Running different brand servo motor with ACOPOS 1016

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1

Hi there, is there anyway to test Lenze motor with Acopos 1060?
My devices are Acopos 1060, AC114, AC122 (resolver), Motor Lenze MCS 06C41-RS0B0-
Thank you in advance!

2

Hello Felix,

I don’t see why not… As long as the servomotor encoder card type matches with the one that uses the ACOPOS it should be alright!

In Automation Studio you have the option to include a 3rd party motor with the options “MotorInduction_any” or “MotorSynchronous_any”.

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Be aware that in this case, as it is not a motor from B&R you will have to include the motor parameters manually.

I hope the information helps!

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3

Hello Felix,

In addition to the motor data, you need the data from the temperature sensor and the position sensor. If you do not have a complete motor data sheet, you are missing motor data. In this case, you can find information in:

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or you can identify the parameters with an acopos drive function:

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Best Regards Stefan

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4

Hi Roger,

Thanks for your dedicated answer.
I followed what you said, and it has received the resolver (when I turn the motor shaft, the ‘up’ and ‘down’ leds flash, and the software shows xxxx ‘Units’

When I press ‘Determine parameters’, the watch display shows 'warning 38005: 38005 : Motor test: Speed is too high during switch on. ’ And I can’t finish it.

Of course, I have entered all the motor parameters.

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I apologize, I can only attach one image because I am a new user

Best Regards Felix.

5

Hi Stefan

Thank you for your help, I was able to enter all the motor parameters. However, your software seems unfamiliar to me, I’m using AS4.1 and it has received the Resolver, but I haven’t been able to ‘determine parameters’ yet. It is showing ‘warning 38005: Motor test: Speed is too high during switch on.’

Sincerely Felix.

6

Hello Felix,

according to the data sheet of your Lenze motor, some parameters are way off.
Number of polepairs … can be calculated according to Synchronous motor - Wikipedia
Moment of inertia … unit is data sheet kgcm^2; drive expects kgm^2
Voltage constant … way off (taken from different bigger motor?)

Here are the ones I have determined:

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(Thermal time constant … value of a similar size B&R motor)

For the first try after downloading the motor parameters, you should do a phasing in stepper mode, described here: Motor phasing
This measures the “Number of polepairs” and the “Commutation offset”, it also checks the movement direction (wiring of resolver and motor phases).

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7

Hi Martin,

Thank you for your response. I have entered the motor parameters correctly as you instructed, but when I do a phasing, it still shows an error 38005: motor overspeed.
I have tested this motor and resolver with the Lenze driver. Could it be that I entered the wrong resolver parameters?

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8

Hi,

this can easily be tested: Just turn the shaft of the motor manually 1 revolution: Did the position in the mappCockpit (or test window, if you use ACP10) change by 10000 units?
If so, it’s not (entirely) wrong, but currently I suspect the value will be off (possibly much higher) and thus the calculated speed will be noted as too high.

Let us know!

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9

Hi Michael,

When I turn the shaft one revolution, the ‘watch’ shows exactly 10000 units

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10

Already quite out of ideas, tbh.
The error indicates that when switching on, the current measured speed is > 5% of the rated speed, which still leads me to exploring the resolver settings.
You could try setting a position filter, probably something around 0.0008 or 0.004 (see second to last setting in your last screenshot)
Other than that, tracing the value (ParID 251) while trying the phasing could be a good idea, maybe it shows some spikes or generally a noisy encoder signal

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11

It’s still not working, but I appreciate all your help. Thank you very much.

Best regard, Felix.

12

Got the trace I asked for? Maybe it shows something…

13

I suppose the AS4.1 might be fault.
I can not test the Induction motor too.
Let me try installing the software again.

14

  1. Error code 38005 is just a warning and should not lead to the drive aborting move commands or switching off the controller.
    Furthermore this warning was removed in Acp10 SW V5.4. Try to use this or a higher version.

  2. The AC122 has an output frequency of 10kHz, the resolver in the Lenze motor has a max. input frequency of 4kHz. This leads to a lower signal amplitute in the position signals and potentially present noise on the signals having greater impact.
    Please make sure that the motor and resolver cables are properly shielded and grounded.
    A trace of the following ParIDs would be intersting when switching on the controller:
    SCTRL_SPEED_ACT (251)
    ICTRL_ISQ_ACT (214)
    ENCOD_ADC1 (303) only available with AC122.60-3
    ENCOD_ADC2 (659) only available with AC122.60-3

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15

Hi,

I have grounded.
Currently, ‘watch’ is showing the error ‘6044: Phasing: rotational direction or position not valid’ after I did a phasing.

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16

Hi,

relevant part of Error description 6044:
The calculated number of pole-pairs is negative (see INFO):

  • Motor wiring error: Motor phase permuted. → Swap two motor phases or set MOTOR_CURR_ROT_DIR = ncINVERSE.
18

Hi Felix, what is the status of this topic? Can you update us and if possible marked the answer that helped you the most?

19

closed due to inactivity. Can be reopened anytime if additional discussion is needed.