Page 1 Advanced User Guide AC variable speed drive for servo motors Part Number: 0475-0023-01 Issue: 1 www.controltechniques.com...
Page 2: General Information
This may also apply to drives returned from a Control Techniques Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product.
Page 3: Table Of Contents
Menu 5: Motor control ..........................78 Menu 6: Sequencer and clock ......................88 Menu 7: Analog I/O ..........................99 5.10 Menu 8: Digital I/O ..........................108 5.11 Menu 9: Programmable logic, motorized pot and binary sum ............116 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 4 Menus 15 and 16: Solutions Module slots ..................181 5.18 Menu 17: Motion Processors ......................182 5.18.1 Digitax ST Base ............................... 182 5.18.2 Digitax ST Indexer and Digitax ST Plus ........................182 5.18.3 Digitax ST EZMotion ..............................194 5.19 Menu 18: Application menu 1 ......................199 5.20 Menu 19: Application menu 2 ......................
Page 5: Parameter Structure
0. Menu 0 can also contain up to 59 parameters by setting up menu 22. Menu 0 ..XX.00..0.50 0.49 0.48 0.47 0.46 Moves between parameters 0.05 0.04 0.03 0.02 0.01 Moves between Menus Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 6 1.00 to 99.99 RO Uni NC PT 0.51 Action on trip detection {10.37} 0 to 15 * Modes 1 and 2 are not user saved, modes 0, 3 and 4 are user saved Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 7: Advanced Menus
The relevant template is used to define menu 15 for the module type installed in slot 1 and menu 16 for slot 2. The slot 3 is enclosed within Digitax ST and cannot be physically accessed by the user. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 8: Keypad And Display
Understanding the display There are two keypads available for the Digitax ST. The DST-Keypad has an LED display and the SM-Keypad Plus has an LCD display. The DST- Keypad can only be fitted on to the drive and the SM-Keypad Plus can only be remotely mounted on an enclosure door. The SM-Keypad Plus cannot be fitted on the drive.
Page 9: Status Mode
Holding the Up or Down key in the cause the parameter number to roll under to the top of the menu. first method will cause the parameters value to change more rapidly the Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 10: Sm-Keypad Plus
Unipolar Bi-polar Bit parameter Text string Filtered Destination Not copied Rating dependent Protected User save Power down save For more information about the SM-Keypad Plus, see the SM-Keypad Plus User Guide. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 11: Parameter Access Level And Security
Access to menu 0 only Access to all menus (menu 0 to menu 22) The Access Level can be changed through the keypad even if the User Security has been set. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 12: Alarm And Trip Display
If the Up or Down keys are held the rate of change of keypad reference increases with time. The units used for to display the keypad reference is rpm. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 13: Parameter X.00
Each of these parameter saves takes slightly longer than a normal parameter save. 8. When the firmware is updated from an earlier version the drive will automatically update the EEPROM correctly. If the software is Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 14: Loading Defaults
Pr x.00 are displayed. If a value of 12001 is written to Pr x.00, then only destination parameters are displayed. This function is provided to aid locating destination clashes if a dESt trip occurs. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 15: Parameter Description Format
Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. Power- down save parameters are also saved in the drive when the user initiates a parameter save. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 16: Parameter Ranges And Variable Maximums
This maximum current limit setting is the maximum applied to the current limit parameters in motor map 2. [1000.0%] The formulae for MOTOR2_CURRENT_LIMIT_MAX are the same for MOTOR1_CURRENT_LIMIT_MAX except that Pr 5.07 is replaced with Pr 21.07 and Pr 5.10 is replaced with Pr 21.10. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 17: Default
(source data value x 100%) / source data parameter maximum. Generally the result is rounded down to the nearest unit, but other rounding effects may occur depending on the internal scaling of the particular source function. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 18: Sources And Destinations
The normal update rate for the hard speed reference is 4ms, however it is possible to reduce the sample time to 250μs by selecting the reference from particular sources. The fast update rate is only possible provided the conditions given below are met. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 19: Advanced Parameter Descriptions
Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) trip occurs. Power- down save parameters are also saved in the drive when the user initiates a parameter save. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 20: Feature Look-Up Table
6.13 5.32 Limit switches 6.35 6.36 Line power supply loss 6.03 10.15 10.16 5.05 Local position reference 13.20 to 13.23 Logic function 1 9.01 9.04 9.05 9.06 9.07 9.08 9.09 9.10 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 21 1.39 1.40 Voltage controller 5.31 Voltage mode 5.14 5.17 Voltage rating 11.33 5.09 5.05 Voltage supply 6.44 6.46 5.05 Warning 10.19 10.12 10.17 10.18 10.40 Zero speed indicator bit 3.05 10.03 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 22: Menu 1: Speed Reference
Precision reference Read-only (RO) Output 0.XX 1.18 parameter Memory terminals 1.19 Precision The parameters are all shown in their default settings reference trim *Refer to Pr 1.14 on page 27. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 23 Skip Skip speed 1 speed 2 speed 3 Velocity feed-forward 1.05 1.30 1.32 1.34 [1.06] reference Skip speed Skip speed Skip speed reference band 1 band 2 band 3 [1.06] [1.07] Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 24 (see section 5.15 Menu 13: Position control on page 166). Maximum reference clamp 1.06 Txt VM DP RA NC US RW BU Coding Range ±SPEED_LIMIT_MAX rpm Default 3,000.0 Second motor Pr 21.01 parameter Update rate Background read See next page. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 25 If Pr 1.08=1: SPEED_FREQ_MAX is Pr 1.06 or -Pr 1.07 whichever is the largest (If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07) Digitax ST Advanced User Guide Issue Number: 1...
Page 26 Pr 1.01 = selected reference x (100 + Pr 1.38) / 100 and when this parameter is 1 the reference is given by Pr 1.01 = selected reference + Pr 1.04 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 27 If Keypad reference is selected the drive sequencer is controlled directly by the keypad keys and the keypad reference parameter (Pr 1.17) is selected. The sequencing bits, Pr 6.30 to Pr 6.34, have no effect and jog is disabled. Digitax ST Advanced User Guide Issue Number: 1...
Page 28 This parameter defines the time between preset reference changes when Pr 1.15 is set to 9. If Pr 1.48 is set to 1 then the preset counter and timer are reset and preset 1 will be selected. Digitax ST Advanced User Guide www.controltechniques.com...
Page 29 Instead, the drive uses the value stored in memory preventing the possibility of data skew. Digitax ST Advanced User Guide Issue Number: 1...
Page 30 US RW BU Coding Update rate 4ms write This parameter indicates that the selected reference is within one of the skip reference zones such that the motor speed is not as demanded. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 31 Txt VM DP ND RA NC NV US RW BU Coding Update rate 4ms write This bit indicates that the position controller has selected the velocity feed forward as a reference for the drive. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 32 1.50 Preset reference selected indicator Txt VM DP ND RA NC NV US RW BU Coding Range 1 to 8 Update rate 4ms write Indicates the preset reference currently being selected. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 33 Update rate Selects the value of the keypad control mode (Pr 1.17) at power-up as follows: rESEt zero LASt last value used before power-down PrS1 Preset 1, Pr 1.21, before power-down Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 34: Menu 2: Ramps
1.50 selected indicator Jog acceleration 2.19 rate Jog selected 1.13 indicator Reverse Forward accel. rate accel. rate Acceleration Ramp control 2.03 Ramp hold Pre-ramp speed Ramp mode 1.03 2.04 reference select* Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 35 Forward Reverse Decel. rate Decel. rate Ramp enable 2.02 Deceleration Post-ramp Ramp control reference 2.06 S-Ramp enable** 2.01 S-Ramp acceleration 2.07 limit Standard ramp voltage* 2.08 2.38 d/dt Inertia compensation torque Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 36 The output of the ramp controller (when active) is a current demand that is fed to the torque producing current controller. The gain of these controllers can be modified with Pr 4.13 and Pr 4.14. Controller operational DC Bus voltage Motor Speed Programmed deceleration rate Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 37 The default values for the ramp rate and S ramp acceleration limit have been chosen such that for the default maximum speed, the curved parts of the S ramp are 25% of the original ramp if S ramp is enabled. Therefore the ramp time is increased by a factor of 1.5. Digitax ST Advanced User Guide Issue Number: 1...
Page 38 4ms read If an acceleration rate is selected where the parameter is set to 0.000 the acceleration ramp is disabled and the reference changes instantly to its new value during acceleration. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 39 4ms read If an deceleration rate is selected where the parameter is set to 0.000 the deceleration ramp is disabled and the reference changes instantly to its new value during deceleration. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 40 This value can be used as a feed forward term that is added to the speed controller output if Pr 4.22 is set to one. Pr 2.38 shows the torque value as a percentage of rated active current. Digitax ST Advanced User Guide www.controltechniques.com...
Page 41: Menu 3: Speed Feedback And Speed Control
100ppm (0.01%) of the reference, when a preset speed is used. If an analog input is used the absolute accuracy is further limited by the absolute accuracy and non-linearity of the analog input. Digitax ST Advanced User Guide Issue Number: 1...
Page 42 Buffered encoder Ab (0) Fd (1) Fr (2) Ab.L (3) Fd.L (4) output mode Term 3.54 Drive encoder 15 way sub-D Ratio position connector numerator 3.52 3.29 Ab.L Fb.L 0V common Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 43 Absolute at-speed window indicator detect mode At speed upper limit Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 44 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 45 (If the lower limit is less than zero then zero is used as the lower limit.) If Pr 3.09 = 1 absolute window mode is used and the "at speed" condition is true if Pr 3.06 ≤ |Pr 3.02| ≤ Pr 3.07 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 46 Speed controller differential feedback gain (Kd2) 3.15 Txt VM DP RA NC US RW BU Coding Range 0.00000 to 0.65535 s /rad s Default 0.00000 Second motor Pr 21.19 parameter Update rate Background read Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 47 Kd x Ki is greater than 170. To analyse the performance of the speed controller it may be represented as an s-domain model as shown below. w(s) w*(s) rads rads L(s) Ki.Kd Speed controller Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 48 (see Pr 3.42). If the feedback is not filtered it is possible the output of the speed controller will be a square wave that changes between the current limits causing the integral term saturation system to malfunction. Digitax ST Advanced User Guide www.controltechniques.com...
Page 49 This parameter is used to define the damping factor used for setting up the speed loop gain parameters automatically when Pr 3.17 = 1 or 2. 3.22 Hard speed reference Txt VM DP ND US RW BU Coding Range ±SPEED_FREQ_MAX rpm Default Update rate 4ms read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 50 No load phase voltages No load line voltages Encoder angle 32768 43691 54613 10923 21845 32768 U Encoder commutation signals (high = U > U) Encoder alignment for zero encoder phase angle Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 51 If a position feedback category Solutions Module is not installed in slot 1 the drive produces an EnC9 trip. 2, Slot2: Solutions Module in slot 2 3, Slot3: Solutions Module in slot 3 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 52 Txt VM DP RA NC US RW BU Coding Default Update rate Background read Drive encoder marker flag 3.32 Txt VM DP RA NC US RW BU Coding Default Update rate 250μs write Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 53 Pr 3.34 to give the correct speed and position feedback. This is particularly important if the encoder is selected for speed feedback with Pr 3.26. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 54 SC.Hiper encoders as the number of bits used to represent the whole position is always 32. EnDat, SSI Pr 3.35 must be set to the number of bits used to represent one revolution of the encoder. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 55 Start of comms messages and encoder position sampling point μ 20 s Fast Sampling μ 150 s Slow Sampling μ 250 s Datum Datum Point Point Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 56 A phasing test must be performed after every drive power-up or encoder trip. 3, Ab.Servo: Quadrature incremental encoder with commutation outputs, with or without marker pulse 4, Fd.Servo: Incremental encoder with frequency, direction and commutation outputs, with or without marker pulse Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 57 2. The number of encoder lines per revolution defined by Pr 3.34 is forced to a power of two between 2 and 32768. 3. Pr 3.35 defines the number of comms bits used to define a single turn. Digitax ST Advanced User Guide Issue Number: 1...
Page 58 Coding Range 0 to 7 Default Update rate Background read Trips can be enabled/disabled using Pr 3.40 as follows. Function Wire break detect Phase error detect SSI power supply bit monitor Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 59 5. This trip can also be caused when data is transferred between the encoder and a Solutions Module, such as an SM-Applications module, and an error other than those covered by EnC5 or EnC6 occurs. Digitax ST Advanced User Guide Issue Number: 1...
Page 60 Rotary EnDat encoders The encoder turns, comms resolution and equivalent lines per rev are set up directly using the data read from the encoder. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 61 US RW BU Coding Range 0.000 to 4.000 Default 1.000 Update rate Background read Drive encoder reference 3.45 Txt VM DP ND US RW BU Coding Range ±100.0% Update rate 4ms write Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 62 4ms read If Pr 3.50 is set to one Pr 3.28, Pr 3.29 and Pr 3.30 are not updated. If this parameter is set to zero these parameters are updated normally. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 63: Communication With Hiperface And Endat Encoders
To send a message to the encoder the required message must be written to the transmit register (Pr 90.22). To read the response from the encoder the data is read from the receive register (Pr 90.23). Digitax ST Advanced User Guide Issue Number: 1...
Page 64 Transfer the "read position" message to the encoder comms buffer by writing the sequence of words shown in the table below to Pr 90.22. A check should be carried out before each word is written to ensure that the parameter is zero (i.e. the drive has taken any previous data). Digitax ST Advanced User Guide www.controltechniques.com...
Page 65 Selection of memory area MRS code Don’t care 0x03 Encoder to receive parameter Address Data 0x04 Encoder to send parameter Address Don’t care 0x05 Encoder to receive reset Don’t care Don’t care Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 66 Data written to Pr 90.22 Bit 15 Bit 14 Bit 13 Data 0xa004 0x04 Encoder to send parameter command 0x8000 0x00 Address zero 0x8000 0x00 Data (not required) 0xc000 0x00 Data (not required) Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 67 Data read from Pr 90.23 Bit 15 Bit 14 Bit 13 Data 0x8000 0x00 Address 0x8012 0x12 Data 0x8034 0x34 Data The data in the parameter at address zero is 0x1234. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 68: Menu 4: Torque And Current Control
The Maximum current is (1.75 x Kc) The rated active and rated magnetising currents are calculated from motor rated current (Pr 5.07) as: rated active current = motor rated current rated magnetising current = 0 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 69 Braking energy Motor Motor current Read-only (RO) Output load active overload overload overload alarm 0.XX parameter terminals indicator indicator indicator accumulator indicator The parameters are all shown at their default settings Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 70 The level of flux is derived from the motor model within the drive controllers. Pr 4.04 = Pr 4.03 x flux / rated flux Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 71 4.08 Torque reference US RW BU Coding Range ±USER_CURRENT_MAX % Default 0.00 Update rate 4ms read 4.09 Torque offset US RW BU Coding Range ±USER_CURRENT_MAX % Default Update rate 4ms read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 72 Negative final speed demand: a negative resultant torque will give torque control with a negative speed limit defined by the final speed demand. A positive resultant torque will give torque control with a positive speed limit of +5rpm. Digitax ST Advanced User Guide www.controltechniques.com...
Page 73 (Pr 3.16). If Pr 3.16 = 0 Pr 4.12 is used, if Pr 3.16 = 1 Pr 4.23 is used. 4.13 Current controller Kp gain US RW BU Coding Range 0 to 30,000 200V drive: 75 Default 400V drive: 150 Second motor Pr 21.22 parameter Update rate Background read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 74 As already stated, the drive compensates for changes of switching frequency to give similar performance as the switching frequency changes. The following table gives the relationship between the user gain values and the values actually used by the drive. Digitax ST Advanced User Guide www.controltechniques.com...
Page 75 The maximum value for K is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105% current. Digitax ST Advanced User Guide Issue Number: 1...
Page 76 The current limit applied at any time depends on whether the drive is motoring or regenerating and also on the level of the symmetrical current limit. Pr 4.18 gives the limit level that applies at any instant. Digitax ST Advanced User Guide www.controltechniques.com...
Page 77 The maximum for Pr 4.08 and Pr 4.20 is defined by this parameter 4.25 Low speed thermal protection mode Txt VM DP US RW BU Coding Default Update rate Background read See Pr 4.16 on page 75. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 78: Menu 5: Motor Control
Auto-tune High dynamic performance enable 5.26 Voltage controller gain 5.31 Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 79 Field gain 5.02 5.21 reduction voltage High speed Output 5.22 servo mode power enable 5.03 Power calculation (V x 1) Motor current Motor active magnitude current 4.02 4.01 4.17 Reactive current Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 80 The Rated load rpm defines the rated speed of the motor and is only used in the motor thermal protection scheme (see Pr 4.16 on page 75.) and to determine the speed used in the auto tuning inertia test (see Pr 5.12 on page 81). Digitax ST Advanced User Guide www.controltechniques.com...
Page 81 It should be noted that the current loop gains (Pr 4.13 and Pr 4.14) are not updated as part of any test if either the stator resistance or the transient inductance for the active motor map are zero. Digitax ST Advanced User Guide Issue Number: 1...
Page 82 The delay before recommencing the test is 200ms and then 400ms. These delays allow the motor to stop moving if the test has initiated movement due to cogging torque. Digitax ST Advanced User Guide www.controltechniques.com...
Page 83 Pr 5.17. The maximum measurable value for a particular drive size can be calculated from the following formula. = DC_VOLTAGE_MAX / Kc / 0.45 / √2 where Kc is the current scaling factor for the drive Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 84 6 = 83μs 125μs Current controllers 12 = 83μs Level 2 250μs 250μs Speed controller and ramps Level 3 Voltage controller Level 4 Time critical user interface Background Non-time critical user interface Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 85 When this bit is set the drive provides a cross-coupling feed forward voltage as produced by the transient inductance and a frequency based voltage feed forward term. These voltages improve the transient performance of the current controllers. Digitax ST Advanced User Guide Issue Number: 1...
Page 86 This parameter should be set up to give the pole pitch of a linear motor, i.e. the movement of the motor for one cycle of the drive power output waveforms, if auto-configuration with a linear EnDat encoder is required. Digitax ST Advanced User Guide www.controltechniques.com...
Page 87 2, 2 = x 3, and 3 = x 4). Longer pulses should only be used if noise and vibration are a problem and the motor has low friction and low cogging torque. As the torque level is reduced the measurement is likely to be affected by cogging and the results may not be accurate. Digitax ST Advanced User Guide Issue Number: 1...
Page 88: Menu 6: Sequencer And Clock
Drive power supply monitor Active supply 6.44 Low voltage supply Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 89 - 25V - 25V + 10 + 15 + 50 + 50 Vuv Restart * Vml is defined by Pr 6.48. The values given in the table are the default values. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 90 2. OR the drive is disabled via Pr 6.15 or Pr 6.29 3. OR Run forward and Run reverse are both active and have been for 60ms. 4. The drive is in the UV state. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 91 If this parameter is one the energy meter (Pr 6.24 and Pr 6.25) is reset and held at zero. 6.18 Time between filter changes VM DP US RW BU Coding 0 to 30,000 hrs Range Default Background read Update rate Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 92 The run time clock increments when the drive inverter is active to indicate the number of minutes that the drive has been running since leaving the Control Techniques factory. This clock may be used for time stamping the trip log if Pr 6.28 = 1.
Page 93 DISABLE) input and the fast disable function is required then the drive should be given two separate independent enable signals. A safety related enable from a safe source connected to the SAFE TORQUE OFF (SECURE DISABLE) input on the drive. Digitax ST Advanced User Guide Issue Number: 1...
Page 94 6.35 Forward limit switch VM DP US RW BU Coding Default Update rate 250μs read 6.36 Reverse limit switch US RW BU Coding Default Update rate 250μs read Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 95 Pr 6.43 = 1 the control word is enabled. Each bit of the control word corresponds to a sequencing bit or function as shown below. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 96 IGBT will only operate when the drive is enabled, and the voltage levels contained in the following table are used instead of the normal high voltage levels whatever the voltage rating of the drive. Digitax ST Advanced User Guide www.controltechniques.com...
Page 97 Default Update rate Background read Digitax ST has a diode rectifier input stage with no direct monitoring system. Mains loss and phase loss detection is derived from the DC bus voltage. This parameter has no effect. 6.48 Mains loss ride through detection level...
Page 98 DC Bus voltage is above the mains loss detection level. The rectifier may still be phasing forwards and the application of load at this point may cause the DC Bus voltage to fall back below the mains loss detection level again. Digitax ST Advanced User Guide www.controltechniques.com...
Page 99: Menu 7: Analog I/O
(vsy x isy). Pr 5.03 - output power 10V would be produced when: Active current = Kc / 0.45 Peak phase voltage in phase with the active current = DC_VOLTAGE_MAX / 2 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 100 ??.?? current Read-only (RO) Output 0.XX 7.23 7.24 4.02 parameter terminals Analog Analog ??.?? output 2 output 2 The parameters are all shown at their default settings scaling mode selector Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 101 Table 5-4 Power stage temperature 1 (Pr 7.04) in °C Trip temperature Trip reset temperature Alarm temperature Table 5-5 Power stack temperature 2 (Pr 7.05) in °C Trip temperature Trip reset temperature Alarm temperature Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 102 Background read The following modes are available for the analog input 2. In modes 2 and 3 a current loop loss trip is generated if the input current falls below 3mA. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 103 TH reset if R < 1k8 THS trip if R < 50R TH trip if R > 3k3 Thermistor without short circuit detection TH reset if R < 1k8 th.diSp Thermistor display only with no trip Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 104 Background read The following modes are available for the analog outputs. Parameter value Parameter string Mode VOLt Voltage mode 0-20 0 - 20mA 4-20 4 - 20mA H.SPd High speed update mode Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 105 Pr 1.37) or as a hard speed reference (Pr 3.22) the sample time affects the resolution. The nominal resolution is given by Pr 7.26 x 500 x 10, therefore the default setting gives approximately 11 bit resolution. Digitax ST Advanced User Guide Issue Number: 1...
Page 106 Oht1 trip. Once the switching frequency has been reduced the drive determines when the switching frequency can be switched back up again. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 107 RA NC NV US RW BU Coding Range -128 to 127 °C Update rate Background write This parameter shows the temperature of the rectifier heatsink. See 7.04, 7.05 and 7.06 on page 101. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 108: Menu 8: Digital I/O
Sample rate Function T24 to T26 Digital input or output T27 to T29 Digital input Relay Background Background 24V output Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 109 Parameter Keypad and Parameter Advanced parameter Serial comms Electronic Parameter x.00 Performance Menu 8 structure display description format descriptions protocol nameplate Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 110 6.04 8.23 I/O 3 source/ Start/stop destination 8.29 logic select 8.30 T26 digital 8.13 I/O polarity Open collector unprotected I/O 3 invert select output parameter ??.?? Run forward 6.30 x(-1) ??.?? Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 111 Output 0.XX parameter terminals Relay Relay source source invert This logic diagram applies only when all 8.27 parameters are at their default settings Any bit parameter Relay Drive state Healthy x(-1) Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 112 Background read Digitax ST has a dedicated hardware enable/SAFE TORQUE OFF (SECURE DISABLE) input which always controls Pr 6.29. If the enable is inactive the IGBT firing signals are turned off without software intervention. As default (Pr 8.10 = 0) the drive is in the inhibit mode when the enable is inactive.
Page 113 T29 digital input 6 destination Txt VM DP RA NC NV US RW BU Coding Default See Table 5-7 on page 112 Range Pr 0.00 to Pr 21.51 Update rate Read on drive reset Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 114 Pr 8.31 = On (1), Default Pr 8.32 and Pr 8.33 = OFF (0) Update rate Background read OFF (0) = Terminal is an input On (1) = Terminal is an output Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 115 The threshold used by the freeze function and the system to derive the value in the input state (Pr 8.04) are not identical and it is possible that there may be a slight difference between the levels at which Pr 8.04 changes state and the freeze flag becomes active. Digitax ST Advanced User Guide Issue Number: 1...
Page 116: Menu 9: Programmable Logic, Motorized Pot And Binary Sum
??.?? ??.?? x(-1) Function-2 input-2 9.16 source parameter Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals The parameters are all shown at their default settings Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 117 Binary-sum Binary-sum logic output Binary-sum logic destination value offset parameter 9.34 9.32 9.33 9.29 unprotected Binary-sum logic ones (LSB) parameter ??.?? 9.30 ??.?? Binary-sum logic twos 9.31 Binary-sum logic fours (MSB) Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 118 9.17 Logic function 2 source 2 invert Txt VM DP RA NC NV US RW BU Coding Default Update rate 4ms x number of menu 9 or 12 functions active read Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 119 Motorized pot mode Txt VM DP RA NC NV US RW BU Coding Range 0 to 3 Default Update rate Background read The motorized pot modes are given in the following table. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 120 Read on reset 9.26 Motorized pot up Txt VM DP RA NC NV US RW BU Coding Default Update rate 4ms x number of menu 9 or 12 functions active read Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 121 4ms x number of menu 9 or 12 functions active write 9.33 Binary sum destination DE Txt VM DP RA NC NV US RW BU Coding Range Pr 0.00 to Pr 21.51 Default Pr 0.00 Update rate Read on reset Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 122 If destination parameter maximum ≤ (7 + Offset): Destination parameter = Binary sum output If destination parameter maximum > (7 + Offset): Destination parameter = Destination parameter maximum x Binary sum output / (7 + Offset) Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 123: Menu 10: Status And Trips
Txt VM DP US RW BU Coding Update rate Background write Indicates that the modulus of the active current is greater or equal to the rated active current as defined in menu 4. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 124 (see Pr 6.03 on page 89). As the UV trip voltage level is lower than the under voltage restart level this parameter is active, but a UV trip is not active at power up until the DC bus voltage exceeds the under voltage restart level. Digitax ST Advanced User Guide www.controltechniques.com...
Page 125 Pr 10.38. If any trips shown as user trips are initiated the trip string is "txxx", where xxx is the trip number. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 126 SMARTCARD trip: SMARTCARD has the Read Only bit set Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access Ensure card is not writing to data locations 500 to 999 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 127 With EnDat encoders, check the comms resolution and/or carry out the auto-configuration Pr 3.41 EnC6 Drive encoder trip: Encoder has indicated an error Replace feedback device With SSI encoders, check the wiring and encoder supply setting Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 128 Enter 12001 in Pr xx.00 and check for parameter controlling Pr 10.32 Ensure Pr 10.32 or Pr 10.38 (=6) are not being controlled by serial comms HF01 Data processing error: CPU address error Hardware fault - return drive to supplier Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 129 Soft start relay failed to close, soft start monitor failed or braking IGBT short circuit at power up Hardware fault - return drive to supplier HF27 Power stage thermistor 1 fault Hardware fault - return drive to supplier Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 130 Braking transistor over-current detected: short circuit protection for the braking transistor activated Check braking resistor wiring Check braking resistor value is greater than or equal to the minimum resistance value Check braking resistor insulation Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 131 Re-instal the cable between the drive and keypad Check cable for damage Replace cable Replace keypad SLX.dF Solutions Module slot X trip: Solutions Module type installed in slot X changed 204,209 Save parameters and reset Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 132 Select a different type of encoder. period for a linear encoder Encoder Plus Faulty encoder. exceeds 255. SM-Universal Check ambient temperature Encoder Plus & Solutions Module has overheated Check enclosure ventilation SM_Resolver Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 133 Solutions Module slot X trip: Solutions Module in slot X or Digitax ST Plus/Indexer has detected a fault Automation (Applications) module category Check value in Pr 17.50. The following table lists the possible error codes for the Digitax ST Plus and Digitax ST Indexer. See the Diagnostics section in the Advanced User Guide for more information.
Page 134 Communications error to slot 2 All (except SM-SERCOS) Communications error to slot 3 SM-Ethernet Memory allocation error SM-Ethernet File system error SM-Ethernet Configuration file error SM-Ethernet Language file error Internal watchdog error Internal software error Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 135 Motor object type incorrect Digitax ST object error Encoder object CRC error Motor object CRC error Performance object CRC error Digitax ST object CRC error Sequencer timeout Solutions module over temperature SLX.HF Solutions Module slot X trip: Solutions Module X hardware fault...
Page 136 Onboard PLC program attempted write to a read-only parameter Check program UP So Onboard PLC program attempted read of a write-only parameter Check program UP udF Onboard PLC program un-defined trip Check program Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 137 Trips can be grouped into the following categories. It should be noted that a trip can only occur when the drive is not tripped or is already tripped but with a trip with a lower priority number. Digitax ST Advanced User Guide Issue Number: 1...
Page 138 4. When the drive is first powered up a UV trip is initiated if the supply voltage is below the restart voltage level and another trip is not active. This does not cause save power down save parameters to be saved at this point. Digitax ST Advanced User Guide www.controltechniques.com...
Page 139 Drive voltage rating Parameter default Full braking volts 200V 0.06s 390V 400V 0.01s 780V If Pr 10.30 is set to zero then the braking resistor thermal protection system is disabled. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 140 If the profile of the power flowing from the motor is know then the instantaneous temperature can be calculated at any point by simulating the braking resistor with the model shown below. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 141 If this parameter is 0 then Pr 10.01 (Drive ok) is cleared every time the drive trips regardless of any auto-reset that may occur. When this parameter is set the 'Drive ok' indication is not cleared on a trip if an auto-reset is going to occur. Digitax ST Advanced User Guide Issue Number: 1...
Page 142 Disable braking resistor temperature monitoring failure detection Digitax ST has an internal user fit braking resistor with a thermistor to detect overheating of the resistor. As default bit 3 of Pr 10.37 is set to zero, and so if the braking resistor and its thermistor is not installed the drive will produce a trip (br.th) because the thermistor appears to be open circuit. This trip can be disabled so that the drive can run by setting bit 3 of Pr 10.37 to one.
Page 143 It is possible that this time difference may be negative, in which case the value will be zero Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 144: Menu 11: General Drive Set-Up
Pr 1.22 Pr 11.16 Pr 0.26 Pr 3.08 Pr 11.17 Pr 0.27 Pr 3.34 Pr 11.18 Pr 0.28 Pr 6.13 Pr 11.19 Pr 0.29 Pr 11.36 Pr 11.20 Pr 0.30 Pr 11.42 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 145 Full details of the CT implementation of Modbus RTU are given in Chapter 6 Serial communications protocol on page 210. The protocol provides the following facilities: • Drive parameter access with basic Modbus RTU • The protocol supports access to 32 bit floating point parameters Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 146 Modbus RTU uses a silent period detection system to detect the end of a message. This silent period is either the length of time for 3.5 characters at the present baud rate or the length of time set in Pr 11.26, whichever is the longest. Digitax ST Advanced User Guide www.controltechniques.com...
Page 147 US RW BU Range 0 (200) to 1 (400) Update rate Write at power-up This parameter has two possible values (200 or 400) and indicates the voltage rating of the drive. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 148 Coding Range 0 to 10 Default Update rate Background read This parameter is not used on Digitax ST and its value is fixed at 0. 11.36 SMARTCARD parameter data previously loaded Txt VM DP RA NC NV US RW BU...
Page 149 If this is then transferred to a drive the drive will then have no user program. Option type data block This type of data block is created by an applications module and contains user defined data. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 150 Note that the gain scaling is only applied when the data block number is less than 500. Gains Scaling applied Speed controller gains x Source Pr 11.32 / Destination Pr 11.32 Current controller gains x Destination Pr 11.32 / Source Pr 11.32 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 151 Product identifier When a SMARTCARD is used with Digitax ST it must have the correct product identifier in the card header to give full functionality with the drive. The product identifier is written to the card. When the whole card is erased for Digitax ST the product identifier is set to 2.
Page 152 At power up, if Pr 11.42 is set to 3, the drive will save the complete parameter set to the card. This is done to ensure that if a card is inserted while the drive is powered down the new card will have the correct data after the drive is powered up again. Digitax ST Advanced User Guide www.controltechniques.com...
Page 153 All menus can be accessed Lock user security when drive is reset. (This parameter is set to L1 after reset.) The keypad can adjust this parameter even when user security is set. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 154 Onboard Application Lite Ladder Program is not installed. Onboard Application Lite Ladder Program is installed but stopped. Onboard Application Lite Ladder Program is installed and running. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 155 The Drive Onboard Application Lite Ladder Program first run parameter is set for the duration of the first ladder diagram scan from the ladder diagram stopped state. This enables the user to perform any required initialisation every time the ladder diagram is run. This parameter is set every time the ladder is stopped. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 156: Menu 12: Threshold Detectors, Variable Selectors And Brake Control Function
Threshold Threshold Threshold Detector 2 Detector 2 Detector 2 hysteresis output invert input source Hysteresis Input Read-write (RW) Threshold 0.XX terminals parameter level Read-only (RO) Output 0.XX parameter terminals Threshold output Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 157 ??.?? control parameter Variable selector 2 ??.?? input 2 scaling 12.34 ??.?? Variable selector 2 12.29 input 2 source Input Read-write (RW) 0.XX terminals parameter Read-only (RO) Output 0.XX parameter terminals Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 158 The output may be inverted if required by setting the invert flag (Pr 12.06, Pr 12.26). The result is routed to the destination (defined by Pr 12.07, Pr 12.27). Digitax ST Advanced User Guide www.controltechniques.com...
Page 159 Variable selector 2 source 1 scaling Txt VM DP RA NC NV US RW BU Coding Range ±4.000 Default 1.000 Update rate 4ms x number of menu 9 or 12 functions active read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 160 = input1 control = 0.00: disabled, accumulator reset and output Sectional control zero control <> 0.00: output as defined below External rectifier See below. monitor Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 161 1, and low is defined as 0. The variable selector output gives 0% if the rectifier is ok otherwise it gives 100%. The output should be routed to Pr 6.51 (rectifier not active) so that the drive is not allowed to leave the main loss condition if the rectifier is not fully phased forwards. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 162: Brake Control Function
Read-only (RO) Output 0.XX If the reset input is 1, the output is 0. parameter terminals If the reset input is 0, the output latches at 1 if the input is 1. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 163 Pr 12.41 has been changed. The changes are done in two stages: the first stage restores the I/O used as defined by the initial setting of Pr 12.41 and the second stage sets up the I/O as defined by the new setting of Pr 12.41. Digitax ST Advanced User Guide Issue Number: 1...
Page 164 Brake apply speed delay 12.46 Coding Txt VM DP RA NC US RW BU Range 0.0 to 25.0 s Default Update rate Background read See Pr 12.45. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 165 When Pr 12.49 is changed from one to zero Pr 13.04 and Pr 13.10 are automatically set to zero. Digitax ST Advanced User Guide Issue Number: 1...
Page 166: Menu 13: Position Control
When the position controller is de-selected (i.e. Pr 13.10 is changed to zero) Pr 1.39, Pr 1.40, Pr 3.22 and Pr 3.23 are set to zero. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 167 Parameter Keypad and Parameter Advanced parameter Serial comms Electronic Parameter x.00 Performance Menu 13 structure display description format descriptions protocol nameplate Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 168 3.28 3.29 3.30 Encoder 13.05 Slot 1 15.04 15.05 15.06 Position Slot 2 16.04 16.05 16.06 Limited to ± / rev Slot 3 17.04 17.05 17.06 Orientation position 13.13 reference Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 169 3. The absolute mode parameter (Pr 13.11) is changed. The position controller is disabled transiently to reset the error integrator. 4. One of the position sources is invalid. 5. The position feedback initialised parameter (Pr 3.48) is zero. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 170 If a Solutions Module slot is selected as a source, but the module is not a position feedback category Solutions Module the position controller cannot be enabled. Orientation mode can always be enabled. Digitax ST Advanced User Guide www.controltechniques.com...
Page 171 Orientation on stop and when drive enabled Rigid position control In rigid position control the position error is always accumulated. This means that, if for example, the slave shaft is slowed down due to excessive Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 172 Orientation is only possible with a suitable feedback device such as an absolute encoder (sincos encoder with communications or communications only encoder), incremental encoder with a marker pulse or a 2 pole resolver. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 173 Pr 13.14 defines the position acceptance window either side of the position reference for orientation in 1/2 of a revolution. When the position is within the window defined by Pr 13.14, Pr 13.15 indicates orientation is complete. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 174 0 to 65,535 Default Update rate 4ms read 13.21 Local reference position Txt VM DP RA NC NV US RW BU Coding Range 0 to 65,535 Default Update rate 4ms read Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 175 (and not the turns or fine position) is available. This feature is not available when absolute mode is selected (Pr 13.11 = 1). Digitax ST Advanced User Guide Issue Number: 1...
Page 176: Menu 14: User Pid Controller
Any variable parameter feedback ??.?? 14.21 ??.?? x(-1) enable 14.08 Drive normal indicator & 10.01 Logic 1 Any bit parameter ??.?? ??.?? Source 14.09 not used Optional PID enable source parameter Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 177 The parameters are all shown at their default settings *The PID controller is only enabled if Pr 14.16 is set to a non Pr xx.00 and unprotected destination parameter. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 178 4ms read 14.09 PID optional enable source Txt VM DP RA NC NV US RW BU Coding Range Pr 0.00 to Pr 21.51 Default Pr 0.00 Update rate Read on reset Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 179 When any of the limits are active the integrator is held. 14.15 PID scaling Txt VM DP RA NC NV US RW BU Coding Range 0.000 to 4.000 Default 1.000 Update rate 4ms read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 180 RA NC NV US RW BU Range ±100.00 % Update rate 4ms write 14.22 PID error Coding Txt VM DP RA NC NV US RW BU Range ±100.00 % Update rate 4ms write Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 181: Menus 15 And 16: Solutions Module Slots
Parameters common to all categories Parameter Range Default Type x.01 Solutions Module ID 0 to 599 RO Uni PT US x.50 Solutions Module error status 0 to 255 RO Uni NC PT Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 182: Menu 17: Motion Processors
5.18 Menu 17: Motion Processors Menu 17 parameter functions are dependant on the Digitax ST variant. 5.18.1 Digitax ST Base Menu 17 not available. 5.18.2 Digitax ST Indexer and Digitax ST Plus 17.01 Motion Processor ID...
Page 183 Mode 80: 1 start bit, 7 data bits, ODD parity, 1 stop bit Motion Processor CT-Sync Master The baud rate is fixed at 896875bps Motion Processor CT-Sync Slave The baud rate is fixed at 896875bps Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 184 4ms write This parameter is available on Digitax ST Indexer but is not allowed to be set to a 1 (On). Controls where the output of the DPL PRINT command is sent. If set to zero (Off), the output is sent to the programming client (SyPTPro) and if set to 1 (On) it will be sent to the EIA-RS485 port.
Page 185 Setting this parameter to 1 will cause the drive to trip when certain run-time errors occur within the Motion Processor user DPL program. For more information, see Section 11.1 Run-time Errors in the SM-Applications Modules and Motion Processors User Guide. Digitax ST Advanced User Guide Issue Number: 1...
Page 186 Defines the action taken if a user DPL program attempts to write an out of range value to a parameter. When set at 1, a run-time trip will occur (number 44); when set at zero the value will automatically be limited to the maximum/minimum of that parameter. Digitax ST Advanced User Guide www.controltechniques.com...
Page 187 Motion Processor is installed to the drive only one should have this parameter set otherwise menu 20 will not be restored correctly on power-up. NOTE Unlike other setup parameters, parameters Pr 17.20 and Pr 17.21 are not cached, which means a change to the parameter takes immediate effect. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 188 SS defines the slow cyclic data rate in multiples of FF. So if the parameter value is 1510, fast cyclic data is set every 10ms and slow every 150ms. When using easy mode (see below) it is only necessary to set up the FF (fast cyclic rate). Digitax ST Advanced User Guide www.controltechniques.com...
Page 189 4ms write 17.31 CTNet easy mode - third cyclic source parameter Digitax ST Variant Plus VM DP ND RA RW BU Coding Range 0 to 9,999 Default Update rate 4ms write Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 190 Identifies which of the EVENT tasks will be scheduled when a CTNet synchronization message is received or generated. This sync. is generated by a master node (which can be this node) on the CTNet network at a fixed time-base. The following values are defined: Digitax ST Advanced User Guide www.controltechniques.com...
Page 191 When this parameter is 0 the drive will trip with runtime error 81 if an APC non-recoverable error occurs, such as use of an uninitialized CAM function. When this parameter is 1 the drive will not trip when an APC non-recoverable error occurs Digitax ST Advanced User Guide Issue Number: 1...
Page 192 1 the Motion Processor will freeze data when it sees a falling edge of a freeze pulse from the drive. For further information on Freeze input, refer to Chapter 8 Freeze and Marker in the SM-Applications Modules and Motion Processors User Guide. Digitax ST Advanced User Guide www.controltechniques.com...
Page 193 When a run-time error occurs the error number is placed into this parameter. For more information, see Section 11.1 Run-time Errors in the SM-Applications Modules and Motion Processors User Guide. *See trip SLX.Er, Automation (I/O Expansion) module category on page 134. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 194: Digitax St Ezmotion
This parameter shows the status of digital input 2 on the Motion Processor. A value of 1 indicates that the input is active. A value of 0 indicates that the input is inactive. This equates Pin 3 on the EZMotion I/O Connector. Digitax ST Advanced User Guide www.controltechniques.com...
Page 195 Pr 17.48 = 11023 would signify that user programs are currently running on Task 2 and Task 1, and that a Index is running on Profile 1 while a Jog is running on Profile 0. Pr 17.48 = 104 would signify that a user program is running on Task 0 and Gearing motion is running on Profile 0. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 196 Digitax ST Menu Parameter is out of Written Value Out of Range Use the Digitax ST User Guide to verify the range. range of the parameter and try again Digitax ST Database Setup Error...
Page 197 Program Error - Math Divide Operand Too Large Program Error - Math Multiplication Normalization of multiplication Normalization Failed parameters in user program has failed Program Error - Math Multiplication Operand Too Large Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 198 Module Output Overload Motion Processor digital outputs so that they device attached to the Motion draw no more than 20mA total. Processor outputs is drawing too much current. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 199: Menu 18: Application Menu 1
Txt VM DP US RW BU Coding Range -32,768 to 32,767 Default Update rate 18.31 to 18.50 Application menu 1 read-write bit Txt VM DP US RW BU Coding Default Update rate Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 200: Menu 19: Application Menu 2
Txt VM DP US RW BU Coding Range -32,768 to 32,767 Default Update rate 19.31 to 19.50 Application menu 2 read-write bit Txt VM DP US RW BU Coding Default Update rate Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 201: Menu 20: Application Menu 3
US RW BU Coding Range to 2 Default Update rate *Menu 20 parameters are saved in a difference from defaults type data block if they are not at their default value. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 202: Menu 21: Second Motor Parameters
Pr 1.41 = 1 then Pr 1.49 = 2 Pr 1.42 = 1 then Pr 1.49 = 3 Pr 1.43 = 1 then Pr 1.49 = 4 Pr 1.44 = 1 then Pr 1.49 = 5 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 203 Pr 5.07 parameter Update rate Background read 21.08 Rated speed Txt VM DP US RW BU Coding Range 0.00 to 40,000.00 rpm Default 3000.00 Normal Pr 5.08 parameter Update rate Background read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 204 US RW BU Coding Default Normal motor Pr 21.15 parameter Update rate Background write Pr 21.15 does not have an equivalent normal motor parameter, but shows when motor 2 is active. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 205 Pr 3.13 is ignored. 21.20 Encoder phase angle Txt VM DP US RW BU Coding Range 0.0 to 359.9 ° electrical Default Normal motor Pr 3.25 parameter Update rate Background read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 206 Update rate Background read 21.27 Motoring current limit Txt VM DP US RW BU Coding Range 0 to MOTOR2_CURRENT_LIMIT_MAX % Default 300.0 Normal Pr 4.05 parameter Update rate Background read Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 207 Pr 5.33 parameter Update rate Background read 21.31 Motor pole pitch Txt VM DP US RW BU Coding Range 0 to 655.35mm Default 0.00mm Normal Pr 5.36 parameter Update rate Background read Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 208: Menu 22: Additional Menu 0 Set-Up
SMARTCARD. This ensures that defaults are used for this menu if the saved parameters are from a software version which did not include this menu. Digitax ST Advanced User Guide www.controltechniques.com...
Page 209: 32 Bit Parameters
Pr 160.00 to Pr 161.00 to Pr 162.00 to Pr 163.00 to Pr 164.00 to Pr 165.00 to Pr 160.99 Pr 161.99 Pr 162.99 Pr 163.99 Pr 164.99 Pr 165.99 Menu 165 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 210: Serial Communications Protocol
Introduction 123456 +123456 Digitax ST supports an ANSIx3.28 type comms protocol as supported by previous Control Techniques products with some modification to allow If the parameter to be read does not exist the End of transmission access to 32 bit parameters. This chapter describes the implementation character (Ctl D) is returned.
Page 211: Drive Address
Short commands This section describes the adaptation of the MODBUS RTU protocol The following short commands can be used: offered on Control Techniques' products. The portable software class which implements this protocol is also defined. Not acknowledge (Ctl U) MODBUS RTU is a master slave system with half-duplex message This is the same as requesting the value of the last parameter to be read exchange.
Page 212: Modbus Rtu
Message data The frame is terminated with a minimum silent period of 3.5 character all Control Techniques products). The minimum slave response time is times (for example, at 19200 baud the minimum silent period is 2ms). also quoted but will never be less that the minimum silent period defined Nodes use the terminating silence period to detect the end of frame and by 3.5 character times.
Page 213: Data Consistency
Start register address LSB Register data 0 MSB Number of 16bit registers MSB Register data 0 LSB Number of 16bit registers LSB 7+byte count CRC LSB CRC LSB 8+byte count CRC MSB CRC MSB Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 214: Extended Data Types
#1.29 is a signed 16 bit parameter with a value of 0xABCD, and #1.30 is a signed 16 bit parameter with a value of 0x0123. NOTE The selection is applied for the whole block access. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 215: Exceptions
If a write multiple (FC16 or FC23) request exceeds the slave maximum buffer size then the slave will discard the message. No exception will be transmitted in this case and the master will time out. Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 216: Electronic Nameplate
EEPROM of a Stegmann or Heidenhain encoder attached to the drive. The system used is similar to that implemented in other Control Techniques products. The parameters stored in the encoder are in two categories: motor object parameters, and performance object parameters.
Page 217: Motor Object
Rated load rpm 5.09 Rated voltage 5.10 Rated power factor 5.11 Motor poles 5.17 Stator resistance (Rs) 5.24 Transient inductance (Ls') Reserved Reserved Reserved Reserved Reserved 5.32 Motor torque per amp (Kt) Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 218: Performance Objects
Regen current limit 4.12 Torque demand filter 4.13 Current controller Kp gain 4.14 Current controller Ki gain Spare 0 Spare 1 Spare 2 Spare 3 Spare 4 Spare 5 Spare 6 Spare 7 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 219 Regen current limit 4.12 Torque demand filter 4.13 Current controller Kp gain 4.14 Current controller Ki gain Spare 0 Spare 1 Spare 2 Spare 3 Spare 4 Spare 5 Spare 6 Spare 7 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 220: Performance
The phase delay of the current controller has a limiting effect on the response of the outer loop. Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 221: Index
Digital output ................. 108 Analog input 3 destination .............104 Digital reference resolution ............. 41 Analog input 3 level ...............101 Digitax ST Base ..............182 Analog input 3 mode .............103 Digitax ST EZMotion ............. 194 Analog output 1 mode ............104 Digitax ST Indexer ..............182 Analog output 1 source ............104...
Page 222 Menu 06 - Sequencer and clock ..........88 Preset reference selected indicator .........32 Menu 07 - Analog I/O .............. 99 Preset selector ................28 Menu 08 - Digital I/O ............. 108 Programmable logic ..............116 Proportional gain ..............46 Digitax ST Advanced User Guide www.controltechniques.com Issue Number: 1...
Page 223 Zero speed ................123 Speed controller ..............48 Speed error ................45 Speed feedback ..............44 Speed feedback selector ............51 Speed reference ..............22 Status mode ................9 Status word ................143 Stop mode ................89 Switching frequency - maximum ..........84 Digitax ST Advanced User Guide Issue Number: 1 www.controltechniques.com...
Page 224 0475-0023-01...

Control Techniques Digitax ST Advanced User's Manual

1 Parameter Structure

2 Keypad and Display

4 Parameter Description Format

5 Advanced Parameter Descriptions

6 Serial Communications Protocol

7 Electronic Nameplate

Quick Links

Need help?

Questions and answers

Related Manuals for Control Techniques Digitax ST

Summary of Contents for Control Techniques Digitax ST

Table of Contents