InfoPLC Net LXM32

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net
AUTI327
SE Motion Products: Lexium 32
Presenter Carlos Pena –

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Course Objectives
Upon completion of this course the participant should be able to:
● Describe Lexium32 Drive offer
● Describe Lexium32 Motor offer
● Determine which Lexium32 architecture best fits the motion opportunity
● Parameterize LExium32 using the Commissioning Software SoMove and

the LED display
Schneider Electric
- Motion Basics – Module 1 2
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> Product
P d t overviewi
> Motors
> HMI, FSU + Exercises HMI
> Electrical installation
> Statemachine, Diagnostics and
troubleshooting, Exercises (Electrical, Error)
> Operating modes and Exercises
> Control engineering, Exercises
> Safety engineering
> Fieldbus Communication, Exercises
> Accessories
> DSP 402
> 3rd Party Motors
> Safetyy eSM
> IOM card
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> P d t overview
Product i
> Motors
> Accessories
> DSP 402
> 3rd Party Motors
> Safetyy eSM
> IOM card
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Product overview
Scope of delivery
Connectors
Shield clamp
Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 5

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Product Overview
Type Label
LXM32AD18
M2

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Product overview
Product type
Modular Advanced
Compact
Drive Drive
Drive
LXM 32 C LXM 32 M LXM 32 A
Modbus
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Product overview
Product Type
Today: Soon:
0,2-7
0,2 7 KW 15 KW
Lxm32 C (Compact)
Lxm32 M (Modular)
Lxm32 A (Advanced)

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Product overview
Mechanical Size
Size 1 Size 2 Size 3
48 68 108
205 205 205
230
0
230
0
230
0
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Product overview
Commissioning
External HMI
Local HMI
Multiloader

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Product overview
Interfaces
Gearing interface / Motor feedback
24V power supply

l
Safe Torque Off Mains supply
Motor feedback
Inputs/outputs PT Output
PT Input
p
HMI
Gearing Interface
DC-Bus
Parameterisation
interface
Motor
H ldi B
Holding Brake
k B ll t R
Ballast Resistor
i t

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Product Overview
Comparison Lexium05 – Lexium32

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AC synchronous servo motors

Possible Motors
BMH Motors BSH

Flangecompatible to BSH Low Inertia Motors
Medium Inertia Motors
• All Motors are running with Lexium 32
• There is no Motor Temp Sensor in the BMH motor
• SinCos HiFa is still the „Standard“ (but different Suppliers)

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Method of operation and design
Magnets of the 10 pole Turning angle
synchronous motor
 Thermal winding
monitoring
g by
y Lex 32
 High power density
 Very low cogging
Torque
Example of BMH design

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Encoder systems
Standard:
Type of position capture (sensor system) Standard:
Single turn encoder 16 SinCos periods/rev. (SEK37)
Single turn encoder 16 SinCos periods/rev. (SEL37)
Optical
scanning Vector- Option:
system controlled
LED current Si l turn
Single t encoder
d 128 SiSinCos
C periods/rev.
i d /
18
(SKS36),
Multiturn encoder 128 SinCos periods/rev. (SKM36)
18
Plug connection: Standard = straight;
18 option= 90° angled and rotatable by 310°
18

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Update an Existing Motor
LXM32
24VDC ready
BSH

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HMI (Human Machine Interface)

Overview – HMI
External operation terminal
1: State / Error, Parameter, Value, Unit

2: ESC
3: Wh
3 Wheell tto iincrease and
dddecrease
Parameters
4: LED for Level of Menu
Integrated HMI
5: 7-segment display (4-digit)

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Calling parameters
Level 0 Level 1 Level 2 Level 3 Level 4

Drive
State
Ent Ent Ent Ent
ESC
ESC ESC ESC ESC

Ent

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Calling parameters
Level 1
+ +
… …
- -
ESC
Level 2 ENT
+ + +
- - -
ESC ENT ESC ENT ESC ENT ESC ENT
Level 3 JGSt Start command tuSt Start command HOSt

Start command MSSt
- + - + - + - +
JGHI StiM Stimuli-type MEth Stnb

Speed high method
- + - + - +
Set number
JGLo Speed low disSt distance HMn Homing speed
- +
gGaAin % for a fine tuning
Valid for all Valid for all Valid for M,A Valid for M

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Calling parameters
Level 1
+ +
… …
- -
Level 2 ESC ENT
- +

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Calling parameters
Level 1
+ +
… …
- -
ESC ENT
Level 2
+ + + + + +
- - - - - -
ESC ENT ESC ENT ESC ENT ESC ENT ESC ENT ESC ENT ESC ENT
Identification Axis Motor I-O Fault Communication Factory

parameter configuration control configuration management settings setting
-PrgNr parameter parameter parameter parameter parameter
-SwVersion
-SwDate
-…
Valid for all

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First Setup
ESC
No reboot
necessaryy ENT
ENT
ESC
Reboot ESC
necessary Parameter read/write
State handling as defined
ENT ESC

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Memory Card
Calling parameters
Message: Memory Card detected
ESC
ENT ESC
Memory ENT ENT
Card OK
VW3M8705
Ignore Ignore
Card is Missing
Card to Drive Busy
OK
NOK
Drive to Card

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Multiloader
Overview Modbuskabel
M db k b l
RJ45
VW3A8306R10
Power Switch
Display
BATT.
Multiloader
Version 2.1
USB Port SD Card
VW3A8121

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Multiloader
Calling parameters BATT. PC
C USB
US
Multiloader MSD Mode

Version 2.1 PC Connected
Main menue Main menue Main menue Main menue

Action Device Parameters About MLD
Action Config Device Parameters Version :01.10

MLD - > Device Type Battery 03-Jul09,13:30
Action Config Device Parameters

Device -> MLD Sw Version Diagnostic
Action Flash Parameters

Firmware Password FW
Parameters
Display

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Exercises 3.1 – HMI

FCS – Reset to factory settings
● Select the Parameter FCS
Configuration
Factoryy Settings
g
Reset to Factory defaults
L 32 Compact
Lex32 C t
Power cycle
Lex32 Modular FB
Lex32 Advanced First Setup

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FSU – Setup Can Address and Baudrate
● First Setup
Configuration
p Adress
Can Open
Can Open Baudrate
L 32 Compact
Lex32 C t Aft FCS -> „nrdy“
After d “
NO FSU -> „power cycle"
Lex32 Modular FB
Lex32 Advanced

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FSU – Reset any Error
Error Number
Fault Reset
Ready (No Error)
L 32 Compact
Lex32 C t
Lex32 Modular FB
Lex32 Advanced

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Tuning the System with Autotuning
Tuning
Operating
Tuning
Tuning Start
Tuning done
L 32 Compact
Lex32 C t
Lex32 Modular FB
Lex32 Advanced

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Jog Mode
● Select the Mode “JOG” in the Menu

Operating
Jog Press Enter to move
Speed for Speed for

Jog slow Jog high Jog slow left
Lex32 Compact Jog fast left
Lex32 Modular FB Jog slow right
Lex32 Advanced Jog fast right

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Find out the Program Number
● Select the Information “Prn” and “Ver” in the Menu
Configuration
Information
L 32 Compact
Lex32 C t Program Number Program Version
Lex32 Modular FB
Lex32 Advanced

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Check the DC Bus Voltage
● Check the State of the DC Bus Voltage
Monitoring
VDC Actual
L 32 Compact
Lex32 C t
Lex32 Modular FB
Lex32 Advanced

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Monitor IO signals
Monitoring
Digital inputs
TRUE
FALSE
Di Di Di Di Di Di
5 4 3 2 1 0

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FSU – Store the internal Parameters to the memory card
Massage Memory Card

detected ESC
ENT ESC
ENT ENT
Ignore Drive to Card
Card is Missing
L 32 Compact
Lex32 C t
Lex32 Modular FB
Lex32 Advanced

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FSU – Setup Can Address and Baudrate
Massage Memory Card

detected ESC
ENT ESC
ENT ENT
Card to Drive
Ignore
Card is Missing
L 32 Compact
Lex32 C t
Lex32 Modular FB
Lex32 Advanced

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Exercises 3.11 – Multiloader

FSU – Update the Firmware to the latest Version
L 32 Compact
Lex32 C t
Lex32 Modular FB
Lex32 Advanced

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Electrical installation
Safety instructions
Please observe the following safety regulations when working
on electrical equipment:
● Disconnect device from supply voltage.

● Secure the device against accidental reactivation
(and attach a “DO
DO NOT SWITCH ON ON” sign to the
switch).
● Verify that parts are free of voltage.
● Cover or block adjacent system parts that are still
live.
-~ ● WAIT FOR 15 MINUTES (discharge the DC bus

capacitors)
● Measure the voltage g between PA/+ and PC/- and

check that it is <48 V. (Important: The LED does not
reliably indicate that no DC bus voltage is present).
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Mains supply/supply voltage
Single Phase 3 Phase

Device Device

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Operation with external Filter or RCD
Filter
RCD
Capacitor Capacitor
active inactive

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Motor and holding brake connection
Bus
Bus
A/+
CN9 DC B
CN9
PC/-
DC B
PA
R- BR+
U
or
CN10 Moto
BR
V
W
5M2
ake
N11
C
Bra
CN
XM32CU45 A Holding Brake Controller is

not necessary. The
LX
C
Connection
ti iis di
directly
tl on th
the
Surface of the device.
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EMC Rules
Earth connection
Shielding

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DC Bus Connection
Bus
A/+
CN9 DC B
PA
PC/-
R- BR+
U
or
CN10 Moto
BR
V
W
5M2
ake
N11
C
Bra
CN
XM32CU45
LX
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Connection of 24V supply and Save Torque Off
Stop Category 1 Stop Category 0 Circuit containing
24V emergency
stop module with delay.
E-Stop E-Stop
DC Supplyy / STO
Delay
Card
STO_A
Memory C
STO_B
24V
M
CN2 D 0V
Fieldbus Quickstop

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Connection of the motor encoder
Ma
CN1 M
CN4 PTO
Ooder-1
CN3 Enco
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Connection of the external ballast resistor
CN7
ModBus
VP 12 S
CN8 Braking resistor
PB
PB
CAN
e it
C
remove
PC/-
PC/-
-~

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Electrical installation / IT mains

Terminal Connector
CN7
ModBus
VP 12 S
CN8 Braking resistor

PB
PB
AN
PC/-
PC/
CA
remove it
PC/-

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Connection of the PTI Interface (Pulse Train Input)
N3 E
CN4 PTO
CN4
Optic coupler
TI
CN5 PT
TO
ST
Only LXM32C and LXM32M !

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Connection of the PTO Interface (Pulse Train Output)
CN3 E
CN4 PTO
RS422 Output
CN PTI
CN5 P
STO
S

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Connection of the PTO Interface (Pulse Train Output)

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Connection of theDigital I/Os
LXM32C LXM32M LXM32A
CN6 I/O CN6 I/O

DQCOM DI0/CAP1
CN6 I/O
DQCOM
DQ0 DI1/CAP2
AI1+ DQCOM DI0 DI0/CA
DQ1 DI2 P1
AI1- DQ0 DI1 DQ2 DI3 DQ0 DI1
SHLD DI4 DQ1 DI2

AI2+ DQ1 DI2
DICOM DI5 DICOM DI3
AI2- DQ2 DI3
SHLD DQ3 DI4
DICOM DQ4 DI5
Selectable debounce time from 0 up

p to 1,5
, ms

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Connection of digital inputs / outputs (CN6)
Sink Configuration Source Configuration
Input
Output

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Connection of analogue input (CN6)
LXM32C
CN6 I/O
Analogue Input 1
Analogue_Input_1 AI1+ DQCOM DI0
AI1- DQ0 DI1
Analogue_Input_2 AI2+ DQ1 DI2
AI2- DQ2 DI3
SHLD DQ3 DI4
DICOM DQ4 DI5

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Default I/O Settings
Lexium32 C : The default settings are depending on the start up operation mode !
ProfileTorque ProfileVelocity Electronic- Jog
GearOnPos
DI0 Enable Enable Enable Enable
DI1 Fault reset Fault reset Fault reset Fault reset
DI2 LimP LimP LimP LimP
DI3 LimN LimN LimN LimN
DI4 Current limitation Zero clamp Gear ratio switch Jog neg.
DI5 Halt Halt Halt Jog pos.
DQ0 No fault No fault No fault No fault
DQ1 Active Active Active Active
DQ2 Speed threshold reached In speed window In position In position
window window
DQ3 Current threshold Current threshold Selective Selective
reached reached Warning output Warning output
DQ4 Selective Error output Selective Error output Selective Error Selective Error
output output
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Modules
Slot 1
Possible combinations
eSM IOM
of Lexium 32 M
Slot 2 E
RSR E DIG E ANA E
RSR E
CN7
ModBus
VP 12 S
Slot 3
CAN CAN PDP EIP DNT ETH
CAN

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State machine
Operating statuses and operational transitions
Drive state
1 Init – initialization
2 nrdy – not ready
3 dis - disabled
4 rdy – ready to switch on
5 S – switch
Son it h on
6 run – switched on
7 Stop – quickStop active

FLt – fault reaction
8
active
9 FLt - fault

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Diagnostics and troubleshooting

Error class
The controller triggers an error response in the event of a fault.

Depending on the severity of the fault
fault, the device responds in
accordance with one of the following error classes:

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Error responses
Th occurrence off an eventt is

The i signalled
i ll d by
b the
th d
device
i as ffollows:
ll

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Error memory
1 The Error memory

works as a FiFo buffer
2 with a Fault history of 10
3 errors:
4
1 2 WARNING - Message
5
3 Actual – Running time
6
4 Current ErrorID with
error description
5 Error reason / source
6 Solution proposal

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Error numbers
The error numbers are categorised by groups:

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Limit switch error behavior
● If case of a LIMIT switch error, it is p

possible to move from LIMIT switch in the
opposite direction in each operating mode.
 If a LIMIT switch error occur, ((A302 = LIMIT p

positive switch)) or
(A303 LIMIT switch negative) it is an error with “error class 1”
“Motor stops with Quick stop”.
Procedure to continue:
 1.: Error status 7 has to be reset first with “FAULT RESET”
 2.:
2 : Move out from LIMIT switch possible in each operating mode in the
opposite direction.

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Exercises 5.1 –
Delete Error Memory

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Exercises 5.2 –
Create an Error class 0
+24VDC
E-Stop
STO_B
STO A
STO_A

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Exercises 5.3 –

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Exercises 5.4 –

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Exercises 5.5 –
+24VDC
E-Stop
STO_B
STO A
STO_A

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Exercises 5.6 –
+24VDC
E-Stop
STO_B
STO A
STO_A

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Operating modes
Overview
Operating mode LXM32C LXM32A LXM32M
Jog
Profile velocity
Profile torque
Electronic gear not available
Profile position not available
Homing not available
Motion Sequence mode not available not available
Autotuning

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Operating modes
Jog mode
Jog fast t
Jog positive t
V
JOGv_fast
JOGv_slow
JogStep JogTim
e
Lex32C
Le 32M
Lex32M
Lex32A
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Operating modes
Jog mode
Jog fast t
Jog positive t
V
JOGv_fast
JOGv_slow
Lex32C
Le 32M
Lex32M
Lex32A
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Operating modes
Profile velocity Mode
LXM32 A + LXM32M =0
RAMP_v_enabl
PV_v_target e
=1
LXM32C Profile ON Profile OFF

RAMP_v_acc
AI1 (±10V) RAMP_v_dec
RAMP_v_max
AI1_offset
AI1_win
AI1_v_scale
AI2 (±10V)
Speed or
Torque Speed
p control,,
Li i i
Limitation current control
CTRL_I_max
CTRL_v_max
Lex32C
Lex32M
Lex32A Position controller is not active !
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Operating modes
Profile velocity Mode
LXM32C – Analogue Input
10 V = AI1_v_scale [USR]
AI1_v_scale / 10 * AI1
t [s]

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Operating modes
Profile Torque Mode
Lex32C
L 32M
Lex32M
Lex32A
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Operating modes
Profile Torque Mode
LXM32 A + LXM32 M
RAMP_tq_enable =0
PT_tq_target =1
LXM32 C Profile ON Profile OFF

RAMP_tq_slope
AI1 (±10V)
AI1_offset
AI1_win
AI1_M_scale
AI2 (±10V)
Speed or Speed control,
Torque current control
Li i i
Limitation CTRL_I_max
_Imax_system
CTRL_v_max
Lex32C
Lex32M
Lex32A Position controller is not active !
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Operating modes
Profile Torque Mode
LXM32C – Analogue Input
10 V = AI1_M_scale [%]
AI1_M_scale / 10 * AI1
t [s]

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Operating modes
Profile Position Mode
Target Velocity V
PPv target
PPv_target
Target Position P
PPp_target
t
Acc Constant De
velocityy c
Lex32C
Lex32M
Lex32A
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Operating modes
Profile Position Mode
Absolute movement: Relative movement:

In the case of an absolute In the case of a relative movement
movement,
movement, the movement is the movement is relative with
absolute with reference reference to the previous target
to the zero point. position or the current motor
position.
A zero p
point must be defined with
the operating mode Homing.

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Operating modes
Homing Mode to LimN
3
2
Lex32C
Lex32M
Lex32A
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Operating modes
Homing Mode (REF)
1. Movement to reference switch at velocity HMv
2. Movement to the switching point of the
reference switch at velocity HMv_out
3. Movement to index pulse or movement to a
distance from the switching point at velocity
HMv_out
Type A Method 7: Movement to the index pulse.

Method 23: Movement to distance from
switching point.
Type B Method 8: Movement to the index pulse.
switching point.
Type C Method 9: Movement to the index pulse pulse.
switching point.
Type D Method 10: Movement to the index pulse.
M th d 26
Method 26: Movement
M t tto di
distance
t ffrom
switching point.
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Operating modes
Motion Sequence Mode (LXM32 M only)
Motion Sequence Mode with 32 data sets (records)
Example SoMove
Example LexiumCT

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Operating modes
Starting a data set
A data set can be started in 2 different ways:
1. Start of a single data set

This option starts a single data set. No subsequent data set is started after
completion of the data set. If several data sets are started individually, a
master controller (for example,
example a PLC) is responsible for timing the process
process.
2. Start of a sequence (several data sets in a row)

A sequence is started with the selected data set. Upon successful completion
of the data set and if the transition condition is met, the subsequent data set in
the sequence is started. The product controls the timing between the individual
data sets.
Lex32C
Lex32M
Lex32A
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Operating modes
The following data set types are

available:
Using LexiumCT
• Move Absolute
• Move Relative
• Move Additive
• Move Velocity
• Reference Movement
• Position Setting
• Repeat
Using SoMove
Lex32C
Lex32M
Lex32A
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Operating modes
Acceleration,
Data set type: Move Absolute Velocity,
Absolute Position,
Deceleration
• No transition
• Abort And Go Next
• Buffer And Start Next
• Blending Previous
• Blending Next
NOTE: Transition “Blending Previous” and “Blending Next” is only possible in this data set type

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Operating modes
Acceleration,
Data set type: Move Relative Velocity,
Relative Position,
Deceleration
• No transition

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Operating modes
Acceleration,
Data set type: Move Additive Velocity,
Relative Position,
Deceleration
• No transition

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Operating modes
Acceleration,
Data set type: Move Velocity Velocity,
Direction,
Deceleration

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Operating modes
Data set type: Reference Movement Movement
parameter
• No transition

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Operating modes
Data set type: Position Setting
Position value
• No transition

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Operating modes
Data set type: Repeat
Parameter
• No transition

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Operating modes
Transition type:
• No Transition
No further data set is started.

If the transition condition is met, the current movement is aborted and the
subsequent data set started. Transition condition 1 is considered for the
transition.

Upon successful completion of the movement and if the transition condition is
met, the subsequent data set is started. Transition condition 1 and transition
condition
diti 2 are considered
id d ffor th
the ttransition.
iti
• Blending Previous / Blending Next (data set type Move Absolute only)
The velocity is adapted to the velocity of the subsequent data set until the
target position is reached or when it has been reached. The transition is
performed without consideration of a transition condition.
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Operating modes
Transition
Data set Type Setting A Setting B Setting C Setting D Type
Profile Type
0 / None: None 0, 1, 2
1 / Move Absolute: Move absolute Acceleration Velocity Position Deceleration 0, 1, 2, 3, 4
2 / Move Relative: Move relative Acceleration Velocity Position Deceleration 0, 1, 2
method
(except Position at reference point after a
3 / Homing: Homing method 35) successful reference movement - - 0 2
0,
4 / Position Setting: Position setting Position - - - 0, 2
Number of data set to be

5 / Repeat: Repeat Loop Counter executed - - 0, 2
6 / Move Additive: Move additive Acceleration Velocity Relative position Deceleration 0, 1, 2,
Selection of Direction
7 / Move Velocity: Move velocity Acceleration Velocity (0/ Positive, 1/ Deceleration 1
negative, 2/ current
direction)

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Operating modes
Electronic Gear Mode
3 different modes are available
1 / Position Synchronization Immediate: without compensation movement
2 / Position Synchronization Compensated: with compensation movement
3 / Velocity Synchronization:
Calculation of the GearRatio

Motor increments Gear ratio numerator
Gear ratio = =
Reference increments Gear ratio denominator
The resulting positioning path depends on the current motor

resolution. It amounts to 131072 motor increments per revolution.
Lex32C
Lex32M
Lex32A

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Operating modes
Electronic Gear Mode
Master / LXM32 Slave / LXM32 Master / Slave / LXM32
A/B - Encoder

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Operating modes
Speed Gear Mode (Velocity synchronization)
Speed control,
current control
Position control loop is inactive !!!

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Operating modes
Position Gear Mode (without compensation movement)
Position Offset
via digital input or fieldbus
Distance velocity
Distance, velocity, ramp
Position control,
Speed control,
current control

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Operating modes
Position Gear Mode (with compensation movement)
Position control,
Speed control,
current control

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functions
Position register
Switching a fast output depending on the motor position.
2 Position registers and 2 outputs are available
Position

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functions
Position register
1. Define the digital outputs for the position register
2 Select
2. S l t th
the position
iti source (E
(Encoder1
d 1 or E
Encoder2)
d 2)
3. Select the mode for the position register

0 / Pact
act g
greater equal A: Cu
eate equa Current
e t position
pos t o iss greater
g eate tthan
a oor equa
equal to co
comparison
pa so value
a ue A
1 / Pact less equal A: Current position is less than or equal to comparison value A
2 / Pact in [A-B] (basic): Current position is in the range A-B including limits (basic)
3 / Pact out [A-B] (basic): Current position is out of the range A-B excluding limits (basic)
4 / Pact in [A-B] (extended): Current position is in the range A-B including limits (extended)
[A B] (extended): Current position is out of the range A
5 / Pact out [A-B] A-BB excluding limits (extended)
4. Set the position value A and B
5. Start / stop the position register

0 / Off (keep last state): Position Register is off, status bit keeps last state
1 / On: Position Register channel 1 is on
2 / Off (set state 0): Position Register channel 1 is off, status bit is set to 0
3 / Off ((sett state 1): Position
t t 1) P iti Register
R i t channel
h l 1 iis off,
ff status
t t bit iis sett tto 1

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functions
Position register
Parameter overview:

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functions
modulo axis
 This modulo function is very useful for rotary table applications, infinite axis in
order to avoid position overflow inside the drive.
 With axis type ´Modulo´ parameters for setpoint position and actual motor
position will deliver the corresponding modulo position values.

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functions
modulo axis
 Enable the modulo function
 Set the modulo position range
 Define the direction for absolute

movements
 Define if multi revolutions are allowed

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functions
modulo axis
Example multiple modulo range:
• Modulo
Mod lo range
– Minimum position: 0 usr_p
– Maximum position: 3600 usr_p
• Actual p
position: 700 usr_p
_p
• Target positions absolute: 5000 usr_p
Without multiple modulo range

With multiple modulo range
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functions
Simulation of absolute position
● ”SimAbsolutePos”: ´Simulation ON´ saves at power off all relevant position data to
reproduce the mechanical position during the next power on.
 For single turn encoder the position can be reproduced as long the motor shaft
is not moved away more then +/- 0.25 revolutions. (e.g. motor with brake)
 For multiturn encoder the movement deviation can be much bigger depending on
type of multiturn encoder.
 machine does not need to be referenced again after a power cycle
 Second encoder module could be used for the simulation

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functions
Input function “Start
Start profile positioning”
positioning
● The input function ”Start Profile positioning” starts a movement in the operating
mode “profile
profile Position”
Position .
● The movement starts with a rising edge on this input. This input writes to Bit 4
(New Setpoint) of the “DCOMcontrol” word.
 Before starting a movement via input function ”Start Profile positioning”, the
movement has to be prepared via fieldbus:
1: Select operating mode “profile
profile Position
Position”:: “DCOMopmode”
DCOMopmode 6060 = 1
2: Write the “target position”: “TargetPosition” 607A = xxxxx
3: Write to the control word: “DCOMcontrol” 6040 = 0F / 4F
 Enable drive and p

prepare
p “Absolute p
positioning”
g
 Enable drive and prepare “Relative positioning”

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functions
Input function “Current
Current Limitation
Limitation” and “Velocity
Velocity Limitation”
Limitation
● The input function “Current Limitation” limit the maximum current to the value set
in: parameter “IO_I_limit”.
● The input function “Velocity Limitation” limit the velocity to the value set in:
parameter “IO_v_limit”.
 In the operating mode “profile Torque”, the minimum velocity is internally limited to
100 rpm.

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functions
Input function “Zero
Zero clamp
clamp”
● With the input function “Zero clamp” the motor can be stopped, if the velocity is
below the parameter value: “MON_v_zeroclamp”.
● If “Zero clamp” is active, the servomotor ignores the reference speed, stops and
locks the instant position. (A position loop is formed).
 This function is available in the operating modes: “Profile velocity” and
“Electronic gear – Velocity Synchronization”.

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functions
Scaling (Position
(Position, Velocity
Velocity, Ramp)
● Lexium 32 supports a position-, velocity-, ramp scaling.
 Position scaling is the relationship between the number of motor revolutions

and the required user-defined units [usr_p].
 Default: 1 motor revolution corresponds to 16384 user-defined units.
 Velocity scaling is the relationship between the number of motor revolutions
per minute and the required user-defined units [usr_v].
 Default: 1 motor revolution per minute corresponds to 1 user-defined unit.
R
Ramp scaling
li i the
is th relationship
l ti hi between
b t th change
the h i velocity
in l it and
d the
th
required user-defined units [usr_a].
 Default: A change of 1 motor revolution per second corresponds to 1 user-
defined unit.
unit
Default factoryy
settings:

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functions
Shift Multiturn Encoder Range
● Default working
g range
g of a multiturn encoder with 4096 revolutions is between 0 …
4096 revolutions.
 If a motor with multiturn moves into negative direction,

direction there is an underrun of the
absolute position of the multiturn encoder.
After switch off an on the actual position of the drive no longer correspond to the
negative position value.
With parameter ´“ShiftEncWorkRang” = 1´ the working range can be set

between -2048 … 2048 revolutions.
 After changing the setting, the drive has to be rebooted.

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Exercises 6.1 – Operating Modes

Jog Mode
IO functions
Operation configuration - Jog
L 32 Compact
Lex32 C t
Lex32 Modular
Lex32 Advanced

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Profile Velocity
Basic Configuration
AI1 analogue input
L 32 Compact
Lex32 C t
Lex32 Modular
Lex32 Advanced

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Profile Torque
Basic Configuration
AI1 analogue input
L 32 Compact
Lex32 C t
Lex32 Modular
Lex32 Advanced

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Homing
L 32 Compact
Lex32 C t
Lex32 Modular
Lex32 Advanced

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Exercises 6.5 – Operating modes

Profile position Mode
Lex32 Compact
Lex32 Modular
Lex32 Advanced

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Motion Sequence Mode
Configuration:
LXM32M – LocalControlMode
Digital inputs:
DI0 = Enable
DI1 = StartMotionSequenceMode
DI2 = LimP
DI3 = LimN
DI4 = DataSetSelect
DI5 = DataSetBit0
Create the following sequence:

1
1. Reference Movement to Index Pulse negative direction
2. Move absolute to the position 1638400 USR
3. Move relative with a distance of -163840 USR (-> go back to seq. no 1)
Lex32 Compact
Lex32 Modular
Lex32 Advanced
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Electronic gear
L 32 Compact
Lex32 C t
Motor increments Gear ratio numerator
Gear ratio = =
Reference Gear ratio denominator
Lex32 Modular increments
Lex32 Advanced

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Exercises 6.8 functions

Position register
Lex32 Compact
Lex32 Modular
Lex32 Advanced

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Exercises 6.9 functions

modulo
● Exercise: parameter ”MOD_AbsMultiRng”: Multiple Ranges On
Lex32C
Lex32M
L 32A
Lex32A

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Control engineering and parameters

Mechanical systems
Load 400 Kg

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Controller structure

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Controller Parameter global

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Controller Parameter set 1

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Controller Parameter set 2

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Controller Parameter
Copies Parameter set 2 to set 1
Copies Parameter set 1 to set 2

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Selection of controller parameter set at power up

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Switching condition for controller parameter
Change
Parameter Change Parameter Set via
Set via LCT Fieldbus. E.g. CANopen

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Parameters for switching controller parameter

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Manual
a ua Tuning
u g

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Current controller
Process data
18
Controller RS 485 Parameters
18
EEPROM Voltage supply
18
18

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speed and position controller parameters

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1 tun
1. tun-parameter
parameter of the speed-controller
speed controller

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Speed controller parameters

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2 tun-parameter
2. tun parameter of the Position
Position-controller
controller

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Position controller parameters

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Steps for manual tuning [speed controller]
1. Before starting manual tuning, a parameter „reset to factory settings“ is significant !
2. Set the speed controller-setting time „CTRL_TNn“ to maximum-value (327,67 ms)

and disable the reference-value-filter of the speed-controller „CTRL_TAUnref“ (0 ms)

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3. Open the window „functions/record-tuning“ and select the recording signals

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4. Select several „Tuning-parameters“ for the Control-type-: „Speed controller“
Click „auto-start“ On
to link the execution
off the
th ttuning
i
movement and the
start of recording

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5. Initiate a jump function to the speed controller
Press Start button

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6. Increase or decrease the P-factor KPn in small steps and initiate another
jump function.
 „n_act“ has to reach „n_ref“ as fast as possible without overshoot.
7. Determine „TNn“ graphically which the actual speed „n_act“ reaches 63% of
the final value
value. The correction time „CTRL_TNn
CTRL TNn“ is the shown as a value on
the time axis:

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8. If the control response does not correspond to the curve below, change
„CTRL_KPn“ in steps about 10%.
 Overshooting up to a maximum of 20% - 40% is recommended

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9. With the reference value filter of the reference speed value „CTRL_TAUnref“
you can decrease the overshoot. Use the same value as „TNn“.
The control
response has
to correspond
as shown:

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Steps for manual tuning [position controller]
10. Open the window „functions/record-tuning“ and select the recording signals

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Steps for manual tuning [position controller]
11. Select several „Tuning-parameters“ for the -Control-type-: „Position controller“

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Steps for manual tuning [Position controller]
12. Initiate a jump function to the position controller
Press Start button

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13. If the control response does not correspond to the curve below, change
„CTRL_KPp“ in steps about 10%.

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14. ● If „p_act“ respond with an overshoot::

 select „CTRL_KPp“ smaller
● If actual value is too slow following the reference value:

 select „CTRL_KPp“ larger

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15. The „CTRL_KPp“ is at ist optimum setting, when the motor reaches its target
position rapidly and with little or no overshooting:

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Automatic
uto at c Tuning
u g

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AUTOTUNE
Manual Position, Speed,

Atun_Range Current Controller
Tuning
Atun_RotSense
Atun_RotSpeed Trace
Autotunin
(Atun_FrictionMoment) g
Processing
Start
KPn (Speed Controller P Factor)
Autotuning
Autotuning status
TNn (Speed Controller Integral Time)
Kpp (Position Controller P Factor)
Lex32C
Lex32M
Lex32A
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Why autotuning
target of autotuning:
- automated procedure for setting the control parameter
- Support mechanical system with friction and constant load

(Z-axis)
- Under all conditions, this parameter setting has to ensure a

stable system behaviour

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Controller structure
 Parameters of the mechanical system are:
Load ML and Inertia J
 Auto tuning calculates: KPp,T
Tnref, Kpn and TNn
Typical cascade control for a servo drive system
Filter to prevent
mechanical resonance
frequencies Current control and electro-
Position control Speed control magnetic motor part Mechanical model
ML
KPp Tnref KPn TNn Tiref KPi TNi Ti KT 1/ J
pref nref iqref uq pact
- - -
pact nact iqact nact

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Th procedure
The d off autotuning
t t i
- Determine friction and constant load by

means of constant movements
- Determine
D t i iinertia
ti bby means off acceleration
l ti
- Calculate optimal speed and position loop

parameter
- test parameter for stability
- Increase parameter values

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Operating mode “Autotuning”
Autotuning
Easy Tuning Comfort Tuning

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Autotuning parameter
Parameter Info Setting description

AT state
AT_state x Autotuning status ( auto
auto_tune_err/end/process)
tune err/end/process)
AT_dism x Movement range autotuning
AT_dir x Direction of rotation autotuning ( e.g. pos-neg-
h
home))
AT_n_ref x Speed jump for motor starting
Global_gain x Adapting controller parameters (tighter/looser)
AT_n_tol X Revolution tolerance by parameter definition
AT_mechanics X System coupling type (e.g. direct coupling,
medium, soft)

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Autotuning
gpparameters “AT_Dism”
_
Movement range auto tuning
Range in which the automatic optimisation

processes of the controller parameters are
run. The range is input relative to the current
position.
Caution with “movement in only one direction

“parameter
parameter AT_dir
AT dir”, it corresponds to the
actual movement of a multiple of this specified
range. It is used for every optimization level.

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Autotuning
gpparameters “AT_dir”
_
Direction of rotation auto tuning

Option AT_dir Information
N
Nr.
1 +/- Pos-neg-home: First positive direction,
then negative direction with return to
initial position
2 -/+ Neg-pos-home: First negative
direction, then positive direction with
return to initial position
3 + with return to Pos home: Only positive direction with
Pos-home:
initial position
4 + without return to Rotary_axis_Pos: Only positive
initial position
direction without return to initial position
5 - with return to Neg-home: Only negative direction with

initial position
6 - without return to Rotary_axis_Neg: Only negative
initial position
direction without return to initial position

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Autotuning
gpparameters “AT_mechanics”
_
System
y coupling
p g type:
yp
1: direct coupling (J ext. to J motor <3:1)

2 medium
2: di li ()
coupling
3: medium coupling (short toothed belt)
Inertia ratio less than 3 Inertia ratio higher than 3

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Autotuning
gpparameters “AT_n_ref”,
_ _ , “AT_n_toleranc”
_ _
To find the optimal controller settings, auto n set point actual value
tuning start a speed jump (n_ref) and
checked the actual speed (n_act)
performance. Afterwards the actual speed
has to be in the rotation window AT_n_ref
(AT n tolerance)
(AT_n_tolerance).
AT_wait
AT_n_toleranc
t
-AT_n_toleranc

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Autotuning
gpparameters “AT_gain”
_g
After the auto tuning is finished, it is

possible to optimise the controller
parameter with the parameter
CTRL_GlobGain.
In the same way as auto tuning, the
parameter KPn, TNn, TAU_nref and
KPp are synchronous changed.
The value 100 represents the theoretical

optimum.
Value larger than 100 mean that the

regulation
l ti iis
tighter and smaller values mean that the
regulation
is looser.

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Exercises 7.1 – Control engeneering

Autotuning

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Exercises 7.1 – Control engeneering

Manual Tuning

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Safety engineering
Stop category
Stop Category 1 Stop Category 0
24V
E-Stop E-Stop
Delay

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Safety engineering
Definition and standards – Safe Standstill
S f Standstill
Safe St d till (DKE 226
226-03):
03)
Stop category 0 (EN 60204-1):
Stop category 1 (EN 60204-1): SAM SAM

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Safety engineering
Notes on “Safe
Safe Standstill”
Standstill
Note that a machine shutdown using the

STO inputs does not provide galvanic
isolation ((as p
per EN 60204 section 5.5).
)
There may still be dangerous voltages in
the drive.
For electrical work in the machinery it is

necessary to switch off on the main switch!

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Safety engineering
Enhanced Safety Module
Lex32 Compact STO

Lex32 Modular STO
Lex32 Advanced STO

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Safety engineering

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Safety engineering
Terminal Adaptor

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Safety engineering
Safety option card – eSM

● Monitoring functions for:
● Deceleration
● Speed
S d
● Standstill
● IEC 61800-5-2 safety functions
● STO – Safe Torque Off (uncontrolled stop in
accordance with category 0 of IEC 60204-1)
● SS1 – Safe Stop 1 (controlled stop in
● SOS – Safe Operating Stop
● SLS – Safely Limited Speed
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Safety engineering
Commissioning
One Tool for Commisioning the Drive and the eSM
Module
State Parameter Password

s

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Safety engineering
Commissioning
The Status-machine is
similar to the CAN open
Status-machine and to the
Lxm drives.
State 3:
The Drive is disabled.
It is not possible to enable
the drive.
For Example the E E-Stop
Stop
Button is pressed.

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Safety engineering
Commissioning
State 4:
The eSM Modul is ready to
swich on.
Start has to be pressed if no

automatic start is
configured.

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Safety engineering
Commissioning
State 6:
The eSM Modul is enabled,
so the drive is in State 4.
Now also ready to switch
on.
+Enable

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Safety engineering
Commissioning
State 9:
The eSM-Module has an
error
the error is also shown in
the drive state. And also an
entrance in the error
memory is done.

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Safety engineering
Commissioning
For copy
py the Parameters into
another drive the Parameters are
in gray.

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Safety engineering
Commissioning
Module

s

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Safety engineering
Commissioning
For changing the

Parameters the
Fields you can edit
are white.
For Downloading
the parameters you
need a Password.
The Parameters are
directly stored in the
Eeprom.

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Safety engineering
Commissioning
The changed
g
Parameters for the
download has to be
accepted.

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Safety engineering
Commissioning
Then yyou have to

insert the password.

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Safety engineering
Commissioning
Module

s

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Safety engineering
Commissioning
For Chancing the

Password you need
either the default
Password or the last
given Password. eSM4SAF
E

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Lexium 32
Summary
> Fieldbus Device Types

> Motion Bus
> CANopen
> Profibus
> DeviceNet
> Eth
Ethernett IP
Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008

Central 187
document
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Lexium 32
Fieldbus Device Types
LXM 32 A LXM 32 M
(Advanced) (Modular)
PR 911.00 PR 912.00
On board - CAN Interface 2 x RJ45 Optional Fieldbus Module (Slot 3)

- CAN Open • CAN Interface (Sub-D 9 or 2 x RJ45)
- MotionBus - CAN Open
- MotionBus
- DeviceNet
- Ethernet IP
- Profibus
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Lexium 32
Summary

> Motion Bus
> CANopen
> Profibus
> DeviceNet
> Eth
Ethernett IP

Central 189
document
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Lexium 32
MotionBus (CAN sync)
SoMachine v3.1
Existing Applications need the change of the SoftMotion Library version

version.
No change in the project code is necessary.
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Lexium 32
Summary

> Motion Bus
> CANopen
> Profibus
> DeviceNet
> Eth
Ethernett IP

Central 191
document
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Lexium 32
CANopen
PLCopen Library for SoMachine

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Lexium 32
CANopen
EDS for PLCopen Library (CANopen) already

installed!!
PDO1,2 and 3 are reserved for Library functions.
PDO4 could be modified by the user.

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Lexium 32
Summary

> Motion Bus
> CANopen
> Profibus
> DeviceNet
> Eth
Ethernet
t IP

Central 194
document
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Lexium 32
Profibus
PLCopen Library for Siemens Step7 is available.
SE_Motion_LXM32_V1002

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Lexium 32
Profibus
GSD – File for LXM 32 M
Default Configuration

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Lexium 32
Summary

> Motion Bus
> CANopen
> Profibus
> DeviceNet
> Eth
Ethernett IP

Central 197
document
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Lexium 32
DeviceNet
DeviceNet Configuration
g
Software: Rockwell RS NetWorx
EDS File for LXM32M DeviceNet

DeviceNet
Scanner (Master)

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Lexium 32
DeviceNet
AddOn Instructions in PLCopen style for Rockwell RS Logix 5000

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Lexium 32
Summary

> Motion Bus
> CANopen
> Profibus
> DeviceNet
> Eth
Ethernet t IP

Central 200
document
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Lexium 32
Ethernet IP
AddOn Instructions in PLCopen style for

Rockwell RS Logix 5000

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Product overview
Accesories
DC Bus Cable
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Accessories
Bus
Motor cable
PA//+
CN9 DC B
PC/-
BR- BR+
U
CN10 Motorr
V
W
M2
ke
XM32CU45M
11
Brak
CN1
C
LX

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Accessories
Encoder cables
CN1 Ma
N3 Encoder--1
CN
N4 PTO
CN
Encoder cable, preassembled
on both
b h ends
d

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Accessories
Mains reactor
480VAC
CN1 Mains 400-4
L1
L2
L3

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Accessories
C Bus
PA/+
Line chokes
CN9 DC
PC/-
BR- BR+
U
CN10 Mottor
V
W
45M2
Brake
CN11
C
B
LXM32CU4
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Accessories
EMC mains filter
Power cable with a connecter of max. 10m length in accordance with EMC standard IEC
61800-3, Category C3, Environment 2.

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Accessories
Ballast resistor
v
Picture of a vertical axis

And a scope
t

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Accessories
(HBC) Brake controller
For a motor with holding brake:
 Current reduction,, 100ms after the brake

is released.
 Manual brake release possible;
the HBC returns to automatic mode
at the next enable.

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Accessories
Overview – HMI on board
1: State: Fault, Edit, Value, Unit
2: 7-segment display (4-digit)

3: ESC
ESC
4: Wheel for increase or

decrease Parameters
5: LED for Level of Menu Op, Mon, Conf

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Accessories
Modules (only in Lexium32M)
• eSM Safety Module

• IOM additional IO Module
• Resolver
• Digital Encoder
• Analog Encoder
Slot 1
Slott 2
• CAN open/motion:
/ ti CAN
• Ethernet IP: EIP
Slot 3
• DeviceNet: DNT
• Profibus DP: PDP
• Ethercat: ETH

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Accessories
Memory Card STO
CN2 DC Supply / S
mory Card
d
STO_A
STO_B
• Memory 56KB
Mem
24V
0V • Device replacement
• Clone Device
• No Firmware

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Accessories
Cable - CANopen fieldbus
MC
LXM32 LXM32 LXM32
Lex 05 Lex 05

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Accessories
Cable - Modbus fieldbus

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Accessories
Pulse/direction cables
No need to have a lot of adaptor-cables

RJ45 offers a lot of options
p to connect
to any PLC

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Accessories
Reference Value Adapter RVA
VW3 ???
VW3 M8 209 R05
VW3 M3 101 (RVA)
The adapter supplies 5VDC to a

real encoder.

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Accessories
SoMove

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Accessories
Modbus adapter
New Converter
Update Firmware without

Power Supply (24V)
The Processor of the Device
Is powered by the USB Interface

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Lexium 32
Summary
> CAN OPEN General

> PLCopen Profile
Schneider Electric - Motion & Drives training - Servo 3 23/04/2008

Central 221
document
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Lexium 32
CAN OPEN – COB - Identifier
Object Function Resulting COB-ID Communication parameter at
code index
NMT 0000 0 -
Range of COB-Identifier:
COB Identifier: SYNC 0001 128 (80h) 1005h
1005h,
EMERGENCY 0001 129 (81h) – 255 (FFh) -
PDO1 (tx) 0011 385 (181h) – 511 (1FFh) 1800h
PDO1 (rx) 0100 513 (201h) – 639 (27Fh) 1400h
PDO2 (tx) 0101 641 (281h) – 767 (2FFh) 1801h
PDO2 (rx) 0110 769 (301h) – 895 1401h
(37Fh)
PDO3 (tx) 0111 897 (381h) – 1023 1802h
(3FFh)
PDO3 (rx) 1000 1025 (401h) – 1151 1402h
(47Fh)
PDO4 (tx) 1001 1153 (481h) – 1279 1803h
(4FFh)
PDO4 (rx) 1010 1281 (501h) – 1407 1403h
(57Fh)
SDO (tx) 1011 1409 (581h) – 1535 1200h
(5FFh)
SDO (rx) 1100 1537 (601h) – 1663 1200h
(67Fh)
NMT Error 1110 1793 (701h) – 1919 1016h, 1017h
Control (77Fh)

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Lexium 32
CAN OPEN – NMT State
State-Transition
Transition
Power on
(1)
Initialisation
Transition Transition Event
(1) At Power on the initialisation state is (2)
entered autonomously
(2) Initialisation finished – enter PRE-
PRE
(14) (11)
OPERATIONAL automatically Pre- Operational Sto
Communication
p_R
En em (5)
(3), (6) Start-Remote-Node indication ter- ote
_N
eset_Node
Pre ode
-Op
(4), (7) Enter-Pre-Operational-State indication (4) era
(3) tion
(7) al
(5), (8) Stop-Remote-Node indication
Reset_C
Re
(9), (10), (11) Reset-Node indication
Stop
(13) (10)
Start_Remotte_Node
Enter_Pre_O
(12), (13), (14) Reset-Communication indication
de
No
(6)
e_
de
Operational
NMT St
State
t TTransitions
iti
ot
No
m
e_
Re
ot
t_
(8)
em
ar
St
_R
op
St
(12) (9)
Operational

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Lexium 32
CAN OPEN – NMT Control
If the node-id is 0 a broadcast message is received,

all devices within the network must respect the command specifier (CS).
CANopen Network Management provides the following five services,
which can be distinguished by the command Specifier (CS):
COB- Byte Byte 1 CS (decimal) Signification

ID 0
1 (1h) Start Remote Node
0 CS Node-
N d
2 (2h) Stop Remote Node
ID
Enter_Pre-operational_state
NMT frame 128 (80h)
129 (81h) Reset_Node

130 (82h) Reset_Communication
Network Management Command Specifier

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Lexium 32
CAN OPEN – Error Control
COB ID
COB-ID O t t0
Octet COB-ID
COB ID Octet 0
Bit 7 Bit 6-0

Bit 7 Bit 6-0
700h + Node-Id 700h + Node-Id Toggle bit Node State

r S
Heartbeat frame Node g

guarding
g frame
r: reserved (always 0) Node State : the state of the NMT Slave

s: the state of the Heartbeat producer 4: STOPPED
0: BOOTUP 5: OPERATIONAL
O O
4: STOPPED 127: PRE-OPERATIONAL
5: OPERATIONAL
127: PRE-OPERATIONAL

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Lexium 32
CAN OPEN – General - Receive SDO
The receive SDO has the COB-ID 600h + Node-Id.

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Request code Low index High index Sub-index Data Data Data Data
Request code Signification

Receive SDO frame
23h Write request of 4 bytes
2Bh Write request of 2 bytes
2Fh Write request of 1 byte
40h Read request
80h Abort
Receive SDO request code

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Lexium 32
CAN OPEN – General - Transmit SDO
The transmit SDO has the COB-ID 580h + Node-Id.
Request code Low index High index Sub-index Data Data Data Data
Sended SDO frame CS (Hex) Signification

60h Write response
43h Read response of 4 bytes
4Bh Read response of 2 bytes
4Fh Read response of 1bytes
80h Error response
Sended SDO request code

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Lexium 32
CAN OPEN – General - object list 6000h

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Lexium 32
CAN OPEN – General - example Receive SDO
object = acceleration = RAMP

RAMP_v_acc
v acc = Idx
Idx.:6083h:Sdx.:0h
:6083h:Sdx :0h
Command line for ID = 1 with Data = 1000 “3E8“h
COB-ID wr Idx Idx Sdx Data Data Data Data
601 23 83 60 00 E8 03 00 00

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Lexium 32
CAN OPEN – General - example Transmit SDO
object = acceleration = RAMP

RAMP_v_acc
v acc = Idx
Idx.:6083h:Sdx.:0h
:6083h:Sdx :0h
P iti response tto the

Positive th write-request
it t off object
bj t = acceleration
l ti = RAMP
RAMP_v_acc
COB-ID wr Idx Idx Sdx Data Data Data Data
581 60 83 60 00 00 00 00 00

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Lexium 32
CAN OPEN – General - SDO abort

80h Low index High index Sub- ErrorCode ErrorCode ErrorCode ErrorCode
SDO error frame index
Signification
Error Code
0609h 0011h The sub index does not exist
0609h 0030h Value parameter exceeded
0601h 0002h Entry is read only
0800h 0000h General error
SDO error code d 0602h 0000h Index does not exist
Other Abort Codes are not used. 0601h 0000h Access fault to object
0504h 0001h Command specifier not valid
All drive specific error messages,
0503h 0000h Toggle bit not alternate
will be translated to a general error 0604h 0042h PDO length exceed
(0x800 0000). 0604h 0041h Object cannot be mapped
0609h 0031h Value of parameter written too high
0800h 0000h General Error
0800h 0022h Data cannot be transferred or stored to the application
because of the present device state.

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Lexium 32
CAN OPEN – General - PDO
● LxM32 uses 8 PDO´s, 4 receive PDOs and 4 send PDO´s
● All PDOs are transmitted „event-controlled“ in the default setting.
● In
I the
th default
d f lt setting
tti off the
th PDO´
PDO´s „R_PDO1“
R PDO1“ and
d „T_PDO1“
T PDO1“ are enabled.
bl d
The others must be enabled.
j
● The object that is represented
p in the „R
„ _PDO4“ can be modified byy PDO
mapping.

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Lexium 32
CAN OPEN – General - Mapping of the R_PDO
R PDO´ss
● manufacturer-specific object values are transmitted with the forth receive PDO

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Lexium 32
CAN OPEN – General - Mapping of the T
T_PDO
PDO´s
s
● manufacturer-specific object values can be monitored with the forth transmit

PDO
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Lexium 32
CAN OPEN – General - Operating status
● Bits 0,1,2,3,5 and 6 of the DCOMstatus parameter provide information on the

operating mode.

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Lexium 32
CAN OPEN – General - Operating status
● Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is
missing or too low, the device does not transition from operating state 3 to
operating state 4.

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Lexium 32
CAN OPEN – General - Changing operating state
● Bit´s 0,1,2,3 and 7 of the parameter “DCOMcontrol” allow you to switch

between the operating states.

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Lexium 32
CAN OPEN – General - Changing operating state
● Bit´s 4 to 6 are used for the operating mode-specific settings.

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Lexium 32
CAN OPEN – General - change and read Operating modes

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Lexium 32
CAN OPEN – General - example Operating mode “Homing”
Homing

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Lexium 32
CAN OPEN – General - example Operating mode “Homing”
Homing

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Lexium 32
CAN OPEN – General - example Operating mode “Profile
Profile Position”
Position

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Lexium 32
Profile Position”
Position

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Lexium 32
CAN OPEN – General example Operating mode “Profile
Profile Position”
Position

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Lexium 32
Profile Velocity”
Velocity

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Lexium 32
Profile Velocity”
Velocity

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Lexium 32
Profile Velocity”
Velocity
Excercise on the next page:

1 (Check CAN-adress
1. CAN adress of LxM32 and adjust inthe commands
- Enter the commands (written on next page) to activate RPDO3 and
TPDO3
- Set the acceleration to 1000 (rpm)/s
- NMT Start Remote Node
- Enable power stage with RPDO3
- Start „Velocity profile“
- Set Target velocity 2000rpm with RPDO3
- Terminate operating mode with Quickstop with RPDO3
- Clear Quickstop with RPDO3
- Write down
Schneider Electric - Motion & Drives training
your commands and also the responses from the drive
- Lexium 32 23/04/2008 247
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Lexium 32
Profile Velocity”
Velocity
Set the acceleration to 1000 (rpm)/s:
response:
NMT Start Remote Node:
response:
Enable powerstage with RPDO3:
response:
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Lexium 32
Profile Velocity”
Velocity
Start velocity-profile:
response:
Set target velocity to 2000 rpm with RPDO3:
response:
Terminate operating mode with Quickstop
with RPDO3:
response:
Clear Q
Quickstop
p with RPDO3:
response:

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Lexium 32
Summary
> CAN OPEN General

> PLCopen Profile
Schneider Electric - Motion & Drives training - Servo 3 23/04/2008

Central 250
document
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Lexium 32
PLCopen Profile
● used for PLCopen libraries
● can also be used without PLCopen libraries
● The PLCopen profile needs a special description file (e.g. eds-file for CANopen)
 Ethernet IP, EtherCat, Powerlink, CANopen
● For Profibus DP the drive control module PLCopen Lib has to be selected in the
hardware configuration tool.

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Lexium 32
PLCopen configuration in SoMachine

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Lexium 32
PLCopen Profile Mapping: e
e.g.:
g : RPDO1
● Via the control data ((data from PLC to the drive),

), the master can control the
statemachine of the drive:
- activate and deactivate the power amplifier

- trigger and reset the Quick Stop trigger and reset the HALT
- reset errors
- activate and execute the operating modes:
- profile positioning
- homing mode
- motion sequence mode
- jog mode
- position gear mode
- profile speed mode
- speed gear mode
- Profile torque control

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Lexium 32
PLCopen Profile - RPDO1

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Lexium 32
PLCopen Profile Mapping: e
e.g.:
g : TPDO1
● The drive p
provides information for the master via the status data:
- Status of state machine

- Signalization of errors and warnings
- Information concerning the active operating mode
- Speed or position reached
- Active operating mode
- Current level of digital inputs
- Movement status of the profile generator

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Lexium 32
PLCopen Profile - TPDO1

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Lexium 32
PLCopen Profile - TPDO1 – mfstatus
● Usingg Drive Profile Lexium, Bit 6 ((ME)) and Bit 7 ((DE)) in the “mfstatus” word will be
set in case of an error when writing a parameter.
 ME bit ((mode error):

) Error on writing
g toggle
gg bit dependent
p parameter.
p
E.g.:. acceleration
 DE bit (data error): Error on writing toggle bit independent parameter mapped
in the additional mapping area.
area E.g.:
E g : JOG step.
step
 The error response for DE- or ME- error can be configured with parameter
“ErrorResp_bit_ME” and “ErrorResp_bit_DE” .
 No error, Warning, Error class 1,2, or 3.

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> Product
Prod ct o
overview
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> Motors
> C
> Accessories
> DSP 402
> 3rd Party Motors
> Safetyy eSM
> IOM card
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Lexium 32M
3rd party motors
3rd Partyy Motors are all Motors except

p the Standards like:
BMH Motors BSH BRH

Flangecompatible to BSH Low Inertia Motors
Medium Inertia Motors

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Lexium 32M
3rd party motors
Mandatory parameters …-> depending on encoder / motor type

> have to be typed in (or selected file of database) via SoMove
->
Procedure of commissioning
1) Open edit window 3rd party motor

2) Enter mandatory data: - motor
- holding brake
- encoder type
3) Download data in device
4) If necessary -> wake and shake (if data of encoder offset is
missing) enter the result manually and download
5) Tuning manual/auto

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3rd Party Motors

Modules
Use a Lexium 32M xxxxxx and one of the
Modules:
• VWM 3401 : for Resolvers (Sin/Cos)
• VWM 3403 : for Analogue Encoders (Sin/Cos)
• VWM 3402 : for Digital Encoders (A/B)

only as machine encoder

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3rd Party Motors

Hiperface Motors
Use a Lexium 32M with the Module:

VWM 3403 (Ana)

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors
Give the LCT Exclusive rights

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Resolver Motors
Use a Lexium 32M the Modules: VWM 3401 (Res)

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Resolver Motors

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3rd Party Motors

Linear Motors
Use a Lexium 32M with the Module:

VWM 3403 (Ana)

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors
Enter the data of the feedback system:

Additional Explanation:
Periods per pole pair pitch = 1200

Tolerance of the p
power supply
pp y of the feedback = 4,75
,
….5,25V

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3rd Party Motors

Hiperface Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors

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3rd Party Motors

Linear Motors
Limitation of Inductance

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> Product
Prod ct o
overview
er ie
> Motors
> C
> Accessories
> DSP 402
> 3rd Party Motors
> Safety
y eSM
> IOM card
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Safety engineering
On Board Safety
Stop Category 1 Stop Category 0
24V
E-Stop E-Stop
Delay

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Safety engineering
Safety option card – eSM

● Monitoring functions for:
● Deceleration
● Speed
S d
● Standstill
● IEC 61800-5-2 safety functions
● STO – Safe Torque Off (uncontrolled stop in
● SOS – Safe Operating Stop
● SLS – Safely Limited Speed
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Safety engineering
Definition and standards – Safe Stop (IEC 60204-1)
60204 1)
Safe Toque Off:
Safe Stop 0:
Safe Stop 1: SAM SAM
Safe Stop 2: SAM SAM
Safe Operating SAM
Stop 30
Radar!
Safe Limited Speed

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Safety engineering
Notes on “Safe
Safe Standstill”
Standstill
Note that a machine shutdown using the

STO inputs does not provide galvanic
isolation ((as p
per EN 60204 section 5.5).
)
There may still be dangerous voltages in
the drive.
For electrical work in the machinery it is

necessary to switch off on the main switch!

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Safety engineering
Lex32 Compact STO

Lex32 Modular STO
Lex32 Advanced STO

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Safety engineering

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Safety engineering
Comparison to the wired solution
AC

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Safety engineering
Hardware
• Optional eSM Terminal Adaptor

• for Lxm32 M
• Accessories:
- eSM Terminal adapter
(Connection of up to 5 Lxm)
- eSM Cable
AC

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Safety engineering
Hardware

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Safety engineering
Functions
Safe, internal blocking of power amplifier

and cyclic background testing
Safe Torque Off

No power contactors
required L1 N
SAM
eSM
SM TLCxxx
L m3
Lxm3
2
M E
Emercency A,B
Stop Positioning
Controller
Remark:
The function „Safe Torque off“ is a feature to avoid unexpected start, as it is
required by IEC 60204
60204-1.
1
Safe Torque off is not a safe electrical disconnection (for this use main
switch).
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Safety engineering
Funktions
30
Radar!
Redundant evaluation and
redundant error detection of
Safe Limited speed single channel motor feedback system
Setup Speed
No additional (second) motor feed
back required
L1 N
SAM
eSM TLCxxx
Lxm3
Safe Operating Stop 2
M E
Position and
Speed Monitor Emergency A,B
,
Stop Positioning
Controller

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Safety engineering
Commissioning
Evaluation by
a) PLC -> Deceleration (unsafe)
b) eSM
SM -> Monitoring
M it i ((safe!)
f !)
eSM_t_NCDel
n
[rpm] eSM_dec_NC
RAMP_v_dec t [s]
Slow
down!
Radar
in 100m
Automatic mode Safe Deceleration Safe Operational Stop Automatic mode
Motor stays
active!

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Safety engineering
Commissioning
eSM_t_NCDel

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Safety engineering
Commissioning
0 0
0 1
1
1
t [s]
eSM_v_maxSetup
30
Radar!
Safe Operating Stop Safe Limited Speed Safe Operating Stop

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Safety engineering
Commissioning
n
[rpm]
t [s]
100
eSM_v_maxAuto
Radar!
= 0 : Function disabled (no monitoring)
> 0 : Monitoring with this speed value Safely Reduced
in Automatic mode Automatic Speed
Safe limitation of braking

g distance
Reduction of safety clearances

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Safety engineering
Commissioning
n
[rpm]
Slow
down!
30
Speed Camera
Radar! in 100m
Safe Limited Speed Safe Operating Stop Safe Deceleration
1st stage: Quick Stop-Request

by eSM from Positioning Controller Fault Reset
n eSM_dec_Qstop
[rpm]
RAMPquickstop
SAM
Safe Stopping Process Safe Operating Stop

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Safety engineering
Commissioning
n
[rpm]
t [s]
SAM
Safe Stopping Process Safe Operating Stop

after error
2cd stage: Blocking of power amplifier

by eSM
Fault Reset +
Safe Torque Off

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Safety engineering
Commissioning
Q
Quick Stop-Request
p q
by eSM from Positioning Controller
n
eSM_dec_Qstop
[rpm] Fault Reset +
200ms
RAMPquickstop t [s]
200ms
POLICE
Safe Stopping Process n=0 Safe Torque Off
Controlled Stopping Process with Quick

Stop
Reduction of braking distance

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Safety engineering
Commissioning

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Safety engineering
Electrical Installation

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Safety engineering
Electrical Installation
Supply for
cross circuit detection :
SAFETY24V

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Safety engineering
Commissioning
INTERLOCK_OUT is active (24V) if

a) INTERLOCK
INTERLOCK_IN
IN is active (24V) AND speed is 0
OR
b) INTERLOCK_IN is active (24V) AND power amplifier is blocked (Safe Standstill)
Protection against moving parts with long stopping

distance due to high inertia
For first eSM in the daisy chain, if input is not wired:
_
eSM_BaseSetting: g Ignore
g INTERLOCK_IN _ =1

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Safety engineering
Commissioning
Automatic start Normal start
Configuration: eSM_BaseSetting
Auto Start = 0 Auto Start = 1

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Safety engineering
Commissioning
n [rpm]
t [s]
INTERLOCK IN
INTERLOCK_IN
t [s]
RELAY_OUT_A
RELAY OUT B
RELAY_OUT_B
t [s]
t Relay=0 t_Relay=1
t_Relay=0 t Relay=1 t Relay=2
t_Relay=2 t Relay3
t_Relay3
(not delayed) (if n=0) (if n=0 and (fixed delay time)
INTERLOCK_IN=1)

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Safety engineering
Commissioning
or
GUARD_A
GUARD_B
t [s]
OK
t [s]
waiting for safety guard confirmed
confirmation
fi ti
If safety guard confirmation is not necessary, disable the function:

eSM_BaseSettings: GUARD1 Ignore GUARD_ACK = 1
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Safety engineering
Commissioning
eSM.FuncAUXOUT1 and
eSM FuncAUXOUT2
eSM.FuncAUXOUT2
Not safety related signalisation

of states:
- input states
- output states
- eSM errors
• Strict separation of safety and automation wiring

• No additional contacts on control devices needed

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Safety engineering
Commissioning

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Safety engineering
Commissioning
No separate PC-Tool for
configuration of safety functions
configuration via standard

interface (Modbus)
diagnosis
di i via
i LCT
LCT, HMI andd
fieldbus possible.
- reading of eSM parameter
- status of inputs and outputs
- state of eSM-Module

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Safety engineering
Commissioning
Module

s

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Safety engineering
Commissioning
The Status-machine is
similar to the CAN open
Status-machine and to the
Lxm drives.
State 3:
It is not possible to enable
the drive.
For Example the E E-Stop
Stop
Button is pressed.

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Safety engineering
Commissioning
State 4:
The eSM Modul is ready to
swich on.
Start has to be pressed if no

automatic start is
configured.

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Safety engineering
Commissioning
State 6:
The eSM Modul is enabled,
so the drive is in State 4.
Now also ready to switch
on.
+Enable

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Safety engineering
Commissioning
State 9:
The eSM-Module has an
error
the error is also shown in
the drive state. And also an
entrance in the error
memory is done.

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Safety engineering
Commissioning
Module

s

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Safety engineering
Commissioning
For copy
py the Parameters into
another drive the Parameters are
in gray.

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Safety engineering
Commissioning
For changing the

Parameters the
Fields you can edit
are white.
For Downloading
the parameters you
need a Password.
The Parameters are
directly stored in the
Eeprom.

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Safety engineering
Commissioning
The changed
g
Parameters for the
download has to be
accepted.

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Safety engineering
Commissioning
Then yyou have to

insert the password.

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Safety engineering
Commissioning
Module

s

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Safety engineering
Commissioning
For Chancing the

Password you need
either the default
Password or the last
given Password. eSM4SAFE
The Password is
Lettersensitive!

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> Product
Prod ct o
overview
er ie
> Motors
> C
> Accessories
> DSP 402
> 3rd Party Motors
> Safety eSM
> IOM card
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Module IOM1
Hardware
► The IOM1 Module has:

4 additional digital inputs.
2 additional digital outputs.
2 analogue inputs (14 Bit resolution)
2 analogue outputs (12 Bit resolution)
► The outputs can work as a voltage interface (+/-

10V)
or as a currentt interface
i t f (0
(0-20mA,
20 A 44-20mA
20 A signed
i d
and unsigned)
► The module works in the Lxm32 M Slot 1.

Device FW 912.00 V01.08.03
So Move Light Version 1.2.1 or later
Current Module FW PR 918.10 V1.0.1
Schneider Electric - Motion & Drives training - Lexium 32 26th January 2011 340
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Module IOM1
Hardware
● If the Input signal has to be a
current interface a 500R resistor
has to build in in parallel to the
analogue input.
● Pin 1 and 3 are internal connected.
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Module IOM1
SoMove Lite
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Module IOM1
SoMove Lite
● If the signed 44-

20mA interface
is selected there
is a current
between 2-20mA
(12 is virtual 0)
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Module IOM1
“ Start of profile velocity
velocity”
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Module IOM1
Known Bug V01.08.03
V01 08 03
● If the speed scaling is used and the

scaling is lower than 6000 rpm the Error
110b accours.
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Module IOM1
Known Bug V01.08.03
V01 08 03
● In this case the Parameters 20258 and

20268 has to be set to the lower value.
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Schneider Electric Motion Basics
Thank You
Make the most of y
your energy
gy

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Presenter Carlos Pena –

● Describe Lexium32 Drive offer

● Describe Lexium32 Motor offer

● Determine which Lexium32 architecture best fits the motion opportunity

● Parameterize LExium32 using the Commissioning Software SoMove and

SE Motion Products: Lexium 32

SE Motion Products: Lexium 32

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 5

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 6

LXM 32 C LXM 32 M LXM 32 A

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 8

Size 1 Size 2 Size 3

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 10

24V power supply

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 11

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 12

SE Motion Products: Lexium 32

AC synchronous servo motors

BMH Motors BSH

• All Motors are running with Lexium 32

• There is no Motor Temp Sensor in the BMH motor

• SinCos HiFa is still the „Standard“ (but different Suppliers)

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 14

AC synchronous servo motors

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 15

AC synchronous servo motors

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 16

AC synchronous servo motors

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 17

SE Motion Products: Lexium 32

HMI (Human Machine Interface)

1: State / Error, Parameter, Value, Unit

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 19

HMI (Human Machine Interface)

Level 0 Level 1 Level 2 Level 3 Level 4

Ent Ent Ent Ent

ESC ESC ESC ESC

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 20

HMI (Human Machine Interface)

Level 3 JGSt Start command tuSt Start command HOSt

JGHI StiM Stimuli-type MEth Stnb

gGaAin % for a fine tuning

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 21

HMI (Human Machine Interface)

Level 2 ESC ENT

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 22

HMI (Human Machine Interface)

Identification Axis Motor I-O Fault Communication Factory

Valid for all

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Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 24

Schneider Electric - Motion & Drives training - Lexium 32 23/04/2008 25

USB Port SD Card

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Multiloader MSD Mode

Main menue Main menue Main menue Main menue

Action Config Device Parameters Version :01.10

Action Config Device Parameters

Action Flash Parameters