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NYCe4000 Tools Manual

1. A110 nad T ij UU DLP General Frequencies Commutation Motor Digital ia Hom DAW 0 0 N4120 e DRY 0 1 NY 4130 hi DAV OZ NY4140 ue lames Mybsis DRAM 0 4 N41 Avis Type Sena Motor Type ac Brushless E Position interface 500 530 with indes min pasitian mas position Modulo Asis Motor and Position Interface Axis Resolution 2048 Increments 1 revolutions Y Controller Output Fiesolutian QOOQUOO00 000 Resolution Axis State Idle na error Fig 10 New axis selected in the NYCeConfigurator Do the following steps in the General tab to setup a rotational axis with revolution as axis position unit 1 Set the Axis Type to Servo if this field shows another selection 2 Select the Motor Type the listed motor types depend on the chosen drive module The types available are DC Brushed AC Brushless DC Brushless Stepper Sensing Stepper or Piezo stack The motor type IndraBLAC is only available with the NY4150 SERCOSIII Master module 3 Setthe Axis Resolution equal to the encoder resolution Example If the encoder connected to the motor shaft has a quadrature 512 cycles per revolution CPR output then the resolution of the encoder must be set to 2048 increments per revolution This is also known as the Pulses Per Revolution of an encoder PPR 4 Setaxis unit Increments to revolutions 5 Set the Controller Output Resolution equal to t
2. Error monitoring The NYCeScope has been designed to resemble a real oscilloscope First you select the data you want to view with the Channels button and set the trace settings in the NYCeScope Control panel Then the NYCeScope is ready for tracing Fig 96 shows the Control panel of the NYCeScope E NY CeScope Control panel Simulation Network SEa Enable trigger Condition MHY4110_nodel2 Emergency Ine E 2 ae Trace size 1000 S ms viti model An nO Value Slc 7 Med nodet 2 Drive Temperate _Freg Setings Single shot mode M r4110 nadel2 Sample Duratior bi p Pre delay samp Os unen i Allow dropped samples Trigger channel Use Anti Aliasing filter none IDLE IDLE New FRE View Fig 96 The NYCeScope Control panel 5 1 Trace channel selection The traceable variables can be assigned to a trace channel via the Channels button in the NYCeScope Control panel Do the following steps to select variables to a trace of remove selected variables from a trace 1 Click the Channels button in the NYCeScope Control panel The Select trace channels dialog window appears see Fig 97 Select trace channels Available Data Sources Traceable Variables Selected Channels me A Ced000 System Made 5 numeric hys Spg State LO Node B numeric hys Setpoint Yel MrT4110 nodel2 E Eb TIA g Made 7 numeric HYr4110 nade12 Emergency Input ue Node 8 numeric N 411
3. Save to Flash With the button Save to Flash you can save the motor parameters from the IndraDrive into the flash memory of the IndraDrive 50 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeConfigurator NYCeConfigurator Real Metwork File About a NYCe4000 System rIndraDrive 3 Advanced H E NY4110_nodel3 eR MCU D NY4110 c f ORV OO NY4150 ef IndraDriee 1 Advanced fj IndraDrive 2 Advanced Motor Encoder Brake Temperature Save Download ER IndraDrive 3 Advanced oO Musis f DAY D1 NY 4130 General Inputs Outputs IndraDrive Motor Settings for IndraDirive motor Load from File Save to File Save to Flash Fig 48 Save Download tab for a motor without motor encoder flash memory NYCe4000 Tools Manual Bosch Rexroth AG 51 136 NYCeConfigurator 3 6 Configuration at the axis level When you select an axis in the NYCe4000 system tree the pane at the right hand side of the NYCeConfigurator window shows several tabs NYCeConfigurator Simulation Network File About s MYCe4000 System Maas General Frequencies Motor Digital 10 Home Safety Ern NY4110_node li MCU 0 NY4110 fj DRY 0 0 NY4120 E DRY 0 1 NY4130 r hi DAV OZ NY4140 Ahle Narma Mybsis j DRY 0 4 NY417TD Avis Type Sena Motor Type pc Brushed Position interface 500 590 with inde min pasitian mas position Modulo Asis Motor and Position Inter
4. NYCe4000 defines the following axis types Sensor The sensor axis consists of only a sensor no motor The sensor axis can be used to follow the position of an object and based on that position control the position of another object Open loop An open loop axis does not have an encoder only a motor Stepper A stepper axis does not have an encoder only a stepper motor Sensing stepper A sensing stepper axis consists of an encoder and a stepper motor Note that the encoder is not used in the control loop Servo A servo axis consists of an encoder and a motor not stepper motor or IndraDrive or an analog output to control an external drive The encoder is used in the control loop IndraDrive axis The IndraDrive axis is an IndraDrive connected to the NYCe4000 via the NY4150 SERCOSIII Master module The IndraDrive has its own encoder See the NYCe4000 Hardware System Manual for the ADC resolution of the NY4120 NY4130 NY4140 and NY4170 drive modules You must also define the controller output resolution This is the scaling of the controller output Internally the controller output uses a range of 1 0 1 0 With the Controller Output Resolution you can scale this range to any other range for data presentation for example in NYCeScope Scope Time Domain Plot uto scale Controller controller out Output p COR COR PAT Pa Pa RR PR PERPE OP ERR PCR Poe tte reper Perry
5. 0 000000 Max I2T 37 500000 High neg Axis State Inactive no error Fig 84 Safety tab setting the Maximum Settling Time N CeConfigurator Simulation Network File About me MYCe4000 System MyAnis iE Se MY4110 nad TE li UL DIE Mator Digital 10 Home Safety Error Handlers Save Dim fj DRY 0 0 NY4120 MyAsis a MyAxisStepper Error Codes Error Handlers DAW 0 1 N4130 PEER_OPEN_LOOP SMOOTH STOP DRY 0 2 Hr4140 PEEH DISABLE DRIVE SMOOTH_STOP DAY 0 4 N4170 PEER_POS_ CORRUPTED SMOOTH_STOP PHASE_ALARM POS CORRUPTED MASTER_DIRECTION_ERROR QUICK STOP MASTER_POSITION_OVERFL GUICK_STOP MASTER_POSITION_LOSS QUICE_STOP ESETTLING TIME ERROR QUICK STOP POS SERVO Q vER VOLTAGE DISABLE DRIVE POS SERVO UNDER VOLTA GQUICK_STOP MEG_SERYO_UNDER_YVOLTA Quick STOP MEG SERVO DVvER vDOLT amp GE DISABLE DRIVE OVER_TEMPERATURE WARNING M s VELOCITY EXCEEDED SMOOTH STOP MAX ACCELERATIOM EXCEE SMOOTH STOP MAX JERK EXCEEDED SMOOTH STUP QVvER CLIRREMNT DISABLE DRIVE INVALID HALL SENSOR DISABLE DRIVE Axis State Inactive no error Fig 85 Error Handlers tab setting an error handler for Max settling Time NYCe4000 Tools Manual Bosch Rexroth AG 93 136 NYCeTuner 4 14 AutoTweak tool The AutoTweak tool is designed to provide an estimate of the position dependent feed forward Fig 86 shows the user interface of the AutoTweak tool The AutoTweak tool can be started via the
6. tab For a BLAC motor get the number of pole pairs from the motor manufacturer datasheet and set the Pos units Total nr of Pole Pairs to 1 as the position unit has been set to revolutions For a BLDC motor select the Hall sensor input type DIGIN or RS422 and get the commutation table from the manufacturer datasheet If the commutation table is unknown you can use the initial table shown by the NYCeConfigurator 9 Click the Motor tab 10 Set Saturation level of the axis equal to the peak current of the motor if you use an NY4120 drive module If you use an NY4130 or NY4170 drive module the saturation level is the maximum voltage for the controller output of the drive module 11 Click the Safety tab 12 Set quick stop acceleration rev s equal to 10x the nominal speed 13 Set smooth stop acceleration rev s equal to 10x the nominal speed 14 Set smooth stop jerk rev s equal to 100x the nominal speed 15 Set maximum servo bus voltage High pos to 12096 of the nominal voltage 16 Set minimum servo bus voltage Low pos to 8096 of the nominal voltage 17 Click the Apply button 18 Click the Save Download tab 19 Save the motor settings to a file for example MyAxis xml NYCe4000 Tools Manual Bosch Rexroth AG 17 136 Getting started Configure the axis for a stepper motor or sensing stepper motor Click on the DEF AXIS 1 axis in the pane at the left side of the NYCeConfigurator Y
7. 2 If there is no motion profile create a motion profile in the Motion settings section Click the Advanced button to adjust additional settings of the profile Click the Lock button and then the Start button to start the motor Enter the settling criteria in the Criteria section Click the Stop button to stop the axis when the adjustments are ready 9 Cl s To view the movements of the axis you can start the NYCeScope tool by clicking the Start NYCeScope button See chapter 5 for more information about the NYCeScope tool NYCe4000 Tools Manual Bosch Rexroth AG 33 136 Getting started Get an IndraDrive based motor operational NYCeTuner Expert mode The NYCe4000 system supports IndraDrive based motors with the introduction of the NY4150 SERCOSIII Master module However the current release of the NYCeTuner does not support the IndraDrive in the Wizard mode This chapter describes the steps you must do after you configured the IndraDrive see chapter 2 3 Do the following steps to get an IndraDrive based motor operational 1 Start the NYCeTuner tool NYCeTuner initializes the axis and will display an error message because some parameters are initialized for the IndraDrive Click OK you can ignore this error message AXIS NY4110 node MvAxis Fig 29 NYCeTuner Expert mode setting parameters for the IndraDrive based motor ri View Tools Mr Ced 000 System MY4T1U
8. 2 2 2 Qv S t 2p OS T O U y s ND NN NN NN U 8 2 2 FF d Ow S 2PypOnpS Oyn where wnn 2rTrfuN and wno 2rrfup The notch filter may be used as a pure notch filter fun fup to suppress a certain frequency or as a second order lead lag filter if fup gt fun or lag lead filter if fun gt fup Besides the frequencies the damping 5 of the two filters can be set as well NFA NUM DAMP NFB NUM DAMP NFC NUM DAMP for the high pass filter NFA DEN DAMP NFB DEN DAMP NFC DEN DAMP for the low pass filter Where 0 lt Bussi and 0 lt Donee The filter has DC gain equal to 1 damp num 0 3 den 0 7 damp num 0 1 den 0 9 damp num 0 01 den 0 99 Fig 71 Notch filter frequency response fnumerator faenumerator freq num den damp num 0 9 den 0 9 freq num den damp num 0 1 0 den 0 9 freq num gt den damp num 0 1 den 7 0 9 Fig 72 Notch filter frequency response fnumerator faenumerator Each notch filter can be switched on and off with its switch parameter NFA SWITCH NFB SWITCH NFC SWITCH 80 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner 4 9 Current control parameters not for NY4130 NY4170 Table 12 shows the current control parameters as displayed by the NYCeTuner when selecting the parameters via the View menu Fig 73 shows the control lay out of the current controller The parameters cc xr and cc x are the PI controller p
9. NYCe4000 Tools Manual 5 3 Trace display manipulation You can configure the Time Domain Plot window Signal Spectrum Plot window and FRF plot window while the NYCeScope started tracing that is after you clicked the Start button The Time Domain Plot window can display all the traces of its type at once Fig 98 shows an example of a Time Domain Plot Scope Time Domain Plot V Channel names Invert colors Auto scale iy ri f x d b y Y r x f ri x Y i z N y N F i Y E i 4 1 Pi WENT j i V tpoint Act E N i X j i t 3 i x F X i j E j Cw BP F T o 2 75k test Setpoint Jerk 265k a oe tt I Zra gd vy rr I ae 9 V Lu PE Lj I E27 oi 9 9 V V cun m zl PO L I Ex ed m Uy I Xa Be EMI Lj UV V I I Em Zt 42 8 42 9 43 43 1 43 2 43 3 43 4 L3 d M ELS DR rro T ETET L c b LE ERE 43 5 For easy recognition the plots of identical typed variables are always grouped together and always at the same position in the plot window The bitfield typed variables are always displayed at the bottom of the plot Above the bitfield typed variables plots are the boolean typed variables displayed and above the bitfield typed variables are the enumerated typed variables displayed Finally in the top part of the plot window the numeric typed variables are displayed Note Numeric typed variables are plotted with an algorithm that draws lines to connect the
10. SERCON Gateware Download SERCUM Gateware Fig 5 Download tab specific for the NY4150 SERCOSIII Master module 2 Click the Download SERCON Gateware button in the SERCON Gateware section The Download SERCON Gateware to DRV 0 0 NY4150 dialog box appears 3 Select the SERCON gateware file sercon100m sgw from the upgrade folder and click the Open button A progress message box is displayed during the download action 4 Click the Download Microware button in the Microware section The Download Microware to DRV 0 0 NY4150 dialog box appears The numbers in the title caption DRV 0 0 depend on the node number and the I O slot number always 0 in which the NY4150 module is installed 5 Select the microware file microwareAkhz mcr from the upgrade folder and click the Open button A progress message box is displayed during the download action When the download of the microware is finished you are asked to restart the node You must restart the node to start the new downloaded microware NYCe4000 Tools Manual Bosch Rexroth AG 11 136 Getting started You can also select the NYCe4000 System icon in the pane at the left side and right click the icon to download the required files to all nodes in the system A popup menu appears see Fig 6 NYCeConfigurator Simulation Network File About N rCe4000 System j N Ee4000 System gm MWY4T10 node Oowrload Primary Bootloader l
11. Save to flash Fig 8 Parameter handling using NYCeTuner To apply certain configuration settings the NYCeConfigurator requests for an axis shutdown To be able to use the applied settings after a re initialize you must first save the settings to a file or flash memory after the shutdown of the axis is done 14 136 Bosch Rexroth AG Getting started 2 3 Define an axis NYCe4000 Tools Manual The procedure to get a motor operational with the NYCe4000 system basically consists of 3 steps 1 Create an axis with the NYCeConfigurator tool 2 Configure the axis with the NYCeConfigurator tool The steps to configure a stepper motor axis or an IndraDrive controlled motor are different from the steps to configure a DC BLAC BLDC or piezo motor For this reason the steps for the configuration of a stepper motor or sensing stepper motor and the steps for the configuration of an IndraDrive controlled motor are separately described 3 Tune the axis with the NYCeTuner tool In this chapter an axis is created and configured The chapter Quick start helps you to get an axis initially operational For optimal performance of an axis the NYCe4000 software provides additional tools like the NYCeTuner and NYCeScope tool which offer much more functionality to tune an axis Note i When you use the NYCeConfigurator always click the Apply button before you select another tree item node drive axis IndraDrive otherwi
12. Variables NY4110 node fi MCU 0 Nv4110 Actuals ff ORV 0 0 NY4120 State Inactive e Feed override 1 1 amp MyAxisStepper ji DRY 0 1 NY4130 i DRY 0 2 NY4140 Settings ji DRY 0 4 NY4170 Feed override 1 4 T5 Transition time s 1 900 u Automatico Apply gt gt Connected to Axis MyAxis Fig 109 NYCelnspector Feed override tab Latches tab On the Latches tab the latched positions of the selected axis are displayed Initially only the single latched positions for each latch are shown The multiple latched positions can be viewed by expanding the single latched positions See Fig 110 E NYCelnspector Simulation Network File Settings About me NYCe4000 System Inspector Functions Feed override Latches Variables 2 8 NY4110 node li MCU 0 NY4110 Name Position fi DRV 0 0 NY4120 Latch 0 amp Latch 1 amp MyAxisStepper DAY 0 1 NY4130 j DRV0 2 NY4140 DRV 0 4 NY4170 Latch 3 10 gt gt Connected to Axis MyAxis Fig 110 NYCelnspector Latches tab 126 136 Bosch Rexroth AG NYCelnspector NYCe4000 Tools Manual Variables tab On the Variables tab the most important variables of the selected axis are displayed The number of connected clients This value can be used to determine if the axis is properly disconnected after usage by other applications For more information about error groups synchronize groups or markers
13. to setup the current loop of an axis see chapter 4 9 The Stepper control parameters to setup stepper motor axes see chapter 4 10 The Alignment parameters to get BLAC motors up and running see chapter 4 11 A series of miscellaneous parameters see chapter 4 12 The Controller settling criteria to define the criteria for an axis to get in steady state see chapter 4 13 You can revert to the full parameter list by choosing View gt All parameters Custom parameters You can create a custom defined list of parameters displayed in the pane in the middle Do the following steps to create a custom defined list of parameters 1 Choose View Edit custom parameters The Selection Dialog window appears see Fig 60 NYCe4000 Tools Manual Bosch Rexroth AG 65 136 NYCeTuner Selection Dialog Selectable items Selected items FRF_POSITION_TO_VOLT gt i HOME_ACC FRF_YOLT_TO_CONTROLLER z HOME JERK FAF VULT TO PUSITIDN HOME_MODE HIPERFACE BALID RATE HOME_VEL HIPERFACE PARITY _BIT HOME_OFFSET HOME_ACC HOME_EOQS_CONTR_CRIT_ A HOME_EOS_CRITERION HOME _EQS OPEN LODOP TIME HOME_EOQS_OQUTPUT HOME EDS POS ERIT VALUE HUME JERK H ME M DE HOME_OFFSET HUME VEL GAIM amp T STAMD STILL HALF wA VEL 4 gt Fig 60 Selecting custom parameters 2 Click on a parameter in the Selectable items pane at the left side of the Selection Dialog window and click the
14. when selecting the parameters via the View menu The filters on the drive modules NY4120 NY4130 NY4140 and NY4170 are explained in the following paragraphs and the transfer functions are given in the Laplace s domain Note The behavior of the filters implemented on the IndraDrive is not identical to the behavior of the filters on the drive modules NY4120 NY4130 NY4140 and NY4170 The low pass filter on the IndraDrive is a first order Butterworth filter with a relative damping ratio of fixed V2 The notch filters are band stop filters with equal numerator and denominator frequencies You can not set the numerator frequency you can only set the denominator frequency The numerator frequency is automatically set to the value assigned to the denominator frequency The numerator damping is 0 and can not be changed The denominator damping can be set and defines the width of the notch 76 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner Table 11 Control filter parameter list Name Description displayed by NYCeTuner Unit LLF_LAG_FREQ Lag frequency of the lead lag filter of the position Hz loop LLF_LEAD_FREQ Lead frequency of the lead lag filter of the position Hz loop LLF_SWITCH Enable lead lag filter of the position loop O disable 1 enable LPF_DAMPING Damping ratio of low pass filter of position loop LPF_FREQ Break frequency of low pass filter of the position Hz loop LPF_SWITCH Low pass filter of the
15. 0 0 i DRY O02 N Y 4140 See Ona DRY Od NY417D eral Number SimFab 3db47f1 e Axes General New Delete Fig 38 NYCeConfigurator MCU level window If you click on the virtual axis named DEF AXIS 1 in Fig 36 and hold the left mouse button down you can drag the axis to a drive module in the tree If the virtual axis is dragged to a drive the axis type motor type and position interface are changed Further configuration of the axis is described in chapter 3 6 NYCe4000 Tools Manual Bosch Rexroth AG 41 136 NYCeConfigurator 3 5 Configuration at the drive module level When you select in the NYCe4000 system tree a drive module NY4120 NY4130 NY4140 or NY4170 or an IndraDrive to which a motor with motor encoder flash memory is connected to the NY4150 the pane at the right hand side of the NYCeConfigurator window displays 3 tabs 1 General tab 2 Inputs tab 3 Outputs tab If the motor connected to the IndraDrive does not have motor encoder flash memory a fourth tab called IndraDrive Motor appears If no axes are defined on the IndraDrive the Inputs and Outputs tab is not displayed Note that the NY4150 is not a drive module it is called SERCOSIII Master module If you select the NY4150 module the pane at the right hand side displays 2 tabs 1 General tab 2 Download tab NY4150 SERCOSIII Master module In the General tab you can see the microware version in
16. 1 000e 001 integral gain of current loop 1 000e 000 proportional gain of current loc Axis Status 0 000e 000 maximum level of integrator in Axis State Moving Ptping no error ZI 3 125e 005 sample time of current loop Servo Test Signal Generator 0 000e 000 satration evel of current cont Por 13 216303 Inject Inactive CLEGG EMABLE 0 000e 000 enable reset of integrator of pc COLLISION C 0 000e 000 collision detection En LIRE GA ss aa COLLISION TI 0 000e 000 collision detection time window Controller Setpoint Generator COLLISION VEL 0 000e 000 collision detection axis velocity State Moving State Ptping COMIMUTATIO 1 000e 000 commutation direction PosEm 0 001465 Pos 113214844 COMMUTATIO 0 000e 000 commutation angle mode 3 c CONTROLLER 1 000e 000 position controller output inver Set Time 1 000000 Vel 3828938 CONTROLLER 1 000e 000 type of controller 0 000e 000 duty cycle of the dither signal z 1 000e 000 frequency of dither signal adde a 0 000e 000 max positive amplitude of dithe DITHER LOW 0 000e 000 min negative amplitude of dithe lt gt Default view C Quickwatch view Test Signal Ace 2 00000e 000 AXIS NY4110 node MyAxis STATE Moving Ptping no error CONFIG servo axis brushless DC motor SO0 S90 RES 2048 000000 Incr NoUnit Fig 91 NYCeTuner in expert mode after initializing MyAxis Consult the motor manufacturer datasheet to get the induction and resistance phase to phase e
17. 5 for more information about the NYCeScope tool 32 136 Bosch Rexroth AG NYCe4000 Tools Manual Getting started Settling Criteria NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements mi WYCe4000 System NYV4110_node lj MCU D NYr4110 T DAY 0 0 N4120 Position ready window pu 0 00000e 000 Pos 6 506836 gi Musis l P MyhsisStepper Velocity ready window pus 0 00000e 000 Vel 0 000000 DRY 0 1 N4130 Time in ready window s 0 00000e 000 Controller DAY 0 2 N4140 DAY 0 4 Ny4170 Steady state delay s 0 00000s 000 State Steady Settling time out s 0 00000e 000 p time in Pos Er 0 000000 a e Velocity ready ready Setl Time 0 000000 window window Criteria Servo Output 0 000000 pem em i a Setpoint generator State Idle Pos 6 506836 Vel 0 000000 Motion settings Distance pul 1 00000e 001 Generator Controller Controller Velocity pu s 1 00000e 000 Ready Ready Steady Acceleration pu z n O0000e 001 Jerk pu 83 rJ ii 00000e 002 I Reverse Advanced Unlock Start Motion Quick Stop Start Nr CeScope AXIS NY4110 node MyAxis STATE Ready no error CONFIG servo axis brushless DC rnotor SO0 S90 RES 2048 000000 Incr NoUnit Fig 28 NYCeTuner Settlings tab In the Settings tab you can set the settling criteria Do the following steps 1 Make sure that the motor is not running
18. After this time period the controller is set to steady S SETTLING TIMEOUT Maximum allowed time between generator ready S and controller ready The position and velocity plot in the Settling Criteria Selection dialog show the meaning of the parameters The Time in ready window specifies the minimum time that the Position ready window and the Velocity ready window must be in their ready window before the controller makes the transition from the state CTR SETTLING to the state CTR_STABILIZING The Steady state delay specifies the delay time before the controller state changes from cTR_STABILIZING tO CTR STEADY The Settling time out specifies the maximum time that the controller is allowed or can be in the state cTR_ SETTLING After the time out value the controller always makes the transition to the state cTR STABILIZING Even if an axis is not settled within the timeout period the controller will go to the state cTR sTABILIZING No error handler is defined if an axis is not settled within the specified time Settling Criteria Selection MyAxis Criteria Position ready window unit Velocity ready window units 0 00000e 000 a pe Velocity ready ready Time in ready window s Window window 0 00000e 000 Steady state delay s 0 00000e 000 Settling time out z 0 00000e 000 time in Generator Controller Controller Ready Ready Steady Cancel Fig 83 The NYCeTuner Sett
19. Hiperface encoder The Communication Baud rate can be set to a value between 600 Baud and 38400 Baud This depends on the type of Hiperface encoder Default value for Rexroth Hiperface encoders is 9600 Baud The Parity bit is used for error detection in the Hiperface communication protocol The Parity bit can be set to none odd or even Default setting for Rexroth Hiperface encoders is odd Frequencies tab On the Frequencies tab you can see and choose the frequencies according to Table 5 This table indicates the frequencies that are available They may not be the optimal frequencies Attention If the node contains an NY4150 the node frequency is set to 1 kHz and can not be changed The default PWM pulse width modulation frequency for a new created axis is 32 kHz but is set automatically to 4 kHz if the axis is configured on an IndraDrive Table5 Frequencies that can be chosen NY4120 NY4130 NYA170 NY4140 NY4150 Setpoint Node 1 2 4 8 kHz 1 2 4 8kHz 1 2 4 8 kHz 1 kHz frequency Position velocity loop 4 8 16 32 kHz 4 8 16 32 kHz 4 8 16 32 kHz 2 kHz frequency PVL Current control loop 4 8 16 32 kHz not available 4 8 16 32 kHz 8 kHz frequency Pulse width modulation 16 32 64 96 kHz not available 16 32 kHz 4 kHz PWM frequency Notes d 1 Setpoint Node frequency can only be changed at the node level see chapter 3 3 and the frequency depends on the number of axes connected 2
20. Kfst Kfc sign v Kfv v Kfa a Motion settings Distance pu 1 B nde Velocity pus 1 Bande Ot Acceleration pu z 1 O0000e 001 TumkKioff Ki 1 000e 000 Saved Ki Jerk pu s3 w 11 00000e 002 ae e I Reverse Advanced Unlock Start Motion Quick Stop Start Nr CeScope AXIS NY4110 node MyAxis STATE Ready no error CONFIG servo axis brushless DC rnotor SO0 S90 RES 2048 000000 Incr NoUnit Fig 27 NYCeTuner Feed Forwards tab Temporary Ki settings The feed forwards can compensate static forces like gravity coulomb frictions viscous frictions and the acceleration forces needed to accelerate the mass inertia driven by the axis Do the following steps in the Feed Forwards tab 1 If there is no motion profile create a motion profile in the Motion settings section Click the Advanced button to adjust additional settings of the profile 2 If the axis is not running click the Lock button and then the Start button 3 Adjust the various feed forward parameters by entering a value or by using the slider Use the Back and Next buttons to step through the parameters 4 f necessary you can turn off Ki temporarily by putting a check mark in the Turn off Ki checkbox 5 Click the Stop button to stop the axis when the adjustments are ready 6 To view the movements of the axis you can start the NYCeScope tool by clicking the Start NYCeScope button See chapter
21. Set Max alignment output to a safe value to limit the force of any sudden motion of the motor when aligning Q i Wake and shake parameters Aligned Critical displacement units Align Test signal duration s AXIS NY4110 node MyAxis STATE Inactive no error CONFIG servo axis brushless AC motor S00 590 RES 2048 000000 Incr NoUnit Fig 22 NYCeTuner Alignment tab In the Alignment tab you can perform the alignment procedure for the motor This tab is only available when you selected an axis with a BLAC motor 1 Enter a value in the Max movement output field The value determines the maximum value of the current which will be applied to move one pole pair 2 f desired enter values in the Number of pole pairs field and the Pu NrOfPolePairs field to start with These values should be copied from the Commutation tab in NYCeConfigurator see chapter 3 3 Click the Move one pole pair button to move the motor one pole pair 4 Based on the data displayed in the Number of pole pair counted and the Number of position units counted fields you can verify the number of pole pairs of the motor 5 You can also manually set the Number of pole pairs with the edit box 6 After the button Move one pole pair is clicked the change in servo position is measured and displayed as the difference in percentage The difference should have the same sign as the commutation direction If this
22. a minimum to a maximum position and back After each point to point movement the AutoTweak tool determines the controller out before the feed forwards the output of the lead lag filter in Fig 68 on page 75 This value will be used to make a tweak table with the position dependent feed forwards averaging the values of both the positive direction and negative direction measurements All point to point movements have a prior and next point to point movement except the first movement in the positive direction and the first movement in the negative direction start of the Autotweak movement in both directions Because there is no prior movement for the first point to point movement of the Autotweak the controller out contains a movement direction dependent deviation caused by 94 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual friction and or hysteresis To eliminate this error the first measurement is discarded for both movement directions The two discarded controller out values are replaced by an extrapolated value Ramp up functionality prevents an increase of the position error the moment the tweak table is activated The tweak values are weighed by a factor from 0 to 100 percent depending on the ramp time specified with the parameter SAC PAR TWEAK RAMP TIME This ramp up functionality is only used when the operation mode is closed loop and the tweak table is activated The user can define both the position limits and the n
23. a piezo motor Besides the PID controller the NYCe4000 system also supports feed forward compensation The feed forwards can compensate static forces like gravity coulomb frictions viscous frictions and the acceleration forces needed to accelerate the mass inertia driven by the axis These feed forward parameters must be acquired by measurements or from a model of the mechanical dynamics Both the measurement direction MEAS SvysT DIRECTION and controller output can be inverted CONTROLLER OUTPUT INVERT This way the controller output can be manipulated in such way that a positive controller out results into a movement in the positive direction by inverting the polarity if necessary and the measured velocity is positive when the movement is in the positive direction by changing the measurement direction if necessary Note If the axis is on an IndraDrive the controller output inverted parameter and the measurement direction parameter must always have the same direction 4 Enhanced controller parameters Table 10 shows the Enhanced controller parameters as displayed by the NYCeTuner when selecting the parameters via the View menu Fig 62 shows the complete control lay out including the enhanced controller options Note If the PVL is on the IndraDrive all parameters listed in Table 10 have a fixed value which can not be changed See the NYCe4000 Software User Manual chapter SAC Parameters for the fixed assigne
24. anti aliasing Filters asymmetric saturation level commutation angle at one endstop t commutation angle at one endstop t allowed deviation in between angle m distance to be made during alignment time used during the catch hold and max current used during the hald and max current used during the catch ph time used during the catch and move time used during the catch and hold p proportional gain of current loop maximum level of integrator in curren sample time of current loop saturation level of current controller enable reset of integrator of position collision detection controller output Eh collision detection tine window collision detection axis velocity thresh commutation direction commutation angle mode 3 ar phas position controller output inversion type of controller duty cycle of the dither signal added frequency of dither signal added to p max positive amplitude of dither sign min negative amplitude of dither sign type of dither signal added to positio enhanced D gain derivative gain of p enhanced D gain velocity where der ECG prediction filter Frequency the EnDat clock Frequency DAC scaling when using the Frequenc input selection Far the Frequency res I gt Axis Tuning Control f Jogging Motion f PTF Motion Cubic Test Signal Step Open Loop Lack Axis Status Axis State Serva Pos Vel Controller State Pas Err Set Tim
25. ca time used during the catch and time used during the catch and integral gain af current loop proportional gain of current lon maximum level of integrator in sample time of current loop saturation level of current contr enable reset of integrator of po collision detection controller au collision detection time window collision detection axis velocity commutation direction commutation angle mode 3 n position controller output invers type of contraller duty cvcle of the dither signal a frequency of dither signal adde max positive amplitude of dithe min negative amplitude of dithe wt Open Loop Lock Asis Status Asis Stabe Asis Tuning Control Jogging Motion i PTP Motion Cubic Test Signal Acc Step Edit Jerk STOP Inactive no error Servo Pos 6 506836 Vel 0 000000 Controller State Steady Pos En 0 000000 Pros Setl Time D 000000 Vel O 00000e 000 O0 00000e 000 D ODD Oe DOO D ane O0 O 00000e 000 Reset ERES ET Test Signal Generator Inject Inactive Output 0 000000 Setpoint Generator State Disabled b S be3b 0 000000 f Default view C Quickwatch view 4 gt STATE Inactive no error CONFIG servo axis brushless DC motor S00 530 AXIS NY4110 nade My xis RES 2048 000000 Incr NouUnit Fig 56 NYCeTuner window in expert mode 62 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual In the pane at the left hand side a t
26. damping of numerator frequency of third n enable third notch filter of posit Axis Tuning Control f Jogging Motion PTF Motion Cubic Test Signal Step Open Loop Lack Asis Status Asis State Servo Fos 6 506836 Vel 0 000000 Controller State Steady Pos Erm 0 000000 Setl Time 0 000000 Default view O 00000e 000 Dist O 00000e 000 Edit Wel 0 00000e 000 Acc 1 00000e 000 Edi Jerk O 00000e 000 Time Reset ENSEM E STOF Inactree no eror Test Signal Generator Inject Inactive Output 0 000000 Setpoint Generator State Disabled Pos 6 506936 Vel OO C Quickwatch view AXIS N Y4110 node MyAxis STATE Inactive no error CONFIG serva axis brushless DC motor SO0 S90 RES 2048 000000 Incr NoUnit Fig 58 The NYCeTuner window expert mode Tree The pane at the left hand side of the NYCeTuner window displays the nodes and axes connected to the system You can hide the tree view and display it again by selecting and deselecting View gt Axis tree in the menu bar Parameters The pane in the middle displays the NYCe4000 parameters that you can change to setup or fine tune the axes To change the value of a parameter click the mouse pointer in the Value edit field or press F2 when the parameter line is selected The latter method is practical if you must change several parameters because you can use the up and down curs
27. degrees for a rotary motor and 10 4 mm for a linear motor on an IndraDrive 2 Setaxis unit Increments to revolutions 3 Setthe Controller Output Resolution to the specified peak current of the type of IndraDrive connected to the NY4150 Note that IndraDrives specify the nominal current not the peak current The Controller Output Resolution is a scale factor of the controller output Internally the controller output uses a range of 1 0 1 0 With the Controller Output Resolution you can scale this range to any other range Click the Motor tab 5 Set Saturation Level Cout of the axis equal to the peak current of the motor This is the same value that you entered in the General tab in Controller Output Resolution field 6 Click the Safety tab NYCe4000 Tools Manual Bosch Rexroth AG 19 136 Getting started N CeConfigurator Real Network File About mE MYCe4000 System bis NY4110 nade fj MCU 6 N10 f iai Setpoint Generator Position Error Window fj I ri ladisDinve t Wdeaneed Max Vel 125 000000 Steady 0 000000 Qi Musis Max Acc 10000 Dyr 0 000000 i IndraQrive 2 Advanced Max Jerk 100000 0000 li ORV 0 2 Nv4120 Spas Max Settl Time s 0 000000 Erg Dn annnon Collision Neg 0 000000 Controller Qut 0 000000 Smooth Stop Parameters Velocity 0 000000 yes 1 0 000000 Time Window s 0 000000 eile 1 00 000000 Axis Safety Parameters Servo Bus Vo
28. frequency of the DSP Digital Signal Processor on the MCU The sample frequency is typical a factor 8 or 16 lower than the sample frequency of the PVL on the drive module This limits the possible frequency range of the measurements and causes aliasing in the FRF output External signal generators offer more possibilities than the NYCe4000 test signal generator In particular this applies to signal generators embedded in measurement equipment like an HP frequency analyzer Parameters in the expert mode of the NYCeTuner enable the injection of an external test signal to the NYCe4000 controller via an analog input and monitor the output of the controller typically running at 32 kHz via an analog output Fig 90 shows the measurement setup that can be defined with the SAC parameters U1 Y4 Y1 U2 Y2 Y3 Fig 90 FRF measurement setup using external equipment The controller is indicated with the box C and the plant to be controlled is represented with the box H The test signal injection points for the digitized analog input signals are indicated by U1 and U2 The output signals Y 1 Y2 Y3 and Y4 are the signals either or not with a test signal superposed that can be monitored via the analog output The inputs are sampled and the outputs are updated with the update frequency of the PVL up to 32 kHz With the described setup the measurement of the frequency res
29. is not the case click the Invert button in the Commutation direction section to invert the commutation direction The test of commutation direction is reset every time the Invert or Reset button is clicked The commutation direction must be correct before you continue to the alignment section in this tab The light indicator must be green and the text next to the indicator says Correct 7 Select the alignment mode that must be used to align the motor with the radio buttons in the Alignment section 8 Enter the parameters specified for the selected alignment mode 9 Click the Align button to align the motor in the selected mode The light indicator and the text next to the indicator indicate whether the alignment was successful NYCe4000 Tools Manual Bosch Rexroth AG 27 136 Getting started Commutation for BLDC motors only NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements TR NYCe4000 system Welcome Signal Verification Current Loop Commutation Polarity Position Loop Feed Forwards Settling Criteria Save Download MY4110 node fi MCU 0 NY4110 Hall sensor settings fj DRY 0 0 Mv4120 Musis Ste a MyAxisStepper SESSEL DIGINZ j DRY 0 1 N 4130 ji DAY OZ NS 4D DAY 0 4 N41 7 DIGINO Accept Reset measuring Measuring hall sensors Max current level Cout 1 naag Align to Step 1 e Hall settings are valid Servo position pu 0 0000 f
30. measured data points The sample number is the horizontal position X coordinate and the vertical position Y coordinate is the value of the sample For not numeric typed variables only one sample is used to plot the line The line starts at the X Y coordinate determined by the sample and a horizontal line is drawn till the next sample number NYCeScope does not recognize that a data point is the last data point thus a horizontal line to the next sample is drawn The effect is visible in Fig 99 It is not a trace data inconsistency but a result of how the numeric and not numeric data is represented Fig 99 Numeric typed and not numeric types variables in a plot NYCe4000 Tools Manual Bosch Rexroth AG 115 136 NYCeScope Control options in the display window The signals displayed in the Time Domain Plot can be scaled simultaneously with the and buttons in the time window itself Y axis zoom function The time X axis can be scaled with the and buttons in the lower right hand corner The a button displays all data at full time range You can use the mouse to select a zoom region in the time window The zoom region is shown as a rubber band box and is defined by selecting the zoom region from any corner to the diagonally opposite corner click the left mouse button and while holding down the mouse button draw a box If you click the right mouse button in the plot pop up menu appea
31. motion in the NYCeTuner and clicking the Edit button Fig 88 shows the PTP motion editor The PTP motion editor can be used to create a PTP motion profile which can be displayed on the right hand part of the window by clicking the Check Profile button You can select the profile movement parameters with the radio buttons below the graphic representation Point to Point Motion Editor MyAxis m Motion Profile r Motion Execution Profile Type Cubic 7 C Uni Directiona m Profile Properties Bi Directiona Time s 74 Iv Auto Move Begin pos unit 2 00000e 000 Repeat Continuously End pos unit 4 00000e 000 Reese D Absolute Relative Delay s D Velocity units 7 00000e 000 Accel unit s2 9 00000e 001 Jerk unit s3 1 20000e 001 ec nofle DK Cancel Fig 88 The Point to Point motion editor From the Motion Profile dropdown box 4 profile types can be chosen parabolic cubic minimal jerk energy optimized The motion can be relative move a distance from the actual position or absolute move a distance between begin and end position You must enter a begin position and end position if the movement is absolute You can repeat the motion profile when a check mark is put in the Auto Move check box The profile can be repeated by just moving to one direction uni directional motion execution with the direction defined by t
32. ne OR ONI CELOS EE ERES ELM 0 5 10 15 20 Drive current A 20 20 Fig 51 Controller Output Resolution for NY4120 and NY4140 For NYA120 and NY4140 drive modules when the Controller Output Resolution value is set to 20 0 the maximum drive current the controller output value can be seen as a value between 20 0 20 0 which matches the output current thus the controller output unit is Amperes see Fig 51 Using the drive current multiplied by the motor constant makes the controller out equal to the torque produced by the motor thus the controller output unit is Newton meter However the range of the motor drive current is physically always 20 0 20 0 A 54 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeConfigurator Scope Time Domain Plot Channel v Channel names Invert colors Auto scale Same Y Position Same Y Scale Controller Output Resolution NY4130 Controller controller out Output Resoluti COR COR Default Unbalanced COR 24 Balanced COR 48 100 Lib dE a Or OO BP rat b E E a A UR LE UN ELE UNE URN LUN LN LN LN NN LN RUN LUN LEN LUN LEN LN NE LN 0 5 10 15 ral 4 Ts 500us Trace start Os E Scale Pos d p Voltage V und cd 24 On Unbalanced DRVPW DRVPW P Balanced 2xDRVPW 2xDRVPW Fig 52 Controller Output Resolution for NY4130 The NY4130 does n
33. percentage for example 1096 to keep the same relation between Kp and Kv until an acceptable position error without oscillations is achieved Note i This tuning procedure does not deliver an optimal controller It is just a procedure to get an idea about the way the NYCe4000 tools operate 108 136 Bosch Rexroth AG NYCeTuner i NYCe4000 Tools Manual Stepper motor tuning Open the NYCeTuner select View gt Expert to enter the expert mode if the NYCeTuner started in the wizard mode and select the stepper motor via the axis menu Initialize the motor from the MyAxis xml file created by the NYCeConfigurator In the View menu select Current Control Parameters Consult the motor manufacturer datasheet to get the induction and resistance phase to phase expressed in H and Q respectively The electrical time constant Te equals L R Apply these initial settings to the following parameters 1 Set the saturation level CC SaT LEVEL and the maximum integrator level of the current controller equal to the drive voltage 2 Set the proportional gain cc KP of the current loop equal to 3 R with R the winding resistance of the motor 3 Set the integral gain cc Kr of the current loop equal to 1 5 Te 2 1 5 R L 4 Set the PWM frequency gt 10 1 Te This setting prevents noisy behavior and needless energy dissipation in the drive module Fine tune procedure 1 Click the Edit butt
34. please refer to the NYCe4000 Software User Manual Axis pane The Axis pane at the right side of the NYCelnspector window displays the axis position and other important position variables like the axis velocity controller output position error and integrator output The pane can be hidden by clicking the lt lt button or shown by clicking the gt gt button The hidden or visible state of the pane is stored on shutdown of the tool and restored the next time the tool is started Most numerical values in the tool are displayed using as much digits as needed but no more than 7 To view more digits of the axis position a tool tip is provided The tool tip displays the axis position in scientific notation using a fixed number of 17 digits See Fig 111 The axis position is also displayed graphically showing only the angle of the axis A tool tip is available to view the numerical value of the angle See Fig 112 Beg Axis position pu 34 436552 Axis velocity pws 0 Axis position pu 34 436552 3 44365234375000000e 001 mellis Controller output cout 0 Position error pu 0 Integrator output pu 0 Fig 111 Axis position with full precision Fig 112 Axis angle NYCe4000 Tools Manual Bosch Rexroth AG 127 136 NYCeCommand 7 NYCeCommand Once the configuration and tuning of an axis or axes is completed you can test the movements of one or several axes using a test scri
35. position loop 0 disable 1 enable NFA_DEN_DAMP Denominator relative damping of first notch filter of position loop NFA_DEN_FREQ Denominator frequency of first notch filter of Hz position loop NFA_NUM_DAMP Numerator relative damping of first notch filter of position loop NFA_NUM_FREQ Numerator frequency of first notch filter of position Hz loop NFA_SWITCH Enable first notch filter of position loop O disable 1 enable NFB DEN DAMP Denominator relative damping of second notch filter of position loop NFB DEN FREQ Denominator frequency of second notch filter of Hz position loop NFB NUM DAMP Numerator relative damping of second notch filter of position loop NFB NUM FREQ Numerator frequency of second notch filter of Hz position loop NFB SWITCH Enable second notch filter of position loop O disable 1 enable NFC_DEN_DAMP Denominator relative damping of third notch filter of position loop NFC_DEN_FREQ Denominator frequency of third notch filter of Hz position loop NFC_NUM_DAMP Numerator relative damping of third notch filter of position loop NFC_NUM_FREQ Numerator frequency of third notch filter of Hz NFC_SWITCH position loop Enable third notch filter of position loop O disable 1 enable NYCe4000 Tools Manual Break away frequency Bosch Rexroth AG 77 136 NYCeTuner Low pass filter The low pass filter is a second order filter Fig 69 shows the frequency response of a low pass fi
36. slider If the coherence is lower than the set threshold the frequency information is not included in the plot This enables the removal of possible incorrect data The frequency scale at the bottom of the Nyquist diagram is colored where the color represents the frequency along the Nyquist plot 118 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeScope If the trace is not active IDLE you can export the traced data with the Export button The data is saved in a text file A sample of an export file created by the NYCeScope is included below Sample time seconds 0 0005 Number of channels n Channel 0 MyAxis Axis Pos Channel 1 MyAxis Axis Vel Trigger channel MyAxis Axis Pos Pre delay samples 1200 0 4 26123 4 88281 1 4 25879 4 88281 2 4 25635 4 88281 3 4 25391 4 88281 4 4 25146 4 88281 5 4 24902 4 88281 6 4 24658 4 88281 7 4 24414 4 88281 8 4 2417 4 88281 9 4 23877 5 85937 10 4 23633 4 88281 11 4 23389 4 88281 12 4 23145 4 88281 13 4 229 4 88281 14 4 22656 4 88281 15 4 22412 4 88281 16 4 22168 4 88281 17 4 21924 4 88281 18 4 2168 4 88281 19 4 21387 5 85937 20 4 21143 4 88281 5 4 Trace states NYCeScope Control panel Simulation Network Trigger Export z Enable trigger Condition My 4110 model 2 Emergency Inpe Trace size 1000 S ms viti nodel2 An Inf Value Slc 7 H 0411 nodet 2 Drive Temperate Frea Setings Single shot m
37. tab the status of the safety and emergency inputs of the selected node is displayed For both inputs the logical value and the active state are shown The logical value is visualized using a check box but cannot be changed from within the NYCelnspector See Fig 106 Furthermore the values of the parameter sample time and the variables sample duration and sample duration max are displayed The variable sample duration max holds the maximum sample duration and can be reset using the Reset button displayed next to its value see Fig 106 The displayed number of connected clients can be used to determine if the node is properly disconnected after usage by other applications 122 136 Bosch Rexroth AG NYCelnspector NYCe4000 Tools Manual E NYCelnspector Simulation Network File Settings About General MCU D NY4110 lapul j ORY 0 0 NY4120 MyAxis Safety input i MuybsisStepper DAY D 1 HY 4130 DAY 0 2 HY 4140 DAY D 4 N4170 Emergency input Miscellaneous Clients 4 Sample time ms 0 500 Sample duration ms 0 000 Sample duration max ms 0 000 Reset gt gt Connected to Made N 4110 node Fig 106 NYCelnspector General tab 6 4 Inspecting at drive level If a drive is selected in the system tree the middle pane shows three tabs named I O Counters and Variables I O tab On the I O tab the status of the digital and analog I O is displayed For digital i
38. table is initialized with the data shown in Table 7 This table represents the physical orientation of the Hall sensors relatively to the stator poles of the BLDC motor needed for six step commutation Table 7 shows a very common Hall sensor lay out for BLDC motors Most motor manufacturers provide tables like this with the motor specifications 58 136 Bosch Rexroth AG NYCe4000 Tools Manual NY CeConfigurator Table 7 Hall sensor table C B A Step 1 1 1 0 6 Step 2 0 1 0 2 Step 3 0 1 1 3 Step 4 0 0 1 1 Step 5 1 0 1 5 Step 6 1 0 0 4 Stepper Commutation With the Nr of uSteps per full step a user defined number of electrical equilibrium positions are created between each 2 successive physical step positions This increases the stepping resolution of the stepper motor in practice increasing the number of uSteps above 4 will not result into a mechanical increase of the step resolution Motor tab The Motor tab only enables the user to supply the saturation level of the controller The unit of this level depends on the unit defined via the controller output resolution see page 53 Supplying a saturation level is important to protect the motor that is being used from damaging current levels or voltage levels for the NY4130 or NY4170 Consult the motor manufacturer datasheet before entering a value for this parameter For example the nominal and peak currents of the motor when the controller output is set to the unit Amperes o
39. the MW Version field and the SERCON gateware version in the SGW Version field See the description of the General tab of the drive modules for the other fields NYCeConfigurator Real Network File About mis M YCe4000 System DRY 0 0 N 4150 MYa4T1U nade MCU 0 H410 az Sim ee CAY O 0 Nv4150 IndraDrive 1 Advanced l Mps Download Microware IndraDrive 2 Advanced i OAV O2 NY4120 General Download Microware SERCON Gateware Download SERCON G ateware Fig 37 NYCeConfigurator module level window Download tab NY4150 only With the 2 buttons on the Download tab of the NY4150 module you can download an update of the microware or the SERCON gateware to the NY4150 module 42 136 Bosch Rexroth AG NY CeConfigurator NYCe4000 Tools Manual NY4120 NY4130 NY4140 NY4170 drive module or IndraDrive motor with motor encoder flash memory In the General tab in the Settings section you can set the nominal drive voltage and the maximum temperature of the drive module You can not set these values for an IndraDrive to which a motor with motor encoder flash memory is connected because the IndraDrive itself takes care of these settings The maximum drive temperature is a safeguard for the drive itself preventing the drive module from overheating Setting this parameter to 0 will turn off the overheat protection In the Axes section you can create and delete
40. the slider 5 Tune Ki integral gain by entering a value or using the slider 6 When the drive current equals the test signal see the scope pictures included in the Current Loop tab click the Stop Test button 7 To view the current characteristics of the axis you can start the NYCeScope tool by clicking the Start NYCeScope button See chapter 5 for more information about the NYCeScope tool 26 136 Bosch Rexroth AG NYCe4000 Tools Manual Getting started Alignment for BLAC motors only 4 NY CeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements Tz E Welcome Signal Verification Current Loop Alignment Polarity Position Loop Feed Forwards Settling Criteria Save Download Be node Pole pairs i MCU 0 NY4110 i DRY 0 0 NY4120 Max movement output Cout fi 0000 NOTE Sudden movement might occur amp MyAxis Move one pole pair MyAxisStepper Number of pole pairs counted 0 Number of pole pairs 8 i DAY 0 1 NY4130 ORY 0 2 NY4140 Number of position units counted 0 0000 Pu NrOfPolePairs 1 0000 i DRY 0 4 NY4170 TU Reset Commutation direction pu Position Servo postion before movement Controller Servo postion after movement Difference Commutation Commutation direction 1 Invert Measurement direction direction Not checked e Reset Alignment C Wake and shake Kick and swing Max alignment output Cout 1 00000e 000 WARNING
41. 0 nade12 An Ini Value Slot Node 9 numeric Safety Input boolean Sample Duration numeric Sample Duration M ax numeric Sample Number numeric E Refresh Data Sources 5 dc Communication Error Channel Add channel Sde Communication Error Channell L Sensitivity CL OL_ L E aah Fig 97 The Select trace channels dialog 2 Click on the node in the Available Data Sources section to select the node from which you want to trace variables 3 Click on the variable in the Traceable Variables section to select a variable and click the Add channel button The selected variable is added in the Selected Channels section Double clicking a variable in the Traceable Variables section gives the same result NYCe4000 Tools Manual Bosch Rexroth AG 111 136 NYCeScope 4 To remove a selected variable from the Selected Channels section select that variable The button Add channel changes to Remove channel Click the Remove channel button to remove the variable from the Selected Channels section Double clicking a variable in the Selected Channels section gives the same result NYCeScope uses the Variable Trace functionality of the NYCE subsystem to collect data The data of some variables is not available in the same DSP sample due to delays in the system or the data generating process Take this into consideration when you compare data for analysis See NYCe4
42. 000 Software User Manual for detailed information about the variable trace functionality Note that the variables contained in the trace are limited to 4 nodes when NY CeScope is used in real mode because of a limitation in the Windows driver If the trace contains variables of more than 4 nodes an error message is displayed There is no limitation when NYCeScope is used in simulation mode You can trace both node variables and axis variables with the NYCeScope At node level you can trace I O and MCU related variables like Safety emergency inputs Analog inputs outputs Fast digital inputs and outputs Sample duration At axis level you can trace motion related variables like Setpoint generator variables Position loop variables Drive variables Error variables If you add an axis but you do not see the variables of the added axis click the Refresh Data Sources button to update the NYCeScope Control Panel Likewise click the Refresh Data Sources button if you remove an axis and its associated variables are still visible The type of a variable can be numeric boolean enumeration or bitfield All types of variables can be analyzed in the time domain Numeric typed variables can also be analyzed in the frequency domain When a variable is selected to be traced the NYCeScope will automatically add the trace to a new time window when selecting the first variable to trace or add the trace to an existing tim
43. 02 00 21 007221 O02 00 21 007221 PRI PAR object 00000590 timeout 30000 FUNC EXIT OsalfaitForSingleO bject HETVAL NYTCE OK FUNC ENTRY NesCheckHandle PRI PAR harndle 00000000 axish umber 1 FUNC ENTRY OsalyaitForSingleO bject PRI PAR object 000001 28 tirneout 1 FUNC EXIT OsalaitForSingleO bject RHETVAL NYTCE DK FUNC ENTRY OsalMutesAelease PRI PAR mutex 000001 28 FUNC EXIT OsalllutesFelease RETVAL NYUE OK FUNC EXIT NcsCheckHandle RETVAL NYCE_OF FUNC ENTRY salldutesRelease PRI PAR mutex 00000590 FUNC EXIT OsalMutesRelease RETVAL NYTCE DK FUNC ENTRY NesReadD ata anre B0 21 007221 PRI PAR handle Q0000000 datald2235154772 Dor Do 21 007221 OUT PAR p alue 1 Qe B0 21 007221 FUNC EXIT NesHeadD ata RETVAL NYCE DK Qu a0 21 007221 OUT PAR meuversien major 10 minarz micro 0 buildMr anre B0 21 007221 OUT PAR slothMask 027 O02 00 217 007 271 OUT PAR diveHwyersion O major 40 minorz1 micro 0 build r2 O02 00 21 00F221 OUT PAR diveGwyersion 0 J mapor 0 minor 0 micro 0 build rz Du 00 21 007221 OUT PAR fimmwareversian major 2 minor1 micro 0 buildWrz1 434 O2 00 21 007221 OUT PAR gatewareversior majorzl minor 0 micro 0 buildM r 0 anre Bor 21 007221 FUNC EXIT NhiGetVersioninfo RETVAL NTCE OK Fig 116 NYCeLogger window Click Options in the menu bar of the NYCeLogger to open the Logging options window see Fig 117 You can specify several levels o
44. 4130 NY4140 NY4150 NY4170 pu PVL PWM SAC UDC Description Brushless AC motor Brushless DC motor Controller out unit user defined dimension of controller out Fast Fourier Transformation Frequency Response Function Institute of Electrical and Electronics Engineers Motion Control Unit Node Hardware Interface subsystem Motion Control Unit MCU MCU with Cat 5 interface PWM Drive Module DC Drive Module High Voltage Drive Module SERCOSIII Master Module High Voltage Piezo Drive Module Position unit user defined dimension of position Position Velocity Loop Pulse Width Modulation Single Axis Control subsystem User Definable Control NYCe4000 Tools Manual Bosch Rexroth AG 7 136 Getting started 2 Getting started This chapter describes how to get started with the NYCe4000 system using a basic way to get an axis operational with the NYCe4000 tools You can use this chapter as an introduction to the NYCe4000 tools The axis will be configured with revolutions as the dimension unit for the position and amperes as the dimension unit for the controller out The axis must be driven by the appropriate drive module in this getting started example When you use this walkthrough you must have a NYCe4000 system ready for use with a DC motor a brushless DC BLDC or a brushless AC BLAC rotary motor a piezo motor a stepper motor sensing stepper motor stepper motor with a position encoder or an IndraDrive based motor conne
45. 48 or 4096 Use the Encoder Level Considered Too Weak parameter to set the level in Volts at which the encoder input is considered too weak Use the Encoder Level Considered Too Strong parameter to set the level in Volts at which the encoder input is considered too strong Determining increments per revolution for a S nCos based encoder Determine the number of increments per revolution This is also known as the Pulses Per Revolution of an encoder PPR of a SinCos based encoder Vtt Q3 Q4 Fig 54 Sine signal divided into 4 quadrants Q1 Q2 The SinCos signal is divided in 4 quadrants This means that the SinCos algorithm interpolates with the number of resolution bits for every quadrant of the Sine and Cosine signal Thus PPR 2number of resolution bits x 4 number of SinCos line counts Example If the encoder connected to the motor shaft has 1000 line counts 1000 SinCos signals per revolution and the Interpolation factor is 32 is used for the SinCos interpolation algorithm the resolution of the encoder is 128000 PPR 56 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeConfigurator EnDat2 1 For EnDat2 1 encoders the EnDat Clock Frequency communication speed can be set to 100 kHz 500 kHz or 1 MHz EnDat2 2 For EnDat2 2 encoders the EnDat Clock Frequency communication speed can be set to 1 MHz 2 MHz or 4 MHz Hiperface The Communication Baud rate is the communication speed of the
46. 77 endstop endstop p endstop endstop N Fig 77 Movement direction d with limit switches 86 136 Bosch Rexroth AG NYCeTuner Name CATCH AND MOVE ANGLE ALPHA CATCH AND MOVE ANGLE BETA CATCH AND MOVE DISTANCE CATCH AND MOVE DEVIATION CATCH AND MOVE RAMP TIME CATCH AND MOVE MOVE TIME CATCH AND MOVE HOLD TIME NYCe4000 Tools Manual If the axis has a preferred initial position for example caused by gravitation force the settings as shown in Fig 77 will give a minimum number of movements and collisions In an application that only contains a home area switch this switch can be configured as a positive or negative limit switch The area switch must be active at one endstop The error handler of this area switch must be set to SAC ERRH NONE in this case To minimize collision risks the settings should be as shown in Fig 78 endstop endstop endstop endstop p p Fig 7 8 Use of area switch as limit switch The following parameters in the structure sac ALIGN MOTOR PARS are defined for the configuration of the Catch amp Move alignment method Some typical values are given as well Note that the specified time and current values depend on mechanical characteristics like mass stiffness and friction Table 15 Catch amp Move alignment parameters Unit Description Typical value rad The commutat
47. 9 NYCeNetMonitor chapter 10 The Sequencer and Simulation tools are described in separate manuals NYCe4000 Sequencer User Manual and NYCe4000 Simulation User Manual A Getting Started chapter has been included for first time users of the NYCe4000 system besides the functional descriptions of the tools The dialog screens shown in this manual may slightly differ from the actual displayed windows on the screen Attention You must have administrator rights on the PC you run the NYCe4000 tools If you are logged on with insufficient rights the error NCS ERR SYSTEM ERROR appears 1 4 General remark on XML formatted files The NYCe4000 tools and software API functions can read and write XML formatted files on the host You can also modify these XML configuration files with a suitable XML editor If you do not use the NYCe4000 tools but use an external editor to modify an XML formatted file make sure that the file is saved ANSI encoded If the file is saved with a byte order mask for example a UTF 8 byte order mask the NYCe4000 tools and API functions report the error SAC ERR OPEN FILE ERROR When such a file is opened 1 2 Used abbreviations in this manual The following table gives a summary of abbreviations used in this manual 6 136 Bosch Rexroth AG Introduction NYCe4000 Tools Manual Table 1 Summary of used abbreviations Abbreviation BLAC BLDC cout FFT FRF IEEE MCU NHI NY4110 NY4111 NY4120 NY
48. AG 9 136 Getting started 5 Select Flash bank 0 in the Gateware section You must start the download of gateware files into bank 0 and you must fill the banks consecutively that is you can not skip a bank You can download up to 3 different gateware files as described in the next two steps 6 Click the Gateware button in the Gateware section The Download Gateware to Node dialog box appears see Fig 3 7 Select from the upgrade folder the appropriate gateware bit file You must download the gateware file of each drive module installed in the node The names of the gateware files are self explaining that is they include the drive module identification number see Table 2 Click the Open button A progress message box is displayed during the download action Download Gateware to Node Look in i upgrade le drivefpga 4120 encoders bit ed s drivefpga 4130 bit My Recent Eddrivefpga 4140 encaders bit Documents 3 drivefpga_4150 bit E E drivefpga_4170 bit Desktop hy Documents My Network Files af type Giateware File bit d Cancel Places Open as read only Fig 3 Select the appropriate gateware file s 8 Repeat the previous 2 steps for all drive module types installed in the node Make sure to select the consecutive next flash bank in the Gateware section 9 Click the Firmware button in the Download section The Download Firmware to Node dialog box app
49. C do not contain the filters The analog inputs are converted to digital values with limited resolution Filtering of the analog input suppresses aliasing frequencies but still some aliasing effect may affect the measurement due to 32 kHz sampling If the scaled output exceeds the range of the DAC the output signal is clipped to the maximum and minimum values 10 Volt The measurement circuit may contain sample amp hold circuits delays and different sampling frequencies which may affect the measurements In particular the analog inputs are sampled with the PVL frequency and the analog outputs are updated with that same frequency Between the input and output is a delay of at least one PVL sample and the DAC conversion time Most of the mentioned effects can be measured by performing a sensitivity measurement measurement 2 with feedback P gain Kp and D gain Kv in the controller set to 0 The resulting frequency response can be subtracted from other measurements 1 2 3 and 4 as a compensation for the effects mentioned SAC parameters to define the measurement setup Two SAC parameters define the measurement setup refer to Fig 90 The SAC parameter SAC PAR FRF INPUT SELECTION defines the input signal The digitized input signal can be scaled after the ADC before the signal is applied to the loop SAC PAR FRF INPUT SELECTION select input U1 or U2 If this parameter is set to the value SAC FRF IN
50. Electric Drives Linear Motion and Rexroth and Controls Hydraulics Assembly Technologies Pneumatics Service Bosch Group Rexroth NYCe4000 2009 09 Multi axis motion control system Title Type of documentation Document Typecode Internal File Reference Purpose of Documentation Record of revisions List of trademarks Copyright Validity Published by Rexroth NYCe4000 Tools Manual User Manual 59 1 6 This document describes the functions of the software tools included in the Rexroth NYCe4000 Product release 14 04 2007 Product release 2 0 09 2007 Second issue Product release 2 1 10 2008 NYCelnspector Product release 2 2 02 2009 IndraDrive support Product release 2 2 1 09 2009 IndraDrive motors without encoder flash memory NY4111 support FireWire is a registered trademark of Apple Computer Inc Microsoft Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Products in this publication are referred to by their general trade names In most if not all cases these designations are claimed as trademarks or registered trademarks of their respective companies Bosch Rexroth AG 2007 Copying this document giving it to others and the use or communication of the contents thereof without express authority are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of th
51. Fig 94b and c 9 Increase the cc Kr parameter until the drive current response is satisfactory Note d Be careful while scaling the axes of the NYCeScope Each channel must be NYCe4000 Tools Manual Bosch Rexroth AG 103 136 NYCeTuner scaled independently The ruler of the y axis of a figure only applies to one of the channels that are displayed by the NYCeScope time plot Fig 94 Current loop tuning procedure yellow controller out green drive current 104 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual Setting the alignment parameters BLAC only 1 Select the Alignment parameters of the View menu of the NYCeTuner 2 Check if the alignment mode is set to 1 kick amp swing method 3 Set maximum controller output during alignment to 50 up to 80 of the maximum continuous current of the motor 4 Click the Align Motor button in the pane at the right hand side Note that the motor will move up to 75 pole pair The following steps check that the alignment parameters are set correctly A block wave test signal is added to the motor current Then it is manually checked that the force on the motor stays constant during a movement 5 Select the test signal properties and choose the following settings Select the block wave test signal type Set the amplitude equal to 1096 of the maximum continuous motor current Leave the offset O Set the frequency equal to 200 Hz Set the duration e
52. IGSVINGA DIGSVINOE DIGSVINOC DIGSVINIA DIGSVINIE r Digital outputs i DIGDLITO DIGDUTI DIGOUT2 DIGOLITS FASTOLITO FASTOLTI Analog I D ANAINO 10 Volt ANAIN1 0 10 Volt ANAOUTO 0 10 Volt kl5ri iT Ir 1d a l See BERG ee le pr Connected to Drive DAY 0 0 H4120 Fig 107 NYCelnspector I O tab Analog 1 0 AMAINU U 10 Volt AMNAINT 0 10 Volt ANADUTO 0 5 10 Volk g ARIAGIITA Im Ao ae Fig 108 Editing the value of an analog output Counters tab On the Counters tab the status of defined digital input counters is displayed If a digital input counter is defined its value associated digital input and edge type are shown Variables tab On the Variables tab the values of the variables drive temperature and servo voltage are displayed 6 5 Inspecting at axis level If an axis is selected in the system tree the middle pane shows five tabs named Inspector Functions Feed override Latches and Variables Additionally if the right pane is not hidden it displays information about the position of an axis Inspector tab On the Inspector tab a state diagram for the selected axis is shown see Fig 105 The current state is indicated in color while other states are colored gray Buttons are provided to make state transitions and to execute motion commands and stop commands A complete list of supported commands is shown in Tab
53. LF LA FREG LLF LEAD FREQ LLF SWITCH LFF DAPMFPIR G LFF FREQ LFF SWITCH MFA DEN DAMP MFA DEN FREGC MFA MUM DAMP MFA MUI FREG MFA SWITCH MFB DENM DAPMP MFB DEM FREQ MFB MUI DAMP MFB MUT FREG NFB SWITCH MFC DEM DAMP MFC DEM FREQ MFC MUM DAMPF MFZ MUT FREG MFC SWITCH 4 5 Expert mode You can set all parameters of the axis individually in the expert mode Bosch Rexroth AG 63 136 NYCeTuner To enter the expert mode choose View gt Expert from the menu bar of the NYCeTuner window 1 00084 000 1 000e 000 0 000e 000 1 000e 000 1 000e 000 0 000e 000 1 000e 000 1 000e 000 1 000e 000 1 000e 000 0 000e 000 1 000e 000 1 000e 000 1 000e 000 1 000e 000 0 000e 000 1 000e 000 1 000e 000 1 000e 000 1 000e 000 0 000e 000 Description lag frequency of the lead lag fil lead frequency of the lead lag f enable lead lag filter of positio damping ratio of low pass filter break frequency of low pass filt low pass filter of position loop denominator relative damping denominator frequency of first numerator relative damping of numerator frequency of first na enable first notch filter of positi denominator relative darnping denominator frequency of seco numerator relative damping of numerator frequency of second enable second notch filter of po denaminator relative damping denominator frequency of third numerator relative
54. NYCeTuner Tools menu Before starting an AutoTweak the axis must be homed and in the REApy state click the Lock button in the Axis Tuning Control section of NYCeTuner The AutoTweak tool is only supported for the axis type servo Notes 1 An axis must be able to move in closed loop before performing an AutoTweak 2 You can not change the field Position update mode in the AutoTweak tool but you could change that definition of the axis with the NY CeConfigurator tool or in your application software It is not allowed to change the Position update mode linear modulo while the AutoTweak tool is active 3 When you change the controller parameters of an axis after an AutoTweak it is recommended to repeat the AutoTweak procedure 4 The results of the AutoTweak will improve when the integrator of the standard controller is activated Auto Tweak l X File Motion profile constraints hd asimum velocity pus Maximum acceleration pu s 2 f 0 Hlasimum jerk pu s 3 50 Enable tweak Closed loop Open loop Download ta firmware Open loop error MEER Direction Tweak parameters Position update mode Linear Minimum position 220 Masimum position Number of points Mumber of averages Feedforward limit Fig 86 The AutoTweak tool The AutoTweak function estimates the position dependent feed forward by performing a series of point to point movements from
55. ON again and finally check the motor cabling Note d The alignment functionality is also available and valid for axes with the motor type Coil Drive Linear Motion Systems NYCe4000 Tools Manual Bosch Rexroth AG 105 136 NYCeTuner Commutation order BLDC only To check if the BLDC motor is correctly connected go to the NYCeTuner window 1 Select the test signal properties and choose the following settings Select the block wave signal type Set the amplitude equal to 10 of the maximum continuous motor current Leave the offset 0 Set the frequency equal to 200 Hz Set the duration equal to 1000 s Choose the injection point at B controller out open loop 2 Click the Open Loop button and start the test signal Check that you feel some resistance from the motor if you try to rotate the axis manually If you do not feel any resistance you can increase the amplitude of the block wave test signal to 20 of the maximum continuous motor current Do not increase the amplitude more than 20 of the maximum continuous motor current Return the amplitude of the block wave test signal to 10 and check the wiring for possible hardware problems 3 Slowly move the motor shaft manually at least one rotation or some pole pairs and check if the motor has preference for certain axis positions 4 Click the Disable Power button after you rotated the motor shaft one turn If you can feel that the motor shaft has p
56. PUT NONE the injection of test signals in the control loop is disabled default setting SAC FRF INPUT POSITION the analog input is scaled by SAC PAR FRF VOLT TO POSITION defined in pu V and added as U1 in the control loop SAC FRF INPUT CONTROLLER the analog input is scaled by SAC PAR FRF VOLT TO CONTROLLER OUT defined in cu V and added as U2 in the control loop See Table 19 for an overview of the input signal possibilities Table 19 FRF input selection parameters and values FRF INPUT SELECTION Scale factor signal FRF INPUT NONE FRF INPUT POSITION FRF VOLT TO POSITION U1 FRF INPUT CONTROLLER FRF VOLT TO CONTROLLER U2 The SAC parameter SAC PAR FRF OUTPUT SELECTION defines the output signal The digital output signal can be scaled before the signal is converted to an analog signal SAC PAR FRF OUTPUT SELECTION Select output Y 1 or Y2 or Y3 or YA If this parameter is set to the value SAC FRF OUTPUT NONE to disable writing to the DAC output default setting 100 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual SAC FRF OUTPUT CONTROLLER the value of the controller output Y1 is scaled by SAC PAR FRF CONTROLLER OUT TO VOLT limited between 10 Volt and put on the DAC output SAC FRF OUTPUT CONTR PLUS TEST the value of the controller output augmented with the test signal value U2 that is Y2 is scaled by SAC PAR FRF CONTROLLER OUT TO VOLT in V cu limited between 10 Volt and p
57. STILL The velocity at which the enhanced gain is the average of the stand still gain and the gain supplied at the standard control parameters P HALF WAY VEL I HALF WAY VEL and D HALF WAY VEL The calculations of the gain versus velocity enhanced controller parameters are as follows kp parKp pGainAtStandStill parKp 1 1 pHalfWayVel fabsf spgVelocity kv parv dGainAtStandStill parKv 1 1 dHalfWayVel fabsf spgVelocity ki parKi iGainAtStandStill parKi 1 1 iHalfWayVel fabsf spgVelocity Half way Velocity velocity Fig 63 Gain velocity diagram of the enhanced controller parameters Note The gain at stand still may also be chosen smaller than the K parameter from Fig 63 72 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual Intrinsic friction compensation With the intrinsic friction compensation the loop gain of the controller can be enhanced or reduced for controller output near zero the dead zone Fig 64 shows a diagram of the intrinsic friction compensation function The gain of the dead zone can be defined by the IFc_DEAD ZONE GAIN parameter The bounds of the dead zone are defined by the parameters IFC_DEAD ZONE CONTROL OUT NEG and IFC DEAD ZONE CONTROL OUT POS Controller out after IFC Negative controller out bound Positive Controller out controller before IFC out bound Fig 64 Intrinsic fric
58. The frequencies cannot be randomly chosen Rule PWM frequency 2 Current loop frequency 2 Position velocity loop frequency 2 Node frequency 3 The allowed PVL frequencies for Rexroth MSM motors are 4 and 8 kHz 4 For EnDat2 2 encoders the specified maximum PVL frequency values that apply are given in Table 6 EnDat2 1 encoders do not have this limitation NYCe4000 Tools Manual Bosch Rexroth AG 57 136 NYCeConfigurator Table 6 Maximum PVL frequencies EnDat2 2 encoders EnDat clock frequency Maximum PVL frequency 1 MHz 4 kHz 2 MHz 8 kHz 4 MHZ 16 kHz 5 When using a sensor axis in combination with a Rexroth MSM incremental Rexroth MSM absolute or EnDat2 2 make sure the PVL frequency is valid as described above 6 The pulse width modulation frequency PWM is used to generate the motor currents with the NY4120 and NY4140 The PWM cycle time 1 fPwm should at least be 3 times smaller than the motor time constant Te L R consult motor manufacturer datasheet Setting the PWM frequency too high will cause excessive power dissipation in the drive module Commutation tab not for IndraDrive When you select a BLAC BLDC or a Stepper motor the NYCeConfigurator will display a new tab called Commutation in the pane at the right hand side BLAC Commutation The total number of pole pairs can be acquired from the motor manufacturer datasheet When using linear motors this parameter should be set to 1 The nu
59. U level sseseeeeeeeneen 40 3 5 Configuration at the drive module level 41 3 6 Configuration at the axis level esesseesseeeseeeeereee 51 A hie INU qe LE 61 4 1 IWFOCUGHOR cassette TR E 61 4 2 OV CIVIC WW orice nce 61 4 3 Select and initialize an axis cece eccceeeeceeeecaeeeeseeeeeseeeesaneesaaees 62 4 4 Saving and shutting down cece cc ceeeeeeceeeeeaeeeeeseaeeeeesaeeeeeseeseesaees 62 4 5 EXMDCM MOC ccc 63 4 6 Standard controller parameters ccccceeccceeceeeeececeeeeeeeeeesaeeeeaeees 66 4 7 Enhanced controller parameters cccccsececeeeeeeeeeeeeseeeeeeeaeeeaes 69 4 8 Control filter parameters eseesseeesseeeeeeeenrennnenn nn 75 4 9 Current control parameters not for NY4130 NY4170 80 4 10 Stepper control parameters seeseesssseeeeeeeeenene nnne 81 4 11 Alignment parameters BLAC and IndraBLAC only 83 4 12 Miscellaneous NYCeTuner parameters eseeesesees 89 4 13 Controller settling riteriais eean EA NEER 90 4 14 PUTOT WEAK TOON ER 93 4 15 NY GeTuner motion OpliONns 5 erectio ee Rei est uev oue cae gotas etis 94 4 16 Axis tuning in expert mode sssssesesseennee 100 o 2NYCSSCDDO chulo ao teet attuli catu dessen Moi be
60. a DC gain of 1 and it is switched on or off by the parameter LLF SWITCH The lead lag filter output Uu s is given by 1 s Oi 4p E EET a U pr s Where wean 2rrfugAp and wac 2rrfiac The lead lag filter can be switched on and off with its switch parameter LLF SWITCH Note NYCe4000 has separate parameters for the lead lag filter and the Kv That means that you can set the lead lag filter parameters and the Kv independently if the PVL is on the NY4120 NY4130 NY4140 or NY4170 drive module However if the PVL is on the IndraDrive it is not possible to use the lead lag filter and set a Kv at the same time because the lead lag filter parameters and the Kv are both converted to the same parameters mapped on the IndraDrive The lead lag filter takes precedence if enabled and Kv is ignored If the lead lag filter is disabled the previously set Kv is converted to the same parameters mapped on the IndraDrive NYCe4000 Tools Manual voe PR FET TS aIB ED Bosch Rexroth AG 79 136 NYCeTuner Notch filter The Notch filter is a band stop filter Fig 71 and Fig 72 show a series of typical frequency responses of a notch filter You can set the numerator and denumerator frequencies with the parameters NFA NUM FREQ and NFA DEN FREQ when using notch filter A NFB NUM FREQ and NFB DEN FREQ parameters when using filter B and NFC NUM FREQ and NFC DEN FREQ When using notch filter C The output of a notch filter is given by
61. accelerating or decelerating PRE ACC DELAY and PRE DEC DELAY and leave the currents at the acceleration or deceleration current levels for a short time after the change acceleration or deceleration POST _ACC_DELAY and POST DEC DELAY SAC PAR STEPPER ACCELERATION THRESHOLD is a parameter to reduce the motor current during low accelerations or decelerations If acceleration or deceleration of the stepper motor is below the threshold the motor currents are equal to the constant velocity motor currents STEPPER CONSTANT VEL CURRENT If above the threshold motor currents are equal to the acceleration or deceleration motor currents STEPPER ACCELERATION CURRENT Of STEPPER DECELERATION CURRENT This parameter is not supported for standard motion profiles During the calculation of the stepper motor winding currents by the current controller an estimate of the stepper axis position is used twice Because of the delay between both calculations it may be necessary to provide a compensation for the change of the axis position during this delay With the parameter STEP DELAY COMPENSATION the calculation delay can be supplied improving the stepper axis behavior in some situations NYCe4000 Tools Manual Bosch Rexroth AG 83 136 NYCeTuner 4 11 Alignment parameters BLAC and IndraBLAC only Table 14 shows the alignment parameters as displayed by the NYCeTuner when selecting the parameters via the View menu Table 14 Alignment parameter l
62. ade HY 4110 nade12 Sample Durati ing node ample Uuratior Pre delay samp Os eenen W Allow dropped samples Trigger channel Use Anti Aliasing filter lt none gt Fig 104 The trace state display of the NYCeScope To give the user information about the status of the trace activity the NYCeScope displays the trace state see Fig 104 Two states are displayed 1 IDLE NYCeScope is not collecting data 2 Tracing NYCeScope is collecting data The state displayed in the square brackets represents the NYCe4000 trace state IDLE IDLE In this state no trace channels have been selected IDLE INITIALIZED In this state the trace channels have been selected IDLE READY This is the state after running the NYCeScope The trace channel data is still available for analysis in the time or frequency windows or can be exported to a text file IDLE ERROR Tracing is stopped caused by an asynchronous error while the trace buffer was being filled The buffer contains valid data of the traced NYCe4000 Tools Manual Bosch Rexroth AG 119 136 NYCeScope variables before the error condition occurred You still can analyze this data with the NYCeScope or export the data to a text file Tracing RUNNING In this state the trace data are stored in circular buffers A stop trace command has not yet been given In this state it is possible to retrieve blocks of trace data It is also possible to restar
63. af a 2 Download Gateware Flash Bank O li DRY 0 0 Download Gateware Flash Bank 1 lj CRY 01I Download Gateware Flash Bank 2 j DPV021 Download Firmware lj DRY 0 4 1 Sample Frequency Reset All Nodes Hz Initialize from File Initialize from Flash ye Version Save to File 13 Save to Flash Fig 6 The menu options at the System level After the selection of an entry in the popup menu the specific dialog box appears as described before and you can select the file that must be downloaded If the system contains an NY4150 SERCOSIII Master module you must use the described steps 1 to 5 of the previous paragraph to download the SERCON gateware and microware Initialization with NYCeCommand Switch on the 24V System power supply to the NYCe4000 system only the MCU needs to be active and start the NYCeCommand tool Enter the following commands in this order 1 DwnDownloadPrimaryBoot NodeNr PATH boot4110_4111 bin Note DwnDownloadPrimaryBoot must be used with care when the download is interrupted or aborted the MCU will become unusable 2 DwnEraseGateware NodeNr After the gateware banks are erased you can download the new gateware files Which gateware files you download to the MCU depends on the installed drive modules You must fill the gateware banks starting with bank 0 and you must fill the banks consecutively that is you can not skip a bank Table 2 shows the names of the gateware files that must be dow
64. all mentioned stepper control parameters are not used in the IndraDrive 82 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual Velocity profile l l I Cur ent profile I Acceleration Constant Deceleration current speed current current i I gt Ll l J Pre acceleration Post acceleration Pre deceleration Post deceleration delay delay delay delay Fig 74 Stepper motor velocity current profile The STEPPER BASE VELOCITY parameter sets the start speed of stepper motor to prevent the motor from losing steps while going through the mechanical instability region Four current levels can be defined During acceleration and deceleration the stepper motor must produce the highest torques for accelerating decelerating the load and thus generally needs the highest current levels When performing a constant velocity movement the required motor torque will be lower than the motor torques during acceleration and deceleration In most cases the motor current at constant speed can be set to a lower level than the currents needed during acceleration and deceleration At stand still the required motor torque will be at its lowest making it common to even further lowering the motor current The stepper motor currents can not be increased or decreased instantaneously when changing from one state to another state The delay parameters make it possible to change the winding currents before actually
65. ame when the flash memory is downgraded NYCe4000 Tools Manual Bosch Rexroth AG 13 136 Getting started 2 2 Configuring versus tuning parameter handling You can change parameters in the NYCe4000 system with the NYCeConfigurator and the NYCeTuner tool The NYCeConfigurator is used for setting parameters that are fixed for a certain configuration These parameters for example motor and sensor type only need to be set once The NYCeTuner is used for setting parameters during optimizing the axis behavior for example the gain of the position loop These parameters are changed by the user during the process optimization Parameter handling is different between the NYCeConfigurator and the NYCeTuner for this reason Compare the two figures below If you change a parameter in the NY CeConfigurator the change is only applied in the NYCeConfigurator itself and not in the node Only after you click the Apply or OK button the new parameter value s are sent to the node When you enter a value in the NYCeTuner that value is directly sent to the node NY CeConfigurator set a value ric Apply or OK NODE flash i t a Save to flash Fig 7 Parameter handling using NYCeConfigurator XML file A to file NYCeTuner XML file set a value t cy A file NODE C3 flash E
66. an axis with the New and Delete buttons respectively NY CeConfigurator Simulation Network mok File About E NYCe4000 System DAY 0 0 NYH 20 3 0 NY 4110_node li MCU 0 NY4110 3 0 PU Nrg 20 Drive Type NYA P MyAsis DRY 0 1 N4130 Hw Version 20 1 0 Gw Version 0 0 0 General Inputs Outputs j DAVY D2 NYH 40 MW Version 0 0 0 SGW Version 0 0 0 i DRY 04 NY 4170 Serial Number Made by SimFab Expansion Module Type MY 4199 Signal Range 1 Vtt Settings Nominal drive voltage 48 v Maximum temperature E ina limits deg C Ayes New Serva axis Delete Fig 38 NYCeConfigurator drive level window General tab Select the drive module or IndraDrive in the pane at the left hand side and click the New button in the Axes section to add a new axis to the drive If you have created the maximum number of axes the selected drive module supports the New button is disabled To delete an axis select the axis in the Axes section at the right hand side and click the Delete button Note that you are not asked for confirmation of the delete operation NYCe4000 Tools Manual Bosch Rexroth AG 43 136 NYCeConfigurator The Inputs tab shows the available digital and analog inputs on the drive NYCeConfigurator Simulation Network File About el NYCe4000 System DRY 0 0 N64 20 NY 4110_node j MCU O NY4110 fj ORV 0 0 N4 20 i Myzis j DAV 01 NY4130 Inputs Functions Ac
67. an be seen as a value which matches the output voltage thus the controller output unit is Volts see Fig 53 The controller out value is used for data presentation for example in NYCeScope However the range of the motor drive voltage is physically always the supplied drive power voltage For external drive use Controller Output Resolution is normally set to 10 which will make the controller output unit equal to Volts Note that the output is normally specified in Volt whereas the analog input resolution used for positioning is defined in the number of bits Position sensor interface Encoders tab not for IndraDrive On the General tab you can select a position interface If you select a SinCos EnDat2 1 EnDat2 2 or Hiperface encoder the NYCeConfigurator displays a new tab called Encoders in the pane at the right hand side Click this tab to set the relevant encoder parameters SinCos EnDat2 1 and Hiperface The Index Level Threshold Voltage is used for SinCos encoders only to perform the home mode homing on index The threshold level in Volts represents the level at which the index is latched from the SinCos reference signal The index level threshold voltage can be set between 0 and the maximum Vtt of the encoder signal The Interpolation factor parameter is used for the SinCos interpolation algorithm You can set the Interpolation factor to the integer value 4 8 16 32 64 128 256 512 1024 20
68. an select the following encoders 5V SinCos Hiperface 5V S0S90 EnDat2 1 Resolver 12V SinCos 12V S0S90 NYCe4000 Tools Manual Bosch Rexroth AG 47 136 NYCeConfigurator NYCeConfigurator Real Metwork File About el WY Ce4000 System IndraDirive 3 Advanced MY4T10 nade 3 lj MCU NvY4110 fj DRY 0 0 Nv4150 Bj IndraDrive 1 Advanced ij IndraDrive 2 Advanced Motor Encoder Brake Temperature Save Download li iE 3 Advanced amp Musis P 0 0074 Eneodertype 2 5V SinCos r i DAV 0 1 NY4130 F 0 0077 Slot 1 A4 option 1 5 0 0116 Resolution 2048 000 DP RI amp v General Inputs Outputs IndraDrive Motor Settings For IndraDirive motor Fig 44 Encoder tab for a motor without motor encoder flash memory The drop down box Slot parameter P 0 0077 defines the connector indicated on the IndraDrive which is used to connect the encoder The following connector selections are available None X4 option1 X8 option 2 X10 option 3 Specify the encoder resolution in the field Resolution parameter S 0 0116 If the selected motor type on the Motor tab is a rotary motor the dimension is DP Rev DP stands for Division Period and equals one cycle of the signals of for example a SinCos encoder see Fig 45 If the selected motor type is a linear motor the dimension is mm 1 Division Period gt Fig 45 Di
69. and S parameters must be assigned correct values on the Motor tab see Fig 42 Most parameters are self explanatory and are not mentioned here Parameters P 0 4016 Direct axis inductance and P 0 4017 Quadrature axis inductance need an explanation For motors with reluctance property different values are observed when the inductance is measured depending on the position of the primary part of the motor with regard to the secondary part of the motor The values fluctuate between a minimum and a maximum value The minimum value is relevant for the direct axis inductance and the maximum value is relevant for the quadrature axis inductance The parameter value for P 0 4016 is L u vymin 0 5 where Lu vymin is the minimum value of one coil taken from the motor manufacturer data sheet The parameter value for P 0 4017 is L u vymax 0 5 where L u vymax is the maximum value of one coil taken from the motor manufacturer data sheet 46 136 Bosch Rexroth AG NYCeConfigurator NYCe4000 Tools Manual Fig 42 lists the parameters with their dimensions when the motor type is set to rotary If the motor type is set to linear the parameters and their dimensions reflect that type of motor see Fig 43 NYCeConfigurator Real Network File About a NYCe4000 System IndraQrive 3 Advanced NY4110 node 3 li MCU 0 Hr4110 fj DRY 0 0 Nv4150 fj IndraDrive 1 Advanced Ej IndraDrive 2 Advanced Motor Encoder Brake Temperature Save r D
70. andstill P GAIN AT STAND STILL Enhanced P gain proportional gain of cout pu position loop at standstill P HALF WAY VEL Enhanced P gain velocity where prop gain pu s is the avg of Kp and gain at standstill SCM ENABLE Switched control mechanism enable O disable 1 enable SCM_RESET_NEG Switched control mechanism negative pu range of reset window SCM_RESET_POS Switched control mechanism positive range pu of reset window SCM_RESTART_INT_NEG Switched control mechanism negative cout restart value of the integrators SCM_RESTART_INT_POS Switched control mechanism positive cout restart value of the integrators NYCe4000 Tools Manual Bosch Rexroth AG 71 136 NYCeTuner PID Controller Switched Feed Forwards controller Filters Intrinsic friction Measured KV compensation displacement Enhanced PID gains Dither Fig 62 The control layout with the enhanced controller blocks The different functions are explained in the following paragraphs Enhanced PID gains The enhanced gains are an option to make the gains of the PID controller speed dependent The choice which gains are made speed dependent is completely free but the speed dependency of each gain has the same profile Fig 63 shows the gain velocity profile used for each enhanced gain parameter For each enhanced gain two parameters must be defined The gain at stand still P GAIN AT STAND STILL I GAIN AT STAND STILL and D GAIN AT STAND
71. aphically supported the procedure step by step by going through the tabs of the NYCeTuner from left to right It is important that you follow the described sequence The flow diagram in Fig 15 shows the steps you must do to get an axis of each type of motor operational The names of the steps in the flow diagram are identical to the tabs of the NYCeTuner The wizard mode is not yet supported for the IndraDrive See the end of this chapter for a short description to get an IndraDrive based axis operational Quick start DC BLDC BLAC Stepper Piezo motor stepper Signal Verification i i Current Loop Current Loop Stepper Parameters motor BLAC Alignment motor BLDC Commutation Polarity Position Loop i Feed Forwards Settling Criteria C Quick start completed Fig 15 Sequence of steps to get an operational axis using NYCeTuner When you start the NYCeTuner the first time after the installation of the NYCe4000 software the NYCeTuner always starts in the wizard mode When the NYCeTuner is closed the mode of operation is remembered and is started NYCe4000 Tools Manual Bosch Rexroth AG 21 136 Getting started automatically the next time the NYCeTuner is started The NYCeTuner also has a so called
72. ar You have 2 possible locations from where you can load an axis parameter file 1 initialize from file load parameters from an axis parameter file on the host 2 initialize from flash load parameters from the flash memory of the node in real mode or from the FLS and EEP files in simulation mode Sliders Kp 1 14290e 000 Fig 18 Example of two sliders Some values in the tabs can be edited through an edit box and a slider The center value of the slider is determined by the value of the corresponding edit box To change the center value of the slider enter a new value in the edit box and press Enter on the keyboard Motion settings In various tabs you will set a motion profile This is done in the Motion settings pane In this tab you initiate movements of the axis to check whether the entered values are good enough or need further adjustment Motion settings Distance pu O 00000e 000 Velocity pus 00000e 000 Acceleration pus 00000e 000 Jerk puz s 3 i INF Reverse Advanced Unlock Start Motion Quick Stop Fig 19 Motion settings pane NYCe4000 Tools Manual Bosch Rexroth AG 23 136 Getting started Explanation of the objects in the Motion settings pane Distance This field specifies the distance the motor will move This is especially important for a linear motor because you need to make sure it stays within its bounds Velocity This field sp
73. arameters The maximum servo voltage to be used for current control can be set with the parameter cc SAT LEVEL and the maximum integrator level can be set with the parameter CC MAX INTEGRATOR LEVEL Table 12 Current control parameter list Name Description displayed by NYCeTuner Unit CC KI Integral gain of current loop rad s CC KP Proportional gain of current loop V A CC MAX INTEGRATOR LEVEL Maximum level of integrator in current loop V CC SAMPLE TIME Sample time of current loop S CC SAT LEVEL Saturation level of current controller output V satint JS satLev controller satint output X Q voltage saiLev measured current Fig 73 The current controller lay out IndraDrive If the selected axis is on the IndraDrive the parameter cc SAMPLE TIME is fixed and must be set to 0 125 ms The parameter cC MAX INTEGRATOR LEVEL and CC SAT LEVEL are not used in the IndraDrive and are set to zero for an axis on an IndraDrive NYCe4000 Tools Manual Bosch Rexroth AG 81 136 NYCeTuner 4 10 Stepper control parameters Table 13 shows the Stepper control parameters as displayed by the NYCeTuner when selecting the parameters via the View menu Fig 74 gives the meaning of each parameter in Table 13 Table 13 Stepper control parameter list Name Description displayed by NYCeTuner Unit POST ACC DELAY Stepper motor post accelerat
74. ard gain of position loop cout Jerk feed forward gain of position loop cout s3 pu Static feed forward gain of position loop cout Velocity feed forward gain of position loop cout s pu Integral gain of position loop rad s Proportional gain of position loop cout pu Derivative gain of position loop cout s pu Maximum level of the integrator of the position loop cout Measuring system direction 1 neg 1 pos Number of samples used for averaging if velocity estimation method derivative sample Force proportional gain pu N Position velocity loop sampling time S Maximum saturation level of the position controller output cout Minimum saturation level of the position controller output cout only used when using asymmetric saturation level is enabled Below threshold velocity integrator of the position loop is pu s enabled The velocity estimation method in the position loop 0 Lagrange2 1 derivative sample The position controller can run from both the motion control unit MCU as the drive module DRV The parameter coNTROLLER TYPE defines this as follows CONTROLLER TYPE 0 position controller runs on the drive CONTROLLER TYPE 1 position controller runs on the MCU Besides the standard position controller a user defined controller UDC can be applied The defined UDCs can be selected by setting the parameter CONTROLLER TYPE to any value between 2 and 11 CONTROLLER TYPE 2 11 user defined controller runs on
75. art the NYCeTuner select View gt Expert to enter the expert mode if the NYCeTuner started in the wizard mode and select the MyAxis axis via the Axis menu Choose to initialize the axis from the file MyAxis xml Fig 91 shows the NYCeTuner window after MyAxis has been initialized In the View menu select Current Control Parameters The parameter list in the pane in the middle now only displays the current loop parameters NYCe4000 Tools Manual Bosch Rexroth AG 101 136 NYCeTuner NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements s NYCe4000 System Description Axis Tuning Control 2 8 NY4110 node fj MCU 0 NY4110 ff DRY 0 0 NY4120 amp MyAxis 1 000e 000 alignment mode for brushless C 0 000e 000 enable or disable anti aliasing 0 000e 000 asymmetric saturation level Dist 1 00000e 001 Time 4 70000e 000 MyAxisStepper N 0 000e 000 commutation angle at one end Cubic Edit Vel 4 00000e 000 DRAYV 0 1 NY4130 AND 0 000e 000 commutation angle at one end i ORY 0 2 NY4140 0 000e 000 allowed deviation in between z DRVO4 NY4170 0 000e 000 distance to be made during alic Step Edi Jerk 1 00000e 001 0 000e 000 time used during the catch ho 0 000e 000 max current used during the ht Reset 0 000e 000 max current used during the c STOP 0 000e 000 time used during the catch anc 0 000e 000 time used during the catch anc Unlock
76. at the right side see Fig 1 8 136 Bosch Rexroth AG Getting started NYCe4000 Tools Manual N CeConfigurator Simulation Network mok File About H 4110 node General Save Download GP Myhsis Configuration DRY 0 0 M42 DRY 0 1 N4130 DAY D 2 NY4140 DRY D 4 H1 70 Initialize fram File Initialize fram Flash Save to File Save to Flash Download Gateware Firmware Flash bank 0 Bootloader Gateware Fig 1 Download the required files to a specific node 3 Click the Bootloader button on the Save Download tab in the Download section The Download Bootloader to Node dialog box appears 4 Browse to the upgrade folder in the folder that you specified during the installation of the NYCe4000 software The default path used during the NYCe4000 software installation is c Program Files Rexroth NYCe4000 Select the bootloader file boot4110_4111 bin and click the Open button see Fig 2 A progress message box is displayed during the download action Download Bootloader to Node Look in C3 upgrade d 7 2 boot4110_4111 bin hy Recent Documents mn Desktop hy Documents hu Computer File name boot4110_4111 bin Muy Network Files of type Bootloader File bin Cancel Places Open as read only Fig 2 Browse to the location of the bootloader file and select the bootloader file NYCe4000 Tools Manual Bosch Rexroth
77. c tossed 110 5 1 Trace channel selection ccccccccsccceeeceeeecececeseeceeceueeseeeseeesaaes 110 5 2 lec a om E 112 5 3 Trace display MaNiPuUlatiOn cccecccecccseeeseeeseeeeeeeeeeeeeseeeseeeaees 114 5 4 Tace SAGS Me 118 6 NYrCenspecO s a a a E 120 6 1 IO GHO crane S 120 6 2 OVE IEW enaa a desk ae dade S e eI pip noes 120 6 3 Inspecting at node level eeseeeeeseeeeeneeen nenne 121 6 4 Inspecting at drive level eeeeeeeeeeeeeeneeennnennn 122 6 5 Inspecting at axis IeVel iced veretur eroe setis e arae D ge va ore pud 123 T NYCeCcommoabtnhzitzestesabeictasvenworeiYorutad lesa aaeus Mas 2nca Macc Vou ror M deca E Apes 127 4 136 Bosch Rexroth AG NYCe4000 Tools Manual BS INV COL OGGCN c Sai E E E 131 Or INV CCV AICI RETURNS EPIS REDUNDANT NES REN A 133 T0 NYGONOGIMORIUOES 22 conidol hon koi sesiat enc legc bem AM E LO tenue fee ete Re LUE 135 NYCe4000 Tools Manual Bosch Rexroth AG 5 136 Introduction 1 Introduction The NYCe4000 Tools Manual provides information about the possibilities and functions of the software tools included with the NYCe4000 software The following tools are described in this manual NYCeConfigurator chapter 3 NYCeTuner chapter 4 NYCeScope chapter 5 NYCelnspector chapter 6 NYCeCommand chapter 7 NYCeLogger chapter 8 NYCeWatch chapter
78. cquired tweak data can be retrieved from disk via the File menu 4 15 NYCeTuner motion options Besides the list with parameters to setup the axis the NYCeTuner also provides a number of stimuli to tune the different controllers of an axis The Test Signal generator The Point To Point PTP motion generator The Jogging motion generator The motion related data of an axis can be monitored with the bottom pane at the right hand side of the NYCeTuner window The servo position and velocity The Test signal generator status and output The Controller status measured position error and measured settling time The Setpoint generator status and reference position and velocity Besides the stimuli generated by the NYCeTuner the FRF functionality Frequency Response Function allows the measurement of the frequency response of the NYCe4000 controller with an external measurement device like an HP frequency analyzer or a SigLab Toolbox see the section Frequency Response Function with external equipment in this chapter Note that this FRF functionality using external equipment is not the same as the FRF function available in NYCeScope NYCe4000 Tools Manual Bosch Rexroth AG 95 136 NYCeTuner Test signal generator The Test Signal generator can be configured by clicking Edit in the Test signal box of the NYCeTuner Fig 87 shows the Test Signal dialog Test Signal Editor MyAxis Signal Properties Sig
79. cted parameter can be removed from the pane at the right hand side of the NYCeWatch window by double clicking the selected parameter with the right mouse button In the View menu entry in the menu bar the format of the variable can be chosen Select the parameter in the pane at the right hand side and click View in the menu bar The default is Dec but for example for the variable SAC VAR ERROR WORD yOU can select the format Error Code to see the value of that variable in a human readable format see Fig 119 134 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeWatch NYCeWatch Simulation Network EIE j isisiNode L Dec Musis SAC VAR POSITION ERROR o 000000 Musis SAC VAR AXIS POS 0 000000 4 retval Mysi SAC V R CONTROLLER DUT 0 000000 H Mysi SAC WVAR_DRIVE_CURRENT 0 000000 E Eror dad Musis SAC V R DRIVE TEMPERATURE 0 000000 a ANEA Musis SAC VAR SERVO VOLTAGE gooo Parameter ID SAL VAR ERROR WORD SAL Ae NO ERROR im FhR Fig 119 Set the displayed data format The File menu entry in the menu bar offers the options to save and open the selected configuration definition of which information displayed by NYCeWatch The extension of the NYCeWatch configuration files is NYW NYCe4000 Tools Manual Bosch Rexroth AG 135 136 NYCeNetMonitor 10 NYCeNetMonitor The NYCeNetMonitor tool is used to check the presence and status of all NYCe4000 nodes in the FireWire netwo
80. cted to the first axis of the first drive The motor must be equipped with an 80 890 encoder if applicable Consult the NYCe4000 Hardware System Manual and NYCe4000 Standard Housings and Accessories Manual for more information about the hardware setup of the NYCe4000 system The NYCe4000 software must be installed on the computer Attention For safety reasons disconnect the motor from the system until you use the NYCeTuner in this walkthrough The encoder can always be connected 2 1 First time start up of the NYCe4000 System When you start the NYCe4000 node for the first time you must initialize the Motion Control Unit MCU NY4110 or NY4111 with the bootloader the gateware for the installed drive modules and the firmware for the MCU You can do the initialization with the NYCeConfigurator or the NYCeCommand tool of the NYCe4000 software package NYCeConfigurator has a graphical user interface and is best suited for interactive use NYCeCommand offers command line style entry of NYCe4000 command and is best suited for command scripts Initialization with NYCeConfigurator Switch on the 24V System power supply to the NYCe4000 system only the MCU needs to be active and start the NYCeConfigurator tool Do the following steps in the described order 1 Select a specific node icon in the tree shown in the pane at the left side to download the required files to that selected node only 2 Click the Save Download tab in the pane
81. d an axis with a stepper motor or sensing stepper motor Note that the position encoder of a sensing stepper motor is not used by the control loop It can only be used to read the actual axis position 1 Enter or change stepper motor values 2 If there is no motion profile create a motion profile in the Motion settings section Click the Advanced button to adjust additional settings of the profile 3 If the axis is not running click the Lock button and then the Start button Check whether the movement is correct 5 If the movement is not correct stop the motor adjust the values and restart the motor Repeat the previous step until the movement is correct 7 To view the movements of the axis you can start the NYCeScope tool by clicking on the Start NYCeScope button See chapter 5 for more information about the NYCeScope tool NYCe4000 Tools Manual Bosch Rexroth AG 29 136 Getting started Polarity m NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements mS Mr Ce4000 System OMY4110 node li MCU 0 NY4110 i DAY D O NY4120 Musis u P My amp xisStepper Position error i DAY D 1 NY4130 Controller ORY 0 2 NP 4140 DAY 0 4 N41 7U Welcome Signal Verification Current Loop Commutation Polarity Position Loop Feed Forwards Settling Criteria Save Download Setpoint position Measurement direction Servo position 0 000000 Open loop setti
82. d values 70 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner Table 10 Enhanced controller parameter list Name Description displayed by NYCeTuner Unit CLEGG_ENABLE Enable reset of integrator of position loop if pos error 0 O disable 1 enable DITHER_DUTY_CYCLE Duty cycle of the dither signal added to the position controller output DITHER_FREQUENCY Frequency of the dither signal added to the Hz position controller output O disabled DITHER HIGH Max positive amplitude of dither signal cout added to the position controller output DITHER LOW Min negative amplitude of dither signal cout added to the position controller output DITHER TYPE Type of dither signal added to position controller output O dither block 1 dither pulse height modulation D_GAIN_AT_STAND_STILL Enhanced D gain derivative gain of position cout loop at standstill s pu D HALF WAY VEL Enhanced D gain velocity where der gain pu s is average of Kv and gain at standstill IFC DEAD ZONE CONTROL OUT NEG Intrinsic friction compensation contr output cout at negative bound of dead zone IFC DEAD ZONE CONTROL OUT POS Intrinsic friction compensation contr output cout at positive bound of dead zone IFC DEAD ZONE GAIN Intrinsic friction compensation gain in dead zone GAIN AT STAND STILL Enhanced l gain integral gain of position rad s loop at standstill HALF WAY VEL Enhanced gain velocity where int gain is pu s the average of Ki and gain at st
83. dTime moveTime holdTime rampTime holdTime moveTime rampTime angle distance ca a D Ea G x a D w DC A positio Fig 79 Current commutation angle and axis position during the alignment procedure 88 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner Catch amp Move oe bypass error check yes no Check switch Check switch positive switch negative switch i i i Phase 1 Catch initial movement Phase 2 Hold force to angle renee ae ae eee emi i i ee G Phase 3 Move move expected angle d yes StartAngle a StartAngle p EndAngle a d a EndAngle p d low current low current StartAngle a d EndAngle a d high current StartAngle o d EndAngle a high current StartAngle d EndAngle B d high current Bv pe StartAngle d EndAngle p high current limit switch configured distance OK D Fig 80 Flow chart of Catch amp Move procedure distance OK 4 Aligned gt Notalgned yes C Not aligned gt From the flow chart it is clear that in the case that no limit switches are configured and the position change in p
84. de lj MCU D N4110 Ki max integrator level is set to 200 000000 fj DRY 0 0 MY4120 1 00000e 000 ai MyAxis Setpoint position i MyAnisStepper 6 506836 Position error Controller output ji DAV 0 1 N4130 0 000000 0 000000 DRY D 2 Nyt 40 Kp DRY D 4 Nytro Welcome Signal Verification Current Loop Commutation Polarity Position Loop Feed Forwards Settling Criteria Save Download 2 Q0000e 001 Dn EN KY 1 AO0000e 003 m SN g Axis position 6 506836 Motion settings Kp and Ky optimization Safety Distance pu 1 00000e 001 Reduce Kp 10 Controller output Velocity puss 1 00000e 000 max 200 Oscillation Hz 1 O0000e 001 Acceleration pu z 11 00000e 001 ili Jerk pu s3 Iv 11 00000e 002 Derive Kv fram Ep p Position error lw Reverse Advanced mas ho E start Motion Velocity estimation method Derivative sample Quick Stop Number of samples 4 Start M r CeS cope AXIS NY4110 node MyAxis STATE Ready no error CONFIG servo axis brushless DC moator S00 580 RES 2048 000000 Incr NoUnit Fig 26 NYCeTuner Position Loop tab In the Position Loop tab you compare the position at which the axis currently is and the position at which the axis should be Do the following steps 1 Ifthere is no motion profile create a motion profile in the Motion settings section Click the Advanced button to adjust additional settings of the profile 2 If the axis
85. differentiate with two algorithms VELOCITY ESTIMATION METHOD 0 for Lagrange differentiation VELOCITY ESTIMATION METHOD 1 for derivative sample differentiation This method is typically used when the sample frequency of the position velocity loop is high so especially when running this loop on the drive module CONTROLLER TYPE 0 When using this method be sure to specify the number of samples used for averaging with the N amp or SAMPLES parameter Typical values are 4 samples at 8 kHz 8 samples at 16 kHz 16 samples at 32 kHz The maximum number of samples used for averaging is 16 If the selected axis is on the IndraDrive the parameter Pvt SAMPLE TIME Is fixed and must be set to 0 5 ms The saturation level of the controller out can also be asymmetrical by enabling the ASYMMETRIC SATURATION parameter When the ASYMMETRIC SATURATION parameter is set to TRUE the SAT LEvEL parameter defines the upper limit of the NYCe4000 Tools Manual Bosch Rexroth AG 69 136 NYCeTuner controller out and the SAT MIN LEVEL parameter defines the lower limit of the controller out The default value of the ASYMMETRIC SATURATION parameter is FALSE thus the controller out range is saT LEvEL to sAT LEVEL and SAT MIN LEVEL Is ignored However for an NY4170 piezo drive module the ASYMMETRIC SATURATION parameter is default set to TRUE because if this parameter is set to FALSE the SAT MIN LEVEL is ignored and can have destructive effects for
86. e KEK 0 00000e 000 0 00000e 000 0 00000e 000 0 00000e 000 O 00000e 000 Time Disk Edit Vek Acc Jerk Reset Eze ET STOP Inactive na eror 0 001135 0 001389 Steady 0 000000 0 000000 Default view CONFIG indra blac axis indra blac motor no position sensor Test Signal Generator Inject Inactive Output 0 000000 Setpoint Generator State Disabled Pos 0 001735 Vel 0 000000 Quickwatch view RES 3600000 000000 Incr unit If the motor has motor encoder flash memory Bosch Rexroth MSK motors right click on the axis Select Load default parameters from encoder from the pop up menu The current control and Position Velocity Loop parameters will be loaded If the motor does not have motor encoder flash memory the parameters must be determined by the customer or taken from the data sheets of the manufacturer of the motor and set using the NYCeConfigurator Set the PWM frequency to 4000 Hz Click Axis Save to File to save the settings to a file Click the Lock button You can activate the motor for example select Jogging Motion click the Edit button to set the jog parameters and click the Start Motion button A 2 2 34 136 Bosch Rexroth AG Getting started NYCe4000 Tools Manual The following SAC parameters are scaled to IndraDrive parameters at start up of a NYCe4000 node if one or more IndraBLAC axes are present Table 3 NYCe4000 node sta
87. e Download Save Downloadyoursettings AXIS WY4110_node MyAxis STATE Inactive no error CONFIG serva axis brushless AC motor SO0 S90 RES 2048 000000 Incr NoUnit Fig 16 NYCeTuner Welcome tab for a BLAC motor The available tabs depend on the motor type configured for the selected axis See Fig 17 for the tabs of the NYCeTuner for these motor types Welcome Signal Verification Curent Loop Alignment Polarity Position Loop Feed Forwards Settling Criteria Save Download Welcome Signal Verification Curent Loop Commutation Polarity Position Loop Feed Forwards Settling Criteria Save Download Welcome Current Loop Stepper Parameters Save Download Fig 17 NYCeTuner tabs for the BLAC motor 1 BLDC motor 2 stepper motor 3 and DC and piezo motor 4 The tabs are discussed in this chapter in the sequence of the quick start procedure Only the Save Download tab is not discussed in this chapter see chapter 4 4 22 136 Bosch Rexroth AG Getting started NYCe4000 Tools Manual Select and initialize an axis The NYCeTuner displays in the pane at the left side a tree with the nodes and the axes in the network Click on an axis in the pane at the left side to do the configuration of that axis You can also use the menu bar click Axis gt Select If needed you can load the parameters from an axis parameter file on the host click Axis gt Initialize in the menu b
88. e FRF The lower plot shows the coherence for each estimated FRF sample 0 for a bad FRF estimation 1 for a good FRF estimation The FRF plot uses the coherence to display the signal more or less bright A higher coherence value gives a more brightly displayed signal and a lower coherence gives a dimmed displayed signal NYCe4000 Tools Manual Bosch Rexroth AG 117 136 NYCeScope scope Dre Iransrer Euinctmr iu gs LH s Pid EJ zoom Full e Bode Nyquist test Sensitivity Controller ut f Tsg Closed Loop Input Value Invert colors Closed loop Y TIL F dii Wi i d TT ri 4 b 101 Hz 40 2 dE li 1 TT EU un il Pr i SH M I l cbe NAM sa ala 20 100 200 400 EDU Cursor 102 Hz 20 4 dB 157 degrees fBin D 98 Hz Fig 102 NYCeScope FRF Bode plot The FRF can also be displayed as a Nyquist diagram with the Nyquist radio button see Fig 103 Inl EJ ici ne EU ei iFansrer FUNC amp E II dte Zoom default f Bade ie Myquist test Sensitivity Controller Gut Tsg Closed Loop Input value Y Invert colors Coh Threshold F Closed loop T ME 1 54 de 22 4 dec egim 1 i I DE NN Br a ee LEN RUNE C I um rT trys ToT or re i SOT ee Boom 1 15 i 80 100 200 400 EDO 800 1k Hz fBin 0 96 Hz Fig 103 NYCeScope FRF Nyquist diagram You can set the coherence threshold for plotting with the Coh Threshold
89. e adjustments for the selected item In the bottom part of the NYCeConfigurator window is a line which displays status information if the selection is an axis of a node 36 136 Bosch Rexroth AG NYCeConfigurator NYCe4000 Tools Manual 3 1 Parameter handling As explained in the Getting started chapter the parameter handling in the NY CeConfigurator is different compared to the parameter handling in the NYCeTuner If a parameter setting has been changed in the NYCeConfigurator this is only done in the NYCeConfigurator itself and not in the node Only after you click the Apply or OK button the new setting s will be sent to the node If you made changes to settings but want to revert to the current settings press the Esc key NYCeConfigurator set a value lm m Apply or XML file to file NODE flash J Save to flash Fig 31 Parameter handling using NYCeConfigurator To apply certain configuration settings the NYCeConfigurator requests for an axis shutdown To be able to use the applied settings after a re initialize you must first save the settings to a file or flash memory after the shutdown of the axis is done 3 2 Save and restore settings When you work with the NYCeConfigurator the changes that you make to the settings of the nodes and or the axes can be saved at different levels A message box appears to show the progres
90. e grant of a patent or the registration of a utility model or design DIN 34 1 The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content of this documentation and the availability of the product Bosch Rexroth AG Luchthavenweg 20 e 5657 EB Eindhoven e The Netherlands Telephone 31 0 40 2578888 e Fax 31 0 40 2578800 http www boschrexroth com nyce NYCe4000 Tools Manual Bosch Rexroth AG 3 136 Contents 1 MU OGUGHON tese iuste tect eiie ne a Ee ob S IM SLE DL EMNUS MA LR Desc 5 1 1 General remark on XML formatted files ssssussse 5 1 2 Used abbreviations in this manual cccccseccceeeceeeeseeeeeeeaeeeseeees 5 2 Getma Stale Re 7 2 1 First time start up of the NYCe4000 System sssssssss 7 2 2 Configuring versus tuning parameter handling 13 2 3 D lrie aniaxis essc vede qun dvd oc quc aoe eke Devi cU Ud 14 2 4 QUICK Sta sates acta ence at ei eam rahe MIELE od eda e utere 20 3C NYGOGORHSUEAIOT 253 00 65 5 0560 c toco keine ia Scag dece fee a 35 3 1 Parameter NANGING p M 36 3 2 Save and restore SettingS cccccccsssccccsseeeceessecceeseeesseeseesseeeeessees 36 33 Configuration at the node level seseeseseeeeeeneeeee 38 3 4 Configuration at the MC
91. e will be no error message Mode 2 Wake amp Shake not for IndraBLAC In this mode the motor alignment is done by use of the following 3 parameters MAX ALIGNMENT OUTPUT if the controller output is configured in amperes a typical value is 50 to 80 of the maximum continuous motor current WAKE AND SHAKE CRIT DISPL this is the maximum allowed displacement Typical value from 10 or more increments encoder resolution note that pu is defined as nr of increments SAC RESOLUTION WAKE AND SHAKE PERIOD TIME this is the period time of the test signal during wake and shake A typical value is 30 50 ms up to 100 ms depending on the inertia mass 84 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual The Wake amp Shake procedure applies a signal to the motor and measures the resulting position displacement of the axis Depending on the position of the axis the signal applied to the motor is adjusted in such a way that by iteration a commutation offset is found resulting in zero motor torque The correct commutation angle is calculated from this commutation offset Note If one of these parameters is chosen too small the alignment may be unsuccessful If the alignment is not successful an error message will appear An error message may also appear if the parameters are well chosen Mode 3 Set Commutation Offset not for IndraBLAC In this mode the motor is not moving Using this mode it is assumed tha
92. e window other situations When you click a selected variable in the selected channels section the Add FFT button is enabled and when you click this button a frequency plot of the trace will be either added to a new frequency analyzer window or to an existing frequency analyzer window Besides the frequency domain analysis of variables the frequency transfer plot between 2 variables can be selected as well When you click the FRF Channels button the dialog window Create Frequency Response Function channel appears that displays the created Frequency Response Function FRF channels and enables the user to create new FRF plots from the selected channels Three FRF channels can be created automatically with the Sensitivity CL OL button in the Select trace channels dialog The control loop sensitivity The controller axis closed loop transfer function The controller axis open loop transfer function Only the control loop sensitivity is represented by actual measured data The axis closed loop and axis open loop transfer functions are calculated from the control loop sensitivity data 112 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeScope 5 2 Trace setup You must configure the NYCeScope to correctly display the traces after you selected the traces Enter an appropriate trace size specified in samples in the field Trace size Consider the expected trace dynamics milliseconds hours Ch
93. ears see Fig 4 Download Firmware to Node Look in upgrade 3 Ei FIRM ARE4110_4111 sYs hy Recent Document Desktop hy Documents My Network Files of type Firmware File eys Cancel Places Open as read only Fig 4 Select the firmware file 10 136 Bosch Rexroth AG Getting started NYCe4000 Tools Manual 10 Select the firmware file firmware4110 4111 sys from the upgrade folder and click the Open button A progress message box is displayed during the download action When the download of the firmware is finished you are asked to restart the node You must restart the node to start the new downloaded firmware If the NYCe4000 system includes the NY4150 module you must download the microware and the SERCON gateware after the MCU is restarted Note that you must have downloaded the gateware of the NY4150 in step 6 and 7 else the download tab will not be available Do the following steps to configure the NY4150 SERCOSIII Master module 1 Select the NY4150 module icon of the specific node in the tree shown in the pane at the left side and click the Download tab in the pane at the right side See Fig 5 NYCeConfigurator Real Network File About el NYCe4000 System DRY 0 0 N r415 NY4110_node ff MCU 0 NY4110 GP ae Microware Sf Ee IEN IndraDrive 1 Advanced l Muss Download Microware IndraDrive 2 Advanced i OAV O2 Nv4120 General Download
94. ecifies the velocity the motor will try to reach during the movement If the acceleration is not high enough the speed may not be reached before the motor must decelerate again Acceleration This field specifies the acceleration the motor will try to reach during the movement If the acceleration is too low the specified speed may not be reached Also if the specified jerk value is too low the acceleration specified may not be reached Jerk This field specifies the jerk the motor will have during the movement Jerk is the acceleration of the acceleration or the derivative of the acceleration The jerk is always instantly the specified value It is not uncommon to set the jerk to its maximum value to simulate infinite jerk You can do this by putting or removing the check mark in the checkbox Reverse If the Reverse checkbox has a check mark the distance will be inverted at the end of a movement Then you can move up and down between the boundaries This option is useful if your motor cannot move beyond certain boundaries Advanced If you click the Advanced button a Point to point dialog is displayed with more extensive options for your motion for example auto move and typed profile calculation This dialog is the same as the dialog in the expert mode of the NYCeTuner using the Edit button See chapter 4 15 for a description of the Point to Point motion editor When you click the OK the settings from that window are copied
95. ed forward see chapter 4 14 Motion stimuli The NYCeTuner also has a series of motion stimuli to enable the user to perform and monitor the motion related actions during the tuning procedures These motion options are explained in chapter 4 15 Editors The NYCeTuner contains 3 editors a point to point motion editor a jogging motion editor and the test signal editor 4 6 Standard controller parameters Table 9 shows the standard controller parameters as shown by the NYCeTuner when you select the parameters via the View menu Fig 61 on page 68 shows the lay out of the standard NYCe4000 position controller NYCe4000 Tools Manual Bosch Rexroth AG 67 136 Table 9 Standard controller parameter list Name ASYMMETRIC SATURATION CONTROLLER OUTPUT INVERT CONTROLLER TYPE INDRA LOAD INERTIA INTEGRATOR SWITCH OFF MODE KFA KFC KFJ KFST KFV KI KP KV MAX_INTEGRATOR_LEVEL MEAS_SYST_DIRECTION NR_OF_SAMPLES PFC_KP PVL_SAMPLE_TIME SAT_LEVEL SAT_MIN_LEVEL THRESHOLD_VELOCITY VELOCITY_ESTIMATION_METHOD NYCeTuner Description displayed by NYCeTuner Unit Asymmetric saturation level Position controller output inversion Type of controller OZPVL on DRV 1 PVL on MCU 2 UDC_0 3 UDC 1 4 UDC 2 11 UDC_9 IndraDrive load inertia kg kgm Integrator behavior above threshold velocity 0 reset and disable 1 hold Acceleration feed forward gain of position loop cout s pu Coulomb friction feed forw
96. ensor Thermik SNM150 DK for other motors PTC Siemens K227 NTC Siemens KTY84 PTC Thermik SNM150 DK for MKE motors PTC Sensor for Bosch SF motors NTC If a sensor is defined you can set the temperature when a warning is generated parameter S 0 0201 and a shut down is performed parameter S 0 0204 See Fig 47 NYCe4000 Tools Manual Bosch Rexroth AG 49 136 NYCeConfigurator NYCeConfigurator Real Network File About el N Ce4000 System IndraDirive 3 Advanced MY4T10 nade 3 lj MCU N4110 a f DRY 0 0 NY4150 fj IndraDrive 1 Advanced Ej IndraDrive 2 Advanced Motor Encoder Brake Temperature Save r Download fj IndraDrive 3 Advanced T i Meus bi P 0 0512 Sensor type i ed 3 Siemens KT 84 PTC hi 5 0 0201 Warning temperature 1 40 0000 Deg E 5 0 0204 Shutdown temperature f 50 0000 Deg E General Inputs Outputs IndraDrive Motor Settings For IndraDirive motor Fig 47 Temperature tab for a motor without motor encoder flash memory Save Download tab On the Save Download tab are 3 buttons available to save and download the motor parameters see Fig 48 Load from File If you have a motor XML file with the motor parameters you can use the Load from File button to download the motor parameters to the IndraDrive Save to File With the button Save to File you can save the motor parameters from the IndraDrive into a motor XML file
97. est signal offset to 2096 of the maximum continuous current of the motor and repeat process current Abort this procedure if the step test signal has an offset of 2096 of the continuous motor current and the motor does not rotate Set the offset of the step signal back to 10 and check all wiring for possible hardware problems The position loop tuning Before you start tuning the position loop set the following safety parameters Setthe MAx STAEDY STATE ERROR to a safe value Setthe MAx DYN POS ERROR to a safe value Set the saT LEVEL to a safe value for example 1 1 Goto the NYCeTuner window and select the Standard Control parameters in the View menu 2 Setthe following parameters CONTROLLER TYPE 0 VELOCITY ESTIMATION METHOD 1 NR OF SAMPLES 16 3 Start the position controller by setting the proportional gain KP to 1 Note When setting the proportional gain to 1 the controller out will be 1A if the position error is equal to 1 revolution If this value for the proportional gains seems to be unfit for the axis choose a more appropriate value for the axis 4 Select the PTP motion in the pane at the right hand side of the NYCeTuner and click the properties button 5 Choose the energy optimized motion profile Setthe time equal to 2 seconds Set the distance equal to 1 unit Set the motion direction to bi directional Select auto move with continuous repeat 6 Open the NYCeScope and select
98. expert mode which allows you to fine tune many parameters see for detailed information chapter 4 After you start the NYCeTuner in wizard mode the Welcome tab is opened The information displayed in the right hand pane depends on the type of motor selected for the axis In Fig 16 the motor of the selected axis is a BLAC motor and the Welcome tab shows 8 buttons which from top to bottom represent the configuration steps for a BLAC motor The tabs next to the Welcome tab access the same tabs that you can open with the buttons on the Welcome tab 7 NYCeTuner Simulation Network MyAxis E o Axis View Tools Help Stop All Movements iz M Y Ded System NY4110 node li MCU 0 NY4110 fj DAV 0 0 Nv4120 MuyAsisS tepper This wizard will quide you step by step through the entire tuning procedure DRY 0 1 Nr4130 j DRY D Z NY 414 0 j DRY D 4 NY 4170 Welcome Signal Verification Current Loop Alignment Polarity Position Loop Feed Forwards Settling Criteria Save Download Signal Verification Verify that your equipment is functioning properly Current Loop Tune the current loop Alignment Align your motor and verify the numberof pole pairs Polarity Set the polarity and measurement direction Position Loop Fine tune your PID loop 000 Feed Forwards Fine tune your feed forward parameters Settling Criteria Specify the settling criteria that meet your requirements Sav
99. f logging in the Logging options window to log only the information that is needed for a specific situation Process to be logged Choose the NYCe4000 application or NYCe4000 tool from which the activities must be monitored Subsystem to be logged For each subsystem of the NYCe4000 system SAC NHI etc the following logging options can be selected or deselected Function entry the NYCe4000 functions that have been executed Function Exit the return value of each NYCe4000 executed function Primary parameters the axis or node that the executed function operated on Secondary parameters all remaining input parameters of the executed function Events NYCe4000 events that occurred Event data the data that belongs to the occurred event Several subsystems can be logged simultaneously Select the subsystem then select the logging flags and click the Apply button in the Logging options window to activate the new selections After all selections have been set click the Close button in the Logging options window 132 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeLogger Logging options Process ndksim exe Subsystem SAL Subsystem logging fags Iv Log function entry W Log function exit Only when not MYCE DK Iv Log primary parameters I Log secondary parameters m Log output parameters Deselect all Global logging flags Log events E W Log Autoscroll Fig 117 Loggi
100. f measurement 2 but obtained by the closed loop measurement 3 s oe 1 CH Closed loop transfer function similar to the result of measurement 3 but obtained by the sensitivity measurement 2 T 1 T S CH Lr ces ics T 1 CH p E Plant sensitivity transfer function similar to the result of measurement 4 H _ 4 ST eeh 7 RO F9 Plant transfer function similar to the result of measurement 4 with the controller gains set to 0 AT Q iE Adm Controller transfer function mainly of interest for validation of the controller xp oues vae c mG Q Notes The signal Y1 Y2 Y3 or Y4 can be output via the analog output but only possible if the analog output of that axis is not in use for other purposes external drive or monitor Axes with motor type external drive always have Y2 as output to the analog output This output can not be scaled but measurements using Y2 as output are possible to some extend NYCe4000 Tools Manual Bosch Rexroth AG 99 136 NYCeTuner Constraints The analog inputs and analog outputs are all filtered with a second order low pass filter with a break frequency at approximately 4 kHz The setup described involves these filters in the measurements 1 2 and 3 The derived frequency responses T R and Q S of the plant transfer function H T S of the open loop transfer function CH and R S of the controller transfer function
101. face Axis Resolution 2048 Increments 1 unit ki Controller Output Fresolutian fi QOOQUOO00 000 Resolution Axis State Idle na error Fig 49 NYCeConfigurator axis level window General tab The displayed tabs depend on properties of the axis For example if the Motor Type selection is AC Brushless or DC Brushless an additional tab Commutation is added If the selected axis is on an IndraDrive the Axis Resolution section on the General tab includes an additional setting the IndraDrive Position Resolution drop down selection box The unit is degree for rotational encoders and millimeter for linear encoders see Fig 50 Asis Resolution 3600000 Increments Resolution Controller Output Resolution 20 000000 lndraQrive Position Resolution D anm aires 0 001 0 0001 0 00001 0 000001 Fig 50 IndraDrive Position Resolution drop down box for IndraDrive based axes 52 136 Bosch Rexroth AG NY CeConfigurator General tab NYCe4000 Tools Manual Table 4 shows the axis type setup options of the General tab If an axis is selected which is defined on an IndraDrive the axis type is set to IndraDrive axis the motor type is set to IndraDrive BLAC and the position interface is set to No sensor and these settings can not be changed Table 4 Axis Type setup Axis type Sensor Open loop Stepper Sensing Stepper Servo IndraDrive axis No
102. figurator Simulation Network File About M 4110 nade ICL D NY411D General Save Download DAV 0 0 NY4120 i Mp nis j DAV 01 NY4130 j DAV 0 2 NY4140 DAY O4 N T4 7 Initialize From File Initialize from Flash Configurations Save to File Save ta Flash Download Gateware Firmware Flash bank 0 Bootloader Gateware Fig 35 NYCeConfigurator node level Save Download tab The node settings can be saved or initialized from a file or from the flash memory of the node itself on the Save Download tab in the Configuration section In the Download section buttons are available to download a new bootloader firmware or gateware files into the node Click the Firmware button to download a new firmware file to the node The Download Firmware to Node dialog window appears Select a Firmware File sys file and click the Open button A dialog box appears with the message Busy downloading NYCeConfigurator is not responsive during the download activity Click the Bootloader button to download a new bootloader file to the node The Download Bootloader to Node dialog window appears Select a Bootloader File bin file and click the Open button In the Gateware section you can select a gateware file to download to the node First select the bank into which the new gateware file must be downloaded Note that you must fill the gateware banks starting wi
103. gnment Parameters Custom Parameters Edit Custom Parameters denominator frequency of first numerator relative damping of numerator frequency of first na enable first notch filter of positi denominator relative damping denominator frequency of seco numerator relative damping of numerator frequency of second iia Open Loop Lock Asis Status Axis State Inactive no error STOP Reset ES ET ITCH 0 000e 000 enable second notch filter of po Servo Test Signal Generator Controller Settling Criteria DAMP 1 000e 000 denominator relative damping Pas 6 506626 Inject Inactive J FREQ 1 000e 000 denominator frequency of third ES D DO D 000000 Udc Parameters 4 DAMP 1 000e 000 numerator relative damping of el dut MFC NUM FREQ 1 000e 000 numerator frequency af third n Controller Setpoint Generator ior Cust cu A AAA Rann nnahla Haired nateh Filtar Fono e m 1 Vues m Fig 59 Select a specific group of parameters The parameters are divided into different groups he Standard control parameters to setup and tune the PID controller together with the feed forward gains see chapter 4 6 he Enhanced control parameters for custom PID controllers for example speed dependent proportional gain see chapter 4 7 The Control filter parameters to further improve axis behavior together with the PID controller see chapter 4 8 The Current control parameters
104. gt button to move the selected parameter to the Selected items pane at the right side Likewise you can remove a selected parameter and click the lt button Click the OK button when you have completed your custom defined list 3 Display the custom defined parameters in the pane in the middle by choosing View gt Custom parameters Parameters for IndraDrive The following SAC parameters are not applicable if the axis is on an IndraDrive Some current control parameters see chapter 4 9 All stepper control parameters see chapter 4 10 All BLAC alignment parameters see chapter 4 11 Parameters listed in Table 8 Table 8 SAC parameters not applicable for IndraDrive axes SAC parameters not applicable for IndraDrive axes SECONDARY COUNTER DIRECTION STEP NR OF MICRO STEPS BLDC HALL SENSOR SET STOP ALARM ENABLE CLSTEP NR OF POLE PAIRS BLDC SIX STEP COMM x x 0 5 STOP ALARM ACTIVE LEVEL CLSTEP PU PER NR OF POLE PAIRS BRAKE SLOT ID EXT DRIVE EN SLOT ID BLAC NR OF POLE PAIRS BRAKE DIG IO NR EXT DRIVE EN DIG IO NR BLAC PU PER NR OF POLE PAIRS 0890 SINGLE ENDED SINCOS INDEX LEVEL THRESHOLD SINCOS MIN ERROR LEVEL HIPERFACE PARITY BIT SINCOS INTERPOLATION FACTOR SINCOS MAX ERROR LEVEL HIPERFACE BAUD RATE ENDAT CLOCK FREQUENCY 66 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual Auto Tweak tool You can use the AutoTweak tool to automatically measure the position dependent fe
105. hase 3 is not as expected the alignment procedure is repeated in the other direction and angle p is used Mode 6 Indra saturation only for IndraBLAC The saturation method for determining the commutation offset can be used for all types of synchronous motors Stator and rotor of the motor can be inaccessible installed in the machine The commutation offset is determined with the supplied current During the alignment motor stand still is necessary and the iron material NYCe4000 Tools Manual Bosch Rexroth AG 89 136 NYCeTuner of the motor must be magnetically saturated when current is applied For motors which are not magnetically saturated at the maximum allowed current the saturation method is unsuited for determining the commutation offset Use the sine wave method in these cases Note that for motors with an integrated motor encoder it is not necessary to determine the commutation offset Mode 7 Indra sine wave only for IndraBLAC You can use the sine wave method to determine the commutation offset but this method should only be used if you can not use the saturation method To use the sine wave method unrestricted movement of the axis is required The axis must be able to move easily and freely otherwise the quality of the offset determination is reduced or even cause the offset determination to fail Check if the saturation method is possible because unrestricted movement of the axis generally causes problems A sinusoidal
106. he NYCeTuner until either the drive current response is satisfactory or the drive current response does not improve any more see Fig 94b and c 9 Increase the cc xr parameter until the drive current response is satisfactory Select the stepper control parameters in the NYCeTuner The parameter list is reduced to 9 parameters NYCe4000 Tools Manual Bosch Rexroth AG 109 136 NYCeTuner The stepper motor can be driven with the following parameters as good starting values Set the acceleration and deceleration current equal to the rated current to obtain the best response Set the constant velocity and hold current equal to 5096 of the rated current to minimize heat generation Set all delay times Pre Acceleration Post acceleration Pre deceleration Post deceleration to 10 ms Set the delay compensation time to O Set the base velocity set higher than the velocity corresponding to the mechanical resonance frequency of the stepper motor Use only parabolic profiles with stepper motors After defining the movement second order profile so no jerk and clicking the Lock button the stepper motor can be moved 110 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeScope 5 NYCeScope You can trace almost any variable of a NYCe4000 node drive combination with the NYCeScope tool which makes the NYCeScope a useful tool for Current loop tuning Position loop tuning Performance monitoring O monitoring
107. he distance of the PTP or the movement can be changing direction after each PTP the bi directional motion execution resulting to a ping pong style movement Jogging motion generator The jogging motion generator can be used to ramp an axis to a constant velocity jog Fig 89 shows the Jogging motion editor Jogging Motion Editor MyAxis Profile Properties Profile Type Cubic Target Velocity unites 7 00000e 000 Idas Accel urit s2 ja O0000e 001 Mas Jerk unit 23 f 20000e 001 Check Profile l I L l l l l l L 4 L L l 1 l L l l A L L L L l DE Cancel Velocity Acceleration C Jerk View Fig 89 The Jogging motion editor NYCe4000 Tools Manual Bosch Rexroth AG 97 136 NYCeTuner By selecting Jogging motion in the NYCeTuner and clicking the Edit button the Jogging Motion Editor is opened The chosen jogging motion profile can be displayed in the right hand side plot by clicking the Check Profile button Note Changes in the PTP and Jogging editors can not be applied while the axis is moving Frequency Response Function with external equipment With the NYCeScope FRF Frequency Response Function you can measure the frequency response of the NYCe4000 controller However the measurement with the NYCeScope has some drawbacks The data collection measurement results is implemented with the trace functionality The trace functionality is executed at the sample
108. he maximum drive current or voltage that the drive module can generate Controller Output Resolution is a scale factor of the controller output Internally the controller output uses a range of 1 0 1 0 With the Controller Output Resolution you can scale this range to any other range see also chapter 3 6 For the NY4120 and NY4140 the value is 20 0 for the NY4130 the value is 24 0 and for the NY4170 the value is 135 0 For safety reasons a very high value is set as the default value 6 Click the Frequencies tab 16 136 Bosch Rexroth AG NYCe4000 Tools Manual Getting started 7 Setthe frequencies as shown in see Fig 11 For the NY4130 and NY4170 drive module only the Setpoint Node Frequency and Position Velocity Loop Frequency are available NYCeConfisurator Simulation Network ox File About M Ce4000 System M yis MY4110 nade j MCU 0 N4110 DRY 0 0 MY4120 MyAsis DRY 0 1 Nr4130 DRY 02 N r4140 Setpoint Made Frequency kHz eee DUM Position Velocity Loop Frequency at CCL kHz 32 kHz o Current Controller Frequency KHz 32 kHz Pulse Width Modulation Frequency kHz 32 kHz General Frequencies Commutation Matar Digital ID Ham Amis Frequency Settings 1 kHz Avie Stabe Idle na error Fig 11 Axis frequency settings 8 If you selected a BLAC or BLDC motor in step 2 there is also a tab called Commutation Click the Commutation
109. he system tree and then click the Save Download tab To keep the settings of the selected axis see chapter 3 6 these settings can be saved to an XML file on the host and or to the flash memory of the node The configuration that has been saved during previous sessions can be restored by the same method At the system level Right click on the NYCe4000 system in the system tree At the node level Click the node in the system tree and then click the Save Download tab At the axis level Click the axis in the system tree and the click the Save Download tab 38 136 Bosch Rexroth AG NYCeConfigurator NYCe4000 Tools Manual 3 3 Configuration at the node level When you select a node in the NYCe4000 system tree in the pane at the left hand side of the NY CeConfigurator the pane at the right hand side shows 2 tabs General and Save Download NY CeConfigurator Simulation Network E m File About M 4110 nade General Save 7 Download i MCU 0 N4110 ij DAY OO NY4120 t MyAsis DRY 0 1 N4130 DRY z NY4140 DRY 04 Nytro Node Properties Mame Safety Input High Active Level NYA 10_node Low Active Level Sample Frequency Emergency Input High Active Level 1 kHz Low Active Level Fig 34 NYCeConfigurator node level General tab The General tab enables the user to change the name and sample frequency of the node and define the input levels of the safety
110. if supported on the selected drive module The active state level can be set high or low A high active state means that when the output is activated the voltage of this output changes to 24V The low active state changes the output voltage to OV when being activated typical voltage values The type of an output can be set to State Pulse or PWM When choosing State the output will remain in the chosen state active or inactive If Pulse is chosen the Pulse Time entry box appears where you can specify the duration of the pulse An activated output will remain activated for the defined pulse time and return to the inactive state If PWM is chosen the On Delay Frequency and Duty Cycle entry boxes appear where you can specify the properties of the PWM signal The PWM choice sets a pulse width modulated signal on the selected output active state inactive state duty cycle 100 Fig 41 Parameters of the PWM output Note An output type can only be set if the output is inactive NYCe4000 Tools Manual Bosch Rexroth AG 45 136 NYCeConfigurator IndraDrive motor without motor encoder flash memory If a motor without motor encoder flash memory is connected to the IndraDrive a fourth tab called IndraDrive Motor appears at the drive module level On this tab are 5 tabs to define the parameters for the motor and its encoder see Fig 42 For detailed information of the mentioned P parameters a
111. iner AXIS NY4110 node MyAxis STATE Inactive ina error CONFIG servo axis brushless DC rnotor SO0 S90 RES 2048 000000 Incr NoUnit Fig 23 NYCeTuner Commutation tab In the Commutation tab you can measure and configure the settings of Hall sensors for the BLDC motor This tab is only available when you selected an axis with a BLDC motor 1 Enter a value in the Max current level field The value determines the maximum value of the current that will be applied to move one pole pair 2 Click the Align to Step 1 button to measure the Hall sensors at Step 1 The measurement is represented by a rectangle box around the values at step 1 The Hall values of the step 1 are displayed bold to indicate that these values were measured and have not yet been saved 3 Repeat the previous step for the other Hall sensors 4 After the last measurement click the Finish button 5 Click the Validate settings button to collect all current Hall values in the table for a validation of the Hall sensors The indicator next to the button indicates whether the measured Hall settings are valid or not If the settings are valid the table should resemble the table in the Commutation tab of the NYCeConfigurator tool see to chapter 3 6 Click the Accept button to save the Hall settings You can click the Reset measuring button to start a new measurement The current Hall table settings from the c
112. ing of this alignment procedure and minimization of collision risks some parameter values need to be estimated A proper start angle needs to be found for each endstop if present If the commutation angle is once known by using another alignment procedure these start angles can be determined This can be done by moving the axis for example manually towards each endstop and reading the commutation angle for example in NYCeScope Then a proper start angle can be defined at a certain distance from each endstop see Fig 75 The distance from the endstop must be smaller than rr rad but not too small otherwise the uncontrolled movement in phase 1 can cause a collision against the endstop Typically a distance of 7zrr is chosen endstop endstop Fig 75 How to set commutation angles at endstops The sign of the distance parameter d defines the initial movement direction see Fig 76 Fig 76 Initial movement direction d without limit switches When limit switches are configured the algorithm knows which start angle to use if the axis is initially in an endstop If the axis is initially not in an endstop it is attempted to move to the limit switch as the wrong start angle from the other endstop may be used If the limit switch is found the alignment procedure will be started again using the correct start angle When limit switches are configured use the settings as shown in Fig
113. input and emergency input If the node contains an NY4150 SERCOSIII Master module the sample frequency can only be set to 1 kHz The other sample frequencies 2 kHz 4 kHz and 8 kHz are not supported if the node contains an NY4150 Note that NYCe4000 has an error handler defined for the safety input You must have a function defined for the safety input in your application software and it can not be configured with any NYCe4000 tool A high active level means that when the emergency or safety input is connected with 24V the emergency and safety states are activated and thus when not connected or connected to a voltage of OV the safety and emergency inputs are inactive With a low active level setting the emergency and safety inputs are activated when their inputs are not connected or connected to a voltage potential of OV The safety and emergency inputs are now inactive when their inputs are connected with 24V The low active level is important when working with a situation in which cable break between the emergency or safety switches must always result into an emergency or safety response of the NYCe4000 system The actual response of each axis when the safety input is activated is described in the axis error handling tab in chapter Configuration at the axis level on page 51 The emergency input will always result in a full stop of the NYCe4000 system NYCe4000 Tools Manual Bosch Rexroth AG 39 136 NYCeConfigurator N CeCon
114. ion angle at a certain Commutation angle at distance rr from one endstop for vatt from negative example the negative endstop endstop but can also be the positive endstop see figures rad The commutation angle at a certain Commutation angle at distance rr from one endstop for zt from positive example the positive endstop endstop but can also be the negative endstop see figures rad The distance to move during the all TI depending alignment in terms of the pole pitch on stroke length The allowed deviation between angle 5 movement and actual position change as a percentage of pole pitch 21r S The time used in phase 1 catch and 1 2s phase 2 hold S The time used in phase 1 catch and 1 2s phase 3 move S The time used in phase 1 catch 2 1 2s hold and 3 move CATCH AND MOVE MIN CURRENT LEVEL A The maximum current used in phase 1 10 30 of the catch maximum continuous current CATCH AND MOVE MAX CURRENT LEVEL A The maximum current used during in 50 80 of the phase 2 hold and phase 3 move maximum continuous current Fig 79 shows the current commutation angle and the actual axis position during the phases As shown the movement in phase 1 depends on the initial position There the start angle equal to a or B may even not always be reached Bosch Rexroth AG 87 136 NYCe4000 Tools Manual NYCeTuner Phase 2 Hold Catch xCurrentLevel minCurrentLevel hol
115. ion delay time s POST DEC DELAY Stepper motor post deceleration delay time s PRE ACC DELAY Stepper motor pre acceleration delay time S PRE DEC DELAY Stepper motor pre deceleration delay time S STEPPER ACCELERATION CURRENT Stepper motor acceleration current A STEPPER ACCELERATION THRESHOLD Stepper motor acceleration threshold pu s STEPPER BASE VELOCITY Stepper motor base velocity pu s STEPPER CONSTANT VEL CURRENT Stepper motor constant velocity current A STEPPER DECELERATION CURRENT Stepper motor deceleration current A STEPPER HOLD CURRENT Stepper motor hold current A STEP DELAY COMPENSATION TIME Time to compensate for calculation delay in s the current controller for a stepper motor The parameter STEPPER ACCELERATION THRESHOLD is not supported for standard motion profiles Because the stepper motor is used without feedback the amount of control parameters for this type of axis is limited except for the current loop parameters almost none of the other parameters have any use for the stepper motor axis Note The stepper motor can have a position sensor This is called a sensing stepper However the position sensor data is not used in the control algorithm The position sensor is only used to read the actual stepper position and can be used for homing of a stepper axis The resolution of the sensor must be higher or equal to half of a micro step IndraDrive The stepper motor is not supported on the IndraDrive thus
116. is not running click the Lock button and then the Start button 3 Set the PID values Kp Ki and Kv by entering a value or using the slider 4 You can optimize Kp and Kv with the following steps Click the Reduce Kp 10 button to reduce the value of Kp by 10 Enter an oscillation frequency and click the Derive Kv from Kp button This action will disable the Kv and Oscillation text field Whenever you change Kp Kv will automatically change accordingly Choose the velocity estimation method from the drop down box Enter a value for the number of samples eo Click the Stop button to stop the axis when the adjustments are ready o To view the movements of the axis you can start the NYCeScope tool by clicking the Start NYCeScope button See chapter 5 for more information about the NYCeScope tool NYCe4000 Tools Manual Bosch Rexroth AG 31 136 Getting started Feed Forwards NYCeTuner Simulation Network MyAxis a Axis View Toole Help Stop All Movements mE WYCe4000 System MY4110 node fj MCU 0 N4110 Kist j E EE fi DRY 0 0 Nv4120 4 Kfc TEM SP bay ar ta fn DAY 0 4 N4170 ea fa 0 00000e 000 Setpoint position Position error Controller output 6 506836 0 000000 0 000000 Welcome Signal Verification Current Loop Commutation Polarity Position Loop Feed Forwards Settling Criteria Save Download velocity Total friction Static friction 5 505835 F
117. ist Name Description displayed by NYCeTuner Unit ALIGNMENT MODE Alignment mode for brushless AC motor 0 none 1 Kick amp Swing 2 Wake amp Shake 3 Set commutation phase 4 Motionless 5 Catch amp Move 6 Indra saturation 7 Indra sine wave COMMUTATION DIRECTION Commutation direction 1 neg 1 pos COMMUTATION_OFFSET Commutation angle mode 3 or phase rad configuration 1 vwu vuw 1 wuv wvu MAX_ALIGNMENT_OUTPUT Maximum controller output during cout alignment procedure WAKE_AND_SHAKE_CRIT_DISPL Critical displacement threshold for no pu motion alignment mode 2 only WAKE AND SHAKE PERIOD TIME Period time of test signal during Wake amp s Shake alignment mode 2 only All alignment parameters listed in Table 14 except ALIGNMENT MODE are not used in the IndraDrive For the alignment of a brushless AC motor the following 7 modes are supported Mode 1 Kick amp Swing not for IndraBLAC In this mode one of the motor coils receives a current with given maximum amplitude MAX ALIGNMENT OUTPUT If the controller output is configured in Amperes a typical value is 5096 up to 8096 of the maximum continuous motor current If the parameter is set too small the alignment may be unsuccessful If it is set too high the movement may be too rough compared to the user limits Note 1 This mode causes a movement of the motor of maximum 75 pole pair 2 If the alignment is not successful ther
118. le 21 124 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCelnspector Table 21 Supported commands on Inspector tab Transitions Motion Stop Other Shutdown Point to point Quick stop Align Reset Jog Smooth stop Home Initialize Enable power Enable motion Lock Hold Open loop Release The availability of the buttons for executing motion commands and stop commands depends on the selected motion type and stop type By default point to point and quick stop are selected A different motion type or stop type can be selected in the Settings menu The parameters used for motion commands and stop commands can also be changed via this menu Note i The buttons for executing motion commands and stop commands are disabled if the parameters are incorrect The red button named STOP is provided for safety and can be used in case of an emergency to stop the axis using quick stop Motion settings The parameters used for point to point or jog movements can be changed in the Motion settings dialog This dialog is available from the Settings menu or by pressing Ctrl 1 The motion settings are remembered per axis until the NYCelnspector is shutdown Stop settings The parameters used for quick stop or smooth stop can be changed in the Stop settings dialog This dialog is available from the Settings menu or by pressing Ctrl 2 The stop settings are retrieved from and stored in the sac subsystem Note i The
119. le by disconnecting and reconnecting a SERCOS network cable or resetting an IndraDrive in the 18 136 Bosch Rexroth AG Getting started NYCe4000 Tools Manual SERCOS network the SERCOS network will not start if not all axes on all IndraDrives in this SERCOS network are shut down first because of safety requirements You can change the name of the axis in the General tab see Fig 12 The axis is renamed to MyAxis in this walkthrough N CeConfigurator Real Network 3 EDR File About Be NYCed4000 System bl eis iH a MY4110 node m G e al gt f MCU OG NY4110 enera Frequencies Motor Digital ID Home Safety En i az DRY 0 0 N4150 J F emm Advanced B Se Mis SOS f IndraDrive 2 Advanced Axis Type lndiaDive axis j DRv z NY4120 eter Tes IndaDiveBLAC Position interface Mo sensor min positian mas position Modulo Asis Motor and Position Interface Axis Resolution S600000 Increments no jm l Controller Output Resolution 16 000000 Resolution Apply Axis State Inactive no eror Fig 12 New IndraDrive MyAxis selected in the NYCeConfigurator The fields Axis Type Motor Type and Position interface are predefined with an IndraDrive and can not be changed Do the following steps in the General tab to setup a rotational axis with revolution as axis position unit See Fig 12 for typical values 1 Set the Axis Resolution The resolution is 10
120. ling Criteria Selection dialog Only when the controller is in the state cTR_STEADy the controller can go to the state cTR_movinc After the position and velocity criteria are met the STEADY STATE DELAY parameter defines the time the controller waits before the controller goes to the cTR_ STEADY state the position and velocity of the axis must stay in between their criteria See the NYCe4000 Software User Manual 92 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual With the NYCeConfigurator you can set the maximum settling time parameter SAC PAR MAX SETTLING TIME on the Safety tab You can also assign an error handler if the settling time is not met on the Error Handlers tab of the NYCeConfigurator see Fig 84 and Fig 85 NYCeConfigurator Simulation Network File About ee H Ce4000 System Minis Commutation Motor Digital 10 Home Safety Eror Handle 4 MY4110 node li MCU 0 NY4110 sf ORV 0 0 NY4120 Setpoint Generator Position Error Window i Muss dide MAk Steni Max Val 10 000000 Steady 1000 000000 DRY 0 1 N4130 blas Acc n 00 000000 Dun 1000 000000 m e Pas 100000 0000 Collision Neg 100000 000 Controller Out 0 000000 Shem ia Velocity 0 000000 nee 100 000000 Time window s 0 000000 Nee 1000 000000 Axis Safety Parameters Servo Bus Voltage V Max Axis Vel 10 000000 High pos Quick Stop Parameters Low pos Acc n Dra aoa oues Current Mas Current
121. ltage V Mas Axis Vel 0 000000 Wish mas Quick Stop Parameters Acc 1 00 apad Current Mas Current 0 000000 Max I2T 0 000000 General Frequencies Matar Digital 10 Home Safety En Low pos Low neg High neg Axis State Inactive no eror Fig 13 Axis safety settings 7 Setthe quick stop acceleration rev s equal to 10x the nominal speed 8 Setthe smooth stop acceleration rev s equal to 10x the nominal speed 9 Set the smooth stop jerk rev s equal to 100x the nominal speed 10 Click the Apply button The entered values may change This is caused by the arithmetic used to convert the value to a parameter value sent to the IndraDrive NYCeConfigurator may display a warning message because several parameters are set automatically to correct default values Click the OK button N CeContigurator Warning SacyvriteParameterSet 54 WRIA PARAMETER vALLIE CHANGED Axis name My Axis Concerns S c PAR MAX I2T LEVEL Fig 14 NYCeConfigurator warning message 11 Click the Save Download tab 12 Save the motor settings to a file for example MyAxis xmfl 20 136 Bosch Rexroth AG Getting started NYCe4000 Tools Manual 2 4 Quick start This chapter describes the steps to get an operational axis with a motor using the NYCeTuner The NYCeTuner has a so called wizard mode that guides you through the configuration of a servo based axis The wizard shows gr
122. lter Two parameters can be supplied LPF FREQUENCY the break away frequency of the low pass filter LPF DAMPING the damping of the low pass filter The output of the LPF is given by 2 Orp U pr S U pip S 2 2 S 26 P0 pS Op where Wp 2rrfip The LPF may be applied to reduce high frequency disturbances typically above the break frequency fip damping 0 3 damping 0 7 damping 1 Fig 69 Frequency response of the low pass filter The low pass filter can be switched on and off with its switch parameter LPF SWITCH 78 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual Lead lag filter The lead lag filter can be used as an alternative for the differentiator of the standard PID controller Fig 70 shows the frequency response of a differentiator versus the lead lag response For low frequencies the lead lag response is identical to the differentiator At frequencies higher than the lag frequency the lead lag filter has a lower frequency response than the differentiator making a controller with a lead lag filter less sensitive to high frequency noise as a similar controller with a differentiator Lagrange differentiator Kp 211 Ky Derivative sample v Lead frequency frequency Lead Lag Fig 70 Differentiator response versus Lead Lag frequency response The lead lag filter is characterized by its break frequencies flean and fiac in Hz It has
123. mber of position units per total number of pole pairs depends on the situation When using a rotary BLAC motor with revolution as unit the parameter should be set to 1 In general when using a rotary BLAC motor with x encoder increments for one position unit and y encoder increments for a full revolution results in a position units per total number of pole pairs equal to y divided by x For a linear BLAC motor this parameter should be equal to the number of increments between 2 adjacent north poles of the motor magnets divided by the number of position units between the 2 north poles of the motor magnets the distance between adjacent North pole pairs should be always the same BLDC Commutation You can choose for the Hall input type between the DigIn inputs and the RS422 inputs The DigIn Hall input uses the 24V digital inputs to read the Hall sensors in the motor The inputs are DiglnO Digln1 and Digln2 for the first axis connected to the drive and Digln4 Digln5 and Digln6 for the second axis connected to the drive The RS422 inputs are the 5V Hall inputs These inputs are Dig5VInOa Dig5VInOb and Dig5VInOc for the first axis connected to the drive and Dig5VIn1a Dig5VIn1b and Dig5VIn1c for the second axis connected to the drive Note If an encoder is configured that uses one or more of the Dig5VIn inputs of a specific drive module it is not possible to use a BLDC motor on that same drive module The commutation
124. ment numeric Sensitivity CL DL Eco Master Position Inumeric Wi MECN NENNEN E cue coe Fig 922 NYCeScope when selecting channels 3 Setthe Trace size to a small value for example 40 samples in the Control panel of NYCeScope 4 Setthe trigger of the NYCeScope to controller output crossing 0 enable the trigger while Controller out is selected NY CeScope Control panel Simulation Network E OG IX Start Channels Trigger Export tudes Canaler A Iv Enable trigger Condition 2 vu Lontraller LIE Trace size 80 4 ms duis Drive Current Hold when ready Fen ees Single shot mode l Pre delay samp an 4llms TECTUM I Allow dropped samples Trigger channel Use Anti Aliasing filter huis Controller Out IDLE READY FRR View Fig 93 Set the trace trigger condition and size in NYCeScope Control panel 5 Click the Start button of the NYCeScope to start the measurement and adjust the axis to the amplitude level of the block signal Click the Start Test Signal button of the NYCeTuner 7 The NYCeScope shows a plot like Fig 94a after both channels are scaled within viewing range by using the pos and scale buttons of each channel and the Full time button on the plot window 8 Increase the cc x parameter in the NYCeTuner until either the drive current response is satisfactory or the drive current response does not improve any more see
125. mp Open loop Open loop activation activation a Normal operation b Safety operation Fig 81 The open loop controller out parameters With the parameter PFC FORCE THRESHOLD the force sensor threshold in Newton can be set When the actual force sensor output crosses the threshold an event is generated The NYCe4000 Software User Manual contains more information about the position force control functionality 4 13 Controller settling criteria The controller settling criteria can be selected via the View menu of the NYCeTuner Fig 82 shows the State Transition Diagram of the controller and Fig 83 shows the Settling Criteria Selection dialog The parameters that can be edited via this dialog can also be changed with parameters displayed by Table 17 in the NYCeTuner Setpoint start from any state CTR MOVING Setpoint completed CTR_SETTLING Axis settled or time out expired CTR_STABILIZING Stabilisation time expired Init disable open loop CTR STEADY Fig 82 Controller State Transition Diagram NYCe4000 Tools Manual Bosch Rexroth AG 91 136 NYCeTuner Table 17 The controller settling criteria parameter list Name Description displayed by NYCeTuner Unit POS READY WIN Position ready window pu VEL READY WIN Velocity ready window pu s TIME IN READY WINDOWS Time that position and velocity should be in their S ready windows STEADY STATE DELAY
126. n You can clear the indicators with the Reset button The Define Home button enables you to set the current actual position of the axis as its home position NYCe4000 Tools Manual Bosch Rexroth AG 25 136 Getting started Current Loop 7 NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements 72 eee system Welcome Signal Verification Current Loop Alignment Polarity Position Loop Feed Forwards Settling Criteria Save Download N Y4110 node MCU D Nv4110 Open Loop fj DRY 0 0 NYA 20 Musis i MussisStepper DRY D1 N 4130 DRY DZ N 4140 Amplitude Court 0 5000 j DRY 0 4 N4170 Frequency Hz 499 0000 TO Controller output Drive current Kp and Ki Start Nr CeScope AXIS NY4110 node MyAxis STATE Inactive no error CONFIG servo axis brushless AC rmotor SO0 S90 RES 2048 000000 Incr NoUnit Fig 21 NYCeTuner Current Loop tab In the Current Loop tab you can tune the current loop A test signal is injected in the loop You can observe the response and make adjustments to improve the loop behavior Do the following steps 1 Enter an amplitude value for the test signal in the Amplitude edit box 2 Enter a frequency for the test signal in the Frequency edit box 3 Click the Start Test Signal button The text of the button changes to Stop Test 4 Tune Kp proportional gain by entering a value or using
127. n edge falling edge rising edge or any edge is detected the axis position is stored Latch functionality is supported on an IndraDrive but must be configured via the axis The debounce time defines the time that an input is insensitive for changes after the input is activated or deactivated This option is only available for the digital inputs DIGINx Note A Do not make changes on the Inputs tab to the configuration of the digital inputs that are used by an encoder if that encoder is configured for the axis The dimension of the analog inputs can be configured for a 10 V range or 4 20 mA range if supported Select the analog input in the Setting of Analog Inputs section and make the dimension selection in the Settings section 44 136 Bosch Rexroth AG NYCeConfigurator i NYCe4000 Tools Manual The Outputs tab shows the available outputs on the drive NYCeConfigurator Simulation Network File About BE HYCe4000 System DRY 0 0 N64 20 HNY4110 nade j MCU 0 N4110 fj ORV 0 0 N4 20 a Musis pU outputs Active State H qn stake E DAY 0 2 N41 40 i digout High State Active High DAY 04 Nr4T D digout High State Output digaut3 High State Type Fastautl High State State fastaut High State General Inputs Outputs Setting of Digital Outputs Settings Fig 40 NYCeConfigurator drive level window Outputs tab Each output can be configured as follows
128. n is remembered and is started automatically the next time the NYCeTuner is started The wizard mode is described in chapter 2 4 and the expert mode is described in chapter 4 5 To toggle between the wizard mode and the expert mode click View in the menu bar of the NYCeTuner and select Wizard or Expert respectively Before you can tune an axis you must select and initialize the axis see chapter 4 3 Saving parameters is discussed in chapter 4 4 4 2 Overview When you start the NYCeTuner the tool starts in the wizard or expert mode The started mode is equal to the active mode when the tool was closed the previous time it was used Only the first time after the installation of the NYCe4000 software the operating mode is the wizard mode 1 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 1 000e 001 1 000e 000 0 000e 000 3 12356 0035 0 000e 000 0 000e 000 1 000e 000 1 000e 000 B 766e 001 1 000e 000 0 000e 000 1 000e 000 1 000e 000 0 000e 000 1 000e 000 0 000e 000 0 000e 000 Description alignment mode for brushless enable or disable anti aliasing f asymmetric saturation level commutation angle at one ends commutation angle at one ends allowed deviation in between a distance to be made during alig time used during the catch hol max current used during the ho max current used during the
129. nal Type Amplitude unit 1 00000e 000 Offset urit 0 00000e 000 5 Frequency Hz 1 00000e 000 Seed unit 1 00000e 000 ien s 6 00000e 001 Duration z Iv 6 00000e 001 Saw Tooth PRB Sequence Random Noise Sine Wave Injection Point A i E at setpoint x Ces O Fig 87 The Test Signal generator The test signal generator can produce several signal types that can be chosen from the Signal type dropdown box step block wave sine wave saw tooth PRB sequence random noise The injection point of the test signal generator can be set using the Injection point dropdown box A at setpoint B at controller out closed loop B at controller out open loop Before you start the test signal generator the axis must be set to the open loop or closed loop state depending on the chosen injection point By clicking the button Start Test Signal in the NYCeTuner overview the test signal is started Note The test signal properties can not be changed real time while the test signal is activated The test signal must be stopped before the settings can be changed 96 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual Point To Point motion generator The Point To Point PTP motion generator can be used as a setpoint generator to move the axis for a predefined distance in a closed loop The PTP generator can be configured by selecting PTP
130. nd S parameters see BRC documentation Rexroth IndraDrive for Drive Controllers MPH 05 MPB 05 MPD 05 order number R911320182 NYCeConfigurator Real Network File About ml M Ce4000 System IndraDirive 3 Advanced MY4T10 nade 3 lj MCU N4110 DRY 0 0 NY415 Ej IndraDrive 1 Advanced Ej IndraDrive 2 Advanced Motor Encoder Brake Temperature Save Download j IndraDrmee 3 Advanced aie MyAxis 5 0 0141 Motor description MyMator EEUE P 0 401 4 9 Type Rotap Linear P 0 0078 Surber of pole pairs 4 000000 P 0 0051 Tarque force constant AS50000 Mm elf F 0 4015 Direct axis inductance 6 40000 mH F 0 4017 Guadrature asis inductance 26 60000 mH F 0 4048 Stator resistance 00000 Ohm 5 0 0109 Motor peak current 2 00000 eff 5 0 0111 Motor current at standstill 3 000000 Aeff 5 0 0113 Maximum motor speed SU0 000 Rom General Inputs Outputs IndraDrive Motor Settings for IndraDrive motor Calculated by IndraD rive 5 0 0106 CC proportional gain g5 WA 5 0 0107 CC integral action time ms Fig 42 IndraDrive with rotary motor without motor encoder flash memory Motor tab On the Motor tab you can enter a name in the Motor description field to describe the connected motor The name is stored in the S parameter S 0 0141 The radio button Type parameter P 0 4014 9 defines the type of motor rotary or linear Other P parameters
131. nds DWN commands SIM commands SEQ commands Internal commands Fig 115 The NYCeCommand help The following script is an example of a NYCeCommand script To use this script either configure an axis with the name MyAxis or change the MyAxis axis name in the script into the name of the axis to be driven by the script NYCe4000 Tools Manual Bosch Rexroth AG 129 136 NYCeCommand 4 Connecting initializing MyAxis SacConnect MyAxis SacInitialize MyAxis UseFlash Waiting for initialization to be completed SacSynchronize MyAxis SAC REO INITIALIZE 5 4 motion part Align MyAxis Enable if motor is BLAC SacAlignMotor MyAxis Waiting for alignment to be completed SacSynchronize MyAxis SAC REO ALIGN MOTOR 5 4 lock MyAxis SacLock MyAxis Waiting for lock to be completed SacSynchronize MyAxis SAC REO LOCK 5 4 Home MyAxis SacHome MyAxis Waiting for homing to be completed SacSynchronize MyAxis SAC REQ HOMING COMPLETED 5 4 start loop with 2 repeats Loop 2 4 One simple motions SacPointToPoint MyAxis 50 10 50 500 SAC RELATIVE Synchronize motion with 10s timeout SacSynchronize MyAxis SAC REQ MOTION STOPPED 10 Back to home SacPointToPoint MyAxis 0 10 50 500 SAC ABSOLUTE Synchronize motion with 10s timeout SacSynchronize MyAxis SAC REQ MOTION STOPPED 10 End loop Loop end Resetting motors SacReset MyAxis Closing part Disconnect MyAxis SacShutdown MyAxis SacDisconnect MyAxis 130 136 B
132. ne virtual position limits for the axis The smooth stop acceleration and jerk The smooth stop is a 3rd order stop The smooth stop is a more subtle way of setting the axis to a halt compared with the quick stop The servo bus voltage to supply the node with information about the voltage on the drive module It also expects the user to supply the maximum and minimum bus voltages to protect the drive from damaging voltages during operation Error Handlers tab The Error Handlers tab shows a list of all possible errors and enables the user to choose a handler for the error The execution of the error handler is the automatic response from the NYCe4000 system when one of the errors occurs The NYCe4000 Software User Manual has a complete list of all possible errors and the default and minimum severity response of the system when one of these errors occurs You can change the error handler of an error by selecting the error code displayed in the list and then setting the error handler in the selector box above the error handlers list The Safety Input error handlers must be defined by the application When the Safety Input is activated other constraints for velocity acceleration jerk and controller output are set but also other error handlers are activated if a constraint is violated See also the chapter Error and Safety Handling in the NYCe4000 Software User Manual Note Each error handler has a defined minimum response Cho
133. new stop settings are saved only in the memory of the node Therefore if the axis is shutdown and initialized from flash or file the settings will be overwritten Functions tab On the Functions tab status information of I O functions is displayed If an I O function is assigned the associated digital I O slot number and value are shown Feed override tab On the Feed override tab status information of the feed override functionality is displayed see Fig 109 The status information consists of the state which can NYCe4000 Tools Manual Bosch Rexroth AG 125 136 NYCelnspector be either active or inactive and the current eed override factor applied to the motion profile From this tab it is also possible to apply a new feed override To apply a new feed override specify the eed override factor and transition time and click the Apply button If the Automatic check box is checked a new feed override is automatically applied when the feed override factor is changed using the slider Note The Apply button will be disabled if the Automatic check box is checked The STOP is provided to stop the axis using quick stop in case of an emergency For more information about the feed override functionality please refer to the NYCe4000 Software User Manual chapter Feed override E NYCelnspector Simulation Network File Settings About ma NYCe4000 System Inspector Functions Feed override Latches
134. ng options window NYCe4000 Tools Manual Bosch Rexroth AG 133 136 NYCeWatch 9 NYCeWatch With the NYCeWatch tool you can monitor variables and parameters of the entire NYCe4000 system The variables and parameters are grouped in the defined NYCe4000 subsystems As far as the variables and parameters are relevant for the user they are explained in the NYCe4000 Software User Manual However most of these variables and parameters are not relevant during normal operation of the NYCe4000 system and are for internal use by engineers at Bosch Rexroth For the general user the following subsystems are of interest see Fig 118 On the node level parameters and variables of the NHI subsystem On the axis level parameters and variables of the SAC subsystem NY CeWatch Simulation Network Axis Node CML SAL VAR PUSITIDIN ERRUR 0 000000 EDH i SAC VAR Ax S PUS 0 000000 i 5AC_VAR_CONTROLLER_OUT 0 000000 SAL VAR DRIVE CURRENT 0 000000 SAL VAR DRIVE TEMPERATURE 0 000000 SAL VAR SERVO VOLTAGE 60 000000 SAL VAR ERR UR wU RD SAL Ax M ERRUR Fig 118 The NYCeWatch window Do the following steps to get the information of for example a SAC variable Select the axis the SAC subgroup and the VAR sub subgroup in the NYCe4000 system in the pane at the left hand side of the NYCeWatch window Double click the variables that you want to watch The selected variables are now displayed in the pane at the right hand side A sele
135. ngle shot mode check box if you want to stop tracing if a full trace is available To start a new trace you must use the Start button and all previously collected data is immediately discarded If you want to start another trace after this trace is completed you can use the Hold when ready check box This check box becomes available after the check box Enable trigger is selected Put a check mark in the Use Anti Aliasing filter check box to enable the Anti Aliasing Filter Anti aliasing only operates on all servo axes configured on an NY4120 NY4130 NY4140 or NY4170 drive module with the PVL on the drive module with variables active in NYCeScope Anti aliasing is needed when you trace variables that have a higher update rate than the trace rate Because of the type of filter used in the anti aliasing filter to remove frequencies higher than 0 5 trace rate the amplitude of the measured signal is not exactly identical to the actual signal Also the ratio between the PVL frequency and the trace rate must be 4 or higher else the Anti Aliasing Filter is not activated for example when the PVL runs at 16 kHz and the MCU runs at 8 kHz Note Anti aliasing only operates on the following PVL variables position error controller out controller out before testsignal addition and the test signal if injection point is at controller out Click the Freq Settings button to change the frequency analyzer settings The Freq
136. ngs Open loop control Open loop ramp Cout s 2 0000 WARNING The movement of pour Controller output resolution Cout 299 000000 motor is controlled by the slider Mir l 1 1 1 T 1 1 1 1 I Saturation level Cout 1 0 0000 C M ax 10 0 10 0 l 1 1 I Polarity and measurement direction settings Polarity Invert e e Not checked Measurement direction mum NOTE If vau invert the measurement direction the Act polarity will automatically also be inverted AXIS NY4110 node MyAxis STATE Inactive ina error CONFIG servo axis brushless DC rotor SO0 S90 RES 2048 000000 Incr NoUnit Fig 25 NYCeTuner Polarity tab The Polarity tab enables you to set the polarity and the measurement direction Do the following steps 1 Set the safety settings in the Open loop settings section and click the Accept button 2 Use the slider in the Open loop control section to set the open loop control 3 If the axis moves in an unexpected direction while you move the slider click the Invert buttons to invert polarity and measurement direction If the polarity and measurement direction are correctly set the Not checked indicator changes to green and the text changes to Checked 30 136 Bosch Rexroth AG NYCe4000 Tools Manual Getting started Position Loop NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements mle WYCe4000 System NYV4110_no
137. nitialization procedure described above to upgrade the NYCe4000 system You must reset the MCU after you entered the commands described in steps 1 to 6 Do the following steps to reset the MCU 7 Switch off the 24V System supply voltage 8 Wait 5 seconds 9 Switch on the 24V System supply voltage If the NYCe4000 system includes the NY4150 module you must download the microware and the SERCON gateware after the NYCe4000 is restarted Note that you must have downloaded the gateware of the NY4150 in step 3 4 or 5 else you can not download the microware and the SERCON gateware Do the following steps to configure the NY4150 SERCOSIII Master module 10 DwnDownloadSerconGateware 0 PATH Nsercon100m sgw 11 DwnDownloadMicroware 0 PATH microware4khz mcr 12 Switch off the 24V System supply voltage 13 Wait 5 seconds 14 Switch on the 24V System supply voltage The MCU is now ready for use Note Every factory new MCU has the same name NY4110 node or NY4111 node If you build a multi node network with these new MCU modules the duplicate node name error is reported You can solve this problem with the NYCeConfigurator tool or via the SysSetNodeName function after you downloaded the bootloader gateware file s and firmware to all MCU s and reset the MCU s Another option to solve the problem is the removal of the MCU s with the duplicate node names from the network Note that the MCU will also revert to the factory default n
138. nloaded when the specified drive module is installed You can download up to 3 different gateware files Table 2 Drive module and its gateware file name Drive module Gateware file name NY4120 drivefpga 4120 encoders bit NY4130 drivefpga 4130 bit NY4140 drivefpga_4140_encoders bit NY4150 drivefpga 4150 bit NY4170 drivefpga 4170 bit 12 136 Bosch Rexroth AG Getting started NYCe4000 Tools Manual For example when the NYCe4000 system has NY4120 NY4130 and NY4140 drive modules installed you enter the following commands 3 DwnDownloadGateware NodeNr 0 PATH drivefpga 4120 encoders bit 4 DwnDownloadGateware NodeNr 1 PATH drivefpga_4130 bit 5 DwnDownloadGateware NodeNr 2 PATH drivefpga 4140 encoders bit The last download command downloads the firmware 6 DwnDownloadFirmware NodeNr PATHMirmware4110 4111 sys Notes All commands are case sensitive NodeNr is the number of the node in the FireWire network The first node most close connected to the computer usually has node number O PATH is the location of the bit bin and sys files If you installed the NYCe4000 software in the default installation folder PATH is C Program Files Rexroth N Y Ce4000 upgrade If you use a new NYCe4000 software release you may have to update the gateware the bootloader and firmware Always check the Release Bulletin that is included on the CD ROM before you use the software tools You can also use the i
139. node ji MCU 0 Nv4110 J fi DRV 0 0 Nv4150 f IndraDrive 1 Advanced i Musis f IndraDrive 2 Advanced fj DRY 12 MY4120 a a2 NY CeTuner Real Network MyAxis Help Stop All Movements ALIGNMENT MODE AMTI ALIASIMG ASYMMETRIC 5A CATCH AMD MO CATCH AMD MO CATCH AMD MO CATCH AMD MO CATCH AMD MO CATCH AMD MO CATCH AMD MO CATCH AMD MO CATCH AMD MO CC MAX INTEGR CC SAMPLE TIME CC SAT LEVEL CLEGG ENABLE COLLISION CON COLLISION TIME COLLISION VEL COMMUTATION COMMUTATION CONTROLLER O CONTROLLER TYPE DITHER DUTY C DITHER FREQUE DITHER HIGH DITHER LOW DITHER TYPE D GAIN AT ST D HALF WAY VEL ECG PREDICTIO ENDAT CLOCK F FRF CONTROLLE FRF INPUT SELE 2 Click View gt Expert if the NYCeTuner tool starts in the wizard mode Mame value 6 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 1 000e 1 600e 001 0 000e 000 1 2506 004 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 1 000e 000 0 000e 000 1 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 0 000e 000 2 000e 001 1 000e 006 0 000e 000 0 000e 000 STATE Inactive no error Description alignment mode Far brushless AC moto enable or disable
140. nputs the logical value active state and defined I o functions are displayed For digital outputs the logical value active state and output type are displayed For analog I O only the value is displayed See Fig 107 The defined I O functions are displayed in the format axis io function Here axis and io function denote the name of the axis and the I O function respectively For example MyAxis AreaSensor The logical values of digital I O are visualized using check boxes Only the logical values of digital outputs can be changed from within the NYCelnspector The values of analog outputs are visualized using text boxes that can be used to change them When the data of a text box is changed the text color is changed to red This indicates that the displayed value is not the actual but the edited value See Fig 108 The text color remains red until the edited value is committed by pressing ENTER or discarded by pressing ESCAPE While the text box has the input focus its value will not be updated to prevent interruption of the editing process NYCe4000 Tools Manual Bosch Rexroth AG 123 136 NYCelnspector E NYCelnspector Simulation Network File Settings About me M YCe4000 System MY4110 node lj MCU D NY4110 fj DRY Mv 20 My di MyAsisStepper i DRY 01 NY 4130 DRY D 2 NY 4140 i DRY D 4 N41 7 i70 Counters Variables Digital inputs DIGING DIGIN1 DIGIN2 DIGING DIGIN4 DIGINS DIGINE DIGIN D
141. odes MYr4110 node Normal Operation v2 1 0 133 Fig 121 The NYCeSimMonitor window Rexroth Bosch Group Bosch Rexroth AG Electric Drives and Controls P O Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Phone 49 9352 40 0 Fax 49 9352 40 4885 www boschrexroth com Bosch Rexroth AG Electric Drives and Controls Luchthavenweg 20 5657 EB Eindhoven The Netherlands Phone 31 40 257 8888 Fax 31 40 257 8800 www boschrexroth com nyce
142. of the stepper motor consult the motor manual 9 Click the Safety tab 10 Set the following fields Quick stop acceleration equal to 20 Smooth stop acceleration equal to 20 Smooth stop jerk equal to 1 disables the jerk for the smooth stop Nominal servo bus voltage equal to the voltage applied to the drive Maximum servo bus voltage High pos to 12096 of the nominal voltage Minimum servo bus voltage Low pos to 80 of the nominal voltage 11 Click the Apply button 12 Click the Save Download tab 13 Save the motor settings to a file for example MyAxis xml Qo or e Configure the axis for an IndraDrive controlled motor The NYCeConfigurator displays the configuration with the NY4150 in the pane at the left hand side Click on the IndraDrive 1 axis in the pane at the left side of the NYCeConfigurator The number 1 is the unit number which is the same as the SERCOS address of the IndraDrive The SERCOS address can be any number from 1 to 99 inclusive You can change the SERCOS address through the panel on the IndraDrive C Changing the SERCOS address through the NYCe4000 software or NYCe4000 tools is not supported Notes 1 The SERCOS address must be unique in the SERCOS network 2 If you change the SERCOS address on an IndraDrive you must initialize the SERCOS network again to force an update of the administration in the node and the host 3 If the SERCOS network was broken for examp
143. on in the Test Signal section in NYCeTuner Click the Prop button properties of the test signal in the window that appears Select the block wave signal type Set the amplitude equal to 1096 of the rated current of the stepper motor Leave the offset O Set the frequency equal to 200 Hz Set the duration equal to 1000 s Choose the injection point at B controller out open loop 2 Open the NYCeScope click the button Channels and select the channels Controller out and quiescent current of the MyAxis axis see Fig 92 page 102 In the current NYCe4000 implementation the terms drive current Id and quiescent current Iq are used These confusing mnemonics will be corrected in the next release of NYCe4000 Id will be renamed to Itorque and Iq will be renamed to Iflux 3 Setthe Trace size to a small value for example 40 samples in the Control panel of NYCeScope 4 Setthe trigger of the NYCeScope to controller output crossing 0 enable the trigger while Controller out is selected 5 Click the Start button of the NYCeScope to start the measurement and adjust the axis to the amplitude level of the block signal 6 Click the Start Test Signal button of the NYCeTuner 7 The NYCeScope shows a plot like Fig 94a after both channels are scaled within viewing range by using the pos and scale buttons of each channel and the Full time button on the plot window 8 Increase the cc x parameter in t
144. onfiguration will be loaded into the table which is displayed in the Hall sensor settings section 28 136 Bosch Rexroth AG NYCe4000 Tools Manual Getting started Stepper Parameters for stepper motors only NYCeTuner Simulation Network MyAxisStepper Axis View Tools Help Stop All Movements mle WYCe4000 System Welcome Curent Loop Stepper Parameters Save Download NYV4110_node MCU D N r4110 DAY 0 0 N 4120 Musis SE Maas Stepper j ORY 0 1 Nr4130 ij DRY DE NY414n0 j DAY 04 N10 Parameters Base velocity purs Currents A D eceleration Acceleration Constant velocity Hald Delays s Pre acceleration Past acceleration Pre deceleration Post deceleration deg 0 00000e 000 Meer 0 00000e 000 0 00000e 000 5 0 00000e 000 0 00000e 000 Current A Motion settings 0 00000e 000 D Borne rr 0 00000e 000 lt gt aE wv a On00oe 000 Pre acc delay Post acc delay Advanced Lock i loti Quick Stop AXIS NY4110 node MyAxisStep STATE Inactive no error Distance pu Velocity purs Acceleration purs Jerk pu z3 Pre dec delay Fost dec delay I Reverse Start MrCeScope CONFIG stepper axis stepper motor no position sen RES 1 000000 Incr NoUnit Fig 24 NYCeTuner Stepper Parameters tab In the Stepper Parameters tab you can set the stepper motor settings This tab is only available when you selecte
145. onto the text fields in the Motion settings tab Lock Unlock This button puts the axis in the READY state which is the correct state to start a motion It is also used to take the motor out of the READY state again back to the INACTIVE state where there is no power on your motor The description text in the button changes to reflect the action Start Stop This button starts or stops a motion The motor must be in the READY state before this button is enabled Once a motion has been started the description text in the button changes to Stop The motion is stopped when you click the button but the motion is finished first For example when you are auto moving and you click this button the current movement is finished first Quick Stop This button stops the motor immediately You can use this button for example in case of an emergency and the motor must be stopped for safety reasons 24 136 Bosch Rexroth AG NYCe4000 Tools Manual Getting started Signal Verification not for stepper motors NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements mle WYCe4000 System NYV4110_node gi MCU 0 NY4110 fj DRY 0 0 NY4120 i Musis i MuxisStepper ORY 0 1 NY4130 ORY 0 2 N 4140 ORY 0 4 N 417U Encoder Testing results Servo position 0 0000 Encoder e Reset Resolution Encoder resolutions 2048 0000 Encoder resolution e Reset Ma position units to be mowed 1 RUE No posi
146. oose the correct trigger source slope and trigger level if applicable Select the correct trigger channel in the Channels section and click the Condition button in the Trigger section Double clicking a variable in the Channels section gives the same result A dialog window appears which depends on the type of the variable of the channel selected as trace channel If you select a boolean typed variable as a trace channel the only selection available in the dialog window is the Trigger mode drop down box where you specify whether the trigger is edge sensitive or level sensitive Boolean trigger sett Eg Trigger made Higing edge If you select a numeric typed variable or as a trace channel you specify in the dialog window the Trigger mode and a trigger value Trigger value Trigger mode Rising edge If you select a Digital I O Status as a trace channel you specify in the dialog window the trigger condition for the lines Bit field trigger settings Eg Falling edge Any edge Low level Input Fast 1 Input CigsvO4 Input Cigs O0E Input DigsyO Input Digb5 14 Input Digs 16 Input Digaw ic Output D Output 1 Qutput z Output 3 Output Fast 0 Output Fast 1 Trigger condition f Mane f High level Low level f Rising edge Falling edge C Any edge comen NYCe4000 Tools Manual i Bosch Rexroth AG 113 136 NYCeScope Put a check mark in the Si
147. or keys to navigate to the parameters that you want to change By default all the parameters are displayed in the pane in the middle and the parameters are listed in alphabetical order You can display the individual groups except the miscellaneous group by selecting the group in the View menu The Control Filter Parameters is selected from the View menu in Fig 59 64 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual a N CeTuner Simulation Network MyAxis Axis PAI Tools Help Stop All Movements E NY v Axis tree Description Axis Tuning Control Wizard FREQ 1 000e 000 lag frequency of the lead lag fil em Jogging Motion Time 0 00000e 000 Sl er i 3 FREQ 1 000e 000 lead frequency af the lead lag f S mee TCH O 000e 000 enable lead lag filter of positio PTP Motion Dist O 00000e 000 All Paramaters PING 1 000e 000 damping ratio of low pass filter Cubic Edit Vet 0 00000e 000 E 1 000e 000 break frequency of low pass filt Tesia Acc DLODDBDe DOD Standard Control Parameters ITCH 0 000e 000 low pass filter of position loop ee l e Enhanced Control Parameters DAMP 1 000e 000 denominator relative damping step Edit Jerk 0 00000e 000 FREQ 1 000e 000 A DAMP 1 000e 000 4 FREQ 1 000e 000 ITCH 0 000e 000 DAMP 1 000e 000 FREQ 1 000e 000 A DAMP 1 000e 000 4 FREQ 1 000e 000 Contral Filter Parameters Current Control Parameters Stepper Control Parameters Ali
148. osch Rexroth AG NYCeCommand NYCe4000 Tools Manual Using NYCeCommand from the MS Windows Cmd prompt The NYCeCommand tool can also be used via the MS Windows command prompt for example when you make a batch file which must run a sequence of several NYCeCommand script files The command line syntax is NYCeCommand I lt scriptname gt Q With Parameter Description Run a script at startup lt scriptname gt Name of the script Q Quit after script has completed Display the command line options When you create a batch file with several NYCeCommand calls the batch file can wait for the NYCeCommand to be finished executing the script file by using the start command For example start wait NYCeCommand l testscript tst Q NYCe4000 Tools Manual 8 Bosch Rexroth AG 131 136 NYCeLogger NY CeLogger The NYCeLogger is a useful tool for debugging If an application program has been written and run all executed NYCe4000 commands and their results can be logged and written to a file This is useful for debugging purposes and useful for Bosch Rexroth customer support Fig 116 shows an example of the NYCeLogger window E NYCeLogger Simulation Network File Stop Options Dre o0 21 007221 Da 5 21 00 7221 O02 00 21 007221 O02 00 21 007221 O02 00 21 007221 O02 00 21 007221 O02 00 21 007221 Dre On 21 007221 O02 00 21 007221 Dr O0 21 007221 O02 00 21 007221 O02 00 21 007221 O02 00 21 007221 O
149. osing a lower severity response than the defined minimum severity response for an error handler will result in an error message Save Download tab The last tab of the axis configuration Save Download can be used to save the created or changed axis to a file or the flash memory or to initialize an axis from a file or the flash memory NYCe4000 Tools Manual 7 NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements NYCe4000 System NY4110 node MICU 0 Hr4110 lj ORV 00 N42 er MussStepper j DRY 0 1 NY 4130 j DRY D Z NY 414 0 j DRY D 4 NY 4170 ALIGNMENT I AMTI ALIASIM ASYMMETRIC CATCH AND CATCH AND CATCH AND CATCH AND CATCH AND CATCH AND CATCH AND CATCH AND CATCH AND UC KI Ere CC MAX INTE EC SaMEEE T EE Se i LEVEL CLEGG ENABLE COLLISION C COLLISION TI COLLISION EL COMMUTATIO COMMUTATIO CONTROLLER _ CONTROLLER DITHER DUTY DITHER FREQ DITHER HIGH DITHER LO 4 NYCeTuner 4 1 Introduction Bosch Rexroth AG 61 136 NYCeTuner You can use the NYCeTuner tool to setup and tune the axes of a system The NYCeTuner has 2 working modes called the wizard mode and the expert mode When you start the NYCeTuner the first time after the installation of the NYCe4000 software the NYCeTuner starts in the wizard mode When the NYCeTuner is closed the mode of operatio
150. ot support the current controller so the controller output resolution is the voltage scaling of the drive When the Controller Output Resolution value is set to 24 0 the gain of the output amplifier unbalanced or 48 the gain of the output amplifier balanced the controller output value can be seen as a value which matches the output voltage thus the controller output unit is Volts see Fig 52 The controller out value is used for data presentation for example in NYCeScope However the range of the motor drive voltage is physically always the supplied drive power voltage Scope Time Domain Plot l Channels v Channel names Invert colors Auto scale D a Same Y Position a Same Y Scale Controller Output Resolution NY4170 Controller controller out COR COR EP IPR IPA IPA IS IA EA EA FA WFA titel elected RUN LN UN RENE UNE NN LUN RN LN LN LEN LN NEN E LEN LUN LEN L RUNE 0 5 0 15 Ei 1 4 Ts SOOus Trace start Os E Scale Pos Voltage V as 2d Auto Scale Scale DRVPW D RVPW Fig 53 Controller Output Resolution for NY4170 The NY4170 does not support the current controller so the controller output resolution is the voltage scaling of the drive When the Controller Output Resolution value is set to 135 0 the gain of the output amplifier the controller NYCe4000 Tools Manual Bosch Rexroth AG 55 136 NYCeConfigurator output value c
151. ou can change the name of the axis in the General tab The axis is renamed to MyAxis in this walkthrough Note that the position encoder of a sensing stepper motor is not used by the control loop It can only be used to read the actual axis position Do the following steps in the General tab to setup a rotational axis with revolution as axis position unit 1 Set the Axis Type to Stepper or Sensing Stepper If you select Sensing Stepper you must also define the used position interface 2 Setthe Axis Resolution equal to the number of full steps per revolution of the stepper motor consult the motor manual 3 Set axis unit Increments to revolutions 4 Set the Controller Output Resolution equal to the maximum drive current that the NY4120 drive module can generate The maximum drive current is 20A The Controller Output Resolution is a scale factor of the controller output Internally the controller output uses a range of 1 0 1 0 With the Controller Output Resolution you can scale this range to any other range For example if Controller Output Resolution is set to 20 0 the controller output value can be seen as a value between 20 0 20 0 which matches the output current For safety reasons a very high value is set as default Click the Commutation tab Set the number of micro steps per step equal to 1 Click the Motor tab Set the saturation level equal to the rated current
152. output However if the controller output is positive and larger than DITHER_HIGH the PHM output is restricted to DITHER HIGH If the controller output is negative and absolute value larger than DITHER_Low the PHM output is restricted to DITHER LOW See Fig 66 for an example In this example the duty cycle is 33 This mode is used to move the axis at ultra low speed As explained the position velocity loop PVL can run on the MCU as well as on the drive module However the dither signal is always generated by the drive The highest possible frequency of the dither signal is equal to half the PVL frequency on the drive So even if the PVL runs on the MCU the PVL frequency on the drive module has to be run at the highest possible frequency 32 kHz to achieving the highest dither frequency 16 kHz Note The controller output variable to be read or traced does not contain this dither signal 74 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner Saturation level Controller Output Dither PULSE signal Controller Saturation level Bd Dither Max Positive E Value dither Limited high Max Negative Value dither low Fig 66 Controller output with dither PULSE Target Position criterion SCM RESET POS ge Target Position criterion Position Initial output Fig 67 The switched controller principle Switched Control Mechanism The switched controller mechanism is an o
153. ownload fj IndraDrive 3 Advanced oo Musis 5 0 0141 Motor description MyMotor 00 BEA ee P 0 401 4 3 Type f Rotary f Linear P 0 0019 Pole pair distance BODL mm P 0 0051 Tarque force constant M A aff P 0 4016 Direct asis inductance mH F 0 4017 Quadrature asis inductance mH P 0 4 048 Stator resistance Ohm 5 0 0109 Motor peak current Aetf 5 0 0111 Motor current at standstill eff General Inputs Outputs IndraDrive Motor Settings For IndraDirive motor 5 0 0113 Maximum motor speed mm min Calculated bv IndraD rive 5 0 0106 CC proportional gain 05 MA 5 0 0107 CC integral action time un mz Fig 43 Motor tab for a linear motor without motor encoder flash memory Click the Apply button after you entered the correct values The CC proportional gain parameter S 0 0106 and CC integral action time parameter S 0 0107 are calculated and displayed in the section Calculated by IndraDrive The calculated values can be used as initial values for tuning the current control loop This can only be done in NYCeTuner and for that reason the values can not be changed in NYCeConfigurator Encoder tab On the Encoder tab you define the type of encoder connected to the motor the connector on the IndraDrive used to connect the encoder and the resolution of the encoder see Fig 44 From the drop down box Encoder type parameter P 0 0074 you c
154. p The maximum value for this parameter equals the sample frequency 0 49 If the prediction filter frequency is set while the sample frequency is 2 kHz on the node where the slave axis is and the sample frequency is changed to 1 kHz the axes go to the sac IDLE state When the axes are initialized two conditions are possible If the prediction filter frequency is new sample frequency 0 49 the prediction filter frequency is not changed If the prediction filter frequency is gt new sample frequency 0 49 the error ECG ERR INVALID PARAMETER is issued The NYCe4000 Software User Manual contains more information about camming and gearing 90 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner The open loop parameters set the controller out value when the axis is set to the state SAC FREE Of SAC FREE STOPPED The parameter OPEN LOOP VALUE sets the output value of the controller out while the parameter OPEN LooP RAMP defines the ramp to the open loop controller out Fig 81a shows the open loop response during normal operation of the NYCe4000 system When the NYCe4000 system is set to the safety state the OPEN LOOP VALUE and OPEN LOOP VALUE parameters no longer apply Instead only one parameter for the controller out can be set during the safety mode the OPEN LOOP SAFE VALUE Fig 81b shows the safety state open loop response of the controller out Open loop Open loop controller out controller out E loop controller out ra
155. ponse of the transfer functions listed in Table 18 is possible 98 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual Table 18 Frequency response transfer functions Function name and description Transfer function 1 Controller sensitivity C Transfer U1 gt Y1 R 416H or U1 gt Y2 as U2 is 0 when U1 is selected 2 Sensitivity 1 Transfer U2 gt Y2 and U1 gt Y4 S 1 CH 3 Closed loop or complementary sensitivity CH Transfer U2 Y1 and U1 gt Y3 I 1 CH 4 Plant sensitivity or process sensitivity H Transfer U2 gt Y3 and U2 gt Y4 Q 1 CH A special case of measurement 4 is obtained by choosing the controller gains for the P action and D action equal to 0 This measurement gives the frequency response of the plant transfer function All frequency responses of the mentioned transfer functions are relevant for the evaluation of the system performance You can derive frequency responses of other interesting transfer functions from the above mentioned measurements Deriving one of the frequency responses mentioned above from other measurements can be advantageous as sometimes the measurement quality coherence of for example the sensitivity FRF can be considerably better than for example the quality of the measurement of the closed loop FRF Open loop transfer function 1 8 T a CH S zr CH S Sensitivity transfer function similar to the result o
156. pt In addition you can use analog and digital I O in the same script NYCeCommand is a tool that enables the user to perform motion and issue I O commands in a short time without the use of a C programming environment The commands have the same names and input arguments as in the C programming environment and almost all commands that are supported in C are also supported in this tool The number of arguments that you can enter for a command given on the command line is dynamic When you start NYCeCommand the tool always opens in the Commandline window In the Commandline window you can enter single commands which are executed immediately The entered command and the result are displayed in the command output pane see Fig 113 Commands that are executed successfully return NYCE OK If the result of an entered command generates information you can see that information with NYCeLogger NYCeCommand Simulation Network BEBE File View Help 1 gt SacConnect MyAxis sacConnect Axisld 0 2 oaclnitialize MyAxis UseFlash Saclnitialize MY CE OK 3 BacSynchranize MyAxis SAC REQ INITIALIZE 5 sacoynchronize NYCE OF A gt SacAlignMotor MyAxis sacAlignMotor NY CE OF 5 Sacsynchronize hMyAxis SAC REQ ALIGN MOTORS sacoynchronize NWYCE OF b SacLock MyAxis sacLock NYCE_OF T Sacsynchronize MyAxis SAC REQ LOCK 5 sacoynchronize NYCE OF Fig 113 NYCeCommand commandline window NYCeCommand also supports the e
157. ption to switch off the controller when the axis position is in between user defined limits see Fig 67 NYCe4000 Tools Manual PID Bosch Rexroth AG 75 136 NYCeTuner The controller output is set to O as soon as the target position is nearly reached SCM RESET POS Or SCM RESET NEG The internal friction then serves as a brake and stops the axis The controller out is switched on as soon as the position drifts away out of position criterion window see controller settling criteria f controller is switched on again parameters SCM RESTART NEG Or SCM RESTART POS gives the start value of the integrator Clegg Integrator If the parameter CLEGG ENABLED is set to 1 the integrator of the position velocity loop will reset every time the position error crosses the zero 4 8 Control filter parameters Fig 68 shows the position of the PID controller the feed forward compensation and the available control filters Three types of control filters can be chosen Low pass filter LPF Lead lag filter LLF Notch filters NF feedforward compensation I setpoint t displacement controller measured displacement Fig 68 The available control filters E E ee CN E n p a gt gt controller out low pass lead lag notch A notch B notch C Table 11 shows the control filter parameters as displayed by the NYCeTuner
158. qual to 1000 s Choose the injection point at B controller out open loop 6 Click the Open Loop button and start the test signal Check that you feel some resistance from the motor if you try to rotate the axis manually If you do not feel any resistance you can increase the amplitude of the block wave test signal to 2096 of the maximum continuous motor current Do not increase the amplitude more than 2096 of the maximum continuous motor current Return the amplitude of the block wave test signal to 1096 and check the wiring for possible hardware problems 7 Slowly move the motor shaft manually at least one rotation or some pole pairs and check if the motor has preference for certain axis positions 8 Click the Disable Power button after you rotated the motor shaft one turn If you can feel that the motor shaft has preference for certain axis positions you must change the commutation direction 9 Set the parameter COMMUTATION DIRECTION to 1 Align the motor again and check again if the motor has preference for certain axis positions while you rotate the motor shaft manually If the preference for certain axis positions is still present then the number of pole pairs is set wrong during the configuration of the axis Make sure that the motor specifications and NYCeConfigurator settings on the Commutation tab are the same If the number of pole pairs was wrong and the problem still appears check the COMMUTATION DIRECTI
159. r occurs you can reset the error with the reset multi turn counter button in the Home tab Safety tab In the Safety tab a series of parameters can be specified which define the safety limits and actions for the axis behavior The parameters that can be defined are The speed acceleration jerk and settling time limits for the setpoint generator Setting these parameters to O will turn these limits off The collision controller out velocity and time window parameters define the collision detection criterion A collision is detected if the actual axis velocity is below the velocity parameter and the actual controller out is higher than the controller output parameter for a time span defined by the time window parameter The acceleration for a quick stop The quick stop is one of the predefined actions the node can make when an axis encounters errors or safety issues As the name suggests the quick stop performs a fast 2nd order profile stop when being called via software calls or via error handlers n the position error window both the maximum steady state error the maximum allowed position error when the axis is not moving and the maximum dynamic position error the maximum allowed position error when the axis is 60 136 Bosch Rexroth AG NY CeConfigurator NYCe4000 Tools Manual moving can be defined Setting these parameters to 0 will disable the position error check The software SW end switches to defi
160. r the nominal and peak torques of the motor when the controller output is set to the unit Newton meters Digital I O tab On the Digital I O tab you can classify the different I O ports with their functions For example the digital input 0 on a drive inserted in slot 1 is connected to a positive limit switch for one of the axes connected to the drive Selecting the function pos limit switch with the function parameters drive 1 and digital I O number diginO will define this input as the position switch for the axis If a function is specific for the inputs the digital I O list will only display the input ports and for output function the digital I O list will only display the output ports Notes i 1 Remember that the active levels of the inputs and outputs are defined at the drive level Before you assign a function to an I O port make sure that the active level is set correctly 2 Latches can only be set if the input used for latching has been configured as a latch at the drive level 3 Ifan encoder is configured which uses digital inputs differs per encoder type these inputs are no longer available for configuration To configure function I O on the I O of an IndraDrive you must select the IndraDrive from the Slot Id drop down box see Fig 55 If a latch is configured on an IndraDrive you must also select the edge type NYCe4000 Tools Manual Bosch Rexroth AG 59 136 NYCeConfigurator cH NYCeConfig
161. ree structure is displayed of the nodes and axes in the network You can hide the tree structure Click View in the menu bar and remove the checkmark for the Axis tree entry Likewise if the tree structure is hidden click View in the menu bar and put a checkmark for the Axis tree entry When the NYCeTuner operates in the wizard mode the window consists of 2 panes and when the NYCeTuner operates in the expert mode the window consists of 3 panes Fig 16 on page 21 shows the NYCeTuner window in the wizard mode and Fig 56 shows the NYCeTuner window in the expert mode 4 3 Select and initialize an axis The NYCeTuner displays in the pane at the left side a tree with the nodes and the axes in the network Click on an axis in the pane at the left side to do the configuration of that axis You can also use the menu bar click Axis gt Select If needed you can load the parameters from an axis parameter file on the host click Axis gt Initialize in the menu bar You have 2 possible locations from where you can load an axis parameter file 1 initialize from file load parameters from an axis parameter file on the host 2 initialize from flash load parameters from the flash memory of the node in real mode or from the FLS and EEP files in simulation mode 4 4 Saving and shutting down Two methods are available to save the changed parameters after you have completed your tests 1 Click Axis in the men
162. reference for certain axis positions you must change the commutation table 5 Go to the NYCeConfigurator and select the Commutation tab Click the Up button then the Apply button and save the new commutation table via the Save Download tab Return to the NYCeTuner and repeat the process until the BLDC motor has no preference positions anymore 6 If the described procedure was unsuccessfully for six times verify that the motor specifications and NYCeConfigurator settings are the same Measurement direction Warning i During this procedure the motor shaft will rotate for a short period of 0 5 seconds Keep clear from the motor shaft Start the NYCeTuner Click the test signal properties button and select a step signal specifying an offset of 10 of the maximum continuous current of the motor a duration of 0 5 seconds Set the injection point at B open loop Click the Open Loop button in the pane at the right hand side then click the Start Test Signal button 106 136 Bosch Rexroth AG NYCeTuner NYCe4000 Tools Manual f the servo position increases while the motor is powered the measurement direction of the motor is OK If the motor position decreases select the standard control parameters in the View menu and invert the measuring system direction if the measurement direction is equal to 1 change to 1 or vice versa If the motor remains at the same position increase the t
163. rk Typically this can also be done by the NYCeConfigurator but the NYCeNetMonitor tool has some advantages NYCeNetMonitor has a small window which only displays the status of the nodes on the network nothing else For example if you have multiple nodes you can directly see and compare the firmware versions on all the nodes When NYCeNetMonitor is started it only runs in the background An icon appears in the Windows system tray If a node is added removed or the network configuration has been changed a message appears from the icon For example if during testing a FireWire cable is disconnected or a node is switched off you are immediately informed about this event For the simulated environment the NYCeSimMonitor is available After the tool is started you can display the window of these tools by double clicking the left mouse button on the icon in the System Tray or click the right mouse button on the icon and select Open in the popup that appears When you click the Close button in the title bar only the window of the tool is removed from the Desktop the tool remains active in the System Tray Click the right mouse button on the icon in the System Tray and select Exit in the popup that appears to terminate the tool Ti NYCe4000 Network Monitor Available Nodes Node Status M4110 nodelb Normal Operation v2 1 0 135 Fig 120 The NYCeNetMonitor window NY Ce4000 Simulated Network Monitor ES Available N
164. rocedure Phase 1 catch First the axis will move from its current position to a defined setpoint start angle Note that this first movement is an uncontrolled movement Then from this start angle a specified movement d in terms of the pole pitch is executed In this way the rotating magnet field of the coils will catch the rotor or translator permanent magnets of the motor These two successive movements are done with a low current to prevent a jump to the start angle during the first movement Because the initial commutation angle is not yet valid it is unknown into which direction the first movement will be Even if limit switches or an area switch are used this is still the case A collision against a hard endstop can not be prevented without pre knowledge Parameters need to be set to minimize collision risks NYCe4000 Tools Manual Bosch Rexroth AG 85 136 NYCeTuner Phase 2 hold To force the axis to the defined position a higher current is applied for a specified time This is done to force the rotor or translator to the correct position and hold it at that position Phase 3 move The actual position is read at the start of phase 3 Now a movement is executed with a predefined negative distance d If the difference between the expected moved distance is smaller than a specified deviation the commutation angle is correct and the motor is aligned Parameter settings For a correct function
165. rs The first 2 entries in the pop up menu set the operation mode of the mouse while dragging the mouse pointer Zoom mode performs the zooming of a plot as described above If Pan mode is selected you can use the mouse to perform panning in horizontal and vertical direction of the plot window The other 3 entries in the pop 5 th up menu Zoom X in Zoom X out and Zoom X full have the save 5 CG t functionality as the and a buttons in the lower right hand corner With the check box Channel names you can hide or display the channel names of the displayed signals in the time plot The Channels button hides or displays the Channels display control window see Fig 100 The Invert colors button toggles the background of the plot You can choose between a black background and a white background With the check box Same Y Position you can ensure that all numeric typed channels are positioned such that the specified Y value coincides You enter the Y value in the field next to the Same Y Position check box If you put a check mark in the check box Same Y Scale you ensure that the zoom factor is identical for all numeric typed channels When both check boxes are check marked the ruler for numeric typed channels will be identical for all numeric typed channels If you click the Auto scale button at the top of the Time Domain Plot all displayed channel plots are auto scaled vertically also u
166. rt up default scaled parameters Parameter Torque force Position Velocity Acceleration Jerk Temperature NYCe4000 firmware cout 1 1 increment increment s increment s increment s C IndraDrive rotary motor 0 01 Nm 0 0001 0 0001 rev min 0 001 rad s 0 001 rad s 0 1 C IndraDrive linear motor N 0 0001 mm 0 001 mm min 0 001 mm s 0 001 mm s 0 1 C NYCe4000 Tools Manual Bosch Rexroth AG 35 136 NYCeConfigurator 3 NYCeConfigurator The NYCeConfigurator is designed to perform the following configuration options Saving and restoring the settings of the axis the nodes and the complete NYCe4000 system Sample frequency safety and emergency inputs settings Node level The configuration of virtual axes MCU level The configuration of the drives Drive level Connected axes Digital and analog I O settings The configuration of real axes Axis level Motor Encoder Feedback Digital I O assignment Homing Safety Error handling Mr Ee400L System NY4110 nade fi MCU 0 NY4110 i Myns i DRY OLD N41 20 i DRY 0 1 NY4130 DRY z N41 40 DAY 0 4 N47 System Sample Frequency 1000 Hz General Software Version 22 013 Fig 30 The NYCeConfigurator window Fig 30 shows the NYCeConfigurator window In the pane at the left side of the NYCeConfigurator you select the component and in the pane at the right side you can mak
167. s can be selected The type of FFT display can be set to the power spectral density A and to amplitude with the two radio buttons Use the Zoom full and buttons to manipulate the view of the FFT plot The Direct Transfer Function Estimate Plot FRF window has a similar look and feel as the Signal Spectrum Plot window see Fig 102 The difference is the fact that a frequency response is displayed between 2 channels Note Frequency domain analysis FFT and FRF can only be done correctly if the nodes from which variables are traced run at the same sample frequency If frequency measurements are done on more than one node and the node sample frequencies are different keep in mind that the trace sample time is determined by the node with the highest sample frequency in the system In such a system traced signals of a node that runs at a lower sample frequency may show strange results due to aliasing effects This applies to FFT Bode and Nyquist plots Scope Signal Spectrum Plot Zoom full 0 Amplitude Power Spectral Density Invert colors Signal test Controller ut E room test Controller Cut 600m FO0m 400m 300m 200m E 100m Pi man VET EEA Wo Dl z EESE e nee 40 BO 80 100 zl 400 EDO SO Tk FFT 20352 800 length 2048 pnts overlap 79 fBin D 38Hz Fig 101 NYCeScope FFT plot The plot shows the value upper plot and phase middle plot of th
168. s of the requested action s see Fig 32 Put a check mark in the filed Close when finished if successful to close the message box if the requested action s finish successfully NYCeConfigurator Please Wait message result Downloading firmware to N 4110 nodeld Fig 32 NYCeConfigurator requested action progress message box Save and restore actions are possible at the following levels At the system level Right click on the NYCe4000 System in the system tree To store the settings of all nodes and axes that constitute the NYCe4000 NYCe4000 Tools Manual Bosch Rexroth AG 37 136 NYCeConfigurator system these settings can be saved to an XML file on the host and or to the flash memory of all the nodes see Fig 33 NYCeConfigurator Simulation Network File About Mr Ce40600 System Download Primary Bootloader Download Gateware Flash Bank O Download Gateware Flash Bank 1 Download Gateware Flash Bank 2 Download Firmware Reset All Nodes 1 Sample Frequency Hz Initialize fram File Initialize fram Flash ye Version Save to File 13 Save to Flash Fig 33 The menu options at the System level At the node level Click the node in the system tree and then click the Save Download tab To store the settings of the selected node see chapter 3 3 these settings can be saved to an XML file on the host and or to the flash memory of the node At the axis level Click the axis in t
169. script You can edit scripts with the NYCeCommand tool but you can also write scripts with a simple text editor like Notepad The NYCeCommand tool includes an extensive help function Press the F1 key or click Help gt Index to open the Help information see Fig 115 E NY YCeCommand eB e Br Hide Back Print Options SML scotia General information ES Commands E SAC commands In this commandline help you will find the input parameters of the commands These 2 Nyce commands are provided with a type which is expected The type can be an integer floating System commands point and string An integer may be any complete number without the use of a point E NHI commands E DWN commands E Simulation commands E Sequence commands E Internal commands A floating point value can be any number integer or with a point And string can be any text Sometimes there are so called Options Here a list is displayed with the possibilities One of these posibilities must be chosen and the text can be inserted as an argument just if it were a string Itis also possible to use the list as an integer Then the first option of the list has value 0 The rest of the list has values each time incrementing with 1 Itis also important to know that all commands except the loop command and arguments are case sensitve Also the abbreviations are case sensitive Commands SAC commands Nyce commands System commands NHI comma
170. se any change that you made is not applied Create an axis Start the NYCeConfigurator to create a new axis Do the following steps to create the new axis 1 Click on the DRV 0 0 element in the NYCe4000 system tree displayed in the pane at the left side of the NYCeConfigurator see Fig 9 2 Click the New button in the pane at the right side A new axis named DEF AXIS 1 is created and displayed in the NYCe4000 system tree as a child of DRV 0 0 NYCeConfisurator Simulation Network File About mE NYCes000 System NY4110_node j MCU D H4110 a ORY O00 NY4120 j DRY D 1 NY4130 j DRY D 2 N4140 DRY 0 4 N47 DAW 0 0 H4120 General Inputs Outputs Drive Tope H4120 Hw Version 20 1 0 GW Version 0 0 0 Mw Version 0 0 0 SG Version 0 0 0 serial Number Made by 5imFab Expansion Module Type N4199 Signal Range 71 0 Settings Nominal drive voltage 4B 00 rv Maximum temperature 0 lt nolimity deg C Ames New Delete Fig 9 NY CeConfigurator window NYCe4000 Tools Manual Bosch Rexroth AG 15 136 Getting started Configure the axis for a DC BLAC BLDC or piezo motor Click on the DEF AXIS 1 axis in the pane at the left side of the NYCeConfigurator You can change the name of the axis in the General tab see Fig 10 The axis is renamed to MyAxis in this walkthrough N CeConfigurator Simulation Network E mls File About EE MYCe4000 System Maas
171. sing the Same Y Position and Same Y Scale settings The slider next to the Auto scale button allows you to set the amount of vertical separation between the displayed plots of the numeric typed variables Set the slider before you click the Auto scale button If the slider is set to the left most position the Y scale is set to maximum and the displayed plots of the numeric typed variables have total overlap If the slider is set to the right most position the Y scale is set to minimum and the displayed plots have no overlap Channels Scale Pos J BEEN i _ M On Ruler Auta Scale Fig 100 Channel display control window With the On check box a trace channel can be enabled or disabled When the trace channel is disabled it is no longer displayed in the plot window You can use the Scale selectors Pos selectors and the Auto Scale button to improve the view of each trace separately 116 136 Bosch Rexroth AG NYCeScope i NYCe4000 Tools Manual In the Time Domain Plot window the amplitude of a trace can be measured by clicking the ruler button Only one ruler button can be active The Signal Spectrum Plot window can only display one FFT see Fig 101 Checking different FFT plots simultaneously can only be done by viewing them in separate FFT views use the New FFT View button At the upper right part of the Signal Spectrum Plot window is a selector with which the different FFT trace
172. t the motor is in a certain known position for example at an end stop where the commutation offset is known The parameter COMMUTATION OFFSET must be set by the user Mode 4 Align on Encoder Position not for IndraBLAC This mode is only available for a Rexroth MSM motor with a Rexroth MSM absolute encoder In this mode the motor is not moving Using this mode the commutation offset is calculated automatically Prerequisites for the alignment on encoder position are the COMMUTATION DIRECTION parameter is set to 1 the parameters MEAS SYST DIRECTION and CONTROLLER OUTPUT INVERT have identical sign that is both set to 1 or both set to 1 the motor connections U V W are correctly connected to the drive module U V W connections Note For Rexroth MSM incremental encoders the alignment modes 1 2 3 or 5 must be used Mode 5 Catch amp Move not for IndraBLAC You can use the Catch amp Move alignment method for axes against an endstop or non horizontal axes Catch amp Move can also be used when Wake amp Shake does not lead to an aligned axis for example because the axis moves during the alignment procedure The Catch amp Move alignment method has 4 distinctive phases Angles or distances are defined in rad and one pole pitch equals 2rr Phase 0 prepare From the specified movement direction the negative or positive limit switch is selected to be checked during the Catch amp Move alignment p
173. t the trace with a new start trace command Tracing STOPPING Tracing is stopping not all trace data is processed yet 120 136 Bosch Rexroth AG NYCelnspector NYCe4000 Tools Manual 6 NYCelnspector 6 1 Introduction The NYCelnspector is designed for diagnostic testing and can be used to inspect the status of the nodes drives and axes in the NYCe4000 system It also provides an intuitive way for setting the values of digital and analog outputs In addition several controls for changing the state position and feed override of an axis are available 6 2 Overview The NYCelnspector can be used to perform the following tasks At node level View the status of the safety and emergency inputs View the number of connected clients View the sample time sample duration and the maximum sample duration At drive level View the status of digital I O View the status of analog I O View the I O functions of digital I O Set the values of digital and analog outputs View the status of digital input counters View the drive temperature and the servo voltage At axis level View the status of the axis Move the axis using jog or point to point Stop the axis using quick stop or smooth stop Align the axis Home the axis View the associated digital I O of I O functions View the status of the feed override Apply a feed override View the latched positions View the number of connected clients View the axis posi
174. ters via the View menu Fine tune procedure 1 Click the Edit button in the Test Signal section in NYCeTuner Click the Prop button properties of the test signal in the window that appears Select the block wave signal type Set the amplitude equal to 1096 of the maximum continuous motor current Leave the offset O Set the frequency equal to 200 Hz 102 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner Set the duration equal to 1000 s Choose the injection point at B controller out open loop 2 Start the NYCeScope tool click the Channels button and select the channels Controller out and Drive current of the MyAxis axis see Fig 92 E NYCeScope Control panel Simulation Network Sieg t Channels ic Esport E m Freg Settings Single shot made Pre delay samp Os i Allow dropped samples Trace size 1000 125me Trigger channel Use Anti Aliasing filter lt none gt IDLE IDLE Select trace channels Available Data Sources Traceable Variables Selected Channels mE MYCe4UUD System Axis Wel numeric MyuAxIs Controller Out NY4110 nadel2 Blac Aligned boolean Musis Drive Current P Musis Commutation Angle numeric Commutation Correction Enabled r Controller Out numeric Controller State enum Ctr Out Before Test Sig Add Drive Current numeric Drive Temperature numeric Refresh Data Sources Ecg Master Displace
175. tes Motors None DC External Stepper Stepper DC BLDC BLAC Piezo External IndraDrive BLAC 1 pu position unit 2 The feedback on a sensing stepper is not used in the control loop Feedback Analog IN Rexroth MSM incremental encoder Rexroth MSM absolute encoder S00 S90 with index 900 890 without index SinCos EnDat2 1 EnDat2 2 Hiperface encoder None None Analog IN Rexroth MSM incremental encoder Rexroth MSM absolute encoder S00 S90 with index 900 890 without index SinCos EnDat2 1 EnDat2 2 Hiperface encoder Analog IN Rexroth MSM incremental encoder Rexroth MSM absolute encoder S00 S90 with index S00 S90 without index SinCos EnDat2 1 EnDat2 2 Hiperface encoder No sensor Resolution definition 2 ADC resolution pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu None Steps unit 2 ADC resolution pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu 2 ADC resolution py Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu Encoder incr pu NYCe4000 Tools Manual Controller Output Resolution NY4120 NY4140 Bosch Rexroth AG 53 136 NYCeConfigurator
176. test signal is applied and the controller in the IndraDrive determines the commutation offset Note that for motors with an integrated motor encoder it is not necessary to determine the commutation offset 4 12 Miscellaneous NYCeTuner parameters Table 16 shows the remaining parameters which can not be either set with the NY CeConfigurator or filtered out by using the View menu of the NYCeTuner Table 16 Miscellaneous parameters of the NYCeTuner Name Description displayed by NYCeTuner Unit ANTI ALIASING FILTERS ENABLE Enable or disable anti aliasing filter ECG PREDICTION FILTER FREQ ECG prediction filter frequency the maximum allowed value is Hz sample frequency 0 49 ECG PREDICTION HORIZON ECG prediction filter umber of samples to be looked ahead OPEN_LOOP_RAMP Ramp of position controller output in SAC_FREE state cout s OPEN_LOOP_SAFE_VALUE Position controller output in SAC_FREE_STOPPED state cout OPEN_LOOP_VALUE Position controller output in SAC_FREE state cout PFC_FORCE_THRESHOLD Force threshold N S0S90_SINGLE_ENDED 0 differential 1 single ended STOP ALARM ACTIVE LEVEL 0 low active 1 high active TRIGGERED STOP ACC Maximum deceleration used with stop on event function pu s TRIGGERED STOP JERK Maximum jerk used with stop on event function pu s The electronic camming and gearing prediction filter frequency ECG PREDICTION FILTER FREQ is a parameter for axes that are driven via a cammed or geared relationshi
177. th bank 0 and you must fill the banks consecutively that is you can not skip a bank The Download Gateware to Node dialog window appears Select a Gateware File bit file and click the Open button The firmware of all the nodes connected in the NYCe4000 system tree can also been replaced simultaneously In the system tree right click on the NYCe4000 System icon and select Download Firmware from the pop up menu You can also download the bootloader Download Primary Bootloader and gateware files Download Gateware Flash Bank x where x 0 1 2 from this menu Note Using this option with a NYCe4000 system where some or all nodes have no firmware installed can result in a malfunction of the nodes Use this option only to replace the firmware in all the nodes of the NYCe4000 system tree 40 136 Bosch Rexroth AG NYCeConfigurator NYCe4000 Tools Manual 3 4 Configuration at the MCU level When you select the MCU in the system tree you can create remove and edit virtual axes Virtual axes only contain the setpoint generator so they do not contain a position sensor interface and or controller output signal Virtual axes are mainly used as master axis for camming and gearing purposes NYCeConfigurator Simulation Network File About E N Ce4000 System MCU D N r4110 HNY4110 nade CU D N4110 ij DRY 0 0 NY4120 i Mp nis MCU Type NY4110 Fw Version 2 2 0 13 DRY 0 1 NY4130 Hw Version 10 2 0 Gw Version 0
178. the MCU 68 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeTuner If the parameter CONTROLLER TYPE is set to a value higher than O controller runs on the MCU the sample frequency of the position velocity loop is equal to the Setpoint Node Frequency as specified in the Frequencies tab in the NYCeConfigurator If the parameter CONTROLLER TYPE Is set to 0 the sample frequency of the position velocity loop is equal to the Position Velocity Loop Frequency as defined in NYCeConfigurator Note For smallest delays leave the Position Velocity Loop Frequency on 32 kHz even if the control loop is not running on the drive but runs with the Setpoint Node frequency value on the MCU Feed forward compensation Setpoint jerk Setpoint acceleration Setpoint velocity Setpoint displacement Controller ease PID controller displacement Fig 61 The standard controller lay out The parameters x proportional gain Kv derivative gain and KI integral gain are the PID parameters The PID controller is limited by the saturation level of the controller out SaT LEVEL and the maximum position loop integrator level MAX INTEGRATOR LEVEL The integrator is limited by the THRESHOLD VELOCITY as well This parameter defines the velocity below which the integrator of the position loop is active The integrator will always be on when the velocity parameter is set to 1 The differentiator of the PID loop can
179. the MyAxis channels Axis position Setpoint position Controller Out Position error Eventually the FFT of the position error in the NYCeScope select the position error in the selected channels list and click the Add FFT button 7 Atthe time plot disable the position error plot and click on the Ruler button of the set point position Click the Start button in the NYCeScope and the Start Motion button in the NYCeTuner 8 Fig 95a shows an example of the axis position and setpoint position plots of the motor Increase the proportional gain of the position loop x until the axis position plot shows an oscillation see Fig 95b and c Count the number of oscillations per second in the position error plot or use the FFT plot of the position error to determine the frequency of this oscillation NYCe4000 Tools Manual Bosch Rexroth AG 107 136 NYCeTuner B m a E EI E 4 q 1 1 E Fig 95 Tuning the proportional gain of the position loop 9 Now reduce the proportional gain of the position loop xp with 10 Then calculate kv from the found oscillation frequency and the e according to the following formula KV KP 2 II oscillation frequency 10 Perform a movement to see the result If the oscillation is still there increase KV a small amount for example 10 and look at the result 11 Then to decrease the position error increase KP and Kv at the same time with the same
180. tion and other important position variables like the axis velocity controller output position error and integrator output NYCe4000 Tools Manual Bosch Rexroth AG 121 136 NYCelnspector E NYCelnspector Simulation Network File Settings About is M rDed000 System Inspector Functions Feed override Latches Variables M40 nade MEL D MrATIU pd Shutdown Error DAY 0 0 N4120 Reset A gt MyAsisStepper DRY 0 1 N4130 DRY 02 N 4140 rebos power 2 044727 Asis velocity pus n pone s T Ready stapped 0 pu Home Controller autput cout 0 j DRY 0 4 NY4170 LT D Free stopped PIS pesn ieu L J Position error pu Integrator output pu gt Connected to Anis My amp srs Fig 105 NYCelnspector window Fig 105 shows the NYCelnspector window In the pane at the left side you can select a component from the NYCe4000 system tree The selected component is indicated in the bottom part of the NYCelnspector window Using the middle pane you can make adjustments for the selected component The pane at the right side displays information about the position of an axis Both the left and the right pane can be hidden with the gt gt respectively the lt lt button to save space on the desktop 6 3 Inspecting at node level If a node is selected in the system tree the middle pane shows one tab named General General tab On the General
181. tion compensation diagram Dither signal If an axis suffers from static friction problems or the axis has to move at ultra low speed it may benefit from the addition of a high frequency up to 16 kHz dither signal to the controller output The dither signal is available in two different modes DITHER TYPE 0 BLOCK DITHER TYPE 1 PHM Pulse Height Modulation BLOCK consists of a block wave signal with adjustable amplitude duty cycle and frequency The amplitude is specified by the DITHER HIGH and DITHER LOW parameters The duty cycle sets the percentage within one period that the BLOCK signal is equal to DITHER_ HIGH The BLOCK signal is added to the controller output See Fig 65 for an example In this example the duty cycle is set to 3396 This mode is typically used for static friction problems NYCe4000 Tools Manual Saturation level Controller Output Dither BLOCK signal Saturation level Max Positive Value dither high Max Negative Value dither Fig 65 Controller output with dither BLOCK i Bosch Rexroth AG 73 136 NYCeTuner Controller Dither Limited PHM Pulse Height Modulation also consists of a block signal The output of PHM is related to the controller output The duty cycle gives the on time within one period of the PHM signal During this on time the output of the PHM is equal to the controller output so the resulting output is equal to two times the controller
182. tion units measured 0 0000 Reset Reset All Difference 7 Rotate the asis n position unit s Start Test Define Home AXIS NY4110 node MyAxis STATE Inactive no error CONFIG servo axis brushless AC motor SO0 S90 RES 2048 000000 Incr NoUnit Fig 20 NYCeTuner Signal Verification tab In the Signal Verification tab you can move the axis a number of position units and check how many positions the axis has actually moved Do the following steps 1 Enter a value in the Encoder resolution field 2 Enter the number of units to move in the No position units to be moved field 3 Click the Start Test button The text of the button changes to Stop Test 4 Rotate the axis manually for approximately the number of position units that you specified in the No position units to be moved field 5 If you have collected enough measurement data click the Stop Test button The actual number of positions that the axis has moved is displayed in the No position units measured field If the difference between the positions to be moved and the positions measured is larger than 1096 the encoder resolution is probably set to a wrong value The percentage of difference is displayed and you can use this information to adjust the encoder resolution to the correct value The indicators in the Testing results pane at the right hand side show the status of the encoder and the encoder resolutio
183. tive State ji DAY OS NY4140 digin Active High digin3 Counter digin4 No Counter hd digin diginb digin fasini Latches fastin diabvinDa Latch digbvintb No Latch ka digbvinc dighvinl a None ti YS dighvinl b digevin c Debnunce Time s 0 000000e 000 General Inputs Outputs Setting of Digital Inputs Settings Setting of Analog Inputs settings Inputs Functions anain 4 20 rns Dimension anain 10 4 20 m amp mpere Fig 39 NYCeConfigurator drive level window Inputs tab The displayed options in the Settings section in the pane at the right hand side depends on the selected digital input in the Settings of Digital Inputs section The digital inputs can be configured as follows if supported on the selected drive module The active state level can be set to high or low A high active state means that the input state is activated when the input is connected to a high voltage 5V or 24V depending on the input The input is state is inactive when the input is not connected or connected to OV A low active state means that the input state is activated when the input is not connected or connected to OV The input state is inactive when the input is connected to a high voltage 5V or 24V depending on the input An input can be configured as a counter input The input counts the number of edges falling edge rising edge or any edge An input can be configured as a latch input If a
184. u bar of the NYCeTuner and select Save to File or Save to Flash depending on where you want to store the parameters Save to File save parameters to an axis parameter file on the host Save to Flash save parameters to the flash memory of the node in real mode or to FLS and EEP files in simulation mode 2 Click the Save Download tab if the tool operates in the wizard mode EE NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements SE NYCe4000 System 2 8 NY4110 node fi MCU 0 Nv4110 Cu eer ote i li DRY 0 0 NY4120 Axis Configuration ES amp MyAxisStepper fj ORV 0 1 NY4130 Initialize from File Initialize from Flash fi ORV 0 2 Nv4140 li ORV 0 4 NY4170 Save to File Save to Flash Welcome Signal Verification Current Loop Commutation Polarity Position Loop Feed Forwards Settling Criteria Save Download AXIS NY4110 node MyAxis STATE Inactive no error CONFIG servo axis brushless DC motor 500 590 RES 2048 000000 Incr NoUnit Fig 57 NYCeTuner wizard mode Save Download tab You can shut down the axis from the menu bar Click Axis 2 Shutdown NYCe4000 Tools Manual mt NYCeTuner Simulation Network MyAxis Axis View Tools Help Stop All Movements Iz MY Ce4000 System MY4T10 nade MCL 0 H4110 DRY 0 0 N4120 Mus i MyAsisStepper ij DRY 0 1 Ny 4130 j DRv z NY4140 j DRY D 4 NY D L
185. uency Analyzer Settings dialog box appears Frequency Analyzer Settings Eg General FFT Properties Time Window Lenght samples 2048 Data Windowing Function Blackmann Harris FRF Noize floor 0 001 Remove mean before FFT FFT Averaging t Mone f Linear Number of FFT 100 Exponential FFT Overlap 72 gn Cancel Set the time window length for the FFT calculations A longer FFT window results in a higher frequency resolution lower time resolution but also increases the delay between the measurement and the display of the FFT Likewise a shorter FFT window results in lower frequency resolution but higher time resolution Choose the optimal windowing function for the FFT Set the averaging between the current FFT calculation and previous FFT calculations If a signal has a very steady frequency plot averaging old FFT data with the new FFT data will improve the estimate of the new FFT For signals with fast changing frequency plots this option must be disabled Put a check mark in the check box Enable trigger in the Trigger section Put a check mark in the Hold when ready check box if you want start another trace after this trace is completed To start a new trace you click the Arm button All previously collected data is kept and displayed until the new trace completes Click the Start button to start the measurement 114 136 Bosch Rexroth AG NYCeScope
186. umber of point to point movements number of points with the AutoTweak tool To improve the measurements for the tweak table the back and forth movement can be repeated by supplying the number of averages The user can also limit the position dependent feed forward when necessary After defining the motion profile for the point to point movements the AutoTweak is ready for measuring After the Start button is clicked a small plot appears at the bottom of the screen showing the measured feed forward estimates The AutoTweak procedure can always be aborted with the Stop button When the AutoTweak procedure is finished and the results are satisfactory the tweak table can be downloaded into the firmware Download to firmware button From the firmware the tweak table is available for the controller The check boxes in the Enable tweak section activate the position dependent feed forward for different axis states closed loop or closed loop and open loop or closed loop and open loop and open loop error The activation of the position dependent feed forward can also be accomplished with the NYCeTuner parameter TWEAK MODE 0 off 1 close loop 2 closed loop and open loop 3 closed loop and open loop and open loop error The tweak table can be saved to flash memory by clicking the Save to flash button only when the table is downloaded to the firmware and the tweak is enabled and to the disk via the File menu Previously a
187. urator Real Network File About NYCe4000 System Indra amp 2 NY4110 node fj MCU 0 NY4110 ff ORV 0 0 NY4150 fj IndraDrive 1 Advanced fj IndraDrive 2 Advanced Digital e area sensor none Function Parameters fj IndraDrive 3 Advanced latch 0 fastin Slot Id amp IndraB latch 1 none IndraDrive 2 amp dva ff DAV 0 2 NY4120 latch 2 none x Servo latch 3 none Digital 1 0 Number pos limit switch none fastinD neg limit switch none error 0 none Edge Type error 1 none error 2 none error 3 none error 4 none error 5 none start trigger none stop trigger none e stop none lt General Frequencies Motor Digital IO Home Safety En gt Function to Digital 1 0 Connection rising Axis State Idle no error Fig 55 Configuration of IndraDrive function I O Home tab The homing settings of an axis can be set with the parameters of the Home tab Details about the homing options and the parameters are described in the NYCe4000 Software User Manual If a Rexroth MSM absolute encoder is configured the multi turn position information of the encoder can be cleared with the reset button in the Home tab Resetting the multi turn position data will not affect the absolute single turn position data If you do not reset the multi turn position information this can result in a SAC AX ERR GENERAL ENCODER ERROR Which is originated from a SAC MSM COUNTER OVERFLOW error If this erro
188. ut on the DAC output SAC FRF OUTPUT POSITION the position value valid at that moment is retrieved to be subtracted as an offset from the future Y3 output The difference Y3 minus offset is scaled by SAC PAR FRF POSITION TO VOLT in V pu limited between 10 Volt and put on the DAC output SAC FRF OUTPUT POSITION ERROR the value of the position error that is Y4 is scaled by sac PAR FRF POSITION TO VOLT limited between 10 Volt and put on the DAC output See Table 20 for an overview of the output signal possibilities Table 20 FRF output selection parameters and values FRF OUTPUT SELECTION Scale factor signal FRF OUTPUT NONE FRF OUTPUT CONTROLLER FRF CONTROLLER OUT TO VOLT Y1 FRF OUTPUT CONTR PLUS TEST FRF CONTROLLER OUT TO VOLT Y2 FRF OUTPUT POSITION FRF POSITION TO VOLT Y3 FRF OUTPUT POSITION ERROR FRF POSITION TO VOLT Y4 4 16 Axis tuning in expert mode In the chapter Quick start the steps are described how you can get an axis operational with the NYCeTuner in wizard mode You can also get an axis operational in the expert mode and fine tune the axis for better performance This chapter describes the following procedures in the expert mode Current loop tuning Setting the alignment parameters for a BLAC motor Get the commutation order for a BLDC motor Determining the measurement direction Position loop tuning Stepper motor tuning Current loop tuning St
189. vision Period 48 136 Bosch Rexroth AG NY CeConfigurator NYCe4000 Tools Manual Brake tab On the Brake tab you can specify if the motor has a brake with a check mark in the field Motor holding brake available parameter P 0 0525 2 see Fig 46 The radio button Holding parameter P 0 0525 0 specifies whether the brake is self holding when no power is applied or self releasing when power is applied The entry fields Drive on delay parameter S 0 0206 also called connection time and Drive off delay parameter S 0 0207 also called disconnection time specify the reaction times of the brake NYCeConfigurator Real Network File About ml M Ce4000 System lndraDrive 3 Advanced MY4T10 nade 3 li MCU 0 H4110 T DRY 0 0 N 4150 Ej IndraDrive 1 Advanced ij IndraDimve 2 Advanced Motor Encoder Brake Temperature Save Download fj IndraDmee 3 Advanced Ge Myin li DRY 0 1 NY4130 General Inputs Outputs IndraDrive Motor Settings for IndraDrive motor P 0 0525 0 Halding at Oy st Bay 5 0 0206 Drive on delay 0 000000 ms 5 0 0207 Drive off delay O O00000 rms Apply Fig 46 Brake tab for a motor without motor encoder flash memory Temperature tab On the Temperature tab you can specify if a sensor is available to monitor the temperature of the motor The following sensors are available from the Sensor type drop down list parameter P 0 0512 No s
190. xecution of a script A script is a file that contains one or more commands that are executed consecutively Click File gt Run commands from script to execute the commands in the script file after you created the script file The commands and results are displayed in the command output pane NYCeCommand includes a script editor Click View gt Script editor in the menu bar to switch from the Commandline window to the Script editor window Click File Load and display script to load a previously written script in the Script editor window but you can also enter commands and save the entry in a script file The entered commands are executed when you click Run script in the menu bar see Fig 114 128 136 Bosch Rexroth AG NYCe4000 Tools Manual NYCeCommand NY CeCommand Simulation Network L Ex File View Help Run script it Connecting initializing MyAxis SacConnect MyAxis Saclnitialize MyAxis UseFlash it Waiting for initialization to be completed sacoynchronize MyAxis SAC REQ INITIALIZE 5 i motion part Align MyAxis Enable if motor is BLAC SacAlignMotor hMyAxis Waiting for alignment to be completed sacoynchronize MyAxis SAC REQ ALIGN MOTOR 5 Fig 114 NYCeCommand script editor window LE Note that when you click Run script from the script editor menu bar the script is run but the output is not displayed To see the output you must return to the Commandline window and then run the
191. xpressed in H and Q respectively The electrical time constant Te equals L R Apply these initial settings to the following parameters 1 Set the saturation level CC SaT LEVEL and the maximum integrator level of the current controller equal to the drive voltage 2 Set the proportional gain cc KP of the current loop equal to 3 R with R the winding resistance of the motor 3 Set the integral gain cc Kr of the current loop equal to 1 5 Te 2 1 5 R L 4 Setthe PWM frequency gt 10 1 Te This setting prevents noisy behavior and needless energy dissipation in the drive module When you use a BLAC motor the motor must be aligned before any power can be applied to the motor Although the axis does not need to be aligned for the current loop tuning the NYCe4000 system has a built in safety check for alignment before allowing any power on the motor The current loop fine tuning procedure described below is failsafe so the BLAC motor does not have to be aligned properly to get the tuning correct The alignment procedure below does not correctly align the BLAC motor but is good enough to fine tune the current controller The correct alignment procedure is described in the paragraph Setting the alignment parameters BLAC only 5 Select the Alignment parameters via the View menu 6 Set the alignment mode to 3 set commutation phase method 7 Click the Align Motor button 8 Return to the standard control parame

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