Parker Products Power Supply ViX250AE User Manual

ViX250AE

ViX500AE

Servo Drives

User Guide

Part No: 1600.313.02 August, 2003 (For software revision 2.0 onwards)

IMPORTANT INFORMATION FOR USERS

Installation and Operation of Motion Control Equipment

It is important that motion control equipment is installed and operated in such a way that all applicable safety

requirements are met. It is your responsibility as an installer to ensure that you identify the relevant safety

standards and comply with them; failure to do so may result in damage to equipment and personal injury. In

particular, you should study the contents of this user guide carefully before installing or operating the

equipment.

The installation, set-up, test and maintenance procedures given in this User Guide should only be carried

out by competent personnel trained in the installation of electronic equipment. Such personnel should be

aware of the potential electrical and mechanical hazards associated with mains-powered motion control

equipment - please see the safety warning below. The individual or group having overall responsibility for

this equipment must ensure that operators are adequately trained.

Under no circumstances will the suppliers of the equipment be liable for any incidental, consequential or

special damages of any kind whatsoever, including but not limited to lost profits arising from or in any way

connected with the use of the equipment or this user guide.

SAFETY WARNING

High-performance motion control equipment is capable of producing rapid movement and very high forces.

Unexpected motion may occur especially during the development of controller programs. KEEP WELL

CLEAR of any machinery driven by stepper or servo motors. Never touch any part of the equipment while it

is in operation.

This product is sold as a motion control component to be installed in a complete system using good

engineering practice. Care must be taken to ensure that the product is installed and used in a safe manner

according to local safety laws and regulations. In particular, the product must be enclosed such that no part

is accessible while power may be applied.

This and other information from Parker-Hannifin Corporation, its subsidiaries and authorised distributors

provides product or system options for further investigation by users having technical expertise. Before you

select or use any product or system, it is important that you analyse all aspects of your application and

review the information concerning the product in the current product catalogue. The user, through its own

analysis and testing, is solely responsible for making the final selection of the system and components and

assuring that all performance, safety and warning requirements of the application are met.

If the equipment is used in any manner that does not conform to the instructions given in this user guide,

then the protection provided by the equipment may be impaired.

The information in this user guide, including any apparatus, methods, techniques, and concepts described

herein, are the proprietary property of Parker Electromechanical Division or its licensors, and may not be

copied, disclosed, or used for any purpose not expressly authorised by the owner thereof.

Since Parker Electromechanical constantly strives to improve all of its products, we reserve the right to

modify equipment and user guides without prior notice. No part of this user guide may be reproduced in any

form without the prior consent of Parker Electromechanical Division.

Product Type:

ViX250AE, ViX500AE

The above product is in compliance with the requirements of directives

• 73/23/EEC

• 93/68/EEC

• 89/336/EEC

Low Voltage Directive

CE Marking Directive

Electromagnetic Compatibility Directive

Provided the installation requirements described in this user guide are met, and there are no special requirements of

the installation and operating environment so that the application may be considered typical, the ViX servo drive series

installation will conform to the protection requirements of Council Directive 89/336/EEC as amended by Directive

92/31/EEC on the approximation of the laws of the Member States relating to Electromagnetic Compatibility when

operated and maintained as intended.

In assessing the overall compliance of an installation consideration must also be given to the effects of mains

harmonics and flicker when interfacing the total supply system to the public low voltage supply system.

In accordance with IEC 61800-3:1997 (Adjustable speed electrical power drive systems) this product is of the

restricted sales distribution class which meets the needs of an industrial environment when installed as directed.

However, further measures may need to be taken for use of the product in a domestic environment.

Compliance is demonstrated by the application of the following standards:

BS EN 61800-3

(1997) including

Amendment A11

Adjustable speed electrical power drive systems

Part 3. EMC product standard including specific test methods

BS EN 61000-6-2

(2001)

Electromagnetic compatibility – Part 6-2: Generic standards

Immunity for industrial environments

BS EN 61000-6-4

(2001)

Electromagnetic compatibility – Part 6-4: Generic standards –

Emission standard for industrial environments

BS EN 61010-1

(1993) including

Amendment A2

Safety requirements for electrical equipment for measurement,

control, and laboratory use. Part 1. General requirements

WARNING – Risk of damage and/or personal injury

The ViX drives described in this user guide contain no user-serviceable parts.

Attempting to open the case of any unit, or to replace any internal component, may

result in damage to the unit and/or personal injury. This may also void the

warranty.

Contact Addresses

For engineering

assistance in Europe:

Parker Hannifin plc

For engineering

assistance in Germany

Parker Hannifin GmbH

Electromechanical

Automation

21 Balena Close

Poole, Dorset

P. O. Box: 77607-1720

Robert-Bosch-Str. 22

England, BH17 7DX

D-77656 Offenburg, Germany

Tel: +49 (0)781 509-0

Fax: +49 (0)781 509-176

e-mail: [email protected]

Website: www.parker-eme.com

Tel: +44 (0)1202-699000

Fax: +44 (0)1202-695750

e-mail: [email protected]

Website: www.parker-eme.com

For engineering

assistance in Italy

Parker Hannifin SpA

Electromechanical Automation

20092 Cinisello Balsamo

Milan,

assistance in the U.S.:

Parker Hannifin Corporation

Electromechanical Automation

5500 Business Park Drive, Suite D

Rohnert Park

Italy Via Gounod, 1

CA 94928

USA

Tel: +39 02 6601 2478

Fax: +39 02 6601 2808

Tel: (800) 358-9070

Fax: (707) 584-3793

FaxBack System: (800) 936-6939

e-mail: emn_support@parker.com

Website: www.parkermotion.com

e-mail: [email protected]

Website: www.parker-eme.com

Symbols used, have the following meanings:

Caution -

Refer to the

accompanying documentation

Protective conductor terminal

CONTENTS

Contents

1. Introduction.............................................................................................................1

2. Mechanical Installation...........................................................................................5

3. Electrical Installation...............................................................................................9

4. Control of ViX Drives..............................................................................................51

5. EASI-V Software ....................................................................................................71

6. Command Reference .............................................................................................87

7. ViX Maintenance and Troubleshooting ..................................................................107

8. Hardware Reference ..............................................................................................113

Appendix A..................................................................................................................117

Appendix B..................................................................................................................119

Index............................................................................................................................123

The ViX250AE/500AE Intelligent Digital Servo Drive is UL-Recognised under file

E194158. This means it may be incorporated into end-user products that may be eligible

for UL Listing, Classification or Certification.

User Guide Issue Change Summary

This user guide, version 1600.313.02, is the second version of the ViX250AE/ViX500AE

Digital Servo Drive.

VIX AE SERVO DRIVE USER GUIDE

Latest Changes Sheet

This page lists important changes occurring immediately before publication or between

issue updates:

1. INTRODUCTION

1. Introduction

Product Description

Available in two power ranges, these digital servos use field-oriented control technology to

give enhanced dynamic performance with improved efficiency. Housed within an extremely

compact case, the drives are suitable for either direct panel or DIN rail mounting.

Using full PWM control with sinusoidal commutation, the two versions of power stage can

have continuous current ratings of 2.5A and 5A at motor bus voltages up to 80V. Having a

choice of resolver or encoder feedback, the drives may be used with a wide range of

3-phase servo motors of different pole counts.

Figure 1-1. ViX250/ViX500 Digital Servo Drive

VIX AE SERVO DRIVE USER GUIDE

Product Variants

Digital servo drives are available in two power versions, with resolver or encoder feedback.

Table 1-1 lists the possible combinations:

Product Code

ViX250AE

Description

250VA Servo with encoder/resolver feedback

500VA Servo with encoder/resolver feedback

ViX500AE

Table 1-1. ViX250/ViX500 Digital Servo Drive Options

Product Features

Protection Circuits

Motor short circuits

Over-voltage

Function Indicators

Drive Status/Feedback Fault (HV/FB)

Drive Fault (DF)

Under-voltage

Drive/motor Over-temperature

24V reverse supply protection

Commutation encoder fault

Resolver fault

I t protection

Outputs and Inputs

1 Brake input

1 Brake output

1 Analogue monitor output

1. INTRODUCTION

Fit Kits

Two fit kits are available for ViX drives:

1. VIX-KIT required if you do not purchase motor cables

2. VIX-KIT-NFB required if you do purchase motor cables

VIX-KIT

VIX-KIT-NFB

Part Number Quantity Description

1650.937.01

Information

sheet

1650.937.01

Information

sheet

5004.023

5006.211

0405.811

plastic bag

Product label

10-way Flange

plug strip

5004.023

5006.211

0405.811

plastic bag

Product label

10-way

Flange plug

strip

0405.961

0405.962

0405.963

0409.530

0313.020

4005.218

4216.101

4216.102

4216.103

9-way D-type

plug

0405.961

0405.962

0405.963

0409.530

9-way D-type

plug

15-way HD

D-type plug

15-way HD

D-type socket

9-way D-type

cover

H8FE1115NC

ferrite sleeve

3:1 heatshrink

19mm diam.

Closed P-clip

9mm ID

15-way HD

D-type plug

15-way HD

D-type socket

9-way D-type

cover

Closed P-clip

10.7mm ID

Closed P-clip

12.3mm ID

VIX AE SERVO DRIVE USER GUIDE

Further Information

This user guide contains all the necessary information for the effective use of this drive.

However, to gain a more in-depth understanding of drive applications and motion control,

consider attending one of our world-wide Customer Specific Training Workshops.

Examples of previous courses that have proved to be of benefit include:

Use and programming of the DIN rail H & L series drives

PDFX training

Using the 6K controller

EASI Tools programming

Mechanical product training for ET/ER, XR and HPLA

2. MECHANICAL INSTALLATION

2. Mechanical Installation

Installation Requirements

Environment

ViX drives operate in a temperature range of 0° to 40°C with natural convection, or 50°C

Max with forced-air cooling (see Hardware Reference), at normal levels of humidity (5-95%

non-condensing). The drives can tolerate atmospheric pollution degree 2, which means only

dry, non-conductive pollution is acceptable.

Drive Cooling

Cooling of all drive types is by natural convection up to 40°C. To assist cooling, drives

should be installed vertically in an area where there is at least a 50mm (minimum) air gap

above and below the package and a 10mm (minimum) gap either side. Avoid mounting

heat-producing equipment directly below a drive.

Installers must ensure that the air temperature entering the drive or rising up to the drive is

within the ambient temperature restrictions. Under normal use the air temperature leaving

the drive and heatsink may be 25°C above ambient.

In the final installation, check that the ambient temperature specification of 40°C Max

(without forced air cooling) is not exceeded directly below the top-most drives and that any

circulating air flow is not being blocked from reaching the drives. For cabinet cooling

calculations, allow 20W per drive.

VIX AE SERVO DRIVE USER GUIDE

Drive Dimensions

ViX250 and ViX500 drives share the same dimensions, shown in Figure 2-1.

98.5 (with connector)

HVSTFB

88,1

4,5

Figure 2-1. ViX250 & ViX500 Dimensions

2. MECHANICAL INSTALLATION

Drive Mounting Options

If you require a DIN-Rail mounting ViX drive use the DIN-Rail clip adapter bracket shown in

Figure 2-2.

16mm

Viewed from the back

of the DIN rail

Allow 10mm

for release

Figure 2-2. DIN-Rail Adapter Bracket

Remove the panel mounting plate from the back of the drive and attach the bracket to the

back of the drive using the screws provided. The drive and bracket can now be fixed to a

DIN rail by hooking the top of the bracket over the top of the DIN rail and gently pushing the

drive forward to engage the lower section of the bracket. Remove the bracket by inserting a

flat bladed screwdriver into the release slot to pull down the bottom of the bracket, releasing

it from the DIN rail.

Thermal Limitations

If you are using DIN rail mounting with natural convection airflow cooling and the drive is

working under continuous load, the maximum continuous output torque should be de-rated

by 10%. For example, using the drive for reel tensioning rather than point-to-point

applications may require torque de-rating when using DIN rail mounting.

VIX AE SERVO DRIVE USER GUIDE

Motor Mounting Mechanical Considerations

Keep motors securely fixed in position at all times. Do not test a motor/drive combination

without first securing the motor – see the Safety Warning at the front of this user guide.

CAUTION – risk of equipment damage

Do not back drive the motor, that is use the motor in an application that causes

mechanical rotation of the motor shaft in a manner uncontrolled by the drive.

Back driving the motor at high speed may damage the drive.

3. ELECTRICAL INSTALLATION

3. Electrical Installation

Installation Safety Requirements

ViX drives meet the requirements of both the European LVD & EMC directives when

installed according to the instructions given within this section. It is recommended the drive

be installed in an enclosure to protect it from atmospheric contaminants and to prevent

operator access while it has power applied. Metal equipment cabinets are ideally suited for

housing the equipment since they can provide operator protection, EMC screening, and can

be fitted with interlocks arranged to remove all hazardous motor and drive power when the

cabinet door is opened. Do not arrange interlocks to open circuit the motor phase

connections while the system is still powered, as this could cause damage to the drive.

Precautions

During installation, take the normal precautions against damage caused by electrostatic

discharges. Wear earth wrist straps. A switch or circuit breaker must be included in the

installation, which must be clearly marked as the disconnecting device and should be within

easy reach of the machine operator.

Cabinet Installation

To produce an EMC and LVD compliant installation we recommend that drives are mounted

within a steel equipment cabinet. This form of enclosure is not essential to achieving EMC

compliance, but does offer the benefits of operator protection and reduces the contamination

of the equipment from industrial processes.

A steel equipment cabinet will screen radiated emissions provided all panels are bonded to a

central earth point. Separate earth circuits are commonly used within equipment cabinets to

minimise the interaction between independent circuits. A circuit switching large currents and

sharing a common earth return with another low level signal circuit could conduct electrical

noise into the low level circuit, thereby possibly interfering with its operation. For this reason

so called ‘dirty earth’ and ‘clean earth’ circuits may be formed within the same cabinet, but all

such circuits will eventually need to be returned to the cabinet’s main star earth point.

Mount the individual drives and EMC filter on a metal earth plane. The earth plane will have

its own individual star point earth which should be hard wired (using an insulated copper

conductor) back to the cabinet’s ‘clean earth’ connection point.

LVD - Low voltage directive

EMC – Electro Magnetic Compatibility directive

10 VIX AE SERVO DRIVE USER GUIDE

Power Supply Connections

Power drives from a DC supply derived from an isolating transformer or a DC power supply

(See Power Supply Options later in this section).

Note: Pin 10 is at the top of the connector X1 and pin 1 at the bottom.

Power & motor X1

10-way

connector

+HV

-HV

+24V

0V (GND 24v DC)

MOTOR

CONNECTIONS

Figure 3-1. X1 Power Connections

WARNING – Possible drive damage

If you use Parker XL Series stepper drives do not attempt to use any power wiring

harness taken from an XL drive. Although the same mating connector is used for

both an XL and a ViX, the ViX wiring is the reverse of the XL and the wrong wiring

connection will damage the drive.

Mating connector type is: Wieland type number 8213B/ . This connector is available in two

forms:

1. Part number 25.323.4053.0 (Parker part number 0405.811)

2. UL marked version with part number 25.323.1053.0

3. ELECTRICAL INSTALLATION 11

Supply Requirements

Power the ViX drives from DC supplies as specified below:

Volts

Drive Type

DC Supply Voltage

between DC+ and DC-

48V to 80V (recommended)

24V to 80V

ViX500

ViX250

Table 3-1. Drive Supply Voltages

WARNING

The drive HV supply input is not reverse polarity protected.

Reverse polarity connections will damage the drive.

Current and Capacitance

A supply must have a minimum amount of capacitance to support a drive at peak power

draw.

Drive Type

ViX500

DC Supply Current

6.3A RMS

2.5A RMS

Supply Capacitance

6600µF

3300µF

ViX250

Table 3-2. Drive Supply Currents

+24V Requirements

Both drive types require a +24V controller and logic supply. The supply to each drive should

be fitted with a time-delay fuse, rated at 3A. Note: The +24V supply used must meet the

voltage requirement specification of +24V DC +10% -15%, ripple <1V p-p.

The supply may also be required for an encoder and motor brake.

Absolute voltage range

Nominal drive current

Extra encoder current

Extra brake current

20 to 27V

250mA (excluding encoder & brake)

150mA

500mA

Safety Earth Requirements

Earth the drive using the earth pin on X1 (pin 8). Also earth the power 0V connector on

pin 9.

12 VIX AE SERVO DRIVE USER GUIDE

Power Supply Options

Using the previous section, estimate the power required for a single drive or for a group of

drives. A set of torque curves (Figure 3-2) for various motor/drive combinations can be used

for calculating an applications likely power requirements.

A single axis using a ViX250, or possibly a lightly loaded dual-axis application may be

powered using an XL-PSU. This switching supply has a power rating of 250W and can

supply 3.1A continuous (7.5A peak, depending on supply volts and 24V loading) which could

be used for BE230D medium speed applications.

Higher torque/current requirements will need to use the ViX500 drive and a high current

linear power supply, such as the PL1100. Further power supply information is given in

Appendix A.

3. ELECTRICAL INSTALLATION 13

1.5

ViX250 with BE230D motor

ViX500 with BE163F motor

1.0

PEAK

0.5

CONT.

1000 1500 2000 2500 3000 3500 4000 4500

1000 2000 3000 4000 5000 6000 7000

rpm

ViX500 with BE231G motor

ViX500 with BE341G motor

2.5

5.0

4.0

3.0

2.0

1.5

1.0

PEAK

0.5

1.0

CONT.

1000

1000 2000 3000 4000 5000 6000

1500

2000

2500

rpm

ViX500 with SMB82-25 motor*

ViX500 with SMB60-30 motor*

PEAK

CONT.

500 1000 1500 2000 2500 3000 3500

1000

2000

3000

rpm

4000

5000

rpm

Figure 3-2. Motor Torque/Speed Characteristics

14 VIX AE SERVO DRIVE USER GUIDE

XL-PSU Power Supply

The XL-PSU is a 250W, power factor corrected, switched mode power supply. Designed for

direct operation from world wide single phase AC input voltages, the supply is capable of

powering up to two ViX250 drives (see note 1) without the need for an EMC mains input filter

(see note 2). The use of the XL-PSU offers the following benefits:

•

Auto-adapts to supplies between 95 and 264V AC

No external EMC filter required

Compact size

Built-in power dump switch

Built-in +24V DC supply

Note 1: Check the application’s power requirements from the torque/speed curve of the

motor used.

Note 2: For drives with up to 30 metre motor leads.

For full installation instructions see the XL Power Supply leaflet 1600.300.XX.

3. ELECTRICAL INSTALLATION 15

XL-PSU Supply/Drive Connections

When used to supply up to two drives the power supply can be wired as shown in Figure 3-3.

Mininum spacing

between drives & PSU

10 mm

HV STFB

+DC (80V)

-DC

EXT. BRAKING RES.

If the supply is positioned

this side of the drive

avoid blocking access to

D-type X3

+24V

GND

P2 mating socket

MAINS

INPUT

The XL_PSU must

be securely earthed

110V-230V~

50/60 Hz

250VA

L N

EARTH (GND.)

Power

Supply

Unit

HV STATUS

BRAKING RES.

24V STATUS

Figure 3-3. XL Power Supply and Drive Connections

16 VIX AE SERVO DRIVE USER GUIDE

XL-PSU Mounting Information

Mount the supply vertically, near the drives it will supply. Both the top 4.5mm diameter fixing

hole and the bottom two 4.5mm width fixing slots should be used.

Allow a minimum free space of 50mm both below and above its case and 10mm free space

on both sides.

Do not mount the supply above or close to other products that generate a significant amount

of heat by radiation or convection.

3. ELECTRICAL INSTALLATION 17

PL1100 Power Supply

General Description

The PL1100 is a linear power supply with a rated output of 1120W (80V/14A) for use with

ViX and XL series drives. The supply requires a suitably rated transformer supplying 50V

AC RMS for the HV and 20V AC RMS for the +24V DC. The use of the PL1100 offers the

following benefits:

•

Provides 80V HV and +24V DC output

Single or three phase operation

Built-in power dump switch

Integral fusing

Figure 3-4 shows the PL1100 output wiring for two ViX drives. This illustrates how to route

the main HV supply separately to each drive. The lower current requirements of the +24V

logic/brake supply can allow the wiring to be linked between drives.

For full installation instructions see the PL1100 Power Supply leaflet 1600.323.XX.

In Figure 3-4 the drives are wired individually to the PL1100, alternative daisy chain wiring

can be used.

HV STFB

+24V

CAUTION

Risk of electric shock.

High voltage remains on terminals

after power is removed.

Allow 5 minutes for capacitors

to discharge.

REGEN

MOTOR HV OUT

MOTOR 0V.

EXT. BRAKING RES.

+24V DC OUT

20V AC IN

PL1100

Power Supply

LINK

FOR

SINGLE

55V

AC IN

1/3 PH.

PHASE

10 mm MIN

Figure 3-4. PL1100 Power Supply and Drive Connections

18 VIX AE SERVO DRIVE USER GUIDE

PL1100 EMC Installation Guidelines

These EMC installation recommendations are based on the expertise acquired during the

development of compliant applications, which Parker believes are typical of the way, a

PL1100 may be used. Provided you have no special installation requirements or untypical

operating environment requirements, PL1100 power supplies will conform to current EMC

Directives.

If you are using the recommended transformers (TO255 & TO256) both primaries can be fed

from a single EMC filter. Use a CORCOM 12FC10 or its equivalent. See Figure 3-5.

Mount the supply on a conductive panel to which the EMC filter and the drive(s) are also

attached. If the panel has a paint finish, it will be necessary to remove the paint in certain

areas to ensure the filter and supply, make a good large-area metal to metal contact with the

panel.

Position the PL1100 as close as possible to the drives it is to supply (less than one metre).

Ideally, the EMC filter needs to be close to the transformers, which in turn, should be as

close to the PL1100 as can be arranged. Assuming the use of an equipment cabinet, locate

the EMC filter and transformers in the base of the cabinet and route AC supply cables up to

the PL1100. Attempt to layout the wiring in a way that minimises cross coupling between

filtered and non-filtered conductors. This means avoiding running wires from the output of a

filter close to those connected to its input. Where you wish to minimise the cross coupling

between wires avoid running them side-by-side one another, if they must cross, cross them

at 90° to each other. Keep wiring supported and close to cabinet metalwork.

HV Transformer Specification (TO255)

Power rating

Input voltage

Output voltage

Output current

Regulation

1000VA

230V +15% -10%

2 X 50V RMS full load voltage

2 X 10A RMS

3.5%

Size

162mm diameter, 70mm height

Weight

6.5Kg

Mounting

resin filled centre, drilled to accept an 8mm mounting screw.

See note 1, over the page.

Suitable Transformer (TO256)

A +24V DC logic supply can use the TO256 120VA toroidal transformer, which has the

following specification:

Power rating

Input voltage

Output voltage

Output current

Regulation

120VA

230V +15% -10%

2 X 18V RMS full load voltage

2 X 3.3A RMS

5.5%

Size

93mm diameter, 46mm height

Weight

1.2Kg

Mounting

resin filled centre, drilled to accept an 8mm mounting screw.

See note 1, over the page.

3. ELECTRICAL INSTALLATION 19

HV STFB

+24V

CAUTION

Risk of electric shock.

High voltage remains on terminals

after power is removed.

REGEN

Allow

to discharge.

minutes for capacitors

CABINET

BACK

MOTOR HV OUT

MOTOR 0V.

PLANE

EXT. BRAKING RES.

+24V DC OUT

To star earth point

20V AC IN

PL1100

Power Supply

LINK

FOR

SINGLE

55V

AC IN

1/3 PH.

PHASE

TO256

TO255

Transformers

12FC10

To star earth point

on the metal

backplane

AC Mains input

Figure 3-5. Using a single EMC Filter for PL1100 Supplies

Note 1: A Neoprene insulating disc is included with the mounting kit to prevent the crushing

of transformer windings. This disc provides a 5kV isolation barrier between the transformer

and mounting panel.

20 VIX AE SERVO DRIVE USER GUIDE

SMB Motor Cables

The following motor power and feedback cables are available for ViX drives:

Power cable

Feedback cable

VIX-PWR-XXXX

VIX-FDB-XXXX

Table 3-3. Motor Power and Feedback Cables

Where XXXX is the length of the cable in cm, up to a maximum length of 20 metres in 2.5

metre increments. In the case of SMB motor cables the feedback cable can be used for

resolver or encoder feedback.

BE & SM Motor Cables

When using BE- or SM-Series motors choose the appropriate connector option to ensure the

temperature sensor output is made available on the required connector:

• BE-

• SM-

nMSn

nGSn

Motor power cables are identified using the number 71-021125-XX, where XX is the length

of the cable in feet, up to a maximum of 50ft (15.24m) in 5ft (1.524m) increments.

The form of feedback cable used with both the BE- and SM- range will depend upon the type

of feedback transducer:

• Resolver feedback

• Encoder feedback

71-021123-XX

71-021124-XX

Once again XX defines the length in ft.

Should you require a BE or SM servo motor with a mechanical brake, please contact

Parker. See the front of this user guide for contact details.

3. ELECTRICAL INSTALLATION 21

SMB Motor Connections at the Drive

Standard motor power cables are prepared for connection at the drive end as shown in

Figure 3-6.

Stainless steel 'P' clip clamped firmly over

folded back braiding (do not over-tighten)

100

Fold braiding back over the cable's outer

insulation

Heatshrink Sleeving

Use relevant sleeving to suit cable diameter

Green/yellow

Non-insulated

boot-lace ferrules

Idents 1-5 (to UL94 C0)

All dimensions

in millimetres

Figure 3-6. Motor Power Cable, Drive End Preparation

Note: The cable braiding is folded back over the outer insulation of the motor cable to give a

larger diameter contact area and a mechanically strong fixing.

If you have a ready made ViX-PWR-XXXX cable, use the pre-fitted P-clip otherwise use one

of the clips listed below:

Size

9mm ID

10.7mm ID

12.3mm ID

Parker part number

4216.101

4216.102

4216.103

Comments

Supplied with standard

cables

Table 3-4. P Clip sizes

Three different size ‘P’ clips allow the use of a variety of motor power cables from different

manufactures.

All motor connections must be made using a high quality braided-screen cable. Cables

using a metallised plastic bandage for an earth screen are unsuitable and in fact provide

very little screening. Care must be taken when terminating the cable screen, the screen

itself is comparatively fragile; bending it round a tight radius can seriously affect the

screening performance. The selected cable must have a temperature rating which is

adequate for the expected operating temperature of the motor case.

22 VIX AE SERVO DRIVE USER GUIDE

SMB Motor Connections at the Motor

The motor power connections are made using a 6-way connector. Figure 3-7 shows the

connector pin lettering and Table 3-5 gives the connectivity.

View looking

into the cable

socket

Figure 3-7. Motor Power Connector Pin Identification

Drive end identity

Motor connector

pin number

Function

Phase U

4 black

3 black

Phase V

Phase W

Brake+

Brake-

Gnd

2 black

7 black (via fuse)

1 black

5 green/yellow

Table 3-5. Motor Power Cable Wiring

Motor feedback connections are made using a 17-way connector. Figure 3-8 shows the

connector pin lettering and Table 3-6 gives the connectivity.

View looking

into the cable

socket

Figure 3-8. Motor Feedback Connector Pin Identification

3. ELECTRICAL INSTALLATION 23

15-way D-

type pin

reference

Motor

feedback

connector

Resolver

Encoder

Reserved

Inc Enc Z+

Inc Enc Z-

3 (twin)

REFres+

+5V output

Reserved

+5V output

5 (twin)

Motor overtemp-

SIN-

SIN+

Motor overtemp-

Inc Enc A-

Inc Enc A+

Comm f-b A0

Reserved

Motor overtemp+ Motor Overtemp+

COS-

Inc Enc B-

COS+

Inc Enc B+

Comm f-b A1

Comm f-b A2

Reserved

REFres-

*Note: two wires are used for the +5V supply (X2 pin 5) and two wires are used for 0V

returns (X2 pin 3), two wires are also taken from X2 pin 6.

Table 3-6. Motor Feedback Cable Wiring

The 15-way D-type connector will require the feedback cable screen to be bonded to the

metal connector shell, as shown in Figure 3-9.

RMI earth bonding required for both connectors

Example 2

Example 1

braid

ferrule

cover

cable

Earth bonding area

in cover

Braid to be folded back over

complete cable ferrule to make

a 360° connection.

Braid to be made into 3 round

forms and wrapped a round the

recess of cable ferrule to make

a 360° connection.

Figure 3-9. Screen Bonding Methods for D-type Connectors

A ferrite absorber, with a specification matching that of the Chomerics H8FE-1115-NC, is

also required to be positioned on the feedback cable using heat shrink sleeving. The

position of the absorber should be within 150mm of the feedback connector, as shown in

Figure 3-10.

24 VIX AE SERVO DRIVE USER GUIDE

GND

MAX

150mm

Figure 3-10. Position of absorbers & motor wiring details

There must be no break in the 360° coverage that the screen provides around the cable

conductors.

Use of a through connector must retain the 360° coverage, possibly by the use of an

additional metallic casing where it passes through the bulkhead of the enclosure. We

3. ELECTRICAL INSTALLATION 25

recommend not to bond the cable screen to the cabinet at the point of entry. Its function is

to return high-frequency chopping current back to the drive. This may require mounting the

connector on a sub-panel insulated from the main cabinet, or using a connector having an

insulated internal screen from the connector housing. Within the cabinet itself, all the motor

cables should lie in the same trunking as far as possible. Keep the cables separate from any

low-level control signal cables. This applies particularly where the control cables are

unscreened and run close to the drive.

Note: keep the motor cable routing within the equipment cabinet at least 300mm away from

I/O cables carrying control signals.

Motor Phase Contactors

We recommend that motor phase contactors are not used within the motor power cables. As

an alternative, make use of the drive’s power stage ‘enable’ control signal.

Ferrite absorber specifications

The absorbers described in these installation instructions use a low-grade ferrite material

that has high losses at radio frequencies. They therefore act like a high impedance in this

waveband. Produced by Parker Chomerics, the recommended component is suitable for use

with cable having an outside diameter up to 10mm. The specification is as follows:

Chomerics part number H8FE-1115-NC (Parker part number 0313.020)

Outside diameter 17.5mm

Inside diameter 10.7mm

Length 28.5mm

Impedance at 25MHz 80 ohm

Impedance at 100MHz 120ohm

Curie temperature 130°C (the device should not be operated near this temperature)

26 VIX AE SERVO DRIVE USER GUIDE

Motor Selection and Set Up

Generally, a servo motor is selected together with a drive based on the required

speed/torque performance suitable for the intended application. The ViX product catalogue

carries details of the performance of the drive when used with a range of recommended

servo motor types.

Performance of the ViX is optimised for the following motor types, listed in

Table 3-7.

Motor Type

Motor Rated

Current in

Amps

Motor

Inductance in

mH per phase

ViX500

ViX250

✔

BE231GX-XXXX

BE341GX-XXXX

BE341JX-XXXX

SMB60 XX

5.3

5.2

7.4

6.7

10.5

4.4

16.5

7.1

3.6

3.4

SMB82 XX

Table 3-7. Optimum Motor Types

Configuration information is available for each of the above motor types in the Guided servo

initialisation part of EASI-V. If you wish to use a motor other than the types listed above,

you will need to perform a custom set up. EASI-V allows the use of 55 custom motor types.

Custom Motor Set Up

Within screen 2 of Guided servo initialisation, clicking upon the Setup custom button will

open the window shown in Figure 3-11.

3. ELECTRICAL INSTALLATION 27

Figure 3-11. EASI-V Custom Motor Configuration Window

Motor

the general name/number for the motor.

continuous current rating of the motor in Amps RMS.

(0.1 to 14.4)

Nominal

current

Number of

poles

number of motor poles for a rotary servo (2 pole/pairs = 4 motor poles,

so enter 4).

Resolution

post quadrature resolution of a rotary servo. For a resolver use 4096.

post quadrature is the number of encoder lines ‘seen’ by the drive

Note:

electronics after the encoder signal has been processed.

Rated speed shaft speed in rpm for a rotary servo.

Resistance

Inductance

Inertia

resistance of a single phase winding measured line-to-line in Ohms.

inductance of a single phase winding measured line-to-line in mH.

inertia of a rotary servo stator measured in Kgm .

torque constant of the motor (Torque/Current) measured in Nm/A peak.

Damping

viscous damping of the motor caused by such things as iron losses,

measured in Nm/Krpm.

Thermal time a constant that determines how slowly or quickly the motor temperature

constant

rises to its final steady-state value measured in seconds.

28 VIX AE SERVO DRIVE USER GUIDE

The Optional Parameters Tab

Selecting the optional parameters tab gives you access to the screen shown in Figure 3-12.

Figure 3-12. EASI-V Custom Motor Optional Parameters

3. ELECTRICAL INSTALLATION 29

Motor Related System Variables

Two-system variables control the current supplied to the motor from the drive. Current

Clamp (CL) limits the current output of the drive to protect low current motors or to set a

particular torque level, and Peak Current (PC) can allow a controlled boost of motor current

when required.

CL can be set as a percentage (1 to 100%) of the peak drive current and once set drive

output current cannot be exceeded using any other command or system variable.

PC sets the scale factor (100 to 400%) that controls the ratio of maximum output current to

continuous output current of the drive. Servo motors can be overdriven for short periods to

provide extra torque. PC is calculated as follows:

desired maximum drive current x 100

motor continuous stall current

PC =

A value of 300% is typically used for boosting servo motor performance.

Enter CL and PC values using EASI-V guided servo initialisation or directly, using the W

command.

Drive/Motor Overload

The ViX drive uses an I t protection scheme that prevents excessive heat dissipation in the

drive and motor. Protection operates by monitoring the level of three separate dissipation

parameters and comparing them to their individual I t thresholds. These dissipation

parameters are:

• Motor I T – protects the motor from drive output current above the rated motor current

that is applied for too long a time.

• Moving I T – protects the drive from output current while moving, that is above the rated

drive current for too long a time.

• Stationary I T – protects the drive from output current while stationary, that is above the

rated drive current for too long a time.

If any one of these monitored parameters exceeds the set I t threshold, the drive current

folds back to 80% of the normal running continuous limit. The status LED will continuously

flash red and green and status bit 16 of the system variable ST will be set to ‘1’. The drive

output will remain at the 80% level for 30 seconds, after which the parameter that caused the

I t threshold to be exceeded is re-tested. If the re-tested parameter has dropped in value by

50% or greater of its original fault level, the drive output is returned to its normal current

level. If the failing parameter is found to be still high (>50%) the drive output remains

restricted to its 80% value and continuous checking of the parameter is carried out until the

50% value is reached. When this happens, the drive returns to normal operation, the status

LED stops flashing and ST bit 16 is reset.

30 VIX AE SERVO DRIVE USER GUIDE

Control of I²t Parameters

The drive internal I t parameters are always enabled and cannot be adjusted by the user.

However, the motor I t settings can be influenced by the choice of parameters used for the

MOTOR command. To disable the motor I t settings, set the thermal time constant of the

motor to zero.

Note: If you select a motor from the list of ‘standard motors’ using EASI-V, worst case

configuration data will be used. This prevents reporting a too optimistic view of the motors

thermal performance.

Where a motor is fitted with a temperature sensor built into its windings the motor I t

threshold protection will not be required. In this case, set the thermal time constant of the

motor to zero (see MOTOR command).

Motor Voltage Ratings

Motors with a withstand voltage rating from phase to earth of 1000V AC should be used. An

insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed

screen is used to power the system, and X1 pin9 (0V/GND) input is earthed, as specified.

Motor Safety Earth/Ground Connection

It is recommended that the motor is independently bonded to a local safety earth point. The

safety earth lead should be at least 2.5mm in area.

Short Circuit Protection

The motor outputs are protected against overload and short circuits. Overload is protected

by the I t circuit, and 300% of continuous drive current rating is only permitted for 2 seconds.

A current level just above rated current is only permitted for a maximum of 20 seconds.

3. ELECTRICAL INSTALLATION 31

Plots of I²t Against Drive Current

The following graphs plot drive current against I t time in seconds for a moving and

stationary motor for both power versions of the drive.

ViX250 I²t function - moving

10 11 12 13 14 15 16 17 18 19

Time to trip I²t circuit in seconds

Figure 3-13.ViX250 I t function - moving

ViX250 I t function - stationary

1.8 2 2.2 2.4 2.6 2.8

3.2 3.4 3.6 3.8

1.4 1.6

1.2

Time to trip I t circuit in seconds

Figure 3-14.ViX250 I t function - stationary

32 VIX AE SERVO DRIVE USER GUIDE

ViX500 I t function - moving

10 11 12 13 14 15 16 17 18 19

Time to trip I t circuit in seconds

Figure 3-15.ViX500 I t function - moving

ViX500 I t function - stationary

1.8 2 2.2 2.4 2.6 2.8

3.2 3.4 3.6 3.8

1.4 1.6

1.2

Time to trip I t circuit in seconds

Figure 3-16.ViX500 I t function - stationary

3. ELECTRICAL INSTALLATION 33

A range of

mating connectors

are supplied, depending

upon the type of fit-kit

ordered.

Power & Motor

Communications

Function

24-80V DC

0V / GND

Earth

Reserved

Drive reset

RS232 GND

RS232 Rx

RS232 Tx

Reserved

RS232 Tx (D loop)

do not connect

+5V output

24V DC

0V (GND 24v DC)

Motor Earth

Motor phase U

Motor phase V

Motor phase W

HV STFB

Power Earth

Motor brake

RS232

9-way

socket

Function

ANA1+

Power & motor

10-way

connector

Feedback resolver

Function

Reserved

GND

REFres+

+5V output

GND

SIN-

SIN+

reserved

Motor overtemp

ANA1-

/Z index out

Z index out

Fault output

Enc. A- IN

Enc. B- IN

Enc. A- OUT

Enc. B- OUT

Energise/Energise

Enc.A+ IN

Enc. B+ IN

Motor Earth

Control/Aux I/O

15-way

socket

11 COS-

COS+

reserved

Enc. A+ OUT

Enc. B+ OUT

Primary

feedback

15-way

socket

REFres-

User I/O

15-way

plug

Feedback encoder

Function

Reserved

Brake IN

+24V

Incremental enc. Z+

Incremental enc. Z-

GND

reserved

+5V output

Fixing position

for motor lead

earth clip, included

in fit kit

GND

Incremental enc.A-

Incremental enc.A+

Commutation f-b A0

Motor overtemp

11 Incremental enc.B-

Incremental enc.B+

Commutation f-b A1

14 Commutation f-b A2

reserved

+24V

14 Reserved

RJ45 connectors

X7 OUT

Analogue

monitor

X6 IN

High speed

comm.

Interface

Figure 3-17. ViX Connector Pin Layout

34 VIX AE SERVO DRIVE USER GUIDE

Terminal Description

X1 Connector

X1 is the main power and motor connector. Both HV, +24V and the motor phase

connections are made to X1. A brake connection is also provided via X1 pin1.

Connector Type

The mating connector for X1 is a Wieland type 213B/, part number 25.323.4053.0 (Parker

part number 0405.811). An approval marked version of this connector has the part number

25.323.1053.0.

Connector Pin Out

Connector Pin X1

Signal Name

24 to 80V DC

0V/GND

Earth

24V DC

0V (GND for 24V DC)

Motor Earth

Motor phase U

Motor phase V

Motor phase W

Motor brake

Table 3-8. X1 Power and Motor Connections

Motor Connections at the Drive

Refer to the EMC installation information earlier in this section.

Motor Brake Output

The motor brake output on pin 1 is available as a direct control of a 24V motor brake and is

capable of sinking a current (up to 4A RMS) to 0V to keep the brake disengaged. A 2A fuse

is required to protect against a wiring fault, since no over current protection is provided by X1

pin 1.

Motor brakes are fail safe that is removal of the brake current will apply the brake. A

continuous current supply is required to keep a brake disengaged.

3. ELECTRICAL INSTALLATION 35

Motor Brake Control Wiring

Certain motors used with the ViX drives can be fitted with a holding brake. This enables

vertical (Z-direction) loads to be held whilst the motor is de-energised.

All brakes are fail-safe, that is you need to apply power to the brake to keep it disengaged.

Removing power from a brake will engage or activate the brake preventing further shaft

motion.

Figure 3-18 shows the connections necessary to control a motor holding brake. Power the

brake from the 24V supply, a 2A fuse is recommended to protect the circuit from wiring

faults. To release the brake, (allowing the motor shaft to turn) connect pin 1 of X1 to ground,

using the manual BRAKE command.

Power & motor X1

10-way

connector

24V DC

SUPPLY

2A FUSE recommended

24V DC

MOTOR BRAKE

IN ITS RELEASED

OR ENERGISED STATE

BRAKE

Figure 3-18. Motor Holding Brake Connections

See Section 4. Control of ViX Drives - Brake Operation for details of how to control its

operation.

When a brake is used, the brake supply is dependent upon the value of HV.

For the majority of applications where the HV is greater or equal to 30V, the fused brake

supply is taken from the 24V supply at X1 pin 7 (as shown above).

For applications where the HV is less than 30V, the brake supply can be taken from the

motor HV supply at X1 pin 10.

Note: Whenever you change the HV supply you will need to run the motor configuration

command. If there is no motor HV present, issuing the motor command assumes a value of

80V.

36 VIX AE SERVO DRIVE USER GUIDE

X2 Connector

X2 provides the primary input connections for the motor feedback device. Different types of

feedback device will each require their own unique connections. The standard devices are

resolver and digital encoder.

Connector Type

Connector type is a high-density 15-way D-type socket.

Connector Pin Out

Connector

Pin X2

Resolver

reserved

Encoder

Incremental enc. Z+

Incremental enc. Z-

GND

reserved

GND

REFres+

+5V output

GND

reserved

+5V output

GND

SIN-

Incremental enc. A-

Incremental enc. A+

Commutation f-b A0

Motor overtemp.

Incremental enc. B-

Incremental enc. B+

Commutation f-b A1

Commutation f-b A2

reserved

SIN+

reserved

Motor overtemp.

COS-

COS+

reserved

REFres-

Table 3-9. X2 Primary Feedback Connections

Resolver Compatibility

Supported resolvers have a transformation ratio of 0.5 and are compatible with an excitation

frequency of 10KHz.

Compatible Devices for SBC motors are:

Tamagawa TS2640N181E100

Tyco V23401-U7018-B709

Tyco V23401-D1009-B901

For Compumotor:

API Harowe 15-BRCX-320-J12

API Harowe 21BRCX-500-J40

3. ELECTRICAL INSTALLATION 37

Resolver Interface Specification

12 bit A to D input 4096 resolution

incremental resolution 5.3arc mins /increment averaged over 1 rev

absolute accuracy better than +/-30arc mins.

Resolver set up

For a resolver feedback motor the torque vector is set correctly as soon as power is applied

to the drive. The resolver excitation remains active whilst the drive is powered to ensure that

the resolver feedback system is calibrated ready for use.

Encoder Compatibility

Devices supported: RENCO, Tamagawa

Signal format: quadrature 5V differential signals (A+, A-, B+, B-), Index mark Z+, Z-*

Max input frequency: hardware limit 400KHz max. for A or B channel (1.6MHz post

quadrature).

Definition of positive motion: A leads B when producing clock-wise motion as viewed at the

motor output shaft.

Resolution: 500 to 5000 line devices supported (2000 to 20000 resolution).

Commutation set up

On energising the drive the commutation encoder input is captured and the torque vector set

to be at the middle of the commutation segment..

Whilst rotating as soon as a commutation encoder edge is observed, the torque vector is

realigned more accurately . After the first commutation edge is observed the commutation

input channels are ignored. Prior to passing a commutation input edge the torque may be

restricted to 87% of the peak torque available.

For a rotary motor more accurate alignment is made to the index mark. As soon as the

index mark (Z input) is observed for the first time the torque vector is again more accurately

set. If the Z mark is seen before the first commutation encoder edge the torque vector is set

accurately and subsequent commutation transitions ignored

The above sequence of torque vector alignment is restarted on cycling through de-

energising and energising the drive.

A Hall Effect commutation encoder signals are also used (refer to Appendix B for

commutation details).

Following Encoder

Hardware limit 2.0MHz maximum A/B channel input frequency, (8MHz post quadrature).

5V differential.

Primary/Secondary Encoder 5V Supply

X2 pin 5, X4 pin5.

Maximum loading 350mA TOTAL, using the above connections.

38 VIX AE SERVO DRIVE USER GUIDE

Motor Overtemperature Sensor

The motor overtemperature switch input is compatible with thermal switches used in Parker

SMB, SME, SM and BE servo motors. The input requires a normally closed switch to be

connected to GND on X2 pin 3 or 6.

If you use a motor with no overtemperature sensor fitted or one with an incompatible

thermistor sensor, make sure you un-check the ‘Thermal sensor fitted’ check box in Custom

Motor Set Up, to prevent an overtemperature fault being reported.

X3 Connector

X3 is the RS232 communications connector. RJ45 connectors X6 and X7 may also be used

for inter-drive communications where multi-axis systems are used.

RS485 Operation

RS485 operation is only possible on drives fitted with the appropriate FEM (Fieldbus

Expansion Module). If you require this feature please order the ViX-CE drive type. RS485

cannot be used simultaneously with RS232.

Connector Type

Connector type is a 9-way D-type socket.

Connector Pin Out

Connector Pin X3

Function

Reserved

drive reset

RS232 GND

RS232 Rx

RS232 Tx

Reserved

RS232 Tx (D loop)

Do not connect

+5V output

Table 3-10. X3 RS232 Connections

Baud Rate

Use system variable BR to alter the baud rate of serial communications. Any change made

to the baud rate will only take effect following a save (SV) and system reset (Z) or power

cycle.

3. ELECTRICAL INSTALLATION 39

Reset to RS232 Mode

To reset the drive to RS232 mode and to return to factory settings, remove power from the

drive, connect X3 pin2 to GND and restore power.

CAUTION

This will erase ALL of your user settings and programs in volatile memory. The non-

volatile memory will not be overwritten until a save command is issued.

Terminal/PC

GND

Drive

GND

CONN.

SHELL

CONN.

SHELL

SERIAL

Terminal RS232 socket Interface

4 Rx

2 Tx

5 Tx

3 Rx

3 GND

7 GND

Back of

mating plug

mating plug X3 Socket

Serial connector

socket

SERIAL

PC RS232 socket Interface

4 Rx

3 Tx

5 Tx

2 Rx

3 GND

5 GND

Back of

mating socket

Back of

mating plug

X3 Socket

Serial connector

plug

Figure 3-19. X3 D-type Connector RS232 Connections

40 VIX AE SERVO DRIVE USER GUIDE

Inter-drive RS232 Connections

Use the RJ45 connectors X6 and X7 to inter-connect drives, see RS232 Daisy Chain later in

this section.

RS232 Connecting Leads

RS232 cables can be ordered from Parker. Various lengths are available as listed in

Table 3-11.

Part Number

Length

2. 5m

5.0m

RS232-EASI-0250

RS232-EASI-0500

RS232-EASI-0750

RS232-EASI-1000

RS232-EASI-1250

RS232-EASI-1500

7.5m

10.0m

12.5m

15.0m

Table 3-11. RS232 Connection Lead Types

3. ELECTRICAL INSTALLATION 41

X4 Connector

Connector X4 gives access to the following encoder input and output signals and the

differential analogue inputs. Input and output connections are dependent upon the state of

system variables EO and EI.

Connector Type

Connector type is a high-density 15-way D-type socket.

Connector Pin Out

Connector Pin X4

Encoder I/O

ANA1+ (input)

ANA1- (input)

/Z index out

Z index out

Fault (output)

Energise/* (input)

Energise

*See system variable ES

Table 3-12. X4 Encoder I/O Connections

Inputs Depending Upon the State of System Variable EI

Connector Pin

EI=0

STEP+

EI=1

CW+

EI=2

A+

A-

STEP-

DIR+

DIR-

CW-

CCW+

CCW-

B+

B-

Outputs Depending Upon the State of System Variable EO

Connector Pin

EO=0

STEP+

EO=1

CW+

EO=2

A+

A-

STEP-

DIR+

DIR-

CW-

CCW+

CCW-

B+

B-

42 VIX AE SERVO DRIVE USER GUIDE

Encoder Input/Outputs

Figure 3-20 shows the circuit details of the encoder inputs and outputs, note the /Z and Z

outputs use the same circuit configuration. With resolver feedback on X2, the encoder

outputs at X4 is simulated at a resolution of 4096 counts per rev.

Encoder inputs

Encoder outputs

using 26LS32 quad differential

line receiver

using 26LS31 quad differential

line driver

drive

inputs

outputs

Figure 3-20. Encoder I/O Circuit Details

Differential Analogue Input

Control of the ViX base drive is via a differential analogue input. The input circuit, shown in

Figure 3-21, can interface to an external +/-10V differential signal. Analogue to digital

conversion (12-bit resolution) converts the analogue input to a digital value for use within the

drive. The value of the analogue input can be read as a count via system variable AI.

Drive

ANA1+

Input

impedance

200K

A to D

AI, analogue

input expressed

as a count

ANA1-

Note: both inputs must

be connected - cannot

Software offset controlled

by system variable AO

be used as a single ended

input

GND

Figure 3-21. Analogue Differential Input

3. ELECTRICAL INSTALLATION 43

Figure 3-22 shows the input characteristic.

Velocity

(rps)

Commanded

velocity

Dead band

-10V

Volts

+10V

Figure 3-22. Analogue Differential Input Characteristic

Fault Output

The fault output is an independent NPN open-collector output, which is normally ‘low’ active

‘high’. The output ratings are +30V maximum in the OFF condition and 15mA maximum in

the ON condition. Figure 3-23 shows the output circuit.

Drive

circuit

Fault

Output

Figure 3-23. Fault Output Circuit

44 VIX AE SERVO DRIVE USER GUIDE

_______

Energise/Energise

You can energise the drive by allowing this input pin to float high ‘1’ or by linking the pin to

zero volts, depending upon the input’s polarity. System variable ES controls the polarity of

this input. The default state of ES requires X4 input pin 11 to be connected to 0V to

energise the drive.

X5 Connector

X5 is the user Input connector. On the base drive, one input is used to control the motor

brake, if fitted.

Connector Type

Connector type is a high-density 15-way D-type plug.

Connector Pin Out

Connector Pin X5

Input/Output

Reserved

Brake IN

+24V

Reserved

Analogue monitor

Table 3-13. X5 User Input/Output Connections

Brake Input Circuit

Figure 3-24 shows the various input circuit arrangements of the brake control input,

configured using system variable IC. You can drive this input from three output logic types:

• High logic level 24V source (IC = 256) (default)

• High logic level 24V sink (IC = 257)

• Low logic level 5V source (IC = 0)

Do not attempt to drive this input with a low logic level (5V) sink output.

3. ELECTRICAL INSTALLATION 45

When driven from a high logic level 24V source, a logic ‘1’ (+24V logic) will engage the brake

and a logic ‘0’ (transistor off) will release the brake.

When driven from a high logic level 24V sink, a logic ‘1’ or a high impedance state (transistor

off) will engage the brake and an active pull-down to a logic ‘0’ (transistor on) will release the

brake.

Driving the input with a low level logic output, a logic ‘1’ (transistor on) will engage the brake

and logic ‘0’ (transistor off) will release the brake.

24V

High logic

Drive

IC = 256

level source

4K7

82K

27K

IC = 257

Drive

24V

4K7

82K

High logic

level sink

27K

Drive

Low logic

level source

IC = 0

4K7

82K

Figure 3-24. Brake Input Circuit

46 VIX AE SERVO DRIVE USER GUIDE

Analogue Monitor

The analogue monitor output on X5 pin 15 can be used to examine torque, velocity or a

ramp test signal depending upon the setting of system variable AM. Figure 3-25 shows the

circuit of the output.

Analogue

monitor

Drive

1K2

output

pin 15

TL074CD

Figure 3-25. Analogue Monitor Output

RJ45 Interfaces

Positioned beneath the drive are two RJ45 communication interfaces X6 and X7. The two

interfaces provide support for daisy chain ports for multi-axis RS232 connections between

drives.

X7 RS232 daisy

chain output

X6 RS232 daisy

chain input

High speed

comm.

Interface

Figure 3-26. Position of Connectors X6 and X7

3. ELECTRICAL INSTALLATION 47

FEM1

CANopen/RS485

RX+/TX+ RS485

RX-/TX- RS485

Reserved

RS232 Gnd

Reserved

CAT5 cable colours

White/Orange

Orange

White/Green

Blue

White/Blue

Green

White/Brown

Brown

RS232 Tx

Rs232 Rx

RX+/TX+ RS485

RX-/TX- RS485

Reserved

RS232 sense

RS232 Gnd

Reserved

White/Orange

Orange

White/Green

Blue

White/Blue

Green

White/Brown

Brown

RS232 Rx

RS232 Tx

Table 3-14. X6/X7 Input/Output Connections

48 VIX AE SERVO DRIVE USER GUIDE

Communication Daisy Chain

Drives can be ‘daisy-chained’ for RS232 operation as shown below. Using this arrangement

the drive connected to the controlling PC, via its front panel D-type connector, becomes axis

#1. To automatically assign addresses, connect all power, motor, feedback and

communication cables then power-up all the drives, see ‘#’ command for more details. At

the controlling PC, type the following commands:

;cause the 1^stdrive to establish the daisy chain

in a 3-axis system the response will be #4

0SV ;save the address configuration

;reset

response should be a single check sum from axis 1

more than one check sum indicates a problem, possibly no save command

Final drive

terminates

the daisy chain

X6 rear

X7 front & X6 rear

X7 Out

X6 In

RS232 Input from PC

X7 front

Figure 3-27. RJ45 RS232 Daisy Chain Connections

Using the X6/X7 connections on the underside of the drive will allow the last drive in the

chain to detect that there are no more connections made to X7 which will close the daisy

chain loop back internally.

3. ELECTRICAL INSTALLATION 49

RJ45 Connecting Leads

RJ45 link cables can be ordered from Parker. Various lengths are available as listed in

Table 3-15.

Part Number

Length

0.25m

0.5m

VIX-RJ45-0025

VIX-RJ45-0050

VIX-RJ45-0075

VIX-RJ45-0100

VIX-RJ45-0200

0.75m

1.0m

2.0m

Table 3-15. RJ45 Connection Lead Types

50 VIX AE SERVO DRIVE USER GUIDE

4. CONTROL OF VIX DRIVES 51

4. Control of ViX Base Drives

Overview

This section introduces you to the operation of the ViX base servo drive. The drive uses a

sub-set of ViX commands and system variables to support the drive when connected to an

external controller or an analogue input. No programs can be stored in a base drive.

The drive uses RS232 serial communication to send commands to the drive and to receive

status information back.

Direct Mode

Direct operation of the drive is possible over a serial link from a PC or PLC. When used

directly the drive will accept commands prefixed with the axis address and will action the

commands as they are received.

System Variables

System variables are named variables held within the drive’s controller that are used for

storing a variety of system values and settings. Read system variables using the Report

system parameter (R command), but note, you can only write to certain variables using the

Write (W command).

52 VIX AE SERVO DRIVE USER GUIDE

Table of System Variables

Table 4-1 lists system variables in alphabetic order together with their read/write status and

range of values stored.

Var

Name

R W

Range/default value

AB Analogue

Deadband

Y Y 0 to +255, default = 0

Analogue Input

Y N -2047 to +2047

AM Analogue Monitor

Mode

Y Y 0 = torque monitor (default)

1 = velocity monitor

2 = outputs a triangular waveform –10V to +10V

amplitude, with a 1 second period

AO Analogue Offset

BR BAUD rate

Y Y -2047 to +2047, default = 0

Y Y 9600 (default) or 19200 bits per second

Y Y 1 to 100% (default) of peak drive current

Y N See reporting of drive faults DF1,2,3 & 4

DF Drive Fault status

EI Encoder Input

Current Clamp

Y Y 0=step/dir (default), 1=cw/ccw, 2=quad ABZ, de-

energise drive to change

EO Encoder signal

Output

Y Y 0=step/dir, 1=cw/ccw, 2=quad ABZ (default), de-

energise drive to change

ES Energise Sense

Y Y Sets the sense of the external energise/energise_bar

signal

0=low signal to energise (default)

1=high signal to energise

EX Comms. Response Y Y 0= speak when spoken to, echo off, RS232

Style & Echo

Control & Physical

Interface (RS232)

1= speak whenever, echo off, RS232

2= speak when spoken to, echo on, RS232

3= speak whenever, echo on, RS232 (default)

Filter Time

constant

Y Y 0 to 255 used to filter high gain systems, measured in

arbitrary units, default = 0

GF Feedforward Gain Y Y 0 to 1023 default = 5

(tracking)

Table 4-1. List of System Variables

4. CONTROL OF VIX DRIVES 53

Var

Name

Range/default value

Integrator Gain

(steady state)

Y Y

0 to 1023 default depends on motor type

GP Proportional Gain

(stiffness)

0 to 1023 default depends on motor type

0 to 1023 default = 5

GV Velocity feedback

Gain (damping)

Input/Output

Configuration

Input pull-up/down, output source/sink configuration

0, 256 (default) or 257, for brake input only

0=continuous (default)

Integral Mode

Integral Window

Index Pulse

Y Y

default 50

0 to 1023, default=250, motor definition dependent

PA Position Actual

PC Peak Current

Y N* -2,147,483,648 to 0 to 2,147,483,647, default = 0

Y Y

Sets maximum drive output

value=scaling factor 100-400% of MC, default=300%

PE Position Error

Y N

+/- 32767

Position Following Y Y

-2,147,483,648 to 0 to 2,147,483,647, default = 0

x.yy major.minor

RV ReVision of

software

Y N

SN Serial number

Y N

Drive serial number

Status of indexing Y N

See Reporting the Status of Variables ST1,2,3 & 4

Tracking Limit

Y Y

0-65535, defaults to Motor Resolution or Motor

Resolution/100 if >65535

UF User program

Fault status

Y N

See Reporting of user faults UF1,2,3 & 4

*Can be set to 0 only.

Table 4-1. List of System Variables (Continued)

54 VIX AE SERVO DRIVE USER GUIDE

AB, AI and AO Description

AB controls the dead band and AO the offset of the differential analogue speed/torque

control input. See Differential Analogue Input in the Electrical Installation section.

AM Description

Use output 4 (X5 pin 15) to output an analogue DC voltage between +10V and –10V to

represent the velocity or torque being generated by the drive, depending upon the setting of

system variable AM. Setting AM to 2 generates a bipolar triangular waveform with a time

period of 1 second.

BR Description

This sets the Baud rate of serial communications. Enter the required Baud rate directly, for

example aW(BR,19200) to set the rate to 19200. You will need to save this setting and then

reset the drive (Z command) or cycle the power before the change will take effect.

CL and PC Description

See Motor Related System Variables in the Electrical Installation section.

4. CONTROL OF VIX DRIVES 55

DF Description

See drive fault bit description in Reporting the Status of Variables.

EO Description

Use encoder outputs (connector X4) to supply a step-direction or step-up/step-down signal

for use by another drive. System parameter EO determines the output as defined in

Table 4-2.

EO=0

STEP+

EO=1

CW+

EO=2

A+

A-

STEP-

DIR+

DIR-

CW-

CCW+

CCW-

B+

B-

Table 4-2. Encoder Output Configuration

EI Description

System parameter EI, controls encoder inputs (connector X4) as defined in Table 4-3.

EI=0

STEP+

EI=1

CW+

EI=2

A+

A-

STEP-

DIR+

DIR-

CW-

CCW+

CCW-

B+

B-

Table 4-3. Encoder Input Configuration

CAUTION

De-energise the drive before changing EI and EO.

ES Description

System variable ES controls the required polarity of signal on the energise/energise_bar

input (X4 pin 11). The default value of ES is zero (ES=0), therefore to energise the drive

connect X4 pin 11 to X4 pin 4 (0V). With ES=1, X4 pin11 may be left open circuit to

energise the drive.

EX Description

System variable EX controls the style and protocol of the drive’s serial communications link.

FT Description

Fast positioning systems need high proportional and velocity gains. By limiting the

bandwidth, the digital filter prevents a high gain system from becoming too lively. The filter

56 VIX AE SERVO DRIVE USER GUIDE

also serves to average the effects of the digital control loop, reducing the jitter at standstill

and the audible noise. The value of FT should be kept as low as possible. The arbitrary

units used to set the value of FT cannot be directly related to any time value.

GF Description

The opposing action of proportional and velocity gains result in a position error which

depends on speed. This is called ‘following error’. Feedforward gain can be used to offset

the following error and improve tracking accuracy. This is important in contouring

applications.

GI Description

Proportional action may be insufficient to overcome static position errors caused by

gravitational load effects. Integral action accumulates a steady state error until sufficient

torque is produced to move the load. It improves overall positioning accuracy but may

produce low frequency oscillation around the commanded position.

GP Description

Proportional gain determines the amount of torque produced in response to a given position

error. It sets the stiffness of the system and affects the following error. A high proportional

gain gives a stiff, responsive system but results in overshoot and oscillation that require

damping.

GV Description

Velocity feedback is a signal which increases with shaft speed. It acts in a negative sense

opposing the proportional action and helping to stabilise the motion. The damping action of

velocity feedback allows a higher proportional gain to be used.

IC Description

System variable IC sets the configuration of the drive’s brake input circuit – see ‘Brake Input

Circuit’ in the Electrical Installation section.

IM and IW Description

Integral mode determines when integral action (GI) is applied, either continuously or within a

integral window defined by IW.

IX Description

System variable IX determines the position of the index pulse relative to phase U

(or phase 1) of the drive. Altering the position of the index pulse allows compatibility with

different motor types. Incorrect settings will result in uncontrollable motion.

PA Description

PA reports the actual position of the motor shaft. Although PA is marked as being read only

it will accept the value 0 to be written to it for resetting purposes. If you perform a W(PA,0)

system variables PF, PE and PT will also be set to 0. However, if you immediately perform a

read of these system variables non-zero values will be reported due to normal servo action.

4. CONTROL OF VIX DRIVES 57

PC Description

See Motor Related System Variables in Electrical Installation.

PE Description

PE reports the position error, that is, the difference between PT and PA.

PF Description

PF reports the step and direction position count in mode position (MP).

RV Description

Reports the revision of software being used by the controller.

SN Description

Reports the serial number of a drive.

ST Description

See reporting of status bits in Reporting the Status of Variables.

TL Description

Tracking limit is the maximum amount of position error that can be tolerated, if PE exceeds

TL a fault will be reported.

UF Description

See reporting of user fault bits in Reporting the Status of Variables.

58 VIX AE SERVO DRIVE USER GUIDE

Reporting the Status of Variables

By examining Table 4-5 you can see that most system variables take a numerical value or

record a simple ON/OFF state (0 or 1 Flags). Certain variables perform a reporting function

that provides you with information on the status of the controller and any drive faults present

in the hardware or user program code.

Status Variable Reporting

Variable ST is a 32-bit double word that contains status information.

When read, ST reports a 32-bit double word pattern of the form:

*0000_0000_0000_---32 bit wide double word---_0000

Bit No. 1 4 5 8

Where a bit is set (displayed as a 1) its bit number can be determined and compared with

the bit number value given in Table 4-4 to determine the Status Information being reported.

Use the Read command to display the ST word pattern, that is ‘aR(ST)’.

Bit Number

Status Information

Motor energised

Motor undefined, use MOTOR command

Duty cycle too high, excessive motor current (I t)

Tracking limit is greater than max. allowed position error

Last SETUPFB command failed

In motion, 0 for positive motion, 1 for negative motion

Brake applied, goes to a 1 if the brake is engaged

Table 4-4. Status Bits Description

Status Variable Byte Reporting

A convenient and more compact way of interrogating the status variable is to test it a byte at

a time using the STn within a read command, where n is used to select the byte to be tested.

For example to read or test the first 8 bits (first byte) of the ST variable status word, use ST1.

Since the status word consists of 4 bytes the relevant part of the word can be read using

ST1 (bits 1 to 8), ST2 (bits 9 to 16), ST3 (bits 17 to 24) or ST4 (bits 25 to 32).

Status Bit 23

The maximum allowed position error will depend on the gains used. Normally there is no

restriction, but for high gains the value of tracking limit (TL) will be restricted to a fixed value

(capped). Status bit 23 is set if the tracking limit is capped.

4. CONTROL OF VIX DRIVES 59

Fault Status Reporting

Faults are classified into two groups:

Drive Faults DF (hardware faults present in the drive)

User Faults UF (user program faults)

Drive Faults

Hardware drive faults cause the drive output stage to turn OFF (de-energised). This will

cause the Drive LED to turn RED. Once the fault has been corrected the drive may be re-

energised using the ON command.

When read, DF reports a 32-bit double word pattern of the form:

*0000_0000_0000_---32 bit wide double word---_0000

Bit No. 1 4 5 8

Where a bit is set (displayed as a 1) its bit number can be determined and compared with

the bit number value given in Table 4-5 to determine the Drive Fault being reported.

Use the Read command to display the DF word pattern, that is ‘aR(DF)’.

60 VIX AE SERVO DRIVE USER GUIDE

Bit Number

Stop

Type

DF Information

Composite fault (anything that causes a drive

fault)

+/-15V supply rail

Motor HV under-voltage trip point reached

Motor HV over-voltage trip point reached

V I/O under-voltage trip point reached

V I/O over-voltage trip point reached

Encoder/Auxiliary 5V under voltage trip

Impending power loss

(24V – logic supply)

Commutation Fault

Resolver fault

Motor over temperature

Ambient over temperature

Drive over temperature

Incompatible firmware version

Unrecognised power stage

Controller diagnostic failure

Output stage over current

Output driver over current

Tracking limit exceeded while in motion is a

latched fault

Velocity exceeded (unstable gains/motor spin-

off)

Energise input not set – check energise input

and state of ES variable

Reserved

Watchdog 1

Watchdog 2

Watchdog 3

22-24

Table 4-5. Drive Fault Bit Description

Key:

C: Performs controlled stop

K: Performs motion kill – quick stop. Possible instant de-energise depending on fault source

R: Recoverable without power cycle

T: Terminal (requires power cycle or repair before drive will energise/operate again)

Drive Fault Byte Reporting

In exactly the same way as the status variable, the drive fault status can be reported a byte

at a time, using DFn within a read command.

4. CONTROL OF VIX DRIVES 61

User Faults

Programming errors, such as issuing a GO command when the drive is de-energised can

cause user faults. The report uses a 32-bit word format the same as Drive Faults.

Performing a read UF command will report the current state of any User Faults listed in

Table 4-6.

Bit Number

UF Information

Value is out of range

Incorrect command syntax, command has

wrong format

Drive de-energised

Transmit buffer overflow*

Drive not ready

Save/restore error

Command not supported by this product

Cannot execute motion as the brake is

engaged

27 to 32

Reserved

Table 4-6. User Fault Bit Description

*sends an ASCII ‘bell’ character to indicate a buffer overflow condition.

User Fault Byte Reporting

In exactly the same way as the status variable, the user fault status can be reported a byte

at a time, using UFn within a read command. For example to read or test the first 8 bits (first

byte) of the UF variable status word, use UF1. Since the status word consists of 4 bytes the

relevant part of the word can be read using UF1 (bits 1 to 8), UF2 (bits 9 to 16), UF3 (bits 17

to 24) or UF4 (bits 25 to 32).

Resetting User Fault Bits

The User Fault variable (UF) is cleared to all zeroes once it has been read by issuing a

aR(UF) command. Reading individual bytes of the User Faults variable will not clear any

particular byte, so issuing a R(UF2) command will keep byte 2 bits intact. Also testing a

particular byte using the IF or TR command will keep bits intact.

Note: sending the drive an ON command will immediately clear the User Fault variable,

setting all four bytes to 00000000.

62 VIX AE SERVO DRIVE USER GUIDE

Servo Control Loop

d/dt

Position

Demand

Torque

Demand

∫dt

d/dt

Position

Feedback

Figure 4-1. ViX Servo Control Loop