder Plus
Realimentación
104
SM-Encoder Plus
Realimentación
9
201
SM-I/O Plus
Automatización
9
301
SM-Applications
Automatización
302
SM-Application Lite
Automatización
401
Reservado
Bus de campo
402
Reservado
Bus de campo
403
SM-Profibus DP
Bus de campo
404
SM-Interbus
Bus de campo
405
Reservado
Bus de campo
406
SM-CAN
Bus de campo
407
SM-DeviceNet
Bus de campo
408
SM-CANopen
Bus de campo
501
SM-SLM
SLM
Los nuevos valores de parámetro no se guardan en la memoria EEPROM hasta que el
usuario almacena los parámetros. Una vez que el usuario guarda los parámetros en la
memoria EEPROM del accionamiento, el código de opción del módulo Resolver
instalado se guarda en esta memoria. Si se instala un módulo Resolver diferente, o se
extrae el módulo instalado, y luego se enciende el accionamiento, se genera una
desconexión Slot.dF o SLot.nf.
x.03
RO
Ú
Realimentación de velocidad
Bi
FI
NC
±40.000,0 rpm
PT
Ö
Velocidad de actualización: 4 ms x número de módulos elementales
Si los parámetros de configuración correspondientes a la realimentación de posición
son correctos, este parámetro muestra la velocidad en rpm.
26
4ª Edición
x.04
Cuentarrevoluciones
RO
Uni
Ú
FI
NC
PT
Ö
x.05
RO
Ú
Posición
Uni
FI
NC
0 a 65.535 (1/216 de
revolución)
PT
Ö
Pr x.04 y Pr x.05 presentan la posición con resolución de 1/216 de una vuelta como un
número de 32 bits, según se muestra a continuación.
31
16 15
Revoluciones
0
Posición
Cuando los parámetros de configuración son correctos, la posición se convierte a
unidades de 1/216 de una vuelta. Sin embargo, algunas partes del valor pueden no ser
importantes en función de la resolución del dispositivo de realimentación. Por ejemplo,
cuando se selecciona una resolución de 10 bits, el resólver genera 4.096 líneas por
revolución, por lo que los bits de la zona sombreada son los únicos que representan la
posición.
31
16 15
Revoluciones
43
0
Posición
Cuando el dispositivo de realimentación gira más de una vuelta, las revoluciones de
Pr x.04 aumentan o se reducen en un contador de valor máximo específico de 16 bits.
Cuando se utiliza como realimentación, el intervalo de actualización interna de posición
en Pr x.03 y Pr x.05 funciona en el nivel 1, lo que depende de la frecuencia de
conmutación.
Intervalo de
actualización
Frecuencia de
conmutación
Nivel
167 µs
3 kHz
1
125 µs
4 kHz, 8 kHz, 16 kHz
1
83 µs
6 kHz, 12 kHz
1
Cuando se utiliza como realimentación, el intervalo de actualización interna de velocidad
en Pr x.03 se ejecuta en el nivel 2.
Intervalo de
actualización
Frecuencia de
conmutación
Nivel
250 µs
3 kHz, 4 kHz, 6 kHz,
8 kHz, 12 kHz, 16 kHz
2
4ª Edición
27
x.10
RW
Líneas por revolución equivalentes
Uni
Ú
US
Ö
0 a 50.000
4.096
Velocidad de actualización: lectura en segundo plano
Este parámetro está relacionado con las líneas equivalente por revolución de un
codificador en cuadratura, que proporcionaría la misma resolución de realimentación.
Sólo debe ajustarse en 256 (10 bits de resolución), 1.024 (12 bits de resolución) o 4.096
(14 bits de resolución). Si se ajusta en otro valor, el accionamiento interpreta lo
siguiente: 32 a 256 = 256; 257 a 1.024 = 1.024; 1.025 a 50.000 = 4.096. Si el
accionamiento funciona en el modo vectorial de bucle cerrado o servo y el resólver se
ha configurado para proporcionar realimentación de velocidad al accionamiento
(consulte Pr 3.23), el valor máximo variable de límite_máx_velocidad se define como se
indica en la tabla siguiente.
Polos de resólver
(Pr x.15)
Número equivalente
de líneas por
revolución (Pr x.10)
2
4.096
14
3.300,0
2
1.024
12
13.200,0
2
256
10
40.000,0
4
4.096
14
1.650,0
4
1.024
12
6.600,0
4
256
10
26.400,0
6
4.096
14
1.100,0
6
1.024
12
4.400,0
6
256
10
17.600,0
8
4.096
14
825,0
8
1.024
12
3.300,0
8
256
10
13.200,0
x.13
RW
Ú
Resolución
operativa (bit)
Límite_velocidad_máx
Excitación de resólver
Uni
US
3:1 (0), 2:1 (1 o 2)
Ö
3:1 (0)
El nivel de excitación se puede regular para utilizarlo con un resólver que tenga relación
de transformación 3:1 (Pr x.13 = 0) o 2:1 (Pr x.13 = 1 o 2).
28
4ª Edición
x.15
RW
Polos de resólver
Uni
US
2 POLOS (0), 4 POLOS (1),
6 POLOS (2), 8 POLOS
(3 a 11)
Ú
Ö
2 POLOS (0)
Con el módulo Resolver se puede emplear cualquier resólver que tenga el número de
polos siguiente.
0: 2 POLOS
1: 4 POLOS
2: 6 POLOS
3 a 11: 8 POLOS
Como realimentación de velocidad del accionamiento se puede elegir un resólver de 2
polos con un motor de cualquier cantidad de polos. Sin embargo, los resólver de más
de 2 polos sólo se pueden utilizar con motores que tienen el mismo número de polos. Si
el número de polos del resólver se configura de manera incorrecta y se selecciona el
resólver como realimentación de velocidad del accionamiento para controlar el motor, el
módulo Resolver genera el error 11.
x.17
RW
Nivel de detección de errores
Uni
Ú
US
Ö
0a7
1
Las desconexiones se pueden activar y desactivar mediante Pr x.17, como se indica a
continuación:
Bit
Función
0
Detección de rotura del cable
1
No utilizado
2
No utilizado
La suma binaria define el nivel de detección de errores, según se indica:
Bit 2
Bit 1
Bit 0
Nivel de detección de errores
Valor en Pr x.17
0
0
0
Detección de errores desactivada
0
0
0
1
1
0
1
0
2
0
1
1
3
1
0
0
4
1
0
1
5
1
1
0
6
1
1
1
7
La detección de rotura del cable no se activa si una señal presenta una velocidad
cuadrática >1,5 V rms o cuando ambas tienen un valor aproximado >0,2 V rms.
4ª Edición
29
x.19
RW
Filtro de realimentación
Uni
Ú
US
0 a 5 (0 a 16 ms)
Ö
0
En la realimentación se puede aplicar un filtro de ventana. Este filtro resulta
particularmente útil en aplicaciones en las que la realimentación sirve para proporcionar
realimentación de velocidad al controlador de velocidad y en las que la carga tiene una
gran inercia, lo que conlleva ganancias de controlador de velocidad muy altas. Si no se
incluye un filtro en la realimentación en estos casos, es posible que la salida del bucle
de velocidad cambie continuamente entre un límite de intensidad y otro, y que se
bloquee el término integral del controlador de velocidad. El filtro no está activo si el
parámetro tiene valor 0 o 1 ms, pero funciona en la ventana definida con los valores de
parámetro 2, 4, 8 y 16 ms.
Valor en Pr x.19
0
1
2
3
4
5
x.24
RW
Ú
Ventana de filtro
No activa
No activa
2 ms
4 ms
8 ms
16 ms
Origen de simulación de codificador
Uni
PT
Pr 0.00 a Pr 21.51
Ö
US
Pr 0.00
Numerador de coeficiente de simulación de
codificador
x.25
RW
Ú
Uni
US
0,0000 a 3,0000
Ö
1,0000
Pr x.24 = Pr x.05
La salida de simulación del codificador se genera por hardware a partir de la entrada
del resólver. El multiplicador de resolución se puede configurar mediante el parámetro
Pr x.25 como se indica en la tabla siguiente. Como la salida de paso por cero está
activa cuando la posición del resólver es cero, la longitud de paso por cero equivale a
una revolución del codificador si el coeficiente es 1, pero se reduce cuando el
coeficiente es inferior a 1.
Cuando la resolución del resólver se reduce por debajo de 14 bits, no es posible aplicar
algunos coeficientes, como se muestra en la tabla siguiente.
30
4ª Edición
Pr x.25
0,0000 a 0,0312
0,0313 a 0,0625
0,0626 a 0,1250
0,1251 a 0,2500
0,2501 a 0,5000
0,5001 a 3,0000
Resolución de resólver
14 bits
12 bits
10 bits
1/32
1/8
1/2
1/16
1/8
1/2
1/8
1/8
1/2
1/4
1/4
1/2
1/2
1/2
1/2
1
1
1
Pr x.24 = Pr 3.29
La salida de simulación del codificador se genera por hardware a partir de las entradas
A, B y Z del puerto de codificación del accionamiento. Las señales de codificación del
accionamiento deben ser digitales, pero no de tipo seno-coseno (SINCOS). Como no
es posible aplicar un coeficiente, Pr x.25 no produce efecto.
Si Pr x.24 presenta un valor no superior al de las salidas de simulación del codificador,
no están activas.
x.29
Cuentarrevoluciones de reinicio sin paso por cero
RO
Uni
Ú
NC
PT
Ö
x.30
Posición de reinicio sin paso por cero
RO
Uni
Ú
0 a 65.535 (1/216 de una
revolución)
NC
PT
Ö
Pr x.29 y Pr x.30 son duplicados de Pr x.04 y Pr x.05 respectivamente.
4ª Edición
31
x.36
Posición de captura
RO
Uni
Ú
0 a 65.535 (1/216 de una
revolución)
NC
PT
Ö
x.39
RW
Indicador de captura
Bit
Ú
NC
OFF (0) u On (1)
Ö
OFF (0)
Este módulo Resolver no dispone de entrada de captura propia, por lo que esta entrada
debe proceder de M-Applications o SM-Universal Encoder Plus. Los datos de captura
se procesan cada 4 ms por cada módulo elemental instalado. Si se produce una
captura y el indicador de captura (Pr x.39) presenta el valor cero, la posición se
almacena en Pr x.36 y el indicador de captura se ajusta. El usuario debe restablecer el
indicador de captura antes de almacenar la captura siguiente. Esta función sólo se
encuentra activa con resólver de 2 polos.
x.45
RO
Realimentación de posición inicializada
Bit
Ú
NC
OFF (0) u On (1)
PT
Ö
Velocidad de actualización: escritura en segundo plano
Aunque Pr x.45 presenta el valor OFF (0) al encender el sistema, se ajusta en (1)
cuando el SM-Resolver puede proporcionar realimentación de posición. Pr x.45 se
mantiene ajustado en On (1) mientras se enciende el accionamiento.
x.49
RW
Bloquear realimentación de posición
Bit
Ú
OFF (0) u On (1)
Ö
Si Pr x.49 se ajusta en uno, Pr x.04 y Pr x.05 no se actualizan. Si el valor del parámetro
es cero, Pr x.04 y Pr x.05 se actualizan con normalidad.
x.50
RO
Ú
Estado de error de módulo Resolver
Uni
NC
0 a 255
PT
Ö
Para que sólo exista una desconexión por error de opción para cada ranura del módulo
Resolver, se proporciona el estado de error. Si se produce un error, el motivo aparece
en este parámetro y el accionamiento puede generar una desconexión ‘SLX.Er’, en la
que x corresponde al número de ranura. El valor cero indica que el módulo Resolver no
32
4ª Edición
ha detectado ningún error, mientras que cualquier valor distinto de cero indica la
detección de un error. (Consulte el significado de los valores de este parámetro en el
Capítulo 7 Diagnósticos.) Cuando se reinicia el accionamiento, este parámetro no se
aplica.
Este módulo Resolver incluye un circuito de control de temperatura. Si la temperatura
de PCB es superior a 90°C, se obliga al ventilador del accionamiento a funcionar a
plena velocidad (durante un mínimo de 10 segundos). Cuando la temperatura
desciende por debajo de 90°C, el ventilador vuelve a funcionar con normalidad. Sin
embargo, el accionamiento se desconecta y el parámetro de estado de error se ajusta
en 74 si la temperatura de PCB supera los 100°C.
4ª Edición
33
7
Diagnósticos
Cuando el accionamiento sufre una desconexión, la salida se desactiva para que el
accionamiento deje de controlar el motor. Si en la parte inferior de la pantalla se indica
que ha ocurrido una desconexión, en la parte superior se muestra la desconexión.
En la Tabla 7.1 se incluye una lista de las desconexiones en orden alfabético basada en
la indicación que aparece en la pantalla del accionamiento. Consulte la Figura 7-1.
Si no se utiliza la pantalla, el indicador luminoso (LED) de estado parpadea cuando se
produce una desconexión. Consulte la Figura 7-2.
En Pr 10.20 puede consultar la indicación de desconexión si introduce un número de
desconexión.
7.1
Presentación del historial de desconexiones
El accionamiento conserva un registro de las 10 últimas desconexiones ocurridas en
Pr 10.20 a Pr 10.29, y guarda el tiempo de cada desconexión en Pr 10.43 a Pr 10.51.
El tiempo de desconexión registrado se basa en la señal de encendido del reloj
(si Pr 6.28 = 0) o en la señal del reloj de tiempo de ejecución (si Pr 6.28 = 1).
Pr 10.20 corresponde a la desconexión más reciente, o a la desconexión actual si el
accionamiento ha sufrido una desconexión (tiempo de desconexión almacenado en
Pr 10.43). Pr 10.29 corresponde a la desconexión más antigua (tiempo de desconexión
almacenado en Pr 10.51). Cada vez que se produce una desconexión, todos los
parámetros se desplazan hacia abajo una posición para que la desconexión actual (y el
tiempo) se almacene en Pr 10.20 (y Pr 10.43). La desconexión más antigua, junto con
el tiempo, desaparecen de la parte inferior del registro.
Cuando se lee cualquier parámetro entre Pr 10.20 y Pr 10.29, ambos incluidos,
mediante las comunicaciones serie, el número de desconexión de la Tabla 7.1
corresponde al valor transmitido.
Figura 7-1 Modos de estado del teclado
34
4ª Edición
Figura 7-2 Ubicación de los indicadores luminosos de estado
Si se introduce el número correspondiente a la desconexión en Pr 10.38, es posible
iniciar cualquier desconexión. Cuando se activa una desconexión iniciada por el
usuario, se muestra la cadena ”txxx”, en la que xxx es el número de desconexión.
El sistema se puede reiniciar 1,0 segundos después de una desconexión si se rectifica
la causa del problema.
En la Guía del usuario del Unidrive SP se incluye una lista completa de desconexiones
del accionamiento.
Tabla 7.1 Códigos de desconexión
Desconexión
C.Optn
180
SL.rtd
215
SLX.dF
Diagnóstico
Desconexión de SMARTCARD: los módulos Resolver instalados en el
accionamiento de origen y de destino son diferentes
1. Asegúrese de que se han instalado los módulos Resolver adecuados.
2. Verifique que los módulos Resolver se encuentran en la misma ranura.
3. Reinicie el accionamiento.
Desconexión de módulo Resolver: el módulo Resolver no ha podido identificar
que el modo de funcionamiento del accionamiento ha cambiado
1. Asegúrese de que el módulo se ha instalado correctamente.
2. Póngase en contacto con el proveedor del módulo Resolver.
Desconexión de ranura X del módulo Resolver: cambio del tipo de módulo
instalado en la ranura X
204,209,
Guarde los parámetros y reinicie el accionamiento.
214
4ª Edición
35
Desconexión
Diagnóstico
Desconexión de ranura X del módulo Resolver: detección de error con el
módulo, donde X corresponde al número de ranura
202, 207, Si el accionamiento sufre una desconexión SLX.Er, Pr x.50 presenta el código de
error. A continuación se ofrece una descripción de todos los códigos de error:
212
SLX.Er
Pr x.50
Descripción por defecto
0
Sin errores
1
Cortocircuito en alimentación
2*
En la detección de rotura del cable se examinan las señales senoidal y cosenoidal
para verificar que una de ellas supera el umbral máximo mientras la otra está por
debajo del umbral mínimo, o ambas ocupan una posición intermedia entre los
valores de umbral. Si las condiciones anteriores no se cumplen, se genera un
código de error 2.
11
El número de polos del resólver es superior a 2, pero distinto del número de polos
del motor.
74
Exceso de temperatura en el módulo Resolver
*Esta desconexión se puede activar y desactivar mediante Pr x.17.
El valor de Pr x.50 se borra al reiniciar el accionamiento.
Desconexión de ranura X del módulo Resolver: fallo de hardware de módulo
SLX.HF
Resolver
200,205, 1. Asegúrese de que el módulo se ha instalado correctamente.
210
2. Póngase en contacto con el proveedor del módulo Resolver.
SLX.nF
Desconexión de ranura X del módulo Resolver: extracción del módulo Resolver
1. Si el módulo Resolver se ha extraído del accionamiento de forma intencionada,
guarde los parámetros y reinicie el accionamiento.
203,208,
2. Asegúrese de que el módulo se ha instalado correctamente.
213
3. Cambie el módulo Resolver.
4. Guarde los parámetros y reinicie el accionamiento.
Como el SM-Resolver sólo proporciona realimentación de velocidad y posición cuando
se selecciona como origen de realimentación de velocidad/posición del accionamiento,
no funciona si el accionamiento opera en modo de bucle abierto.
36
4ª Edición
8
Datos de terminales
1
Canal de salida de codificador simulado A
2
Canal de salida de codificador simulado A\
Tipo
Tensión diferencial EIA485
Frecuencia máxima
500 kHz
Tensión aplicada máxima absoluta respecto de
±14 V
0V
Protección
3
Límite de intensidad con protección térmica
0V
Intensidad total de todos los terminales 0 V del
200 mA
módulo Resolver
4
Canal de salida de codificador simulado B
5
Canal de salida de codificador simulado B\
Tipo
Frecuencia máxima
500 kHz
±14 V
0V
Protección
6
0V
200 mA
módulo Resolver
7
Canal de salida de codificador simulado Z
8
Canal de salida de codificador simulado Z\
Tipo
Frecuencia máxima
500 kHz
±14 V
0V
Longitud mínima de paso por cero
300 ns
Protección
4ª Edición
37
9
Entrada de resólver SIN LOW
10
Entrada de resólver SIN HIGH
11
Entrada de resólver COS LOW
12
Entrada de resólver COS HIGH
Tipo
Señal senoidal de 2 V rms (máx.)
Frecuencia operativa
6 kHz
Tensión de CC aplicada máxima absoluta
(SIN LOW o COS LOW) a 0 V
±2,5 V
(SIN HIGH o COS HIGH) a 0 V
±12 V
Protección
Resistencias en serie y diodos de fijación
13
Excitación de resólver REF HIGH
14
Excitación de resólver REF LOW
Onda senoidal de 6 kHz sincronizada con los
bucles de control del accionamiento
Tipo
Carga máxima (impedancia mínima)
85 Ω
Tensión nominal
6 V rms (relación de transformación = 3:1)
4 V rms (relación de transformación = 2:1)
(REF HIGH) con relación a 0 V
±36 V
Intensidad aplicada máxima absoluta
(REF LOW)
200 mA
Protección
Protección contra sobreintensidad
15
0V
16
0V
17
0V
200 mA
módulo Resolver
38
4ª Edición
Índice alfabético
A
Abrazadera de toma de tierra .................................................................... 14
Advertencias ................................................................................................ 5
C
Cable de realimentación ............................................................................ 15
Cable recomendado ................................................................................... 15
Cables de alimentación .............................................................................. 15
Circuito de control de temperatura ............................................................. 33
Codificación de parámetros ....................................................................... 20
Código de color ............................................................................................ 7
Conexiones de cableado ............................................................................ 13
Conexiones del blindaje ............................................................................. 13
Configuración del módulo Resolver ........................................................... 17
Cumplimiento de normativas .................................................................. 6, 14
D
Datos de terminales ................................................................................... 37
Desconexión por rotura del cable .............................................................. 29
Descripción de parámetros ........................................................................ 26
Descripción de terminales .......................................................................... 13
Diagnósticos ............................................................................................... 34
Diagrama lógico ......................................................................................... 24
E
Escala ........................................................................................................ 18
Estado de error .......................................................................................... 32
Estructura de parámetros ........................................................................... 19
F
Filtro de realimentación .............................................................................. 30
Función de captura .................................................................................... 18
Funcionamiento de un resólver .................................................................... 9
Funciones ..................................................................................................... 7
H
Historial de desconexiones ........................................................................ 34
I
ID de módulo Resolver ............................................................................... 26
Identificación del módulo Resolver .............................................................. 7
Instalación ............................................................................................ 11, 16
Intervalo de actualización ........................................................................... 19
Intervalo de actualización interno ............................................................... 27
L
Límites medioambientales ........................................................................... 6
M
Modos de estado del teclado ..................................................................... 34
4ª Edición
39
N
Nivel de detección de errores .....................................................................29
Notas ............................................................................................................5
Numerador de coeficiente ..........................................................................30
P
Parámetro, descripciones de una línea ......................................................21
Parámetros de configuración ........................................................................8
Parámetros, ajuste .......................................................................................6
Paso por cero .............................................................................................18
Precauciones ................................................................................................5
R
Relación de transformación ..........................................................................8
Resolución operativa ..................................................................................28
Ruido eléctrico ............................................................................................16
S
Salida de simulación de codificador ...........................................................18
SECURE DISABLE (Desconexión segura) ..................................................5
Seguridad del personal .................................................................................5
Seguridad eléctrica .......................................................................................5
T
Tipos de resólver ..........................................................................................8
V
Velocidad máxima ......................................................................................17
40
4ª Edición
0471-0052-04
Bibliografía
Cesar Ramírez Cavasa. (2003)
Ergonomía y productividad
Editorial Noriega LIMUSA
Organización Internacional del Trabajo - La Salud y la Seguridad en el Trabajo:
ERGONOMÍA. (Principios básicos según la OIT).
Recuperado 27, octubre de 2013
http://www.ilo.org/global/lang--es/index.htm
Fundación Wikimedia, Inc. (20 oct 2013).
Vidrio.
Recuperado el 23 Oct 2013.
http://es.wikipedia.org/wiki/Vidrio
Todo robot. Ar
Motores de corriente continua
Recuperado el 12 de diciembre de 2013
http://www.todorobot.com.ar/documentos/dc-motor.pdf
Vidriera monterrey S.A.B. de C.V. (2013, 14 junio).
Vitro incrementa capacidad de horno en Querétaro, convirtiéndolo en el más
grande de Latinoamérica.
Recuperado el 20 Oct 2013.
http://www.vitro.com/vitro_corporativo/docs/espanol/130614.pdf
Carlos Elías Sepúlveda Lozano (2013). Servomotores. Revista Metal Actual no.
13. P 34-38
Emerson Industrial Co.
Manual técnico Unidrive Sp
Recuperado el 13 de noviembre de 2013.
http://www.emersonindustrial.com/es-ES/controltechniques
Emerson Industrial Co.
Manual técnico servomotores Fm.
Recuperado el 13 de noviembre de 2013.
http://www.emersonindustrial.com/es-ES/controltechniques
106

Universidad Tecnològica de Querètaro

Transcription

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