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Bosch Servodyn-D Manual
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Bosch Servodyn-D Manual

Bosch Servodyn-D Manual

With canrho interface, commissioning with dss
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Antriebs- und Steuerungstechnik
Servodyn-D
Servodyn-D with CANrho interface
Commissioning with DSS
Edition
101

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Summary of Contents for Bosch Servodyn-D

  • Page 1 Antriebs- und Steuerungstechnik Servodyn-D Servodyn-D with CANrho interface Commissioning with DSS Edition...
  • Page 2 Commissioning with DSS 1070 066 037-101 (00.02) GB E 2000 by Robert Bosch GmbH, Erbach, Germany All rights reserved, including applications for protective rights. Reproduction or distribution by any means subject to our prior written permission. Discretionary charge DM 10.––...

  • Page 3: Table Of Contents

    Contents Page Safety Instructions ......1–1 Proper use ..........1–1 Qualified personnel .
  • Page 4 Contents Series commissioning ......5–1 Diagnoses ........6–1 Drive configuration .

  • Page 5: Safety Instructions

    Safety Instructions 1–1 Safety Instructions Please read this manual before commissioning the Servodyn-D drives with CANrho interface. Store this manual in a place to which all users have access at any time. Proper use This manual contains all information required for the proper use of this product.

  • Page 6: Qualified Personnel

    Safety Instructions 1–2 Qualified personnel The requirements as to qualified personnel depend on the qualification pro- files described by ZVEI (central association of the electrical industry) and VDMA (association of German machine and plant builders). Please refer to the following publication (in German language): Weiterbildung in der Automatisierungstechnik edited by: ZVEI and VDMA MaschinenbauVerlag...

  • Page 7: Safety Markings On Products

    Safety Instructions 1–3 Safety markings on products Warning of dangerous electrical voltage! Electrostatically sensitive components! Lug for connecting PE conductor only! Connection of shield conductor only 1070 066 037-101 (00.02) GB...

  • Page 8: Safety Instructions In This Manual

    Safety Instructions 1–4 Safety instructions in this manual DANGEROUS ELECTRICAL VOLTAGE This symbol is used to warn of a dangerous electrical voltage. The fail- ure to observe the instructions in this manual in whole or in part may result in personal injuries. DANGER This symbol is used wherever insufficient or lacking compliance with in- structions may result in personal injury.

  • Page 9: Safety Instructions Concerning The Product Described

    The consequences may include severe injuries, damage to equip- ment, or environmental hazards. Possible retrofits or modifications to the system using third-party equipment therefore have to be ap- proved by Bosch. DANGER Health hazards through destroyed electrical components! Do not destroy any built-in components. Dispose of destroyed com- ponents in a proper manner.
  • Page 10 The drive must always be examined for safe isolation from supply! CAUTION Use only spare parts approved by Bosch! CAUTION Danger to the module! All ESD protection measures must be observed when using the mo-...

  • Page 11: Documentation, Software Release And Trademarks

    Servodyn-D, all interfaces 1070 066 018 1070 066 038 1070 066 068 1070 066 058 Parameter manual Servodyn-D with SERCOS interface 1070 066 011 1070 066 031 – 1070 066 051 – Parameter and commissioning manual Servodyn-D with analog interface...
  • Page 12 Upon delivery, all installed software is copyright-protected. The software may only be reproduced with the approval of Bosch or in accordance with the license agreement of the respective manufacturer. MS-DOSr and Windowst are registered trademarks of Microsoft Corpo- ration.

  • Page 13: Prerequisites For Commissioning

    Prerequisites for Commissioning 2–1 Prerequisites for Commissioning Drive inverters of the Servodyn-D series with CANrho interface are designed for connection to the rho3.0 or rho4.1 robot controls. The commissioning procedure comprises the following steps: D parameterization of the CAN bus interface of the drive...

  • Page 14: Checking The Hardware

    Check the complete wiring of the drive on the basis of the information pro- vided in the ”Servodyn-D interface conditions” manual and the ”EMC manual” (including resistance measurement). Remove all connectors/terminals including the CAN connector (X51) from all drive inverters.
  • Page 15 Prerequisites for Commissioning 2–3 Plug braking of motors in the event of a power failure Check logic for proper functioning according to planning engineer’s data. If a plug braking resistor is used, an auxiliary contact of the contactor must be provided to ensure that the drive cannot be enabled unless the braking resis- tor has been deactivated.

  • Page 16: Configuring The Can Interfaces At The Drive

    Prerequisites for Commissioning 2–4 Configuring the CAN interfaces at the drive The following settings will not be effective unless the drives have been re- booted. Therefore, they should be made before proceeding with the com- missioning process: D CAN bus address D CAN baud rate D CAN mode For pin assignments and wiring of the X51 CAN interface, please refer to the...

  • Page 17: Establishing Communication Between The Drive And Dss

    To avoid communication faults between the PC and the drive, please note the following: D We recommend using the pre-assembled Bosch connection cable, part no.: 1070 077 753, length 5 m D Distance between connection cable – power cables: at least 20 cm.
  • Page 18 Prerequisites for Commissioning 2–6 Configuring the interface Switch on the 24V supply of the system. Switch on the PC. Wait until the operating system has been fully booted and start the ”DSS” commissioning and service system. The ”Establish connec- tion” dialog is automatically displayed: This dialog may also be invoked manually when the connection has been successfully established: D menu sequence OPTIONS "...
  • Page 19 Prerequisites for Commissioning 2–7 Reinitializing DSS after module RESET or a module change If, while DSS is running, you D disconnect the connection cable from the inverter (e.g. for starting up a new drive), or D press the RESET key of the currently connected inverter, you then have to re-initialize the DSS.

  • Page 20: Establishing Communication Between Rho And The Drives

    Prerequisites for Commissioning 2–8 Establishing communication between rho and the drives D The 24V supply has been turned on. D Communication between DSS and the first drive has been established. D The 7-segment displays of all inverters shows ”0”. The drives do not boot completely, but rather remain in phase ”0” be- cause the CAN connectors have not been inserted.
  • Page 21 2–4) must have been correctly assigned to the individual rho axes using the ”CAN input” sub-parameter. D The ”Drive type” sub-parameters must have been assigned the value ”1” (Servodyn-D). D The ”Number rotations” sub-parameters must be assigned as follows for the applied axes: when an SF motor with MTG is connected: input ”4096”...
  • Page 22 Prerequisites for Commissioning 2–10 Establishing the connection between the drive and rho Carry out the following for all inverters of the drive chain: 1. Press Reset key, drives are stopped in phase ”0”. 2. Plug in CAN lead (X51). The drives are now initialized by the rho and completely booted. D The 7-segment display at the inverters must then show ”4”.

  • Page 23: Dss User Interface

    DSS user interface 3–1 DSS user interface DSS basic image The layout of the DSS user interface has been optimized for a screen resolution of 640 x 480 pixels in connection with a 14” color monitor. You should not use screen resolutions of more than 800 x 600 pixels unless you have at least a 17”...
  • Page 24 DSS user interface 3–2 Status bar Current interface (COM1, 2 or ”Offline”) Current axis number Parameter currently or last transferred Current drive phase Transmission activity display ”Overview” window The ”Overview” window shows a single-line diagram of the entire system. The meaning of the command buttons is also displayed when the mouse pointer is on the command button.

  • Page 25: Dss Monitor

    DSS user interface 3–3 DSS monitor The DSS monitor offers direct Online access to all parameters stored in the drive. You may: D edit parameters D save a list of several parameters as initialization file (*.scs) of the drive. For each drive, several *.scs files can be created, e.g. for certain drive functions or commissioning steps D transmit *.scs files to the drive (cf.
  • Page 26 For this purpose, the drive must be switched to a phase in which the cur- rent parameter can be changed. Please refer to the ”Changeable” field in the attributes bar shown in the ”Servodyn-D parameter description” manual for this information. Otherwise, you will receive a fault message of the type ”Date of parameter xy currently write-protected”.

  • Page 27: Selecting The Language

    DSS user interface 3–5 Selecting the language The DSS user interface and the parameter and diagnostics texts from the drive have to be changed over separately in order to obtain a uniform lan- guage representation in the DSS. Language of user interface Select: OPTIONS "...
  • Page 28 DSS user interface 3–6 ”Parameter name” field corresponds to ”German” language The monitor updates only the data (=the parameter value) of the parameters displayed in this field. Therefore, the parame- ter names in this field are still shown in the previously selected language.

  • Page 29: Changing The User Group (Password)

    DSS user interface 3–7 Changing the user group (password) The DSS makes a distinction between different user groups in order to pro- tect several program functions against unauthorized interventions: Function User group Customer Service Service (always active) Level 1 Level 2 Standard functions Predefined parameter lists on special issues...

  • Page 30: Important Drive Commands

    DSS user interface 3–8 Important drive commands 3.5.1 Changing phases When a drive is switched on, the rho robot control makes sure that the drive passes 3 initialization phases until normal mode is reached in phase 4. When the bus link is missing, the drive stops in phase ”0”. active phase Possible phases: Various parameters can only be changed in certain initialization phases.

  • Page 31: Save Main Memory

    DSS user interface 3–9 3.5.2 Save main memory When the inverter has been switched on or the ”Reset” button has been pressed the original data will be active again. Therefore, any parameters that have been modified first have to be perma- nently saved with the ”Save main memory”...

  • Page 32: Load Main Memory

    DSS user interface 3–10 3.5.3 Load main memory This command loads all data stored in the FEPROM to the drive RAM. When the inverter has been switched on, or if the ”Reset” button at the in- verter has been depressed, the drive automatically copies all data contained in the FEPROM to the RAM.

  • Page 33: Initial Commissioning

    Initial commissioning 4–1 Initial commissioning Make sure that all works described in section 2 have been properly executed. The following conditions now apply to the system: D Only the 24V supply is active. D All drives are connected to the rho control via the CAN bus; the green CAN LED’s at the inverters are lit.
  • Page 34 Initial commissioning 4–2 The DSS editor is started: File name input Input field Save file Enter all of the subsequent parameter numbers including the equals sign line by line. Every line should be concluded with the <Return > key. s100 s101 s106 s107...
  • Page 35 Initial commissioning 4–3 Download parameter list for axis number ____ (drive address hex: __ __ ): Parameter number / name value Notes defa lt default to be to be Drive Name value other values to be set S-0-0002 CAN interface cycle time rho: data in ms –...

  • Page 36: Parameterizing The Drive

    Initial commissioning 4–4 Parameterizing the drive Start the DSS monitor. Load the template file (page 4–2) into the monitor using ”Import”. For every specified parameter, the related value is read from the connected drive and shown as follows: Adjust the individual parameter values to your requirements in the course of the parameterization procedure (for mode of functioning of the DSS monitor, cf.

  • Page 37: Operating Frequency Of The Power Output Stage

    Initial commissioning 4–5 4.2.1 Operating frequency of the power output stage The operating frequency of the power output stage (P-0-0001) has to be set according to the selected motor-module combination. A reduced operating frequency increases the electrical output power available. Possible settings: 4000 Hz or 8000 Hz (factory setting) Since this setting has consequences for other parameters, it must be...

  • Page 38: Limit Values

    Initial commissioning 4–6 4.2.3 Limit values S-0-0091 Bipolar speed limit value (changeable in phase 3/4): Maximum speed in both directions of rotation. If the setpoint is higher than the value entered in this parameter, the drive will set the message n >...

  • Page 39: Behavior After "Drive Off" Or A Fault

    Initial commissioning 4–7 4.2.4 Behavior after ”Drive off” or a fault P-0-0004 Halting mode with drive off (changeable in phase 2) You may choose between: D ”Halting in shortest possible time” (S-0-0138) (dec.: 0) D ”Halting with ramp” (S-0-0260) (dec.: 1) D ”Controlled halting by master”...

  • Page 40: Plug Braking

    Initial commissioning 4–8 4.2.7 Plug braking P-0-0505 Plug brake enable delay (changeable in phase 2/3/4) When the ”Drive on” and ”Drive enable” signals have been set, the torque will not become active unless P-0-0505 has elapsed. This is to prevent that the motor power is connected although the braking resistors are still active on the motor line because of hardware-related de- lays when deactivating the braking resistors.
  • Page 41 Initial commissioning 4–9 Please note for P-0-2002 (outputs), that only OUT1 can be freely assigned parameters. Example: Parameters can be set for output Output is permanently assigned, no parameters can be set. P117 OUT1 OUT2 OUT3 OUT4 P-0-2002= <1.Par> P-0-2002=S-0-0331 When designing the list in P-0-2000 (inputs), please note the following as- signments: P-0-2000= <1.Par>...

  • Page 42: Torque Monitoring

    Initial commissioning 4–10 4.2.9 Torque monitoring Every drive is equipped with 2 monitoring features each of which can be con- figured independently. Every monitoring feature compares the current torque value with its specific limit values and stores the result of the comparison in a separate parameter. Since both parameters have been implemented as real-time bits (signal sta- tus bits), one of them can be assigned to the hardware output OUT1 of the drive and evaluated, e.g.

  • Page 43: Torque Reduction Via Digital Input Signals

    Initial commissioning 4–11 4.2.10 Torque reduction via digital input signals During operation, the drive can be changed over to a maximum of 4 different torque limit values via two digital input signals. If torque limits have been appropriately selected, this feature can be used to implement an internal adjustment of the max.

  • Page 44: Torque Reduction Via Rho4 (Automatic/Manual Mode)

    Initial commissioning 4–12 Example 1 on parameter setting A 4-step torque reduction with the following maximum torques is to be imple- mented via digital inputs IN3 and IN4: Input signal active torque limit value (weighting in percent) No. 2 No. 1 (IN4) (IN3) 10% of M...

  • Page 45: Option Om4: Analog Outputs

    When startup has been completed, turn all measuring outputs off in or- der to reduce the relatively high processor load. Otherwise, error mes- sage ”F06” (= real-time error) may be output. For more information on the parameters outlined above, please refer to the ”Servodyn-D parameter manual”. 1070 066 037-101 (00.02) GB...

  • Page 46: Optimizing The Drive Controller

    In P-0-2551, the drive re- Position turns its status to the rho. actual value The parameters of the current controller are critical for the drive behav- ior. They must not be changed without having consulted Bosch. 1070 066 037-101 (00.02) GB...

  • Page 47: Optimization Steps

    Initial commissioning 4–15 4.3.1 Optimization steps You should not optimize any settings unless the load is connected (axis mechanics). Turn the power supply of the drive on. Enable the drive. The torque is active at the drive. Specify a constant position for the optimization time. Change the loop gain factor (S-0-0104) with the DSS to the value ”0”.
  • Page 48 Initial commissioning 4–16 CAUTION If other position setpoints were specified in the course of optimiza- tion, the drive moves directly to the new position as soon as a Kv > 0 becomes active! Now readjust the loop gain factor (S-0-0104) using the DSS. Remove the drive enable signal and turn the power supply to the drive off.

  • Page 49: Dss Tools

    Initial commissioning 4–17 4.3.2 DSS tools In order to change the parameters, you should use the DSS monitor or Block diagram Select the menu sequence D DISPLAY " CONTROL " BLOCK DIAGRAM, or D click on the command button in the DSS basic image and then select ”Control "...
  • Page 50 Initial commissioning 4–18 Detailed information velocity controller Click on the input field to be changed and enter the desired values. The ”Parameter-Info” field then shows the parameter name and the admissi- ble input range. Set: transfers current values to the drive. They will become immedi- ately active.

  • Page 51: Specifying Setpoints

    For creating and processing programs in the rho, please refer to the rho documentation. D Bosch does not accept any liability for setpoint inputs by the DSS or consequential damages of any type. 1070 066 037-101 (00.02) GB...

  • Page 52: Save All Parameter Settings (Data Backup)

    Initial commissioning 4–20 Save all parameter settings (data backup) It is urgently recommended to backup all relevant data in a *.scs file when the parameters for a drive have been set. This data backup will be required to D restore a precisely defined drive status (e.g. after a parameter loss or hardware replacement D document all parameters used for a drive.

  • Page 53: Transmitting The Parameters To The Rho

    Initial commissioning 4–21 Transmitting the parameters to the rho The complete download parameter list shown on page 4–3 must be avail- able for each drive. Please note that all parameters have to be entered as decimal numbers into the rho. Use the PHG2000 or the ROPS4 machine parameter converter for set- ting and saving parameters in the rho.

  • Page 54: Editing *.Scs Files

    Initial commissioning 4–22 Editing *.scs files *.scs files can be edited and saved in the integrated DSS editor and may be transmitted to the drive. 1. Open the desired *.scs file: D with menu sequence FILE " OPEN " DSS FILE, or D by clicking on in the icon bar, or D by clicking on the...

  • Page 55: Series Commissioning

    Series commissioning 5–1 Series commissioning Series commissioning is subject to the following conditions: D the individual axes must be equipped with the same inverter/motor com- binations as used for initial commissioning D a fully completed download parameter list must be available for each drive.
  • Page 56 Series commissioning 5–2 Notes: 1070 066 037-101 (00.02) GB...

  • Page 57: Diagnoses

    Diagnoses 6–1 Diagnoses Drive configuration You will be shown static information on: D software version (firmware version) D module and motor type D current DSS operation mode D application D interface type and version D DSS errors D Diagnostics class 1 errors Select the menu sequence: D DIAGNOSES "...

  • Page 58: Drive Status Display

    Diagnoses 6–2 Drive status display The display will show dynamic information on D drive status: diagnostics message in plain text D values of max. 4 parameters D binary status of parameter P-0-2003 D status of ”Drive ON”, ”Drive enable”, and ”Drive start” D current operation mode D Changes in ”diagnostics class 1”...
  • Page 59 Diagnoses 6–3 Configuring cyclic data In order to determine the parameter number and updating frequency of the cyclic display in the ”Actual values” range of the module status display, select the menu sequence: OPTIONS " PREFERENCES " CYCLIC DATA DISPLAY Input of parame- ter numbers to be displayed...

  • Page 60: Displaying I/O Signals

    Diagnoses 6–4 Displaying I/O signals The DSS shows you D the signals assigned to the digital inputs and outputs of the inverter, and D the current status of these signals. For the assignment of individual signals to the digital inputs and outputs of the inverter, please refer to section 4.2.8 on page 4–8 ff.

  • Page 61: Displaying Cyclic Telegrams

    Diagnoses 6–5 Displaying cyclic telegrams The DSS shows the following data cyclically: D from the rho to the drive: control word and position setpoint D from the drive to the rho: status word and actual position Select the menu sequence: D DIAGNOSES "...

  • Page 62: Separate Window For Cyclic Display

    Diagnoses 6–6 Separate window for cyclic display The DSS can display any parameters dynamically in separate windows. In addition to a pure text format, you may also choose a progress bar for dis- play. Select the menu sequence: D DIAGNOSES " WATCH IDN, or D click on the command button in the DSS basic image and then select ”Watch IDN”.

  • Page 63: Reading Parameter Values Into The Template File

    Diagnoses 6–7 Reading parameter values into the template file The template file created in section 4.1 is filled with the related current pa- rameter values of the drive. The system will not add any additional parameters or commands to the tar- get file or change the sequence of the parameters stored.
  • Page 64 Diagnoses 6–8 Notes: 1070 066 037-101 (00.02) GB...

  • Page 65: A Appendix

    Appendix A–1 Appendix Pin assignment of the CAN interface at the drive (X51) Inverter CAN_L We recommend using T adapters for connecting CAN_GND the CAN leads. These adapters already in- clude all necessary jumpers and terminating CAN_H resistors. Shield continuity through metal housing of Cannon connector Pin and terminal assignment of the T adapters...

  • Page 66: Can Bus Wiring: Rho3 And 1 Can Bus

    Appendix A–2 Male Cannon connector T adapter, black, T adapter, green, transit connector terminating connector rho3 rho4 CANopen Note max. CAN Cable length 300 mm "5 mm bus length, de- pending on baud rate! CAN bus wiring: rho3 and 1 CAN bus max.

  • Page 67: Can Bus Wiring: Rho3 And 2 Can Buses

    Appendix A–3 CAN bus wiring: rho3 and 2 CAN buses max. length of every single CAN bus: 20 m; max. 6 inverters can be connected to each CAN bus; when using T adapters, note the pin assignment of the adapters (cf. page A–1)! Inverter Cannon rho3...

  • Page 68: Can Bus Wiring: Rho4

    Appendix A–4 CAN bus wiring: rho4 rho4 or Inverter Inverter CANopen Inverter X51, X52 CAN_Low CAN_Low CAN_GND CAN_GND CAN_GND CAN_High CAN_High One CAN bus can be connected to X51 and X52, each. The max. length of every single CAN bus depends on the baud rate used (cf. page 2–4)! The rho4 control is capable of managing a maximum of 24 axes and 16 kinematics.

  • Page 69: Index

    Appendix A–5 Index Acceleration bipolar, 4–6 EMC Directive, 1–1 Amplifier warning temperature, 4–6 EMC product standard, 1–1 Analog measuring outputs, 4–13 EMERGENCY–STOP circuit, Check functioning, 2–3 Analog output of parameter values, 4–13 EMERGENCY–STOP devices, 1–5 Automatic/manual mode, 4–12 Enable signal, external, 4–7 Errors, resetting, 3–10 Backup, 4–20 Electrostatic discharge, 1–6...
  • Page 70 Appendix A–6 Spare parts, 1–6 Machinery directive, 1–1 Main memory load, 3–10 Telegrams, cyclic, 6–5 save, 3–9 Temperature warning, via OUT2, 4–8 Main operating mode, 4–5 Template file, 4–1 Manual mode, 4–12 Torque monitoring, 4–10 Measuring activities, 1–5 Torque reduction Modifications, 1–8 via digital input signals, 4–11 Module change, 2–7...
  • Page 71 A–1 Bosch Automation Technology Australia Great Britain Robert Bosch (Australia) Pty. Ltd. Robert Bosch Limited Robert Bosch Corporation Head Office Automation Technology Division Automation Technology Division Cnr. Centre - McNaughton Roads Meridian South Meridian Business Park Fluid Power Products P.O. Box 66...

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