Brief Commissioning Instruction

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V 5.3

04/2007 GB

BASICS

REPLACEMENT

SERVICE

5th Generation of STÖBER Inverters

MI BCI AM Field-bus Applications POSI Switch®

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TABLE OF CONTENTS

1. Notes on Safety 1 1.1 Hardware 2 1.2 Software 3 2. Description 4 3. Device 5 3.1 Device states 5

3.1.1 Standard state machine 5 3.1.2 State machine acc. to DSP 402 7

3.2 Parameters 9 4. User Interfaces 12 4.1 POSITool 12 4.2 Operator panel 13 4.3 LED 14 4.4 Display 15 4.4.1 General 15 4.4.2 Event indications 15 4.4.3 Event list 15 5. Commissioning an Inverter 21 6. Service 25 6.1 Replacing inverters 25 6.2 Change an application by exchanging the

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1

NOTES ON SAFETY

This manual contains information which must be adhered to in order to prevent personal injury and property damage. This information is graduated by degree of damage as shown below.

ATTENTION

Means that an undesired result or undesired state may occur if this note is not heeded. CAUTION

Without warning triangle: Means that property damage may occur if appropriate precautions are not taken.

CAUTION

With warning triangle: Means that minor personal injury and property damage may occur if appropriate precautions are not taken.

WARNING

Means that major danger of death and substantial property damage may occur if appropriate precautions are not taken.

DANGER

Means that great danger to life and substantial property damage will occur if appropriate precautions are not taken.

NOTE

Indicates an important piece of information on the product or the drawing of attention to a part of the documentation requiring special attention.

ACTION

Means the description of an action which is particularly important for handling the product.

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1.1 Hardware

WARNING

To ensure that avoidable problems do not occur during commissioning and/or operation, be sure to read these installation and commissioning instructions before installation and commissioning.

In the sense of DIN EN 50178 (formerly VDE 0160), the FDS and MDS model series of POSIDRIVE®_{are electrical components of power electronics for the regulation of energy}

flow in high-voltage systems. They are exclusively designed to power servo (MDS) and asynchronous (FDS, MDS) machines. Utilization, installation, operation and maintenance are only permitted under observation and adherence to valid regulations and/or legal requirements, applicable standards and this technical documentation.

This is a product of the restricted sales class in accordance with IEC 61800-3. In a residential zone, this product may cause high-frequency interference in which case the user may be requested to take suitable measures.

Strict adherence to all rules and regulations must be ensured by the user. The safety notes contained in further sections (items) and specifications must be adhered to by the user.

WARNING

Caution! High touch voltage! Danger of shock! Danger to life!

When network voltage is applied, never under any circumstances open the housing or disconnect the connections. When installing or removing option boards, you may only open the inverter in the dead state (all power plugs disconnected) and only after a waiting period of at least 5 minutes after the network voltage is switched off. Prerequisite for the correct functioning of the inverter is the correct configuration and installation of the inverter drive. Transport, installation, commissioning and handling of the device may only be performed by qualified personnel who have been especially trained for these tasks.

Pay particular attention to the following:

• Permissible protection class: Protective ground. Operation is only permitted when the protective conductor is connected in accordance with regulations. Direct operation of the devices on IT networks is not possible.

• Installation work may only be performed in the dead state. For work on the drive, lock enable and disconnect the complete drive from the power. (Observe the 5 safety rules.)

• Leave the plug for the DC link coupling connected even when the DC link coupling is not being used (BG0-BG2: X22)!

• Discharge time of the DC link capacitors > 5 minutes. • Do not penetrate the device's interior with any kind of object.

• During installation or any other work in the switching cabinet, protect the device against falling parts (pieces of wire, stranded wire, pieces of metal, and so on). Parts with conductive properties may cause a short circuit within the inverter or device failure.

• Before commissioning, remove extra coverings so that the device cannot overheat.

The inverter must be installed in a switching cabinet in which the maximum ambient temperature (see technical data) is not exceeded. Only copper lines may be used. The line cross sections to be used are contained in table 310-16 of the NEC standard at 60 oC or 75 oC.

The company STÖBER ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for damages resulting from non-adherence to the instructions or the particular regulations.

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The motor must have an integral temperature monitor with basis insulation as per EN 61800-5-1 or external motor overload protection must be used.

Only suitable for use on supply current networks which cannot deliver more than a maximum symmetric, nominal, short-circuit current of 5000 A at 480 Volt.

Subject to technical changes without prior notification which changes serve to improve the devices. This documentation is purely a product description. It does not represent promised properties in the sense of warranty law.

1.2 Software

Use of thePOSITool software The POSITool software package can be used to select an application, adjust parameters and signal monitoring of the 5th generation of STÖBER inverters. The functionality is specified by the selection of an application and the transmission of these data to an inverter.

The program is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and is protected by copyright. The program is licensed for the user.

The software is provided exclusively in machine-readable format.

The customer receives from STÖBER ANTRIEBSTECHNIK GmbH + Co. KG a non-exclusive right to use the program (license) if the program was obtained legally. The customer has the right to utilize the program for the above stated activities and functions and to make and install copies of the program, including one backup copy, for support of said utilization.

The conditions of this license apply to all copies. The customer is obligated to place the copyright note and all other ownership notes on every copy of the program.

The customer is not authorized to use, copy, change or pass on/transmit the program for reasons other than those covered by these conditions; the customer is also not

authorized to convert the program (reverse assembly, reverse compilation) or compile the program in any other manner, or to sublicense, rent or lease the program.

Product maintenance The obligation to perform maintenance applies to the two last current program versions prepared and released for use by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG can either correct program errors or provide a new program version. The choice is up to STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. If, in individual cases, the error cannot be corrected immediately, STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will provide an intermediate solution which, if necessary, requires adherence by the user to special operating regulations. The claim to error correction only exists when reported errors are reproducible or can be recorded by machine-made outputs. Errors must be reported in reconstructable form giving useful information for error correction.

The obligation to correct errors is invalidated for such programs which the customer changes or manipulates unless the customer can prove when reporting the error that the manipulation is not the cause of the error.

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG is obligated to keep the currently valid program versions in a specially protected place (fire-resistant data safe, safety deposit box at a bank).

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2

DESCRIPTION

Introduction Up to four axes can be configured for a 5th generation STÖBER inverter. An axis can be used as parameter record. This allows a motor to be operated with various applications. Up to four motors can be connected and operated on devices of the MDS

5000 series with the POSISwitch® AX 5000 option. This option requires the following system structure.

The system of the 5th generation of STÖBER inverters is divided into two areas - the global area and the axis area.

The global area contains the programming and parameterization related to the inverter. This includes device control, the setting of I/O components such as brake resistors and so on. In addition, it is responsible for managing the axis area.

The axis area is divided into up to four axes. Each axis contains the programming and parameterization for one motor and is addressed by the global area. The axis area contains the motor setting and the application of the motor. The uses are defined by STÖBER ANTRIEBSTECHNIK in so-called applications or, optionally, can be programmed as desired by the user.

Global area

Axis areas

ESC

X3 I/O

#

Figure 2-1 Setup of global and axis area

Purpose of the manual This manual gives you information on commissioning the 5th generation of STÖBER inverters. The principal procedures are explained.

The purpose of the manual is:

• To familiarize you with the basic knowledge about the inverter system

• To enable you to commission a drive system quickly

• To permit you to replace an inverter quickly

Circle of readers Users who are familiar with controlling and commissioning drive systems are the target group of this manual.

Other manuals For further information, see the following manuals.

• Mounting instructions for mounting of the FDS 5000 (publ. no. 441858) respectively for mounting of the MDS 5000 (publ. no. 441688).

• Application manual (publ. no. 441691) for a description of the applications which STÖBER ANTRIEBSTECHNIK makes available to you

• Programming manual (publ. no. 441693) for a detailed description of the system and its free programming

Other support If you have questions about the use of devices of the 5th generation of STÖBER inverters which are not answered by these manuals, we will be glad to advise you under the telephone number 07231 582 0.

To simplify getting started with the use of our software, we also offer courses. Contact our training center at the following address.

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Training Center Kieselbronner Strasse 12 75177 Pforzheim

Axis 1

Axis 2

Axis 3

Axis 4

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3

DEVICE

General The 5th generation of STÖBER inverters is primarily a freely programmable system. Two ways of programming are available to the user.

• Applications defined by STÖBER ANTRIEBSTECHNIK which can be selected via an assistant in the POSITool software. Parameterization is performed to adapt the application to its task.

The application is then transferred to the inverter. On delivery, the application “fast reference value” is stored.

• The option “free, graphic programming” with the aid of the POSITool software This chapter describes the general reactions of the MDS 5000 in interplay with the applications defined by STÖBER ANTRIEBSTECHNIK.

NOTE

Please note the peculiarities of commissioning an inverter with the safety function "safe torque off." For details see the Mounting Instructions

• for the MDS 5000, publ. no. 441688, chap. 4.6.

• for the FDS 5000 publ. no. 441858, chap. 4.5

3.1 Device States

Indroduction For the solution of a technical drive task, the programming of the inverter system must conform to the sequence of certain device states. They define the state of the power portion and implement functions such as the control of the end stage, restart of the drive and fault handling. This is the only way to ensure safe operation and the defined state of the devices. The device state can be changed with control commands and internal events.

The 5th generation of STÖBER inverters offers you a choice between a standard state machine and a state machine as per DSP 402.

You can select the state machines in the Configuration Assistant of the POSITool software (see chap. 5 of the application manual, publ. no. 441691).

3.1.1 Standard state machine

Description The following eight states exist in the standard state machine in accordance with the DRIVECOM profile for drive technology.

Display Designation Behavior

MDS 5000** V5.X Or

±0Rpm 0.0A 0: Self test

Not ready to switch on

- The electronics are powered.

- Self-test is running.

- Initialization is running.

- Drive function* is disabled.

- Ready-for-operation relay is open.

±0Rpm 0.0A

1: ONdisable Switchon disable

- Software/hardware initialization is finished.

- The application was reparameterized.

- The drive function* is disabled.

- The ready-for operation relay is closed.

- The option ASP 5001 (starting lockout) is active.

±0Rpm 0.0A

2: ReadyforON Ready to switch on

- The application can be reparameterized.

- The ready-for-operation relay is closed. ±0Rpm 0.0A

3: Switched on Switched on

- The ready-for-operation relay is closed.

±0Rpm 0.0A

4: Enabled Operation enabled

- The application can be partially reparameterized.

- The drive function* is enabled.

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Display Designation Behavior Fault

- The application can be partially reparameterized.

- The ready-for-operation relay is open. Fault

No.X: type of fault

(2nd line flashing) _{Fault reaction active}

- An error-dependent action is being executed (disable drive function or quick stop).

- The drive function* can be enabled.

- The ready-for-operation relay is open. ±0Rpm 0.0A

7: Quick stop Quick stop active

- The quick stop function is being executed.

- The drive function* is enabled.

- The ready-for-operation relay is closed.

* The drive function includes everything from the power portion of the inverter and the application. A disabled drive function means the same as a power part which is switched off and a reset application (e.g., reset ramp generator).

This means that the drive is not following the reference value. ** Depends on the device family being used

Changes in state The following figure 3-1 shows which state changes are possible in the inverter system. The table below shows which conditions apply.

Nicht Einschaltbereit

Einschaltsperre

Einschaltbereit

Eingeschaltet

Betrieb freigegeben Schnellhalt aktiv Störung Störungsreaktion aktiv 0 2 1 3 4 5 6 9 7 8 11 12 14 13 15 16 10

Figure 3-1 Standard state machine

Change in State Conditions

0 Input, state machine → Not ready for switchon - Control power portion switched on

1 Not ready for switchon → Switchon disable - Self-test without errors and initialization concluded

2 Switchon disable → Ready for switchon

- Enable on low level or autostart active during first startup

- DC link charged

- option ASP 5001 deactivated - Axis activated

3 Ready for switchon → Switched on - _- Enable on high level _{Option ASP 5001 inactive} 4 Switched on → Operation enabled - Enable on high level 5 Switched on → Ready for switchon - Enable on low level

Fault reaction active

Not ready for switchon

Switchon disable

Ready for switchon

Switched on

Operation enabled Quick stop active Fault

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Change in State Conditions

6 Ready for switchon → Switchon disable - DC link not charged or option ASP 5001 active or axis _deactivated 7 Operation enabled → Quick stop active - "Quick stop" signal on high level or enable on low level and _{"quick stop with enable off" signal active} 8 Quick stop active → Operation enabled - Enable for high level and "quick stop" signal on low level and _{quick stop end reached in accordance with parameterization} 9 Quick stop active → Ready for switchon - Enable for low level and quick stop end reached in _{accordance with parameterization}

10 Quick stop active → Switchon disable - Option ASP 5001 active

11 Operation enabled → Ready for switchon - Enable for low level and "quick stop with enable off" inactive 12 Operation enabled → Switchon disable - Option ASP 5001 active

13 Switched on → Switchon disable - DC link not charged or option ASP 5001 active 14 All states → Fault reaction active - Fault detected

15 Fault reaction active → Fault - Fault reaction concluded

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3.1.2 State machine acc. to DSP 402

Description The state machine as per DSP 402 has the same states as the standard state machine. The following table shows the designation of the states as per DSP 402.

Display* Designation acc. to DSP 402

MDS 5000** V5.X Or

±0Rpm 0.0A 0: Self test

Not Ready to Switch On

±0Rpm 0.0A

1: ONdisable Switch On Disabled ±0Rpm 0.0A

2: ReadyforON Ready to Switch On ±0Rpm 0.0A

3: Switched on Switched On ±0Rpm 0.0A

4: Enabled Operation Enable Fault

Störung Nr.X: type of fault

(2nd line flashing) Fault Reaction Active

±0Rpm 0.0A

7: Quick stop Quick Stop Active Table 3-1 Designation of the device states as per DSP 402

* Depending on the applications, indication of the device states may differ from what is shown.

** Depends on the device family being used

Commands of the state machine

Some changes in state require that the state machine detect certain commands. The commands are bit combinations in the DSP 402 control word (parameter A576 Controlword). Table 3-2 shows the states of the bits in parameter A576 and their combination for the commands.

Bit of the control word (A576 Controlword) Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Command Fault Reset Enable Operation Quick Stop Enable Voltage Switch On Shutdown 0 X 1 1 0 Switch On 0 0 1 1 1 Disable Voltage 0 X X 0 X QuickStop 0 X 0 1 X Disable Operation 0 0 1 1 1 Enable Operation 0 1 1 1 1

Fault Reset Pos. edge X X X X

Table 3-2 Definition of the commands for the state machine as per DSP 402 (the bits marked with X are irrelevant).

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State machine The difference between the state machines is the possible state changes and the conditions for the changes. Figure 3-2 shows the possible changes in state.

Nicht Einschaltbereit

Einschaltsperre

Einschaltbereit

Eingeschaltet

Betrieb freigegeben Schnellhalt aktiv Störung Störungsreaktion aktiv 0 2 1 3 4 6 7 11 8 9 13 10 14 15 12 5

Figure 3-2 State machine as per DSP 402

The following table lists the conditions for changes in the state machine.

Change in State Conditions

0 Input, state machine → Not ready for switchon - Control power portion switched on

1 Not ready for switchon → Switchon disable - Self-test without errors and initialization concluded 2 Switchon disable → Ready for switchon - Enable on high level and command _{ASP 5001 deactivated} Shutdown and option 3 Ready for switchon → Switched on - Enable on high level and command _{ASP 5001 deactivated} Switch On u and option 4 Switched on → Operation enabled - Enable on high level and command _{option ASP 5001 deactivated} Enable Operation and 5 Operation enabled → Switched on - Enable on high level and command _{option ASP 5001 deactivated} Disable Operation and 6 Switched on → Ready for switchon - Enable on high level and command _{ASP 5001 deactivated} Shutdown and option

7 Ready for switchon → Switchon disable

- Enable on low level or

- Command Quickstop or

- Command Disable Voltage or

- Option ASP 5001 activated 8 Operation enabled → Ready for switchon - Command Shutdown

9 Operation enabled → Switchon disable

- Option ASP 5001 activated 10 Switched on → Switchon disable

- Command Quickstop or

- Option ASP 5001 activated 11 Operation enabled → Quick stop - Command Quickstop

12 Quick stop → Switchon disable - Quick stop finished 13 All states → Fault reaction active - Fault detected

14 Fault reaction active → Fault - Fault reaction concluded

15 Fault → Switchon disable - Command Fault Reset (positive edge) Table 3-3 Conditions of the change in state for the state machine as per DSP 402

Not ready for switchon

Switchon disable

Ready for switchon

Switched on

Operation enabled Quick stop active Fault Fault reaction active

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3.2 Parameters

Introduction Parameters perform various tasks in the inverter system.

• Adjust the application to exterior conditions such as motor type

• Indicate values such as the current speed or the torque

• Trigger actions such as store the values or the phase test Parameters are assigned to the global or the axis area.

Structure The parameter structure is set up as shown in the adjacent example.

The axis code identifies an axis parameter when it is shown mixed with global parameters.

The group divides the parameters into functional characteristics. The line distinguishes the individual parameters in a group. The element subdivides a parameter into subfunctions.

Figure 3-3 Parameter structure

The individual subject areas of the parameter groups are listed in the table below.

Parameter Group Subject Area/Dependency

A.. Inverter Inverter, bus, cycle time

B.. Motor Motor

C.. Machine Speed, torque

D.. Reference Value Speed ref. values, reference value generator

E.. Display Value Indication for device and application

F.. Control Interface Analog inputs / outputs, _{binary inputs / outputs, brake} G.. Technology Depends on the application _{(e.g., synchronous running)}

H.. Encoder Encoder

I.. Positioning Only with positioning applications

J.. Process Blocks Only with positioning application motion block _positioning L.. PLCopen Reference Values Only with positioning application PLCopen

N.. Posi.Switches Only with positioning applications

P.. Customer-specific

parameters Only with “free, graphic programming” option Q.. Customer-specific

parameters, dependent on instance

Only with “free, graphic programming” option

R.. Production data Production data of inverter, only visible during _{online operation}

T.. Scope Scope parameters

U.. Protection functions Parameterizing the results, see chap. 4

Z.. Fault counter Fault counter of events; In POSITool only _{visible during online operation.}

Element Line

Group

1.E250.2

Axis

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Data types

Name Abbrev. Name Description Value Range

Boolean B 1 Bit (internal: LSB in 1 Byte) 0 ... 1

Unsigned 8 U8 1 byte, without sign 0 ... 255

Integer 8 I8 1 byte, with sign -128 ... 127

Unsigned 16 U16 2 bytes – 1 word, without sign 0 ... 65535 Integer 16 I16 2 bytes – 1 word, with sign -32768 ... 32767 Unsigned 32 U32 4 bytes – 1 double word , without sign 0 ... 4294967295

Integer 32 I32 4 bytes – 1 double word , with sign -2147483648 ... 2147483647 Float R32 Floating decimal, simple accuracy

Double R64 Floating decimal, double accuracy In acc. w. ANSI / IEEE 754

String 8 STR8 Text, 8 characters

String 16 STR16 Text, 16 characters

32 bits, increments -2147483648 ... 2147483647

Posi 64 P64

32 bits, remainder 0 ... 2147483647

Parameter list structure

The following information is important when parameters are to be addressed via fieldbus.

• Value range

• Scaling via fieldbus if this differs from the scaling via POSITool.

• Rounding error via fieldbus if present

• Data type

They are specified in the parameter table of the application description.

Fieldbus addresses are specified in hexadecimal format. For CANopen, index and subindex can be used as is. For PROFIBUS DP-V1, index = PNU and subindex = index. For more details, see documentations of the fieldbus interface (CANopen, publ. no. 441686; PROFIBUS DP, publ. no. 441687).

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4

USER INTERFACES

Description The user interfaces of the 5th generation of STÖBER inverters consist of several elements with different functionalities (see figure 4-1 user interfaces).

To program a device of the 5th generation of STÖBER inverters, the user needs the POSITool software. With the POSITool software, either an application defined by STÖBER ANTRIEBSTECHNIK or a freely programmed application can be used as an option. POSITool provides a parameter list with which the application can be adjusted. The software also has comprehensive diagnostic functions.

Parameters can also be changed via the operator panel on the front of the inverter. It consists of a keyboard for calling the menu functions and the display for indication. When appropriately programmed, the keyboard can be used to implement functions such as manual operation or tipping.

Response messages on the device status are shown by the LEDs on the front. The display provides detailed information.

P S

o

T

X3

1

,

Figure 4-1 User interfaces

4.1 POSITool

POSITool The POSITool software represents the many-sided interface between user and inverter. If offers a wide variety of ways to configure an inverter.

Programming POSITool offers a user interface for the representation of the programming. In the option "free, graphic programming," blocks are linked here to implement a control sequence. In addition to this STÖBER ANTRIEBSTECHNIK provides defined applications for programming. This includes applications such as “fast reference value” and “command positioning” which can be selected via an assistant.

Parameterization For parameterization, POSITool offers the user parameters lists. The lists are used to adjust the control sequence to external conditions such as motor type, shaft encoder or bus systems. In addition, limit values such as maximum speed are specified or indicator values such as the current speed are presented.

Interface Using a serial interface (RS 232), program and parameters are transferred to the inverter. The inverter then begins with processing. The user can monitor the parameters via the serial connection. A scope function is available for expanded diagnostics to record the time progression of various values.

For more details on the use of POSITool, see the applicable chapter of the application manual or programming manual (publ. no. 441691 and publ. 441693).

Program

Parameterize

Diagnose

Parameterize

Oper. indication

Device states

Events

Display Oper. panel

Device states

LED

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4.2 Operator Panel

Description The operator panel of the 5th generation of STÖBER inverters is used for monitoring and for changing parameter values. The operator panel consists of a two-line display with 16 characters each and a keyboard. The keyboard has six keys for menu functions and two keys for local operation.

ESC

Jump back to operator level

Reset parameter value

#

Enter key: Open the menu level, menu groups and the parameters. Accept a changed parameter value.

Selects a parameter in the menu group. During entry,

increments/decrements the parameter value (positive/negative). Selects the menu group. During entry, changes the decade (ones, tens, hundreds, and so on).

Activate/deactivate local mode (if programmed). In local mode deactivation also deletes the enable.

I/O

Enable for local mode I/O (if programmed)

Figure 4-2 Operator panel Menu prompting

The parameter menu of the inverter is divided into menu groups. The menu groups are arranged in alphabetical order, beginning with the group A.. Inverter, B.. Motor, C.. Machine, and so on. Each menu group contains a list of parameters which are identified by the letter of the group and a consecutive number such as A00, A01, A02, etc.

To change a parameter, proceed as shown below. Use the Enter key # _{to go from the operation indicators to} the menu level.

The menu groups are selected with the arrow keys and activated with # _{. Use the} _{keys to select the} desired parameter within the menu group. You can switch back and forth between the elements in an array parameter with the _{keys. A parameter is then activated with}# _. The value flashes to indicate that it can be changed with

. The keys can be used to select which decade (ones, tens, hundreds, and so on) is to be adjusted. The value is then accepted with the # _{key or reset with the}_ESC key. Use the ESC_{key to access a higher menu level.}

To save safe from power failure, all changes must be stored with the A00 save parameter = 1:active !

Figure 4-3 Menu structure Paramodule

LED status indicator

Oper. indicator 3000 Rpm 1.3 A 4: Enabled A.. Inverter B.. Motor C.. Machine B20 Ctrltype 0: U/f control B26 Crtltype 3: X140 B26 Ctrltype 3: X140 Parameter groups Parameter selection Parameter entry Val ue flashing Accept change Reject change

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4.3 LEDs

Description The LEDs on the front of the inverter give you a quick overview of the state of the inverter. A green and a red LED which light up in different combinations and frequencies provide information on the device's status based on the following table.

Figure 4-4 LED

LEDs State of the inverter

ERROR Red RUN Green OFF OFF No power ERROR Red RUN Green OFF/ON Flashing at 8 Hz

Device initialization (startup phase) or data action (A00 is active).

Paramodule is not installed correctly.

ERROR Red RUN Green OFF Flashing at 1 Hz

Ready for operation (not enabled) ERROR Red RUN Green OFF ON Operation (enabled) ERROR Red RUN Green Flashing at 1 Hz ON or flashing

Warning (see chap. 4.4.2)

ERROR Red RUN Green ON OFF

Fault (see chap. 4.4.2)

ERROR Red RUN Green Flashing at 8 Hz OFF No configuration active RUN (green) ERROR (red)

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4.4 Display

Description The display gives the user a detailed response message on the state of the inverter. In addition to the indication of the parameters and events, the device states are shown. The display permits an initial diagnosis without additional aids.

4.4.1 General

Description After the self-test of the inverter, the operation indication appears on the display. Depending on the configuration and the current device state, the first and second line of the display may differ from what is shown in the example. In the figure, the configuration

“fast reference value” is shown in the device state "enabled" (for device states, see chap. 3).

If no axis is active, this is indicated with an asterisk (*). The active axis is then shown when it differs from axis no. 1. Only for active brake chopper or active local mode does the appropriate symbol appear on the display.

Figure 4-5 Display indication

4.4.2 Event Indications

Events Event indications on the display give the user information on the status of the device. A list of event indications is contained in the following table.

Other displays than shown in the table are also possible.

For more information, see the application and system manuals (publ. no. 441691 and 441693).

Event level Various levels exist for events: messages, warnings and faults.

• Message: A message does not affect the operation of the drive. It is indicated on the display.

• Warning: A warning is shown on the display. If the cause of the event is queued during a parameterizable period of time, a fault is generated. During this period of time, the warning does not affect operation.

• Fault: When an event occurs with the level "fault," the inverter changes to the device states "fault reaction" and "fault." The event appears on the display.

4.4.3 Event list

No: Name Description

Fault

31:Short/ground.

Trigger: The hardware overcurrent switchoff is active.

Cause: • The motor requires too much current from the inverter (interwinding fault, overload)

Level: Fault

Acknowledgment: Turn device off/on or programmed acknowledgment Other: The motor always coasts down.

Fault counter: Z31

Fault

32:Short/gr.int.

Trigger: An internal check is performed when the inverter is enabled. An existing short circuit will cause a fault.

Cause: • An internal device error exists. Level: Fault

Acknowledgment: Turn device off/on or programmed acknowledgment Other: The motor always coasts down.

Fault

33:Overcurrent Trigger: Cause: The total motor current exceeds the permissible maximum. y Acceleration times too short

y Wrong torque limitations in parameters C03 and C05 Level: Fault

Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down.

3000 Rpm 1.3A 4: Enabled Speed Current Device state (see chap. 3) Brake chopper active Axis no. 2 active

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No: Name Description

Fault

34:Hardw.fault

Trigger: A hardware error occurred.

Cause: 1: FPGA;error while loading the FPGA.

2: NOV-ST; Control unit memory defective (FERAM). 3: NOV-LT; Power unit memory defective (EEPROM).

10: ST <-> LT; Power unit serial number does not match requirement in control unit.

11: currentMeas; current offset measurement when device starts up - deviation too great

Level: Fault Acknowledgment: Cannot be acknowledged

Other: The inverter must be sent in for repairs. Fault counter: Z34

Fault 35:Watchdog

Trigger: The watchdog of the microprocessor has triggered. Cause: • The microprocessor is busy or it is faulty. Level: Fault

Fault

36:High voltage

Trigger: The voltage in the DC link exceeds permissible maximum (indication DC link voltage in E03).

Cause: y Network voltage too high

y Feedback of drive in braking mode (no brake resistor connected brake chopper deactivated with A20=inactive or defective).

y Brake resistor too low (overcurrent protection) y Ramp too steep

Level: Fault

Fault

37:n-feedback

Trigger: Error by encoder.

Cause: 1: Para <-> encoder; parameterization does not match onnected encoder.

2: ParaChgOffOn; Parameterchange; encoder parameterization cannot be changed during operation. Save and then turn device off and on so that the change takes effect.

4: Chan.A/Clk; wire break, track A / clock 5: Chan.B/Dat; wire break, track B / data 6: Chan.0; wire break, track 0

7: EnDatAlarm; alarm bit of EnDat®_{encoder is queued.}

8: EnDatCRC; too many errors during redundancy check (EnDat®_),

e.g., wire break, error in cable shield)

9: Comm. offset; commutating offset is not correct.

10: Resol.carrier; resolver is not or wrong connected, wirebreak is

possible

11: Resol.undervolt.;wrong transmission factor 12: Resol.overvolt.;wrong transmission factor

13: Resol.parameter; 14: Resol.failure;wirebreak

15: X120-double tr.; Different values were determined during the double transmission to X120.

16: X120-Busy; encoder gave no response for too long; For SSI slave: No telegram for the last 5 ms and drive is enabled.

17: X120-wirebreak;

18: X120-Timeout;

19: X4-double tr.; Different values were determined during the double transmission to X4.

20: X4-Busy;encoder gave no response for too long 21: X4-wirebreak;

22: AX5000; Acknowledgment of the axis switch is not effected. 23: Ax5000required; comparison of E57 and E70.

24: X120-speed; B297, G297 or I297 exceeded.

25: X4-speed; B297, G297 or I297 exceeded.

26: No Enc. found; either no encoder was found on X4 or the EnDat®/SSI encoder has a wire break.

27: AX5000 found; a functional AX 5000 option board was found on X4 although incremental encoder or EnDat® _{encoder was}

parameterized, or no EnDat® encoder is connected to the AX 5000

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No: Name Description

28: EnDat found.; an EnDat® encoder was found on X4 although another encoder was parameterized.

29: AX5000/IncEnc; either X4 has a faulty AX 5000 option board or the A-track of an incremental encoder has a wire break.

30: Opt2 incomp.;Version of option 2 is not current. Level: Fault

Acknowledgment: Turn the device off/on for causes 7, 10, 11, 12, 13 and 14. Programmed acknowledgment for other causes.

Other: The motor always coasts down.

Caution: With positioning applications, the reference is deleted by the event "37:n-feedback." After acknowledgment, referencing must be performed again.

Fault

38:TempDev.sens

Trigger: The temperature measured by the device sensor exceeds the permissible maximum value or is below the permissible minimum value.

Cause: • Ambient/switching cabinet temperatures too high or to low. Level: Fault

Acknowledgment: Turn device off/on or programmed acknowledgment.

Other: The permissible temperatures are stored on the power section of the inverter.

Par. U02

39:TempDev.i2t

Trigger: The i2t model for the inverter exceeds 100% of the thermal load. Cause: y Inverter overloaded (e.g., because motor blocked).

y Too high clock pulse frequency.

Level: Inactive, message, warning or fault, can be parameterized in U02 (Default: fault).

Other: When the event is triggered, a current limitation occurs initially for control types servo and vector control. At the same time, a quick stop is triggered as a fault when parameterized in U02. Reduction of the current may mean that the quick stop is no longer executed correctly! Fault counter: Z39

Fault

40:Invalid data

Trigger: A data error was detected when the non-volatile memory was initialized. Cause: 1 to 7: Control unit memory

1: Fault; low-level read/write error or timeout. 2: BlockMiss; unknown data block.

3: DatSecur; block has no data security. 4: Checksum; block has checksum error. 5: R/o; block is r/o.

6: ReadErr; startup phase: block read error. 7: BlockMiss; block not found .

17 to 23: power unit memory

17: Fault; low-level read/write error or timeout. 18: BlockMiss; unknown data block.

19: DatSecur; block has no data security. 20: Checksum; block has checksum error. 21: R/o; block is r/o.

22: ReadErr; startup phase: block read error. 23: BlockMiss; block not found.

32 and 33: encoder memory.

32: el. mot-type; no nameplate data present.

33: el.typeLim;elecronic motor-type limit; nameplate parameters cannot be entered.

48: Optionmodule2;error in memory of option 2 with REA 5000 and XEA 5000 respectively XEA 5001. Level: Fault

Acknowledgment: The event cannot be acknowledged for cause 1 to 23 and 48. The inverter must be sent in for repairs. The event can be acknowledged for causes 32 and 33.

Fault

41:Temp.MotorTMP

Trigger: Motor temperature sensor reports excess temperature. (Connection

terminals X2.3, X2.4).

Cause: y The motor is overloaded.

y The temperature sensor is not connected. Level: Fault

Acknowledgment: Turn device off/on or programmed acknowledgment. Fault counter: Z41

(20)

No: Name Description

Fault

42:TempBrakeRes

Trigger: The i2t model for the brake resistor exceeds 100% of the load. Cause: • The brake resistor may not be adequate for the application. Level: Fault

Acknowledgment: Programmed acknowledgment. Acknowledgment by turning the device off/on is not recommended since the i2t model would be reset to 80% in this case and there is a danger of the deceleration resistor being damaged.

Fault counter: Z42 External fault:

Fault

44:Text from U180

Trigger: Application specific or by free programming option. Level: Fault

Other: Should only be used for application events which may not be set lower than the "fault" level.

Par U10

45:oTempMot.i2t

Trigger: The i2t model for the motor has reached 100% of load. Cause: • The motor is overloaded.

Level: Can be parameterized as inactive, message or warning in U10 and U11. Acknowledgment: Turn device off/on or programmed acknowledgment.

Par. U00

46:Low voltage

Trigger: The DC link voltage is lower than the limit value set in A35. Cause: 1: Low Voltage; the value in E03 DC-link-voltage has

dropped below the value parameterized in A35 low voltage limit.

2: Network phase; phase monitoring has found that a switched-on power unit is missing a phase.

3: Drop in network; when phase monitoring finds that the network voltage is missing, the charging relay is immediately switched off. Normal operation is maintained. If the power unit is still switched on after network voltage returns, a fault is triggered after 0.5 s. Level: Can be parameterized for cause 1 in U00 and U01. Warning with

10-second warning time for cause 2, fault for cause 3.

Acknowledgment: Can be acknowledged for "fault" level by turning device off/on or programmed acknowledgment.

Other: The motor always coasts down for cause 3. Fault counter: Z46

Par. U20

47:TorqueLimit Trigger: The maximum torque permitted for static operation is exceeded for the control types servo control, vector control or senorless vector control

(E62:act.pos.M-max, E66:act.neg.M-max). Cause: y Limitation by parameters C03 and C05. Level: Can be parameterized in U20 and U21. Fault counter: Z47

Fault

52:Communication

Trigger: Communication fault

Cause: 1: CAN LifeGuard; recognized the "life-guarding-event" (master no longer sends RTR).

2: CAN Sync Error; the sync message was not received within the time set in parameter A201 Cycle Period Timeout.

3: CAN Bus Off; went off when bus went off.Thedriverstarteditagain. 4: PZD-Timeout; failure of the cyclic data connection (PROFIBUS). 5: USS; (under preparation) failure of the cyclic data connection (USS). 6: Systembus; (under preparation)

Level: Fault

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No: Name Description

Fault

55:OptionBoard

Trigger: Error during operation with option board.

Cause: 1: CAN 5000 failure; CAN 5000 was recognized , installed and failed. 2: DP 5000 failure; DP 5000 was recognized, installed and failed.

3: REA 5000 failure;REA 5000 was recognized, installed and failed. 4: SEA 5000 failure;SEA 5000 was recognized, installed and failed. 5: XEA 5000 failure;XEA 5000 or XEA 5001 was recognized,

installed and failed.

6: EncSim-init;could not be initialized on XEA. The motor may have turned during initialization.

7: WrongOption; wrong or nonexisting option board (compar. E54/E58 with E68/E69)

8: LEA 5000 failure;LEA 5000 was recognized, installed and failed. 9: ECS 5000 failure;ECS 5000 was recognized, installed and failed.

10: 24V failure; Failure of the 24 V supply for XEA 5001 or LEA 5000.

11:SEA 5001 failure;SEA 5001 wasrecognized, installed and failed. Level: Fault

Acknowledgment: Turn device off/on for all causes or programmed acknowledgment of causes 1 to 6 and 8 to 10.

Fault 56:Overspeed

Trigger: The measured speed is greater than C01*1,1 + 100 rpm. Cause: • Encoder defective

Level: Fault

Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down (from V5.0D on). Fault counter: Z56

Fault

57:Runtime usage

Trigger: The cycle time of a real-time task was exceeded. Cause: 2: RT2;cycle time of real-time task 2 exceeded (1 msec)

3: RT3;cycle time of real-time task 3 exceeded (technology task) 4: RT4; cycle time of real-time task 4 exceeded (32 msec) 5: RT5; cycle time of real-time task 5 exceeded (256 msec) Level: Fault

Fault 58:Grounded

Trigger: Hardware signal from power section with MDS 5000 BG3. Cause: y Asymmetrical motor currents.

Level: Fault

Fault

59:TempDev.i2t

Trigger: The i2_{t model calculated for the inverter exceeds 105% of the thermal}

load.

Cause: y Inverter overloaded (e.g., because motor is blocked). y Clock pulse frequency too high.

Level: Fault

Acknowledgment: Turn device off/on or programmed acknowledgment. Faultcounter: Z59

60...67: Applikations- events 0...7

Trigger: Application specific or by free programming option. Cause: • Can be programmed as desired for each axis separately.

Level: Can be parameterized in system parameters U100, U110, U120, etc. to U170.

Acknowledgment: Turn device off/on or programmed acknowledgment. Other: - Message/warning: Evaluation in 256-msec cycle.

- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level can be set in parameter group U.. starting with U100. Fault counter: Z60 to Z67

Fault

68:Text from U181

#External fault

Trigger: Application specific or by free programming option. Level: Fault

Other: Should be used for application events which can only be parameterized at the "fault" level.

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No: Name Description

Par. U12

69:Motor connect.

Trigger: Connection error of the motor.

Cause: 1: MotorNotDiscon; the contactor did not open when the axis changed. This cause can only be determined when at least two phase contacts are stuck and the DC link is charged (see E03).

No magnetization could be established with asynchronous motors.

2: No motor;possibly no motor connected or line to motor interrupted. Level: Can be parameterized as inactive or warning in U12.

Fault

70:Param.consitency

Trigger: The parameterization is contradictory.

Cause: 1: no servoencoder; control mode B20 is set to "servo" but no appropriate encoder is selected (B26, H.. parameter).

2: X120 direction; X120 is used as source in one parameter but is parameterized in H120 as drain (or vice versa).

3: B12<->B20; Control mode B20 is not set to servo but the nominal motor current (B12) exceeds the 4-kHz nominal current (R24) of the device by more than 1.5 times.

4:B10<->H31; Resolver/motorpoleno.; the set motor pole number (B10) and the resolver pole number (H31) do not match.

5: neg.slip;with the control modes V/f, SLVC or VC (B20). The values for motor nominal speed (B13), motor nominal frequency (B15) and motor pole number (B10) indicate a negative slip.

7: B26:SSI-Slave; SSI slave may not be used as motor encoder (synchronization problems).

8: C01>B83;C01 may not be greater than B83. Level: Fault

Other: With an incorrect parameterization, a fault is not triggered until

enabling takes place.

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21

5

COMMISSIONING AN INVERTER

Introduction This chapter discusses the commissioning of a motor on a MDS 5000. The

commissioning procedure described here assumes that you begin with an inverter in the state it was in on delivery. The "fast reference value" application stored by STÖBER ANTRIEBSTECHNIK may not be changed with POSITool.

Only one motor may be connected to the inverter. The motor must be a STÖBER servo motor of the type ED or EK with EnDat® encoder.

The procedure described requires no knowledge of the POSITool software. WARNING

The drive is to be commissioned with the described procedures. Commissioning is used exclusively to test the drive.

For this reason, do not run the motor without a load. Make sure that commissioning cannot cause damage!

Before regular operation with the "fast reference value" application, you must read the application manual (publ. no. 441691)!

Connection Connection motor and inverter as described below.

X22 X30 1 X302 X 300 X2 X20 X21 X4 X10 X 11

Figure 5-1 Diagram of the connections

1. Connect the power cable between motor and terminal X20.

2. If the motor is equipped with a brake, connect this to the inverter (X2) or to the brake module (X301) (brake line is integrated in STÖBER power cable).

If you use the brake module, the module must be connected with the inverter to terminals X2 and X302. See also chap. 4 of the mounting instructions (publ. no 441688).

3. Connect the motor temperature sensor to terminal X2 or, if a brake module is used, to X301 (temperature sensor is integrated in the STÖBER power cable).

4. If you use a device with 24 V auxiliary voltage (model key MDS 5xxx/L), connect the 24 V power supply for the control electronics (X11).

5. Connect the voltage supply to terminal X10 of the inverter. Brake module for 24 V brake BRM 5000 MDS 5000 Bottom of device Power connection 24 V - power

(only with device model MDS 5xxx/L)

MDS 5000

Top of device

Encoder

connection Power connection

Servo motor 24 V

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Settings During commissioning, a STÖBER servo motor of the type ED or EK with EnDat®

encoder must be used. . STÖBER servo motor with

EnDat®_encoder When a STÖBER servo motor with EnDat

®_{encoder is used, proceed as shown below.}

1. On the operator panel of the inverter select the parameter B06 motor-data. Set the parameter to “0:el. motor-type” (default value).

2. On the operator panel of the inverter, set the parameter B04 el. motor-type. Select the setting “1:all data” (default value).

3. When a brake is installed on the motor, set the parameter F100 to “1:high”. 4. Save your entries with A00 save values: “1:active”.

5. Turn off the power supply and wait until the display disappears. Turn the power back on again to accept the data of the electronic nameplate.

The inverter has accepted the data of the electronic nameplate. Operation

ESC

I/O

#

After you have made the settings, you can commission the drive in local mode. 1. Use the key on the operator panel to change to local mode.

2. Use the I/O key to enable operation.

3. The arrow keys can be used to change the speed to a maximum of ±300 Rpm. The keys provide the immediate jump to ±300 Rpm. The

keys can be used to increase the speed in increments up to the maximum speed. Pressing the ESC key causes a stop.

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23

Parameter table

Par. Description Fieldbus

Address

A00.0

Global r=0, w=0

Save values & start: When this parameter is activated, the inverter saves the current

configuration and the parameter values in the Paramodule. After power-off, the inverter starts with the saved configuration. If the configuration data on the inverter and Paramodul are identical, only the parameters are saved (speeds up the procedure).

0: fehlerfrei; 10: Schreibfehler; 11: ungültige Daten; 12: Schreibfehler; 14: Warnung;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 00 00 00 hex

2000h 0h

B04

Axis, OFF r=1, w=1

El. motor-type: STÖBER motors of the ED/EK series are available with electronic single and multi-turn encoders. These encoders offer a special parameter memory. In all standard models STÖBER places all motor data in this memory including any existing halting brake ("electronic nameplate").

B04 is only used when B06=0 is set.

With B04=0, only the commutation offset is read. The other motor data can be entered as desired. When B04=1 is set, the following parameters are read from the nameplate.

B00, B02, B05, B10, B11, B12, B13, B15, B16, B17, B51, B52, B53, B62, B64, B65, B66, B67, B68, B70, B71, B72, B73, B74, B82, B83, F06, F07

With B04=1, the motor data are read from the encoder after each power-on. Any manual changes to motor data are only effective until the next power-off and power-on even when the changes are stored non-volatilely in Paramodule. For permanent changes to the motor data, set B04=0. Then store the changes with A00=1.

Electronic nameplates of other motor manufacturers cannot be evaluated with the MDS 5000. Note: Correct evaluation of the electronic nameplate after a change in parameter B04 is not ensured until after a device new start.

0: Commutation; 1: All data;

2204h 0h

B06

Axis, OFF r=1, w=1

Motor-data: STÖBER motors of the ED/EK series are available with electronic single and multi-turn encoders. These encoders offer a special parameter memory. In all standard models STÖBER places the entire motor data in this memory including any existing halting brake ("electronic nameplate").

With B06=0, the data set in B04 are read from the encoder after each power-on. Any manual changes in motor data only remain effective until the next power-off and power-on even when the changes are stored in Paramodule non-volatilely.

Set B06=1 for motors without electronic nameplates. The default values of the motor data entered in the parameter list must then be checked and adjusted. The commutation offset can be auto-tuned with the action B40. The changes must then be stored with A00=1.

Electronic nameplates of other motor manufacturers cannot be evaluated with the MDS 5000. NOTE

Up to and including firmware status V 5.2, correct evaluation of the nameplate after a change in parameter B06 does not occur until a device new start. Starting with firmware status V 5.3, the nameplate is evaluated immediately.

The parameter G06 only appears for inverters of the MDS 5000 series.

0: El. motor-type; 1: User defined;

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Par. Description Fieldbus Address

F100

Global, OFF r=1, w=1

Brake release source: Selection of the source for the "release brake" signal. The signal can be permanently pre-specified as supplied by the binary inputs or the fieldbus. With F100=2:Parameter, A180, bit 6 (global parameter) is used as the signal source. This is the setting for fieldbus

operation. CAUTION

The "release brake" signal releases the brake regardless of the device state - this may cause accidental movements. 0: Low; 1: High; 2: Parameter; 3: BE1; 4: BE1-invers; 5: BE2; 6: BE2-invers; 7: BE3; 8: BE3-invers; 9: BE4; 10: BE4-invers; 11: BE5; 12: BE5-invers; 13: BE6; 14: BE6-invers; 15: BE7; 16: BE7-invers; 17: BE8; 18: BE8-invers; 19: BE9; 20: BE9-invers; 21: BE10; 22: BE10-invers; 23: BE11; 24: BE11-invers; 25: BE12; 26: BE12-invers; 27: BE13; 28: BE13-invers;

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6

SERVICE

Introduction This chapter lists various service jobs and explains their performance.

6.1 Replacing Inverters

Introduction

Paramodule

This chapter provides you with an introduction to the simple replacement of two inverters without additional aids. Only the Paramodule from the replaced inverter must be used on the new inverter. In the Paramodule, the action A00: save values stores the

programming and the parameterization of the inverter safe from a power failure. The following conditions apply to the replacement.

1. The new inverter takes over the job of the replaced inverter. There are no changes in the drive task.

2. Inverters of the same device type are exchanged.

3. None of the devices or components (motor, shaft encoder, option board, and so on) to be configured on the inverter change.

What to do Proceed as shown below.

A00: Save values 1. Start the action "A00: save values." Wait until the action has been concluded with the result "0:error free."

2. Turn the power supply of the inverter off. Wait until the indication on the display disappears.

3. Remove the Paramodule from the old inverter to be replaced.

4. Install the Paramodule on the new inverter!

5. Remove the inverter to be replaced and install the new inverter. Adhere to the mounting instructions (publ.- no. 441688)!

6. Connect the power supply. Figure 6-1 Exchanging an inverter

Result During startup, the inverter loads the configuration from the Paramodule and accepts the application of the previously installed inverter.

ON

OFF

Old MDS 5000 New MDS 5000

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WARNING

Before regular operation, test the application with the new inverter!

NOTE

If inverters of different types are replaced or the devices to be configured on the inverter are changed, the entire configuration must be changed with POSITool and checked!

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6.2 Change an application by exchanging the Paramodule

Introduction

Paramodule

This chapter provides you with a guide to the simple change of an application without extra aids. Only the Paramodule must be replaced. In the Paramodule, the action A00: save values stores the programming and the parameterization of the inverter safe from a power failure.

The following conditions apply to the replacement.

1. The hardware configuration (option boards, motor settings, etc.) stored on the Paramodule corresponds to the drive which will use the data of the Paramodule in the future.

2. The programming and parameterization stored on the Paramodule was tested beforehand.

3. After the Paramodule has been exchanged and the drive has been tested, set up the drive again (referencing, parameter optimization, etc.).

What to do Proceed as shown below.

A00: Save values 1. Start the action "A00: save values." Wait until the action has been concluded with the result "0:error free."

2. Turn the power supply of the inverter off.

3. Remove the Paramodule from the inverter.

4. Install the new Paramodule (Paramodule with changed application) on the inverter!

5. Connect the power supply.

Figure 6-2 Changing an application

Result During startup, the inverter loads the configuration and the new application from the Paramodule and accepts these.

WARNING

Before regular operation, test the new application with the existing drive!

OFF

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Address registers

Always up to date on the internet:

www.stoeber.de

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welcome

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and marketing in Germany

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STÖBER ANTRIEBSTECHNIK GmbH Fabriksplatz 1 4662 Steyrermühl Fon +43 7613 76000 Fax +43 7613 76009 eMail: [email protected]

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______________________________________________________________________________________________________

Subject to technical change without prior notice

-SMS, POSIDYN

®

and POSIDRIVE

®

are protected names of

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG.

Other product and brand names are trademarks of

the particular manufacturers and are only used

for explanatory purposes.

(32)

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Kieselbronner Str. 12 75177 PFORZHEIM GERMANY Tel. 0049 (0)7231 582-0 Fax 0049 (0)7231 582-1000 eMail: [email protected] www.stoeber.de

MGS S Helical Worm Geared Motors SMS Geared Motors

SMS P Planetary Geared Motors SMS PA Planetary Geared Motors SMS PH Planetary Geared Motors SMS PHA Planetary Geared Motors

SMS PHK Right Angle Planetary Geared Motors SMS PHKX Right Angle Planetary Geared Motors SMS PK Right Angle Planetary Geared Motors SMS PKX Right Angle Planetary Geared Motors SMS KS Right Angle Servo Geared Motors SMS C Helical Geared Motors

SMS F Shaft-Mounted Helical Geared Motors SMS K Helical Bevel Geared Motors SMS S Helical Worm Geared Motors

Electronics Inverters

POSIDRIVE®_{MDS 5000 Servo Inverters}

POSIDYN®_{SDS 4000 Servo Inverters}

POSIDRIVE®_{MDS 5000 Frequency Inverters}

POSIDRIVE®_{FDS 5000 Frequency Inverters}

POSIDRIVE®_{FAS 4000 Frequency Inverters}

Gear Units MGS Gear Units

MGS C Helical Gear Units

MGS F Shaft-Mounted Helical Gear Units MGS K Helical Bevel Gear Units MGS S Helical Worm Gear Units SMS Gear Units

SMS C Helical Gear Units

SMS F Shaft-Mounted Helical Gear Units SMS K Helical Bevel Gear Units SMS S Helical Worm Gear Units

ServoFit®Planetary Gear Units

ServoFit®_{P Planetary Gear Units}

ServoFit®_{PA Planetary Gear Units}

ServoFit®_{PH Planetary Gear Units}

ServoFit®_{PHA Planetary Gear Units}

Gear Unit Combinations

PKX Right Angle Planetary Gear Units PK Right Angle Planetary Gea