Welcome back to KEB America. Here we got another episode of problem solved
and Carlton stripe here is going to take us through the steps on how to get a
motor running using an S6 Drive. Let's do this.
So what are the basic
requirements required for closed loop operation? So, Jake, in general for
any start up and closed loop you need five basic components: Your AC
incoming power, a variable frequency drive, a motor, a feedback device for
speed control, and programming software to configure the device for what you
need. So over here we are working with our S6 demo. And as you can
see, we have our incoming power into our S6 drive, we have our S6 variable
frequency drive to control our KEB servo motor, and our KEB servo motor is
connected to a resolver feedback device for our speed control. And we will be
using our COMBIVIS software to set up our programming for what we need.
Now that we set up all the hardware requirements, can you take us through all
the different steps in the software to get this motor started? Of course
let's do it. Hey everyone, I started off by connecting my S6 drive to COMBIVIS 6
through our KEB USB to serial converter. In COMBIVIS 6 I have scanned for my
S6 drive, and now I've opened my Wizards tab to start the programming. So let's
dive into it. The first tab we're going to start on, is the basic settings tab.
The option we are going to choose here is to restore device to defaults. This
will reset all parameters to the default values. We will hit "OK". What this does is
basically just brings the parameters that are in the drive back to factory
settings, just to make sure we're starting from scratch. That'll take a
minute to reset...And the reset is completed now we are going to go into
the motor tab. In the motor tab, we input our motor nameplate data so we can tell
the drive what motor it is actually driving. In the case of our S6 demo we
have a KEB servo motor and with the KEB wizards in COMBIVIS 6 we can just
type in the part number that we have. If we click
the green check it will load the motor data. We can verify that it is a
synchronous motor and that all of the nameplate data is correct down here. In
the case of you not having a KEB motor, you can still input this data just by
using the manual input section on the right and you would input your nameplate
data down here just as it it populated automatically with the KEB motor.
Next we're quickly going to jump over to the break control tab. In the break
control tab we're going to make sure that "activate break control" is selected
so that the drive can control the break of this KEB servo motor. Using the KEB
servo motor part number the software automatically populated an open and
close time for this break or release an engage time. In the case of a non-KEB
motor, this is where you would put in your break open and close time if you
have one. We will keep the break control source as control word in this case so
that we can use it during the test run later on. Moving over into the feedback
tab, under control mode we are going to select encoder with motor model, as
that is the control type for closed loop operation. You might also see a V/F
mode or volts per Hertz mode or encoderless SCL mode. These are other control
types that are available to the S6 Drive depending on an induction or a servo
motor. These other modes might require different or additional programming, but
we're just going to focus on encoder with motor model closed loop feedback
today. For speed control source we will want encoder "A" selected and position
control source we will also want encoder "A" selected at this time. If we expand our
encoder "A" tab, this is where you will select what type of encoder you have on
your motor. In the case of this KEB demo servo motor, we are using a resolver. And
since we had a KEB motor part number. It automatically populated the encoder
mounting position as you can see here. You can also input your encoder mounting
position here, if you know it. Or we will learn that in the motor identification
later on. Moving forward into the controller tab, really the only thing you
would need to edit here at the moment, if known, is the motor
inertia. You can obtain that from your motor manufacturer, or if you have a KEB
servo motor, it will be auto populated in this tab. Now moving over to the
identification tab. When you first open the identification tab, you will see a
set of motor nameplate data that either you manually input or was auto populated
by a KEB servo part number. Once you confirm that motor nameplate data,
Step 2 will open for EMF detection which is recommended and in the case of needing
to identify your encoder mounting position you can click that as well.
We will also click continue. Now this is where we will soon start our
identification. So in order to start the identification, which will require the
motor to spin under no loaded conditions, our STO channels must be set. And as you
can see those are set there. We must also release our brake so the motor is
free to spin. We will release the brake and now as we see our four checks we are
able to spin. So we will hit the start identification. And now the motor will do
its identification through the S6 Drive. This will go on for some time.
Now our motor identification is complete. In step 4 of the identification tab
we see a small table with three columns here. One just contains some motor parameters and
their old value and the new value of those parameters. The old value was
prior to the motor identification and the new value is the value of the
parameter after the identification. And you may ask, "Why is the new value a
little different than the old value?" Well, in the case of this KEB servo motor, we
loaded the part number from a database of nominal values. Now after the
identification, the drive incorporated cabling and other interference that are
realistic to this setup. So that is why the values are close, but yet maybe a
little different. And the 5th parameter shown here, EC 23, is the encoder
mounting offset. And that was recalculated here on the realistic
system. So we can confirm that identified parameter values. And that is all with
our identification. Next we'll jump into the modes of operation tab. And when you
open that tab you will see 5 possible modes of operation. Just to get the motor
spinning we're gonna open up "velocity mode." When you click on "velocity mode"
a pop-up will appear which will allow you to first select between s-curve or
linear ramp profiles. Just for this we'll choose s-curve. We'll also go into the
speed limit settings tab where we can set our speed limits. So for the forward
velocity we'll set 25 hundred for this test. You can change those to whatever
you'd like. Then you can go ahead and click the "X" out of velocity mode.
Now we're actually ready to test run our motor. If you click the "test run" tab,
you'll see "start test run wizard." We'll click that and the test run wizard will
pop up. There's a lot going on on this screen. So just to break it down,
at the top of the screen are the preconditions for successful running.
you need to have all four of those green checks checked in order to allow the
motor to run. So we have our digital inputs, STO set, we have our voltage
supply and our power, we don't have an error state, but we
still need to open the break. So we're going to select our break control bit, which
will open our break. And now we are good to go for moving the motor. As we
picked we are in velocity mode here, but we don't have any speed settings. So as
you can see here, in gray, this is the maximum speed in the forward
direction that we set. And this is the maximum speed in the reverse direction
that we set in the velocity mode settings. So just to start out we're
gonna say, we're gonna run at 500 rpm. Now, if we wanted to set that to the motor, we
hit, "set target velocity." It populates into our current target velocity and
then we will hit start. And as you can see, our motor is now spinning. And if we
wanted to increase our speed, we could either drag our dial right or left, or we
can input a speed here of, say, 2000 rpm. Let's say set target velocity. And as you
can see our motor will ramp up to that rpm. And you can also check to see if it
runs in the reverse direction. We'll go ahead and stop that bring it back down
to zero speed. We'll say, we'll go -1000 so a thousand rpm in the reverse direction,
load that in, and then hit "start" and as you can see, we now have
rotation in the reverse direction. and that is how you quickly and effectively
start motor. Well that's another problem solved here at KEB America. Thanks Carlton,
for taking us through the steps on how to get a motor spinning quickly and
effectively using an S6 Drive. If you liked this video you can follow us on
social media, or you can check us out at KEBamerica.com where you can contact
an engineer for any of your other questions. Have a great day.