ATV71 POSITION SYNCRONIZER

User manual

VW3A3501SYNCSE

Revision 21
Comply with ATV71 Sync software V3.0.0
 Disclaimer

The software described in this manual is sold or licensed “as is”. Should the program prove defective neither Schneider
Electric nor the distributor is responsible for the cost of any servicing, repair incidental or consequential damages resulting
from any defect in the software. Further, Schneider Electric reserves the right to revise this publication and to make changes
from time to time in the contents hereof without obligation to notify any person of such revision or changes.

ATV71 Position Synchronizer 2

CONTENTS
1 INTRODUCTION ......................................................................................................................... 4
2 PROGRAM OVERVIEW ............................................................................................................. 5
2.1 MASTER COMMAND / REFERENCE............................................................................................ 5
2.2 SLAVE COMMAND / REFERENCE ............................................................................................... 5
2.3 POWER UP ............................................................................................................................... 5
2.4 REFERENCE SWITCH ................................................................................................................. 5
2.5 MOTOR CONTROL TYPE ........................................................................................................... 5
3 SYNCHRONIZER COMMISSIONING ..................................................................................... 6
3.1 GRAPHIC TERMINAL OVERVIEW .............................................................................................. 6
3.2 SYNC COMMISSIONING TOOL .................................................................................................. 7
3.2.1 Connection tab.................................................................................................................... 7
3.2.2 Parameters tab ................................................................................................................... 8
3.2.3 Monitoring tab .................................................................................................................... 9
3.2.4 Oscilloscope tab ............................................................................................................... 10
3.2.5 Gear Calc ......................................................................................................................... 11
4 INSTALLATION ......................................................................................................................... 12
4.1 INSTALLATION OF OPTION CARDS .......................................................................................... 12
4.2 24 VDC POWER SUPPLY .......................................................................................................... 13
4.2.1 Card powered by the drive ............................................................................................... 14
4.2.2 Card powered by external power supply .......................................................................... 14
4.3 INSTALLATION OF ENCODER CARD ......................................................................................... 15
4.4 CONNECTION TO A CANOPEN BUS .......................................................................................... 18
4.4.1 Speed and length of CANopen bus................................................................................... 18
4.4.2 Connection of Master and Slave(s) on CANopen ............................................................. 19
4.4.3 CANopen connector .......................................................................................................... 20
4.4.4 Transmission speed and address ...................................................................................... 21
4.4.5 CANopen States and Errors.............................................................................................. 22
4.4.6 Table of CAN error numbers ............................................................................................ 23
5 PARAMETERS ........................................................................................................................... 25
Number of Slaves ........................................................................................................................... 25
KPp GAIN ...................................................................................................................................... 25
GEARnum_1 .................................................................................................................................. 25
GEARdenom_1 .............................................................................................................................. 25
GEARnum_2 .................................................................................................................................. 26
GEARdenom_2 .............................................................................................................................. 26
MaxSpeedCorr ............................................................................................................................... 26
Offset .............................................................................................................................................. 26
MaxError ....................................................................................................................................... 26
6 COMMAND PROCEDURES ..................................................................................................... 27
6.1 COMMUNICATION CARD OR MODBUS .................................................................................... 27
6.1.1 Specific Slave words ......................................................................................................... 27
6.1.2 Ethernet cards................................................................................................................... 28
6.1.3 Slave Input Words ............................................................................................................. 29
Operational .................................................................................................................................... 29
Fault .............................................................................................................................................. 29
PositionError ................................................................................................................................. 29
Logical input LI6 ........................................................................................................................... 29
Extended status .............................................................................................................................. 29
6.1.4 Slave Output Words .......................................................................................................... 30
StartOperation ............................................................................................................................... 30
Sync................................................................................................................................................ 30
Halt ................................................................................................................................................ 30
FaultReset ...................................................................................................................................... 30
7 SYNCHRONOUS OPERATION ............................................................................................... 31

ATV71 Position Synchronizer 3

1 INTRODUCTION
The ATV71 Position Synchronizer card enables a group of motors to be
synchronized with each other and with an adjustable gear ratio for each slave
(electronic gear). The main target application is synchronous material transport.

One drive is the Master and the remaining drives are Slaves. The Master drive is
given the desired command and speed reference from a PLC controller. The basic
function of the Slave drive is to follow the speed of the master, but if a positioning
error is detected the speed is automatically adjusted to maintain position
synchronism.

The Master drive consists of a standard ATV71 variable speed drive with one
encoder card, one Controller Inside card with the ATV71 Position Synchronizer
application loaded and one fieldbus communication card.
The Slave drive is a standard ATV71 with only an encoder card.

The Position Synchronizer handles the communication to the Slave drive so the PLC
Controller is only connected on the communication link to the Master drive.

The PLC Controller has 8 specific I/O exchange words in the Com Scanner I/O
dedicated to command and monitor the Slave drives.

Figure 1. Typical synchronous operation

ATV71 Position Synchronizer 4

2 PROGRAM OVERVIEW
The ATV71 Position Synchronizer is a multi drive configuration based around 1
Master drive and up to 12 slaves. It’s basic operation is to keep the position of the
slave drive synchronized with the position of the master.
The master drive operates at a required speed depending on the process and the
speed of the slave drive is increased or reduced to maintain position synchronism
with the master. The rate of correction speed will depend on the KPp Gain.

2.1 MASTER COMMAND / REFERENCE

The command and reference for the Master drive follows the standard procedure for
the ATV71. See the Altivar 71 Programming manual for this information which will not
be described in this manual.

2.2 SLAVE COMMAND / REFERENCE

The command and reference for the Slave drive does NOT follow the standard
procedure for the ATV71. This procedure is specific for this application.
The basic is that the PLC Controller is only connected to the Master drive. And from
this Master drive the PLC Controller gets 8 specific I/O words for communicate with
the Slave drives. The Position Synchronizer application then handles the
communication between the Master drive and the Slave drive via a CANopen link.
For more information exchange between the PLC Controller and the slave drives it’s
possible to install the slave drives with communication cards.

2.3 POWER UP
After first power up it’s advised to make for all axis a Homing to a reference switch
before the position synchronizing is started. It’s up to the PLC Controller to handle
this procedure.

2.4 REFERENCE SWITCH

The reference switch is must be wired to the PLC Controller.
Note that the Synchronizer application do not handle any homing procedures. It’s up
to the PLC Controller to handle this procedure.

2.5 MOTOR CONTROL TYPE

The ATV71 drives would normally be operating in Full flux vector closed loop motor
control law [FVC]. It will also function but with reduced performance on other motor
control laws. See “ATV71 Programming manual” for more description on
commissioning different motor control laws. It’s important to setup the motor control
and the encoder in the right order.

ATV71 Position Synchronizer 5

3 SYNCHRONIZER COMMISSIONING
Due to a limit number of parameters in the standard graphical terminal there is no
possibility to configure all parameters from there. The Synchronizer screen in the sub
meny “1.14 Synchronizer” in the standard graphical terminal is used for a handful of
parameters.
All parameters are fully configurable with the PC software Sync Commissioning Tool.

3.1 GRAPHIC TERMINAL OVERVIEW

To monitor parameters like the position error between Master and Slaves there is a
new sub meny 1.14 Synchronizer.

Refer to the “Graphic Display Terminal” section of the ATV 71 Programming Manual
for instructions on how to navigate the display and for information on any standard
ATV71 screen which will not be described in this manual.

ATV71 Position Synchronizer 6

3.2 SYNC COMMISSIONING TOOL
This PC software is used to connect and setup all parameters for the Position
Synchronizer application. Monitoring of important parameters are also available like
CAN communication, position error etc. You can make an offline parameter file or to
update parameters online.

3.2.1 Connection tab Navigation tabs

Figure 2. Connection tab

On startup the Connection tab is displayed.

The option is to connect with Serial port or Ethernet connection.
On the drop down menu “Connect” you have 2 different ways to connect.
Connect and upload or Connect and download.

ATV71 Position Synchronizer 7

3.2.2 Parameters tab

Figure 3. Parameters tab

After successful connection the parameters tab is displayed.

Here it’s possible to setup all parameters that have to do with the Synchronizer
application. Changed parameters are displayed with yellow background. The
changed parameters are not automatically sent to the drive.
On the drop down menu “Parameters” you find the choice “Upload parameters to
drive”.

See chapter “Parameters” for more information.

ATV71 Position Synchronizer 8

3.2.3 Monitoring tab

Figure 4. Monitoring tab

Here you can monitor the important objects for the Synchronizer application.
Example the CANopen sync bus status, control and statuswords for all of the drives,
position error, direction of encoder rotation etc.

See chapter “CANopen States and Errors” for more information on CAN faults.

ATV71 Position Synchronizer 9

3.2.4 Oscilloscope tab
From Synchronizer version 2.2.2 it’s possible to use the Oscilloscope function inside
the Sync Commissioning Tool.

Figure 5. Monitoring tab

With the Oscilloscope you can monitor graphically four important parameters
simultaneously to validate the behavior of the machine. You choose the slave and
channels to record and the update time for the oscilloscope. There is no problem to
make a record longer than the y-axis of the oscilloscope. When you stop the
recording there is a scrollbar to go back and forwards on the Y-axis. You can also
compress the Y-axis to display the whole recording in the same screen.

ATV71 Position Synchronizer 10

3.2.5 Gear Calc

From the drop down menu “Programs” in Sync Commissioning Tool you have the
possibilities to start the program Gear Calc.
Gear Calc is a PC-software to help calculate complex gear ratios.
You specify the number of teeth for each stage of the gears inside the gearbox and
then the same for the mechanical parts after the gearbox.
All slaves are handled from one file. The finished file is saved in a standard text file.

Figure 6. Gear Calc

From the menu “File” in Sync Commissioning Tool it’s then possible to import the
final Gear Calc file.

ATV71 Position Synchronizer 11

4 INSTALLATION
4.1 INSTALLATION OF OPTION CARDS
Installation description of ATV71 Synchroizer card and general communication card.

ATV71 Position Synchronizer 12

 4.2 24 VDC POWER SUPPLY
ATV71 synchronizer card needs 24Vdc power supply to terminal pin 24V.

Terminal Description
24V Power supply for ATV71 Synchronizer card, logic output and analog output.

Current consumption
Power: 24Vdc (min. 19, max. 30)
Max: 2A
No load: 80 mA

If allowed by the power consumption table (for example if outputs are not used), the
ATV71 Synchronizer card can be powered by the 24V power supply in the drive.

If you are using an external power supply:

The card should preferably be turned on before the drive. However, the card must
without fail be turned on no more than 2s after the drive is turned on. Failure to
follow this instruction locks the drive in card fault mode (ILF). This fault cannot be
reset, and the only way to acknowledge it is to turn off the drive.
Catalog number for a Telemecanique power supply (24Vdc, 2A): ABL7 RE 24 02
COM Common ground and electrical 0V of the cardpower supply, logic inputs (LIxx), logic
outputs (LOxx), analog inputs (AIxx) and analog outputs (AOxx).

This ground and electrical 0V are common with the drive ground and electrical 0V.
There is therefore no point in connecting this terminal to the 0V terminal on the
drive control terminals.
LI, LO, Not in use with ATV71 Synchronizer application.
AI, AO

ATV71 Position Synchronizer 13

4.2.1 Card powered by the drive
Recommended if the power consumption is less then 200mA (with Syncronizer card
this is the case); otherwise use an external power supply.

4.2.2 Card powered by external power supply

ATV71 Position Synchronizer 14

4.3 INSTALLATION OF ENCODER CARD
Installation instructions for all encoder cards.

ATV71 Position Synchronizer 15

ATV71 Position Synchronizer 16
ATV71 Position Synchronizer 17
4.4 CONNECTION TO A CANOPEN BUS
Pinout for the CANopen 9-way SUB-D connector

Use a straight connector (catalog number TSX CAN KCDF 180T) to connect the card
to the CANopen bus.
This connector integrates a line terminator that must be activated if the card is at one
end of the CANopen bus.
The 9-way SUB-D connector on the card is linked to the card ground and the drive
ground. The shielding must be connected to the connector ground.
The CANopen signals on the card are isolated.

4.4.1 Speed and length of CANopen bus

It is essential to make sure that all devices connected to the CANopen bus operate at
the same transmission speed. See chapter 4.4.4 for the right transmission speeds.

ATV71 Position Synchronizer 18

4.4.2 Connection of Master and Slave(s) on CANopen
From the ATV71 Synchronizer card we must first connect the master drive itself to
the CANopen bus and from that away to all other slaves.

The catalog numbers for the CANopen cable:

TSX CAN CD50 – Roll of 50m cable
TSX CAN CD100 – Roll of 100m cable
TSX CAN CD300 – Roll of 300m cable

Catalog numbers of the components to use is illustrated in the picture below.

NOTE: For drives bigger than 18,5kW use the reference VW3 CAN KCDF180T
Otherswise it’s difficult to close the protection plate for I/O terminals.

ATV71 Position Synchronizer 19

4.4.3 CANopen connector
Installation of CANopen connectors and cables.

ATV71 Position Synchronizer 20

4.4.4 Transmission speed and address
All drives must be set correctly for the right transmission speed and CANopen
addresses.

The ATV71 Syncronizer card is set automatically to a transmission speed of 500kbps

and to CANopen address 14.

For all drive the baud rate and transmission speed must be configured at the first
commissioning. Access to CANopen parameters from the graphical terminal menu
[1.9 COMMUNICATION] / CnO – [CANopen] or from the Powersuite software folder
Communication / CANopen configuration.

Table for the parameters to setup with version < V3.0.0

Drive adCO – [CANopen address] bdCO – [CANopen bit rate]
Slave 1 1 500
Slave 2 2 500
Slave 3 3 500
Slave 4 4 500
Slave 5 5 500
Slave 6 6 500
Slave 7 7 500
Slave 8 8 500
Slave 9 9 500
Slave 10 10 500
Slave 11 11 500
Slave 12 12 500
Master 13 500

Table for the parameters to setup with version >= V3.0.0

Drive adCO – [CANopen address] bdCO – [CANopen bit rate]
Slave 1 1 250
Slave 2 2 250
Slave 3 3 250
Slave 4 4 250
Slave 5 5 250
Slave 6 6 250
Slave 7 7 250
Slave 8 8 250
Slave 9 9 250
Slave 10 10 250
Slave 11 11 250
Slave 12 12 250
Master 13 250

ATV71 Position Synchronizer 21

4.4.5 CANopen States and Errors
On the “Monitoring” tab in Sync Commissioning Tool there is some values that report
CANopen states and errors.

Description:
 CAN fault – General CANopen fault on.
0 – No errors.
1 – One or more CAN errors active.

 CAN Stack Err. – Error number reported from CANopen master port on Sync card.
See “Table of CAN error numbers” for more information.

 CAN State – Status on CANopen port on the drive.

Reset.Comm – No connection. Trying to reset and establish new connection.
Disconnected – Lossed connection to drive. CAN cable disconnected.
Pre.Operational – Connection is being established and initialized.
Operational – Connection OK.

 CAN Error no. – Error number on the CANopen port on the drive.
See “Table of CAN error numbers” for more information.

ATV71 Position Synchronizer 22

4.4.6 Table of CAN error numbers

General error messages

0 CIA405_KERNEL_NO_ERROR: There is no error
1 CIA405_KERNEL_OTHER_ERROR
2 CIA405_KERNEL_DATA_OVERFLOW
3 CIA405_KERNEL_TIMEOUT
16 CIA405_KERNEL_CAN_BUS_OFF
17 CIA405_KERNEL_CAN_ERROR_PASSIVE

Proprietary error messages

33 CIA405_KERNEL_NO_TIMER: No memory is available for further timers
34 CIA405_KERNEL_NO_QUEUE: No further queue could be set up
35 CIA405_KERNEL_NO_RESSOURCES: No entry found for the ongoing SDO data transfer
36 CIA405_KERNEL_ID_ALLOCATION: No space in the COB-ID list
37 CIA405_KERNEL_NODE_ALREADY_EXIST: Node address double-assigned
38 CIA405_KERNEL_NO_MEM: No memory available
39 CIA405_KERNEL_ADDRESS_NOTVALID
40 CIA405_KERNEL_NOT_EXIST: Referenced object does not exist
41 CIA405_KERNEL_STATE_NOT_EXIST: The demanded communications status is invalid
42 CIA405_KERNEL_GUARDING_FAILED: Node guarding error
43 CIA405_KERNEL_PDO_INCONSISTENCY: Second registration of a PDO inconsistent
44 CIA405_KERNEL_PDO_ALREADY_EXIST: The PDO already exists
45 CIA405_KERNEL_PDO_LENGTH_EXCEED: The demanded PDO length is greater than 8 bytes
46 CIA405_KERNEL_PDO_WRONG_TYPE: The referenced PDO is neither a send nor a receive type
47 CIA405_KERNEL_PDO_INCONS: A send PDO exists with the same COB-ID
48 CIA405_KERNEL_RTR_TABLE_EXCEEDED: The list for the timeout check of remote PDOs is full
49 CIA405_KERNEL_RTR_TIMEOUT
50 CIA405_KERNEL_RTR_OUTSTANDING: The remote PDO has not yet been received
51 CIA405_KERNEL_SDO_ALREADY_EXIST: The SDO occurs twice
52 CIA405_KERNEL_NO_BUFFER_LEN: No buffer length defined
53 CIA405_KERNEL_NO_BUFFER_SPEC: No buffer defined
54 CIA405_KERNEL_NO_BUFFER_MEM: No buffer memory available
55 CIA405_KERNEL_PROTOCOL: Toggle bit of the SDO is not OK
56 CIA405_KERNEL_MASTER_ABORT
57 CIA405_KERNEL_REMOTE_ABORT: SDO transfer was canceled
58 CIA405_KERNEL_BUFFER_EXCEED: No memory for SDO transfer
59 CIA405_KERNEL_ALRDY_OUTSTAND: Waiting for the SDO data transfer
60 CIA405_KERNEL_SYN_INCONSISTENCY: Second registration of a sync object inconsistent
61 CIA405_KERNEL_SYN_ALREADY_EXIST: Sync object already exists
62 CIA405_KERNEL_ID_EXCEED: The COB-ID of the sync object is not in the permitted range
63 CIA405_KERNEL_SYN_OVERRUN: More than one sync was received
64 CIA405_KERNEL_SYN_FAILED: No sync was received within 2 cycles
65 CIA405_KERNEL_NO_ERRORPOINTER: Zero pointer transferred
66 CIA405_KERNEL_UNKNOWN_ERROR: Error number not defined
67 CIA405_KERNEL_NMT_STATUS: Invalid CANopen status transferred
68 CIA405_KERNEL_MAX_SDOBUF: SDO is too long
69 CIA405_KERNEL_SDO_HANDLE: No SDO is available for the referenced node
70 CIA405_KERNEL_MAX_DEVICE: No memory space is available for further nodes
71 CIA405_KERNEL_NO_DEVICE: The referenced node does not exist
72 CIA405_KERNEL_PDOIX: The specified PDO index is too large
73 CIA405_KERNEL_PDO_CAN_NUM_ID: The COB-ID of the PDO in the configuration data is too large
74 CIA405_KERNEL_PDO_NO_DEVICE: The specified PDO does not belong to any configured node
75 CIA405_KERNEL_BAUDRATE: The configuration contains an invalid baud rate
76 CIA405_KERNEL_BUS: There is no CAN configuration
77 CIA405_KERNEL_GETBUS: There are no configuration data for the bus
78 CIA405_KERNEL_PDESC: Invalid pointer in the data structure of the configuration data
79 CIA405_KERNEL_NODE
80 CIA405_KERNEL_SDM_INIT: The SDO manager could not be initialized
81 CIA405_KERNEL_PDM_INIT: The PDO manager could not be initialized
82 CIA405_KERNEL_SYM_INIT: The sync manager could not be initialized
83 CIA405_KERNEL_NDM_INIT: The node manager could not be initialized
84 CIA405_KERNEL_NDM_ADD_NODE: Error when setting up a new node
85 CIA405_KERNEL_MAX_PDO_PER_DEVICE: Too many PDOs per node
86 CIA405_KERNEL_INSTALL_SDO: Error when setting up a new entry in the SDO manager
87 CIA405_KERNEL_PDO_DIRECTION: Invalid value in the configuration data for the PDO direction
88 CIA405_KERNEL_CAN_CONTROLLER: No CAN controller block was found
89 CIA405_KERNEL_TX_QUEUE_FULL: No more room in the send queue
90 CIA405_KERNEL_ADDRESS_NOTVALID_NODE: Invalid address when setting up a new node
91 CIA405_KERNEL_ADDRESS_NOTVALID_PDO: Invalid address when setting up a new PDO

ATV71 Position Synchronizer 23

92 CIA405_KERNEL_ADDRESS_NOTVALID_SDO: Invalid address when setting up a new SDO
93 CIA405_KERNEL_ADDRESS_NOTVALID_SYNC: Invalid address when setting up a new sync
94 CIA405_KERNEL_NOT_EXIST_NODE: The referenced node does not exist
95 CIA405_KERNEL_NOT_EXIST_PDO: The referenced PDO does not exist
96 CIA405_KERNEL_NOT_EXIST_SDO: The referenced SDO does not exist
97 CIA405_KERNEL_NOT_EXIST_SYNC: The referenced sync object does not exist
98 CIA405_KERNEL_GUARDING_DEAD: A node did not react within the lifetime
99 CIA405_KERNEL_GUARDING_TOGGLE: Toggle error during node guarding
100 CIA405_KERNEL_CAN_STS_RESET: The CAN controller is in reset mode
101 CIA405_KERNEL_CAN_STS_SLEEPING: The CAN controller is in sleep mode
102 CIA405_KERNEL_CAN_STS_BUS_OFF: The CAN controller is in Bus Off status
103 CIA405_KERNEL_CAN_STS_WARNING: The CAN controller has exceeded the warning level
104 CIA405_KERNEL_CAN_ERROR_INT_ERROR: The error counter of the 82C200 has reached the warning threshold
105 CIA405_KERNEL_CAN_ERROR_INT_OVERRUN: Receive data overrun in the 82C200 CAN controller
106 CIA405_KERNEL_CAN_ERROR_NODE_QUEUE: The receive queue of the node manager has overrun
107 CIA405_KERNEL_CAN_ERROR_PDO_QUEUE: The receive queue of the PDO manager has overrun
108 CIA405_KERNEL_CAN_ERROR_SDO_QUEUE: The receive queue of the SDO manager has overrun
109 CIA405_KERNEL_CAN_ERROR_SYNC_QUEUE: The receive queue of the sync manager has overrun
110 CIA405_KERNEL_CAN_ERROR_SLAVE_QUEUE: The receive queue of the slave has overrun
111 CIA05_KERNEL_PDO_29_BIT_ID: The bit for a 29-bit ID for the PDO is set: currently is not allowed
112 CIA405_KERNEL_NOT_EXIST_EMCY: The referenced emergency object does not exist
113 CIA405_KERNEL_PDO_SEND_QUEUE_FULL: The TPDO has no room in the send queue, increase inhibit time
114 CIA405_KERNEL_PDO_BIT_OFFSET_ZU_GROSS: The offset in the PDO data buffer is too large
115 CIA405_KERNEL_SDO_WRONG_FUNKTION: The CIA405 SDO data transfer was initiated by another routine.
116 CIA405_KERNEL_BLOCK_LEN_DIFFERENT: The displayed block length is not the same as the transferred block size.

ATV71 Position Synchronizer 24

5 PARAMETERS

Number of Slaves
Description Number of Slaves
Range 1 12
Default 1
Units
Function Serves to set the number of Slave drives connected to Master
drive.

KPp GAIN
Description Position loop proportional gain
Range 0  200
Default 15
Units
Function Speed adjustment = GAIN KPp * position inc Error / 100
Increase if the Slave takes to long time to get in position.
Reduce if the Slave is instable and makes to big speed
adjustments.

GEARnum_1
Description Gear numerator step 1
Range
Default 1
Units
Function Serves to set the predefined Gear ratio between Master and Slave
A sign GEARnum value results in reversed rotation on the Slave.

Gear ratio = GEARnum / GEARdenom

Use GearCalc for complex gear ratios

GEARdenom_1
Description Gear denominator step 1
Range
Default 1
Units
Function Serves to set the predefined Gear ratio between Master and Slave

Gear ratio = GEARnum / GEARdenom

Use GearCalc for complex gear ratios

ATV71 Position Synchronizer 25

GEARnum_2
Description Gear numerator step 2
Range
Default 1
Units
Function Use GearCalc for complex gear ratios

GEARdenom_2
Description Gear denominator step 2
Range Use GearCalc for complex values
Default 1
Units
Function Use GearCalc for complex gear ratios

MaxSpeedCorr
Description Maximum speed correction
Range 0  32767
Default 200
Units rpm
Function Serves to give the maximum speed correction out from the position
controller.

Offset
Description Offset value for the slave
Range -32768  32767
Default 0
Units Encoder increments
Function To make and offset between Master and Slave axis after the sync
have been activated. The parameter can be adjusted under
running.

MaxError
Description Maximum positional error allowed
Range 0  32767
Default 1024
Units Encoder increment
Function Set maximum allowed positional error. If the limit is reached a
warning is activated.

ATV71 Position Synchronizer 26

 6 COMMAND PROCEDURES
The command channel must come from a communication card or the internal
Modbus channel. The ATV71 Internal I/O Scanner is mandatory to use for handle the
application.

6.1 COMMUNICATION CARD OR MODBUS

The communication cards + the integrated Modbus uses specific I/O words in the
COM SCANNER of the ATV71 master drive to command and monitor the slave
drives.

Following table shows the default mapping for this application.

COM SCANNER INPUT OBJECT NAME COMMENT
Com Scan In1: Statusword Changeable
Com Scan In2: Output Speed (rpm) Changeable
Com Scan In3: Operational Fixed (*Application specific)
Com Scan In4: Fault Fixed (*Application specific)
Com Scan In5: PositionError Fixed (*Application specific)
Com Scan In6: Logical input LI6 Fixed (*Application specific)
Com Scan In7: Extended status Fixed (*Application specific)
Com Scan In8: Free

COM SCANNER OUTPUT OBJECT NAME COMMENT

Com Scan Out1: Controlword Changeable
Com Scan Out2: Speed reference (rpm) Changeable
Com Scan Out3: StartOperation Fixed (*Application specific)
Com Scan Out4: Sync Fixed (*Application specific)
Com Scan Out5: Halt Fixed (*Application specific)
Com Scan Out6: FaultReset Fixed (*Application specific)
Com Scan Out7: Free
Com Scan Out8: Free

6.1.1 Specific Slave words

Following table describes how the specific Slave words are arranged.
One each bit in the word corresponds to one Slave.

bit15 bit14 bit13 bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 bit0
N/A N/A N/A N/A @12 @11 @10 @9 @8 @7 @6 @5 @4 @3 @2 @1
@x = Slave number

Example of a fault on slave 7

Fault word status = Hex: 40
Dec: 64
Bin: 1000000

ATV71 Position Synchronizer 27

6.1.2 Ethernet cards

The Ethernet cards does not use the ATV71 internal I/O Scanner table.
So to get the right words to and from the PLC controller from the Ethernet card we
have to setup the Ethernet I/O Scanner table inside the Ethernet card itself.
You can do this with Powersuite software or a standard web browser.

Table for the input parameters to be configured.

Input Parameters
Parameter Logical Description Corresponding Sync
Address Appl. parameters
1 ETA 3201 Status word
2 RFRD 8604 Control effort
3 NM3 12743 Com Scan In3 val. Operational
4 NM4 12744 Com Scan In4 val. Fault Active
5 NM6 12745 Com Scan In5 val. Position Error
6 NM6 12746 Com Scan In6 val. Logical input LI6
7 NM7 12747 Com Scan In7 val. Extended Status
8 0 0 Not Assigned
9 0 0 Not Assigned
10 0 0 Not Assigned

Table for the output parameters to be configured.

Output Parameters
Parameter Logical Description Corresponding Sync
Address Appl. parameters
1 CMD 8501 Cmd value
2 LFRD 8602 Target velocity
3 NC3 12763 Com Scan Out3 val. Start Operation
4 NC4 12764 Com Scan Out4 val. Sync
5 NC5 12765 Com Scan Out5 val. Halt
6 NC6 12766 Com Scan Out6 val. Fault Reset
7 0 0 Not Assigned
8 0 0 Not Assigned
9 0 0 Not Assigned
10 0 0 Not Assigned

ATV71 Position Synchronizer 28

6.1.3 Slave Input Words
Parameter / Object no.
Operational NM3 / 12743
Description Drive is running
Range 0..1
Default
Unit Bit
Function The drive is unlocked; power is supplied to the motor.

Fault NM4 / 12744

Description Drive faulty
Range 0..1
Default
Units Bit
Function The drive is locked; no power is applied to the motor.

PositionError NM5 / 12745

Description Max positional error is reached
Range 0..1
Default
Units Bit
Function If a fieldbus is used then it’s up to the PLC Controller to make
necessary measures.

Logical input LI6 NM6 / 12746

Description Logical input LI6 is set
Range 0..1
Default
Units Bit
Function Reflects the state of the LI6 input of the drive.
Note: Obsolete with V3.0.0.0 and after!

Extended status NM7 / 12747

Description Extended status
Range 0..1
Default
Units Bit
Function Bit 0 = Drive and Sync application is ready to be switched on.
Bit 1 = CANopen communication error is active.
Bit 2 = Offset phasing in progress.
Bit 3 = Number of slaves have been changed. Sync card needs to
be restarted.

ATV71 Position Synchronizer 29

6.1.4 Slave Output Words
Parameter / Object no.
StartOperation NC3 / 12763
Description Set drive in Operational state
Range 0..1
Default
Unit Bit
Function Unlock drive and supply power to the motor.
A falling edge of this bit performs a freewheel stop.

Sync NC4 / 12764

Description Set drive in Sync state
Range 0..1
Default
Units Bit
Function First it resets the positional error value and adds the value from
Offset parameter. Then set the drive in Synchronous operation.
Also set the drive to follow the (AC2) and (DE2) parameters.
AC2 and DE2 parameters are automatically set from Synchronizer
application.
Halt NC5 / 12765
Description Halt command
Range 0..1
Default
Units Bit
Function The Halt is performed accordance with the [Type of stop] (Stt)
parameter.
Also set the drive to follow the (ACC) and (DEC) parameters.

FaultReset NC6 / 12766

Description Send fault reset
Range 0..1
Default
Units Bit
Function If Fault is active this bit performs a fault reset on the drive.

ATV71 Position Synchronizer 30

7 SYNCHRONOUS OPERATION
Sync operation is handled with a gear ratio factor and a Position controller.
First the master speed is evaluated through the gear ratio and sent to the slave.
In the same time the master and slave pulses are evaluated first through the encoder
ratio factor and then through the gear ratio factor. The P-controller then provides a
correcting speed for the slave drive depending on the position error and the Gain
KPp factor.

If the SYNC bit is active the Slave drive switches automatically the internal ramps
from Ramp setup 1 (ACC/DEC) to Ramp setup 2 (AC2/DE2). The Ramp Setup 1 is
user configured and it’s in use when we not are in sync operation. If we are in sync
operation the Ramp setup 2 values is in use. Ramp setup 2 values are written by the
sync application automatically.

ATV71 Position Synchronizer 31

 Figure 6. Block diagram for synchronous operation

ATV71 Position Synchronizer 32

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Box 1009
611 29 Nyköping
Tel: 0155-26 54 00
Fax: 0155-21 42 86
info@se.schneider-electric.com
www.schneider-electric.se

ATV71 Position Synchronizer 33