LA2000 GEN. 2 Linear Servo Amplifier USER`S MANUAL
Contents
1. 34 Part 6 Operation 35 6 1 lu s o C Oe M 35 6 2 GMA EB CDU EO TTE 36 6 2 1 Communications Controlled Systems 36 02 2 TInterlo ks and Pals is sois stnnnsisetiestss este tiennent 36 Part 7 Theory of Operation 38 7 1 Control SeEODIDI aeaee den aed sus E AE a TEE EEA 38 7 1 1 FLL Velocity Control EOOfouoesssiiodru itrditide vici du bat PER ERN EUER ERE 38 7 1 2 Commutation SECON ic o ves vane v5 crx Fade EO Ups dco caseo rp ved cut regie UA 39 7 1 3 Motor Phase Current Control Loop Section 39 7 2 Pow t Section neon oana naea A AA AAA AE A EAEE 39 Part 8 Servicing 40 8 1 MAINS nn nm aaa ETa MD DNE FO tee nn 40 HN Troubleshooting usarse ita iene Ree nated 40 Part 9 Specifications 43 9 1 Cd E IET RONUOTRM 43 9 2 Connector Definitions 43 92 1 SC 5 85 232 Serial ConngetOticu nimi e eH URP RUP I Rt CONSE 43 9 2 2 SC 2 Commutation Motor Feedback Connector 44 9 2 3 Motor Power Connector 44 Part 10 List of Drawings 45 List of Options 46 PAGE 3 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 1 IMPORTANT SAFETY NOTICES 1 1 Safety Notices Avis de s curit The following conventions are used to illustrate important safety information in the manual Les conventions suivantes sont utilis es pour illustrer les informations de s curit importantes contenues dans le manuel WARNING Alerts reader of conditions and2. 14 43 1 Encoder Only W i ing sise tisse 14 4 3 2 6 Step HED Wiring For Motors Manuf by MCS ss 15 4 3 3 6 Step HED Wiring For Motors not Manuf by MCS 15 4 4 Initial AdUSEMENES ne nie nettement 15 4 4 1 Commutation Adjustment for Encoder Only Systems 16 4 4 2 Commutation Adjustment for Hall Effect Encoder Systems 17 4 5 Encoder OUtPuUtS rnb 18 4 6 Serial RS 232 Communications Wiring 19 4 7 USB and Ethernet Communications Wiring esee 19 4 8 Optional 20 Pin Ribbon BDC Compatibility Connector 20 4 9 Optional High Frequency PECL Connector Aux PLL Option 20 PAGE 2 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 5 User Interface 21 5 1 Software Int eb iussi a ee Moo Dix EE ue EEA De ous 21 5 1 1 Command Debt svn cde oai pater dev ines er co pertes 21 2l Command Summary eos acrior xix xe ER EPUM Io Ux aal A aO PROP ERU USE ie 21 5 1 2 1 Commands for Normal Mode 21 5 1 2 2 Commands for Configuration Mode 28 5 2 Hardware TIME EE ACE nn release tas 33 5 21 PA LEE CR toner Eb ED See br AR ER DR e Dueb EE odios 33 5 2 2 A malos Ini etFaDEua so ise te M Nal td 33 5 2 3 Analog Interface Velocity mode control sssssss 33 5 3 Error Messages and Their Meanings
3. 15 Hi Yelow 16 H2 Green J 17 H3 White 18 Bearing AirFaultInput_ 19 Clamp Air Fault Input 20 jJAChannellput 21 IB Channellnput 22 LH5V 127 mAMAX 23 15V 125 mA MAX 24 Chassis Ground 25 Logic Common MCS Motor Wire Colors are given in parentheses Default use is POSITION CAPTURE May have future functionality for other application specific functions 0 V clamp 15 V unclamp 9 2 3 Motor Power Connector Mating Connector Tyco AMP P N 206044 1 Mating Pins Tyco AMP P N 66361 2 14 18 AWG wire or 66103 2 20 24 AWG wire From Section 4 2 1 3 LEAD MOTOR Phase Name 1 PhaseW 6 ge 14 Phase V PhaseU GROUND PAGE 44 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 10 LIST OF DRAWINGS The drawings that are referenced in this section are located in the pdfs directory on this CDROM manual Outline and Mounting Drawing 1405210 LA2000 Gen 2 Outline Mounting dimensions and Connector Locations System Wiring Diagrams 1405150 Connection Diagram for RS 232 Controlled Encoder Commutated Systems Printed Circuit Board Drawing 1405180 Control Card Component Layout Co
4. AUXPLL OUT De activates the optional auxiliary PLL option CLOCKSPERREV XXXXXX Used to enter the master clock rate in clocks per revolution on drives equipped with the high frequency PECL input and auxiliary PLL option The high frequency PECL input is then divided by this value to generate a one pulse per rev signal CLOCKSPERREVMODE ON OFF Used to enable or disable the high speed clock frequency divider This command is only used with the high frequency PECL input and auxiliary PLL option DISABLEHH Disables optional handheld terminal Handheld terminal must be disabled if the positioner option is installed DISFAULTS WXYZ Enables or disables certain faults based on the hex numbers WXYZ The hex numbers WXYZ are transmitted to the controller as characters 0 9 A F using standard hex notation W corresponds to Weight Meaning 8 Reserved 4 Reserved PAGE 28 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 2 Reserved 1 Reserved X corresponds to Weight Meaning 8 Auxiliary Fault 4 Reserved 2 Reserved 1 Reserved Y corresponds to Weight Meaning 8 Reserved 4 Reserved 2 Reserved 1 Reserved Z corresponds to Weight Meaning 8 Over Speed 4 Main air Fault 2 Clamp Air Pressure Fault 1 Bearing Air Pressure Fault To disable a fault add up the weights ofthe faults you want to disable for each of the four hexadecimal characters Check System Configuration Section 10 for the faults t
5. Encoder Connections Table 5VSuppy Encoder ChannelB 3 Encoder Index 4 Encoder Index Shield 24 d To determine the correct convention of the A and B inputs apply power to the encoder and rotate the shaft or rotor in the CW direction as viewed from the end ofthe motor opposite the motor lead exit The A input should lead the B input by transitioning from 0 to 1 while B is at 0 To determine whether the system is set up properly rotate the motor in the CW direction While the motor is rotating issue the DIR command to the serial interface If the system responds with CW then the encoder is wired properly If it responds CCW switch the encoder A and B inputs It is important that the command is issued while the spindle is rotating smoothly because the motor momentarily reversing could result in the wrong status reported back For LA2000 drives that do not have the optional BNC encoder outputs a breakout fixture can be connected to the SC2 connector to view the A and B encoder channels The correct encoder outputs for CW rotation as viewed at the input of SC2 Encoder Ch A Encoder Ch B 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 4 3 2 6 Step Hall Effect Device Wiring for motors manufactured by MCS The LA motor controller has a 5 volt 250mA max power supply available for powering Hall Effect sensors and an encoder refer to section 4 3 1 The sensors con
6. not including optional mounting flange Weight 22 Ibs nominal Environmental Temperature 0 C to 40 C Ambient Air Temperature Humidity 5 to 80 Non Condensing 9 2 Connector Definitions The connector pin definitions follow Refer to the sections listed for further information about each connector and signal definitions 9 2 1 SC 5 RS232 Serial Connector From Section 4 6 Amp DE9 Connect To Terminal Female Standard Serial Port ERES E p Serial For Function Port Function I Bde Shield tt Se 4 Handheld Term RX TNA 6 AtZeoSped XA NA X 7 Handheld Term TX NA 8 Atsped f NA PS RE NC ee 77 PAGE 43 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 9 2 2 SC 2 Commutation Motor Feedback Connector From Sections 4 3 1 through 4 3 2 PIN ENCODER and HED H5V Red 250 mA MAX A Channel Input B Channel Input I Channel Input O 5 External Analog Torque or Velocity Input 6 External Enable Input 7 Auxiliary Interlock OV OK 5V Fault 8 AndogGround 9 Logic Common Black 10 Configuration Specific Input See Note Below 11 Clamp Output See Note Below 12 IChannellnpt 13 External Direction Input Cid 14 jMainAirFautInptt
7. must be grounded during the entire time the motor is in the locked condition or else the controller will disable This is to provide an emergency way to disable the amplifier without a software command If the drive does become disabled issue the UNLOCK command prior to re enabling otherwise undesired operation may occur 5 2 2 Analog Interface Analog Torque mode control The analog interface option allows the drive to be interfaced through a 10V single ended analog signal Control loops must be closed external to the drive The input command voltage corresponds to the amplitude level of the current in the motor The default scaling is 1V 1 5A peak Ifthe drive is equipped with the optional SCALE potentiometer the scaling can be adjusted to produce a lower current for a given command voltage If the drive has been optionally configured such that the Torque Limit circuitry provides a current scaling rather than a limit the TORQUE command can be used to remotely reprogram the drive s current scaling Positive signals cause CCW rotation and negative signals cause CW rotation ANALOGIN is the command which puts the drive into this mode The drive is enabled through SC2 pin 6 as above and the torque command is input at SC pin 5 5 2 3 Analog Interface Analog Velocity mode control An analog velocity loop option is available to enable speed control through a 10V single ended analog signal This option must be installed at MCS The
8. 15 Index Output 16 Encoder B Channel Output 17 Logic Common 18 Logic Common 19 Analog Request Sine Input 20 Analog Request Ext Tach Sine 120 Input Configuration dependent Configuration dependent These signals were not originally used on the BDC drives They were added on the LA2000 to allow the same connector to be used for other applications The analog request input is normally configured for a 0 to 10V single ended signal referenced to logic common The analog request input can optionally be configured by MCS for a differential signal input with a maximum differential input voltage of 10V between pins 19 and 20 Pin 14 functions as the Fault status Faulted High output only if the drive is configured for analog torque control In Frequency Lock Loop control mode this pin is the At Speed status 4 9 Optional High Frequency PECL Connector AUX PLL Option MCS offers an option to allow a high frequency master clock signal as the command frequency reference This signal is differential PECL level and input on a special connector This command can then be divided down by a programmable divisor to produce a command frequency equal to either the required speed command for the encoder rate if it is evenly divisible or a one pulse per rev signal if it is not equally divisible The option also includes an auxiliary PLL circuit which is used to multiply the single pulse per rev signal to
9. Sets the FLL request frequency input to the optional BNC jack or BDC compatibility connector The relationship of input frequency to motor speed is given in Section 7 1 1 FLL Velocity Loop Control Used to adjust the proportional gain of the digital portion ofthe FLL loop Valid range is 3 to 3 expressed in powers of two to result in gain settings from 1 8 to 8 The default and recommended setting is 0 for unity digital gain Sets the FLL request frequency input to the internal synthesizer GWADDR xxx yyy zzz xyz Enters the network gateway address in dotted decimal format INTEN Internal enable mode Causes the system to accept enable and direction commands over the RS232 or communication interface as opposed to the external TTL interface IPADDR xxx yyy zzz xyz Sets the IP address ofthe drive in dotted decimal format JERK xxxx LOCKMODE MINSPDIN 1405260 Rev D Enters the Jerk setting for s curve positioning with the positioner option Units are RPM second squared LOCKMODE I enables stop and lock operation see STOPLOCK command LOCKMODEO disables stop and lock operation which is required for other options such as angle offset Configures the drive for a special mode that is applicable only when the drive is in external frequency input mode The command allows the user to use the stop speed to set up a minimum speed at which the drive will enable If the external frequency is above the stop speed the drive will
10. a FAULT state The FAULT state is latching the unit will stay in this state even after the removal ofthe fault causing condition While in the FAULT state the LA2000 will not accept a RUN or ENABLE command until a STOP or DISABLE command is issued If after a STOP or DISABLE command the amplifier is still in FAULT mode the fault is still present in the system There are two types of interlocks internal and external Internal interlocks are those protecting the motor controller External interlocks are those related to the user s equipment and are connected to the drive through the SC2 connector All interrupts are active high which means that for a no fault condition there must be 0V logic common at the input of the controller Unused interlocks can be disabled by connecting them to common or using the DISFAULTS WXYZ command see Section 5 1 2 2 Commands for the Configuration Mode The following table shows the pin outs ofthe interlocks and their functions PAGE 36 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Interlock Pin Function Auxiliary Interlock SC2 7 Disables the controller Main Air Sense SC2 14 Stops the controller Bearing Air Sense SC2 18 Stops the controller Clamp Air Sense SC2 19 Disables the controller Amp Overtemp Internal Disables the controller Logic Power Fault Internal Disables the controller Transformer Overtemp Internal Disables the controller NOTE Logic Common is available on SC2 pins 9
11. any and all other warranties expressed implied or statutory including implied warranties of merchantability or fitness 2 3 Field Service Normal procedure requires that defective products be shipped prepaid and with prior written consent to MCS for repair However under certain extreme circumstances and at the purchaser s request MCS can provide on site service Contact the MCS sales department to arrange a service visit A purchase order must be issued and received by MCS prior to departure of MCS service personnel PAGE 8 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 3 INSTALLATION 3 1 Unpacking Remove the unit from its shipping container All units should be lifted and handled from the back mounting panel surface Inspect the unit for shipping damage Do not attempt to operate the unit if it has been damaged or if it has been configured improperly Instead call MCS 32 Mounting The amplifier mounts through tapped holes on the bottom of the unit The holes are for screws size 8 32 Mounting is also available with an optional mounting flange on one end of the amplifier Do not block the front air exhaust or the side air inlet of the controller All connections to the amplifier are on the front on the unit therefore be sure to leave enough room at the front of the unit for wiring Below is a diagram of the mounting hole locations See Drawing 1405210 for a more detailed drawing BDC COMPATIBILITY CON
12. drive is not ready for operation until approximately 2 3 seconds have elapsed The configuration is dependent on the default settings for your system You are able to change the default Speed Acceleration Torque Direction and other parameter values by using the WRITE command in configuration mode See Section 5 1 2 Command Summary In encoder only equipped systems when the unit is enabled after power up it goes into an encoder initialization state In this state the motor is locked in a known position to initialize the position counter This state lasts a few seconds after which the commutation logic automatically goes into its normal operating mode AN CAUTION After the lockup state the motor could turn in the wrong direction momentarily If this is not allowable in the system MCS suggests using Hall Effect devices along with the encoder to ensure proper startup ATTENTION Apr s un blocage le moteur peut temporairement tourner dans le mauvais sens Si le syst me ne le permet pas MCS recommande l utilisation de dispositifs effet Hall avec le codeur afin de garantir un d marrage correct This does not apply to systems using Hall Effects since absolute position is always known PAGE 35 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 6 2 Normal Operation 6 2 1 Communications Controlled Systems After the amplifier has powered up and the communications interface has transmitted Configuration Complete app
13. lower current rating must be used See Part 9 for the appropriate fuse sizes based on input voltage 4 1 2 Input Voltage Current Ratings Please refer to Part 9 Specifications for detailed input voltage and current requirements PAGE 11 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 4 2 Output Power 4 2 1 Motor Connections for motors manufactured by MCS Motors manufactured by MCS will have leads that are colored or coded as follows Color Name Red PhaseU Some motors manufactured by MCS will have all phase windings available for connection In this case the motor has six leads two per phase This permits the windings to be connected in either wye or delta connection Such a motor will have its leads labeled as 1F 1S 2F 2S 3F and 3S AMP MOTOR Connect 15 2F BF together AMP MOTOR PAGE 12 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 4 2 2 Motor Connections for motors not manufactured by MCS Designate the motor leads as U V and W such that the sequence U V W causes CW clockwise rotation of the motor shaft when looking at the motor from the non lead side The lead side is the side ofthe motor at which the motor lead wires exit If you view the motor output voltages Back EMF of the motor while it is disconnected from the controller and spun clockwise by hand the output on an oscilloscope should look as follows 4 2 3 Motor Power Connection The pow
14. on the LA2000 side of the cable Logic Power Fault Problem The internal logic power supplies are outside of specification Solution Check all external wiring and make sure that there are no excessive loads on any of the logic power outputs Amp Overtemp Fault Problem The amplifier heat sink has exceeded a high temperature threshold Solution If the amplifier has recently faulted determine whether the air exiting from the rear of the LA2000 is hot or whether it has an unusual smell At the same time verify that the cooling fan is working and unobstructed Disable the LA2000 and allow the amplifier to cool Verify that the motor commutation was adjusted correctly see Section 4 4 and that the motor turns smoothly when the LA2000 is enabled The LA2000 enables but the motor does not turn Problem Commanded speed is zero Solution See section 5 1 2 and make sure that you have entered a non zero speed request The default speed request is zero PAGE 41 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Problem The LA2000 is still in the encoder setup state Solution The LA2000 is in a setup state for a few seconds after it has been enabled for the first time after power up During the setup state the motor locks into a position and does not rotate The setup state can also be entered indefinitely by entering the SETZEROPOS command Ifin the encoder setup mode enter the command CLEARZEROPOS to return to normal operation P
15. to the operating mode that was used before entering positioning mode FLL analog torque etc Requires positioner option Reports the actual motor position in counts relative to the index Activates the acceleration ramping as set by the ACCEL XXXXX and DECEL XXXXX commands The default power up state is RAMPIN Ramping can be used with either internal or external reference FLL velocity control Deactivates the acceleration ramping as set by the ACCEL XXXXX and DECEL XXXXX commands If set to RAMPOUT the motor will accelerate at the maximum rate possible dependent on inertia load etc in an open loop manner This mode should also be used if the drive is in external FLL mode and the command frequency is ramped in a controlled manner by customer supplied electronics to provide a desired speed profile such as a constant linear velocity spiral Requests the ready status whether the drive can be enabled The system responds with the ASCII string Y ES if ready otherwise NO Used to close the motor output relays to allow the motor to run if they have been opened using the RELAY STOP command This command would typically only be used if optional braking resistors are installed Disables the drive and opens the motor output relays This also activates optional motor braking resistors if the drive is equipped This command would typically only be used if the braking resistors are installed If braking resistors are not installed th
16. 3 00 Configuration B0000 Serial indicates the drive serial number also found on the drive serial label Version displays the installed software version number and Configuration shows the amplifier configuration code also found on the drive serial label Displays the network IP address and other network information Queries the logic power fault status Provides a list of valid commands Note Some commands are valid only in configuration mode MOTORPERIODERROR Used only in clocks per rev mode with the auxiliary PLL POS XXXXX POSCAP POSGAINS 1405260 Rev D option Responds with the number of counts of error for one motor revolution Used on drives with the positioner option to go to a specified position specified in counts Entering POS CAP will go to the position that was captured with the hardware position capture SC2 Pin 10 is by default configured to capture an actual position when pulled to logic level low Responds with the hardware captured position SC2 Pin 10 is by default configured to capture an actual position when pulled to logic level low Lists all gain settings for the positioner option PAGE 24 POSMODE X POSQ RAMPIN RAMPOUT READY RELAYRUN RELAYSTOP RUN SETZEROPOS SPEED XXXXX SPD XXXXX SPEED 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL POSMODE 1 enables positioning mode POSMODE 0 disables positioning mode and returns
17. LA2000 GEN 2 Linear Servo Amplifier USER S MANUAL Motion Control Systems Inc New River Virginia http www motioncontrol org 1405260 Rev D Approved MPW 2 9 10 MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Table Of Contents Table of Contents 2 Part 1 Important Safety Notices 4 1 1 Safety Notices Avis de S CUEILS hdi serais tie Dn ted px GE AE 4 12 Safety Ground Prise de terre de s curit 4 1 3 Hazardous Voltages Warning Avertissement d une tension dangereuse 5 1 4 Life Support Policy Politique de survie 5 1 5 Other Notices AUS QVIS nae remains 6 Part 2 General 7 2 1 aii ge o LATE nro REMO M cT 7 2 2 AN PA TT drames nn Mens dite nat nee re A 7 2 9 Field SOIC MH 8 Part 3 Installation 9 3 1 Unpacking scorrere de ed 9 NT D acces ce a Eer a e EE E 9 3 3 Ambient GOndiLIOfis uci oor ai RO XS OR REOR NE OUR Te UE Eu a Ro ERG P ORDER 10 34 Ar Flow REdDIrEMONs sde vdethiqu idus Er 10 Part 4 Electrical System Wiring 11 4 1 Input PONER e 11 4 1 1 Selecting Input VONAD Sn dns init 11 4 1 2 Input Voltage Current Ratings 11 4 2 OBULBUELDPOWEE uu ne ee een mette 12 42 1 Motor phasing For Motors Manuf by MCS 12 4 2 2 Motor phasing For Motors not Manuf by MCS 13 423 Motor Power CONE CUION 1 scsicedesensasnsevientarstnyve niatariaatmnpiannlations 13 4 3 Motor Feedback Commutation Wiring
18. NECTOR MOTOR FEEDBACK SC2 COMMUTATION N RS232 et lee AIR OUTLET FRONT VIEW 8X MOUNTING HOLES 8 32 UNC 2B amp h 4 AC POWER FUSE Rofl 11 000 279 4 mm 5 1 2 r MOUNTING BRACKET OPTIONAL 6 250 158 8 mm pm OUTPUT TO MOTOR AIR INLET SIDE VIEW 6 030 153 2 mm 1 930 49 0 mm 7 250 184 2 mm 71 1 mm i N 4 2 800 ri c 1 5378 85 6 mm 9 218 25 5 2100 53 3 mm 1 560 39 6 mm F 6030 153 2 mm BOTTOM VIEW _ 250 6 4 mm 309 CU 7 8 mm BACK VIEW 1 750 li 44 4 mm mm NOTE The amplifier should be mounted and positioned so that access to the main power switch is not restricted NOTE Amplifier protection devices may be impaired if the LA amplifier is not operated or mounted according to the recommendations in this manual 1405260 Rev D PAGE 9 MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 3 3 Ambient Conditions Select a location free of excessive dust coolants vibration corrosives condensation flammable materials etc Select a location having ambient temperature between zero and 40 degrees C and humidity between 5 and 80 non condensing Although the motor controller is thermally protected ambient temperature should be kept as low as practi
19. OTE This manual uses the terms Amplifier Controller Motor Drive and Motor Controller interchangeably NOTE ce manuel utilise les termes amplificateur contr leur moteur et commande moteur de mani re interchangeable PAGE 6 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 2 GENERAL 2 1 Introduction The LA2000 is a four quadrant velocity servo amplifier intended to control three phase permanent magnet synchronous motors commonly called brushless DC motors since some of their characteristics are similar to ordinary DC motors The LA2000 motor controller uses a very quiet linear power stage and is intended for applications where electromagnetic interference or acoustical noise must be kept to a minimum Under normal operation a brushless motor controller must know the position ofthe rotor in order to commutate the motor to produce torque The LA2000 obtains rotor position information from a quadrature encoder or Hall Effect sensors The LA2000 can also be optionally configured by MCS to use an external commutation source with current requests fed directly into the amplifier known as Sine Sine 120 operation Systems are intended for computer control through a high level command syntax This feature allows them to be easily integrated into computer controlled testing or manufacturing equipment For other applications see Section 5 2 Hardware Interface The motor controll
20. a SAVE Writes the new values of the configuration to the EEPROM Use this before exiting the Configuration mode The unit must be powered down and powered back up again for the new configuration to be valid Same as the WRITE command All changes made to any operating or setup parameters must be saved before turning off power or else they will revert to their last saved settings STARTS XXXXX Sets the speed at which the motor controller enables when in minimum speed detection mode MINSPDIN PAGE 31 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL STOPS XXXXX Sets the speed at which the motor controller disables after a receiving a STOP command XXXXX is the motor speed in RPM The default value is 30 RPM SUBMASK xxx yyy zzz xyz Enters the subnet mask for the Ethernet network in dotted decimal format TOPSPEED XXXXX Sets the top selectable speed for the motor TYPE XX Selects type of commutation If you are using a motor with an encoder and Hall Effect devices this number is 06 If you are using a motor with only an encoder the commutation type is 07 CAUTION It is important that this number is correct The amplifier employs a A different commutation scheme for a motor with Hall Effect devices ATTENTION il est important que ce nombre soit correct L amplificateur utilise un sch ma de commutation diff rent pour les dispositifs effet Hall WINLIMIT XX Sets the window for speed ramping in external FLL mode Ente
21. a power failure is desired The optional resistors are connected by relays between the motor phases when the RELAYSTOP command is issued or if AC power is lost PAGE 46 1405260 Rev D
22. amplifier must be configured using the ANALOGOUT and EXTEN commands when velocity control is desired as opposed to torque mode control The drive is enabled through SC2 pin 6 as above and the velocity command is input at SC2 pin 5 Contact MCS for more information on this option if required PAGE 33 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 5 3 Error Messages And Their Meanings When entering commands the system may not be able to process the command for various reasons The table below describes the error codes and the probable cause of the error Error code Error message Possible Cause 0 Unrecognized command Spelling of command incorrect 27 Invalid request Input data out of acceptable range 3 Unable to change setup Drive needs to be disabled 6 Command string too long PAGE 34 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 6 OPERATION 6 1 Power Up AN AN WARNING Before powering up for the first time ensure that the system has been installed and wired correctly Refer to Part 3 Installation AVERTISSEMENT Avant la premi re mise sous tension s assurer que le syst me a t install et c bl correctement Consulter la partie 3 Installation CAUTION Improper installation may cause damage to the unit ATTENTION Une installation incorrecte peut endommager l unit Applying power sets the internal scale factors and auxiliary outputs to the power up configuration The
23. amplifier requires a null modem cable in order to communicate If one is not available Pins 2 and 3 should be crossed in the cable Amp DE9 Connect To Terminal ES p AEN EN Port Function mud 3 Shield mE TNNT NT NEAN m RE NUR 4 HandheldTerm RX NA 6 AtZeoSped N A 7 Handheld Term TX NA pg A6spesdo o qoe Jp NA NA 8 Data Bits 1 Stop Bit No Parity A reference is available in Part 5 that details the controller command protocol Since handshaking is not used in the LA some pins on the DE9 connector are allocated for other LA uses Pins 4 and 7 are used for Receive and Transmit signal connection to a remote hand held terminal optional that may be used to control the LA amplifier Pins 6 and 8 are used to indicate when the motor connected to the LA is at zero speed or has reached the target velocity at speed The At Speed and At Zero Speed signals are TTL level At Speed is active high At Zero Speed is active low 4 7 USB and Ethernet Communications Wiring The LA2000 is equipped with USB and Ethernet interfaces The USB interface emulates a hardware RS 232 serial port and uses a standard Type B connector The 10 100 Ethernet interface provides a command based Telnet interface that emulates the RS 232 as well as a graphical web server interface The connector is a standard RJ 45 connector Please see the commands reference for informa
24. and 25 Analog Ground is available on SC2 pin 8 Auxiliary Interlock The normal use for this interlock 1s to run wires from pin 7 and logic common or analog ground out along any cable connected to SC2 and connect the wires after the last connector This will cause the system to fault if the cable becomes disconnected or severed This interlock is also compatible with a PTC motor thermistor or a normally closed thermal switch if the motor is equipped with this type of over temperature detector Main Air Sense Bearing Air Sense and Clamp Air Sense These are all customer configurable interlocks If not used they may be tied to logic common or disabled through the DISFAULTS WXYZ command Note The Clamp Air Sense input will not create a fault while the amplifier is disabled so that the chuck can be unclamped without creating a fault condition The Clamp Air Sense input must be driven low prior to enabling the amplifier otherwise a fault condition will result The amplifier internal faults are as follows Amp Overtemp This is an internal fault which will disable the controller if the temperature on the heatsink reaches 80 C Ifthis fault occurs verify that the fan inlet or outlet is not obstructed and that the ambient temperature does not exceed 40 C Logic Power Fault This fault occurs if the internal logic voltages exceed their limits Transformer Overtemp This fault disables the amplifier if the transformer reaches approximate
25. and Configuration 5 1 2 1 Commands for Normal Mode AOT Queries the amplifier over temperature status ACCEL XXXXX Sets the commanded acceleration rate in RPM sec XXXXX is a number from 1 to 65535 Note that 0 is invalid Only valid if ramping is enabled ACCEL Returns the value of ACCEL XXXXX command ATSPD Returns a YES if the motor is rotating at the correct speed as set by the SPD XXXXX command CCW Commands counterclockwise rotation CLAMP Causes the motor or spindle chuck clamp to lock down onto the work piece or disk CLAMPRUN Performs a CLAMP and a RUN command in sequence PAGE 21 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL CLEARZEROPOS Exits the encoder set up state and returns the amplifier to operation mode CONFIG CONFIGURE CURRENTQ CW DECEL XXXXX DIR DISABLE or DIS DISFAULTS DISFLTQ DUMPX 1405260 Rev D Responds with system configuration information in the following form Speed Torque Direction Acceleration Acceleration on off Topspeed Stop Speed Frequency internal external System Control remote Polecount Encoder Linecount Commutation Type Angle Angle Offset Deceleration Encoder Type Differential Single ended Enters the Configuration Mode Displays approximate peak motor current in Amps Commands clockwise rotation Sets the commanded deceleration rate after a stop command is given or the speed request is redu
26. ated to installation adjustment or application of the LA2000 motor controller The guide is not intended as a service manual for the repair of damaged components Service procedures should not be attempted without first consulting with MCS Nothing happens when the power switch is turned on Problem No power to the LA2000 Solution Be sure that one end of the power cord is plugged into the rear panel receptacle and that the other end is plugged into an appropriate active outlet Problem Fuse is blown Solution Disconnect the power to the LA2000 and remove the fuse from the power entry module Test the fuse for continuity and replace it if there is none Check external wiring specifically the motor phase outputs When the controller blows fuses it usually means that something is shorted out or the Power Entry Module voltage setting is incorrect The replacement must have the same current and voltage rating as the fuse that was removed PAGE 40 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL No serial RS232 communications Problem Incorrect communications parameters Solution Verify that the communication parameter settings on the host PC are a 8 data bits b 1 stop bit and c no parity Also confirm that the baud rate setting on the host matches that ofthe LA2000 The LA2000 does not use handshaking Problem Receive and transmit lines reversed on the communications cable Solution Reverse the signals at pins 2 and 3
27. cal since high temperatures can degrade performance and reliability 3 4 Air Flow Requirement The motor controller has a built in fan for cooling which exhausts out of the front of the unit Do not obstruct the fan or any other vents as this may cause the unit to overheat MCS recommends maintaining at least 1 2 54cm minimum clearance around fan intake and air exhausts PAGE 10 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 4 ELECTRICAL SYSTEM WIRING AND ADJUSTMENT Use the relevant System Wiring Diagram listed in Section 10 included in this manual as a reference when connecting the system CAUTION Make all connections to the system with the power OFF unless A otherwise instructed ATTENTION proc der toutes les connexions au syst me avec l alimentation coup e sauf instruction contraire 4 1 Input Power 4 1 1 Selecting Input Voltage An IEC connector is provided on the front ofthe unit for power entry Units are field configurable for 115 230 VAC operation through the power entry module To change the input voltage configuration pull down the top latch of the module and remove the fuse holder voltage selector Put the fuse holder voltage selector back in the module with the desired input voltage reading right side up through the window Below 1s a drawing of the module with the latch closed and opened Part 9 contains information on fuse selection NOTE If 230VAC input power is used fuses of
28. ced to a lower speed XXXXX is a number in RPM sec between and 65535 Only valid if ramping is enabled Requests direction status Returns CW for clockwise and CCW for counterclockwise Disables the unit Similar to STOP except the motor coasts to zero speed rather than being actively decelerated to a stop Responds with which faults are disabled Lists all faults in a text display and indicates whether each fault is enabled or disabled These commands allow the user to view the internal parameter settings of the EEPROM X is a number from to 5 representing the 5 pages of information PAGE 22 ENABLE or EN ENABLE FAN ON OFF FAULT FLTQ FLTA 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Enables the controller and commands the motor to accelerate to the requested speed Same as RUN Requests the enable status The system responds with an ASCII string ENABLED or DISABLED Turns the cooling fan on or off For protection the drive will turn the fan on when the heatsink temperature reaches approximately 50 degrees C regardless of this setting Requests the system fault status The system responds with the ASCII string FAULT if there is a fault condition otherwise it responds with OK Lists all faults in a text display and indicates whether or not each fault is in a FAULT state or OK Requests system fault status The system responds with hexadecimal numbers in
29. dification de ANGLE ou de OFFSET utiliser la fonction OVERSPEED et une limite de couple inf rieure TORQ XXX pour viter tout probl me pouvant r sulter d une commutation de moteur incorrecte AVERTISSEMENT MCS recommande fortement de ne pas r gler cette 4 5 Encoder Outputs MCS offers an option that provides a set of BNC jacks for encoder outputs as well as the command frequency input The BNC output jacks are marked A B and I to correspond to the encoder channels A B and Index respectively The outputs are TTL level and are capable of driving 50Q impedances Because of the high current drive capability of these outputs it may be necessary to resistively terminate these signals at the receiving electronics to eliminate signal ringing If the receiving electronics do not provide a low impedance load a resistor 50 500 ohms should be connected between the output and ground at the load end ofthe cable PAGE 18 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 4 6 Serial RS 232 Communications Wiring The serial interface conforms to EIA RS 232C specifications using a DE 9 female connector on the front of the unit labeled SC5 RS232 Communication parameters for the system are 8 data bits 1 stop bit and no parity The default baud rate is 9600 baud LA series amplifiers do not use any type of hardware or software handshaking If hardware handshaking is enabled on the host system those pins must be disabled The
30. e controller may be necessary Read each section thoroughly before attempting each adjustment In particular understand the Motor Phase Sequence Convention Section 4 2 2 before making the adjustments Most motor controllers provided as systems will not need adjustment However MCS recommends that the user verify that the adjustments meet the application s requirements PAGE 15 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 4 4 1 Commutation Adjustment for Encoder Only Systems Encoder Only commutation is specified using the TYPE 07 command from the configuration menu Systems using Hall Effect devices do not require encoder adjustment Commutation adjustment requires the alignment of the encoder index to an optimal angular location with respect to the motor This adjustment allows the system to use the minimum current to produce a given torque NOTE If the motor and encoder were shipped as a completely assembled system MCS has already made the adjustment In this case further adjustments will not be necessary NOTE A breakout fixture on connector SC2 is helpful for this adjustment if the drive is not equipped with the optional BNC encoder outputs CAUTION Use care when making this adjustment since encoders are delicate instruments An incorrect adjustment of the index could cause reduced torque and motor heating N ATTENTION r aliser ce r glage avec soin car les codeurs sont des instruments d licats Un mauva
31. e motor will free wheel if this command is issued Enables the controller and commands the motor to accelerate to the requested speed Same as the ENABLE command Enters encoder set up mode This command is used during mechanical adjustment of the encoder index in encoder only systems TY PE 07 Used in FLL speed controlled systems using the internal synthesizer frequency reference to set the requested speed to XXXXX RPM Same as the SPEED XXXXX command Returns the value of the SPEED XXXXX command PAGE 25 MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL SPD Requests the current speed in RPM The system responds with an ASCII string XXXXX where X is a digit from 0 to 9 STATQ Requests system status in a text format STATA Requests system status The system responds with hexadecimal numbers in the form XX YY indicating current status NOTE Ramping status only applies during deceleration and acceleration and In Window status applies during external FLL mode only when speed ramping is active The first word XX is decoded as follows Bit Meaning if Set 7 MSB System Fault 6 Reserved 5 Direction Status 1 CCW 0 CW 4 Motor at Speed 1 at speed 3 Speed 0 2 Reserved 1 System Ready 0 System Enabled The second word YY is decoded as follows Bit Meaning if Set 7 MSB Reserved 6 Energy Foldback 5 Temperature Foldback 4 Reserved 3 Ramping 1 Up 0 Down 2 In Window See winlim
32. ection use the OFFSET XX command if available not all LA configurations use this command For example you may find that better performance is achieved in the CW direction with an ANGLE of 285 while in the CCW direction better performance is realized with an ANGLE of 255 This would be require ANGLE 270 and OFFSET 15 to be programmed in the unit This adjustment cannot be made while the motor is running To adjust PAGE 17 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL disable DIS the controller and enter the desired value If experimenting be sure to change the angle in small increments as large changes could cause improper system operation and excessive motor and amplifier heating When you find the correct value be sure to save the setting by entering the configuration mode and writing to the EEPROM with the WRITE command Angle offset is not available on drives configured for stop and lock operation LOCKMODEI WARNING MCS strongly recommends against adjusting this value since improper adjustment can cause reduced torque motor heating amplifier heating ora runaway condition When modifying the ANGLE or OFFSET use the OVERSPEED function and a lower torque limit TORQ XXX to prevent problems that may result from improper motor commutation valeur car un r glage incorrect peut entrainer une r duction du couple une surchauffe du moteur une surchauffe de l amplificateur ou des conditions d emballement En cas de mo
33. enable and operate normally frequencies below this speed will stop the drive PAGE 30 MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL MINSPDOUT Configures the drive for normal operation with external frequency OFFSET XX Sets a direction dependent amount of angle offset from 0 to 99 degrees to be added or subtracted to the base motor commutation angle as input with the ANGLE XXX command OFFSET is added to ANGLE for CW motor rotation and subtracted from ANGLE for CCW motor rotation See section 4 2 2 Requires disabling of Stop and Lock operation LOCKMODEO OVERSPEED XXXXX Sets the speed in RPM at which an over speed fault will occur POLES XX Sets the motor pole count POSACCEL XXXXX Sets the acceleration rate in RPM second for positioning mode if equipped with the positioner option POSDECEL XXXXX Sets the deceleration rate in RPM second for positioning mode if equipped with the positioner option POSDGAIN XXXX Enters the derivative gain for the positioner option POSDSAMPLE XXXX Enters the derivative sample time for the positioner option POSIGAIN XXXX Enters the integral gain for the positioner option POSILGAIN XXXX Enters the integration limit for the positioner option POSMAXVEL XXXXX Enters the maximum velocity for positioning mode if equipped with the positioner option POSPGAIN XXXX Enters the proportional gain for the positioner option READ Retrieves old configuration data and wipes out any new configuration dat
34. er to the motor is supplied through a CPC plastic connector on the front panel This connector is intended for connection to three lead motors The following table shows the pin out for the motor power connector Motor Power Connector iise Name Phase Name 6 PhaseV X 8 PhaseU GROUND Mating Connector Tyco AMP P N 206044 1 Mating Pins Tyco AMP P N 66361 2 14 18 AWG wire or 66103 2 20 24 AWG wire PAGE 13 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 4 3 Motor Feedback Commutation Wiring 4 3 1 Encoder Wiring The amplifier has a 5V 250 mA max power supply available for powering an encoder and motor Hall Effect Devices refer to section 4 3 2 The encoder connects to connector SC2 on the front ofthe unit Connections are shown below in the table The LA2000 can accept differential or single ended TTL or 5V CMOS level encoder signals An MCS installed option is available for use with a sinewave output analog encoder Contact MCS for more information on this option if needed Use an encoder with differential outputs whenever possible to reduce the effects of ambient electromagnetic interference Ifa single ended output encoder is used treat the A B and INDEX inputs as No Connect pins Use the CONFIG command to determine if your system is configured for single ended or differential inputs See Section 5 1 2 2 Commands for the Configuration Mode if you need to change the configuration
35. er unit is intended for cabinet or panel mounting See Section 3 2 Mounting for a mounting diagram 2 2 Warranty Motion Control Systems Inc MCS warrants that all products it manufactures shall be free from defects in materials and workmanship for a period of one 1 year from the date of shipment provided that such products have been subjected to proper and normal use and further provided that MCS receives written notice from the purchaser setting forth the nature and extent of the defect within the warranty period The obligations of MCS under this warranty are limited to at its option the repair or replacement free of charge of any product covered by this warranty that has been returned with prior written consent to MCS or as it may direct transportation charges prepaid by the purchaser Motion Control Systems Inc MCS reserves the right to void this warranty at any time if any product is altered tampered with modified repaired or serviced by any unauthorized person or company without prior written approval from MCS MCS takes no responsibility for any damage to products if unauthorized alterations or modifications were performed without prior written consent from MCS MCS shall in no event be liable for any breach of warranty in an amount exceeding the purchase price nor for any special consequential or incidental damages PAGE 7 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL This warranty is in lieu of
36. front of the controller The selection ofthe internal synthesizer or external input is made by the FLLINTERNAL and FLLEXTERNAL commands Note Systems equipped with and using the Auxiliary PLL option should be set to FLLINTERNAL even though the command signal is an external pulse train When using the external FLL mode the FEEDDIV command allows some flexibility if the maximum frequency available from the external circuitry is limited Using a value other than the default 1 divides down the feedback pulse train by 2 4 or 8 with a setting of 2 4 or 8 respectively This lowers the required command frequency for a given motor speed but decreases performance particularly low speed jitter The FEEDDIV setting can be viewed with the DUMP4 command When using an external reference frequency the formula for the frequency is f speed request in RPM encoder line count FEEDDIV 60 Hz Example The external reference frequency for a system with FEEDDIV 1 using a 1024 line encoder and rotating at 3600 RPM is 61 440 kHz In systems configured for Analog Torque control the FLL Velocity Control is bypassed to allow an external controller to close the loop PAGE 38 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 7 1 2 Commutation Section The LA2000 is a three phase drive for sinusoidally wound DC brushless motors This means that the voltage generated across each phase by turning the rotor at a constant speed has a sinus
37. hat were installed when unit was shipped DNSADDR xxx yyy zzz xyz Enters the Domain Name Server IP address for the Ethernet network in dotted decimal format ENABLEHH Enables the optional handheld terminal The handheld terminal must be disabled if the positioner option is installed ENCODERCOUNT XXXXX Sets the encoder line count ENCODERTYPE X Selects whether the encoder is single ended or differential If X is an S then the drive is in single ended mode and if X is a D the drive will be configured for differential inputs EXTEN External enable mode Causes the drive to be enabled using the external enable signal on SC2 pin 6 A TTL low will enable the amplifier If FLL PAGE 29 1405260 Rev D EXIT FEEDDIV X FLLEXTERNAL FLLGAIN X FLLINTERNAL MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL speed control is used the amplifier will also use the external direction input on SC2 pin 13 to determine what direction to run A TTL low on the direction input selects CW rotation a TTL high or floating selects CCW Exits from the Configuration mode back to the Normal mode Used to add a divisor to the FLL velocity control loop feedback when in external FLL mode This is used if the maximum frequency available to the LA2000 is limited Setting FEEDDIV to anything other than 1 allows a higher speed for a given input frequency but reduces performance particularly low speed jitter Choices are 1 2 4 and 8 with a default of 1
38. is r glage de l index peut entrainer une r duction du couple et une surchauffe du moteur The index input is edge sensitive and will detect active high or active low index pulses The index input will detect the falling edge for CW motor rotation or the rising edge for CCW rotation See Section 4 2 2 for motor phase sequence convention The index can be set mechanically provides interchangeability or adjusted electronically requires no mechanical adjustment but motors and controllers will not be interchangeable To mechanically set the index FIRMWARE VERSIONS V3 17 and higher Power up the system and rotate the motor shaft or rotor Using an oscilloscope connected to SC2 Pin 4 or the Index output BNC connector you should observe a once per revolution index pulse Set the motor shaft position near the present index This will minimize the adjustment required Verify that the direction is set to CW and that the torque setting has been reduced to around 10 ANALOG TORQUE CONTROLLED SYSTEMS SEE NOTE ON NEXT PAGE Enter the encoder set up mode SETZEROPOS Enable the amplifier EN The motor will seek a position and lock there Loosen the encoder housing and rotate the encoder such that the index pulse is set to this locked position Tighten the encoder housing and test the adjustment by turning the motor a few degrees Verify that it returns to the index position To return the drive to normal operation disable the amplifier DIS Verif
39. it command 1 Reserved 0 Chuck is Clamped STAT Same as the STATA command except that raw binary data is returned instead of hexadecimal numbers STOP Commands the motor to decelerate to zero speed and the controller to disable when the motor speed is less than the stop speed Adjust the disable speed threshold with the STOPS XXXXX command STOPLOCK Brings the motor to a controlled stop and then locks it in position Requires using UNLOCK command to resume normal operation LOCKMODE must be set to 1 STOPUNCLAMP Performs a STOP and UNCLAMP in sequence PAGE 26 1405260 Rev D TORQUE XXX TORQ XXX TORQUE UNCLAMP UNLOCK UNLOCKRUN ZERO 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Sets the torque limit to XXX percent of full scale XXX is a number from 1 to 100 The torque limit circuit can optionally be configured by MCS to function as a torque scaling circuit This is desirable for analog torque control systems as it can provide a means of programming the current scaling Consult MCS for more information Same as the TORQUE XXX command Returns the value ofthe TORQUE XXX command Causes the motor or spindle chuck to open or unclamp the disk or work piece Sending this command while the motor or spindle is rotating results in an error Releases the lock on the motor caused by issuing the STOPLOCK command The motor will now be in a disabled state Internal Enable systems or resume exter
40. ized for use as critical components in life support systems without the expressed written consent of the President of Motion Control Systems Inc A critical component is any component whose failure or malfunction could result in the failure of the life support system or in the reduction of its safety or effectiveness Les produits Motion Control Systems Inc ne peuvent pas tre utilis s comme l ments critiques dans des syst mes de survie sans l autorisation crite expresse du pr sident de Motion Control Systems Inc Un l ment critique est un l ment dont la d faillance ou le dysfonctionnement pourrait entrainer la d faillance du syst me de survie ou la limitation de sa s curit ou de son efficacit PAGE 5 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 1 5 Other Notices Autres avis WARNING Do not operate this system in explosive atmospheres AVERTISSEMENT ne pas utiliser ce syst me dans des atmosph res explosives CAUTION The voltages applied to the LA amplifier must not exceed the A maximum stated voltages See Section 9 1 ATTENTION la tension appliqu e l amplificateur LA ne doit pas exc der les tensions maximum d finies voir la section 9 1 WARNING The AC input power is double pole neutral fused N N a AVERTISSEMENT l alimentation CA dispose d un fusible bipolaire neutre CAUTION See Part 9 for Fuse Ratings ATTENTION Voir la Partie 9 pour le classement de fusible N
41. ly 120 C Overspeed This fault occurs when the motor speed exceeds the overspeed threshold see OVERSPEED XXXXX command PAGE 37 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 7 THEORY OF OPERATION The amplifier can be thought of as consisting of two sections control and power The power section channels energy from the power input to the motor the control section directs the power These sections are further explained below 7 1 Control Section See Drawing 1405190 Control Level Schematic for more information 7 1 1 FLL Velocity Control Loop The Frequency Lock Velocity Control provides extremely accurate speed control using a combination of frequency and phase lock methods Frequency and phase comparisons between a reference pulse train and a feedback pulse train result in internal command voltages that control the motor speed The Frequency Lock Velocity Control generates a torque command voltage that is proportional to the difference between the two frequencies causing the motor to accelerate or decelerate until the two frequencies are equal In most systems that use the Frequency Lock Velocity Control incremental encoders are used to generate the feedback pulse train The reference pulse train is generated by either an internal frequency synthesizer or an external TTL pulse train The external reference is input through an optional BNC connector or the optional BDC compatibility connector located on the
42. nal control Torque or External Enable systems UNLOCK or UNLOCKRUN must be used to clear a STOPLOCK before normal operation may resume Same as UNLOCK except also executes a run after unlocking Requests the zero speed status The system responds with the ASCII string YES ifthe system speed is zero and NO if the motor is still turning PAGE 27 MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 5 1 2 2 Commands for Configuration Mode In order for configuration changes to take effect every time the controller is powered up be sure to use the WRITE command to save the configuration information After entering and executing a valid command in configuration mode the controller will respond with In Configuration State After this response the drive is ready to accept the next command ANALOGIN Configures the drive for analog torque mode The torque request is external as is the enable signal NOTE This command is not used in units with the optional analog VELOCITY control loop ANALOGOUT Returns the drive to velocity control mode The torque request is then generated by the FLL or velocity loop The enable disable control is also returned to the RS 232 or communication interface ANGLE XXX Sets the motor commutation angle from 0 to 359 in electrical degrees See section 4 4 AUXPLL IN Activates the auxiliary PLL option if equipped Used to multiply up a single pulse per rev command to the required encoder rate command frequency
43. nect to connector SC2 DB25M on the front panel 6 Step Hall Effect Wiring Connections for MCS motors DESIGNATION WIRE COLOR SC 2 PIN p5vsuply Red 1 Hall Sensor 2 Green Hall Sensor 3 Shield 4 3 3 6 Step Hall Effect Convention for motors not manufactured by MCS Hall Effect devices are used by the controller to determine the position of the rotor with respect to the stator The proper phasing of the Hall sensors is essential to proper motor operation To determine the correct phase rotate the motor CW and display the waveforms described below on an oscilloscope to determine whether the Hall Effect devices are properly phased When displaying the waveforms on a scope the second phase shown is connected to probe GND e g when displaying W V place the probe TIP on W and probe GND on V The diagram below corresponds to the LA2000 default commutation angle setting 270 degrees W V W U V U TE H2 H1 NOTE Hall Effect devices have open collector outputs which must be connected to a 5VDC power supply through a suitable pull up resistor LA series drives contain internal pull up resistors When disconnected from the drive the Hall Effect outputs will not switch Use 2 2 KQ pull up resistors to 5VDC to observe device switching 4 4 Initial Adjustments Before attempting to operate the system some adjustments to the motor and to th
44. ntrol Level Schematic 1405190 LA2000 Gen 2 Control Level Schematic PAGE 45 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL AVAILABLE OPTIONS as of 1 5 10 MCS may add additional options and features in the future Contact MCS Sales Department for information on pricing ofthe following factory installed options BDC Compatibility Includes the BDC compatibility connector and configuration settings compatible with the legacy BDC 0610 drive An optional mounting flange is also available BNC I O Connector Includes BNC panel connectors for encoder and index outputs as well as the command frequency input Positioner Includes a powerful motion processor to add position loop control to the drive Control can be easily switched between positioning and other modes such as FLL as needed Analog Torque Control Standard Feature but specifying this option will include factory configuration for software control of current scaling and default configuration for torque control Please specify whether the command is single ended or differential Analog Velocity Control Includes internal tach generation circuitry and an analog velocity loop to accept a 10 V input proportional to velocity Balance and Scale adjustment potentiometers are included Sine Sine 120 Commutation This option bypasses the LA2000 s internal commutation circuitry for use with special applications or motion controllers that perform commutation The
45. oidal waveform The magnitude of the generated voltage is proportional to the angular velocity of the rotor Phase V and phase U voltages lag phase W voltage by 120 and 240 electrical degrees respectively In order to develop constant torque from the motor sinusoidal currents must be injected into each motor winding in phase with the generated voltages For this the angular position ofthe rotor must be known at all times The LA2000 determines the rotor position by converting the output signals of an encoder to a digital word that represents the absolute rotor position This word is then converted to three phase words that are each multiplied with a velocity error or torque command signal to generate the three sinusoidal current request signals NOTE Units equipped with the MCS installed Sine Sine 120 option use customer supplied external commutation for the W and V phases The third phase is generated internally 7 1 3 Motor Phase Current Control Loop Section The current control loops compare the three phase current requests from the velocity loop and commutation section with the actual motor phase currents and generate three current error signals that request output voltage from the power stage 7 2 Power Section The power section consists of the Main Power Supply and the Power Amplifier Stage The Main Power Supply is a transformer isolated full wave rectified unregulated bipolar DC power supply It provides a source of power for the
46. or procedures that could result in personal injury or death A AVERTISSEMENT Indicateur de conditions et ou de proc dures pouvant entra ner des pr judices corporels ou la mort CAUTION Calls attention to conditions and or procedures which if not followed can result in permanent damage to equipment N ATTENTION Attire l attention sur des conditions et ou des proc dures qui si elles ne sont pas respect es peuvent entrainer des dommages permanents aux quipements NOTE Points out useful or important information to the reader NOTE Souligne des informations utiles ou importantes pour le lecteur 1 2 Safety Ground Prise de terre de s curit This product must be grounded The power cord supplied with the product is for 115 VAC outlets If the user wishes to provide a different cord for 230 VAC the cord must have a ground connection In addition any device e g motor control device etc connected to this system must be grounded Ce produit doit tre mis la terre Le cordon d alimentation fourni avec le produit est concu pour les prises 115 V CA Si l utilisateur souhaite utiliser un cordon diff rent adapt une alimentation 230 V CA ce dernier doit pouvoir tre reli la terre Par ailleurs tout l ment par exemple moteur dispositif de commande etc connect ce syst me doit tre mis la terre PAGE 4 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL WARNING Operation without pro
47. per grounding can result in a potentially fatal electric shock Any accessible component e g case switches etc or peripheral device is to be considered live under this condition AN AVERTISSEMENT Tout fonctionnement sans une mise la terre ad quate peut entra ner un choc lectrique potentiellement fatal Tout l ment accessible par exemple bo tier interrupteurs etc et tout dispositif p riph rique doivent tre consid r s comme tant sous tension 1 3 Hazardous Voltages Warning Avertissement d une tension dangereuse WARNING Dangerous voltages exist at several places within the enclosure Disconnect power before and during any disassembly or servicing Only qualified personnel should service this product AN AVERTISSEMENT Des tensions dangereuses existent diff rents emplacements du site Couper l alimentation avant et pendant toute manipulation ou toute op ration d entretien Seul du personnel qualifi peut assurer l entretien de ce produit WARNING Dangerous voltages exist at the motor power terminals when the drive has power applied Disconnect power and exercise caution when connecting to these terminals AVERTISSEMENT des tensions dangereuses existent au niveau des bornes du moteur lorsque la transmission est aliment e Couper l alimentation et rester vigilant lors de la connexion ces bornes 1 4 Life Support Policy Politique de survie Motion Control Systems Inc products are not author
48. red in tenths ofa percent LE if WINLIMIT is set to 30 a change in the reference frequency of 3 or more will cause the drive to perform a controlled ramp to the new velocity and a step of less than 3 will cause a step response in the velocity WINLIMIT has no effect in internal FLL mode or if ramping is turned off WRITE Same as SAVE PAGE 32 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 5 2 Hardware Interface NOTE For operation of communications controlled systems see section 6 2 1 5 2 4 TTL Interface The LA2000 Gen 2 has the ability to accept external direction enable and frequency request signals This allows for a very simple user interface to the drive In order to configure the drive for using the external enable and direction signals use the EXTEN command in the configuration mode If the drive is also configured for external frequency operation FLLEXTERNAL then the speed will correspond to the external frequency input see Section 7 1 1 FLL Velocity Control Loop Ifthe internal frequency synthesizer is selected FLLINTERNAL the motor controller will go to whatever speed is the power up default To enable the drive pull SC2 pin 6 to logic common An open or logic 1 5V on SC2 pin 6 will disable the drive A logic 1 5V or open on SC2 pin 13 corresponds to CCW rotation while a 0 or logic common will cause CW rotation On drives using the STOPLOCK command and external enable input the enable line
49. roblem The motor feedback device encoder is not wired to SC2 correctly Solution See Section 4 3 and verify connections to SC2 Problem The commutation is not adjusted properly Solution Verify correct commutation adjustment see Section 4 4 Problem The motor leads are not wired properly Solution See Section 4 2 and verify the wiring to the motor LA2000 enables but motor is locked up shaft will not rotate even by hand Problem The encoder line count or the pole count does not match the system requirements Solution Set the encoder line count and motor pole count to the correct values for your system Problem The phase relationship on the encoder inputs is reversed Solution Check to see if the phase relationship between the encoder outputs is correct The correct inputs to the amplifier are A leading B when the motor is turning in a clockwise direction Problem All three Hall Effect devices are not present Solution Check system wiring to be sure that all Hall Effect devices are present and switching Refer to section 4 3 3 PAGE 42 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 9 SPECIFICATIONS 9 1 General Fuse Fusible 115V 10A 250V 230V 6A 250V Power Requirements 120VAC 10A or 240VAC 6A 10 Power Output 15A peak sinewave intermittent 8A peak sinewave continuous 75V nominal bus voltage at continuous current rating Dimensions Width 7 25 Height 6 25 Depth 11
50. roximately 2 3 seconds it is ready to accept commands Refer to Section 5 1 2 Command Summary Input a speed SPEED XXXXX and direction CW or CCW command followed by a RUN command in order to start motor rotation Under normal operation the amplifier can be in either an Enabled a Stop or a Disabled state When Enabled the system is in servo and the amplifier is controlling motor currents in such a way as to hold the motor at or accelerate it to its set speed When a STOP command is issued the motor is commanded to decelerate to the stop speed see STOPS XXXXX command description and then disable If the motor kicks back in the wrong direction at the end ofa stop increase the stop speed If the motor spins down too long decrease the stop speed When in the Disabled state the amplifier is effectively commanding zero motor current allowing the motor to spin freely In this state the amplifier does not transfer power to or from the motor 6 2 2 Interlocks and Faults Interlock circuits continually monitor certain conditions external and internal to the unit The interlocks disable the amplifier if these conditions stray outside of specified limits In addition to the standard interlocks the user can configure auxiliary inputs to monitor specific external conditions Those conditions that cause the interlocks to disable the amplifier are called FAULT conditions After receiving a fault condition the LA2000 will disable or stop and enter
51. rtainty at initial system power up typical of encoder only systems that require the index pulse to determine position Hall Effect devices may be used in conjunction with the encoder The amplifier commutates using Hall Effects initially learns the position of the encoder index pulse and then automatically switches to encoder feedback for commutation During this initial period one or more motor current electrical cycles will occur before the switch to encoder commutation is made Mechanical revolutions are related to electrical revolutions in the following way l m ex electrical cycles mechanical revolutions When using a motor with Hall Effect devices and an encoder this configuration is specified using the TYPE 06 command from the configuration mode It is normally not necessary to adjust the timing of the Hall Effect sensors but certain occasions warrant it changing between WYE and DELTA motor wiring for example To adjust the timing on the Hall sensors use the ANGLE XXX command from the configuration mode The standard Hall Effect timing angle on motors manufactured by MCS is 270 This applies to 3 lead motors and 6 lead motors wired in WYE MCS manufactured 6 lead motors wired in DELTA should use an angle setting of 300 degrees To adjust in the CCW direction use a number slightly less than nominal To adjust in the CW direction use a number slightly larger For bi directional applications requiring a different angle for each dir
52. the form XX YY indicating fault conditions The first word XX is decoded as follows Bit Meaning if Set 7 MSB Reserved 6 Reserved 5 Reserved 4 Transformer Over Temperature 3 Auxiliary 1 Fault 2 Logic Power Fault 1 Amplifier Over Temperature 0 Reserved The second word YY is decoded as follows Bit Meaning if Set 7 MSB Reserved 6 Reserved 5 Reserved 4 Reserved 3 Over Speed Fault 2 Main Air Fault 1 Clamp Air Pressure Fault 0 Bearing Air Pressure Fault For Example If FLTA returns 02 08 that would be decoded to mean Amp Over Temp and Over Speed faults occurred PAGE 23 FLT FLTQREAD FLTQREADQ HEATSINKT ID IPLIST LPR MENU MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Same as the FLTA command except that raw binary data is returned instead of hexadecimal numbers Returns the first value of a queue of stored values from previous faults The returned values are interpreted just as those returned by the FLT Command This command allows for a review of faults which occur and clear before a standard FLT command can be issued Same as FLTOREAD Except the result is typed out in plain text Displays the amplifier heat sink temperature in degrees Celsius Centigrade Requests the controller to send back its identification information as an ASCII string The system responds with something similar to LA 2000 Model G2 Serial 6600000 Version
53. the required speed command for the encoder rate This option also includes analog I O for velocity error output and an auxiliary analog summing junction input A TTL level index output is also provided on this connector The connector is a 0 050 pitch 26 pin header This option is application specific and is not compatible with all encoder line counts and all operating speeds Please contact MCS for more information PAGE 20 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 5 USER INTERFACES 5 1 Software Interface 5 1 1 Command Definition Commands are ASCII strings terminated by a carriage return character ASCII ODH Multiple commands are entered as one string by separating them with semicolons The maximum command string length is 511 characters A carriage return at the end of the command string will initiate the action of decoding the entire command string If a command string cannot be accepted due to transmission or syntax errors the system will respond with an error code followed by a and a line feed character ASCII OAH Descriptions for the error codes are given in section 5 3 If the command string is accepted the system will respond with a line feed character 5 1 2 Command Summary Commands are not case sensitive In the following descriptions any quotes shown are not part of the commands or responses Commands are divided into two sections where each represents a different mode of operation Normal
54. three motor output phases Each motor phase also has its own amplifier stage These electrically quiet linear power stages consist of level shifting circuitry and power semiconductor devices which amplify the current error signals The voltage that is applied to the motor terminals induces currents which generate torque and motor rotation PAGE 39 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL Part 8 SERVICING Servicing procedures are not recommended Do not attempt to service without consulting with MCS first WARNING Dangerous voltages exist at several places within the enclosure Disconnect power before and during any disassembly or servicing Only qualified personnel should service this product A ATTENTION Des tensions dangereuses existent diff rents emplacements du site Couper l alimentation avant et pendant toute manipulation ou toute op ration d entretien Seul du personnel qualifi peut assurer l entretien de ce produit 8 1 Maintenance LA2000 motor controllers do not require regular maintenance However cooling fans and heatsink fins should be inspected for dust accumulation which interferes with the air cooling system Dust can be removed from the LA using a clean pressurized less than 40psi air stream The inspection schedule will depend on the amount of dust in the location of the motor controller 82 Troubleshooting The purpose of this section is to provide a guide for identifying problems rel
55. tion on setting the IP address and other parameters It is required that all devices on the network have a unique IP address The drive is intended to be used with RFC 1185 standard compliant telnet clients for telnet functionality and or a web browser Mozilla recommended for webserver functionality Enter the drive s IP address in your web browser address bar to access the web interface to the drive Please see the documentation included on the user manual CD for installation of the USB drivers if needed PAGE 19 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL 4 8 Optional 20 Pin Ribbon BDC Compatibility Connector An additional connector may be installed on the LA2000 for use with certain legacy systems or to interconnect customer electronics to important I O signals This connector provides isolated frequency and direction inputs as well as non isolated outputs for all encoder signals and At Speed status Contact MCS for more information regarding use of this connector The pin out is as listed below Pin Function Pin Function 1 Isolated 5V Input 2 Isolated 5V Input 3 Future Use TBD 4 Command Frequency Input Isolated 5 Aux Fault Input 6 Direction Input Isolated 7 Isolated Common Input 8 Isolated Common Input 9 Enable Input tied to pin 10 10 Enable Input tied to pin 9 11 5V 12 5V 13 Encoder A Channel Output 14 At Speed Output Fault Output
56. user will input 10V analog current request signals for two motor phases The third phase is generated internally High Frequency PECL level Command Input AUX PLL This option is application specific and provides a method of locking spindle speed to a master clock An additional connector is provided to accept a high frequency PECL differential Positive Emitter Coupled Logic level signal for frequency command at a programmable master clock rate This signal is divided down to a once per revolution pulse The once per revolution pulse is multiplied up using the auxiliary PLL to the encoder line rate for FLL velocity control The connector also includes pins for an auxiliary analog input for a summing junction analog outputs for velocity error before and after the summing junction and a buffered TTL level index signal output This option is application specific and not available for all encoder counts and speed ranges Sinewave Analog Encoder Inputs This option includes interface circuitry to connect a 1V pk pk analog output encoder to the drive instead of the standard digital encoder This is useful if an encoder interpolator is required elsewhere in the system for customer supplied motion control or measurement electronics It is also useful where EMI is a concern as analog output encoders eliminate fast rising edges Braking Resistors Consult MCS if command actuated resistive braking or emergency stopping in the event of
57. y that the LA2000 operates normally This method allows any LA2000 Gen 2 to operate with any motor encoder PAGE 16 1405260 Rev D MCS LA2000 GEN 2 AMPLIFIER USER S MANUAL combination as long as this procedure has been followed for the given motor encoder and the ANGLE parameter in the LA2000 is set the same NOTE FOR ANALOG TORQUE CONTROLLED SYSTEMS Use a negative polarity command voltage equivalent of requesting CW direction when following the above procedure If using a negative polarity voltage command is not possible follow the procedure using a positive torque command and then change the angle setting by 180 degrees before attempting to run the motor For example if the ANGLE was set to 270 degrees while locking the motor set the ANGLE to 90 and WRITE to eeprom before running the motor To electronically set the index It is also possible to set the index electronically by measuring the phase angle while rotating clockwise between the positive going zero crossing of the motor Back EMF phase W with respect to U and the index pulse This measured angle may be programmed in with the angle command Note that if this method is used the angle setting will be specific to the individual motor encoder combination it was measured on 4 4 2 Commutation Adjustment for Hall Effect Encoder Systems Hall Effect Encoder commutation is specified using the TYPE 06 command from the configuration menu To eliminate motor position unce
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