Rockwell-automation SA500 Drive Configuration and Programming Manuel d'utilisateur

Instruction ManualDistributed Power SystemSA500 'ULYH&RQILJXUDWLRQDQG3URJUDPPLQJVersion 2.1AS-3044

1-2SA500 Drive Configuration and ProgrammingRelated PublicationsThe user must become familiar with the other instruction manuals that describe the SA5

5-4SA500 Drive Configuration and Programming

SA500 Drive Register ReferenceA-1APPENDIX ASA500 Drive Register ReferenceREGISTER MAPRegisters Function 0-23 Rail I/O port registers24-79System Use On

A-2SA500 Drive Configuration and ProgrammingFEEDBACK REGISTERS (Continued)201/1201 I/O statusBit 0 Run permissive input RPI@ 1 M-contactor feedback

SA500 Local Tunable VariablesB-1APPENDIX BSA500 Local Tunable VariablesResolver Balance and Gain VariablesThe resolver gain and balance variable value

B-2SA500 Drive Configuration and ProgrammingResolver Alignment VariableFor brushless drive control, the resolver shaft and the rotor shaft must be ali

SA500 Local Tunable VariablesB-3Constant Power Calibration VariablesWhen configuring the SA500, whether Brushless, Brushless - Speed Loop Enhanced, Ve

B-4SA500 Drive Configuration and Programming

SA500 Control AlgorithmsC-1APPENDIX CSA500 Control AlgorithmsDepending upon the type of AC motor being controlled, one of four control algorithms can

C-2SA500 Drive Configuration and Programmingalgorithm, this is determined from Iq and the rotor position feedback signal. The torque algorithms produc

SA500 Control AlgorithmsC-3Input position reference values are received from UDC tasks. These position reference values are then converted into positi

Configuring the UDC Module, Regulator Type, and Parameters2-1CHAPTER 2Configuring the UDC Module,Regulator Type, and ParametersThe Rack Configurator a

C-4SA500 Drive Configuration and ProgrammingFigure C.1 – SA500 Vector Torque Algorithm Block DiagramOUTERCONTROLLOOP(S)PMI_REF%+4095-4095SCALINGTORQUE

SA500 Control AlgorithmsC-5Figure C.2 – SA500 Brushless Torque Algorithm Block DiagramOUTERCONTROLLOOP(S)PMI_REF%+4095-4095SCALINGTORQUEGAINCSUMIuIvDI

C-6SA500 Drive Configuration and ProgrammingFigure C.3 – Position and Speed Loops

Status of Data in the AutoMax Rack After a STOP_ALL Command or STOP_ALL FaultD-1APPENDIX DStatus of Data in the AutoMax RackAfter a STOP_ALL Command o

D-2SA500 Drive Configuration and Programming

Constant Power CalibrationE-1APPENDIX EConstant Power CalibrationTypically, an induction motor operating at or less than its rated speed will be capab

E-2SA500 Drive Configuration and ProgrammingIf application performance in the constant power region is at expected levels, you do not need to perform

Constant Power CalibrationE-3Step 13. Determine the number of reference points to be used from the STATOR_IZ reference table by looking up the number

E-4SA500 Drive Configuration and Programming

Calculating Slip Gain, Torque Gain, and Stator InductanceF-1APPENDIX FCalculating Slip Gain, Torque Gain,and Stator InductanceFor motors not in the pu

2-2SA500 Drive Configuration and ProgrammingStep 4. Select a product type and a regulator (control) type for both drive A and drive B. See the followi

F-2SA500 Drive Configuration and ProgrammingF.2 Torque GainWhere P_base = Rated Motor Power (W) (1HP = 746W)W_base = Rated Full Load Speed (rpm)Ifl =

Index Index-1INDEXAAccess level, 3-3Application programming, 4-1 to 4-10AutoMax and UDC task coordination, 4-9AutoMax tasks, 4-1local tunable variable

Index-2SA500 Drive Configuration and Programmingresolver scan position, 3-38resolver strobe position, 3-38slip rpm, 3-39speed error, 3-38speed feedbac

IndexIndex-3 TTorque gain calculation, F-1UUDC Error Code, 3-3UDC moduleadding a UDC module, 2-1 to 2-2initiate change in setup register, 3-46meter po

Index-4SA500 Drive Configuration and Programming

DIFDocumentation Improvement FormUse this form to give us your comments concerning this publication or to report an error that you have found. For con

Printed in U.S.A. S-3044 August 1998Rockwell Automation / 24703 Euclid Avenue / Cleveland, Ohio 44117 / (216) 266-7000

Configuring the UDC Module, Regulator Type, and Parameters2-3Use the following procedure to enter the drive parameters. Note that if you enter drive p

2-4SA500 Drive Configuration and ProgrammingNote that you cannot attach a Local I/O Head to the PMI’s rail ports. You can, however, mix input and out

Configuring the UDC Module, Regulator Type, and Parameters2-52.3 Using the Brushless Parameter Entry ScreensThe following sections describe the parame

2-6SA500 Drive Configuration and Programming2.3.2 Motor Data Screen (Brushless)The Motor Data parameter screen allows you to select the motor you are

Configuring the UDC Module, Regulator Type, and Parameters2-7•Motor Overload Ratio (%) (Range: 100 to 400)The motor overload ratio is used in calculat

2-8SA500 Drive Configuration and Programming•Motor ListYou can select a part number from a list of supported motors to have the specified default Moto

Configuring the UDC Module, Regulator Type, and Parameters2-92.3.4 Feedback Data Screen (Brushless)The Feedback Data parameter screen allows you to en

The information in this user’s manual is subject to change without notice.Ethernet™ is a trademark of Xerox Corporation.AutoMax™ is a trademark of Ro

2-10SA500 Drive Configuration and ProgrammingFor the most accurate velocity control, always select the resolver (x1 or x2) whose maximum speed is clos

Configuring the UDC Module, Regulator Type, and Parameters2-11•Over Speed Limit (RPM) (Range: 10 to 10000) The over speed limit is used to select the

2-12SA500 Drive Configuration and Programming2.4 Using the Vector Parameter Entry Screens The following sections describe the parameter entry screens

Configuring the UDC Module, Regulator Type, and Parameters2-132.4.2 Motor Data Screen (Vector)The Motor Data parameter screen allows you to select the

2-14SA500 Drive Configuration and Programming•Motor Overload Ratio (%) (Range: 100 to 400)The motor overload ratio is used in calculating the torque l

Configuring the UDC Module, Regulator Type, and Parameters2-152.4.3 Motor Data Screen (Vector - Speed Loop Enhanced)The Motor Data parameter screen al

2-16SA500 Drive Configuration and Programming•Motor Overload Ratio (%) (Range: 100 to 400)The motor overload ratio is used in calculating the torque l

Configuring the UDC Module, Regulator Type, and Parameters2-17•External Speed for Constant Power This option allows you to supply an external speed re

2-18SA500 Drive Configuration and ProgrammingFor the most accurate velocity control, always select the resolver (x1 or x2) whose maximum speed is clos

Configuring the UDC Module, Regulator Type, and Parameters2-192.4.5 Feedback Data Screen (Vector - Speed Loop Enhanced)The Feedback Data parameter scr

Table of ContentsICONTENTSChapter 1 IntroductionChapter 2 Configuring the UDC Module, Regulator Type, and Parameters2.1 Adding a UDC Module...

2-20SA500 Drive Configuration and ProgrammingFor the most accurate velocity control, always select the resolver (x1 or x2) whose maximum speed is clos

Configuring the UDC Module, Regulator Type, and Parameters2-212.5 Generating the Drive Parameter Filesand Printing Drive ParametersWhen you have compl

2-22SA500 Drive Configuration and Programming

Configuring the UDC Module’s Registers3-1CHAPTER 3Configuring the UDC Module’s RegistersThe Variable Configurator application in the AutoMax Programmi

3-2SA500 Drive Configuration and Programming•The Feedback Registers view is used to configure the feedback registers that display the current status o

Configuring the UDC Module’s Registers3-3•Register Name: Functional name of the register (e.g., Torque Reference Register).•Register A/B Numbers: Memo

3-4SA500 Drive Configuration and ProgrammingRefer to table 3.2 and Appendix A for a numerical listing of the UDC module dual port registers.Table 3.1

Configuring the UDC Module’s Registers3-5Table 3.2 – UDC Module Dual Port Memory Register Organization.Registers Function0 - 23 Rail I/O port register

3-6SA500 Drive Configuration and Programming3.2 Rail I/O Port Registers (Registers 0-23)The Rail I/O Port 0 and Port 1 views are used to assign variab

Configuring the UDC Module’s Registers3-7Table 3.3 – Rail I/O Port RegistersDrive A RegistersDrive B Registers Port and ChannelRail Type and Signal4 O

IISA500 Drive Configuration and ProgrammingChapter 5 On-Line Operation5.1 Loading the UDC Module’s Operating System ...

3-8SA500 Drive Configuration and ProgrammingTable 3.5 – Fault Register and Check Bit Fault Counter RegisterUsage for a Digital I/O Rail or 4-Input Ana

Configuring the UDC Module’s Registers3-93.3 UDC/PMI Communication Status Registers(Registers 80-89/1080-1089)The UDC/PMI Communication Status Registe

3-10SA500 Drive Configuration and ProgrammingUDC Module Ports A/B Communication Status Register (Continued) 80/1080DMA Format Error Bit 4The DMA Forma

Configuring the UDC Module’s Registers3-11UDC Module Ports A/B Communication Status Register (Continued) 80/1080Multiplexed Data Verification Failure

3-12SA500 Drive Configuration and ProgrammingUDC Module Ports A/B CRC Error Count Register 82/1082This register contains the number of messages with C

Configuring the UDC Module’s Registers3-13PMI A/B Communication Status Register (Continued) 84/1084Overrun Error Bit 3The Overrun Error bit is set if

3-14SA500 Drive Configuration and ProgrammingPMI A/B Communication Status Register (Continued) 84/1084Multiplexed Data Verification Error Bit 9The Mul

Configuring the UDC Module’s Registers3-15PMI A/B Communication Status Register (Continued) 84/1084PMI Operating System Overflow into Stack Memory Bit

3-16SA500 Drive Configuration and ProgrammingUDC Module Ports A/B Fiber-Optic Link Communication Status Register 88/1088This register shows the curren

Configuring the UDC Module’s Registers3-173.3 Command Registers (Registers 100-149/1100-1149)The Command Registers view is used to configure command r

Table of ContentsIIIList of FiguresFigure 2.1 – SA500 Drive Parameter Entry Screen (Vector)... 2-4Figure 2.2 – Power

3-18SA500 Drive Configuration and ProgrammingDrive Control Register (Continued) 100/1100Speed Loop On Bit 3The Speed Loop On bit is set to enable the

Configuring the UDC Module’s Registers3-19Drive Control Register (Continued) 100/1100Enable Notch Filter Bit 10The Enable Notch Filter bit is set to a

3-20SA500 Drive Configuration and ProgrammingI/O Control Register (Continued) 101/1101Auxiliary Output Bit 4The Auxiliary Output bit is set to turn on

Configuring the UDC Module’s Registers3-21I/O Control Register (Continued) 101/1101Calculate Iz Value Bit 10The Calculate Iz Value bit is set to start

3-22SA500 Drive Configuration and ProgrammingPosition Reference Register 106/1106The value in the Position Reference register is the PMI setpoint in r

Configuring the UDC Module’s Registers3-233.4 Volatile Gain Registers (Registers 150-199/1150-1199)The Command Register view is used to configure the

3-24SA500 Drive Configuration and Programming3.4.2 Position Loop Gain VariablesNotch Filter Center Frequency Register 154/1154The value in this regist

Configuring the UDC Module’s Registers3-25Position Loop Damping Factor Register 161/1161The value in this register is the damping factor which provid

3-26SA500 Drive Configuration and Programming3.5 Feedback Registers (Registers 200-299/1200-1299)The Feedback Registers view is used to configure the

Configuring the UDC Module’s Registers3-27Drive Status Register (Continued) 200/1200Positive Position Limit Bit 4The PMI sets the Positive Position Li

IVSA500 Drive Configuration and Programming

3-28SA500 Drive Configuration and ProgrammingDrive Status Register (Continued) 200/1200Torque Loop Reference in Positive Saturation Bit 11The PMI sets

Configuring the UDC Module’s Registers3-29I/O Status Register 201/1201The bits in the I/O Status register indicate the current state of the inputs on

3-30SA500 Drive Configuration and ProgrammingI/O Status Register (Continued) 201/1201Auxiliary Input 5 Bit 5The Auxiliary Input 5 bit reflects the sta

Configuring the UDC Module’s Registers3-31I/O Status Register (Continued) 201/1201Tuned Iz Done Bit 10The Tuned Iz Done bit is set to indicate that th

3-32SA500 Drive Configuration and ProgrammingDrive Fault Register (Continued) 202/1202DC Bus Overvoltage Bit 2The DC Bus Overvoltage bit is set if the

Configuring the UDC Module’s Registers3-33Drive Fault Register (Continued) 202/1202Overspeed / Slip > 100% Bit 10The Overspeed / Slip > 100% bit

3-34SA500 Drive Configuration and ProgrammingDrive Warning Register 203/1203The warnings indicated by the Drive Warning register cause no action by th

Configuring the UDC Module’s Registers3-35Drive Warning Register (Continued) 203/1203CCLK Not Synchronized in PMI Bit 14The CCLK Not Synchronized in P

3-36SA500 Drive Configuration and ProgrammingInterlock Register 205/1205Interlock tests are executed whenever bit 0 or 1 of register 100/1100 is set.

Configuring the UDC Module’s Registers3-37Interlock Register (Continued) 205/1205Rising Edge Required Bit 4The Rising Edge Required bit is set if a ri

Table of ContentsVList of TablesTable 1.1 – SA500 Documentation... 1-2Table 2.

3-38SA500 Drive Configuration and ProgrammingPosition Loop Register 209/1209The Position Loop register contains the velocity output value from the PMI

Configuring the UDC Module’s Registers3-39Motor Speed in RPM Register 217/1217The Motor Speed in RPM register contains the speed of the motor in revol

3-40SA500 Drive Configuration and Programming3.6 Application Registers (Registers 300-599, Every Scan) (Registers 1300-1599, Every Nth Scan)The applic

Configuring the UDC Module’s Registers3-41to respond to an interrupt from the UDC module. Registers within this range that are written to by an AutoMa

3-42SA500 Drive Configuration and ProgrammingFigure 3.2 – Nth Scan InterruptsLatch “every scan"Output BInput A Run AOutputAInput B Run BScan 1Sca

Configuring the UDC Module’s Registers3-433.7 UDC Module Test I/O Registers (Registers 1000-1017)This view is used to configure the UDC module’s Test

3-44SA500 Drive Configuration and ProgrammingUDC Test Switch Inputs Register (Continued) 1000COMM A OK LED Bit 9The COMM A OK LED bit shows the status

Configuring the UDC Module’s Registers3-453.7.2 UDC Module Meter Port Setup Registers (Registers 1000-1017)Registers 1001-1017 are used to configure t

3-46SA500 Drive Configuration and Programming3.7.2.1 Resolution of Meter Port DataFor meter ports, the output values will be clamped at the outside (+

Configuring the UDC Module’s Registers3-47Meter Port 1Port 1 UDC Register Number 1002Enter the UDC register number (0 - 2044) to be mapped to meter p

VISA500 Drive Configuration and Programming

3-48SA500 Drive Configuration and ProgrammingMeter Port 2Port 2 UDC Register Number 1006Enter the UDC register number (0 - 2044) to be mapped to meter

Configuring the UDC Module’s Registers3-49Meter Port 3Port 3 UDC Register Number 1010Enter the UDC register number (0 - 2044) to be mapped to meter po

3-50SA500 Drive Configuration and ProgrammingMeter Port 4Port 4 UDC Register Number 1014Enter the UDC register number (0 - 2044) to be mapped to meter

Configuring the UDC Module’s Registers3-513.8 Interrupt Status and Control Registers (Registers 2000-2047)This view is used to configure registers tha

3-52SA500 Drive Configuration and ProgrammingInterrupt Status Control Registers (Continued) 2000CCLK Counting Bit 5Hex Value: 0010HSug. Var. Name: N/A

Configuring the UDC Module’s Registers3-53Scans Per Interrupt Register (Nth scan) 2001The Scans Per Interrupt register contains the number of times a

3-54SA500 Drive Configuration and Programming

Application Programming for DPS Drive Control4-1CHAPTER 4Application Programmingfor DPS Drive ControlDistributed Power System drive products are sold

4-2SA500 Drive Configuration and ProgrammingExecutive software. Like Control Block tasks on AutoMax Processors, UDC tasks can include a number of BASI

Application Programming for DPS Drive Control4-3All common input values for the UDC task are first read from the dual port memory and then stored in a

Introduction1-1CHAPTER 1IntroductionRockwell Automation SA500 drives operate under the control of the AutoMax™ Distributed Power System (DPS). DPS dri

4-4SA500 Drive Configuration and ProgrammingStep 4. SCAN_LOOP block/Enabling CCLKThis control block tells the UDC operating system how often to execut

Application Programming for DPS Drive Control4-5Step 6. Motor thermal overload protectionElectronic thermal overload protection for SA500 drives is no

4-6SA500 Drive Configuration and ProgrammingConsider an example in which LIM_BAR is defined to be 150% of full load current, THRESHOLD is 114%, and TR

Application Programming for DPS Drive Control4-7Like all tunable values in the AutoMax environment, the values of these UDC task tunables are retained

4-8SA500 Drive Configuration and Programmingsame time base for task execution. Note that all UDC modules in a rack are not required to have the same v

Application Programming for DPS Drive Control4-9Refer to the individual bit descriptions in this manual for more information.4.3 AutoMax Processor Tas

4-10SA500 Drive Configuration and ProgrammingFigure 4.3 – Data/Time Flow for UDC Module and PMI(Background)(Foreground)PMIProcessorUDCModuleAutoMaxPro

On-Line Operation5-1CHAPTER 5On-Line OperationThe ON LINE! command in the System Configurator and the Task Manager applications allows you to access o

5-2SA500 Drive Configuration and ProgrammingThe option “A” for ALL will automatically load the rack (i.e., AutoMax Processor configuration, the drive

On-Line Operation5-3•the PMI Regulator’s operating system has been loaded from the UDC module to the PMI Regulator (which happens automatically when t