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More Canon Utilities CameraWindow 7. Canon Utilities CameraWindow is a utility application that enables users to quickly transfer image files from their Canon Digital Camera into their computers. More Autodesk 3ds Max 9 bit Its easy-to-learn environment enables artists to quickly ramp up for production. Configuration list of cyclic actual In parameter "P, Field bus: Config.
The controller can use this configuration in order to locate the individual real-time data in the field bus. This allows the current structure and thus the assignment in the field bus to be read via the parameter channel. It is possible to configure up to 15 real-time parameters incl. Length of the process data channel real-time data channel Standard process data channel Within the cyclic channel, the parameter channel optional and the process non-safe data channel, in which the real-time data of IndraDrive are transmitted, are arranged.
The currently active length is contained in the parameters "P, Field bus: Length of cyclic actual value data channel" and "P, Field bus: Length of cyclic command value data channel". The process data channel real-time data channel can only have words or double words, but not bytes, as data types. Length, however, is specified in bytes for the sake of compatibility with other bus systems. The length of the process data channel that was set therefore has to comply with the configured length in the controller.
The time is specified by the control. Configuring the cyclic data The cyclic data have to be configured in the parameter mode. The parameter channel is part of the cyclic data. The parameter channel is always at the beginning of the cyclic data channel. The length of the parameter channel is configured in the controller and in the device.
If the control does not have a cyclic data channel, no axis control is possible without an MLD. The following table shows the possible states:. The device does not have a valid IP address or Continuously off has been switched off. The device has run up with a valid IP address, but Flashing green does not have a cyclic connection. Any cycle time is supported in non-synchronized operation.
The value that was set is applied as active Node ID when the drive is booted. The currently active Node ID is displayed via parameter "P Host ID value range of the drive: Default gateway The default gateway has to be the IP address This is parameterized by activating bit 0 in "P This section is referred to as cyclic data channel. The device-specific parameter channel does not comply with any "real-time properties"! The principles applied can be easily used for other field bus masters.
This can be done using the so-called Easy Menu. The address is always displayed in the left side of the standard display of the control panel. This GSD-file, when configuring the bus master, is required for each node. The devices have to be configured. Each device in the in the CCD group has an F-module, one input module and one output module: A slot is a module location.
In the example: A parameter channel module is inserted in Slot 1. With single-axis devices, IndraDrive controllers assign their data to four slots into which certain modules have to be plugged. For configurators that are supporting the GSD version 03 or higher, this default configuration is automatically set. This setting active in IndraDrive after loading of the default values.
P , include the "ParamCh 5 Words" module and configure it accordingly in the parameter "P This enables parameter download from the master after a device was replaced.
See also "Profile types with field bus interfaces " Configuration list of cyclic actual In parameter "P, Field bus: Config. The master can use this configuration in order to locate the individual real-time data in the field bus.
Length of the process data channel real-time data channel Standard process data channel Within the cyclic channel, the parameter channel optional and the process non-safe data channel, in which the real-time data of the device are transmitted, are arranged. The length of the process data channel can range between The length of the process data channel that was set therefore has to comply with the configured length in the master.
This baud rate is transmitted to the slave and displayed in parameter "P, Field bus: Baud rate". Due to performance reasons, retain the default settings. Valid values for "P Field bus: Process data - updating clock": min. Parameter channel in the cyclic channel device-specific. The length of the parameter channel is configured in the master and applied by the device to parameter "P, Parameter channel: Length".
It is displayed in parameter "P, Field bus: Watchdog" in ms. This means that real-time data are exchanged between IndraDrive and master. Parameter for field bus diagnostics The parameter "P, Field bus: Diagnostic message" contains the state of the field bus master communication in plain text. The communication is monitored by a watchdog.
Designation acc. Error no. Subindex Description 6 Operating data set 5 if available 7 Operating data set 6 if available 8 Operating data set 7 if available 10 Index of list pointer 11 List element to which element 10 points only for list parameter To access individual list elements, it is possible to set a list index subindex 10 and access the respective list element of the list index via subindex 11 to subindex This allows a continuous part of a list to be processed in the case of repeated access to subindex 11 to subindex If the length of the list has to be changed, this can be corrected by changing the actual length of the list parameter subindex 81… The maximum list length can be read via the subindices 71… Mains connection.
The higher the performance class the higher the size and complexity. The system is supplied with power via a three-phase mains connection.
The design of the soft start device depends on the hardware. DC bus capacitor Supply units have an integrated DC bus capacitor. Braking resistance The design of the braking resistor depends on the hardware. If an integrated braking resistor is not available, an external braking resistor can be optionally connected. Energy buffer Optionally, an external energy buffer Kinetic Buffer, UPS can be operated at the DC bus, In the case of mains failure, it makes available energy to supply drives.
Independent of the master communication, information on error situations is exchanged via this bus without delay. For the detailed system structure please see the respective Project Planning Manual. Status of power supply The current status of power supply is represented by the state machine of the supply unit [see fig. Any change of states is performed using the parameter "S The supply unit signals the current state via the parameter "S Soft start When the mains supply power is switched on, the DC bus is charged via a soft start device.
The maximum DC bus capacitance is limited by the charging ability of the soft start device. The soft start causes a charging time between the activation of the mains voltage and the minimum voltage in the DC bus required for power output. Charging time and charging curve are monitored during the soft start.
In the case of error, the error message "F Softstart fault power supply unit" is generated. If the soft start is successfully completed, the supply unit goes to the "ready for power output" state "S Identifying the controlled system When power is switched on, the DC bus capacitance is determined during the soft start.
If "S If the value in S If the value of S The values in S If S DC bus capacitance validation If the currently measured DC bus capacitance deviates from the value in check "S The value in S Commutation choke inductance The measured value of the commutation choke inductance is compared to validation check the typical value stored in the power section.
The resulting mains angle is compared to the mains angle of the PLL. The designs of IndraBus and module bus are different. IndraBus can transmit multiple signal states in parallel. In contrast to the module bus, IndraBus is safe from cable break. If cable break is detected or IndraBus has not been wired, the error message "F Module group communication error" is generated.
The mains contactor is disconnected and the Bb contact is not opened. The disconnection of the mains contactor has the same effect as mains failure and thus causes power enable to be removed. If the difference between the nominal mains angle and the current angle of the phase voltages is greater than the mains angle tolerance S The F error causes power enable to be switched off.
Mains frequency monitoring The parameter "S The allowed value is between 43 and 67 Hz. Mains overvoltage By way of mains overvoltage monitoring the mains voltage is monitored with regard to the maximum allowed value. The maximum allowed mains voltage depends on the hardware V or V devices. Monitoring the mains voltage peak value S Monitoring the current unfiltered mains phase voltages.
The aim is to detect a quickly rising mains voltage, e. The F error is a critical error and causes the Bb contact to be opened. Mains undervoltage By way of mains undervoltage monitoring the mains voltage phase-to-phase mains voltage is monitored with regard to the minimum allowed value.
The minimum allowed mains voltage cannot be parameterized. The mains voltage peak value S This is done to detect slowly decreasing mains voltage. Monitoring is carried out on the basis of EN Mains failure By way of mains failure monitoring a mains failure is detected. The condition for mains failure is: unfiltered mains peak voltage smaller than 50V. If mains failure is detected, the warning "E Mains failure" is generated.
If the mains failure takes longer than two seconds, the error message "F Mains failure" is generated. The F error causes power enable to be switched off and the mains contactor to be disconnected. Ground fault monitoring By way of ground fault monitoring a short circuit between ground and one of the three phases is detected.
The measured phase currents are used as the input values for monitoring. The Bb contact is opened. DC bus voltage monitoring By way of DC bus voltage monitoring an undervoltage or overvoltage in the DC bus is detected. The actual DC bus voltage value S If the DC bus voltage falls below the limit value, the output stage is switched back on and the warning disappears.
If the DC bus voltage keeps increasing and exceeds the maximum allowed value, the error message "F Overvoltage in power section" V in case of V devices or V in case of V devices is generated. The measured mains phase currents are used as the input values for monitoring. There are four stages: 1. If the current falls below the limit value, the output stage is switched back on and the warning disappears.
If the current does not decay in spite of the output stage having been switched off, the error message "F Overcurrent in power section does not decay " is generated. The error causes power supply to be switched off and the Bb contact to be opened. Power supply control. Insulated-gate bipolar transistors IGBTs are used for this purpose. The voltage controller has been designed as a PI controller.
It can be configured using the proportional gain and the integral action time. To limit the mains current, the bipolar current limit value S Parameterization example: S Voltage command value The voltage command value S The command value range results from the mains voltage and the maximum DC bus voltage.
If a value smaller than the minimum command value is input, the DC bus voltage is dynamically increased. The damping factor depends on the controller mode configuration in "S The voltage control loop parameters are calculated according to the above formula by executing "C Command Load power-supply specific controller values". If the effective peak current S With a model calculation, the output stage load is determined from them, and the effective peak current is limited depending thereon.
It is impossible for the user to parameterize the dynamic current limitation. The Iq and Id currents transformed from the mains phase currents are used as actual values for calculating the control difference. In order that a regenerative mode with sinusoidal currents is possible, the DC bus voltage at least has to have the level of the mains peak. The current controller has been designed as a PI controller. The firmware- side calculation of the corresponding default values can be triggered using "C Command Load power-supply specific controller values".
Current command value The command value of the active-current generating component is the limited output value of the voltage controller or as an alternative can be cyclically preset. The reactive-current generating component normally is controlled to zero. The current control loop parameters are calculated according to the above formula by executing "C Command Load power-supply specific controller values".
Output stage compensation The output stage compensation is a voltage feedforward. Cycle time The cycle time of the current controller depends on the switching frequency of the power output stage. At a switching frequency of 4. The switching frequency depends on the device and cannot be changed. The following switching frequencies are supported:.
Power output stage switching frequency Current controller cycle time. It is therefore the objective to minimize the reactive power. For this purpose, a device is used that determines the currently required reactive power and compensates it actively.
The following methods are available: 1. Compensation of reactive power by specifying a reactive current 2. Compensating the reactive power of the supply unit and external loads using reactive power control Control loop structure All methods are based on the following control loop structure:.
The reactive power control is switched off by default S Therefore, none of the methods for reactive power compensation is active if the reactive-current generating command value component S Compensating the reactive power If the reactive power control has been switched off S Compensating the reactive power If the reactive power control has been activated S The firmware calulates the total reactive power of the supply unit and mains connection components from the electrical characteristic values of the mains filter and mains choke, as well as the measured mains phase currents and mains voltages.
The calculated value is transmitted to the power controller as the actual value S To compensate the calculated reactive power, the command value zero has to be input for the power controller S The parameter "S On the basis of the measured mains phase currents and mains voltages the reactive power of the supply unit is calculated and transmitted to the power controller as the actual value S If the command value zero is input, only the reactive power of the supply unit is compensated.
Operation modes. The supply unit firmware supports the following operation modes:. As a feedback the power supply status word S The control loop structure from "Control loop structure" on page is used. The voltage control mode depends on the configuration of the voltage control loop parameters. The mode is parameterized via the so-called controller mode in parameter S However, it can be changed at any time by the user or a higher-level control unit.
As a result, the DC bus voltage clearly drops at high load peaks. However, this might considerably change the behavior of control, and the objective of the controller mode that has been set possibly cannot be achieved.
Control is inactive within this range and only switched on if the DC bus voltage leaves this range. Control loop structure The control loop structure from fig. Properties This operation mode aims at limiting the mains activity to a minimum.
The configuration is very flexible, since the command values and thresholds can be set as required. Simply make sure that the values are valid.
Thus, this operation mode can be parameterized with regard to the specific application. Control parameters This operation mode uses the control parameter values of the "standard control" controller mode see chapter 8. All voltage control loop parameters basically can be changed as required and thus optimized with regard to the specific application. However, this might considerably change the behavior of control.
The control of the DC bus voltage is inactive and the supply unit works as a rectifier. The DC bus voltage value corresponds to the rectified value of the mains voltage. The power output stage is switched on as follows: 1. The mains current exceeds the maximum permissible diode current threshold value is specified n P The supply unit hereby goes to the boost converter mode and the DC bus voltage is controlled with regard to the command value. The control loop structure of "Control loop structure" on page is active.
The control is switched off if the diode current falls below the maximum allowed value again or the DC bus voltage reaches the command value.
The supply unit automatically goes to the boost converter mode to protect the device against overload and for protection against DC bus overvoltage. Control loop structure The control loop structure from "Control loop structure" on page is used as a basis, and the structure is expanded by the generation of the command value. If the "mains current control" mode is accidentally activated, this can cause the DC bus voltage to rise in an uncontrolled way. Advanced supply unit functions. The E-Stop function causes drive enable to be switched off in the drive.
For IndraDrive Mi there are different safety zones. A safety zone consists of a safety zone beginner and one or several safety zone nodes. These zones are equivalent to the zones for the E-Stop. Using the additional functions for mains supply does not ensure that the country-specific standards and regulations of the power supply company are complied with. The limitation of the active power only takes effect in the case of regeneration to the power grid.
This function has to be activated in the mains supply configuration word S Limiting the active power flow to the mains Use the parameter S This function has to be activated in Mains supply configuration word S Reactive power command value specification depending on the active power By reactive power command value input depending on the active power, the reactive power can be generated in accordance with the preset active power- dependent cos phi characteristic S The numer of list values has to comply with the one in S Positive active power flows from the power grid to the supply unit.
The active power values have to be entered in equidistant form. The nominal active power of the generating plant can be the nominal active power of the device at the max.
That is why the nominal device active power is used as default value for S Positive cos phi values cause inductive behavior.
For values working points defined outside of the first or last row, a reactive power command value is used in accordance with the limit working point, i. This function has to be activated in "S If the power supply company specifies a characteristic, each command value resulting from the characteristic has to be automatically adjusted at the power plant within 10 seconds.
The advanced mains monitoring functions are based on the standardized grid and system protection. If grid and system protection is required, it has to be implemented using an external grid and system protection. Optional device functions. Errors are classified into error classes. The error class is represented by the first two digits of the diagnostic message number.
In the case of supply section errors, the supply unit is powered off. The mains contactor is disconnected and in the case of fatal errors the "Bb contact" is additionally opened. Error classes There are different error classes with increasing priority. If a fatal error of the supply section has occurred, the "Bb contact" is additionally opened. This function discharges the DC bus via the braking resistor. ZKS can only be carried out if a braking resistor is available within the drive system.
If the feedback contact of the mains contactor signals mains disconnected, ZKS is enabled. The DC bus is discharged at the limit load of the braking resistor using a two- state controller at the warning threshold. If ZKS is active and the load has reached the warning threshold, discharging is switched off. The discharging status can be diagnosed via "S Please observe that functions available for motion axes cannot be used with the PSB frmware. For this purpose, the functional package ML has to be enabled.
The rest is reserved for online change. The projects are filed on the PC. The generated binary code is loaded to the control section of the supply unit and stored in parameters. In the attempt to command a function block that is not supported, the Error output is set at this function block. Each individual input or output can be assigned to parameters of the supply unit. For digital input 14, for example, the value has to be parameterized. Alternatively, the corresponding list element can be written with "0" in P Validity check of configuration lists When a new assignment list is input or an element of the list is changed, all entries are checked for validity.
If an entry is invalid i. Incorrect entries are rejected when the list is checked and set to the respective default value. Direct access to digit. For this purpose, the list element assigned to the digital input is set to 0 in P, accordingly in P for digital outputs.
The digital outputs can only be directly controlled if they are not used on the supply unit side. In the "PIN" column, the interface pin from which input it is read or which output is set is parameterized. An output is basically configured like an input.
However, the check box has to be additionally ticked see figure for an output to configure the parameter P accordingly. It is required to call the single parameter editor in IndraWorks. Using parameter "P, Digital inputs, assignment connector and pin", it is specified which pin of the relevant connector is copied to parameter "P, Digital inputs, input image sub-device".
Each bit of parameters P has a fixed assignment to the list elements of parameter P or P, i. P, bit 0 is applied to list element 0 of parameter P and P, bit 1 is applied to list element 1 etc. The identification numbers IDN of the target parameters are entered in list parameter "P, Digital inputs, assignment list". The bits are selected via parameter "P, Digital inputs, bit numbers". The status of the interface is reflected in "P, Digital inputs, input image of device".
Pertinent parameters: P, Digital inputs, assignment list P, Digital inputs, bit numbers P, Digital inputs, input image device P, Digital inputs, assignment connector and pin P, Digital inputs, input image sub device Fig.
The identity numbers IDN of the source parameters are parameterized in list parameter"P, Digital outputs, assignment list". The parameter "P, Digital outputs, assignment sub-device" has to be written with "1" to assign the sub-device output image to the digitalen outputs.
Parameter "P, Digital outputs, output image of device" reflects the status of the digital outputs. This assignment is analogous to P Using parameter "P, Digital outputs, assignment connector and pin", determine to which pins of the connectors the respective bits of P are copied. Activation The command value generator is activated and controlled via parameter "P, Command value generator, control word" by setting the enable bit. When the enable signal has been set, the generator generates command values.
In parameter P, it is also possible to specify that the enabling of the command value generator is automatically deactivated in the case of errors. In this case, the enable signal has to be set again after each error or after the control voltage has been switched on. Drive enable In order that the generated command values take effect, drive enable has to be set. See also description of parameter "P, Command value generator, list of possible target parameters". Selecting the signal shape The shape of the desired output signal is determined using the respective bits in parameter "P, Command value generator, control word".
The frequency increases linearly from the starting frequency to the end frequency. P Command value generator, offset P Command value generator, amplitude P Command value generator, duration 1 P Command value generator, duration 2 P Command value generator, periodic time Fig.
If periodic command value generation has been selected in the control word, parameter "P, Command value generator, periodic time" determines the cycle time or periodic time. P Command value generator, offset P Command value generator, amplitude P Command value generator, periodic time Fig.
The target parameter selected in parameter P determines the initial angle of the signal. The deactivation of the command value generator can therefore be delayed until the period is complete P, bit 6. Noise generator The method of the feedback shift register is used for generating the random numbers. In each sequence a bit for the output is generated which is set or cleared at random so to speak.
The generated noise signal is free of mean values over an entire period. P Command value generator, offset P Command value generator, amplitude Fig. P Command value generator, offset P Command value generator, amplitude P Command value generator, duration 1 P Command value generator, duration 2 Fig.
The periodic time of the sweep must correspond to at least four- times the duration of the minimum frequency to be run through starting and end frequency.
If, for example, 0. The exemplary figure below illustrates a sine sweep with manual intervention:. The generated sine sweep without offset does not have any mean value during the entire periodic time "sweep up and sweep down". Consequently, it is required to adjust the recording time of the oscilloscope function to the periodic time of the excitation signal. Select starting P and end frequency P of sine sweep 2. In case of the noise signal, the band width of the excitation signal depends on the cycle time of the excitation Texcitation the signal is generated with and in case of the sine sweep, on the end frequency P Current Iq S Current Id S Optimizing the controller The integrated command value generator is very well suited for optimizing the control loops current, voltage , since it generates a defined command value characteristic e.
To evaluate the current controller for the reactive-current generating control loop, excitation has to take place via parameter "S Voltage controller To evaluate the voltage controller, excitation has to take place via parameter "S Handling, diagnostic and service functions. All operating data relevant therefor are mapped to parameters. An identification number IDN is assigned to each parameter. The operating data stored in parameters can be identified using the IDN.
Specific parameter values operating data are checked for validity by the drive firmware. Functional description Parameter structure Each parameter consists of seven data block elements. Element no. Description Notes. Description Notes 6 Maximum input value Maximum input value of operating data 7 Operating data Parameter value. Only the operating data can be written, too. Data status Each parameter has a data status. This allows state of a command which was started to be recognized by the control master.
The value range limits are contained in the data block elements no. Each circuit board is provided with a non-volatile memory. It carries the circuit board code and circuit board-specific operating data.
On the main circuit board there is a non-volatile memory flash and a volatile memory working memory. The drive firmware is also stored in the non-volatile memory. Parameter mode and operating Parameters the operating data of which can be changed, can be written with mode values in one or possibly several communication phases. As a matter of principle, all parameters that can be changed can be written in the parameter mode. In case of controllers delivered with factory settings ordering an additional FWS option , the factory settings are restored after the default values have been recovered successfully.
The command cannot be executed if the drive is locked with a customer password, also see "C Locked with password". See also parameter description "P, Configuration for loading default values" Storage mode Depending on "S, Storage mode", the application-specific parameter values are stored in the controller in volatile form in the RAM or non-volatile form in the flash memory.
Non-volatile storage is carried out with each write access to the respective operating data. Otherwise, the service life of the non- volatile storage media is affected. During the execution of some commands see description of the respective diagnostic command message; e.
Therefore, it should be made sure that such write accesses are not carried out too often a maximum of approx. If the parameter values of the list of S are to be saved, "S , C Selectively backup working memory procedure command" has to be activated. Requirement: Engineering has to be connected to the drive.
Changes in the parameter settings can be detected by comparing the checksums. By default, no IDNs have been entered in parameter S! When the installation has been completely set up, the checksum for each drive can be read via parameter S The control master can store these values. By comparing the checksum which was saved to the new checksum which was read, it is possible to find out whether data relevant to operation have changed.
Commissioning notes Initial commissioning At the beginning of the initial commissioning of a machine axis, first make sure the desired firmware is active in the controller. If the desired firmware is not available in the controller, carry out a firmware update or firmware upgrade see "Firmware replacement". Select specifications in parameter "P, Configuration for loading default values" 2.
Enter optimized control loop parameter values again! These parameters are overwritten with a current value. Loading saved parameter values acc. S cannot restore the initial parameter state. The actual position value after the loading process would be incorrect, but this cannot be detected on the controller side!
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