NUM 1060

D.I.S.C.
(DIGITAL INTEGRATED
SERVO CONTROL)
INTEGRATION
MANUAL
0101938907/4

05-99 en-938907/4
Despite the care taken in the preparation of this document, NUM cannot guarantee the accuracy of the information it contains and cannot be
held responsible for any errors therein, nor for any damage which might result from the use or application of the document.

The physical, technical and functional characteristics of the hardware and software products and the services described in this document are
subject to modification and cannot under any circumstances be regarded as contractual.

The programming examples described in this manual are intended for guidance only. They must be specially adapted before they can be used
in programs with an industrial application, according to the automated system used and the safety levels required.

© Copyright NUM 1999.

All rights reserved. No part of this manual may be copied or reproduced in any form or by any means whatsoever, including photographic or
magnetic processes. The transcription on an electronic machine of all or part of the contents is forbidden.

© Copyright NUM 1999 software NUM 1060.

This software is the property of NUM. Each memorized copy of this software sold confers upon the purchaser a non-exclusive licence strictly
limited to the use of the said copy. No copy or other form of duplication of this product is authorized.

2 en-938907/4
 Table of Contents

Table of Contents

1 General 1-1
1.1 General Description 1-3
1.2 Functional Description 1-4
1.3 System Architecture 1-5
2 Components 2-1
2.1 QVN Card 2-3
2.2 Measurement Cable 2-4
2.3 Compatible Axis Drives 2-5
3 Interconnections 3-1
3.1 Schematic Diagram 3-3
3.2 Servo-Drive Interconnections 3-4
3.3 Motor and Brake Power Supply 3-6
3.4 Measurement Cable Wiring Diagrams 3-7
3.5 Connection in Fibre-Optic Ring 3-9
3.6 Transmit Power Control 3-10
3.7 Setting of the Address Switch on the
Serial Bus 3-12
3.8 Setting a Motor/Servo-Drive Association 3-13
4 Safecty Device Setting and Use 4-1
4.1 Messages Displayed at Power ON 4-3
4.2 Fault Detection and Processing of
Safety Devices 4-5
4.3 Fault Diagnostic 4-9
4.4 QVN Information Pages 4-10
4.5 Reset After a Fault 4-14
5 Machine Parameters 5-1
5.1 General 5-3
5.2 Miscellaneous Parameters 5-8
5.3 Servo-Control Loop Gain Coefficient 5-9
5.4 Noisy Signal and Encoder Channel
Complementarity Monitoring Declaration 5-10
5.5 Sampling Period 5-11
5.6 Card Mapping 5-12
5.7 Axes Controlled by QVN 5-14
5.8 Motor Direction of Rotation 5-18
5.9 Maximum Motor Speed 5-20
5.10 Block Diagram of the Speed Loop 5-21
5.11 Speed Servo-Loop Proportional Action
Coefficient 5-22
5.12 Speed Servo-Loop Integral Action Cut-off
Pulse 5-24
5.13 Speed Sensor Measurement Increment
Average (Motor Sensor) 5-25
5.14 Speed Measurement Filter 5-26
5.15 Torque Reference Filter 5-27
5.16 Static Current Limiting 5-28

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 5.17 Association of a Torque Slave with a
Master 5-29
5.18 Direction of Rotation of a Torque Slave
Application 5-30
5.19 Preload Current of a Master/Slave Pair 5-31
5.20 Low-Pass Filter on Speed Reference 5-32
5.21 Rejection Filter on the Interpolated
Speed Reference 5-33
5.22 Rejection Filter on the Interpolated
Speed Reference 5-33
5.23 Flexible Machine Mode Damping
Coefficient 5-34
5.24 Speed Error Rejection Filter 5-35
5.25 Speed Error Rejection Filter 5-35
5.26 Complementary Loop Application
Frequency 5-36
5.27 Speed Observer - Ratio Kc/j 5-37
5.28 Speed Observer - Gain for Position
Estimate 5-37
5.29 Speed Observer - Gain for Speed
Estimate 5-37
5.30 Speed Observer - Gain for Interference
Estimate 5-37
5.31 Speed Observer - Supervision Device 5-38
5.32 Vibration Elimination When Stopped by
Processing of the Speed Measurement 5-39
5.33 Vibration Elimination When Stopped by
Clipping of the Proportional Gain 5-39
6 PLC Variables 6-1
6.1 Torque Enable 6-3
6.2 Speed Reference Enable 6-3
6.3 Programming Recommendations 6-3
6.4 Dynamic Current Limiting 6-4
6.5 Exchange Area 6-4
7 DISC Digital Servocontrol Setting Procedure 7-1
7.1 Setting Method 7-3
7.2 Basic Settings 7-3
7.3 Additional Settings 7-7
7.4 Dynamic Parameter Modification in QVN 7-26
7.5 Glossary 7-29

4 en-938907/4
 Record of Revisions

Record of Revisions

Date Revision Pages revised Pages added Pages deleted

07 - 94 1 Complete revision

10 - 96 2 Complete revision

06 - 97 3 All pages issued in

Revision 3

05 - 99 4 1 to 5
5-2, 5-32 5-33 to 5-40
Questionnaire 7-1 to 7-30

REVISIONS OF THE DOCUMENTATION

Date Revision Reason for revision

08 - 93 0 Conforming to NUM 1060 software at index F.

07 - 94 1 Conforming to NUM 1060 software at index F2.

Miscellaneous corrections.

10 - 96 2 Conforming to NUM 1020, 1040 and 1060 software at index K.

SETTool software at index E taken into account.
Changes in servo-drives: transmit power and motor/servo-drive association settings on
the front panel.
Miscellaneous corrections.

06 - 97 3 Change in motor torques after measurements.

Miscellaneous corrections.

05 - 99 4 Conforming to NUM 1000 family software at index M

DISC digital servocontrol setting procedure
New parameters P88, P89, P90, P91, P92, P93, P94, P116, P117, P118, P119, P120,
P121, P122.

en-938907/4 5
6 en-938907/3
 Preliminary

Preliminary

Structure of the NUM 1060 Documentation

User Documents
These documents are designed for the operator of the numerical control.

NUM NUM NUM NUM

OPERATOR'S OPERATOR'S PROGRAMMING PROGRAMMING

MANUAL MANUAL MANUAL MANUAL
M/W T/G M T

938821 938822 938819 938820

OEM Documents
These documents are designed for the OEM integrating the numerical control on a machine.

NUM 1060 NUM NUM NUM

MACHINE
INSTALLATION PARAMETER D.I.S.C.
PROCESSOR
AND INTEGRATION
PROGRAMMING
COMMISSIONING MANUAL MANUAL
MANUAL
MANUAL LADDER
LANGUAGE

938816 938818 938846 938907

en-938907/3 7
List of NUM 1020 - 1040 - 1060 Utilities
A series of utilities are available for the NUM 1020 - 1040 - 1060 CNCs for integration and use of the systems.
These utilities may be included in the basic version or available as options.
Depending on the function performed by each utility, its use is described in the integration manual or operator manual.
The table below lists the utilities and gives the references of the document describing them:

Utility Name Manual Chapter

UT2 axis calibration installation and commissioning manuals 10
(938 816 or 938 938)
UT3 resident macros operator manuals (938 821 or 938 822) 8
UT5 parameter integration parameter manual (938 818) 12
UT7 PLC programme debugging machine processor programming manual 18
ladder language (938 946)
UT12 option locking operator manuals (938 821 or 938 822) 8
UT20 interaxis calibration installation and commissioning manual 11
(938 816 or 938 938)
UT22 axis parameter integration SETTool manual (938 924) 8

8 en-938907/3
 Preliminary

DISC (Digital Integrated Servo Control) Integration Manual

This manual is used for integrating the DISC components in the CNC.

Description of the axis and spindle DISC concepts

- General description,
- Functional description,
CHAPTER 1 - System architecture.

GENERAL

Description of the DISC components

- Physical characteristics,
- Technical characteristics,
CHAPTER 2 - List of DISC-compatible drives.

COMPONENTS

Interconnections, adjustments and settings

- Fibre-optic ring,
- Transmit power setting,
CHAPTER 3 - Address settings,
- Motor/servo-drive association settings,
- Schemas.
INTERCONNECTIONS

Faults and safety device processing

- Procedure for accessing the error display pages,
- Resetting procedures.
CHAPTER 4

SAFETY DEVICE
SETTING AND
USE

en-938907/3 9
 List of machine parameters and axis and spindle configuration rules.

CHAPTER 5

MACHINE
PARAMETERS

List of PLC variables and programming rules.

CHAPTER 6

PLC
VARIABLES

Use of the DISC Integration Manual

Agencies
The list of NUM agencies is given at the end of the manual.

Questionnaire
To help us improve the quality of our documentation, we kindly request you to return the questionnaire at the end of the
manual.

10 en-938907/3
 General

1 General

1.1 General Description 1-3

1.2 Functional Description 1-4 1
1.3 System Architecture 1-5
1.3.1 NUM 1060 Series 2 System 1-5
1.3.1.1 1060 Series 2 with Two Processors 1-5
1.3.1.2 1060 Series 2 with UC SII Processor 1-6
1.3.2 NUM 1060 Series 1 System 1-7

en-938907/3 1-1
1-2 en-938907/3
 General

1.1 General Description

The DISC (Digital Integrated Servo-Control) concept includes: 1
- QVN card (heart of the DISC concept),
- Current amplifier for the axes,
- Sensor integrated in the BMH motor,
- Fibre-optic digital link.
The QVN card is built around a signal processor specially designed for servo-control (feedback) algorithms. It currently
operates on conventional axis speed and position control algorithms.
This servo-control architecture is based on the following principles:

CNC

Digital Fibre-optic link 400 VAC

servo- current
drive amplifier

Digital BMH
sensor motor

- Digital position and speed loops (in the CNC),

- Modular current amplifier directly connected to the European 400 VAC network,
- Two-way communication by optical fibre allowing transfers from the CNC to the amplifier (current reference,
amplifier module control word) and from the amplifier to the CNC (module status word for processing the safety
devices and diagnostic in the CNC),
- Dedicated sensor integrated in the motor,
- SETTool integration tool running on PC.
Several high-level diagnostic devices are included in the CNC for remote diagnostic from the CNC operator panel.
The SETTool integration tool with sophisticated ergonomics, running on a PC, is used to optimise the servo-control
parameters. SETTool includes an oscilloscope function and automatic setting procedures (machine parameters)
allowing rapid and reliable integration.
Since the speed servo-loop is fully digitised, any offset that could bias the following error has been completely
eliminated, making the servo-control more accurate and the axes more stable.
Both DISC and conventional axes and spindles can be controlled by the same CNC (for the conventional axes,
a +/-10 V speed reference is used by each axis card).
Two sensor configurations are possible for an axis controlled by QVN:
- A single speed and position measurement sensor (motor sensor) connected to the QVN card,
- A speed measurement sensor (motor sensor) connected to the QVN card and a position measurement sensor (on
the moving assembly) connected to the same QVN card or to an axis encoder card.
A QVN sensor input can receive data from a spindle sensor, a handwheel (with complemented channels) or a position
sensor for an axis that is only measured.

en-938907/3 1-3
Maximum Axis Speed
Considering an internal resolution of one micron (one ten-thousandth of a degree for rotary axes), the maximum
speeds are as follows:

Axis speed Axis speed

(without additional sensor) (with additional sensor)
Motor speed Linear axis Rotary axis Linear axis Rotary axis
(rpm) (m/min) (rpm) (m/min) (x1000 °/rpm)
2000 36 100 360 100
3000 54 150 360 100
4000 72 200 360 100

1.2 Functional Description

When connected to the CNC system bus, the QVN (digital drive) card:
- Handles transfers with the current amplifier and interfaces with the motor sensors; if an additional sensor is placed
on the axis, it can provide the interfacing,
- Handles feedback with position and speed control,
- Manages the safety devices specific to the axis.

Machine Amplifier
E_CNPRET safety Safety device processing safety
device devices
Current
control

Interpo- Position Speed Power BMH

lation control control stage motor

Current
amplifier

Measu- Motor
QVN card rement sensor
SETTOOL
Measu- Axis
parameter
QVN card or axes rement sensor
integration tool
CNC

The SETTool software is used for:

- Setting the machine parameters,
- Testing of the servo-control responses to a typical signal (indicial response for the speed loop),
- Display of the response by the oscilloscope function.

1-4 en-938907/3
 General

1.3 System Architecture

1.3.1 NUM 1060 Series 2 System
1
1.3.1.1 1060 Series 2 with Two Processors

Operator panel
Compact panel ∗

CNC/graphic
processor or

or
Memory
Optional keyboard

Digital bus To current amplifier

QVN
Axes Measurement
Origin switch
System Bus

Anamogue speed reference

Axes Measurement
Origin switch

Dedicated Inputs
interfaces
Serial Bus

Outputs
Machine
processor

Serial
bus/fibre-optic Machine
adapter panel

Machine
Interrupts panel extension
Analogue inputs/outputs (I/O)
Serial interfaces

* The use of the compact panel precludes the use of a machine panel.

en-938907/3 1-5
1.3.1.2 1060 Series 2 with UC SII Processor
Operator panel
Compact panel ∗

or

Graphic
function
or

U Memory Optional keyboard

C
S
II CNC
function RS 232 serial interfaces

PLC Interrupt
function

Analogue inputs/outputs
System Bus

Serial
Serial Bus

bus/fibre-optic Machine
adapter panel

Machine
panel
Inputs extension (I/O)

Outputs

Digital bus To current amplifier

QVN
Axes Measurement
Origin switch

Speed reference
Axes Measurement
Origin switch

Dedicated
interfaces

* The use of the compact panel precludes the use of a machine panel.

1-6 en-938907/3
 General

1.3.2 NUM 1060 Series 1 System

Operator panel 1
Compact panel ∗

Graphic
processor or

or
Memory
Optional keyboard

CNC Serial interfaces

processor

To current amplifier
System Bus

Digital bus
QVN
Axes Measurement
Origin switch

Speed reference
Axes Measurement Remote
Origin switch inputs

Serial
Dedicated bus/fibre-optic Remote
interfaces adapter outputs
Serial Bus

Inputs Machine
Machine panel
processor
Machine
panel extension
Outputs (I/O)

Interrupts
Analogue inputs/outputs
Serial interfaces

* The use of the compact panel precludes the use of a machine panel.

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1-8 en-938907/3
 Components

2 Components

2.1 QVN Card 2-3

2.2 Measurement Cable 2-4
2.3 Compatible Axis Drives 2-5
2.3.1 Motor Characteristics 2-5
2.3.2 Current Amplifier Module 2-8 2
2.3.2.1 Characteristics 2-9
2.3.2.2 Overall Dimensions and Mounting
Dimensions 2-10
2.3.3 BMH Axis Motor 2-10

en-938907/3 2-1
2-2 en-938907/3
 Components

2.1 QVN Card

The QVN card is in double Eurocard format. It plugs into the system bus of the CNC rack. The interconnections are
made on the front using four 26-contact Sub.D (high density) connectors for the sensors and one fibre-optic transmit/
receive connector.
2
! CAUTION

The QVN cards (P/N 204 202 069) must be connected to the system bus just to the left of
the memory card.

Power consumption 1.25 A (+ 0.18 A per DISC sensor)

Location in the continuity of the CNC cards
Switch contact one 24 V input per axis
C The QVN card includes four measurement inputs and is able to drive up to four axes.
A
P The built-in sensors on the axis motors controlled by the QVN card are connected in
T
3 priority to the measurement inputs. Any additional axis, spindle and handwheel
sensors can be connected to the remaining inputs, to another QVN card or to an axis
encoder card.

C
A
P
T
2

C
A
P
T
1

C
A
P
T
0

E
M
I
V
A
R R
E
C

QVN

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2.2 Measurement Cable
This cable interconnects the QVN card with:
- The motor sensor,
- An encoder or a rule,
- A handwheel.

Solder side
1 2

18
9
26

19 1
10

To switch and
24 V power supply

1 - Cable assembly (see P/N) including:

- One 26-contact male Sub.D (high density) connector
- One typical sensor and thermal probe cable
(length 6, 10, 15, 20, 25, 30 or 40 m)
- One typical FM2R switch cable (length 1.5 m)
2 - Connector supplied with the motor to be wired (see Sec. 3.4)

Cable Assembly Part Number

BMH Q 50 M xx

Length in m

If the switch cable is not used

When the switch cable is not used, the shielding and

two conductors must mandatorily be connected to the
protective earth to prevent interference.

Protective earth

2-4 en-938907/3
 Components

2.3 Compatible Axis Drives

The axis drives compatible with DISC consist of BMH axis motors equipped with a dedicated sensor and 400 VAC
modular current amplifiers.
REMARK All spindle drives with UAC servo-drive are compatible with DISC.
2
2.3.1 Motor Characteristics
BMH..D Motor Cn 60 * In 60 * rated Pn 60 * rated Nominal Amplifier Cmax Cmax
torque current A rms power kW dim speed rpm MDL D...Q /Cn Nm
• 075 1 N 1.1 1.9 0.35 3000 007 2.45 2.7
014 4.73 5.2
1V 1.1 2.6 0.46 4000 014 3.55 3.9
• 2N 1.8 2.3 0.63 3000 014 4.17 7.5
2V 1.8 3 0.84 4000 014 3.28 5.9
• 4N 3.1 3 1.07 3000 014 3.55 11
• 095 2 N 3.3 2.9 1.16 3000 014 3.33 11
2V 3.3 5 1.55 4000 021 3.03 10
3.3 5 1.55 4000 034 4.24 14
• 3N 4.6 4.5 1.6 3000 021 3.48 16
3V 4.6 8.8 2.14 4000 034 3.04 14
050 4.13 19
• 5N 7.1 4.9 2.45 3000 021 3.1 22
034 4.37 31
• 115 2 N 5.7 4.7 1.98 3000 021 2.81 16
034 3.68 21
2V 5.7 8.9 2.64 4000 034 2.46 14
050 3.16 18
3K 8.1 4.5 1.86 2000 021 2.96 24
• 3N 8.1 7.8 2.79 3000 034 2.72 22
050 3.58 29
3V 8.1 10.7 3.73 4000 034 2.22 18
050 2.96 24
075 3.7 30
• 4K 10.2 5.3 2.37 2000 021 2.65 27
034 3.73 38
4N 10.2 8.6 3.55 3000 034 2.65 27
050 3.43 35
4V 10.2 15 4.73 4000 050 2.25 23
075 3.14 32
100 3.82 39
6N 14.4 10.2 5.02 3000 034 2.29 33
050 3.13 45

* : DT = 60 K.
• : Preferred motor type.

en-938907/3 2-5
BMH..D Motor Cn 60 * In 60 * rated Pn 60 * rated Nominal Amplifier Cmax Cmax
torque current A rms power kW dim speed rpm MDL D...Q /Cn Nm
142 2 K 9.2 5.1 2.09 2000 021 2.39 22
034 3.15 29
• 2N 9.2 8.8 3.14 3000 034 2.17 20
050 2.93 27
2R 9.2 9.8 4.19 4000 034 2.07 19
050 2.72 25
3K 13.1 8.1 2.93 2000 034 2.52 33
050 3.28 43
• 3N 13.1 9.9 4.4 3000 034 2.14 28
050 2.82 37
3R 13.1 14.4 5.86 4000 050 2.14 28
075 2.90 38
100 3.44 45
• 4K 16.9 8.8 3.98 2000 034 2.43 41
050 3.25 55
4N 16.9 13.3 5.97 3000 034 1.72 29
050 2.43 41
075 3.25 55
4R 16.9 17.7 7.95 4000 075 2.66 45
100 3.25 55
7N 27 20.6 9.42 3000 050 1.85 50
075 2.63 71
100 3.33 90

* : DT = 60 K.
• : Preferred motor type.

2-6 en-938907/3
 Components

BMH..D Motor Cn 60 * In 60 * rated Pn 60 * rated Nominal Amplifier Cmax Cmax

torque current A rms power kW dim speed rpm MDL D...Q /Cn Nm
• 190 2 K 19.3 14.1 4.4 2000 034 1.55 30
050 2.07 40
2N 19.3 16.9 6.59 3000 050
075
1.81
2.38
35
46
2
2R 19.3 24.8 8.79 4000 075 1.87 36
100 2.23 43
3K 27.7 16.7 6.49 2000 050 1.88 52
075 2.45 68
• 3N 27.7 23.6 9.73 3000 075 1.95 54
100 2.38 66
4K 37 17.5 8.16 2000 050 1.84 68
075 2.43 90
100 2.84 105
4N 37 25.8 12.25 3000 075 1.86 69
100 2.3 85
5H 43.1 17 7.54 1500 050 1.9 82
075 2.53 109
100 2.95 127
• 5L 43.1 26.7 12.56 2500 075 1.83 79
100 2.27 98
150 2.9 125
7K 57.8 23.7 13.4 2000 075 2.08 120
100 2.56 148
AK 77 37.4 17.79 2000 100 1.88 145
150 2.60 200

* : DT = 60 K.
• : Preferred motor type.

en-938907/3 2-7
2.3.2 Current Amplifier Module

PA and PB PA PB 1-L1 3-L2 5-L3 7

for size 2

+
6 - 8

5
9

4 J400 J400 J400

J3
3
10

2
J1
11

12

13
1

14

15

1- Ribbon cable connector 9 - Torque enable connector

2- Plug-in terminal board for source I / O 10 - Microswitches for setting the
3- Plug-in terminal board for serial interface (not used) motor / servo-drive associations
4- LEDs 11 - Address microswitch
5- Power cable connector (power lines L1, L2, L3) 12 - Optical output power setting
6- Terminals for dissipation resistor (PA - PB) microswitch
7- Connectors for monitor power supplies 13 - Fibre-optic connector (transmit)
8- Plug-in connector (except on size 4) for motor 14 - Fibre-optic connector (receive)
power supply (U, V, W, earth) 15 - Connector cap

2-8 en-938907/3
 Components

2.3.2.1 Characteristics

Amplifier Module

Module Size Pitch Rated Peak Rated Nominal Weight

(mm) current current power dissipation (kg) 2
(A rms) (A) (kW) (W)
MDL D2 007 Q 1 50 2 7 20 4.6
MDL D2 014 Q 4 14 35
MDL D2 021 Q 7 21 50
MDL D2 034 Q 2 80 14 34 150 6.9
MDL D2 050 Q 20 50 170
MDL D2 075 Q 3 110 35 75 200 9.2
MDL D2 100 Q 4 140 45 100 400 10.5
MDL D2 150 Q 60 150 460

Power Supply Module

Module Size Pitch Rated Peak Rated Nominal Weight

(mm) current current power dissipation (kg)
(A rms) (A) (kW) (W)
MDL L1 008 Q 2 80 14 8 50 8.1
MDL L1 015 Q 21 12 80 8.5
MDL L1 030 Q 4 140 53 30 170 10.5
Operating temperature range: 0 to +40 °C
Relative humidity: Maximum 75 percent noncondensing, nondripping
Protection class: IP20

en-938907/3 2-9
2.3.2.2 Overall Dimensions and Mounting Dimensions

285

140 110 80 50
100
35

+
-

40 50 50
380
355
60

100

70 40

Install the components vertically, placing the amplifier modules to the right of the power supply modules.
Keep the assembly away from heat-generating components.
Provide a clearance of 100 mm at the top and bottom and 50 mm on the left and right of the assembly for ventilation.
Provide a clearance of 40 mm in front for the cables.
Use M6 attaching screws.

2.3.3 BMH Axis Motor

The overall dimensions are the same as those of standard BMH motors. The internal sensor is specific to DISC.

Example of a DISC-Compatible Motor Reference

BMH 142 2 N 1 D F 1 L

DISC sensor

2 - 10 en-938907/3
 Interconnections

3 Interconnections

3.1 Schematic Diagram 3-3

3.2 Servo-Drive Interconnections 3-4
3.2.1 Connection of Axis Amplifier Power
Supply 3-4
3.2.2 Wiring of the Torque Enable Connector 3-5
3.3 Motor and Brake Power Supply 3-6
3.3.1 Motor and Brake Power Supply with

3.3.2
Terminal Box
Motor and Brake Power Supply with
3-6
3
Power Connector on Motor 3-6
3.4 Measurement Cable Wiring Diagrams 3-7
3.4.1 Motor Sensor - QVN Connecting Cable 3-7
3.4.2 Encoder or Rule - QVN Connecting
Cable 3-8
3.4.3 Handwheel - QVN Connecting Cable 3-8
3.5 Connection in Fibre-Optic Ring 3-9
3.6 Transmit Power Control 3-10
3.6.1 Control on QVN Card 3-10
3.6.2 Setting on the Current Amplifier 3-11
3.7 Setting of the Address Switch on the Serial Bus 3-12
3.8 Setting a Motor/Servo-Drive Association 3-13
3.8.1 BMH075 Motor 3-13
3.8.2 BMH095 Motor 3-14
3.8.3 BMH115 Motor 3-15
3.8.4 BMH142 Motor 3-16
3.8.5 BMH190 Motor 3-17

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3-2 en-938907/3
 Interconnections

3.1 Schematic Diagram

BMH motors Measurement cable

with built-in sensor (see Sec. 3.4.1)

3
C
A
P
1 T
3
Measurement cable
(see Sec. 3.4.2)
C
A Measurement cable
P
T Encoder or (see Sec. 3.4.3)
2

2
Rule

Current amplifier
C
A
modules
P
T +
1 -

3
Power supply module
C
A
P
T
0

Fibre-optic cable,
E Length: 0.25 m
M
V
I (see Sec. 3.5)
4
A
R
Handwheel
R
E
C

Axes QVN
Fibre-optic cable
(see Sec. 3.5)

Conventional axis drive

with ± 10 V analogue link

en-938907/3 3-3
Sensor/Card Compatibility

QVN Card Axis card

Sensors Motor sensor Remaining axis sensor
Handwheel Remaining handwheel
Axis sensor Spindle
Measurement cable BMH Q 50 M xx To be assembled (see Installation and
Commissioning Manual)

3.2 Servo-Drive Interconnections

3.2.1 Connection of Axis Amplifier Power Supply
400 VAC
Monitor power
supply

Q1
F (4 A gf, 600 V) F F

F (4 A gf, 600 V)
F Q1

A
KM1
Automatic control enable
signals including E_CNPRET
KM1
Braking
resistor
M KM1
Thermal switch

CL1 CL2 PY PZ PA PB L1 L2 L3 DF1 DF2

Plug-in connector J1 Plug-in connector Plug-in connector J1

to sources T2
No fault
POWER SUPPLY 400 V MODULE (8 A, 230 VAC relay)

Isolating switch Q1 Contactor KM1

Size 2 power supply: 25 A fuse gf - 400 V 8 kW power supply: 25 A contactor
Size 4 power supply: 63 A fuse gf - 400 V 12 kW power supply: 40 A contactor
30 kW power supply: 80 A contactor

3-4 en-938907/3
 Interconnections

3.2.2 Wiring of the Torque Enable Connector

6
5
4
3
2 3
1
Connector
J400 Protective relay as
per ZH 1/457

Coil Contacts
Nominal voltage 24 V Maximum current rating 6 A
Pick-up consumption 280 mW Maximum switched voltage 440 V
Operating consumption 500 mW Interrupt rating 150 W

Torque enable
Torque is enabled when a voltage of 24 V is present across terminals 1 and 2.

Machine safety
The NO contact (3-4) and/or the NC contact (5-6) are to be included in the machine safety daisy chain.

en-938907/3 3-5
3.3 Motor and Brake Power Supply
3.3.1 Motor and Brake Power Supply with Terminal Box

Brake
control
24 V 5
Brake
24 V 0V 4
Gland

W1
V2
5 3
Cable

U2

V1
1 4 2
U

W2
2

U1
Plug-in V V /J 1
connector for
motor power supply 3
W

PE
Green/Yellow
CURRENT BMH MOTOR
AMPLIFIER TERMINAL BOX

3.3.2 Motor and Brake Power Supply with Power Connector on Motor

Brake Motor power

control connectors
24 V A
Brake F G B
0V brake F H C
24 V E
E D

BMH 075
BMH 095

U A F A
E G B
Plug-in 3 motor
V B
connector for phases D C
motor power supply W C
BMH 115
BMH 142
PE D earth
CURRENT E
AMPLIFIER G not D A
H connected
C F B
MOTOR
CONNECTOR
BMH 190

3-6 en-938907/3
 Interconnections

3.4 Measurement Cable Wiring Diagrams

! CAUTION

For the wiring instructions, refer to the Installation and Commissioning Manual.
When the switch cable is not used, connect the shielding and two connectors to the
protective earth (see Sec. 2.2).
3
3.4.1 Motor Sensor - QVN Connecting Cable

Red
Vcc 19 +5V Z
Black
GND 10 0V W
Red
Vcc 2 +5V Y
Black
GND 1
12
Red
Vcc +5V S
Black
GND 11 0V X
Red
Vcc 13 +5V T
Black
GND 14 0V V
Red
Vcc 17 +5V U
Black
GND 16 0V G
Pink
x_Z_p 9 Z H
Grey
x_Z_n 8 Z\ J
Yellow
x_B_p 7 B K
Green
x_B_n 6 B\ L
Brown
x_A_p 26 A M
White
x_A_n 18 A\ N
Pink/Blue
x_abs2_p 20 abs2 A
Grey/Blue
x_abs2_n 21 abs2\ B
Yellow/White
x_abs1_p 22 abs1 C
Green/White
x_abs1_n 23 abs1\ D
Brown/Violet
x_abs0_p 24 abs0 E
White/Violet
x_abs0_n 25 abs0\ F
Violet
X_CTP 5 P
Blue
T_GND 15 R
PROTECTIVE
EARTH
PROTECTIVE
EARTH

XBUT_p 4
Red/Grey + Switch contact
Black/Grey
XBUT_n 3 - 24 V RETURN
Cable assembly 24 V
PROTECTIVE
EARTH

REMARK If there is an additional sensor on the axis, the switch cable is not connected (pins
3 and 4).

en-938907/3 3-7
3.4.2 Encoder or Rule - QVN Connecting Cable

x_CTP 5 Violet
Poor signal fault
Vcc 13 Red
5 V return
Black
GND 14 0 V return
Red
GND 16 0V
Black
Vcc 17 +5V
Pink
x_Z_p 9 Z
Grey
x_Z_n 8 Z
Yellow
x_B_p 7 B
Green
x_B_n 6 B
Brown
x_A_p 26 A
White
x_A_n 18 A

PROTECTIVE
EARTH
PROTECTIVE
EARTH

Red/Grey +
XBUT_p 4 Switch contact
Black/Grey
XBUT_n 3 - 24 V RETURN
Cable assembly 24 V
PROTECTIVE
EARTH

3.4.3 Handwheel - QVN Connecting Cable

Black
GND 14
Red
Vcc 13
Black
GND 16 0V 0V
Red
Vcc 17 5V +5V
Yellow
x_B_p 7 B Channel B
Green
x_B_n 6 B' Channel B
Brown
x_A_p 26 A Channel A
White
x_A_n 18 A' Channel A

PROTECTIVE
PROTECTIVE EARTH
EARTH
Cable assembly

REMARK The switch cable is never connected (pins 3 and 4).

3-8 en-938907/3
 Interconnections

3.5 Connection in Fibre-Optic Ring

The fibre-optic bus of the QVN card forms a ring with a number of strands.

QVN cards connected

to the system bus
of the main rack

C
3
C
A
P
A
P Current amplifier
T T
3 3 modules

C C
A A
P P
T T
2 2 +
-

C C
A A
P P
T T
1 1

C C
A A
P P
T T
0 0

E E
M M
V I I
V
A A
R R R R
E E
C C

QVN QVN

3
1 2

1 - Connection of the transmitter of a QVN card to the receiver

of an amplifier (see Sec. 3.6.1: Power control)
2 - Connection of the transmitter of an amplifier to the receiver
of a QVN card (see Sec. 3.6.2: Power control)
3 - Connections between amplifiers - length 0.25 m (see
Sec. 3.6.2: Power control)

en-938907/3 3-9
3.6 Transmit Power Control
3.6.1 Control on QVN Card

1 2 3
ON

SW1

Transmit fibre-optic cable length Switch settings

1 2 3
ON

0.20 m - 1 m

1 2 3
ON

5 m - 10 m - 15 m

1 2 3
ON

20 m - 30 m

3 - 10 en-938907/3
 Interconnections

3.6.2 Setting on the Current Amplifier

+
-

3
2 3
1
ON

Transmit fibre-optic cable length Switch settings

3
2
0.25 m - 1 m 1
ON

3
2
5 m - 10 m - 15 m 1
ON

3
2
20 m - 30 m 1
ON

REMARK The connections between amplifiers use 0.25 m long optical fibres.

en-938907/3 3 - 11
3.7 Setting of the Address Switch on the Serial Bus
The address of each axis must be encoded on the current amplifier:

Bit weight
+
-
16 5
8 4

4 3
2 2

1 1
ON

The binary code of the address set in parameter P71 for each axis is reproduced (see Sec. 5.4). The switch is set to
ON for a high level and to OFF for a low level.

Bit weight Axis address

16 5
8 4 Low level
4 3 High level
2 2 ON

1 1
ON

Example
The binary code for the axis at address $0D is: 0 0 0 0 1 1 0 1
The switches are coded as follows:

Bit weight
16 5
8 4

4 3
2 2

1 1
ON

3 - 12 en-938907/3
 Interconnections

3.8 Setting a Motor/Servo-Drive Association

A motor is associated with a servo-drive by a switch array (see table below) on the current amplifier:

8
+ 7
- 6
5
4
3
3
2
1
ON

8
7
6
5
4
3
2
1
ON

REMARK The switches must always be set in pairs.

3.8.1 BMH075 Motor
Motor BMH075
Servo- 1N 1V 2N 2V 4N
drive
8
7
6
5
4
3
2
1
ON

8
7
7A 6
5
4
3
2
1
ON

8 8 8 8 8
7 7 7 7 7
6 6 6 6 6
5 5 5 5 5
4 4 4 4 4
3 3 3 3 3
2 2 2 2 2
1 1 1 1 1
ON ON ON ON ON

8 8 8 8 8
7 7 7 7 7
14A 6 6 6 6 6
5 5 5 5 5
4 4 4 4 4
3 3 3 3 3
2 2 2 2 2
1 1 1 1 1
ON ON ON ON ON

en-938907/3 3 - 13
3.8.2 BMH095 Motor
Motor BMH095
Servo- 2N 2V 3N 3V 5N
drive
8
7
6
5
4
3
2
1
ON

8
7
14A 6
5
4
3
2
1
ON

8 8 8
7 7 7
6 6 6
5 5 5
4 4 4
3 3 3
2 2 2
1 1 1
ON ON ON

8 8 8
7 7 7
21A 6 6 6
5 5 5
4 4 4
3 3 3
2 2 2
1 1 1
ON ON ON

8 8 8
7 7 7
6 6 6
5 5 5
4 4 4
3 3 3
2 2 2
1 1 1
ON ON ON

8 8 8
7 7 7
34A 6 6 6
5 5 5
4 4 4
3 3 3
2 2 2
1 1 1
ON ON ON

8
7
6
5
4
3
2
1
ON

8
7
50A 6
5
4
3
2
1
ON

3 - 14 en-938907/3
 Interconnections

3.8.3 BMH115 Motor

Motor BMH115
Servo- 2N 2V 3K 3N 3V 4K 4N 4V 6N
drive
8 8 8
7 7 7
6 6 6
5 5 5
4 4 4
3 3 3
2 2 2

ON
1
ON
1
ON
1
3
8 8 8
7 7 7
21A 6 6 6
5 5 5
4 4 4
3 3 3
2 2 2
1 1 1
ON ON ON

8 8 8 8 8 8 8
7 7 7 7 7 7 7
6 6 6 6 6 6 6
5 5 5 5 5 5 5
4 4 4 4 4 4 4
3 3 3 3 3 3 3
2 2 2 2 2 2 2
1 1 1 1 1 1 1
ON ON ON ON ON ON ON

8 8 8 8 8 8 8
7 7 7 7 7 7 7
34A 6 6 6 6 6 6 6
5 5 5 5 5 5 5
4 4 4 4 4 4 4
3 3 3 3 3 3 3
2 2 2 2 2 2 2
1 1 1 1 1 1 1
ON ON ON ON ON ON ON

8 8 8 8 8 8
7 7 7 7 7 7
6 6 6 6 6 6
5 5 5 5 5 5
4 4 4 4 4 4
3 3 3 3 3 3
2 2 2 2 2 2
1 1 1 1 1 1
ON ON ON ON ON ON

8 8 8 8 8 8
7 7 7 7 7 7
50A 6 6 6 6 6 6
5 5 5 5 5 5
4 4 4 4 4 4
3 3 3 3 3 3
2 2 2 2 2 2
1 1 1 1 1 1
ON ON ON ON ON ON

8 8
7 7
6 6
5 5
4 4
3 3
2 2
1 1
ON ON

8 8
7 7
75A 6 6
5 5
4 4
3 3
2 2
1 1
ON ON

8
7
6
5
4
3
2
1
ON

8
7
100A 6
5
4
3
2
1
ON

en-938907/3 3 - 15
3.8.4 BMH142 Motor
Motor BMH142
Servo- 2K 2N 2R 3K 3N 3R 4K 4N 4R 7N
drive
8
7
6
5
4
3
2
1
ON

8
7
21A 6
5
4
3
2
1
ON

8 8 8 8 8 8 8
7 7 7 7 7 7 7
6 6 6 6 6 6 6
5 5 5 5 5 5 5
4 4 4 4 4 4 4
3 3 3 3 3 3 3
2 2 2 2 2 2 2
1 1 1 1 1 1 1
ON ON ON ON ON ON ON

8 8 8 8 8 8 8
7 7 7 7 7 7 7
34A 6 6 6 6 6 6 6
5 5 5 5 5 5 5
4 4 4 4 4 4 4
3 3 3 3 3 3 3
2 2 2 2 2 2 2
1 1 1 1 1 1 1
ON ON ON ON ON ON ON

8 8 8 8 8 8 8 8
7 7 7 7 7 7 7 7
6 6 6 6 6 6 6 6
5 5 5 5 5 5 5 5
4 4 4 4 4 4 4 4
3 3 3 3 3 3 3 3
2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1
ON ON ON ON ON ON ON ON

8 8 8 8 8 8 8 8
7 7 7 7 7 7 7 7
50A 6 6 6 6 6 6 6 6
5 5 5 5 5 5 5 5
4 4 4 4 4 4 4 4
3 3 3 3 3 3 3 3
2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1
ON ON ON ON ON ON ON ON

8 8 8 8
7 7 7 7
6 6 6 6
5 5 5 5
4 4 4 4
3 3 3 3
2 2 2 2
1 1 1 1
ON ON ON ON

8 8 8 8
7 7 7 7
75A 6 6 6 6
5 5 5 5
4 4 4 4
3 3 3 3
2 2 2 2
1 1 1 1
ON ON ON ON

8 8 8
7 7 7
6 6 6
5 5 5
4 4 4
3 3 3
2 2 2
1 1 1
ON ON ON

8 8 8
7 7 7
100A 6 6 6
5 5 5
4 4 4
3 3 3
2 2 2
1 1 1
ON ON ON

3 - 16 en-938907/3
 Interconnections

3.8.5 BMH190 Motor

Motor BMH190
Servo- 2K 2N 2R 3K 3N 4K 4N 5H 5L 7K AK
drive
8
7
6
5
4
3
2

ON
1
3
8
7
34A 6
5
4
3
2
1
ON

8 8 8 8 8
7 7 7 7 7
6 6 6 6 6
5 5 5 5 5
4 4 4 4 4
3 3 3 3 3
2 2 2 2 2
1 1 1 1 1
ON ON ON ON ON

8 8 8 8 8
7 7 7 7 7
50A 6 6 6 6 6
5 5 5 5 5
4 4 4 4 4
3 3 3 3 3
2 2 2 2 2
1 1 1 1 1
ON ON ON ON ON

8 8 8 8 8 8 8 8 8
7 7 7 7 7 7 7 7 7
6 6 6 6 6 6 6 6 6
5 5 5 5 5 5 5 5 5
4 4 4 4 4 4 4 4 4
3 3 3 3 3 3 3 3 3
2 2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1 1
ON ON ON ON ON ON ON ON ON

8 8 8 8 8 8 8 8 8
7 7 7 7 7 7 7 7 7
75A 6 6 6 6 6 6 6 6 6
5 5 5 5 5 5 5 5 5
4 4 4 4 4 4 4 4 4
3 3 3 3 3 3 3 3 3
2 2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1 1
ON ON ON ON ON ON ON ON ON

8 8 8 8 8 8 8 8
7 7 7 7 7 7 7 7
6 6 6 6 6 6 6 6
5 5 5 5 5 5 5 5
4 4 4 4 4 4 4 4
3 3 3 3 3 3 3 3
2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1
ON ON ON ON ON ON ON ON

8 8 8 8 8 8 8 8
7 7 7 7 7 7 7 7
100A 6 6 6 6 6 6 6 6
5 5 5 5 5 5 5 5
4 4 4 4 4 4 4 4
3 3 3 3 3 3 3 3
2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1
ON ON ON ON ON ON ON ON

8 8
7 7
6 6
5 5
4 4
3 3
2 2
1 1
ON ON

8 8
7 7
150A 6 6
5 5
4 4
3 3
2 2
1 1
ON ON

en-938907/3 3 - 17
3 - 18 en-938907/3
 Safety Device Setting and Use

4 Safecty Device Setting and Use

4.1 Messages Displayed at Power ON 4-3

4.2 Fault Detection and Processing of Safety Devices 4-5
4.2.1 Faults 4-5
4.2.1.1 Faults Detected by the Power Supply
Module 4-5
4.2.1.2 Faults Detected by the Current Amplifier
Module 4-6
4.2.1.3 Faults Detected by the QVN Card 4-6
4.2.1.4 Faults Detected by a Sensor 4-6
4.2.1.5 Faults Detected by the Motor 4-7
4.2.2 Axis Safety Device Processing 4-7
4.2.2.1 Hardware Processing in the Amplifier
and Power Supply Modules 4-7
4
4.2.2.2 Software Processing by QVN 4-8
4.2.2.3 Internal Fault Processing 4-8
4.3 Fault Diagnostic 4-9
4.4 QVN Information Pages 4-10
4.5 Reset After a Fault 4-14

en-938907/3 4-1
4-2 en-938907/3
 Safety Device Setting and Use

4.1 Messages Displayed at Power ON

When Loading QVN Software
The message "Loading QVN cards" is systematically displayed if a QVN card is present in the rack.
If an error occurs during loading, the message "Error in loading QVN cards" is displayed. If this message is displayed,
contact NUM Customer Service.

Configuration Errors

Message Cause
ERROR: ILLEGAL FEEDBACK NUMBER A sensor number is outside the values authorised
(00, 01, ..., 31, FF) in P70 or P71 4
ERROR: MULTI-DECLARED FEEDBACK A sensor number is declared several times in P70
EITHER CONNECTED TO QVN CARD OR (words N0 to N7 or word N8)
DECLARED FICTITIOUS
ERROR: MULTI-DECLARED FEEDBACK A sensor number is declared in P70 in the list of sensors
CONNECTED TO QVN CARD AND connected to the QVN card (words N0 to N7) and in the list of
DECLARED FICTITIOUS fictitious sensors (word N8)
ERROR: FEEDBACK DETECTED ON A sensor number is declared connected to a QVN card in P70
ANALOGUE AXIS CARD AND ALSO (words N0 to N7) and is detected on an analogue axis card
DECLARED CONNECTED TO QVN CARD
ERROR: FEEDBACK DETECT. ON ANALOGUE A sensor number as declared fictitious in P70 (word N8) is
AXIS CARD AND DECL. FICTIT. detected on an analogue axis card
ERROR: MORE THAN ONE DRIVE HAS THE Several axis drives have the same address
SAME ADDRESS
REMARK This error is not detected when the servo-drives are connected to the same fibre-optic serial bus, but in
this case, no drive is detected, which generates another error message
ERROR: QVN SPINDLE VELOCITY FEEDBACK - A speed and position sensor number for a QVN spindle
NOT FOUND OR ALREADY ASSIGNED declared in P71 is not declared as connected to the QVN
card in P70 (words N0 to N7)
- A speed sensor number of a QVN spindle declared in P71
is not declared as connected to the QVN card in P70 or is
assigned by priority to a handwheel or an analogue spindle
ERROR: QVN VELOCITY FEEDBACK A sensor number is declared as a speed sensor on several
DECLARED ON MORE THAN ONE SPINDLE QVN spindles in P71
ERROR: QVN SPINDLE POSITION FEEDBACK A position sensor number for a QVN spindle declared in P71 is
NOT FOUND OR ALREADY ASSIGNED not declared as connected to a QVN card in P70 and was not
detected on an analogue axis card or is assigned by priority to
an analogue spindle
ERROR: VELOCITY AND POSITION A sensor number is declared as a speed sensor and a speed
FEEDBACK DECLARED ON MORE THAN and position sensor on several QVN spindles in P71
ONE QVN SPINDLE
ERROR: MISSING QVN DECLARED SPINDLE The list of QVN spindles declared in P71 does not match the
list of QVN spindles effectively recognised

en-938907/3 4-3
Message Cause
ERROR: QVN AXIS VELOCITY FEEDBACK - A speed and position sensor number of a QVN axis
NOT FOUND OR ALREADY ASSIGNED declared in P71 is not declared as connected to the QVN
card in P70 (words N0 to N7 and word N8)
- A speed sensor number of a QVN axis declared in P71 is
not declared as connected to the QVN card in P70 (words
N0 to N7) or is assigned by priority to a handwheel or an
analogue spindle
ERROR: VELOCITY FEEDBACK DECLARED A sensor number is declared as a speed sensor on several
ON MORE THAN ONE QVN AXIS QVN axes in P71
ERROR: SEVERAL QVN AXES LINKED TO Several QVN axes are associated with the same QVN spindle
A QVN SPINDLE in P71
ERROR: IMPOSSIBLE TO LINK A QVN A QVN axis with a fictitious sensor is associated with a QVN
SPINDLE TO A QVN AXIS WITH FICTITIOUS spindle with an additional sensor
FEEDBACK
ERROR: QVN AXIS POSITION FEEDBACK A position sensor number of a QVN axis declared in P71 is not
NOT FOUND OR ALREADY ASSIGNED declared as connected to the QVN card in P70 and was not
detected on the analogue axis card
ERROR: VELOCITY AND POSITION A sensor number is declared as a speed sensor and a speed
FEEDBACK DECLARED ON MORE THAN and position sensor on several QVN axes in P71
ONE QVN AXIS
ERROR: DUMMY FEEDBACK NOT USED One or more sensors declared as fictitious in P70 (word N8)
are not used
ERROR: MISMATCH BETWEEN THE DRIVES The list of axis drives detected does not match the list of axes
PRESENT AND THE QVN DECLARED AXES declared as QVN
ERROR: MISSING QVN DECLARED AXIS The list of QVN axes declared in P71 does not match the list
of recognised QVN axes
ERROR: MISSING QVN MEASURING The list of axes declared as measured only by QVN does not
ONLY AXIS match the real list of measured-only QVN axes
ERROR: ILLEGAL QVN AXIS OR SPINDLE Error in declaration in P85
COUPLING DECLARATION
ERROR: MISSING QVN SLAVED AXIS A slave declared in P85 is not found
OR SPINDLE
ERROR: UNRECOGNISED SIZE OF DRIVE The size code read in a drive is unknown, which leads to non
recognition of the corresponding QVN application

4-4 en-938907/3
 Safety Device Setting and Use

Clearing the Messages

When one these messages occurs:

Acknowledge the message. ☞ Y

The "PROSV" fixed field is displayed (blocking of modes and E_CNPRET = 0).

Check the configuration of the system axes.

Correctly set the parameters involved using SETTool or utility 5.

Reset the system.

4
4.2 Fault Detection and Processing of Safety Devices
4.2.1 Faults
The following components are capable detecting faults:
- Power supply module,
- Current amplifier module,
- QVN card (digital drive),
- Motor,
- Sensor.

4.2.1.1 Faults Detected by the Power Supply Module

Fault Description Probable causes

Undervoltage The voltage level on the DC bus Line voltage out of tolerance.
is below the minimum threshold Line power isolating switch open.
Overvoltage The voltage level on the DC bus Braking module faulty.
is above the maximum threshold Line voltage out of tolerance.
Earth fault The current is not balanced between Earth leakage
the two branches of the DC bus (motor phase, etc.).
Resistor The thermal switch of the braking Braking module faulty.
temperature resistor or power supply module Resistor rating.
heat sink is open

REMARK These faults are transmitted simultaneously to all the modules in the load circuit of
the power supply, which all indicate the same fault to the QVN card.

en-938907/3 4-5
4.2.1.2 Faults Detected by the Current Amplifier Module

Fault Description Probable causes

Heat sink The thermal switch on the heat rms current > amplifier Ip
temperature sink is open
Power control Detection of an axis drive auxiliary power
(monitor power supply) supply failure
Short-circuit Short-circuit between phases or The fault may be internal or external
on the DC bus to the module.
Serial bus Transmission error on the serial bus Bus not connected or open-circuited.
between the QVN card and an axis drive SBC component faulty.
Overcurrent Overcurrent detected in the axis drive Short-circuit on a phase causing a
measurement current above 1.5 x
peak current.

4.2.1.3 Faults Detected by the QVN Card

Fault Description Probable causes

Complementarity Faulty complementarity on Sensor built into the motor.
one of the channels Connecting cable.
Overspeed Overspeed detected
(The detection threshold is set at 1.18 x max.
speed specified in parameter P73)
Overcurrent (overtorque) Current draw greater than Rotor stuck.
21/2/3 x peak current detected for too long
(Detection threshold = Peak current x 2 s)
Feedback With sinusoidal feedback, the electrical Sensor built into the motor.
loss angle supplied by the incremental Connecting cable.
channels from the rotor position is no
longer consistent with the electrical
angle supplied by the absolute channels
(the fault detection threshold is
between 5 and 35 degrees electrical)
Drive runaway The axis drive power transistor
control is locked

4.2.1.4 Faults Detected by a Sensor

Fault Description Probable causes

Noisy signal Faulty read of Faulty read of the Sensor faulty.
internal optical signals of the sensor Connecting cables.
Code sur voies absolues A code never used was read on one
(Code on absolute of the absolute channels of the
channels) speed sensor

4-6 en-938907/3
 Safety Device Setting and Use

4.2.1.5 Faults Detected by the Motor

Fault Description Probable causes

Motor The internal thermal switch rms current in the motor > motor
temperautre of the motor is open rated current.

4.2.2 Axis Safety Device Processing

Three component process the safety devices:
- Power supply module,
- Current amplifier module,
- QVN card (digital drive).

4.2.2.1 Hardware Processing in the Amplifier and Power Supply Modules 4

The processing performed in the power supply module and current amplifier module is illustrated in the diagram below.
All the module faults are transmitted to the QVN card via the SBC interface of the fibre-optic bus.

"UNDERVOLTAGE" fault

"RESISTOR TEMPERATURE" fault

"EARTH" fault
"OVERVOLTAGE" fault

Line contactor latching

circuit opens

Power supply

"SHORT-CIRCUIT" fault

"HEAT SINK TEMPERATURE" fault SBCE SBCM

"POWER CONTROL"
(LED power supply) fault
Serial bus Serial bus
fault fault

Torque disabled
Current amplifier QVN card

en-938907/3 4-7
4.2.2.2 Software Processing by QVN
After detection, the software processing performed by the QVN card activates one of the three following operating
modes on the drive:
- Free-wheeling,
- Braking at maximum torque,
- Gradual braking.

Free-Wheeling
The motor brake is released. The axis is stopped by mechanical friction. Braking current is inhibited in the current
amplifier and the internal current reference in the QVN card is forced low.

Braking at Maximum Torque

The axis is electrically braked by applying the maximum motor torque until the axis stops completely. This braking
(the fastest possible) is obtained by forcing the speed reference low. The CNC resets the CNC-ready (E_CNPRE+)
bit. The PLC then opens the line contactor on the amplifier power supply modules (the contactor may already have
been opened by the power supply module itself: see the internal module processing diagram).

Gradual Braking
The CNC controls deceleration on all the axes according to a ramp. Deceleration is carried out immediately.

4.2.2.3 Internal Fault Processing

Fault Internal processing

Undervoltage Braking at maximum torque on all CNC axes.
Fault LED lit for all the axes that reported the fault.
Overvoltage Same as "Undervoltage".
Earth fault Same as "Undervoltage".
Resistor temperature Same as "Undervoltage".
Heat sink temperature Gradual braking.
Fault LED lit on the amplifier considered.
PLC variable E_CNPRET = 0.
Power control Free-wheeling on the axis considered.
(Monitor power supply) Braking at maximum torque on all the other CNC axes.
Fault LED lit on the amplifier considered.
Short-circuit Same as "Power control" (Monitor power supply).
Serial link from Free-wheeling on the axis of the QVN card considered.
QVN card to axes Braking at maximum torque on all the other CNC axes.
Complementarity Free-wheeling on the axis considered.
Braking at maximum torque on all the other CNC axes.
Overspeed Same as "Sensor channel complementarity".
Following error Braking at maximum torque on all CNC axes.
Overcurrent Free-wheeling on the axis considered.
Braking at maximum torque on all the other CNC axes.
Feedback loss Same as "Overtorque".
Communication Free-wheeling on the axis considered.

4-8 en-938907/3
 Safety Device Setting and Use

Fault Internal processing

Amplifier serial bus Amplifier serial bus fault LED lit.
Noisy signal Free-wheeling on the axis considered.
Braking at maximum torque on all the other CNC axes.
Motor temperature Gradual braking.
PLC variable E_CNPRET = 0.
QVN card general failure Free-wheeling on the axes of the QVN card considered.
Braking at maximum torque on all the other CNC axes.
QVN processor Free-wheeling on the axes of the QVN card considered.
Braking at maximum torque on all the other CNC axes.

4.3 Fault Diagnostic 4

Fault diagnosis is provided on two levels:
- Drive status and failure origin displayed on the CNC,
- Module status displayed on the LEDs on the front of the modules.

Error Message
If an error is detected on a QVN card or on an axis controlled by a QVN card, error 245, "Défaut sur asservissement
numérique" (error on digital servo-control) is displayed on the "AXIS" or "INFO" page. The field "NC ??" flashes in the
CNC status window to indicate the presence of a fault that caused a power cutoff.
The origin of the fault can then be found by accessing the "QVN controlled axis" information pages via the
"PLC I/O" page (see Sec. 4.4).

Power Supply Module LEDs

Green Power-on
Green Monitoring voltage on

Current Amplifier Module LEDs

Green Monitoring voltage on

Red Module fault
Green Torque enabled
Green Speed enabled (not used)
Red Serial bus fault

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4.4 QVN Information Pages
In the event of a problem at power on or during operation (error 245), the field "NC ??" flashes in the CNC status window.
It indicates the presence of a fault that caused a power cutoff.
For each axis processed by a QVN card, the operator can display the information pages describing the faults in natural
language.

Browsing Through the Information Pages

Operation Command
Go to next page "PgDown" key
Go to previous page "PgUp" key
Go to last page "End" key
Go to first page "Home" key

Procedure

Select the "CNC COMMUNICATION DISPLAY" page. ☞ I/O

Select “QVN INFORMATION”. ☞ $

4

The "QVN SPINDLE AND AXIS INFORMATION" page is displayed:

The "1st fault" field indicates detection of a first fault on a given axis or spindle.
The "Curr. fault" field indicates the presence of faults on a given axis or spindle.
In the example above:
- "10/20+" indicates that "20" is a positive slave of the QVN "10" application ("10/20-" indicates a negative slave),
- The word "Unchange" for a switchful axis/spindle association indicates which of the two (axis or spindle) is not
switched.

4 - 10 en-938907/3
 Safety Device Setting and Use

Data displayed on a position sensor

Enter the axis or spindle position sensor number in the dialogue line. ☞
The page giving detailed information on the axis or spindle is displayed:

When the axis or spindle is part of a switchable axis/spindle association and is not switched, the word "Unchange" is
displayed at the end of the second line.
For details on the fault, see Sec. 4.2.1.

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Information on the Cards

Select the general card information page. ☞ CARDS

QVN

The "QVN CARD INFORMATION" page is displayed:

4 - 12 en-938907/3
 Safety Device Setting and Use

Information on a QVN card is displayed

Enter the card number in the dialogue line. ☞

The page containing detailed information on a QVN card is displayed:

! CAUTION
If the fields "Card on hold" or "Curr. fault" are checked,
contact NUM Customer Service.

Exit from the Procedure

Return to the "CNC COMMUNICATION DISPLAY" page. ☞ Out

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4.5 Reset After a Fault
After occurrence of a fault:

Analyse the reason for the fault (see Sec. 4.2.1) then proceed to clear it.
After clearing the fault, the reset procedure can be carried out.

Case of "serial bus" and "power control" (monitor power supply) faults

Reset the CNC (by the reset button on the front of the power supply card).

Turn on the drives.

Other faults

Reset the CNC.

Turn on the drives.

4 - 14 en-938907/3
 Machine Parameters

5 Machine Parameters

5.1 General 5-3

5.1.1 Control of an Axis or Spindle by QVN
Card 5-3
5.1.2 Declaring a QVN Axis 5-3
5.1.3 Declaring a QVN Spindle 5-3
5.1.4 Speed Loop Parameters 5-3
5.1.5 Associating a Switchable QVN Spindle
and Axis 5-4
5.1.5.1 General 5-4
5.1.5.2 Associating a QVN Axis with a QVN
Spindle 5-4
5.1.5.3 Speed Loop Operational Parameters 5-4
5.1.5.4 QVN Spindle/QVN Axis Switching 5-4
5.1.6 Torque Master/Slave Function 5-6
5.1.6.1 General 5-6
5.1.6.2 Declaring a Torque Slave QVN
Application 5-6
5
5.1.6.3 Parameters 5-6
5.1.6.4 Precaution 5-6
5.1.7 Anti-Pitching 5-6
5.1.8 Static Current Limiting 5-7
5.1.9 Sensor Fault Monitoring 5-7
5.1.9.1 Monitoring a QVN Motor Sensor 5-7
5.1.9.2 Consequences of Inhibiting Monitoring of
a QVN Motor Sensor 5-7
5.1.9.3 Modifying Sensor Monitoring During
Operation 5-7
5.1.9.4 Precaution for Modifying Monitoring of a
Position Sensor 5-7
5.1.9.5 Precaution for Modifying Monitoring of a
QVN Motor Sensor 5-8
5.2 Miscellaneous Parameters 5-8
5.2.1 QVN Sampling period 5-8
5.2.2 Measured, Servo-Controlled and
Interpolated Axes 5-8
5.3 Servo-Control Loop Gain Coefficient P21 5-9
5.4 Noisy Signal and Encoder Channel Complementarity P25
Monitoring Declaration 5-10
5.5 Sampling Period P50 5-11
5.6 Card Mapping P70 5-12
5.7 Axes Controlled by QVN P71 5-14
5.8 Motor Direction of Rotation P72 5-18
5.9 Maximum Motor Speed P73 5-20
5.10 Block Diagram of the Speed Loop 5-21

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5.11 Speed Servo-Loop Proportional Action Coefficient P74 5-22
5.12 Speed Servo-Loop Integral Action Cut-off Pulse P75 5-24
5.13 Speed Sensor Measurement Increment Average P76
(Motor Sensor) 5-25
5.14 Speed Measurement Filter P77 5-26
5.15 Torque Reference Filter P78 5-27
5.16 Static Current Limiting P79 5-28
5.17 Association of a Torque Slave with a Master P85 5-29
5.18 Direction of Rotation of a Torque Slave Application P86 5-30
5.19 Preload Current of a Master/Slave Pair P87 5-31
5.20 Low-Pass Filter on Speed Reference P88 5-32
5.21 Rejection Filter on the Interpolated Speed Reference P89
N2j : fn N2j + 1 : Zn 5-33
5.22 Rejection Filter on the Interpolated Speed Reference P90
N2j : fd N2j + 1 : Zd 5-33
5.23 Flexible Machine Mode Damping Coefficient P91 5-34
5.24 Speed Error Rejection Filter P92
N2j : fn N2j + 1 : Zn 5-35
5.25 Speed Error Rejection Filter P93
N2j : fd N2j + 1 : Zd 5-35
5.26 Complementary Loop Application Frequency P94 5-36
5.27 Speed Observer - Ratio Kc/j P116 5-37
5.28 Speed Observer - Gain for Position Estimate P117 5-37
5.29 Speed Observer - Gain for Speed Estimate P118 5-37
5.30 Speed Observer - Gain for Interference Estimate P119 5-37
5.31 Speed Observer - Supervision Device P120 5-38
5.32 Vibration Elimination When Stopped by Processing of P121
the Speed Measurement 5-39
5.33 Vibration Elimination When Stopped by Clipping of the P122
Proportional Gain 5-39

5-2 en-938907/4
 Machine Parameters

5.1 General
5.1.1 Control of an Axis or Spindle by QVN Card
A QVN card can be used to control one or more QVN axes and spindles.
The possible sensor configurations include:
- Axis or spindle measured with the motor sensor,
- Axis or spindle measured with an additional position sensor.
The configuration with unmeasured QVN axis or spindle is excluded, since there is always a sensor (motor sensor).
The additional position sensor can be connected to:
- The QVN card to which the speed sensor is connected,
- A different QVN card from the one to which the speed sensor is connected,
- An analogue axis card.

5.1.2 Declaring a QVN Axis

5
A QVN axis is declared in parameters:
- P2 for the general axis declaration,
- P3 for the slaved axis declaration,
- P70 for the speed (or speed and position) sensors and any additional position sensors included in the configuration,
- P71 to associate a speed sensor with a position sensor.

5.1.3 Declaring a QVN Spindle

A QVN spindle is declared in parameters:
- P6 for the general spindle declaration,
- P70 for the speed (or speed and position) sensors and any additional position sensors included in the configuration,
- P71 (words N24 to N27) to associate a speed sensor with a position sensor.
REMARK A spindle sensor can also be declared in P2 in order to continuously monitor its
presence.
5.1.4 Speed Loop Parameters
The parameters for setting the speed loop apply to the QVN axes (and also to the QVN spindles for software at index
K or above):
- P72 defines the direction of rotation of the motor,
- P73 defines the maximum motor rpm,
- P74 sets the proportional action coefficient of the speed loop corrector,
- P75 sets the integral action cut-off pulse of the speed loop corrector,
- P76 averages the speed measurement,
- P77 filters the speed measurement,
- P78 filters the torque reference.
Contrary to a QVN axis, for a QVN spindle, the word number identifying the location of a parameter for the speed loop
is determined by the spindle position sensor address instead of the speed sensor address:
- For parameter P72, spindle addresses 24 to 27 correspond to bits 0 to 3 of word N01,
- For parameters P73, P74, P75, P76, P77, P78, spindle addresses 24 to 27 correspond to words N32 to N35
respectively.

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5.1.5 Associating a Switchable QVN Spindle and Axis
QVN spindle/QVN axis switching is possible with CNC software index K and above.

5.1.5.1 General
The purpose is to use the same assembly including {current servo-drive - motor - motor sensor} alternately as QVN
spindle and as QVN axis.
The principle consists of associating a QVN axis with a QVN spindle.
The QVN spindle/QVN axis association is specified by a parameter. It is recognised and determined at initialisation and
cannot be modified during operation.
There are at most 4 possible associations (as many as there are QVN spindles). Only one QVN axis can be associated
with a QVN spindle.
The configuration after initialisation is the QVN spindle configuration.
The switch from the QVN spindle configuration to QVN axis configuration and vice versa is made during operation by
an external parameter.

5.1.5.2 Associating a QVN Axis with a QVN Spindle

There are 4 possible configurations for a QVN spindle/QVN axis association:
- QVN spindle and QVN axis whose speed and position are measured by the same motor sensor. In this case, the
axis sensor is physically the same as the spindle sensor, but must be declared at a separate address (fictitious
sensor) in word N8 of parameter P70,
- QVN spindle whose speed and position are measured by the motor sensor and QVN axis whose position is measured
by an additional sensor,
- QVN spindle whose speed is measured by the motor sensor and whose position is measured by an additional sensor
and QVN axis whose speed and position are measured by the motor sensor,
- QVN spindle and QVN axis whose speed is measured by the motor sensor and whose position is measured by
additional sensors.

5.1.5.3 Speed Loop Operational Parameters

Two parameter tables are available in the QVN card, one for operation as QVN spindle and the other for operation as
QVN axis.
For a QVN spindle/QVN axis association, a switch in the operating configuration causes a switch of the parameter table
used.

5.1.5.4 QVN Spindle/QVN Axis Switching

The switch is made by programming external parameter E942xx = yy: position sensor @yy is switched to servo-drive
@xx.
REMARK In the case of a QVN spindle and QVN axis whose speed and position are
measured by the same motor sensor, for the switch to the QVN axis, @xx is the
address of the fictitious axis sensor (in this case only, the speed sensor address
is different from the servo-drive address).

5-4 en-938907/3
 Machine Parameters

Examples

QVN spindle and QVN axis whose speed and position are measured by the same motor sensor
Spindle speed sensor @24, spindle position sensor @24
Current servo-drive @24
Axis speed sensor @00, axis position sensor @00 (fictitious sensor)
Switch from QVN spindle to QVN axis: E94200 = 00
Switch from QVN axis to QVN spindle: E94224 = 24

QVN spindle and QVN axis whose speed is measured by the motor sensor and whose position is measured by
additional sensors
Speed sensor @01
Current servo-drive @01 5
Spindle position sensor @24
Axis position sensor @00
Switch from QVN spindle to QVN axis: E94201 = 00
Switch from QVN axis to QVN spindle: E94201 = 24

Homing
The switch to a configuration without additional position sensor causes a loss of homing:
- For a QVN spindle, the homing request is activated automatically,
- For a QVN axis, homing must be requested.
The switch to a configuration with additional position sensor causes a feedback reset request to ensure operation in
trapezoid mode. For a configuration with additional sensor, it is mandatory to leave the origin switch open to allow
detection of the sensor zero pulse and thereby always enable reset, when required, of the rotor position measurement.

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5.1.6 Torque Master/Slave Function
5.1.6.1 General
This function is available for a QVN axis or for a non-switchable QVN spindle with the CNC software at index K or above.
The principle consists of associating one or more torque slaves with a master QVN application. Torque control of the
slaves is provided by the torque reference of the master QVN application.
The characteristics are as follows:
- The master is a QVN axis or a non-switchable QVN spindle,
- The master and the associated slaves are all processed by the same QVN card (speed sensors and servo-drives
connected to the same QVN card),
- A maximum number of three slaves can be associated with a master QVN application.

5.1.6.2 Declaring a Torque Slave QVN Application

Where i is the slave QVN application to be declared (i: speed sensor number):
- Sensor i is not declared in P2 nor in P71,
- Sensor i is declared in P70,
- The current servo-drive address is i,
- The application is associated with a master QVN application j (j: speed sensor number) in P85.

5.1.6.3 Parameters
The parameters associated with torque slave QVN application i (i: speed sensor number) are:
- Direction of rotation of the slave with respect to that of the master (parameter P86),
- Maximum motor speed (P73, word Ni),
- Static current limiting (P79, word Ni).
The maximum motor speed and static current limiting can be set independently for each of the master and slave QVN
applications.

5.1.6.4 Precaution
The speed sensor of a torque slave is managed as an independent speed sensor. For feedback, the switch from
trapezoidal operation to sinusoidal operation is made on detection of the first zero pulse after one motor revolution at
most, if the origin switch is open.
This means that the origin switch must always be left open for a slave QVN application.

5.1.7 Anti-Pitching
This function is a special case of the torque master/slave function.
It is not available unless the following conditions are satisfied:
- The master QVN application is a QVN axis,
- Only one QVN slave application is associated with the master QVN application,
- The slave QVN application is slaved in the positive direction.
The principle consists of adding a preload current of the same magnitude for the master and slave but of opposite signs
for the master and slave to the master and slave current reference.
The preloading current is defined in parameter P87.

5-6 en-938907/3
 Machine Parameters

5.1.8 Static Current Limiting

The maximum current of each QVN application (axis, spindle, torque slave) can be set by P79.

5.1.9 Sensor Fault Monitoring

For the position and spindle sensors, the poor signal and channel complementarity fault monitoring is determined by
parameters P25 and P26 (see "Parameter Manual").
For the speed measurement or speed and position measurement sensors, poor signal and channel complementarity fault
monitoring is always forced at initialisation of the CNC independently of parameters P25 and P26.

5.1.9.1 Monitoring a QVN Motor Sensor

With the software in version K or above, word 1 of parameter P25 (see Sec. 5.4) enables or inhibits monitoring of a QVN
motor sensor.

5.1.9.2 Consequences of Inhibiting Monitoring of a QVN Motor Sensor

Operation of a QVN application is not enabled unless monitoring of the motor sensor is enabled. That means that when
5
monitoring of the QVN motor sensor is inhibited, the torque on the corresponding QVN application is also inhibited.
In the case of a switchable QVN spindle/QVN axis configuration, inhibiting monitoring of the motor sensor inhibits the
torque in both the axis configuration and the spindle configuration. In the particular case where the motor sensor is used
as speed and position sensor (in both the axis configuration and spindle configuration), it is the bit defined by the spindle
sensor number in P25 N1 that determines whether motor sensor monitoring is enabled or inhibited.
In the case of a torque master/slave configuration:
- Inhibiting motor sensor monitoring on the master QVN application inhibits the torque only on the master QVN
application,
- Inhibiting motor sensor monitoring on a slave QVN application inhibits the torque only on the slave QVN application.

5.1.9.3 Modifying Sensor Monitoring During Operation

Monitoring of a sensor can be inhibited or enabled during operation by modifying parameter P25 by a DNC1000 request.
The sensors concerned include:
- Incremental type and rule type position sensors with coded references (mixed and SSI position sensors are excluded),
- Motor sensors for QVN,
- Handwheels.
Modification has the following effects on a motor sensor for QVN:
- Inhibiting sensor monitoring inhibits torque on the QVN application (as defined above),
- Enabling sensor monitoring cancels forced torque inhibiting,
- Inhibiting or enabling sensor monitoring during operation forces trapezoidal mode for feedback.

5.1.9.4 Precaution for Modifying Monitoring of a Position Sensor

For an axis or spindle position sensor, homing on the axis or spindle is required after connecting the sensor.

en-938907/3 5-7
5.1.9.5 Precaution for Modifying Monitoring of a QVN Motor Sensor
For a motor sensor used for speed measurement, the switch from trapezoidal mode to sinusoidal mode is made after
one motor revolution at most after enabling sensor monitoring (in the same way as after initialisation).
For a motor sensor used for speed measurement and for position measurement, homing is required after enabling
monitoring to allow the switch from trapezoidal mode to sinusoidal mode (in the same way as after initialisation).

5.2 Miscellaneous Parameters

5.2.1 QVN Sampling period
The QVN sampling period is set in word N1 of parameter P50 (see Sec. 5.4).

5.2.2 Measured, Servo-Controlled and Interpolated Axes

Parameters P2 and P3 include only the list of position measurement or speed and position measurement sensors. For
axes controlled by the QDD card with two separate sensors, only the position sensor is declared in P2 and P3 (see
Parameter Manual).

5-8 en-938907/3
 Machine Parameters

5.3 Servo-Control Loop Gain Coefficient P21

Category Servo-control

Type 5 Unsigned decimal

No. of words 32

Description
Defines the coefficient used by the CNC to calculate the reference supplied to the servo-drive according to the following
error.

Principle
Each word corresponds to the physical address of an axis:
- The value in word N0 is assigned to the axis with physical address 0, 5
- The value in word N1 is assigned to the axis with physical address 1,
- The value in word N2 is assigned to the axis with physical address 2,
- etc.
The value of each word gives the proportional action coefficient of the servo-drive for the corresponding axis.

KVAR Calculation
For Vmax, we have:

Max. speed reference = KVAR x ep max.

The speed reference for a QVN axis is expressed on 18 signed bits, giving the equation for KVAR as a function of the
time constant T = 1/Gain:

KVAR = (131071 / (Vmax x T)) x k

where:
- T : position servo-loop time constant (s),
- Vmax : maximum axis speed (mm/s or deg/s),
- k : internal measurement coefficient.

Internal measurement Coefficient k

1/10 mm 100
1/100 mm 10
µm 1
1/10 µm or 1/10000° 0.1
1/100 µm 0.01

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5.4 Noisy Signal and Encoder Channel Complementarity P25
Monitoring Declaration
Category Measurements

Type 6 32-bit hexadecimal

No. of words 1 (2 for index K and above)

Description
Declaration of the axes that can be included in the noisy signal and encoder channel complementarity monitoring as well
as the fault filtering value.
Declaration of the QVN motor sensors that can be included in noisy signal and channel complementarity monitoring.
Word N0 is described in the Parameter Manual.

Word N1
Word N1 is available with software index K and above.
The noisy signal and/or QVN motor sensor complementarity monitoring are enabled or inhibited in this word.
The default value of this word is $FFFFFFFF (monitoring of all the QVN motor sensors).
The bit position corresponds to the physical address of the axis.
Monitoring on the QVN motor sensor concerned is inhibited when the bit is a 0 and enabled when the bit is a 1.

Example
Monitoring enabled on the axes with addresses 2, 3 and 7.

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

Word N1 of P25 = $0000008C

Word N0 0000008C

5 - 10 en-938907/3
 Machine Parameters

5.5 Sampling Period P50

Category Miscellaneous

Type 5 Unsigned decimal

No. of words 2

Description
Defines the CNC sampling period and the QVN card sampling period.
Word N0 is described in the Parameter Manual.

Word N1
Defines the sampling period for all the QVN cards present in the CNC rack.
5
Restrictions
The range of authorised values is from 400 µs to 1000 µs in steps of 50 µs. Any value outside this range is limited to
400 µs or 1000 µs.
The ratio between the CNC sampling period (N0) and QVN sampling period (N1) must be an integer.
Failure to comply with one these requirements results in display of one of the following error messages at initialisation
and inhibiting of a change of mode:

Sampling period outside the range or step

SAMPLING PERIOD QVN MUST
BE BETWEEN 0.4 ms and 1 ms
BY STEPS OF 0.05 ms

Ratio not an integer

SAMPLING PERIOD MUST BE A
MULTIPLE OF PERIOD QVN AND EQUAL
AT LEAST AT 2 ms FOR AXIS QVN

en-938907/3 5 - 11
5.6 Card Mapping P70
Category QVN

Type 6 32-bit hexadecimal

No. of words 8 (9 for index K and above)

Description
Specifies the physical addresses of the sensors (speed, position, spindles or handwheel) connected to the QVN cards.

Principle
The word position corresponds to that card number in the rack.
From right to left in the rack:
- Word N0 is assigned to the first card encountered,
- Word N1 is assigned to the second card encountered,
- etc.

Card 2, connector 3 Card 1, connector 3

Card 2, connector 2 Card 1, connector 2

Card 2, connector 1 Card 1, connector 1

Card 2, connector 0 Card 1, connector 0

QVN card numbering direction

(0 and 1 on 1060 series 2 rack or 0 to 7 on 1060 series 1 rack)

Card No. List of

in rack words

Card 1 Word N0

Card 2 Word N1

" " "

" " "
Card 8 Word N7

Declaration of Word N8 At index K and above

fictitious sensors

5 - 12 en-938907/3
 Machine Parameters

Word Format
Each byte of a word is loaded with a hexadecimal value corresponding to the physical address of the sensor wired to
the card connector. The value FF indicates no sensor.

sensor 3 address sensor 2 address sensor 1 address sensor 0 address

Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

Switchable QVN Spindle/QVN Axis (CNC Software at Index K or above)

In the case where a switchable QVN spindle and QVN axis have the same speed and position sensor (motor sensor),
it is necessary to declare a fictitious sensor for the axis. The address of the fictitious axis sensor is associated with the
physical address of the corresponding spindle in word N8:

axis @ associated axis @ associated axis @ associated axis @ associated 5

with spindle @27 with spindle @26 with spindle @25 with spindle @24

Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

The value FF is used when no fictitious axis sensor is associated with a spindle address.

Example
On the third QVN card encountered in a rack:
- Connector 0 is wired to the sensor with address 4,
- Connector 1 is wired to the sensor with address 5,
- Connector 2 is not wired,
- Connector 3 is wired to the sensor with address 20.
Word N2 is loaded with the value:

20 FF 5 4

Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

20FF0504
Word N2 20FF0504

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5.7 Axes Controlled by QVN P71
Category QVN

Type 0 8-bit hexadecimal

No. of words 32

Description
Defines the sensor configurations for the axes controlled by a QVN card. For each axis, it specifies the speed sensor
(motor sensor) associated with the position sensor.

Principle
The word position corresponds to the physical address of the position sensor (axis address).

Values:
- FF if the axis is not controlled by a QVN card.
- FF if the axis is a torque slave.
- FF if the position sensor of a non-DISC, a spindle sensor
position sensor - or a handwheel is connected to the QVN card
physical address - (declared in P70)
- Address of the sensor built into the motor (speed sensor)
- if the axis is controlled by QVN

N0
l Bit 7 Bit 0
l
N1
l
l
l
N31

5 - 14 en-938907/3
 Machine Parameters

Assigning values

Word Nxx

Position No
sensor
present

Yes 5
Nxx = Nxx + 1

No
DISC axis Load Nxx with $FF

Yes

Load Nxx with speed

sensor address

en-938907/3 5 - 15
Example
System equipped with three axes and one handwheel

C
A
P
1 T
3

C
A
P
T
2 5
2 4

3
@0
2
C
A
1
P
+ ON
T
1
@2 -

3
C 5
A
P 4
T
0 @1C 3
@1
2

1
ON
E
M
I
4 V
A
R R
E
C

Axes QVN

@3
Wired

5 - 16 en-938907/3
 Machine Parameters

Parameter declaration

Parameters relative to position sensors

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

P2 = $0000000E

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

P3 = $0000000E

P9 P14 P21, P30, P22, P57 ... 5

N0 = $FF N0 = $01 N0 = not significant
N1 = $00 N1 = value
N2 = $01 N2 = value
N3 = $02 N3 = value
N4 = $FF N4 = not significant
etc... etc...

QVN configuration parameters

P70 P71
N0 = $0100021C N0 = $FF
N1 = $FFFFFFFF N1 = $01
N2 = $00
N3 = $FF
etc...

Parameters relative to speed sensors

P73, P74, P75

N0 = value
N1 = value
N2 = not significant
N3 = not significant
etc...

en-938907/3 5 - 17
5.8 Motor Direction of Rotation P72
Category QVN

Type 6 32-bit hexadecimal

No. of words 1 (2 for index K or above)

Description
Specifies the direction of rotation of the motor for a positive speed reference. The direction of rotation is seen facing
the motor shaft.

Word N0
The bit position in word N0 corresponds to the physical address of the speed sensor.

N0
Speed sensor 31

Speed sensor 0
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

If the bit is a 0, the motor shaft rotates clockwise.

If the bit is a 1, the motor shaft rotates counterclockwise.
This parameter is irrelevant for the general case of an axis with position feedback.

Example
Out of the 7 sensors in this configuration, the sensors at addresses 0, 3 and 4 rotate counterclockwise.

Sensor address 0 1 2 3 4 5 6
Direction of rotation CCW CW CW CCW CCW CW CW

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

Word N0 of P72 = $00000019

Word N0 00000019

5 - 18 en-938907/3
 Machine Parameters

Word N1 (CNC software at index K or above)

Word N1 is used to declare the direction of rotation of the spindle motors using the address of their position sensor.
Spindle addresses 24 to 27 correspond to bits 0 to 3 of word N1 respectively. The rotation direction is defined in the
same way as for the axis motors.

Spindle 27 position sensor

Spindle 26 position sensor
Spindle 25 position sensor
Spindle 24 position sensor
N1

Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

5

en-938907/3 5 - 19
5.9 Maximum Motor Speed P73
Category QVN

Type 5 Unsigned decimal

No. of words 32 (36 for index K or above)

Description
Defines the maximum motor speeds corresponding to the maximum speed on the axis declared in parameter P30.

Principle
The speeds are expressed in rpm. The values must be between 1 and 4000 rpm.
If the value specified is outside these limits, the default speed used by the system is 1000 rpm.
The bit position corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ or of words
spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

Spindle @ 24 Word N32

" " " At index K or above

" " "
Spindle @ 27 Word N35

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

5 - 20 en-938907/3
 Machine Parameters

5.10 Block Diagram of the Speed Loop

Section of the block diagram corresponding to Kp

(SET TOOL)
Integrator
Nref Vmax Nref - 2π 60 131071 Kpv Ic Kc 1 60 1 N
131071 60 2π Vmax 106 F 16383 2 J 2π P

n rpm rad/s rpm n n A Nm rad/s2 rpm/s rpm

internal internal internal
speed speed current
unit unit unit
5
Description of the variables
Nref: motor reference speed
Vmax: motor speed corresponding to the maximum numerical value of the speed measurement (P73: see Sec. 5.9)
Kpv: proportional action coefficient (P74: see Sec. 5.11)
F: integral action cut-off frequency (Hz, P75: see Sec. 5.12)
Ic: servo-drive peak current
Kc: torque coefficient in Nm/A rms
J: total inertia on the motor shaft
N: measured motor speed

Gain to be introduced in SETTool

60 131071 Kpv Ic
Kp (A/rad/s) = x x x
2π Vmax 106 16383

Kpv x Ic
Kp (A/rad/s) = 7.64 x 10-5 x
Vmax

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5.11 Speed Servo-Loop Proportional Action Coefficient P74
Category QVN

Type 2 Unsigned decimal

No. of words 32 (36 for index K or above)

Description
Defines the proportional action coefficient of an axis or spindle speed servo-loop. This coefficient is expressed in internal
current unit divided by the internal speed unit (millionths).
The values can be between 0 and 31999996. If the value specified is outside these limits, the default coefficient used
by the system is 100000.

Principle
The word position corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ or of words
spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

Spindle @ 24 Word N32

" " " At index K or above

" " "
Spindle @ 27 Word N35

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

5 - 22 en-938907/3
 Machine Parameters

Calculation of the Proportional Action Coefficient

The speed reference is expressed in the internal unit on 18 signed bits (131071 corresponds to the maximum operating
speed).
The current reference is expressed in the internal unit on 15 signed bits (16383 corresponds to the peak current reference).

Kprop = (Peak current ref./Maximum speed error) x 106

Where:
- Internal current unit (16383 corresponds to the peak current reference),
- Internal speed unit (131071 corresponds to the maximum operating speed).

Example
Set a bandwidth of 40 Hz for the speed servo-loop (on the axis with address 0), i.e. a speed gain of 40 x 2p = 251 s-1 with
a motor used at a maximum speed of 3000 rpm.
For the peak current, the measured acceleration is equal to 15.000 rad/s2.
5
Calculate the maximum speed error
Max. speed error = Max. acceleration/Speed gain = 15.000/251 = 59.8 rad/s.

Conversion to internal speed units

Max. speed error = 59.8 rad/s = (131071 / (3000 / 60 x 2p )) x 59.8 = 24942 internal speed units.

Calculate the proportional action coefficient

Kpv = 16383 / 24942 x 106 = 656843

Word N0 656843

en-938907/3 5 - 23
5.12 Speed Servo-Loop Integral Action Cut-off Pulse P75
Category QVN

Type 2 Unsigned decimal

No. of words 32 (36 for index K or above)

Description
This parameter specifies the cutoff pulse of the speed servo-loop integral action coefficient expressed in millionths of
radians per sampling period (the sampling period is set in word N1 of parameter P50).
The values can be between 0 and 1000000. If the value specified is outside these limits, the default coefficient used
by the system is 10000.

Principle
The word position corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ or of words
spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

Spindle @ 24 Word N32

" " " At index K or above

" " "
Spindle @ 27 Word N35

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

Calculation of the Integral Action Cut-off Pulse

Ki (0.000001 rad/smp) = 2p x 106 x F (Hz) / Fe (Hz)

where F is the integral action cut-off frequency and Fe is the speed servo-loop sampling frequency.

Example
Where F = 7 Hz and Fe = 1000 Hz: Ki (0.000001 rad/smp) = 7 x 2p x 103 = 43982

5 - 24 en-938907/3
 Machine Parameters

5.13 Speed Sensor Measurement Increment Average P76

(Motor Sensor)
Category QVN

Type 0 Signed decimal

No. of words 32 (36 for index K or above)

Description
The motor speed measurement can be generated by averaging the motor sensor measurement increments instead of
from the instantaneous measurement increments.

Principle
Parameter P76 sets the number (n) of past increments to be used to compute the motor speed. The possible values 5
for n are 0, 1, 2 or 3.
n < 0 The system inhibits calculation of the average (same as n = 0)
n > 3 The system limits n to 3.
The word number corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ or of words
spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

Spindle @ 24 Word N32

" " " At index K or above

" " "
Spindle @ 27 Word N35

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

en-938907/3 5 - 25
5.14 Speed Measurement Filter P77
Category QVN

Type 5 Unsigned decimal

No. of words 32 (36 for index K or above)

Description
After computation of the increment average, the speed measurement can be filtered by a first-order low-pass filter.
Parameter P77 specifies the filter cutoff frequency in Hz.
Minimum value: 20 Hz (any lower value inhibits action of the filter).
Maximum value: 2p / (QVN sampling period x 4): the system limits any higher value to this value.

Principle
The word number corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ or of words
spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

Spindle @ 24 Word N32

" " " At index K or above

" " "
Spindle @ 27 Word N35

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

5 - 26 en-938907/3
 Machine Parameters

5.15 Torque Reference Filter P78

Category QVN

Type 5 Unsigned decimal

No. of words 32 (36 for index K or above)

Description
The torque reference can be filtered by a first-order low-pass filter. Parameter P78 specifies the filter cutoff frequency
in Hz.
Minimum value: 20 Hz (any lower value inhibits action of the filter).
Maximum value: 2p/(QVN sampling period x 4): the system limits any higher value to this value.

Principle 5
The word number corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ or of words
spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

Spindle @ 24 Word N32

" " " At index K or above

" " "
Spindle @ 27 Word N35

With the CNC software at index K or above, words N32 to N35 are used to define the maximum spindle motor speeds
using the address of their position sensors. Spindle addresses 24 to 27 correspond to words N32 to N35 respectively.

en-938907/3 5 - 27
5.16 Static Current Limiting P79
Category QVN

Type 1 16-bit decimal

No. of words 36

Description
Parameter P79 is available with software index K or above.
Parameter P79 defines the maximum current for a QVN application.

Principle
For QVN application i (i: speed sensor number), the maximum current is expressed in word Ni in tenths of an ampere.
Possible cases according to the value entered in word Ni and the maximum current of the servo-drive at address i:
- Negative value in word Ni: the maximum current is that of the servo-drive (default value -1)
- Value in word Ni < maximum current of the servo-drive at address i: the maximum current is limited to the value defined
in word Ni,
- Value in word Ni ³ maximum current of the servo-drive at address i: the maximum current is that of the servo-drive.
Where Imaximum, is the maximum current considering the limiting:
2
- The nominal current is always defined by Inominal = x Imaximum,
3
- The torque fault detection threshold is always defined for operation with current Imaximum for 2 seconds.
With a switchable QVN spindle/QVN axis configuration, the maximum current defined for the spindle applies to both the
spindle and axis.
The word position corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ or of words
spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

Spindle @ 24 Word N32

" " "

" " "
Spindle @ 27 Word N35

5 - 28 en-938907/3
 Machine Parameters

5.17 Association of a Torque Slave with a Master P85

Category QVN

Type 0 8-bit hexadecimal

No. of words 32

Description
Parameter P85 is available with the software at index K or above.
Parameter P85 associates a master application with a slave application.

Principle
For slave application i (i: speed sensor number) associated with master application j (j: speed sensor number), word Ni
takes on value j. 5
The default value for each of the words is $FF (no master).

en-938907/3 5 - 29
5.18 Direction of Rotation of a Torque Slave Application P86
Category QVN

Type 6 32-bit hexadecimal

No. of words 1

Description
Parameter P86 is available with the software at index K or above.
For a torque slave application, P86 specifies whether the slave rotates in the same direction or opposite direction from
the master.

Principle
The bit position in word N0 corresponds to the physical address of the speed sensor:

N0
Speed sensor 31

Speed sensor 0
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

The bit is a 0 when the torque slave rotates in the same direction as the master.
The bit is a 1 when the torque slave rotates in the opposite direction from the master.
This parameter is meaningless for axes that are not torque slaves.

Example
If torque slave application 2, 3 and 7 rotate in the opposite direction from their master application:

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0
Bit 31 Bit 24 Bit 23 Bit 16 Bit 15 Bit 8 Bit 7 Bit 0

P86 = $0000008C

Word N0 0000008C

5 - 30 en-938907/3
 Machine Parameters

5.19 Preload Current of a Master/Slave Pair P87

Category QVN

Type 1 16-bit decimal

No. of words 32

Description
Larameter P87 is available with the software at index K or above.
Parameter P87 defines a preload current for a QVN master/slave pair.

Principle
For a master QVN application i (i: speed sensor number), the magnitude and sign of the preload current is defined in word
Ni. It is expressed as a signed percentage of the rated current of the master QVN application. The preload current of 5
the slave has the same magnitude but is of the opposite sign. The maximum permissible percentage is + 30 percent.
REMARK It is necessary to use the same maximum current limiting (parameter P79, see Sec.
5.16) for the master and slave to have the same magnitude of preload current on
the master and slave.
The word position corresponds to the physical address of the speed sensor.

Speed sensor List

physical @ of words
or spindle @

@0 Word N0

@1 Word N1

" " "

" " "
@ 31 Word N31

en-938907/3 5 - 31
5.20 Low-Pass Filter on Speed Reference P88
Category QVN

Type 5 Unsigned decimal

No. of words

Description
Parameter P88 smoothes the acceleration on the load.
This parameter is documented in the setting procedure (see Chapter 7).

5 - 32 en-938907/4
 Machine Parameters

5.21 Rejection Filter on the Interpolated Speed Reference P89

N2j : fn N2j + 1 : Zn
5.22 Rejection Filter on the Interpolated Speed Reference P90
N2j : fd N2j + 1 : Zd

Category QVN

Type 5 Unsigned decimal

No. of words

Description
The filter parameters are fn, fd in Hz and Zn, Zd in thousandths. 5
These parameters are documented in the setting procedure (see Chapter 7).

en-938907/4 5 - 33
5.23 Flexible Machine Mode Damping Coefficient P91
Category QVN

Type 5 Unsigned decimal

No. of words

Description
This parameter specifies the flexible machine mode damping coefficient.
This parameter is documented in the setting procedure (see Chapter 7).

5 - 34 en-938907/4
 Machine Parameters

5.24 Speed Error Rejection Filter P92

N2j : fn N2j + 1 : Zn
5.25 Speed Error Rejection Filter P93
N2j : fd N2j + 1 : Zd

Category QVN

Type 5 Unsigned decimal

No. of words

Description
The filter parameters are fn, fd in Hz and Zn, Zd in thousandths. 5
These parameters are documented in the setting procedure (see Chapter 7).

en-938907/4 5 - 35
5.26 Complementary Loop Application Frequency P94
Category QVN

Type 5 Unsigned decimal

No. of words

Description
Defines the separation frequency between two complementary position loops.
The maximum permissible setting is 1/(4*CNC_RTC)
- i.e. 1000/20 = 50 Hz
- giving P94 maximum = 500 for a CNC RTC set at 5 ms.
This parameter is documented in the setting procedure (see Chapter 7).

5 - 36 en-938907/4
 Machine Parameters

5.27 Speed Observer - Ratio Kc/j P116

5.28 Speed Observer - Gain for Position Estimate P117
5.29 Speed Observer - Gain for Speed Estimate P118
5.30 Speed Observer - Gain for Interference Estimate P119
Category QVN

Type 4 Unsigned decimal

5
No. of words

Description
The gains are set in P117, P118 and P119.
These parameters are documented in the setting procedure (see Chapter 7).

en-938907/4 5 - 37
5.31 Speed Observer - Supervision Device P120
Category QVN

Type 1 8-bit hexadecimal

No. of words

Description
This parameter contains the two parameters of the supervision device, Vthreshold in rpm and Kslope in thousandths.
This parameter is documented in the setting procedure (see Chapter 7).

5 - 38 en-938907/4
 Machine Parameters

5.32 Vibration Elimination When Stopped by Processing of P121

the Speed Measurement
5.33 Vibration Elimination When Stopped by Clipping of the P122
Proportional Gain

Category QVN

Type

No. of words

Description
These parameters are documented in the setting procedure (see Chapter 7). 5

en-938907/4 5 - 39
5 - 40 en-938907/4
 PLC Variables

6 PLC Variables

6.1 Torque Enable 6-3

6.2 Speed Reference Enable 6-3
6.3 Programming Recommendations 6-3
6.4 Dynamic Current Limiting 6-4
6.5 Exchange Area 6-4

en-938907/3 6-1
6-2 en-938907/3
 PLC Variables

6.1 Torque Enable

The bits of %W34.L are set to 0.

Variable Mnemonic Description

%W34.7 DISC_TRQ31 Torque enable on QVN axes 31 to 24
to to Set to enable torque.
%W34.0 DISC_TRQ24 Reset to inhibit torque.
%W35.7 DISC_TRQ23 Torque enable on QVN axes 23 to 16
to to Set to enable torque.
%W35.0 DISC_TRQ16 Reset to inhibit torque.
%W36.7 DISC_TRQ15 Torque enable on QVN axes 15 to 8
to to Set to enable torque.
%W36.0 DISC_TRQ8 Reset to inhibit torque.
%W37.7 DISC_TRQ7 Torque enable on QVN axes 7 to 0
to to Set to enable torque.
%W37.0 DISC_TRQ0 Reset to inhibit torque.
There are no equivalent bits in assembler programming or with PLCUT7. The torque is always enabled.

6.2 Speed Reference Enable 6

Variable Mnemonic Description
%W38.0 DISC_SPD QVN axis speed reference enable
Set to enable normal operation of the QVN axes.
Reset to force the QVN axes speed reference low and cause braking at
maximum torque.
If the speed references are inhibited, they are forced low.
At power on, the speed references are inhibited.
If a CNC error causing reset of E_CNPRET is detected, the speed reference is inhibited for the QDD axes. When the
error is cancelled by a reset, the speed references are again enabled or inhibited the PLC function.
In assembler programming and with PLCUT7, bit A.113 operates in the same way.

6.3 Programming Recommendations

On an emergency stop, it is recommended to:
- Inhibits the speed reference (DISC_SPD = 0),
- Activate a feed stop so as not to generate too high a following error.

en-938907/3 6-3
6.4 Dynamic Current Limiting
It is possible to dynamically limit the maximum current by the PLC selectively for each QVN application (torque slave
excluded).

Variable Mnemonic Description

%WE00.B RDUC_TRQ00 Dynamic current limiting of QVN applications 00 to 31
to to
%WE1F.B RDUC_TRQ31
Where Imaximum is the maximum current taking into account the static limitation and a is the contents of the byte:
- If a is negative or zero ($00, $80 to $FF), there is no dynamic current limiting,
- If a is positive ($01 to $7F), the maximum permissible current is equal to Imaximum x [(127 - a)/127].
Dynamic current limiting applied to a master QVN application is also applied to the associated slave QVN applications.
When operating in anti-pitching mode, dynamic current limiting applied to a master QVN application has no effect on
the master and slave preload currents.
When operating with a switchable QVN spindle/QVN axis configuration, the dynamic current limiting signal sent to the
QVN application is switched when switching from one configuration to the other.

6.5 Exchange Area

DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_

TRQ31 TRQ30 TRQ29 TRQ28 TRQ27 TRQ26 TRQ25 TRQ24 %W34.B
%W34.7 %W34.6 %W34.5 %W34.4 %W34.3 %W34.2 %W34.1 %W34.0

DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_

TRQ23 TRQ22 TRQ21 TRQ20 TRQ19 TRQ18 TRQ17 TRQ16 %W35.B
%W35.7 %W35.6 %W35.5 %W35.4 %W35.3 %W35.2 %W35.1 %W35.0 %W34.L Torque enable
DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_
TRQ15 TRQ14 TRQ13 TRQ12 TRQ11 TRQ10 TRQ9 TRQ8 %W36.B
%W36.7 %W36.6 %W36.5 %W36.4 %W36.3 %W36.2 %W36.1 %W36.0
DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_ DISC_
TRQ7 TRQ6 TRQ5 TRQ4 TRQ3 TRQ2 TRQ1 TRQ0 %W37.B
%W37.7 %W37.6 %W37.5 %W37.4 %W37.3 %W37.2 %W37.1 %W37.0

DISC_
SPD %W38.B Speed reference enable
%W38.7 %W38.6 %W38.5 %W38.4 %W38.3 %W38.2 %W38.1 %W38.0

RDUC_TRQ00 %WE00.B

Dynamic current limiting

RDUC_TRQ31 %WE1F.B

6-4 en-938907/3
 7 DISC Digital Servocontrol Setting Procedure

7.1 Setting Method 7-3

7.1.1 General Purpose 7-3
7.2 Basic Settings 7-3
7.2.1 Parameters of Coefficients Kp (P74) and
Ki (P75) to Be Adjusted 7-4
7.2.2 Initial Settings to Start the Procedure 7-4
7.2.3 Cascade Method, Recommended for a
Conventional Machine 7-4
7.2.3.1 Control and Monitoring Parameters 7-4
7.2.3.2 Setting Procedure 7-4
7.2.4 General Method Recommended for a
Stiff Machine 7-5
7.2.4.1 Control and Monitoring Parameters 7-5
7.2.4.2 Initial Setting 7-5
7.2.4.3 Setting Procedure 7-6
7.3 Additional Settings 7-7
7.3.1 Problems in Achieving the Setting
Targets 7-7
7.3.1.1 Additional Settings Available 7-7
7.3.1.2 Selection Guide 7-7
7.3.2 Decrease of QVN Sampling Period 7-9
7.3.2.1 Measuring the Available Processing
Time 7-9 7
7.3.2.2 Modifying the QVN Period (P50) 7-10
7.3.3 Speed and Interference Observer on
QVN Digital Servodrive 7-10
7.3.3.1 Description of New Parameters P116,
P117, P118 and P119 7-12
7.3.3.2 Activation and Use of the Speed Obser-
ver 7-13
7.3.3.3 Supervision Device 7-14
7.3.3.4 Integration of the Speed Observer 7-15
7.3.4 Improving the Accuracy and Stability of
an Axis 7-17
7.3.4.1 Application 7-17
7.3.4.2 Double Position Measurement 7-17
7.3.4.3 Machine Parameter P94 7-18
7.3.4.4 Methodology 7-18
7.3.5 Notch Filters 7-19
7.3.5.1 Notch Filter on Speed Error 7-19
7.3.5.2 Notch Filter on Speed Reference 7-20
7.3.5.3 Determination of Parameters {P89, P90}
{P92, P93} 7-21
7.3.6 Damping the Flexible Modes of the
Machine 7-21
7.3.6.1 Wiring Requirement 7-22
7.3.6.2 Machine Parameter P91 7-22
7.3.6.3 Methodology 7-22

en-938907/4 7-1
 7.3.7 Vibration Reduction/Elimination When
Stopped 7-23
7.3.7.1 Vibration Elimination When Stopped by
Speed Measurement Processing (P121) 7-23
7.3.7.2 Vibration Elimination When Stopped by
Decrease of the Proportional Gain
(P122) 7-24
7.3.8 Low-Pass Filter on the Speed
Reference 7-25
7.3.8.1 Machine Parameter P88 7-25
7.4 Dynamic Parameter Modification in QVN 7-26
7.4.1 Programming Notes 7-26
7.4.2 Example 7-28
7.5 Glossary 7-29

7-2 en-938907/4
 DISC Digital Servocontrol Setting Procedure

7.1 Setting Method

This section describes the steps to be followed for integration of QVN digital servodrives.
The axis addresses and axes must be declared beforehand (see Machine Parameters Manual). Initially, only the basic
settings are made.
If the results are not satisfactory or to achieve high performance, the speed estimator and possibly the notch filters or
flexibility compensations and vibration eliminators may be used. These are additional settings.

7.1.1 General Purpose

Position + Vref + Kp I
Kv Motor Load
reference Ki
- -
Vmotor
Vload
1/p
Real position

General diagram of a position feedback loop

The servodrive settings of a machine tool axis follow a few simple general rules:
- Set the motor speed loop with high gains to improve interference rejection
- Set the speed loop bandwidth at least four times wider than the corresponding target position bandwidth
7
KP.KC where KP [Amaxi/rad.s-1] Gain proportional to the speed loop
> 4.KV 70.GCNC
2.JTot KC [N.m/Arms] Motor torque constant
JTot [kg.m2] = JMOT + JLOAD/N2 Total momentum
KV [Hz] Target position gain
GCNC [m/min/mm] =KV/16.67 Position gain in CNC units

7.2 Basic Settings

Purpose
For a target CNC gain Gcnc, the time Tp of the first overshoot of the response to the speed loop control pulse (see
glossary) must satisfy the following inequality:
60
Tp(ms) <
Gcnc[(m/min)/mm]
- If time Tp of the first overshoot is not satisfactory, reduce the CNC gain.

The integral action coefficient must satisfy the inequality Ki 80[rad/s]

- Setting Ki too low leads to poor interference rejection and marking at the quadrant crossings.

en-938907/4 7-3
7.2.1 Parameters of Coefficients K p (P74) and Ki (P75) to Be Adjusted
Proportional action coefficient Kp (P74) sets the speed feedback loop bandwidth. It determines the rise time of the
speed signal for a pulse type command. Its action is decisive on the stability and robustness margins at high
frequencies.
Integral action coefficient K i (P75) ensures the static accuracy of the speed in steady state and contributes to rejecting
low and medium frequency interference. Its action introduces a negative phase shift and therefore reduces the stability
margins at medium frequencies.

7.2.2 Initial Settings to Start the Procedure

Integral action coefficient Ki (P75) is set arbitrarily to 30 rad/s to obtain an error-free response in steady state.

KP.KC
Set proportional action coefficient Kp (P74) to obtain a theoretical speed loop bandwidth of around 30Hz : 30 Hz .
2.JTot
Filter on the speed measurement: Set an average of two measurements by setting P76=1.
Other filters (low-pass filters on measurement and torque): To be inhibited: P77=0 and P78=0.
Word i corresponds to axis sensor address i and j+8 to spindle address j.

7.2.3 Cascade Method, Recommended for a Conventional Machine

Setting of PI Controller with Position Loop OPEN

7.2.3.1 Control and Monitoring Parameters

First set the control signal characteristics (using SETTool):
- Set the pulse amplitude to a low value, less than or equal to 5% of maximum speed.
- Set the minimum pulse width to 200 ms.
The observed parameters are:
- Motor speed
- Motor torque reference
- Axis speed (only if the axis measurement is output by an additional sensor).

7.2.3.2 Setting Procedure

Gradually adjust coefficient Kp (P74) to obtain:
- A rapid motor speed rise time (see glossary)
- A torque current which may be saturated during the transient phase. The maximum saturation time must be less
than 20% of the speed signal rise time
- A low-noise torque current (circuit noise at frequencies between 110 and 160 Hz which may generate audible
mechanical vibrations).
Then set coefficient Ki (P75) to obtain a motor response to the control pulse with an overshoot of around 30%. A three-
digit setting of the coefficient is highly appreciated due to the importance of its action on the markings in the four
quadrants of the ball bar traces (feedback aspect).

7-4 en-938907/4
 DISC Digital Servocontrol Setting Procedure

Influence of Coefficients Kp and Ki

Influence of coefficients K p (P74) and K i (P75)

Increase of
Increase of Kp
Kp
K1p K1i optimal
Single pulse

Current I

Tp Time

Current saturation time

Increasing coefficient Kp reduces time Tp. However, the current must not be saturated for more than 20% of the speed
rise time Tr in the speed loop for speed control pulses of approximately 5% of the maximum speed (see glossary).
Too high a setting of Kp causes large amplitude noise on the motor current (interference at frequencies of 110 to 150 Hz)
generating audible mechanical vibrations. 7
Increasing coefficient Ki reduces the steady-state error. The highest possible setting of Ki is therefore advantageous.
However, too high a setting of Ki creates instability (low frequency oscillation at around 50 Hz) and a speed loop
overshoot. The higher the setting of Kp, the higher the overshoot.
REMARK The controller gives precedence to rise time over overshoot. An overshoot of 30%
is fully acceptable.
7.2.4 General Method Recommended for a Stiff Machine
Setting of PI Controller with Position Loop CLOSED
This method, more straightforward, consists of setting the speed loop gain with position feedback active.

7.2.4.1 Control and Monitoring Parameters

Movement is in Jog mode using the feed rate override potentiometer. Set an acquisition period of around 1 ms using
SETTool.
The observed parameters are:
- Motor speed
- Motor torque reference
- Axis speed (only if the axis measurement is output by an additional sensor).

7.2.4.2 Initial Setting

Use external parameters to temporarily inhibit:
- High speed machining of precision contours function (E11012=0), and
- Gradual sin² acceleration (E11013=0) if necessary.

en-938907/4 7-5
7.2.4.3 Setting Procedure
- Gradually adjust proportional action coefficient Kp (P74) to the maximum gain giving an axis rise time without
overshoot and the start of torque instability (the desired signal is buried in noise at frequencies between [~110 and
~180 Hz]). These noise bursts usually generate audible machine vibrations.
- Decrease gain Kp until obtaining an acceptable current noise < 1.5 A with no more audible mechanical vibrations.
- Gradually increase integral action coefficient Ki (P75) while checking that there is still no overshoot on the axis speed.
A three-digit setting is highly appreciated (typically ~100 to 150 rad/s).
- Reenable the high speed machining of precision contours and gradual acceleration functions.

Influence of Kp (P74) Ki (P75)

Decrease Ki

Decrease Kp

Time
Tp

The figure above shows the influence of coefficients Kp and Ki.

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 DISC Digital Servocontrol Setting Procedure

7.3 Additional Settings

7.3.1 Problems in Achieving the Setting Targets
Certain problems due to the mechanical system or the measurement quality may prevent achievement of the setting
targets. The most common problems are:
Mechanical: Axis backlash
Flexibility in the transmission
Speed frictions
Unsuitable inertia ratio RI = JLOAD/N2/JMOTOR
Measurements: Insufficient resolution causing signal quantising problems.
Most of these problems result in vibrations or oscillations occurring at certain frequencies, when stopped or moving,
depending on the origin of the problem.
This section details the problems encountered and suggests possible solutions.

7.3.1.1 Additional Settings Available

Reduction of QVN sampling period

The real-time clock must be set to the minimum possible value.

Speed observer
7
This function usually solves problems related to QVN measurement quantisation.
It is recommended to enable it.

Double position measurement

Stabilises the position loop when using direct measurement.

Damping of flexible machine modes

Notch filters
To reject resonance in or outside the speed bandwidth.

Vibration reduction when stopped

By clipping the speed loop gain.

7.3.1.2 Selection Guide

The symptoms and recommended solutions vary according to the frequency range and nature of the vibrations. The
following selection guides are proposed. The frequencies are given for guidance. They are only orders of magnitude.

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According to the Vibration Frequency Range
Vibration frequency [Hz]
10 50 100 150 Hz Action Explanation
Increase KP of the speed The speed loop bandwidth must be more
KP
loop than four times the position loop bandwidth
KI Decrease KI of the speed Damp the speed loop
loop
P94 Use double position Backlash or flexibility
measurements
P89 & Apply a notch filter to the Eliminate resonance IN the speed loop
P90 speed reference bandwidth
Damp by acceleration Transmission flexibility
P91 feedback
P92 & P93 Apply a notch filter to the Eliminate resonance OUTSIDE the
speed error speed loop bandwidth
P121 or P122 Use a dead zone on the Measurement quantisation. High RI
speed
Position loop Speed loop
bandwidth bandwidth

According to the Nature of the Vibration

A distinction is made between vibrations when stopped and when moving. The latter require an initial analysis by
decreasing P94 to eliminate the effect of mechanical transmission defects (backlash, flexibility). Then increase P94
or set it to 0 to refine the damping strategies.

Vibration when stopped Vibration when moving with P94 Vibration when moving with P94
low low
HF: dead zone (P121 or P122) HF: Notch filter on speed error HF: Notch filter on speed error
(P92 and P93) (P92 and P93)
MF: Decrease Ki increase Kp, Decrease Kp MF: Notch filter on speed reference
increase Ki again (P89 and P90)
LF: Decrease CNC gain KV P91: Stabilisation by acceleration
feedback
P94: Decrease P94 to eliminate
the effects of the load

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 DISC Digital Servocontrol Setting Procedure

7.3.2 Decrease of QVN Sampling Period

Purpose
Adapt the QVN sampling period to the number of digital axes controlled.
Decreasing the speed feedback period:
- Decreases the importance of pure delays in the feedback loop
- Increases the stability margins and makes feedback stiffer.

Recommendations
Evenly distribute the number of axes among the digital cards to decrease the qvn_rtc.
For instance, on a six-axis machine, control three axes per QVN card instead of two by one card and four by another.
The sampling period must be adapted to:
- The active feedback functions
- The number of axes processed by each of the QVN cards.
The minimum sampling period has now been decreased to 250 ms.
The default sampling period is still 500 ms.
Word 1 of machine parameter P50 specifies the QVN period. It should be set to a default value of:
- 300 µs for a card controlling two axes
- 400 µs for a card controlling three axes
- 500 µs for a card controlling four axes 7
7.3.2.1 Measuring the Available Processing Time
This measurement is accessible from hidden command 19 of the I/O page menu (debug page). It must be made with
all the required QVN functions activated (various filters, torque master/slave, etc.). The servodrives must be enabled.
Enter 19✶ on the I/O page.
The dialogue line proposes DM/PC? Enter PC [card number] ✶ (the cards are numbered from 0 to 7 from right to left).
The dialogue line proposes DM/PC? Enter DM.Y 200 V✶
The screen displays:
Symb Field Card Address Value
VAR.0 Y 1 200 85
The value is the time available for the card specified. It is a hexadecimal value in µs.
In case of axis/spindle switching, the measurement must be made in all possible cases of operation.
Repeat the measurement for all the QVN cards and record the value corresponding to the most loaded card.

en-938907/4 7-9
7.3.2.2 Modifying the QVN Period (P50)
Based on the time available on the most loaded card, the table below shows the changes to be made to period
QVN_RTC specified by word 1 of machine parameter P50.
Time available (µs) Change to RTC
(in hexadecimal and (decimal)) (in µs)
< 14 +50
(< 20)
from 14 to 46 0
( from 20 to 70)
from 47 to 78 -50 NOTE
(from 71 to 120) CNC_RTC (P50 word 0)
The ratio ----------------------------------------- must be an integer.
from 79 to AA -100 QVN_RTC (P50 word 1)
(from 121 to 170)
from AB to DC -150
(from 171 to 220)
> DC -200
(> 220)

For instance, for a card with three axes and three speed observers, the QVN period must be set to 350 µs.
A speed observer is estimated to consume 10 µs and a notch filter 7.5 µs.

7.3.3 Speed and Interference Observer on QVN Digital Servodrive

Purpose
Improve the resolution of the speed measurement (the speed measurement is replaced by an estimator generated by
observation techniques).
The standard speed measurement is replaced by the estimated speed, which has a resolution 10 to 15 times better
than that obtained by successive differentiation of the motor positions.

7 - 10 en-938907/4
 DISC Digital Servocontrol Setting Procedure

υ θ
ε
∧
θ
υ
∧

∧
θ
∧
7
∧
υ

The monitored parameters are the speed, the rotor angle and the interference perceived by the motor.
These parameters are reconstructed using a mathematical model of the system behaviour to predict the change in the
measured output (motor position).
To take into account measurement noise and the model imperfections, three corrector terms are used. They are
proportional to the error e between the measured motor speed qmeasured and that generated by the observer qestimated such
as to achieve average convergence of qestimated to qmeasured and guarantee that the other parameters are asymptotically
unbiased.
REMARK The averaging and low-pass filters applied to the standard speed measurement
of an axis are disabled when the observer is activated on the axis.
The three-state observer creates filtering characterised by:
- A negligible phase shift at all measurement frequencies (contrary to a conventional filter)
- Attenuation of the high frequency components of the measurement (high frequency resonance, noise, etc)
- Two cutoff frequencies, specific to:
· The position and speed estimators, and
· The torque interference estimator
- A gain K2 which sets the equivalent resolution of the speed measurement.
The tables below show the characteristics and gains of the observer in SI units based on the QVN period. The two
greyed lines correspond to values suggested a priori.

en-938907/4 7 - 11
Selection of Settings
- The line used as default is the second greyed line which provides the best bandwidth of the speed estimator
- If the target gains are small and the requirements on the speed variation are high, use the first greyed line which
provides a better speed resolution

Cutoff frequency Cutoff pulse Speed K1m K2m K3m

of the position/ of the measurement Gain assigned Gain assigned Gain assigned
speed interference resolution to the speed to the speed to the interference
estimator estimator estimator estimator estimator
For a QVN_RTC = 0.5 ms (table 1)
77 Hz 146 rad/s 0.20 rpm 0.335 0.034 s-1 14020 s-2
110 Hz 74 rad/s 0.35 rpm 0.404 0.052 s-1 13270 s-2
154 Hz 37 rad/s 0.58 rpm 0.503 0.0869 s-1 12120 s-2
218 Hz 18 rad/s 1 rpm 0.620 0.147 s-1 10600 s-2
For a QVN_RTC = 0.45 ms (table 2)
77 Hz 162 rad/s 0.17 rpm 0.311 0.029 s-1 14270 s-2
109 Hz 82 rad/s 0.3 rpm 0.375 0.0438 s-1 13590 s-2
154 Hz 41 rad/s 0.53 rpm 0.468 0.0732 s-1 12540 s-2
218 Hz 20 rad/s 0.9 rpm 0.582 0.125 s-1 11110 s-2
For a QVN_RTC = 0.4 ms (table 3)
77 Hz 182 rad/s 0.17 rpm 0.287 0.024 s-1 14520 s-2
109 Hz 92 rad/s 0.28 rpm 0.344 0.036 s-1 13920 s-2
154 Hz 46 rad/s 0.49 rpm 0.431 0.06 s-1 12970 s-2
218 Hz 23 rad/s 0.86 rpm 0.541 0.104 s-1 11650 s-2
For a QVN_RTC = 0.35 ms (table 4)
77 Hz 207 rad/s 0.19 rpm 0.261 0.0197 s-1 14780 s-2
109 Hz 105 rad/s 0.28 rpm 0.310 0.0290 s-1 14260 s-2
154 Hz 53 rad/s 0.46 rpm 0.391 0.048 s-1 13420 s-2
218 Hz 26 rad/s 0.80 rpm 0.495 0.084 s-1 12220 s-2
For a QVN_RTC = 0.30 ms (table 5)
77 Hz 238 rad/s 0.17 rpm 0.234 0.0156 s-1 15040 s-2
109 Hz 122 rad/s 0.25 rpm 0.280 0.0224 s-1 14610 s-2
154 Hz 61 rad/s 0.41 rpm 0.350 0.037 s-1 13880 s-2
218 Hz 31 rad/s 0.72 rpm 0.444 0.065 s-1 12810 s-2

7.3.3.1 Description of New Parameters P116, P117, P118 and P119

The gains are set in three CNC machine parameters.
Parameter P117: Includes 32 words relative to gain K1m used to estimate the rotor position.
Case of an axis: for speed sensor address i, word Ni contains K1m in millionths.
Case of a QVN spindle: for speed sensor address j, word Nj+8 contains K1m in millionths.

Parameter P118: Includes 32 words relative to gain K2m used to estimate the rotor speed (unit s-1).
Case of an axis: for speed sensor address i, word Ni contains K2m in millionths.
Case of a QVN spindle: for speed sensor address j, word Nj+8 contains K2m in millionths.

7 - 12 en-938907/4
 DISC Digital Servocontrol Setting Procedure

Parameter P119: Includes 32 words relative to gain K3m used to estimate the interference perceived by the motor
(unit s-2).
Case of an axis: for speed sensor address i, word Ni contains K3m in units
Case of a spindle: for speed sensor address j, word Nj+8 contains K3m in units.

θ
υ

∧
θ θ
∧
∧
υ

Functional diagram of feedback loop with use of a speed observer 7

The behaviour model requires knowing ratio KC/J of the motor torque constant to the total inertia seen by the motor.
Parameter P116: Describes this ratio KC/J in tens of Nm/Arms/Kgm². This parameter contains 32 words.
Case of an axis: for speed sensor address i, word Ni contains KC/J relating torque to acceleration
Case of a QVN spindle: for speed sensor address j, word Nj+8 contains KC/J.

7.3.3.2 Activation and Use of the Speed Observer

Activation of the Filter

The speed observer is active after initialisation of the CNC if coefficient Kc/J is different from zero (P116 Ni > 0).
If one of the following conditions is not satisfied at initialisation, the filter is inoperative:
- The maximum rating of the drive Ic > 0 (P79 Ni)
- Gains K1m and K2m are less than 1

Ic Kc 1.8 x 106 16383 J 2 2

x 2
xT x <1 and x x K3m < 1 (internal check of coefficients).
16383 J 2 2 Ic Kc 1.8 x 106

en-938907/4 7 - 13
Use of the Filter: Parameter P72
Parameter P72: Use of the estimated speed in the feedback of the speed loop defined words N2 and N3.
Word N2: Measured speed replaced by observed speed and activation of the speed monitoring system (for axes). The
bit position corresponds to the speed sensor address.
Word N3: Measured speed replaced by observed speed and activation of the speed monitoring system (for QVN
spindles). For the spindle at address j, setting of bit j-24 of word N3 activates the speed observer.

7.3.3.3 Supervision Device

A supervision device monitors the speed within a speed cone defined by a threshold and a slope.
Parameter P120: Includes 64 words, representing the speed threshold in rpm and the slope in thousandths applied
to the supervision device speed signal. Words N2i and N2i+1 correspond to speed sensor address i.

Speed
positive slope
Vmax
estimated speed

negative slope

Threshold

|Vestimated - Vmeas| < Sthreshold + Pslope* Vmeas

Time

Estimated speed supervision device

The permissible values of Vthreshold are positive and limited to 40 percent of the maximum motor speed (P73).
The value of coefficient Kslope can be:
- Zero: The maximum permissible error is constant at all speeds
- Positive: The maximum permissible error increases with the speed
- Negative: The maximum permissible error decreases with the speed.
The recommended values are: V threshold around 100 rpm, Kslope close to 2% of Vmax.

If the speed error between the estimated and measured speed is greater than the permissible error, the QVN returns
error "245" associated with the message "Speed estimator".
The two probable causes of error are:
- A speed threshold Vthreshold and a coefficient Kslope too severe: relax the supervision requirements
Kc
- Estimator incorrectly set: adjust the setting of or gains K1m K2m K3m
J

7 - 14 en-938907/4
 DISC Digital Servocontrol Setting Procedure

7.3.3.4 Integration of the Speed Observer

Iref Servodrive Mechanical axis

Speed Speed Auto- MDLD system
reference + controller control BMH
- motor θmeasured
υinterf. Encoder

Speed Filters 1 - z -1
measurement
enable logic

Observer enable
logic
∧
V estimated
∧ SPEED AND
υ interf. INTERFERENCE
ε (t) OBSERVER

Kc GAIN CONTROL

Functional diagram during speed and interference observer adjustment

Known Parameters of the Moving Assembly

The input data are: 7
Kc[Nm/Arms]
- Ratio associated with each of the motors (see motor characteristic)
Jmot
Jload
- Inertia ratio Ri = . The permissible real values are 0 < Ri < 19.
Jmotor
The table of required observer characteristics (see tables below).
These data are used to determine:
Kc[Nm/Arms] Kc[Nm/Arms]
- Ratio = .
J Jmot * (Ri + 1)
- The three gains K1m K2m and K3m (see characteristic table).

Unknown Parameters of the Moving Assembly

Kc[Nm/Arms] Kc[Nm/Arms]
Experimental determination of the gain = under SETTool:
J Jmot * (Ri + 1)
- In feedback mode, measure the friction current Ifrict_[Apeak] during movement at stabilised speed (approximately 20%
of the jog speed).

en-938907/4 7 - 15
 ~20% Vjog

Ifriction

- Limit the maximum torque current Ic_sat (P79) to approximately four times Ifrict, decreasing the speed loop proportional
and integral action coefficients if necessary. If dry friction is negligible, clip the torque current to approximately Irated/
6.
- Apply a speed control pulse equal to 15% of maximum speed to saturate the current for a significant time (e.g. 50
ms) then measure the acceleration (2.p.DV/60)/DT over time interval DT (in s) at saturated current (DV is the speed
variation in rpm during time interval DT).

~ 15%Vmax

Itorque ~ 4 Ifriction

t > 50 ms

Kc[Nm/Arms] Kc[Nm/Arms]
- The gain = is approximately equal to:
J Jmot * (Ri + 1)

Kc[Nm/Arms] 2. . Vrpm 2
=
J 60. T.(Ic_sat - Ifrict.)
- The estimated gain includes a relative error less than 5 percent.

7 - 16 en-938907/4
 DISC Digital Servocontrol Setting Procedure

7.3.4 Improving the Accuracy and Stability of an Axis

7.3.4.1 Application
Maximum positioning accuracy is obtained by direct measurement on the moving part rather than on the motor. This
automatically takes into account the defects of the moving assembly (backlash, play in screw threads or rack).
However, most adjustment problems are due to imperfections of the mechanical transmission system between the
motor, load generator and load, i.e. the part to be moved, whose position is measured. Transmission backlash and
elasticity cause a phase lag between the load applied and its effect on the measurement which leads to feedback
instability.
Double position measurement uses both the position output by the motor sensor and that output by a sensor related
to the load in a settable proportion. It is used to ensure isolation from the load and the negative effects of defects of
the moving assembly.
In certain extreme cases, double position measurement may be the only way of stabilising the position loop
of an axis.
However, it should be noted that the strategy of using P94 degrades feedback performance since the information from
the axis encoder is not fully used. This may be visible on ball-bar quadrant marking.

7.3.4.2 Double Position Measurement

The solution proposed consists of using the two outputs from the motor sensor and the load sensor with two 7
complementary position loops:

Position + Vref + I
Kv PI Motor Load
reference
- -
Vmotor Vload

+ Motor position
P94 1/p

+ Real position
1/p

- A first rapid and stable position loop with the motor position sensor
- A second accurate position loop with measurement of the load position.
P94 specifies the frequency separating the two complementary loops.

Axis sensor feedback P94 Motor sensor feedback predominant

predominant

en-938907/4 7 - 17
7.3.4.3 Machine Parameter P94
Parameter P94 specifies the separation frequency between the two complementary position loops in tenths of a Hertz.
The maximum permissible setting is 1/(4*CNC_RTC), i.e. 1000/20 = 50 Hz, i.e. a maximum setting of P94 = 500 for
a CNC_RTC of 5 ms.
If the setting of P94 is low, motor feedback predominates: the loop is stable but risks being inaccurate.

Axis sensor feedback P94 Motor sensor feedback predominant

predominant

If the setting of P94 is high, axis feedback predominates: the loop is accurate but risks being unstable.

Axis sensor feedback predominant P94 Motor sensor

feedback predominant

If P94 = 0, the function is disabled and only the axis sensor output is used.
If P94 is different from zero, the function is activated when power is applied.

7.3.4.4 Methodology
Start the CNC with a low setting of P94 (e.g. P94 = 50, i.e. 5 Hz) so that motor feedback predominates.
Use SETTool to observe the position of the load.
Increase P94 until the position loop becomes unstable. Then decrease P94 by approximately 20%.
Case of a resonance: If the mechanical problem is a known resonance at Fres, P94 can be set to filter the destabilising
component of the axis sensor feedback above Fres/2 or 3.
FRES/2 or 3 FRES

Load predominates Load predominates

FRES FRES
P94 = 10 =
2 or 3 3 or 5

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 DISC Digital Servocontrol Setting Procedure

7.3.5 Notch Filters

Two notch filters are available to stabilise the load in presence of mechanical resonance. They operate on the speed
error for resonance at frequencies outside the speed loop bandwidth or on the speed reference for resonance at
frequencies in the speed loop bandwidth.

7.3.5.1 Notch Filter on Speed Error

Purpose: Stabilise the load in presence of mechanical resonance at a frequency outside the speed loop bandwidth.
"Amplitude in dB"
5

1000
100
1

10

-5

-10

-15
Frequency in Hz
7
Case of a speed loop WITH overshoot:
The approximate bandwidth is determined from the expression T p* ω c = 4.5 (see glossary), yielding

4.5 1 1
fc * =
2 Tp 1.4Tp
Case of a speed loop WITHOUT overshoot:
The bandwidth can be estimated from the response time to a low amplitude control pulse at 95% of the final speed:

1 1 Kp K c
fc = or based on the gains fc
2tr 2 2Jtot
In both cases the speed or current oscillation frequency must be > 2fc
If the cause of the phenomenon is mechanical resonance, the oscillation period is independent of the speed. However,
it may vary slightly with the machine position during the test.

Machine Parameters
Parameters P92 and P93 specify the filter.
The word number corresponds to motor sensor i for axes and j+8 for spindles.

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Methodology
- Measure the motor current or speed oscillation period T using SETTool. Determine the frequency F = 1/T
- Enter the measured frequency as filter cutoff frequency fo at maximum attenuation
- Set the -3 dB bandwidth to f0
- Set the attenuation to -10 dB
- Set the calculated values in parameters P92 and P93 (see Sec. 7.4)
- Check the filter efficiency by a new recording with SETTool
- If interference subsists, the attenuation can be increased to -30 dB.

7.3.5.2 Notch Filter on Speed Reference

Purpose
Stabilise the load in presence of low frequency mechanical resonance in the speed loop bandwidth (~[10-25 Hz] in the
example).

"Amplitude in dB"
0
1

10

100

1000
-5

-10

-15

-20
Frequency in Hz

Machine Parameters
Parameters P89 and P90 specify the filter.
The word number corresponds to motor sensor i for axes and j+8 for spindles.

Methodology
Use SETTool to observe:
- The motor speed or motor current if the load influences the motor
- The load speed if the load does not influence the motor (case of unsuitable inertia ratio)
- Measure the motor current or speed oscillation period T using SETTool. Determine the frequency F = 1/T
- Enter the measured frequency as filter cutoff frequency f0 at maximum attenuation
- Set the -3 dB bandwidth to f0
- Set the attenuation to between -10 and -15 dB
- Check that the filter phase shift does not exceed 20 to 30 degrees (see Sec. 7.3.5.3)
- Set the calculated values in parameters P89 and P90 (see Sec. 7.4)
- Check the filter efficiency by a new recording with SETTool
- If interference subsists, the attenuation can be increased to -30 dB.

7 - 20 en-938907/4
 DISC Digital Servocontrol Setting Procedure

- If necessary, increase the attenuation within the limit permitted by the phase shift.
The filter phase shift increases with the bandwidth and especially with the attenuation. The wider the bandwidth, the
more rapidly the filter acts at low frequencies.

7.3.5.3 Determination of Parameters {P89, P90} {P92, P93}

Parameters P89, P90, P92 and P93 are determined using the NOTCH-d.XLS Excel worksheet by entering the
characteristics of the interference to be eliminated in the cells provided
- Cutoff frequency Fc relative to maximum attenuation
- -3 dB bandwidth centred on the cutoff frequency (typical bandwidth = Fc)
- Amplitude of the attenuation in dB at the cutoff frequency (-10 to -15 dB).

Procedure
- Fill in cells A2, B2, C2 (cutoff frequency, bandwidth, attenuation)
- Fill in cell C7 (required position gain in m/min/mm)
- Set cell D2 to zero (high-frequency attenuation)
- Set cell E5 to zero (gain correction)
- Fine-tune the result by adjusting the gain correction as follows:
· In the TOOL menu, select TARGET VALUE
· Fill in the CELL TO BE SPECIFIED field by clicking cell D5 (gain_digit.hf)
· Fill in the VALUE TO BE REACHED field by clicking cell D2 (Att_HF(dB))
· Fill in the CELL TO BE MODIFIED field by clicking cell E5 (correct_gain).
· Click OK. The process may last several minutes.
REMARK The macro called by <Ctrl+m> automatically adjusts the HF gain.
7
To use this function, set cell D2 to zero.
The parameter values are given in cells B19 to B22.

Precaution
For the filter on the speed reference, make sure the phase shift at the position loop cutoff frequency specified in cell
E23 is less than 20 to 30 degrees. This may require decreasing the attenuation or bandwidth.

7.3.6 Damping the Flexible Modes of the Machine

When the speed loop bandwidth is large, the machine risks vibrating at the frequency of its flexible mode.
Active damping of the machine can be achieved by load acceleration feedback determined by differentiating the
machine speed read on a load sensor.

Position + Vref + + I
Kv PI Motor Load
reference
- - -

VMotor Vload

Feedback γc γc
λ p

1/p

Real position

en-938907/4 7 - 21
7.3.6.1 Wiring Requirement
The load and motor sensors must both be connected to the same QVN card.
REMARK QVN cards accommodate only incremental encoders.
7.3.6.2 Machine Parameter P91
Parameter P91 specifies the damping coefficient of the flexible mode of the machine.
Word i corresponds to axis sensor address i and word j+8 to spindle address j.
The permissible setting in thousandths ranges from 0 (no damping) to 1000 (maximum damping).
If P91 is different from zero, the function is activated at power on.

7.3.6.3 Methodology

No damping
Increase P91

Correct
damping

Motor

Load

Time

Influence of P91

Use SETTool to observe the motor speed and load speed.

Increase P91 until damping of the flexible mode is correct.
Observe the motor current. If the load measurement quantisation effect is large, set filtering of the load speed (the
available filters are the same as those dedicated to the motor speed):
- Averaging on the load speed measurement: average of P76Ni values (i: load sensor address)
- First-order low-pass filter on load speed measurement: P77Ni contains the cutoff frequency in Hz (i: load sensor
address).

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 DISC Digital Servocontrol Setting Procedure

7.3.7 Vibration Reduction/Elimination When Stopped

Speed measurement quantisation phenomena are directly amplified by the proportional action coefficient of the
feedback loop. Torque current spikes whose amplitude is directly related to gain Kp are then transmitted to the power
components (drive/motor).
A vibration can then arise in the motor feedback loop when stopped. The typical vibration frequency is around 100 Hz
{90 - 120 Hz}.

7.3.7.1 Vibration Elimination When Stopped by Speed Measurement Processing (P121)

Description of the Function

Resultant Vmotor
Slope 1/1
measurement

P121N(2i) P121N(2i+1)

-Threshold +Threshold
Vmotor
measurement

7
Slope 1/1

Non-linear measurement processing in the speed loop feedback system

To reduce the vibration amplitude efficiently when stopped while preserving a high proportional action gain, the speed
measurement related to proportional action gain Kp is weighted by a coefficient equal to less than 1 when the speed
measurement is below a threshold.

Parameter P121
Case of a QVN Axis
P121N2i: Speed threshold (in tenths of rpm), where i is the motor speed sensor address
- For an averaged, filtered speed measurement, the threshold is typically given by the speed measurement resolution,
i.e. 1/(300*qvn_rtc[in sec]) rpm.
- For an estimated motor speed measurement, the threshold is set to a value close to the apparent resolution of the
estimator, i.e. approximately 1/(300*qvn_rtc[in sec]) rpm.
P121N2i+1: Coefficient applied to the motor speed ratio below the threshold [in thousandths], where i is the motor
sensor address. Typical value 70%, i.e. P121N2i+1 = 700.

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Examples for an axis

qvn_rtc [s] Apparent resolution Measurement type P121N2i P121N2i+1

of Vmeas
0.0004 ~ 8.4 rpm position D > 84 700
0.0005 ~ 6.7 rpm position D > 67 700
0.0004 ~ 0.5 rpm observer >5 700
0.0005 ~ 0.6 rpm observer >6 700

Case of a QVN Spindle

P121N2(j+8): Speed threshold (in tenths of rpm),
where j is the spindle speed sensor address (jÎ{24,...,27}).
P121N2(j+8)+1: Coefficient applied to the motor speed ratio below the threshold [in thousandths],
where j is the spindle sensor address.
If the parameter associated with the speed measurement threshold is different from zero, the function is activated.

7.3.7.2 Vibration Elimination When Stopped by Decrease of the Proportional Gain (P122)

Description of the Function

To reduce the vibration amplitude efficiently when stopped while preserving a high proportional action gain, the
proportional action coefficient is decreased when the speed reference falls below a threshold.

Proportional
action coefficient
Kp

P74 P74

P74 * P122N(2i+1)

-Threshold +Threshold
Motor speed
P122N(2i)
reference
Vrefmotor

Parameter P122

Case of a QVN Axis

P122N2i: Speed reference threshold (in tenths of rpm). The typical value is the apparent speed measurement
resolution
P121N2i+1: Ratio applied to speed loop proportional action coefficient when the speed reference is below the
threshold. Typical value 70%.

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 DISC Digital Servocontrol Setting Procedure

Case of a QVN Spindle

P122N2(j+8): Speed reference threshold (in tenths of rpm), where j is the spindle speed sensor address
(jÎ{24,...,27}).
P122N2(j+8)+1: Ratio applied to the speed loop proportional action coefficient when the speed reference is below the
threshold in thousandths], where j is the spindle sensor address.
If the parameter associated with the speed reference threshold is different from zero, the function is activated.

7.3.8 Low-Pass Filter on the Speed Reference

Purpose: Smooth the load acceleration.

7.3.8.1 Machine Parameter P88

Parameter P88: fc is the cutoff frequency in hertz of the first-order filter.
The cutoff frequency must satisfy the following inequality:

1000 GCNC[(m/min)/mm]
fcutoff[Hz] > 4.
. to smooth the acceleration of the load without degrading the position loop stability
60 2π
(speed overshoot).

1
Note: Maximum permissible value =
4* Htr_QVN 7
The use of this filter must not compromise the CNC gain requirements stated by the customer.
Word i corresponds to axis sensor address i and word j+8 to spindle address j.

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7.4 Dynamic Parameter Modification in QVN
Dynamic modification of the machine parameter images facilitates adjustment of the settings while making it possible
to see the effect of the modification without having to reset the machine.
Dynamic modification does not change the parameter settings in the EEPROM but only the value in internal
units used by the QVN card. When modification is completed, the settings must be included in the machine
parameters by means of utility 5.
When the system is reset, the parameter settings in the EEPROM are used.
Parameter modification is carried out by programming operator OV1 with the following arguments:
/ @ position sensor address
/ @ speed sensor address
/ parameter number
/ ... parameter setting
/ ... parameter setting
/ ...
The parameter setting arguments are expressed in the same unit and order as those used in utility 5.
Each argument can be a numerical value, an L variable, an external parameter or a symbolic variable.
The following parameters can currently be modified in internal units in QVN:
P20, P21
P76 Number of terms of the position sensor speed measurement averager
P77 Position sensor speed measurement filter cutoff frequency
P88 Frequency of low-pass filter on speed reference
P89, P90 Notch filter on speed reference
P91 Flexibility compensation
P92, P93 Notch filter on speed error
P94 Double position measurement
P116, P117, P118, P119 Speed and interference observer
P120 Observer supervision
P121 Non-linearity on speed
P122 Gain clipping

7.4.1 Programming Notes

Certain functions are specified by a group of several parameters. Each parameter can have several arguments.
A change in one parameter of a group can be carried out by specifying any parameter of the group, but all the arguments
of all the parameters must be specified.
The table below shows the syntax used for each group.

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 DISC Digital Servocontrol Setting Procedure

Parameter Syntax Permissible settings Disable Maximum

(else programming setting settings in
error) internal units
P20, P21 /20/ setting P20 / setting P21 P20 (0,1)
P21 : > 0
P88 /88/parameter setting ³ 0 and £ 65535 0 1Hz, Fsmp
QVN/4
P76 /76/setting ³0 0 0.7
P77 /77/setting ³ 0 or £ 65536 < 20 20Hz,FQVN/4
P89, P90 /89/ fn/ zn/ fd/ zd Same conditions fn = 0, zn = 0,
or /90/ fn/ zn/ fd/ zd as for fd = 0, zd = 0
initialisation
P91 /91/setting 0 < setting < 1000 None

P92, P93 /92/ fn/ zn/ fd/ zd Same conditions fn = 0, zn = 0,

or /93/ fn/ zn/ fd/ zd as for fd = 0, zd = 0
initialisation
P94 /94/setting 0 < setting £ 65536 0 0.1Hz,FCNC/4
P116, P117, P118, /116/Kc/J/K1m/K2m/K3m Same conditions None
P119 Or
/117/Kc/J/K1m/K2m/K3m
as for
initialisation
7
Or
/118/Kc/J/K1m/K2m/K3m
Or
/119/Kc/J/K1m/K2m/K3m
P120 /120/Vthreshold/Kslope ³ -65535 and Maximum
£ 65535 settings same
as for
initialisation
P121 /121/threshold/ratio Same conditions Threshold = 0
as for
initialisation
P122 /122/threshold/ratio Same conditions Threshold = 0
as for
initialisation
If the settings programmed do not satisfy the requirements (programming error 93), the corresponding parameters of
the QVN application remain unchanged.

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7.4.2 Example
The example concerns the QVN application controlled by QVN card 0 using an additional position sensor:
position sensor @ = 5
speed sensor @ = 25
The programme below sets the parameters for various functions.
%100
(QVN parameter modification on request)
(Low-pass filter on speed reference)
N10 OV1/5/25/88/70
(Notch filter on speed reference: fn, zn, fd, zn)
N20 OV1/5/25/89/100/20/96/300
(Speed observer: Kc/J, K1m, K2m, K3m)
N30 OV1/5/25/116/70833/ 238900/12300/8657
(Speed observer: Vthreshold and Kslope)
N40 OV1/5/25/120/80/300
(Notch filter on speed error: fn, zn, fd, zn)
N50 OV1/5/25/92/200/20/198/300
(Load acceleration feedback: 0.5 encoded as 500/1000)
N60 OV1/5/25/91/500
(Averaging filter on two consecutive values for the load speed)
N70 OV1/5/-1/76/1 (see remark)
M2
REMARK If the parameter is used with the load sensor (case of P76 and P77), the motor
speed sensor address argument must be set to -1.

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 DISC Digital Servocontrol Setting Procedure

7.5 Glossary

Speed loop response

to a single control pulse

1+D1

1.00
0.90 Single control pulse

0.10
time
Tr Tr : Rise time
Tp Tp : Time of first overshoot

7
Tr: Rise time
Time between 10% and 90% of the final value of a signal assumed to be only slightly damped.

Tp: Overshoot time (peak time)

Time of the first overshoot of the response measured from the start of the control pulse.

Relation between Tp, the speed loop -3 dB cutoff pulse wc and the CNC position gain:
wc is the -3 dB cutoff pulse of the speed loop, i.e. ?c is the speed loop bandwidth. An overshoot of 30% is tolerated.

The function relating Tp to wc is Tp . ωc ~

= 4.5
The time Tp of the first overshoot is therefore a very good indicator of the speed loop bandwidth.
For correct closed loop operation, the speed loop bandwidth wc must be 4 to 5 times higher than the position gain Kv.
The function relating time Tp to the CNC gain is:

4.5 4.5 1 60[s] 60[ms]

Tp = < = = =
ωc 4.5 Kv Kv 1000.GCNC GCNC[(m/min)/mm]

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The time Tp of the first overshoot can therefore be used to estimate the maximum possible position gain:

60
GCNC[(m/min)/mm] <
Tp(ms)

The speed loop bandwidth must be:

4500GCNC[(m/min)/mm]
ωc = 4,5Kv =
60

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