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1. XCM XI Pulse Inputs lt a YCM a YI _ Pulse Outputs O5V PowerSupply User Inputs AO x m 5VDC 10 BO lt oT Max 10mA tput Or 314 AIN jax 10mA per output saTACM 10V Input 2684 N a 28 PL End of travelinputs TT0014GB 288 HM _ Home Reset Input 308 AX2 Secondary axis 3184TCM Analogueoutput 328 TAC _ torque monitor 3 11 1 General The 2 Pulse Outputs AO and BO produce 2 pulse signals which can be configured either to represent the motor encoder EA and EB or the signal connected to the pulse input XI and YI The Pulse Outputs are typically used in the following applications 1 Master slave system in which the master controller s pulse outputs are connected to the slave controller s pulse inputs The slave controller thus follows the master con troller s movement 2 PC system A Controller which is connected to a PC card via the analogue input or the pulse input and exclusively functions as a velocity controller The Pulse Output is connected to the PC card and ensures that information on the current velocity and position is sent to the PC card The Outputs are optically isolated from other Controller circuitry The output circuit must be supplied by an external voltage of 5V This supply is connected to the O5V and OCM terminals see illustration Each output can supply up to 10mA and operates with frequencies up to 500kHz
2. End of travel inputs A Home Reset input va Secondary axis Note screen only Analogue output connected to signal source torque monitor TT0021GB Follow the procedure below for operation of the Controller in Mode 5 Torque Mode Connect the Controller as shown above For further details see also Motor Connection page 21 I Power Supply page 31 Analogue Input page 36 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in RS232 Interface page 38 Switch on the Controller but ensure that the Analogue Input is 0 volt Only the Power LED and possibly Out I may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Instal lation page 12 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly Set the Controller to Torque Mode by sending the command MO 5 enter The Controller should respond Y indicating that Torque Mode has been selected By default the servo parameters KD KP and KI are set to typical moderate values This means that the motor can be operated without further adjustment For optimum system operation howe
3. J VL Industri Elektronik A S Made In Denmark ary EA mo cao GA O 1C1B1A __ ER g E Etc oO I aS NM E FE Ssh b l FI Industri Elektronik V DI GI GE I co Hal Mains Voltage Selection E 115 230VAC II 7 E Oo le EA E E GI Co EA l Selector I I SS EEE er AAA a G Primary Fuse slow blow 2A Ea EEE O Serial Number CI M E oO E O Mains Power Connector 115 230VAC O co oO E E ES gt T Secondary Fuse slow blow 4A Co oso lu EE EEE dd E HII 0 m r U Fuses Mains Input TT0031GB 3 9 5 Power Supply of AMC11B AMC12B To ensure that powering of the Controller is as simple as possible only a single supply voltage is connected to the Controller The built in power supply ensures the required voltages for the Driver control circuitry etc The power supply can supply 160W con tinuous but allows a peak load of 300W in connection with acceleration deceleration of the motor The Controller can be powered from either 115VAC or 230VAC 10 Connection of the mains supply is made at the Controller s rear panel where the mains supply voltage setting can also be adjusted The internal supply voltage is 830VDC nominal 3 9 6 Power Supply Faults The Controller is protected against voltage overload In the event of overload the internal circuitry short circuits the supply and thus blows the secondary and possibly the prima ry fuse The Controller is equ
4. Pulse Inputs Pulse Outputs Potentiometer a 10V Input oun End of travel inputs Home Reset input User Inputs Secondary axis Note screen A Analogue output connected to signal source torque monitor TT0020GB Follow the procedure below for operation of the Controller in Mode 4 Velocity Mode 1 Connect the Controller as shown above For further details see Motor Connection page 21 En coder Input page 28 Power Supply page 31 Analogue Input page 36 2 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in RS232 Interface page 38 3 Switch on the Controller but ensure that the Analogue Input is 0 volt Only the Power LED and possibly Out I may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Instal lation page 12 4 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly 5 Set the Controller to Velocity Mode by sending the command MO 4 enter The Controller should respond Y indicating that Velocity Mode has been selected 6 By default the servo
5. TT0036GB 40 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 15 RS485 Interface The controller include RS485 beside the normal RS232 interface The RS485 interface is intended for purposes where 1 to 32 controllers are connected at the same line in a noisy environment MAL m Signal ground ee O nB igo ot gt A Terminator m e Connect to A if Controller is the last Unit on the line TTO059GB The communication protocol is exatly the same as RS232 The only difference is the balanced signalli nes end the fact that all communication is half duplex wich means that the controller can not send and receive at the same time as by use of RS232 The RS485 interface makes it possible to connect up to 32 units at the same lines At the last controller the terminal called Terminator pin 8 must be shorted to the A terminal pin 4 Following illustration shows a typical system with 2 or more units connected to a computer or similar Controller Controller Address 1 Address 2 gt To controller 3 32 Terminator Connect to A if Controller is the last Unit on the line Computer PLC or similar TTO060GB The RS485 feature is available at controllers with serial numbers higher than 5500 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 41 3 16 M odule Interface Controller AMC12B C
6. Power Supply in Motor Output Power Dump output Industry bus out Hall Input Power Supply 5 30VDC lt Max 250mA Load Encoder Input Pulse Inputs User Inputs Pulse Outputs 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor TT0025GB 3 6 1 3 6 2 General The Controller is equipped with a total of 8 digital outputs Each output can be used for a variety of purposes depending on the Controller s basic mode of operation The Outputs are optically isolated from other Controller circuitry The output circuitry must be powe red from an external power supply This power supply is connected to the terminals O and O The output circuitry operates with voltages in the range 5 30VDC Each output can supply a continuous current of 250mA The Outputs are all source drivers i e if a given Output is activated contact is made between the supply O and the respective output terminal See above illustration To indicate the level of each output the Control ler front panel is equipped with LEDs denoted IO1 102 I08 These LEDs are lit when the respective Output is activated Note that the LEDs can be used to display the status of both the digital inputs and digital outputs The LED command is used to select whether input or output status is displayed
7. 4 Gear EN i 2 Position ee Pulse rev Master bi 3 Register Pulse In Encoder sj Gear Ratio nn 4 Velocity 5 Torque Pulse Out Encoder y Protection Limits Servo Constants Profile RPM __ Power W 20 y Kp 2 red 100 Pos Error Pulse 32767 one Aeus mr 2 Pc Pour N Active high IL D 1 icy a IV c 9 k kar E r E Bias 9 Vv 2 E so z Current Amps Active Level Gr Vv 7 C Pause IV e O Mean BH es Ries an 8 E Start stop IV Peak ig i Positive C Low G High LED select Input Qutput S S j Basics Register Get Setup Send EEPROM File Select File to obtain the motor list i To select a specific motor type select File The following window will appear Parameter Sets File Menu EG Description save File Kame NoName III SGM 02A SET Description open SGM 02A3xxx 200 200W HY3437 1 SET SGM 01B SET SGM 01B3xxx 100 100W SGM 02A SET SGM 02A 3xxx 200 200W SGM 02B SET SGM 02B 3xxx 100 200W SGM 04A SET SGM 04A3xxx 200 400 W SGM 08A SET SGM 08A3xxx 200 7750W SGMP 08A SET SGMP 08A3xxx 20047750W SM563183 SET Zebotronics SM56 3 18J4 6 ENK5000 Path A AMC10 Delete Copy Save Select Open to obtain the motor parameters Select motor type Select the required motor type and select Open to view the parameters 14 JVL Ind
8. Special Encoders Sensors JVL currently plans to supply other adaptor modules for other types of encoder and sen sor Contact JVL Industri Elektronik for further details It is recommended that screened twisted pair 0 3mm minimum cable is used The encoder should under no circumstances share a cable with other signal cables as this can have serious and catastrophic effect on encoder signals JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 29 3 8 Hall Input Connector DIN41612 ver C Power Supply in Motor Output Power Dump output Industry bus out Industry bus in Hall Unit Hall Inputs 15A 22A Encoder Interface User Outputs Itis recommended that Pulse Inputs screened cable is used to hall units User Inputs Pulse Outputs 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor TT0029GB 3 8 1 General The Controller is equipped with 3 inputs for connection of a Hall sensor This feature is only used if it is required that the motor does not move during start up of the Controller The Hall Input can only be used with 3 phase motors and not with step motors Almost all types of Hall sensor can be connected providing they are equipped with one of the following types of output NPN PNP or Push Pull output The Hall senso
9. 145 5 9 Connector Board As an accessory to the Controller JVL can supply a Connector Board type CON 13 This connector board enables connection via snap lock terminals The following illustration shows the connection facilities The Connector Board can either be mounted at the rear of a 19 rack or on the Controller itself Connections Controller suppiy Connector Board for AMC10 AMC11 andAMC12 P 15 80V In P Ground power Type CON 1 3 User Outputs O 5 30V Output supply Motor Outputs OL Outputl P Motor cable shield o ane FA Motor phase A Holes for mounting on Controller 2 6mm 04 Output 4 FB Motor phase B 05 Output 5 FC Motor phase E Holes for rack mounting 2 6mm 06 Output 6 FD Motor phase D 07 Output 7 Power dum 08 Output 8 PDO Panerai output O O O Output ground Encoder and Hall input e A Ro E User stop inputs HLA Hall input A Ln su PL Positive end of travel input i E e IN7 NL Lo y NL Negative end of travel input HLB Hall input B rt E gany p i 2 ING HLA o 3 HM Home input HLC Hall input C o anales P 5VO 5V Out for encoder Hall sensor a ey INE Input 1 EZ1
10. Both Outputs are NPN i e if a given output is activated contact is made between the supply OCM and the respective output terminal See above illustration Note that Pulse Output configuration must be set using the POF command see Pulse Output Format POF page 97 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 35 3 12 Analogue Input PowerSupply in Motor Output Industry bus in Hall Input User Outputs EncoderInput Pulse Inputs Note screen only connected to signal source User Inputs Pulse Outputs Potentiometer 10V Input N 1 10V out Ground f 7 7 U J i End of travel inputs Home Reset input Secondary axis Analogue output torque monitor TT0034GB 3 12 1 General The Analogue Input is used for example when the Controller is operated in Velocity Mode Mode 4 or Torque Mode Mode 5 In these modes of operation the motor is controlled to produce a velocity or torque de termined by and proportional to the voltage applied to the Analogue Input The Analogue Input accepts input voltages in the range 10V to 10V and is optically iso lated from all other inputs and outputs including supply terminals Note however that the Input shares a common internal supply with the RS232 interface and is therefore not gal vanically isolated from the interface The Analogue In
11. Description Usage 4 10 13 Command Modes Range Description Usage Average Rated Current CA CA 1 2 3 4 5 0 0 6 0 Amp AMC1xB 0 0 12 0 Amp AMC1xC To protect the motor from overload and to ensure that its operational lifetime is not reduced a maximum rated current value can be set The system will automatically shut down and report an error message E23 Average Current limit exceeded if the specified average current is exceeded See also the CP command for limiting the motor s peak current CA xx Set average current value in Amp CA Show actual setting of max average current Interface Checksum CHS CHS 1 2 3 4 5 0 no 1 yes As described in Checksum page 39 a checksum can be used for communication via the interface CHS x 0 do not use checksum 1 use checksum CHS Show checksum status Show Motor Current in CL CL 1 2 3 4 5 0 100 The CL command can be used to monitor the motor load If the CL command is sent to the Controller the Controller will respond to display the actual average motor current expressed as a percentage of the motor s maximum allowable average current specified using the CA command CL Show percentage load on motor 72 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 14 Command Mode Range Description Format Example 1 Example 2 Clear flag in
12. The encoder should under no circumstances share a cable with other signal cables as this can have serious and catastrophic effect on encoder signals 28 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 7 Encoder Input Connector eda Connection of unbalanced encode PowerSupply in Motor Output PowerDump output gt a i I Industry bus out 5 NI l 1 Incremental 7 encoder Hall Input 15A 22A Encoder Interface gt w gt A a d Industry busin E User Outputs ojojojojojo WIR uo oo O NI pp le It is recommended that Pulse Inputs screened cable is used to the encoder gt amp 2 2 2 uo User Inputs A Y E Pulse Outputs z w 2 2 2 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor TT0028GB 3 7 3 3 7 4 Encoders with Unbalanced Output As mentioned above the Controller can be used with almost all types of encoder inclu ding encoders with unbalanced outputs Some types of encoder have an NPN or a PNP output For these types the Controller ET command is used to configure the Encoder Input for the specific encoder If encoders with balanced unbalanced outputs of the type push pull or source sink are used this configuration can be omitted
13. Input active level IN AL INAL 3 O 1 00000000 11111111 The active level of the digital inputs can be independently programmed to be active high 1 or active low 0 If e g IN1 IN2 and INS are active low and IN3 IN4 and IN6 are active high then a combination 111101 on the inputs will select register 46 101110 INAL Read active level for all inputs INAL abcdefgh Set active level for all inputs a is INS abc can be either 0 or 1 INALx Read active level for input x INALx n Set active level to n for input x JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 85 4 10 Command Description 4 10 39 Command Modes Range Description Usage Example 4 10 40 Command Mode Description Usage Examples Index pulse active level INDEX INDEX 1 2 3 4 5 0 1 If an encoder with index channel is used the Controller s Index Input must be set up for the encoder index polarity If the index pulse is active high i e that it only becomes high once per revolution the index active level must be set to 0 high INDEX Read active level for index pulse INDEX n Set active level to n for index pulse INDEX 1 Set active level to logic high Read data from external module INPUT Only AMC12 INPUT Programming The INPUT command is used to read in data from external modules connected to the RS485 interface It can be used to read in data from modules such a Keyboa
14. READ COUNT R30 INPUT5 3 READ COUNTER AND TRANSFER TO R30 86 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 41 Statement Mode Range Description Usage 4 10 42 Statement Mode Range Description Usage Examples 4 10 43 Statement Mode Range Description Usage Examples S curve profile J ERK JERK 2 3 0 65535 The JERK command is used in conjunction with the AC command to shape the S curve profile JERK Show the JERK set up JERK x Set JERK to x RPM s J ump statement J J Programming 0 500 Jump statement The Jump statement causes an unconditional jump to a specified program line Program execution continues from there Jx Where x is a line number J50 Jump to line 50 J LABEL1 Jump to LABEL1 Can be used while programming via MotoWare J ump to sub routine J S JS Programming 0 500 Jump Sub routine statement The Jump statement causes an unconditional jump to a sub routine at the specified program line Program execution continues from there When the RET Return command is encountered the program returns to the main program at the line immediately after the JS command and continues from there You can make up to 16 nested sub routine calls JSx Where x is a line number JS50 Jump to line 50 JS LABEL 1 Jump to LABEL1 Can be used while programming via MotoWare JVL
15. ver the parameters must be adjusted If the motor is inoperative first try setting KI to a high value 100 1000 See also Adjustment of Servo Regulation page 16 The Controller is now set to Torque Mode When the voltage applied to the Analogue Input is gre ater than OV the motor will produce a positive torque which is proportional to the applied voltage When the input voltage is less than OV negative the motor will produce a negative torque pro portional to the applied voltage For further information see Torque Mode MO 5 page 53 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 9 10 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 Installation and Adjustment JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 ZL General Aspects of Installation It is recommended that this section is read carefully in conjunction with the installation of the AC Servo Controller When the Controller has been installed the following check list should be followed 1 Ensure that the selection of the Controller s basic mode of operation 1 5 is correct If necessary refer to Overview of Operating Modes page 4 which explains the overall use of the various modes of operation 2 Connect the motor encoder any hall sensor diverse end of travel inputs inputs and outputs as required Details of motor connection inputs and inputs powering
16. 1 2 3 4 5 This command is used to read the Controller s analogue input directly The returned value is given in AD converter steps VV Read analogue input in ADC steps Analogue Input Hysteresis VVH VVH 4 5 0 200 ADC steps The VVH command is used to define a range around the zero point of the analogue input voltage in which the motor must not move The hysteresis range is symmetrical around the zero point twice the value specified The VVH value is specified in terms of a number of AD converter steps The ADC has an operating range of 2048 steps 11 bit i e with an adjustment of 10V to 10V at the input a resolution of approximately 10 mV per step is obtained See Adjustment of Analogue Input page 66 for further information about the use of this command VVH x Where x specifies the hysteresis value VVH Show current hysteresis value and current values of the three calibration commands VVL VVO and VVU Analogue Input Maximum Negative 10V Value VVL VVL 4 5 Calibrate full scale set negative voltage max 10V at the analogue input and send the VVL command The Controller will then calibrate the analogue input s negative value The negative input voltage must not be greater than the zero point voltage See Ad justment of Analogue Input page 66 for further information about the use of this com mand VVL Maximum negative voltage is calibrated 110 JVL Industri Elektronik A S User Ma
17. IL is specified For example in a system with large mass it can be difficult for the motor to follow the required velocity profile It may therefore be desirable to set K to a high value so that a quick response to a positioning error is obtained When the motor does not follow the velocity profile and a high value of K is used the accumulated error must be limited If the accumulated error is not limited the system will become unstable and the motor velocity will be too high when the desired position is reached The system should first be adjusted without adjusting I I can then initially be set to 1500 in Pulse Mode MO 1 Positioning Mode MO 2 and Register Mode MO 3 and to 10000 in Velocity Mode MO 4 and Torque Mode MO 5 IL x Where x specifies the integral summation limit IL Show current value of IL Motor Initialisation Level IM CL IMCL 1 2 3 4 5 0 25 Amp IMCL is used to specify how large a current is used to initialise the motor The specified value is expressed in amps per motor phase If the motor used does not have a HALL element and the HALL register is set to 0 see Hall element Type HALL page 81 the Controller will use the following algorithm to initialise the motor 1 After start up the current level specified by IMCL will be applied to the motor 2 The current will be applied for the duration specified by the PT register see Motor Initialisation Time PT page 103 3 After this time typi
18. KPHASE can then be adjusted as follows Check the motor current by sending the command CU enter The Controller will respond with the message for example CU 0 indicating that the actual motor current is 1 0 A Adjust KPHASE up or down until the motor current is a minimum 9 Finally save the determined value of KPHASE in the Controller s non volatile memory by sending the command MS enter Motor current CU Phase Offset y Optimum KPHASE N KPHASE JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 141 5 6 Connection of an unknown motor type 5 6 12 AMC10 Basic Motor Parameters Set up of hall type Set to OFF no hall Motor r Commutation Constants PhaseNo C2 3 Kphase Magnetic Poles Poffset m Initialization Active Level Hall Elements Off y Index Low High Hall Low High Motor Level Time r Encoding Encoder Type Pulse rev Set up of O Set up of initial level initial duration Start up of Motor without Hall Element The Controller can be initialised with or without the use of a Hall element in the motor A step motor for example has no hall element and in this case initialisation must be made according to the following procedure 1 2 The Controller s hall input must be disabled Set Hall Elements to OFF or send the command Hall 0 After
19. Logic 0 Logic 1 Logic 0 Logic 1 User Outputs 01 08 Supply Voltage Loaded Current per Output Analogue Input AIN Input Voltage nominal Input Impedance Power Dump Output Voltage Shunt Resistor Diverse Operating Temperature Range Weight AMC10B and AMC12B Weight AMC10C and AMC12C Weight AMC11B Values valid for AMC1xB 124 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 5 2 Physical Dimensions 5 2 1 Physical Dimensions of AMC10B 171mm W EA Running Error Current T gt 80 Out Error 102 OG 106 128 5 103 OO 107 104 OO 108 3HE 0000000 000000 8 o O 5 TTOO10GB JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 125 5 2 Physical Dimensions 5 2 2 Physical Dimensions of AMC11B and AMC12B 1 TT a 171mm Jen Y E Power Running Error Current T gt 80 C Out Error 101 OO 105 102 OO 106 128 5 104 00 108 SHE RS232 126 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 5 2 Physical Dimensions 5 2 3 Physical Dimensions of AMC10C and AMC12C A Running E
20. OOO 4A 5C OO 6c E TC C 8C IA1 90 IA2 10c 7 lt Industry bus in a3 nc IA4 207 13C lt 14C i Power Dump output Industry bus out Incremental encoder Hall Input 24VDC Out SS Screen PLC or similar Start Position reached Pause AAN 250 Pulse Inputs D5 26C 1 pa Ft ee gr 270 D39 2 28c 1 E ER HE Pulse Outputs D1 BN rn reed gt 30C 1 DO gt 31C Ground CIN cio alo 10V Input Userinputs LS Usertnput NE End of travel inputs Him From zero point sensor Secondary axis Analogueoutput Home Reset input _ torque monitor TT0019GB Follow the procedure below for operation of the Controller in Mode 3 Register Mode 1 Connect the Controller as shown above For further details see Motor Connection page 21 User Inputs page 24 User Outputs page 27 Encoder Input page 28 Power Supply page 31 2 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in RS232 Interface page 38 3 Switch on the Controller but ensure that all inputs are inactive Only the Power LED and possibly Out I may be active If one or more of the red LEDs is active or blinks the Controller is most likely
21. To save the setting in the Controller s permanent memory key MS enter JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 135 5 6 Connection of an unknown motor type Number of phases set here AMC10 Basic Motor Parameters Motor PhaseNo 2 3 Magnetic Poles r Commutation Constants Poffset r Initialization Active Level Hall Elements Off y Index o Loa C High Oj e Motor Level Hall Low 0 High Time Encoding Encoder Type PNP Pulse rev 5 6 5 Setting the number of motor phases The Controller enables the connection of motors with 2 or 3 phases A step motor typically has 2 phases an AC servo motor typically has 3 phases If the Controller is set up for 2 phases all 4 motor outputs denoted FA FB FC and FD are used If the Controller is set up for 3 phases only motor outputs FA FB and FC are used To set the number of phases either the 2 or 3 check box is crossed in the parameter window To send the information to the Controller press Send Press EEPROM to save the setting in the Controller s non volatile memory See also Motor Connection page 21 for details of motor connection To set the number of phases via the on line editor the PN command is used Example PN 2 enter Set the number of motor phases to 2 step motor typically PN enter Display current setting for number of phases To save the setting i
22. User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 26 Command Modes Selection Description Usage 4 10 27 Command Mode Description Usage 4 10 28 Command Mode Range Description Usage Encoder Type ET ET 1 2 3 4 5 0 PNP or 1 NPN To achieve correct positioning and precise velocity and acceleration it is important that the encoder set up is correct The encoder may be either a PNP or an NPN type In addition both a balanced or an unbalanced signal from a standard 2 channel incremental encoder may be used For details of encoder connection see Set up of Encoder Resolution page 132 The ET command is used to specify the type of encoder connected to the Controller If an encoder with a balanced output is used the setting of ET can be omitted If however an unbalanced NPN encoder is used ET must be set to 1 ET 1 If an unbalanced PNP encoder is used ET must be set to 0 ET 0 ET x Set encoder type ET Show encoder type setting Leave Programming mode EXIT EXIT Programming When a new program is to be input to the Controller the sequence is started using the PROGRAM command Once programming is complete the EXIT command is used to leave programming mode The program is then ready for execution GO Remember to store the program in the Controller s permanent memory using the MS1 command EXIT Leave Programming mode Gearing GEAR GEAR 1
23. etc are given in Hardware page 19 Note Connection of motors encoders etc The Appendix Examples of Motor Con nection page 143 gives specific connection diagrams for a number of AC servo mo tors and step motors These sections also give the associated parameter values that the Controller should be set to for optimum motor operation 3 Connect the power to the Controller Most probably the default parameter settings will not correspond to the actual motor connected This will result in the Controller reporting an error and current to the motor will be disconnected If the actual motor used is one of the types named in the Appendix Examples of Mo tor Connection page 143 or included in Motoware s parameter list these parameter values must be transferred to the Controller See Transfer of Parameters to the Con troller page 13 If the motor is recognised the system should function optimally after transfer of the associated parameter set Some fine adjustment may be carried out as described in this chapter The basic installation of the Controller is now complete and the specific function of the Controller can now be set up and tested See the description of Modes 1 to 5 in the Software section pages 47 to 53 depending on the required mode of op eration To optimise the complete system follow the instructions given in Adjustment of Ser vo Regulation page 16 If the motor is not recognised follow the instructions given in
24. 0 001 32767 999 This commands is used to specify the ratio between the number of pulses at the pulse input and the number of pulses at the motor s encoder The GEAR command can only be used in Mode 1 and is intended for use when the Controller is used for so called electronic gearing GEAR x Set gear ratio x GEAR Show current gear ratio JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 79 4 10 Command Description 4 10 29 Command Modes Description Usage 4 10 30 Command Modes Description Usage Execute Program GO Only AMC12 GO 1 2 3 4 5 This command is used to start execution of the program in the program memory GOExecute Program Halt of Motor H H 2 3 and 1 4 5 for AMC12x in programming mode This command is used to stop the motor instantaneously regardless of velocity deceleration etc For the AMC12x this command will also stop execution of the controller program H Halt motor 80 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 31 Command Modes Range Description Usage 4 10 32 Command Modes Description Usage Example Hall element Type HALL HALL 1 2 3 4 5 0 3 The Controller can be initialised either with or without the use of Hall elements in the motor Normally the Hall element is not used if the motor may be allowed to move during star
25. 02A3xxx 200V 200W If set up is performed without Motoware parameter set up the parameter settings given below should be followed Set all parameters to default values from the On Line Editor by keying SD enter Then set the following Controller parameter KP 7 KI 20 KD 70 KVFF 0 IL 100 KPHASE 1500 POFFSET 220 PR 2048 POL 8 PN 3 CA 4 CP 13 HALL 2 INDEX 0 HL 0 Complete the set up by saving the keyed in parameters key MS Enter Reset the Controller by keying Reset enter Motor cable screened as close Controller to the motor as possible e Motor connected to IST machine Motor 7 Orange Do not connect 114 Green black 184 Blue Incremental 19A Blue black 20A Yellow encoder 21 Yellow black eee Encoder screen terminated TT0053GB at ECM JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 143 5 7 Examples of Motor Connection 5 7 2 Example 2 MAE step motor Type HY200 3437 460 A8 A 4000 pulse encoder with index channel is used Filename in Motoware for parameter set up MAE HY200 3437 460 A8 If set up is performed without Motoware parameter set up the parameter settings given below should be followed Set all parameters to default values from the On Line Editor by keying SD enter Then set the following Controller parameter KP 7 KI 20 KD 70 KVFF 0 IL 100
26. 1000 Move to absolute position 1000 Received from Controller Y Relative Positioning SR SR 2 3 1073741824 1073741823 pulses In Positioning Mode MO 2 and Register Mode MO 3 the motor can be set to move a specified number of pulses in a positive or negative direction For movement in a negative direction the parameter value is specified with a minus sign Note that the number of pulses refers to the number of encoder pulses times 4 For example an encoder motor with 500 pulses per revolution effectively has a resolution of 2000 pulses per revolution If the motor is to rotate 1 revolution the SR command is based on a value of 2000 pulses SR x Set relative position Sent to Controller SR 5000 Move 5000 pulses in positive direction Received from Controller Y JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 107 4 10 Command Description 4 10 83 Seek Zero Point SZ Command SZ Modes 1 2 3 4 5 Description This command is used to reset the motor position to a known zero point See also Home Reset Input page 26 Usage SZ Begin zero point seek 108 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 84 Command Modes Description Usage 4 10 85 Command Modes Range Description Usage 4 10 86 Command Modes Range Description Usage Firmware Version VE VE 1 2 3 4 5 The VE command provides informat
27. 3 4 5 The actual total power consumption of the Controller can be read at any time using this command The power consumption is integrated over 1 second and expressed in of the maximum allowable power consumption PM See Power Management PM page 96 PL Show power consumption in integrated of PM Positive Limit Switch PLS PLS 1 2 3 4 5 O low or 1 high The PL and NL Inputs function as end of travel limits If the motor is moving in a negative direction and NL is activated the motor is stopped instantaneously The PL Input is the positive end of travel input The two limit switches can be independently programmed to be active high 1 PNP sensor or active low O NPN sensor The PLS command is used to set the positive limit switch For connection of the end of travel inputs see End of travel Limit Inputs page 25 PLS x Set Positive Limit Switch to level 0 low or 1 high PLS Show Positive Limit Switch level Power Management PM PM 1 2 3 4 5 10 1000 This command specifies the maximum allowable power consumption If the power consumption exceeds the value specified by PM the Controller enters stand by modes and error register 1 will contain the message E22 Power consumption too high The Reset command must then be used to initiate the Controller Note that the power consumption is integrated over 1 second This makes it possible to increase power consumption to 200 300 or more within this period which is usef
28. Connections DIN41612 CON13 Connector 15Pin SUB D Pno Pmi AQ To other Pin10B Pinto BC Units Controller Adress 0 KDM10 Adress 1 KDM10 Adress 2 Term switchON TT0058GB Module Interface 3 16 1 3 16 2 M odule Interface The Controller can be connected to different external modules such as keyboard display module or input output modules etc Connection to external modules is made via the controllers serial module interface using the two terminals marked A and B All external module functions are controlled via this interface Up to 31 modules and at least 1 motor controller can be connected to the in terface bus The module interface offers several advantages in that the interface operates with a balanced output and has low impedance In addition the Controllers module inter face is optically isolated from other Controller circuitry The module interface is protected against transients on the cable connecting the Control ler to external modules These factors enable communication at long distances despite the presence of electrical noise It is recommended that twisted cable is used for connection between the Controller and other modules on the interface If the communication distance between 2 units in a system exceeds 25 metres the DIP switch marked TERM must be set to the ON on those units which are located more than 25 metres
29. Encoder input Z1 index m sl IN2 Input 2 EZ2 Encoder input Z2 index tn 2 J INA 5VO L 9 IN3 Input 3 EA1 Encoder input Al Es H Z IN4 Input4 EA2 Encoder input A2 me P INS Input5 EB1 Encoder input B1 Es E Z ING Input6 EB2 Encoder input B2 Cir AH nes ECM Encoder Hall ground Be 0 legal 4 0 IN Input ground Pulse Inputs 21108 fec E 11 14 f XCM Ground for X pulse input nel 07 102 1120 Sol R Misc f XI X P ulse input hel 06 XCM ATT ol I B3 AIA1 Field bus terminal 1A1 YCM Ground for Y Pulse input he 05 x o 1 p Liso okip 184 AlA2 Field bus terminal 142 YI Y Pulse input e os freu e x tac 15 Sl ocm AJA3 Field bus terminal lA3 keJd 03 vi je o5v 442 SLI Bo AlA4 Field bus terminal IA4 Pulse Outputs Belo ax2 e sy AOD AIB1 Field bus terminal IB1 OSV 5V In for output supply i 01 acm Ce 1 IS AIB2 Field bus terminal 1B2 AO Pulse output A Es o An 0 AIB3 Field bus terminal 183 BO Pulse output B AIB4 Field bus terminal IB4 OCM Ground for pulse outputs O 0 P Ground for field bus etc Analogue In output Holes for rack mounting 2 6mm TAC Torque monitor 0 5VDC AIN 10V Analogue input Holes for mounting on Controller 2 6mm ACM Ground for analogue in output AAX2 Analogue output SV for 2nd axis etc Terminals marked with A are only available on Controllers type AMC 11and AMC 12 146 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 6 In
30. Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 87 4 10 Command Description 4 10 44 Command Modes Description Usage Example 4 10 45 Command Modes Range Description Usage Show Servo Constants K K 1 2 3 4 5 The K command is used to check the value of the system constants K IL etc K Show all three K values integral summation limit IL etc Sent to Controller K Received from Controller KD 70 kI 10 KP 40 KVFF 10 IL 100 BIAS 0 Constant Ky KD 1 2 3 4 5 0 32767 The Differential Constant has particular influence on the system when changes occur such as during an acceleration or deceleration KD x Set Kg to value x KD Show Kg set up value 88 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 46 Command Modes Range Description Usage 4 10 47 Command Modes Range Description Usage 4 10 48 Command Modes Range Usage Constant K KI 1 2 3 4 5 0 32767 The Integral Constant influences how aggressively the system reacts to persistent errors KI x Set K to value x KI Show K set up value Constant K KP 1 2 3 4 5 0 32767 The Proportional Constant determines how the system reacts to instantaneous errors A high K value causes the system to react quickly to a given error KP x Set K to value x KP Show K set up value Velocity dependen
31. KP This affects the response time of the complete system KVFF is special compared with these other normal regulation constants in that it determines how great a proportion of the start signal the error by passes the PID filter and is fed directly to the motor KVFF x Set KVFF to value x KVFF Show current KVFF set up value LED Status LED LED 1 2 3 4 5 0 or 1 The LED register determines whether the 8 LEDs denoted IO1 108 on the front panel of the Controller display input levels or output levels If LED 0 the status of the inputs IN1 IN8 is given by the LEDs If LED 1 the status of the outputs O1 08 is given by the LEDs LED x Set LED to value x LED Show current LED set up value Show line number LINE LINE Programming The LINE command returns the line number for the last command executed even the program is running or not LINE Show line number 90 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 52 Command Modes Description Usage 4 10 53 Command Modes Range Description Usage List program LIST LIST 1 2 3 4 5 Programming List the user program in RAM memory LIST List the program M ode Selection MO MO 1 2 3 4 5 1 5 Control of the motor can be made in one of five basic modes of Controller operation as given in the table below The MO command is used to select the Controller mode of oper
32. KPHASE 1500 POFFSET 0 PR 2048 POL 100 PN 2 CA 4 CP 13 HALL 0 INDEX 0 Complete the set up by saving the keyed in parameters key MS Enter Reset the Controller by keying Reset enter Motor cable screened as close to the motor as possible NW E Screen Fa pa 1 U A C 1a Blue Black H Screen 20A Yellow H 21A Yellow Black A N Encoder screen terminated TT0042GB at ECM Motor connected to ground on machine Incremental encoder 144 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 5 8 Typical Applications TT0008G8 Inductive Sensor Inductive Sensor PNP type PNP type For home sensing For home sensing 24VDC 24VDC EE Motor c a 1 Shield Shield Shield Shield i i 1 1 1 1 Shield AMC11B AC Servo Controller AMC11B AC Servo Controller Master Slave Mode 3 MO 3 Mode 1 MO 1 DIF 2 GEAR 1 000 24VDC START STOP ERROR The ERROR output will go high if the slave or Copyright JVL Industri Elektronik A S 1996 the master controller has a position error greater than the value specified by the PE command Typical application with Master Slave Using 2 AMC11B AC Motor Controllers JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12
33. ZL 0 HM active low ZL 1 HM active high A zero point seek will be carried out after one of the following conditions is met 1 After start up power up or after the Controller has received the RESET command This only occurs if XRO see above table 2 Ifthe Controller receives the seek zero command SZ 3 If the Controller is set to Mode 3 Register Mode and register XO is selected 4 8 2 Reset Sequence When the zero point seek function is activated the motor moves in the specified direction and at the specified velocity until the HM Input becomes active The motor then decelerates and stops after which it moves in the opposite direction to the position where HM was activated The result of the sequence is that the motor is positioned precisely at the zero point contact The zero point is thus located and the motor s position AP Actual Position is set to 0 Level at HM Input XAO JERK Velocity profile TT0002GB JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 65 4 9 Adjustment of Analogue Input The motor can be controlled directly using an analogue signal applied to the Controller s Analogue Input Voltages applied to the Analogue Input must be in the range 10 V The Analogue Input is used in Velocity Mode MO 4 and in Torque Mode MO 5 See An alogue Input page 36 for further information about the Analogue Input Before the Analogue Input is used it must be
34. all 3 parameters to O by keying KP 0 enter followed by K 0 enter followed by KD 0 enter 2 The value of KP is then slowly increased until the system begins to become unstable KP is then adjusted to half this value 3 To make the system response quicker KD can be adjusted The value of KD is increased until the system becomes unstable KD is then adjusted to 0 5 to 0 7 of this value 4 The value of KI is then increased until the system is unstable KI is then set to appro ximately 0 5 to 0 75 of this value 5 Ifthe system is required to react quickly to a positioning error but the summed error is not allowed to increase indefinitely the integral summation limit IL should be used 6 Adjustment of the servo parameters can be completed by fine tuning the individual parameters 7 Remember to store the parameter values in permanent memory by keying MS enter 16 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 2 4 Adjustment of BIAS The Controller includes a parameter denoted BIAS This parameter can be used in appli cations where the motor is subjected to a static load e g a lifting mechanism The BIAS function enables a compensation to be made for the static load regardless of whether the load is pushing or pulling on the motor This BIAS adjustment is normally advantageous since the load on the PID filter is uniform regardless of the direction of mo tor rotation and ultim
35. be changed when the parameter set is selected i e the previous velocity setting will be re used XVn x Set maximum velocity in parameter set n to x rpm XVn Show velocity value in parameter set n XV Show all velocity values for all parameter sets JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 113 4 10 Command Description 4 10 97 Command Modes Selection Description Usage 4 10 98 Command Modes Range Description Usage Zero point Input ZL ZL 1 2 3 4 5 Oor 1 The zero point contact is connected to the HM input The contact can be active high 1 e g if a PNP sensor is used or low 0 if an NPN sensor is used Note that a resistor must be connected between HM and a voltage source if an NPN sensor is used ZL x Set the active level for zero point contact O low 1 high ZL Show current level Zero point Status ZS ZS 1 2 3 4 5 Oor 1 Show the actual level of the zero point contact high 1 or low 0 Note that the ZS command does not show whether the contact is active or not but whether the input is high 1 or low 0 ZS Show current level 114 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 11 Error Messages 4 11 1 When an error occurs in communication with the Controller or when an internal error occurs the Controller transmits an error message The error message consists of an E 6
36. correctly connected i e moves in the right direction 2 The motor is blocked i e draws a lot of current without the motor moving 3 The encoder is connected incorrectly Check that the motor or encoder is connected correctly Use the EST command Error Status Text EST page 78 for further information from the Controller JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 129 5 9 Common Errors During installation and use of the Controller various errors may occur Information about many of these can be obtained from the Controller itself using the EST command see Er ror Status Text EST page 78 Some error conditions are similar to other errors The following describes some of the most common errors and possible solutions The Encoder is not connected Use the ET command and select the correct encoder type Four LEDs Blinking in Sequence See preceding section Incorrect Velocity It is important that the servo constants are adjusted correctly The system cannot maintain the correct velocity if the servo loop is not adjusted Incorrect Velocity even though the servo constants have been adjusted It is important that the specification of the encoder resolution pulses revolution is set correctly Use the PR command see Encoder Pulses PR page 99 The motor does not move to the correct position by selecting XPO XPO is used for the zero point seek function and has therefore a differen
37. current that is 3 4 greater than the average current value The peak current is set using the Controller command CP Example To set the peak current to 4 Amp key CP 4 enter The Controller will then under no circumstances allow the motor to draw a peak current greater than 4 0 Amp Note that the peak current can be adjusted with a resolution of 1 tenth of an Amp xx x JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 137 5 6 Connection of an unknown motor type 5 6 8 Adjustment of Motor Current for Step Motors Adjustment of Average Current Consult the data sheet for the actual motor in question to determine the specified average current This is normally specified as the Rated Phase Current The average current is set using the Controller command CA Example To set the average current to 1Amp key CA enter The Controller will then under no circumstances allow the motor to draw an average current greater than 1 0 Amp for any duration Note that the average current can be adjusted with a resolution of 1 tenth of an Amp XX X Adjustment of Peak Current The peak current must be set to a value 20 greater than that set for CA The peak current is set using the Controller command CP Example To set the peak current to 4 Amp key CP 4 enter The Controller will then under no circumstances allow the motor to draw a peak current greater than 4 0 Amp Note that the peak curr
38. factory default set up the Controller will almost certainly report an error since the motor parameters POL PN HALL etc most likely will not correspond to the actual motor used The values originally keyed in can be recalled using the MR Memory Recall command providing these were stored in the Controller memory The factory default set up is as follows merz CT farser SD Recall factory default set up Smooth Halt of Motor SH SH 2 3 This command is used to perform a controlled halt of the system The motor is stopped in accordance with the pre programmed deceleration acceleration Usage SH Smooth halt of motor 106 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 81 Command Modes Range Description Usage Example 4 10 82 Command Modes Range Description Usage Example Set new Position SP SP 2 3 1073741824 1073741823 pulses In Positioning Mode MO 2 and Register Mode MO 3 the motor can be set to move to a new position specified in terms of pulses Note that the number of pulses refers to the number of encoder pulses times 4 For example an encoder motor with 500 pulses per revolution effectively has a resolution of 2000 pulses per revolution If the motor is to rotate 1 revolution the SP command is based on a value of 2000 pulses SP x Move to new Position SP Show new position Sent to Controller SP
39. information about previous errors is stored in a register which can be read using the ES command These types of error can thus be handled during program execution and therefore do not require the program to be stopped The following example illustrates how such errors can be avoided R1 ES0 Clear any error messages AC 100000 Set acceleration to 100000 IF ESO gt 0 If error ESO is greater than 0 AC 50000 Set acceleration to 50000 resulting in the acceleration being set to 50000 62 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 7 Program Execution in the AMC12 4 7 10 4 7 11 J umping to program lines and the use of labels The Jump command J provides a facility for program control by jumping to a specified program line number The Jump command can only be understood correctly by the Controller when it is used together with an absolute value for example J50 jump to line number 50 Using absolute line number values can give problems when programs are modified When MotoWare is used however labels can be used Moto Ware interprets and translates the individual labels and sends the correct command to the Controller Label names may in principle consist of all displayable characters but 1t is recommended that only numerals and letters a z are used since problems may occur if programs are moved between computers with different set ups Labels are case sensitive The following prog
40. mode are ET PR VM VVH VVL VVO VVU Velocity in positive direction VM Maximum negative Zero point vvo 10V Input voltage A A Maximum positive voltage VVU Hysteresis VVH TT0003GB VM Velocity in negative direction Figure 4 Velocity control 52 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 6 Torque Mode MO 5 The motor torque can be controlled by an analogue signal using the Analogue Input AIN The input voltage must be in the range 10V to 10V with negative voltages producing a negative torque and positive voltages producing a positive torque The value of the torque is specified in Amps CP is used to specify the maximum torque i e the torque provided by the motor when a maximum input voltage is applied The numeric value of the full scale voltage does not need to be the same in both the positive and negative directions Use the VVx commands to adjust the analogue input If for example CP is set to 6 Amp and the analogue input voltage is set to 5V a torque corresponding to 3 Amps will be produced The torque is directly proportional to the motor current The relationship is specified by a torque constant that is normally denoted by Kr or Ka Use of Torque Mode Select Torque Mode MO 5 Adjust the servo loop See Adjustment of Servo Regulation page 16 If necessary adjust the Analogue Input See Adjustment of Analogue Input page 6
41. movement The GEAR command is set to select the required gear ratio and the PIF command is used to set Input Format 1 PIF 1 The input circuitry will then decode the incoming pulses according to the above illustration See also the PRM command Input Format 2 This format is normally used if the system receives pulses from a PLC or PC controller module The Controller functions as in a step motor system and the motor will move a specified amount each time a pulse is applied to the XI input The voltage level at YI de termines the direction of motor movement Input Format 3 This format corresponds to Format 2 but the direction of motor movement is determined by which input XI or YI pulses are applied to 34 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 11 Pulse Outputs Connector DIN41612 ver C AMCxx Pulse Outputs NPN outputs I A gt v Power Supplyin g l 7 I bos fele ar Motoroutput ml la F 3 ful O T E PowerDump output Industry bus out Industry bus in zlazla pP Aa w n a gt El w Hallinput ul 23 o n m N y J gt i m N N m D H UserOutputs Encoder Input m D N m f H m a NI r o D Qa m O z
42. of program errors the Controller sends error messages which are automatically displayed in the OnLine Editor Close the dialogue box without any further action Save OnLine Editor Run Program OnLine Editor Save and run Program E Run program at controller power up No Yes Cancel JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 57 4 7 Program Execution in the AMC12 4 7 5 4 7 6 Arithmetic expressions All registers can be assigned a value by following the register name with an equal to sign followed by an absolute value a register name or an arithmetic expression Ab solute values register values and the following four operators can be used in arithmetic expressions Arithmetic operators used in expressions addition E subtraction j multiplication division All calculations are performed either as 32 bit integers 2 147 483 647 to 2 147 483 647 or as 32 bit decimal numbers floating point numbers Integers are signed and have approximately 10 significant digits The 32 bits for decimal numbers are used as follows 1 bit sign 8 bit exponent and 23 bit mantissa Decimal numbers can thus be calculated with an accuracy of 23 bits which gives approximately 7 significant digits When calculations are made that involve large numbers integers should be used As a general rule all expressions are calculated as integers If a decimal number or register which
43. parameters KD KP and KI are set to typical moderate values This means that the motor normally can be operated without further adjustment For optimum system operati on however the parameters must be adjusted If the motor is inoperative first try setting KI to a high value 100 1000 See also Adjustment of Servo Regulation page 16 7 The Controller is now set to Velocity Mode When the voltage applied to the analogue input is gre ater than OV the motor will move at a velocity which is proportional to the applied voltage If the applied voltage is less than OV negative the motor will move in the opposite direction For further information see Velocity Mode MO 4 page 52 8 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 1 8 Getting Started Torque Mode Mode 5 AMC11B 12B does not use Power Supply in GC terminals P and P since it 15 80V DC ES includes a mains supply 1c oo P See Power Supply 2c OO P T 3C OO 4c lt 5C lt 6C OO FV 7C OOO _ PowerDump output 8C lt 1A1 oc i IA2 1007 Industry busin 9531 cl IA4 1207 13C lt O H 140 HeH Industry bus out Hall Input UserOutputs Pulse Inputs Pulse Outputs Potentiometer 10V Input UserInputs 1 10V Ud Stel lt
44. set up for the wrong motor type Follow the instructions in General Aspects of Installation page 12 4 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly 5 Set the Controller to Register Mode by sending the command MO 3 enter The Controller should respond Y indicating that Register Mode has been selected 6 By default the servo parameters KD KP and KI are set to typical moderate values This means that the motor can be operated without further adjustment For optimum system operation howe ver the parameters must be adjusted See Adjustment of Servo Regulation page 16 7 The Controller is now set to Register Mode As a test connect a voltage to input I and 8 start in put The motor should move to position 1000 This value is stored by default in register XP on deli very For further information on operation in Mode 3 see Register Mode MO 3 page 49 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 7 1 7 Getting Started Velocity M ode Mode 4 AMC11 does not use Power Supply in Q terminals P and P since it eD 15 80V DC includes a mains supply gt See Power Supply section Power Dump output Industry bus out Industry bus in E Hall Input User Outputs
45. single character The argument is taken to be a 16 bit integer in the range 32768 to 32767 IThe argument is taken to be a 32 bit integer 2 147 483 647 to 2 147 483 647 fThe argument is taken to be a 32 bit decimal number floating point number with one decimal nfThe argument is taken to be a 32 bit decimal number floating point number with n numbers of decimals n must be in the range 0 to 4 PRINT1 0 R23 Prints the contents of register R23 to the module whose interface address is 1 Since trans mission via the RS485 interface is balanced it is possible to locate external modules up to 500 metres from the Controller PRINT255 0 TEST Prints the text TEST to a PC via the RS232 interface Address 255 is reserved as the address for PCs Note that the Print command can be used to print out register contents at run time It is especially well suited for debugging a program If JVL s MotoWare pro gram is used once the Controller program has been transferred the online feature can be used to display when a Print command is executed at run time 100 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description Example 3 Example 4 Example 5 Example 6 Print to external module PRINT Cont PRINT3 41 Key in Value When a Keyboard Display Module KDM10 is incorporated in a system it is often desir able to display information to the user The
46. statements when more command lines must be connected in a block ENDIF can be used in IF statements only See IF statement page 60 IF AC gt 500 AC 500 VM 1000 ELSE AC 600 VM 900 ENDIF Execute Program flag EP EP 1 2 3 4 5 0 Do not start program when the Controller is switched on 1 Start program when the Controller is switched on A user program which is stored in the Controller memory can be automatically loaded and executed at power up If EP is set to 1 the program is retrieved from non volatile memory at power loaded and executed If EP is set to 0 the Controller starts up normally without executing a user program the MR1 and GO commands can then be used to start a program The EP command can only be used with the AMC12x Controller EP x Set Execute Program flag EP Show current set up 76 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 24 Command Modes Selection Description Read out of Error Status ES ES 1 2 3 4 5 0 and I During operation of a system various error conditions can arise Some errors can be attributed to communication and set up error status register 0 and others attributed to hardware and motor control errors The error status can be read using the ES Error Status command The command invokes the Controller to transmit a series of zeroes 0 and ones 1 quick overview of error messages is thus
47. the range 0 5 to 20 mH If a motor with a lower inductance is used an inductance of 0 5 1mH must be connected in series with each motor lead This inductance will function as an integrator and ensure that the Controller controls the current correctly JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 21 3 2 M otor Connection PowerSupply in FD is notused for AC servo motors Power Dump output Industry bus out Industry bus in Hall Input U Y AC Servo Motor User Outputs EncoderInput Pulse Inputs UserInputs Pulse Outputs 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor 3 2 4 Connection of 3 phase Motor To connect a 3 phase brushless motor to the Controller terminals FA FB and FC are used Screened cable must be used to connect the motor to the Controller The specific motor s average current and peak current must be set using the 2 Controller commands CA and CP See Adjustment of Motor Current page 137 See Examples of Motor Connection page 143 for connection of various types of motor 22 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 2 M otor Connection TAA Hall Input eS Xx Dry Step Motor Industry bus in
48. via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in RS232 Interface page 38 Switch on the Controller but ensure that all inputs are inactive Only the Power LED and possibly Out I may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Installation page 12 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly Set the Controller to Gear Mode by sending the command MO 1 enter The Controller should respond Y indicating that Gear Mode Mode 1 has been selected By default the servo parameters KD KP and KI are set to typical moderate values This means that the motor can be operated without further adjustment For optimum system operation howe ver the parameters should be adjusted See Adjustment of Servo Regulation page 16 The Controller is now set to Gear Mode JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 5 1 5 Getting Started Positioning M ode M ode 2 terminals P and P since it 7 15 80V DC includes a mains supply 10 00 07 1A See Power Supply section 20 O O OH 2A 3c O O O r3A 4c lt lt 5c lt 6c
49. 10 11 12 4 10 Command Description 4 10 56 Command Modes Selection Description Usage 4 10 57 Operator Mode Description Negative Limit Switch NLS NLS 1 2 3 4 5 O low or 1 high The PL and NL Inputs function as end of travel limits If the motor is moving in a negative direction and NL is activated the motor is stopped instantaneously The PL Input is the positive end of travel input The two limit switches can be independently programmed to be active high 1 PNP sensor or active low 0 NPN sensor The NLS command is used to set the negative limit switch For connection of the end of travel inputs see End of travel Limit Inputs page 25 NLS x Set Negative Limit Switch to level 0 low or 1 high NLS Show Negative Limit Switch level Logical OR operator OR Only AMC12 OR Programming Logical OR operator OR can only be used in conditional IF statements and is used when only one of the conditional expressions is required to be fulfilled IF expression OR expression IF VM lt gt 500 OR AC 750 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 93 4 10 Command Description 4 10 58 Command Modes Description Usage Examples 4 10 59 Command Modes Range Description Usage Read Set Status of Outputs O1 08 OUT 1 2 3 4 5 The Controller has 8 outputs The status of these outputs can be read or set using the following co
50. 55 The number of Controllers that can be simultaneously controlled is however dependent on the system hardware Note If the address of a Controller has been forgotten the exclamation mark command can be used ADDR x Set address to x ADDR Show address Logical AND operator AND Only AMC12 AND Programming The Logical AND operator is used in IF statements when two or more conditional statements must be fulfilled simultaneously The AND operator can only be used in IF statements IF expression AND expression IF AC gt 34 AND IN1 1 68 JVL Industri Elektronik A S User Manual AC servocontroller AMC 10 11 12 4 10 Command Description 4 10 6 Command Mode Range Description Format Example 1 Example 2 Activate flag in external module AO Only AMC12 AO Programming Adress 0 31 Flag 0 65535 The Activate command is used to activate a flag in an external module whose address is specified by a The Flag number is specified by o For example the flag may refer to an output on a IOM11 module When the flag is activated an output will be activated A flag in a diffe rent module may refer to a completely different function For example if flag 3 in a KDM10 module is activated the cursor on the module s LCD display will blink Flags with the same number in different modules can have different functions See the in struction manual for the individual module for a description of the f
51. 6 Set any maximum velocity required using VM Set the maximum torque using CP The motor can be controlled via the Analogue Input AIN In this mode VM is used to ensure that the motor does not exceed a velocity above which mechanical damage may occur or that the motor is overloaded The velocity limit in this mode is a precautionary measure and not a precise control Commands of particular interest in this mode are CP VM VVH VVL VVO VVU Positive Torque CA Zero point vvo A A Maximum positive voltage VVU Hysteresis VVH Maximum negative voltage VVL v 10V 10V Input Voltage CA TT0004GB Negative Torque Figure 5 Torque control JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 53 4 7 Program Execution in the AM C12 4 7 1 4 7 2 4 7 3 General Description The AMC12 Servo Controller provides the additional feature that it can be programmed using a simple and flexible programming language which is built up around the interface command set Thus all commands can be used for developing or executing programs During program execution all parameters in the Controller can be read or changed All values that can be set and read using the same single command are called registers and can be used in arithmetic expressions Program execution is line based A program can consist of up to 500 program lines beginning with line number 0 A progr
52. 9 followed by an error number followed by a colon followed by a descriptive English text The following illustrates an example of an error message Example E2 Out of range Description of Error Messages E0 No errors No errors have occurred since the last request El Error The command string cannot be understood Example KP8K Results in error El Correction Carefully check the command sent to Controller and compare with the description of the command given in this manual E2 Out of range The parameter value specified with the command is out of the allowable range Example CP 100 The above command attempts to set the peak current to 100 Amps which is outside the allowable range The Controller therefore reports an E2 error Correction Specify a parameter value within the allowable range for the actual command E3 Number of parameters is wrong The number of parameters specified with the command is incorrect Example KP8 or ES0 9 Both of the above command examples will produce an E3 error Correction The KP command has only 1 register associated with it and can therefore only be called by specifying KP The ESO command is only used to show information and therefore specifying a parameter has no meaning F4 Instruction does not exist The command does not exist Example ABCDEF Correction Use a valid Controller command See the description of the command for details of the required command syntax JV
53. AMC10B AMC10C AMC11B AMC12B AMC12C AC Servo Motor Controller User Manual J VL Industri Elektronik A S LB0039 06GB Revised 22 05 97 Copyright 1996 1999 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing er rors or other omissions or discrepancies in this user manual MotoWare is a registered trademark JVL Industri Elektronik A S Blokken 42 DK 3460 Birkergd Denmark TIf 45 45 82 44 40 Fax 45 45 82 55 50 e mail vlEjvl dk Internet http www jvl dk Contents 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 2 1 22 2 3 2 4 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 10 3 11 3 12 3 13 3 14 3 15 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 5 1 5 2 5 3 5 4 5 6 5 7 5 8 5 9 Introduction parisina illo Sea nssndenasehooacsadesesaiubauceuilayesaencgneveadanasesasueeacsonseis 1 EA TS 2 Controller Front Panel id 3 Overview of Operating Modesa sioi iniia i TER p REA A E EE 4 Getting Started Gear Mode Mode 1 ooooconcnnccinonnnccincnnonocncnnonnnnnononnonnonaononncnnonorncnnonnon cono aA R 5 Getting Started Positioning Mode Mode 2 rrmvrnrrnrnnavvrrvrnerververrevenvnrv
54. AMCxxC Short circuit and thermal overload protection e Absolute Relative positioning e EMC compliant construction CE marked e Current overload protection Following input facilities Analogue 10V Step pulse and direction Pulse up pulse down Incremental encoder Digital selection of position e Graphic monitoring of velocity torque positi on etc End of travel limit inputs RS232 Interface Set up stored in EEPROM e Can handle motors up to 1kW Pre programmed velocity profiles Automatic zero point seek Programming via simple language Any AC motor can be used JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 1 2 Controller Front Panel A WAS VIA Industri Elektronik V Power Running Error Current T gt 80 C 20000800 O O 105 O O 106 Out Error O O 107 OO 108 RS232 HA l AMC 10B O L TT0015GB Indicates Controller is switched on Indicates motor is running Indicates fatal error Indicates average current to motor exceeded Indicates temperature exceeded Indicates user output is short circuited Indication of levels at user inputs outputs If LED register 1 output levels are displayed If LED register 0 input levels are displayed SUB D 9 Pole Interface connector Connected to PC or terminal f
55. Connection of an un known motor type page 131 12 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 2 2 Transfer of Parameters to the Controller or MOLOW are File Edi Merkeys View window Applications Setup Help Main Setup I Checksum Address I lt Controller Type AMC1xx AC servo Y DMC10 DC servo AMC1 xx AC servo Cancel or y For easy transfer of complete parameter sets to the Controller JVL s programming tool MotoWare can be recommended The program is started and the RS232 cable connected to the Controller Set MotoWare to work with the AC servo controller by selecting AMCIxx AC Servo in the Controller Spec window in the Setup menu See illustration above This adjusts MotoWare to work with the AMC10 11 and 12 making available new windows with amongst others graphic display of motor running conditions Key OK and the following screen is displayed Setup Help Parameter Sets Profile Parameter Sets selected in this menu Bee HE ER Document status Controller TT0048 DK Select Parameter Sets in the Applications menu This gives access to the window containing all the basic parameters in the Controller JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 13 2 2 Transfer of Parameters to the Controller I Checksum Address I Description Mode gt Formats Electronic Gear
56. End of travel inputs 300 Axa Secondaryaxis or similar IN1 8 and HM input share a 3181TCM AnalogueOutput common ground IN 328 TAC torquemonitor O TT0012GB 3 4 1 3 4 2 General The Controller is equipped with end of travel limit inputs denoted NL negative limit and PL positive limit The Inputs are optically isolated from other Controller circuitry with the exceptions of IN INS and HM Home input All of these inputs have a com mon ground denoted IN The End of travel Limit Inputs operate with voltages in the ran ge 5 to 30VDC Note that the Inputs must normally receive a signal from a PNP output since a positive current must be applied for the Inputs to be activated Activation of the PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Activation of the NZ Input will halt motor operation if the motor is moving in a negative direction The motor can however operate in a positive direction even if the NL Input is activated An error message will be set in the Controller s error register if either the NL or PL Inputs has been activated See Error Messages page 115 Connection of NPN Output To connect an end of travel input to an NPN output a Pull Up resistor must be connected between the Input and the supply See above illustration The size of the resistance depends on the supply voltage u
57. In the worst case the motor will not run at full speed and the system will produce an error when the positioning error becomes too great See illustration below Motor limiting due to limited T oe voltage KPHASE 500 KPHASE 0 TT0046 GB Velocity Adjustment of KPHASE is made during system installation as follows 1 Start Motoware and the Controller Open the On line editor 2 Check that there is contact with the Controller by keying enter 3 Ensure that the motor can run at an arbitrary speed and distance without any mechanism connected being damaged 4 Set the Controller to Mode 2 by keying MO 2 enter 5 Setthe max velocity on the Controller so that it corresponds to that specified by the motor manufacturer for the maximum velocity with load typically 3000 rpm This is done by keying VM 3000 enter Also set KPHASE to a value of 400 by keying KPHASE 400 enter 6 Allow the motor to run for a good distance by keying SP 99999999 7 The motor should now run If the Controller produces an error after only running a short time KPHASE is set incorrectly or the supply voltage to the system is not set to the same value as the motor s nominal voltage If necessary repeat from step 5 and specify a lower velocity or use a higher supply voltage that corresponds to the motor s nominal voltage 8 When the motor is running at as high a velocity as possible
58. KP KI KD are reset to the values used before adju sting the BIAS and the BIAS value is stored in the Controller s non volatile memory by sending the command MS enter The filter constants may require re adjustment after setting the BIAS See Adjustment of Servo Regulation page 16 Wee he Desired position To motor commutation gt Actual position TT0041GB JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 17 18 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 Hardware JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 1 Connections Connector DIN41612 ver C Power Supply in Motor Output PowerDump output Industry bus out Industry bus in Hall Input UserOutputs Encoder Input Pulse Inputs UserInputs Pulse Outputs 10V Input End of travel inputs TT0026GB Home Reset input Secondary axis Analogue output torque monitor 20 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 2 M otor Connection 3 2 1 3 2 2 3 2 3 General Aspects of Motor Connection The Controller is designed for use with common AC servo motors brushless or step mo tors with an incremental encoder The Controller can supply currents of up to 12 Amp continuous and 25 Amp peak These current val
59. L Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 115 4 11 Error Messages ES It is not an instruction The Controller has not received a proper command Example 4R If the Controller is not using addressing this example will result in error E5 Correction Use a proper command E6 Parameter error or out of range There is an error in the specified parameter or the parameter value is out of the allowable range Example SP 111111111111 or KP 8G7 Correction The Controller cannot handle values as great as 111111111111 in the first example Use a value within the allowable range In the second example parameter values must not contain alphabetic characters E7 Register number error or out of range Error in register number Example XP7777 or XP4F Correction In the first example use a register number in the allowable range In the second example register number must not contain alphabetic characters E8 Data can not be saved in EEPROM The set up cannot be saved in EEPROM A hardware error has occurred that prevents the CPU from communicating with EEPROM E9 Checksum error The Controller s receiver s calculated checksum is not the same as the transmitted checksum Example 255KP 25F3 Correction Send the command as 255KP 25DB E10 Parameter will be truncated The Controller has received a parameter value which must be an integer Example VM 1000 8 Correction Send the command spec
60. Naa l o N O a User Outputs o u Encoder Input Oj Bl Iefelsle T a no u Pulse Inputs 2 22 2 ajo jos z R User Inputs Pulse Outputs 2 2 2 FP Nu 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor TT0023GB 3 2 5 Connection of 2 or 4 phase Step Motors To connect a 2 or 4 phase step motor to the Controller terminals FA FB FC and FD are used Screened cable must be used to connect the motor to the Controller The specific motor s average current and peak current must be set using the 2 Controller commands CA and CP See Adjustment of Motor Current page 137 When a standard step motor with a resolution of 200 steps per revolution is used the en coder used must have a minimum resolution of 4000 pulses per revolution Similarly it is recommended that the encoder has an index pulse See also Encoder Input page 28 See Examples of Motor Connection page 143 for connection of various types of motor JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 23 3 3 User Inputs This diagram is used if an NPN output is connected Connector DIN41612 ver C se eh ras opa ere bn al eee ew vee ge at Power Supply 5 30VDC PowerSupply 5 30VDC Power Supply in Li i i i E i Inductive 1 sensor
61. Note The LEDs do not indicate the actual level at the Outputs They are coupled directly to the internal microprocessor and are not connected to the output terminals themselves Overload of User Outputs All of the Outputs are short circuit protected which means that the output is automatical ly disconnected in the event of a short circuit The Output will first function normally again when the short circuit has been removed and the power to the Controller has been disconnected for at least 5 seconds The Out Error LED on the Controller s front panel is lit when one or more of the Outputs has been short circuited The LED also indicates if the output circuitry has overheated due to an overload JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 27 3 7 Encoder Input ee oe Connection of balanced encoder Power Supply in Motor Output Power Dump output Industry bus out Incremental encoder Industry busin Hall Input 15A 22A Encoder Interface User Outputs ow gt gt Nin o z U It is recommended that Pulse Inputs screened cable is used to the encoder User Inputs Pulse Outputs 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor TT0027GB 3 7 1 3 7 2 General An incremental encoder must be used together wit
62. O O 0 1c O O 8c O IAL 9040 142 E 100 O Industry bus in E x AMC11B 12B does not use m PowerSupplyin E P PowerDump output Industry bus out 110 0 IA4 12040 13c O H 14040 08 15C7O 07 E 1600 UserOutputs 05 18040 04 19C O 03 200 40 02 2100 Hall Input Pulse Inputs UserInputs Pulse Outputs 10V Input End of travel inputs Home Reset Input Secondary axis Analogue output torque monitor TT0018GB Follow the procedure below for operation of the Controller in Mode 2 Positioning Mode Connect the Controller as shown above For further details see Motor Connection page 21 En coder Input page 28 Power Supply page 31 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in RS232 Interface page 38 Switch on the Controller but ensure that all inputs are inactive Only the Power LED and possibly Out 1 may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Installation page 12 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview
63. VL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 71 4 10 Command Description Usage Example 4 10 25 Command Modes Selection Description Usage Table 3 Error status bits Register 1 Error status Explanation cleared by reading Temperature gt 80 C Current overload Average current exceeded Supply voltage exceeds 89 V Negative end of travel active Positive end of travel active Motor incorrectly connected Error in encoder signal Supply voltage exceeds 95 V 0 1 3 4 5 6 7 8 9 1 Motor not connected Average current cannot be read Error in Hall signal See status register 0 Only software versions higher than 2 4B ESOShow error status register 0 Sent to Controller ESO Received from Controller E50 0000000001000101 Note bit 0 is the rightmost bit Error Status Text EST EST 1 2 3 4 5 Oor 1 The EST command has exactly the same function as the ES command described above with the exception that the error status is reported as plain text The EST command produces an English list of the error status If there are no errors the error response is EO No errors A list of the error messages is given in Error Messages page 115 ESTO Read out error status register O as text EST1 Read out error status register 1 as text EST Read both registers 78 JVL Industri Elektronik A S
64. a AOS bk CU CCOO CEET CSC fine E PJ ur fruen f f SC 10 CE ines somona fe fem i E E ESE A CC INCL oriente a o ee e Continued on following page 120 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 12 Alphabetical Overview of Commands Description Limits Mode Mode Min max r 2 3 l 5 AL fene ooo ECC P 8 INDEX nase po pr bi ge INPUT Rend ds romeros i pe oo o frunpsarone o o 100 00 00 foe Je pers scene dos ee id ps fimose COMA f CC fed sonar anar bi or kp femme fo fee Pa ge Kewanee fo fee CC kr feos fo fee Pa Je PHASE Veloce comman fo fer Pei Je kver eater coman fo foer ee fm CCC foses ET CC Sowmemmienetes le fs po Hii Mode 1 Gear 2 Position x x x 3 Register 4 Velocity 5 Torque Continued on following page MEE ala Huden Hode ca O j EN p NO N l high x PER ES Bit 9 x puses fos GA e x x 9 E 11111111 32767 gt EE E 60 10 E 5 5 E E E ES p AA ala re ere A Peere 1 E EE E EA Fc ER EE N e o p X fe ew CO SA p 32767 0 20000 e mr ns us or or _ pr nr mn ms pm CO po ror orre ror re mew PROGRAM JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 121 4 12 Alphabetical Overview of Commands mm p PB pr fenomenene fn ree fe fe fe x fe __ RK feen Sid
65. above example illustrates how text can be written to the module s LCD display In the example the address of the module is 3 The second parameter value is cursor position 41 which is the first character on line 2 of the display R1 5555 ASSIGN A VALUE OF 5555 TO REGISTER R1 R30 333 ASSIGN A VALUE OF 333 TO REGISTER R30 PRINT5 41 R1 PRIN HE CONTENTS OF REGISTER R1 TO CURSOR POSITION 41 OF A KDM10 MODULE WITH ADDRESS 5 PRINT2 0 R30 PRIN HE CONTENTS OF REGISTER R30 TO THE DISPLAY OF A DIS10 MODULE WITH ADDRESS 2 When external modules DIS10 or KDM10 are used in a system it is often necessary to print out the contents of register on the displays of the modules As illustrated in the above example this is best accomplished using the PRINT command to print the contents of a register either to a cursor position or directly to the LED display of the DIS10 mod ule PRINT3 41 ACT POSITION 1 AP PRINT THE STRING ACT POSITION AND THE VALUE OF ACTUAL POSITION REGISTER TO CURSOR POSITION OF A KDM10 MODULE WITH ADDRESS 3 PRINT3 1 IN SiSiSiSiSiSiSiSi IN8 IN7 IN6 IN5 IN4 IN3 IN2 IN1 PRINT INPUTS 8 1 IN8 IN1 The above example illustrates how a text string included conversion specifications can be written to the module s LCD display PRINT3 41 CP 1f CP 1 5 The above exampl
66. adjusted for the actual application This adjustment is necessary because the signal source supplying the control signal to the Controller may have an offset error or may only be able to supply for example 9 5V or less 1 Select Velocity Mode MO 4 or Torque Mode MO 5 2 Remove the voltage to the motor using the command PO 1 so that the motor does not move during the adjustment procedure 3 Adjust the zero point by setting the input to OV and send the command VVO 4 Set the input voltage to the maximum negative value max 10V and send the command VVL 5 Set the input voltage to the maximum positive value max 10V and send the command VVU 6 Seta hysteresis value using VVH VVH is set to the number of ADC steps around the OV point in which the motor must not move 7 Reset the input voltage apply OV 8 Set the voltage to the motor using the command PO 0 The motor can now be controlled within the limits set by VVL and VVU with a range around the zero point given by VVO and VVH in which the motor remains stationary The motor is controlled linearly in the range from the maximum negative voltage to the hysteresis value below the zero point and in the range from the zero point plus the hysteresis level to the maximum positive voltage Note that if the zero point is not OV and the negative voltage is not numerically equal to the positive voltage the control profile will be asymmetric Torque or velocity Maximum neg
67. am line is executed every 2 milliseconds The Controller can thus take care of all the functions required by an AC Servo Controller For example power consumption and average current are monitored and it is possible to communicate via the RS232 interface when a program is executed The programming language itself is very simple and resembles BASIC The program is not compiled but is interpreted during execution This gives the advantage that in principle only a terminal program is required to program the Controller Use of Commands in a Program The inclusion of a command such as one of the show value commands will result in the returned value being sent over the RS232 interface For example if the current acceleration is 100 the command AC alone will result in the following string on the interface AC 00 The command AC 200 however will change the acceleration to 200 When a command is included in an arithmetic expression the value of the register is substituted into the expression For example the program line VM AC 100 will set the maximum velocity to the value of the acceleration plus 100 When register values are included in expressions in this way no account is taken of the implied units velocity and acceleration in this case When for example velocity is changed using the VM command the effect on motor operation occurs instantaneously Changes in motor parameters must therefore be made with great care Examples of the use of c
68. apart See the User Manual for the module in question for details of DIP switch settings Adressering af moduler I communication systems where several modules are connected together each unit must be assigned a unique address in the range 1 to 31 The above illustration shows how ad dresses in a typical system are set Note that care must be taken to ensure no two modules use the same address If the mo dule addresses are not unique the Controller will terminate program execution and an er ror message will occur Note that the Controller s address is the same as that used for RS232 communication Se section Connection of Several Controllers to a PC page 40 The address of each module should be set in accordance with the instructions given in the respective module s User Manual 42 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 16 M odule Interface Connectorboard type CON13 O z lz ala If A LES ES o m gt a lt o mim NIN n rm gt 5 Module Interface EA 2 AID To other ECM 1A1 AS 181 ns ae IA2 1150 ol 182 4B oe LI 5 KDM10 Adress 1 TT0057GB 3 16 3 External connection via connectorboard type CON13 If external modules must be connected by use of the connectorboard type CON 13 the il lustration above must be used Notice that the other
69. art the Controller by switching off and on again JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 2 3 Adjustment of Servo Regulation 2 3 1 Adjustment of Servo Parameters The AMC Controller servo regulator is of the PID type and has therefore 3 parameters that must be adjusted The function of the servo loop is to ensure that the motor operates smoothly with stable movements and stops at its intended location The 3 servo parameters must be adjusted according to the actual conditions of the specific system since the motor type load sup ply voltage and other factors all have a decisive influence on the required value of the parameters The 3 servo parameters are denoted as follows and have the following functions KP Determines the system s proportional amplification This parameter is the most im portant of the 3 since the system will function using this parameter alone KD Determines the system s differential amplification This parameter determines how aggressively the system reacts to sudden changes in load or a sudden change in ve locity KI Determines the integration of positional error This parameter determines the extent to which a persistent positional error influences the motor s position and velocity The 3 parameters can be quickly adjusted in the following manner Start Motoware and open the On line editor Parameter values can be keyed in directly from the editor 1 Set
70. at the POL register is set up for the precise number of motor poles A typical step motor with 200 steps per revolution has 100 poles 50 pole sets and a typical AC servo motor has 2 or 4 poles If this parameter is set up incorrectly the Controller will produce an error Note however that the encoder resolution PR can also have the same effect POL x Set the number of motor poles POL Show current POL setting 98 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 69 Command Modes Range Description Usage Encoder Pulses PR PR 1 2 3 4 5 50 20000 see text To achieve correct velocity and commutation of the motor the number of encoder pulses per revolution must be programmed The value specified here must be the resolution specified for the encoder Note that the Controller internally multiplies this resolution by a factor of 4 so that for example an encoder motor with a resolution of 500 pulses per revolution effectively has a resolution of 2000 pulses per revolution If the motor is to rotate 1 revolution the positioning command must be based on the effective resolution of 2000 pulses PR cannot be set to a value lower than the number of motor poles times 128 If PR is set lower the Controller responds with an error message E2 Out of range PR x Set encoder pulses per revolution PR Show encoder pulses per revolution JVL Industri El
71. ately enables easier adjustment of the complete system and a faster response time Illustration of lifting mechanism Motor Static load Drive j 90 Degrees Adjustment of the BIAS is made during system installation as follows TT0040GB Start Motoware and the Controller Open the On line editor Check that there is contact with the Controller by keying enter Ensure that the motor is loaded with the required load for the system Set the Controller to Mode 2 by keying MO 2 enter Disable the PID filter by keying KP 0 enter KI 0 enter and KD 0 enter Note however that current to the motor will be disconnected and the motor will the refore release its load 6 Adjust the BIAS to an appropriate value so that the motor is able to hold the load re latively stable Begin by setting the BIAS to 100 by keying BIAS 100 enter Incre ase the BIAS in increments of 100 or less until the load is balanced Note that the Controller may produce an error condition during this adjustment if the motor s positioning error exceeds the preset value determined by the PE parameter If necessary adjust PE to 0 during adjustment of BIAS so that the Controller ignores positioning error If the load is in opposition to the positive direction of rotation the BIAS must be set in a negative range e g BIAS 100 enter Note that if the BIAS value is set too high the motor will begin to run 7 Finally the filter parameters
72. ation MO x MO Show current mode of operation JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 91 4 10 Command Description 4 10 54 Command Modes Range Description Usage 4 10 55 Command Modes Description Usage Recall Set up MR MR 1 2 3 4 5 Programming 0 2 Controller set up data can be permanently stored in non volatile EEPROM memory i e without the need for current to retain the data The Memory Recall command MR is used to recall data from the EEPROM memory and set up the Controller and system using these values MR Restore all For AMC10x and AMC11x this command will restore set up data For AMC12x this command will restore set up data program and user registers MRO Restore controller set up MRI Restore program MR2 Restore user registers Save Set up MS MS 1 2 3 4 5 Programming The Controller set up data can be permanently stored in non volatile EEPROM memory i e without the need for current to retain the data The Memory Save MS command is used to store the Controller set up in permanent memory MSO MS1 and MS2 can be used with a AMC12x only MS Save all For AMC10x and AMC11x this command will save set up data For AMC12x this command will save set up data program and user registers MSO Save set up MS1 Save program MS2 Save user registers 92 JVL Industri Elektronik A S User Manual AC servocontroller AMC
73. ative Zero point voltage VVL VVO v Input voltage t Maximum positive voltage VVU Hysteresis VVH T10005G8 Figure 6 Analogue torque or velocity control 66 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 1 Command Modes Description Usage Example 4 10 2 Command Modes Description Usage Example Show set up 1 2 3 4 5 The most important details of status and set up can be displayed using this single command Display values Sent to Controller Received from Controller Max Velocity RPM VM 100 Acceleration RPM S AC 6000 Average current AMP CA 3 Peak current AMP CP 10 Constant KD KD 10 Constant KI KI 30 Constant KP KP 8 Constant IL IL 1500 Pulses Revolution PR 5000 Mode MO 2 Encoder Type ET 1 Input IN8 IN1 IN 00000000 Output 8 LEDs 08 01 OUT 00000000 Actual Position PULSES AP 1272 Controller Type 1 2 3 4 5 This command an exclamation mark can be used to obtain information about the Controller type and its address The Controller will reply to this command regardless of whether addressing or checksum is used Thus there must only be 1 Controller connected to the interface if this command is used without an address The command can be used alone i e or together with an address Show Controller type and address Sent
74. ause or D pause While a program line is executed every 2 msec the delay specified will be in even numbers of msec E g D 13 will make a break for 14 msec D 20 Wait for 20 msec D 20 Wait for 20 msec Digital Input Format DIF DIF 3 Register Mode mode 3 provides a facility for moving the motor to a specified position by setting DIF 1 default The position counter can be ignored by setting DIF 2 A positive or negative value of XP determines in which direction the motor will move The motor will run as long as IN8 is active DIF x Set Digital Input Format to x ELSE Only AMC12 ELSE Programming The ELSE statement is used in conjunction with the IF statement The program line below ELSE will be executed if the IF statement is false IF condition expression ELSE expression IF AC gt 8 7 2 AC 100 ELSE AC VM 98 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 75 4 10 Command Description 4 10 21 Command Modes Description Usage 4 10 22 Command Modes Description Usage 4 10 23 Command Modes Selection Description Usage End program block END END Programming END is used in IF statements when more command lines must be connected in a block END can be used in IF statements only See IF statement page 60 IF AC gt 500 BEGIN AC 500 VM 1000 END Terminate program block ENDIF ENDIF Programming ENDIF is used in IF
75. cally set to 1 3 sec the motor is moved to a position of equilib rium and the Controller locks its commutation circuitry to the actual motor position Initialisation is then complete and the Controller is ready for operation Normally IMCL must be adjusted to a value of 80 100 of the motor s maximum allow able average current CA to ensure that the motor is precisely balanced in the generated magnetic field and that the Controller is able to commutate the motor optimally IMCL x Where x specifies the current in Amps to be applied to the motor IMCL Show current value of IMCL 84 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 37 Command Modes Description Usage Example 4 10 38 Command Modes Range Description Usage Read Status of Inputs IN1 IN8 IN 1 2 3 4 5 The Controller has 8 inputs The status of these inputs can be read using the IN command The Inputs have certain pre defined functions depending on the Controller s mode of operation Inputs can be read individually using the INx command where x specifies the input to be read All inputs can be read simultaneously using the IN command Table 4 Overview of inputs IN Read inputs INx Read input x Sent to Controller IN4 Received from Controller IN4 0 Sent to Controller IN Received from Controller IN 00010100 Note that IN8 is the leftmost digit MSB
76. d Syntax Communication with the Controller must follow a specific command syntax Address Command Argument Command Argument Checksum lt CR gt Text in square brackets may be included or omitted depending on the set up Address This address must be used when more than one Controller is connected to the same interface See also the ADDR command Command The command itself Argument The subsequent numeric argument for the command An argument always begins with the equal to sign Certain commands do not use argu ments e g commands that display set ups More than 1 command can be used in a single command line A semi colon must be used to delimit multiple commands Checksum In situations where long communication lines are used a checksum can be used to ensure that the commands are received correctly If an error occurs the error message E9 is received and the command must be re transmitted See also the CHS command lt CR gt ASCII value 13 This character terminates the command line 38 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 3 14 RS232 Interface 3 14 5 3 14 6 Synchronisation During communication with the Controller each command string must be terminated either by a lt CR gt ASCII 13 or a semi colon This tells the Controller that the command string is complete and interpretation can begin When a checksum is used command inter
77. d direction signals The motor will move one step each time a voltage pulse is applied to the pulse input This feature means that in many applications the Controller can replace a classic step motor system without encoder The velocity and acceleration deceleration are determined by the externally applied voltage pulses MO is set to 1 for operation of the AMC Controller in Gear Mode See also Getting Start ed Gear Mode Mode 1 page 5 Example of the use of Gear Mode Adjust the servo loop if necessary see Adjustment of Servo Regulation page 16 and any other parameters required Select Gear Mode MO I Select the input format using the PIF command See Pulse Input Format PIF page 95 The motor can now be controlled via the Pulse Inputs XI and YI Commands of particular interest for operation in this mode are PIF POF ET PR PE JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 47 4 3 Positioning Mode M O 2 In this mode of operation the AMC Controller will position the motor via commands transmitted over the RS232 interface Various operating parameters can be continuously adjusted via the interface while the motor is running This mode is primarily used in systems in which the Controller is permanently connected to a PC via the RS232 interface MO must be set to 2 for operation in this mode See Getting Started Posi tioning Mode Mode 2 page 6 The position is specified in ter
78. d until the voltage falls below 89V and the Controller remains in this error state until it receives the RESET command see Re set Controller RESET page 104 If the supply voltage continues to increase due to other circumstances the Controller s internal voltage overload circuitry will be acti vated and short circuit the supply so that the internal fuse is blown JVL Industri Elektronik A S User Manual AC servocontroller AMC 10 11 12 37 3 14 RS232 Interface 3 14 1 3 14 2 3 14 3 3 14 4 Interface Connection The Controller Interface uses the widespread RS232C standard offering the advantage that all Personal Computers and standard terminals can be connected via the interface The 3 interface signals Rx Tx and ground are used The interface cable length should not exceed 10 metres Controller Interface e o Signal ground Tx Transmit Rx Receive O Chassis ground not isolated Notice The TX PD terminal must be connected to Tx pin 3 if the controller is not using adressing Communication Protocol The Controller uses the following format 1 startbit 7 databit Odd parity 1 Stop bit Note that a startbit is always used in the RS232C V24 protocol Communication Rate The Controller operates at a fixed communication rate Baud rate of 9600 Baud The Baud Rate must be set accordingly on the terminal or PC used to communicate with the Controller Comman
79. detailed docu mentation of the modes of operation the individual inputs and outputs and the Controller command set are described in Hardware page 19 and Software page 45 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 1 4 Getting Started Gear Mode Mode 1 AMC11B 12B does not use terminals P and P since it includes a mains supply 1c OOO See Power Supply section 2c lt rv PowerSupply in 15 80V DC P Industry bus in User Outputs PowerDump output Industry bus out Incremental encoder Hall Input Channel A oF Ground Increme ntal Channel B encoder User Inputs 23A 26A Pulse Inputs Pulse Outputs Note screen only 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor connected to signal source For electronic gearing an incremental encoder is used PLC or Pulse Generator lt Pulse output o Ground Direction output PNP outputs TT0017GB Follow the procedure below for operation of the Controller in Mode 1 Gear Mode 1 2 Connect the Controller as shown above For further details see Motor Connection page 21 En coder Input page 28 Power Supply page 31 Pulse Inputs page 33 Connect the PC
80. dex Symbols G 165 Galvanic isolation 24 25 26 265 Gear Mode 5 45 A GO 78 AC 66 Ground 24 25 26 Acceleration 66 110 H ADDR 66 73 74 Hall Input 30 Address 38 66 Home Input 26 AIN 50 51 l Analogue Input 36 IF 81 AND 66 IN 83 APM 68 IN1 47 B IN2 63 Baud rate 38 IN3 63 BEGIN 68 IN4 63 C ING 63 CA 51 INAL 83 Capacitor 31 INDEX 84 Checksum 38 39 70 INPUT 84 CHS 70 Input voltage 33 CLK terminal 33 Inputs Command 38 Analogue Input 36 Alphabetical overview of 118 Command Description 65 Command syntax 38 Communication protocol 38 Communication rate 38 CP 79 CR 38 D D Delay 73 Deceleration 66 Digital Inputs 24 Direction input 33 34 E ELSE 73 Encoder Input 28 29 END 74 ENDIF 74 End of travel Limit Inputs 25 EOT 25 Error messages 114 ES 76 EST 76 ET 77 Exclamation mark 65 66 EXIT 77 Digital Inputs 24 Direction Input 33 34 Encoder Input 28 29 End of Travel Limit Inputs 25 Hall Input 30 Home Reset Input 26 Pulse Step Pulse Input 33 34 User Inputs 24 26 J J Jump statement 85 JERK 85 JS 85 JS Jump sub routine 85 K K 86 KD 88 89 KP 87 Kp 87 L LINE 88 LIST 89 M Master Slave Control 35 Modes of Operation Gear Mode 5 45 Positioning Mode 6 46 JVL Industri Elektronik A S Brugermanual AC servocontroller AMC10 11 12 145 6 Index Register Mode 7 47 Torque Mode 9 64 Velocity Mode 8 50 64 MR 90 N Negative Limit Switch 91 NLS 91 100 NPN 33 NPN out
81. e 64 parameter sets X Show all parameter sets The Controller responds as follows X0 A 0 V 0 P 1 R 0 X1 A 0 V 0 P 1000 R 0 X2 A 0 V 0 P 0 R 0 X63 A 0 V 0 P 0 R 0 Note that these values are default values and can vary if the set up has changed JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 111 4 10 Command Description 4 10 93 Command Mode Range Description Usage 4 10 94 Command Mode Range Description Acceleration in Parameter Sets XA XA 3 0 100 100000 rpm sec A required acceleration can be set for each parameter set If the acceleration is set to 0 the acceleration will not be changed by selecting the parameter set in question i e the previous acceleration value will be used XAn xxxxx Set acceleration in parameter set n to xxxxx rpm sec XAn Show acceleration in parameter set n XA Show all acceleration values Position in Parameter Sets XP XP 3 1073741824 to 1073741823 pulses Position register 0 1 negative direction 1 positive direction A required position can be set for each parameter set If the position is set to null no change in position will occur but the acceleration and velocity will be changed Note XP1 63 do not have the same meaning as XPO which is used in conjunction with zero point seek The set up of the position variable in parameter set 0 XPO determines in which direction the zero point s
82. e direction pulses are applied to the other input 2 Positioning Mode In Positioning Mode the Controller positions the motor via commands transmitted over the RS232 interface This mode can be used primarily when the Controller is part of a system which is per manently connected to a PC via the RS232 interface In addition it is recommended that Positioning Mode is used during installation and commissioning of systems 3 Register Mode In this mode the Controller s set of parameter registers X0 X63 store the position and velocity values etc required by the actual system These registers can be addres sed via the User Inputs and are activated by activating a start input This mode of ope ration is especially powerful since the Controller itself takes care of the entire positioning sequence 4 Velocity Mode In this mode the Controller controls the motor velocity via the analogue input This mode is typically used for simple applications or applications in which another device such as a PC card or PLC with controller modules is used for overall control of velocity and position 5 Torque Mode In Torque Mode the Controller controls the motor torque via the analogue input Typical applications for this mode include for example spooling or tensioning of foil cable etc The individual modes of operation are illustrated further in the following pages The se pages provide a quick guide to setting up a functional system For more
83. e illustrates how a decimal value can be included in a text string JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 101 4 10 Command Description 4 10 71 Command Modes Range Description Usage 4 10 72 Command Modes Description Usage Encoder Pulses for Master PRM PRM 1 50 20000 If the Controller is used in Mode 1 electronic gear the PRM register is used to define the resolution of the master encoder connected to the pulse input XI and YD As with the case ofthe PR command the value specified here is the number of pulses the resolution of the encoder Note that the Controller internally multiplies this resolution by a factor of 4 The Controller uses the PRM register to calculate the correct gear ratio between the incoming pulses at X1 and Y1 and the movement the motor is required to make Note that PRM is not only significant when an encoder is connected to the pulse input but also is significant if a pulse and direction signal are connected to the pulse input format 2 PIF 2 or a pulse and pulse signal format 3 PIF 3 PRM x Set pulses per revolution on master encoder PRM Show encoder pulses per revolution on master encoder Start programming mode PROGRAM Only AMC12 PROGRAM 1 2 3 4 5 Programming This command sets the AMC12x Controller in programming mode Subsequent commands statements etc with a few exceptions will then be included in the
84. e sent as capitals i e d can also be sent as ASCII 68 deci mal In the event that the command string is corrupted during transmission the checksum will not correspond and the Controller will report an error message E9 indicating that a checksum error has occurred The command string must then be re transmitted The checksum function is activated using the CHS command JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 39 3 14 RS232 Interface 3 14 7 3 14 8 Connection to PC For communication from a PC the following connection diagrams can be used These show the connections between the Controller and an IBM AT or IBM XT PS2 PC XT PS2 AN J Controller Now oa O 2 O 2 Nos TT0038GB Connection of Several Controllers to a PC For connection of more than 1 Controller to a PC i e using addressing the connection diagrams given below can be used Note that Tx pin 3 must be connected to TX PD pin 7 on one of the Controllers included in the system The diagrams show the connections between Controllers and an IBM AT or IBM XT PS2 PC XT PS2 FAN Controller Address 2 Controller Address 1 Gnd To other Controllers o e o m Ex mL J Addresses 3 4 5 o TX 2 ve Y DN Controller Controller Address 1 Address 2 To other Controllers Addresses 3 4 5
85. eek will occur 1 negative direction 1 positive direction See Mechanical Reset page 65 Usage XPn xxxxx Set Position parameter to xxxxx pulses for parameter set n XPn Show position XP Show position values for all parameter sets 112 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 95 Command Mode Selection Description Usage 4 10 96 Command Mode Range Description Usage Relative Positioning in Parameter Sets XR XR 3 O absolute 1 relative for register 0 0 do not seek 1 seek zero point The relative positioning parameter set XR contains information about whether the required position is relative or absolute XRO has a different function than the other registers XRO determines whether a zero point seek should be carried out when the Controller is turned on 0 do not seek 1 seek If the Controller is set to Register Mode MO 3 and XRO 1 at power up an automatic zero point seek will be performed in either a positive or negative direction as specified by the value of XPO See Mechanical Reset page 65 XRn x x specifies whether the position is absolute 0 or relative 1 XRn Show relative positioning set up in parameter set n XR Show all relative positioning values Velocity in Parameter Sets XV XV 3 1 65535 rpm A required velocity can be set for each parameter set If the velocity is set to null the velocity will not
86. ektronik A S User Manual AC servocontroller AMC10 11 12 99 4 10 Command Description 4 10 70 Command Mode Range Description Usage Example 1 Example 2 Print to external module PRINT Only AMC12 PRINT Programming Address 0 31 Register 0 65535 Value 0 65535 or text The Print command is used to print out the contents of registers to external modules At present print out to 4 external modules is possible to a PC via the RS232 interface and to DIS10 KDM10 and IOM11 Modules via the RS485 interface PRINTn1 n2 n3 nl Specifies the address of the module to be printed to 1 31 Address 255 is re served for a PC n2 Specifies the register or cursor position to be printed to in the external module n3 Specifies the register numeric value or text string in the Controller to be print ed When n3 is a string then the string contains two types of objects ordinary char acters which are simply copied to the display and conversion specifications each of which causes conversion and printing of the next successive argument to PRINT Each conversion specification is introduced by the character and ended by a conversion character If a decimal number is included in the successive argu ment then the argument must be surrounded by parentheses E g CA 1 5 The conversion characters and their meanings are Zo To print a singel include two in the string like cThe argument is taken to be a
87. elocity until the error disappears E24 Supply Voltage exceeds 89 V The power supply voltage has exceeded 89V Example The power supply voltage is too high or the motor has been decelerated too quickly Correction If the supply voltage is too high it should be reduced During deceleration the motor can send current back to the Controller causing the supply voltage to increase The deceleration AC should be reduced until the error disappears If required a Power Dump shunt resistor should be inserted as described in Power Dump Output page 37 E25 Negative Limit Switch active The negative end of travel limit is active Motor movement in the negative direction is stopped Only positive movement is now possible E26 Positive Limit Switch active The positive end of travel limit is active Motor movement in the positive direction is stopped Only negative movement is now possible E27 The motor is not mounted correctly The motor is not connected correctly Example The motor is moving in the wrong direction Correction Read the section dealing with motor connection JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 117 4 11 Error Messages E28 Encoder error or position error limit exceeded The encoder is not connected or the motor is jammed Example The motor is blocked by a brake when the Controller is switched on The encoder can therefore not be checked The encoder may also be con
88. enesnennesvevernasvesversevesvevvevssvenvevsenssvesveneenee 6 Getting Started Register Mode Mode 3 rnvrnvrnvnnrnnrrnnrverrrnernenvevsrnnnvnnvenssnenvnnvenesnesvesversevesvevsenssvenveneenssvesvensenee 7 Getting Started Velocity Mode Mode 4 rrnrnvrnvnnrnnrnvavvrrrrnervarverrenesververrenenvenvenssnssvesversevesvavvevssvenveveenssvenvensenee 8 Getting Started Torque Mode Mode 5 emrnvnnvnvvnnernrrvesverervervenvevsevenvenvenesnenvevervssnesvavvenssvenvevsenssvenvevesnesvanvensenee 9 Installation and Adjustment cccsscccsssssccssssscccssscccsssscccsssssccssssccsssssscssessccsssssscssssssccssees 11 General Aspects of Installation saa usssesnaaadkagm adr adengdkemk AAR cotplosdbeddasodpenedevaosebeeuteet 12 Transfer of Parameters to the Controller asarsaran a aE E ER E EECA 13 Adjustment of Servo Regulation sisean oneei sssi rina aea Eia REE Erro sagvassesigveestessuegunsddesscnesnavassestersoves 16 Adjustment of BIAS eiii ENE E cia 17 A naucs lt cevavencashceesnsensicensaadabesuses ceeases siesasueanesendapsbsbennvaveacesice ateesebddewestatnenasenes 19 Comnena EE 20 M tor Conn cton md case sg des ae Aae ASer 21 User Inputs ir fa ok sn cats catia send A A A era 24 End of travel Limit AAA E A des 25 HOME Reset IMPUt E AE TEET E EATE 26 LOSIH OLT e REEE PAEA NON 27 Encoder TPt sareei aein edea a aasde eaa aas EAEEren a EEEa Ea E ea Eaa ea Eaa laa EERS 28 Je UA E E AEN AE EE E N SATT 30 Power Supply arte ii ean A AT au
89. ent can be adjusted with a resolution of 1 tenth of an Amp xx x 138 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 5 6 Connection of an unknown motor type 5 6 9 AMC10 Basic Motor Parameters EG Motor r Commutation Constants e ol z Phase No 2 43 Kphase p Active Level Initialization Magnetic Poles Poffset 210 y Hall Elements Off y Index Low High Hall Low High Motor Level Off Normal Time Yaskawal AAA Set up of active level Encoding on hall input Encoder Type PNP y Pulse rev 2048 AE vest OD setup of hall type Setting the Hall Element The Controller can be initialised with or without Hall elements in the motor Normally the Hall element is not used if the motor may be allowed to move during start up In this case the Hall register is set to 0 If however the motor is required to remain completely stationary during start up the motor s Hall element must be used and the Hall register is set to 1 2 or 3 The Hall element is used during start up to tell the Controller the motor position so that the commutation circuitry can lock the applied magnetic field to the motor s actual position without the motor moving The information obtained from the motor s incremental encoder cannot be used to determine this position The Hall element is only used during start up The following Hall types can be selected HALL 0 Start up wi
90. external module CO Only AMC12 CO Programming Adress 0 31 Flag 0 65535 The Clear command is used to clear a flag in an external module The number of flags which that can be cleared in different external modules varies but each module has at least 1 flag For the KDM10 module Keyboard Display Module for example the Clear command can be used to clear the LCD display in the IOM10 module I O module the Clear command can be used to deactivate one of the module s outputs etc CO 1 lt a lt 31 1 lt 0 lt 255 The Controller and a KDM10 module are connected in a system via the RS485 interface The address of the Controller is 1 and the KDM10 module address is 3 The Cursor on the KDM10 s LCD display is to be switched off If the cursor is active while text is being printed using the PRINT command the display may flicker This is avoided by switching off the cursor as follows co3 3 Deactivate cursor The Controller and an IOM11 module are connected in a system via the RS485 interface The IOM11 module s address is 5 The IOM11 s output 7 is to be de activated The com mand is as follows CO5 7 II Deactivate output 7 on IOM11 module with address 5 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 73 4 10 Command Description 4 10 15 Command Modes Range Description Note Usage 4 10 16 Command Modes Description Usage 4 10 17 Command Modes Description Usa
91. for the actual motor operation Table 1 Register Sets Register _____ Digital Inputs Function __ set__ ING IN5 IN4 IN3 IN2 IN1 Acceleration Velocity Position Relative o hb Jo fo 0 Jo fo o vo po peo CE xe TO CC SG JoJo fo Ji fs favs E prs Es Jo Jo fo fr Ji fo fxae xe xe xe 7 fo Jo fo fr Ji fi Pxar pw er arr Ea fo Jo fi fo Jo fo a xe xe xne Ea fo Jo fi fo Jo fi a x xro xro 10 Jo Jo fi Jo Ji fo pao xo Po xro ni fo Jo fi fo Ji fi pan wn pen pen 12 fo Jo fi h Jo fo parn x2 ee xm12 Ea Jo Jo fi fr Jo fi pas vs pee ms ma fo Jo fi fr Ji fo pam xa ea xna ps Jo Jo fi fr Ji fi pas vs xets rs Es Jo h fo fo Jo fo xas xvie xete xmt6 paz fo h fo fo Jo fi par x7 er orm ms Jo h fo fo Ji fo pas xvie xete xme se Jo h fo fo Ji fi pas xo xeo xro ao fo h fo h Jo fo xao xv xP xro afo h fo fr Jo h par wa ea xm21 22 fo h jo fr Ji fo paz xv xP xR 25 Jo h fo fr Ji fi pas xvas xea xR 24 fo h h 0 Jo fo paa xv xP xm24 25 Jo h fi 0 Jo h as xvas xP xR 26 Jo h fi 0 Ji fo xas xv xP xm2s ar fo fi fi fo Ji fi parz xv xea xrar as Jo h fi fr Jo fo as xv xP xm28 as fo h fi fr Jo fi as xv xP xro Eo fo fi fi fr Ji fo fxaso xv30 xro xrao st Jo fi fi fr Ji fi past EE ECT rar se i Jo fo 0 Jo fo xas vsa jes rar XPO ind
92. g an ELSE are only executed if a preceding IF statement has been evaluated false which is not the case in this example A solution to the above could be IF IN1 0 Execute next line if IN1 is 0 J NN Jump to label NN IF IN2 1 Execute next line if IN2 is 1 AC Show acceleration on RS232 interface ELSE Execute next line if IN2 is 0 VM Show velocity on RS232 interface NN Or the solution can also be IF IN1 1 NB this program segment will not work BEGIN IF IN2 1 AC ELSE VM END 60 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 7 Program Execution in the AMC12 The following general construct IF expression action ELSE BEGIN IF expression action ELSE BEGIN IF expression action ELSE action END END occurs so often that a brief explanation is given here This sequence of IF statements is the most general way of making conditional tests between many possible cases The expressions are evaluated in sequence and if one of the expressions is true the action associated with that expression is performed and the entire chain terminated As always the code for each action is a program line specifying a command The final ELSE clause takes care of the situation when none of the previous conditions has been met If no action is required in this case the final ELSE clause ELSE action can be omitted To illustrate a conditional test involving 3 branches the followi
93. ge Peak Current CP CP 1 2 3 4 5 0 0 12 0 Amp AMC1xB 0 0 25 0 Amp AMC1xC To protect the motor from overload and to ensure its operational lifetime is not reduced a maximum peak current value can be specified The system can withstand currents for short periods that are higher than the maximum allowable rated current but the motor can be protected from high current peaks The CP command is used to set the maximum allowable peak current to the motor Typically CP is set to a value 3 4 times greater than the maximum allowable average current CA The specified current is valid for a single motor phase See also Adjustment of Motor Cur rent page 137 CP x x Set peak current in Amp CP Show actual peak current setting Motor Current CU CU 1 2 3 4 5 The motor current consumption in Amps can be read using this command CU Show motor current consumption in Amps Current Velocity CV CV 1 2 3 4 5 The motor velocity can be read at any time using this command CV Show current velocity in rpm 74 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 18 Command Modes Range Description Usage 4 10 19 Command Mode Description Usage 4 10 20 Statement Mode Description Usage Example Delay D D Programming 1 1073741823 The D command pauses program execution The break in msec is defined by writing D p
94. h the Controller regardless of whether the Controller is used with an AC servo motor or a step motor It is recommended that an encoder with an index channel is used i e that in addition to the A and B channels the encoder has a third channel which produces 1 impulse for each motor revolution This pulse is used to reset the Controller s commutation circuitry and ensures that a missing pulse on either the A or B channel is compensated for Without an index channel over a long period of operation the Controller will produce an error due to incorrect commuta tion of the motor Alternatively the system efficiency can be reduced The incremental encoder detects the motor s velocity and position Almost all types of encoder can be used providing they are equipped with one of the following types of out put NPN PNP Push Pull or Balanced output The Encoder Input can read an encoder signal up to 500kHz The encoder signal voltage must be in the range 0 to 5V Note The Cable between the encoder and the Controller must be screened and the screen must only be connected to the encoder chassis terminal ECM For details of general encoder set up see Set up of Encoder Resolution page 132 Encoders with Balanced Output To connect an encoder with a balanced output to the Controller see the above illustration Note that the use of an encoder with balanced outputs is recommended It is recommended that 0 3mm minimum screened cable is used
95. hort circuiting of the motor output voltage overload average current exceeded Current LED The Current LED is lit if the specified average rated current CA is exceeded for any length of time The Error LED is also lit The Current LED is also lit if an overload occurs The system must be reset after an overload See Reset Controller RESET page 104 T gt 80 C LED The T gt 80 C LED is lit when the Controller s internal temperature exceeds 80 C The Controller must be reset Out Error LED The Out Error LED is lit when an error occurs at one of the eight Outputs 01 08 Four LEDs Blinking in Sequence If the four LEDs Running Error Current and T gt 80 C blink in sequence it is an indication of a PROM error When the Controller is switched on the checksum in the Controller s program memory PROM is verified If the pre programmed checksum does not match the calculated checksum the Controller will not operate the motor The PROM may be defective Try resetting the Controller Four LEDs Blinking Simultaneously If the four LEDs Running Error Current and T gt 80 C blink simultaneously a motor error or encoder error has occurred When the Controller is switched on a check is carried out to ensure that the motor and encoder are connected correctly The PWM signal to the motor is gradually increased until movement is registered or the PWM signals reach 50 In this way the Controller can check whether 1 The motor is
96. i Sd TTT CS S Status 0 stop l acc 2 max 3 dec Report status in text PF 3 3 Default set up E i ancse no l Oo See pm x x ancse no av f om m E erty m paramere Ni Show set up MOSES am fr pareser no Aa fo R S S S S S V V V V V V V V X X X X X Z Z X RESET RST sD su SP SR sz yE vm vou w o vvn v vvo vwu x xa xe xR xv zaz zs a ST D H P R Z E M OL V VH VL VO VU A P R V L S 122 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 Appendix JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 123 5 1 Technical Data Min Typical Max Units Supply Supply Voltage AMC10 AMC12 pin 1A 2A P and P 80 V DC Supply Voltage AMC11 Mains 230V 47 60Hz VAC Supply Voltage AMC11 Mains 115V 47 60Hz VAC Power Consumption unloaded Output Voltage dependent on supply Continuous Motor Current Peak Current Power Loss in Driver at full motor current PWM Frequency Supply to encoder pin 15A 5VO Allowable load on encoder supply pin 15A 5VO Encoder Frequency 50 duty cycle Pulse Inputs pins 23A to 26A X YI Allowable Input Frequency 50 duty cycle Positive pulse width Negative pulse width Logic 0 Logic 1 User Inputs IN1 IN8 CW CCW HM Input Impedance
97. iN Active high ss a Bias 2 og Vv ce Current Amps Active Level Gr Vv A 7 Pause Vv K ol Mean Bb dE ee Ga 8 C Start stop IV Peak a LJ Positive Low High LED select Input Output Basics Register GetSetup Send EEPROM File Close Select Basics here O Save set up in memory 6 on index input Send set up to the Controller Encoder resolution set here Motor r Commutation Constants PhaseNo 2 3 Kphase 5o Magneti Poles fr jaj Potter r0 f m Initialization Active Level Hall Elements Off M Index Low High Time ooo Encoding Encoder Type PNP y Pulse rev N Set up of Encoder Resolution To achieve correct velocity and commutation of the motor the number of encoder pulses per revolution the encoder resolution must be programmed Here the resolution specified for the encoder must be used Note that the Controller internally multiplies this resolution by a factor of 4 so that an encoder with a resolution of e g 500 pulses per revolution in effect has a resolution of 2000 pulses per revolution If the motor is to rotate 1 revolution the positioning command must be based on the resolution of 2000 pulses The encoder resolution cannot be set to a value less than the number of motor poles multiplied by 128 If the encoder resolution is set to a lower value the Controller will respond with an error message E2 Out of range Encoder
98. icates the direction for the zero point seek function 1 negative 1 positive XRO indicates whether automatic zero point seek will occur JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 49 4 4 Register Mode MO 3 Table 1 Register Sets Register Digital inputs Function set _ IN6 ins INA IN3 12 IN1 Acceleration Velocity Position Relative Bs fr p fo fo Jo fr ka s es fars 34 Ji fo Jo fo Ji o xas kva ea a as fir o Jo fo fr fi kes xv xes Rs Be Ji fo Jo i Jo o xas xve xes xR or h fo Jo fi Jo fi aer v en ea Ji Jo Jo fi Jo kas xvas es R fr fo Jo fi fr i kas kvo eso Ro ao fi fo Jr fo Jo o xao xv4o xeo xo ar fr fo fr fo Jo fi xa xvar fxrar ea aa fr fo fr fo Jr o pae pva pen re as fr fo fr fo fr fr xae xvas fxe re aa fi fo fr i Jo o paa va ea a as fr fo fr fi Jo i xa xvas es rs ao fi fo fr i Jr fo kas xvas xee Rae aa fr fo fr fi fr fr fxaer fxvar fxedr fare as fr i Jo fo Jo Jo xas xvas en re 9 fr i Jo fo Jo i xas kvo xeo xro So fr i Jo fo Jr fo kaso Jxvso xeso xro sr fr fi Jo fo fr i xasi xvsr fxesi farsi 5 fr i Jo fi Jo o xass xv es ar 5 fr i Jo fi Jo fi xa5s e xrss 54 fr fi Jo fi Jr fo xasa o kva esa a 5 fr fi fo fr fr i xa5s e xrss 56 Ji i fr fo Jo fo xass xve ess xro s
99. ifying an integer value VM 1000 E11 No Program available There is no program in the program RAM memory Example GO Correction Use MR to retrieve the program from EEPROM or enter a new program E16 Check other Status Register An error has been detected in the other status register Read this register 116 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 11 Error Messages E20 Temperature too high The Controller s internal temperature is too high Correction Turn off the Controller Ensure better cooling of the Controller s environment or reduce the maximum velocity VM E21 Current Overload The Controller has been overloaded short circuited Correction Use another motor or insert an inductance of approximately 1mH in series with the motor leads For 3 phase motors the inductances must be placed in the FA FB FC leads For 2 phase motors step motors the inductances are placed in the FA and FC leads E22 Power consumption too high The Controller motor has been drawing too much power from the supply This limit is set by the PM command Correction Decrease the motor speed load or increase the value of the PM register Notice that AMC11B can only handle up to 200 W continuously See also Power Management PM page 96 E23 Average Current limit exceeded The maximum allowable average current has been exceeded Example The velocity is very high Correction Reduce v
100. ing of the hall type can be omitted If however an unbalanced NPN or PNP Hall element is used the setting must be made in the parameter window s Hall field For an NPN type Hall element the field is set to High For a PNP type Hall element the field is set to Low If a Yaskawa motor is used the setting of the Hall type is unnecessary since the Hall signal is encoded with the encoder signal and the Hall input is therefore not used Send the information to the Controller by pressing Send If required save the setting in the Controller s non volatile memory by pressing EEPROM To set the Hall type via the on line editor the HL command is used Example HL 0 enter Set Hall type to PNP HL 1 enter Set Hall type to NPN HL enter Display the current setting for Hall type To store the setting in the Controller s permanent memory key MS enter 140 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 5 6 Connection of an unknown motor type 5 6 11 Setting KPHASE The Controller includes a parameter denoted KPHASE This determines how far the commutation of the motor is offset in relation to the motor s actual position KPHASE is velocity dependent i e it becomes more significant the faster the motor is running It is of vital importance for system performance that KPHASE is adjusted correctly Incorrect adjustment will result in the motor not being able to supply sufficient torque at high velocities
101. ion about the Controller firmware version and date VE Show version and date Maximum Velocity VM VM 2 3 4 5 0 65535 rpm The VM command is used to set the maximum velocity In Positioning Mode MO 2 VM is used to set the velocity to which the motor will accelerate and maintain until it is decelerated Note that VM is also used in Register Mode MO 3 if a given XV register is set to 0 In Velocity Mode MO 4 VM sets the limit for the velocity corresponding to maximum input at the analog input If for example VM is set to 1000 and the analogue input is adjusted to an input voltage in the range 10V to 10V the motor will rotate at 500 rpm in a negative direction for an applied voltage of 5V In Torque Mode MO 5 VM is used to set a limit for the motor Regulation of the velocity in this mode is not precise and is used only as an additional precautionary measure VM has no effect in Gear Mode MO 1 VM x Set maximum velocity in rpm VM Show current max velocity Supply Voltage VOL VOL 1 2 3 4 5 10 100 The VOL command is used to check the voltage applied to the Controller VOL Show voltage in Volts JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 109 4 10 Command Description 4 10 87 Command Modes Description Usage 4 10 88 Command Modes Range Description Usage 4 10 89 Command Modes Description Usage Read Analogue Input VV VV
102. ions 1 The Controller receives the seek zero command SZ reset See Seek Zero Point SZ page 108 2 The Controller is switched on only if XR 1 See Zero Point Seek Function page 65 3 If the Controller is set to Mode 3 and register 0 is selected See Register Mode MO 3 page 49 The Home Input is primarily used if the Controller is used for positioning purposes alt hough in Velocity or Torque Mode there may be special applications where the function is appropriate The Input is optically isolated from other Controller circuitry with the ex ceptions of IN INS and NL and PL End of travel Limit Inputs All these inputs have a common ground denoted N The Home Input can operate with voltages in the range 5 to 30VDC Note that the Input is designed to receive a signal from a PNP output since a positive current must be applied for the Input to be activated 3 5 2 Connection of NPN Output To connect the Input to an NPN output a Pull Up resistor must be connected between the Input and the supply See above illustration The size of the resistance depends on the supply voltage used The following resistances are recommended Supply Voltage Recommended Resistance 5 12VDC 1kOhm 0 25W 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W 26 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 3 6 User Outputs AMC xx output circuit PNP output Connector DIN41612 ver C
103. ions For example you can choose to start the program automatically when the Controller is powered up In this case Yes is selected followed by Save The six command buttons have the following function Save Online Editor Save and run Program Run Program Save OnLine Editor Cancel The program is sent Y The Program can be saved in non voilatile Memory for later use To debug the program open the On Line editor and type GO If the program is ready just run the program Save the program in non volatile memory and open the OnLine Editor When this option is selected the MS command is sent to the Controller Then the OnLine Editor is started The program can then be executed using the GO command It is important to use the OnLine Editor during tests In the event of program errors the Controller sends error messages which are automatically displayed in the OnLine Editor Save the program in non volatile memory and start program execution When this option is selected the MS command is sent to the Controller followed by the GO command The program is saved and then executed Start the program When this option is selected the GO command is sent to the Controller and program execution begins Save the program in non volatile memory Start the OnLine Editor directly The OnLine Editor is opened and the program can be executed using the GO command It is important to use the OnLine Editor during tests In the event
104. ipped with a mains noise suppression filter which removes any transients 3 9 7 Earthing To ensure proper chassis earth connection the chassis mains earth connector and P mi nus are internally connected in the Controller 3 9 8 Extending the Power Supply If the built in 160W power supply does not have sufficient capacity an additional exter nal supply can be connected as illustrated on page 31 Note that the external supply must operate at the same voltage as the internal supply 80V nominal 32 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 10 Pulse Inputs Connector DIN416 2 ver C This diagram is used if a PNP output is connected I I i PNP Output i 1 Fy O a I f m o PowerSupply in 1 5 30VDC T den i f i R i Motor Output i To XCM os ses SEE NOM PowerDump output This diagram is used if an NPN output is connected 1 To XI Industry bus out I T a ae i Industry bus in di Ise R ca Sj To XCM Hall Input E30VDC L i WW oryem l A 08 I J 07 i 06 EE EE eee ad User Outputs 05 04 Encoder Input 03 02 01 O IN8 Pulse output IN7 q Ground IN6 y Direction output T i IN5 serInputs IN4 HN Pulse Outputs IN2 Note screen only NI 10V Input connected to signal source End of travel in
105. is displayed the RS232 interface and power supply are connected correctly Set the Controller to Positioning Mode by sending the command MO 2 enter The Controller should respond Y indicating that Positioning Mode has been selected By default the servo parameters KD KP and KI are set to typical moderate values This means that the motor can be operated without further adjustment For optimum system operation however the parameters must be adjusted See Adjustment of Servo Regulation page 16 The Controller is now set to Positioning Mode As a test the motor can be moved to absolute posi tion 1000 by sending the command SP 000 enter The motor should move to the specified po sition By sending the command SP 000 enter the motor will move in the opposite direction to position 1000 If this does not occur or if the motor runs for a very long time it may be due to the fact that the position counter either was at position 1000 or that the previous position was far from 1000 See Positioning Mode MO 2 page 48 and Command Description page 67 for details of other commands JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 1 6 Getting Started Register Mode Mode 3 AMC11B 12B does not use O Power Supply in lt bene terminals P and P since it j 15 80V DC includes a mains supply 1c O O O 7 1A See Power Supply section 2c O O O 7 2A 3C O O O 73A AC
106. is expressed as a decimal e g CP is included anywhere in an expression the en tire calculation is performed as a decimal The number 3 will be treated in an expression as an integer whereas 3 0 will result in the entire expression being calculated as a deci mal For integer calculations any decimal remainder is discarded also in intermediate calculations Calculation does not automatically occur as a decimal number even if the register represented by the left hand side of the expression is a decimal Conversion of the result of the right hand side of the equation occurs first when calculation is complete Calculations that involve only integer values are performed much faster then decimal cal culations Therefore use decimal numbers only when necessary The following examples illustrate calculations of expressions The following register values are assumed IN1 1 R1 2 AC 500 CP 1 5 and VM 100 R4 3 2 3 2 R4 is assigned the value 2 R4 3 0 2 3 2 R4 is assigned the value 3 CP 7 3 3 2 I CP is assigned the value 3 0 CP 7 0 3 3 2 CP is assigned the value 3 8 R4 AC VM CP R4 is assigned the value 7 CP AC VM CP CP is assigned the value 7 5 R4 IN1 35 CP AC R4 is assigned the value 785 R4 IN1 35 R1 AC 2 2 7 3 VM 50 R4 is assigned the value 647 Operator precedence and order of evaluation The following table gives the rules of operator precedence and order of evaluation for operators that can be used in arithmetic and o
107. ktiv ker moment sekvens 1 RO 1 Chksum ELSE a IF IN2 1 IN2 aktiv ker moment sekvens 2 RO 2 Address ELSE o J STARTWAIT Hop til STARTWAIT hvis hverken IN1 eller IN2 er aktiv OUT3 1 71 ktiver OUT3 KILL HALT VM 1500 Set hastighed til 1500 SR 65536 K r 8 omgange a 8192 pulser SETUP WAIT IF RS lt gt 0 Vent her til bev gelse er f rdig IF RO 1 d Er RO lig med 1 udf r n ste linie GET PROG CP 2 Moment 2 Amp ELSE CP 3 Moment 3 Amp MO 5 Moment mode R3 6 Set R3 til 6 PULSEWAIT R3 R3 1 d Tel R3 1 ned IF R3 gt 0 Vent her J PULSEWAIT ellers kan stop position ikke registreres ENDWAIT lt E Ready 14 AMChx 0 INUM 4 Once the program is complete it can be saved on the hard disk Save program on hard disk am MotoWare Motol File Edit MainKeys View Window Applications Setup Help 5 Once the program has been saved to hard disk it must be sent to the Controller Select SEND If an error occurs an error message will be displayed See Error messages during programming and program execution page 62 Select SEND to send the program KILL HALT SETUP GET PROG JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 7 Program Execution in the AMC12 6 Once the program has been sent to the Controller the dialogue box shown below is displayed This provides several opt
108. l be in even numbers of msec E g D 13 will make a break for 14 msec R1 20 Set R1 to 20 D R1 Wait for 20 msec 64 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 8 M echanical Reset 4 8 1 Zero Point Seek Function The motor can be brought to a known mechanical reference position i e reset using a zero point seek function This is achieved using a sensor connected to the HM Home or Reset Input Parameter set 0 IN1 IN2 IN6 000000 differs from the other param eter sets in that it stores information about how the zero point seek function is carried out The parameter set XAO XPO XVO and XRO determine how the zero point seek is car ried out The parameter ZL determines the Home Input s HM active level These parameters have the following functions Specifies acceleration deceleration during zero point seek The specified value is expressed in rpm second If XAO is set to 0 the Controller will use the AC parameter during zero point seek XPO 1 results in zero pointseek XPO 1 results in zero point seek in a negative direction in a positive direction Specifies the nominal velocity during zero point seek If XVO is set to 0 the Controller will use the VM parameter during zero point seek XRO 0 specifies that the XRO 1 specifies that the Controller does not perform a Controller automatically zero point seek when powered performs a zero point seek when up powered up
109. le only a single supply voltage is connected Internal supply circuitry ensures the correct supply voltages for the Driver control circuits etc For optimum driver performance it is recommended that a capacitance of minimum 2000 5000uF is connected to the supply Similarly it is re commended that 1 5mm cable minimum is used to connect the power supply to the Controller If the driver supply voltage falls below 12V the internal reset circuitry will reset the driver Provision should therefore be made to ensure that the supply voltage is always maintained at a minimum of 12 15V even in the event of a mains voltage drop Earthing To ensure proper chassis earth connection the chassis mains earth connector and P mi nus are internally connected in the Controller Power Supply Faults The Controller is protected against incorrect polarity connection and voltage overload If a voltage overload of the Controller supply occurs or the supply is connected with in correct polarity the Controller s internal fuse will be blown The fuse can only be repla ced by an authorised service centre Note that AMC 11 has an external fuse see description on page 32 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 31 3 9 Power Supply
110. ltage Recommended Resistance 5 12VDC 1kOhm 0 25W 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W Indication of Input Status To indicate the status of each Input the Controller s front panel is equipped with LEDs denoted IO1 102 108 These LEDs are lit when the respective Input is activated Note that the LEDs can show the status of both the digital inputs and outputs The LED command is used to select whether the input or output status is displayed 24 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 4 End of travel Limit Inputs Connector DIN41612 ver C This diagrami I5 followed fan NPN output I5 used Jy i 2 1 PowerSupplyin i i a Motor Output f inductive y i or similar m PowerSupply 7 PowerDump Output i T 45 30VDC i 1 ES 1 Industry bus out i 4 ol Industry bus in 1 1 NPN Output Hall Input i 1 e LS e a o a dl ia ia 1 UserOutputs Encoder Input Pulse Inputs pnb ata User Inputs PulseOutputs by 10V Input End of travel Inputs J lt zie Power Supply Esos tai Ries Inductive 5 30VDC Home Reset Input sensor Note that
111. mmands When the status of the outputs O1 O8 is read information is also given about the status of the 8 control LEDs Table 5 Overview of outputs e ands ead fo fonem teven os opus Contersed va be OUFeommnd for opa Can bersed via ne OUT command fos os or mi Output 5 Can be used via the OUT command Output 6 Can be used via the OUT command i Output 7 Can be used via the OUT command Output 8 Can be used via the OUT command So Fel OUT Read status of outputs OUT n Read status of output n OUT n x Set output n On to x 0 or 1 OUT xxxxxxxx Set all outputs to x where x is 0 or 1 Only bits 2 to 7 are changed Sent to Controller OUT Read outputs Received from Controller 0UT 00000000 Note bit 0 is the rightmost digit LSB Sent to Controller OUT3 1 Set O3 to 1 Received from Controller Y Maximum Pulse Error PE PE 1 2 3 0 32767 pulses As an additional precaution a maximum allowable pulse error can be specified If the error between the desired position and the actual position is too large the encoder may be at fault or the motor is blocked If the pulse error exceeds the specified limit the motor is stopped and 4 LEDs flash The PE command can be used in Gear Mode MO 1 Positioning Mode MO 2 and Register Mode MO 3 If PE is set to 0 the Controller will allow an infinitely high error level without stopping motor operation and reporting an error The Running Error Current and T g
112. move to various positions using the SP or SR commands Commands of particular interest for operation in this mode are ET PR SP SR VM AC PE Velocity x VM RPM N N 2 3 LAG RPM S andJERK RPM S N Position N TT0001 GB Figure 1 Velocity profile 48 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 4 Register Mode MO 3 The Controller can also be configured for absolute or relative positioning via 8 digital inputs See also Getting Started Register Mode Mode 3 page 7 The Controller has 64 programmable parameter sets Each parameter set can be used to store information about acceleration position relative or absolute and velocity Selection of a parameter set is made using inputs IN1 IN6 Input INS is a start stop input If IN8 is high a parameter set is selected and the motor moves to a new position according to the selected velocity profile If IN8 is set low before the desired position is reached the motor will stop according to the pre programmed deceleration acceleration When INS is again set high the motor continues to the required position When the required position is reached O1 is set high to indicate that the motor has reached its destination See also Getting Started Register Mode Mode 3 page 7 Commands of particular interest for operation in this mode are ET PR XR XA XP XV PE Inputs IN1 IN6 select which parameter set is used
113. ms of pulses Note that the Controller multiplies the number of encoder pulses by a factor of 4 If for example the encoder has a resolution of 500 pulses per revolution the complete system will have a resolution of 2000 pulses per revolution If an operation of 2000 pulses is specified this means that the motor will rotate 1 revolution The motor s instantaneous position can be read regardless of whether it is running or stationary When a new position is set up the motor moves to the new position using the pre programmed velocity profile See AC and VM Motor operation can use a programmed velocity profile by programming a maximum velocity and acceleration In this mode when the motor is operated to move to a new position it will operate using the programmed velocity profile and the profile will always follow the acceleration deceleration values This means that the motor may not always attain maximum velocity if the distance is short Motor status can be read us the RS command At any time the motor can be stopped using either the H or SH command Note In order to achieve the correct velocity and acceleration the number of encoder pulses per revolution must be set up using the PR command Example of the use of Positioning Mode Select Positioning Mode using MO 2 Set a maximum velocity using VM Set an acceleration using AC Adjust the servo loop If necessary see Adjustment of Servo Regulation page 16 The motor can now be set to
114. n the Controller s permanent memory key MS enter 136 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 5 6 Connection of an unknown motor type 5 6 6 5 6 7 Adjustment of Motor Current An AC servo motor or a step motor has 2 current limits which must not be exceeded in order to avoid overheating the motor or reducing its operational lifetime These current limits are the maximum allowable average current and the maximum allowable peak current and are specified in the following manner Adjustment of Motor Current for AC Servo Motors Adjustment of Average Current Consult the data sheet for the actual motor in question to determine the max allowable average current This value may be specified as Continuous Current Rated Current or Nominal Current The average current is set using the Controller command CA Example To set the average current value to 1Amp key CA enter The Controller will then under no circumstances allow the motor to draw a continuous current greater than 1 0 Amp for a long duration Note that the average current can be adjusted with a resolution of 1 tenth of an Amp XX X Adjustment of Peak Current Consult the data sheet for the actual motor in question to determine the specified allowable peak current This value may be specified as Peak Current Instantaneous max Current or Stall Current Most motor types can withstand a peak
115. ne in the program is executed If the statement is false 0 the next program line is skipped and program execution continues The ELSE statement can also be used in conjunction with the IF statement All registers and commands that return a value can be used in IF statements The following operators can be used in the statement Operator Description Less than Greater than Equal to Less than or equal to Greater than or equal to not equal to Logical AND operator Logical OR operator IF statement OR statement statement expression AND expression expression value rel_op value where rel_op is lt gt lt gt or lt gt value register or equation IF AC gt 56 AND IN1 1 AC 789 IF IN1 1 IF IN2 1 OR IN3 0 AND IN4 1 OR INS 1 IF INS IN6 IF AC gt 6 VM IN1 3 9 OR IN7 1 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 83 4 10 Command Description 4 10 35 Command Modes Range Description Usage 4 10 36 Command Modes Range Description Usage Integral Summation Limit IL IL 1 2 3 4 5 0 32767 K has the same effect on instantaneous errors as Kp K normally determines how the system reacts to persistent errors but in order for the system to react quickly to changes the value of K must be increased In order that the accumulated error does not reach unacceptably high levels an Integral Summation Limit
116. nected incorrectly or not connected at all Correction Ensure that the motor is free to move when the Controller is switched on Also check the encoder connections E29 Supply Voltage exceeds 95 V The power supply voltage has exceeded 95V Example The power supply voltage is too high or the motor is being decelerated too quickly Correction If the power supply voltage is too high it must be reduced During deceleration the motor can send current back to the Controller causing an increase in the supply voltage The deceleration AC must be reduced until the error disappears The problem can also be alleviated by using a Power Dump shunt resistor See Power Dump Output page 37 E30 The motor is not connected The motor is not connected Example The motor does not move Correction Check the motor connections E31 Average Current cannot be measured correctly The average current value cannot be measured correctly Correction Turn the Controller off and then on again If the error condition persists a hardware error has occurred It is important to note that the motor must not be moving when the Controller is switched on E32 HALL element is not connected properly The Hall element s signals are not connected or are faulty Correction Check the Hall element connections and check that the Hall register and HL are adjusted correctly If operation without the use of a Hall element is required the Hall register is
117. nected while adjusting the analogue input PO x Set motor current on off PO Show current PO status Pulse Output Format POF POF 1 2 3 4 5 1 2 The POF register determines which signal is output at the pulse outputs 40 and BO The following two formats can be selected POF 1 Pulse Input XI and YT signals are output at AO and BO Monitoring respectively POF 2 Motor s encoder Channels A and B of the motor s encoder To overall PC are output in undecoded form at AO and BO or PLC controller module See also Pulse Outputs page 35 POF x Set Pulse Output Format x POF Show current Pulse Output Format JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 97 4 10 Command Description 4 10 67 Command Modes Range Description Usage 4 10 68 Command Modes Range Description Usage Phase offset angle POFFSET POFFSET 1 2 3 4 5 1 32767 The POFFSET command sets the phase offset angle used to maintain proper motor commutation The value specified is in units of encoder counts and represents the offset from the index mark in encoder counts to the phase A maximum output value cosine of angle 0 This parameter can be changed on the fly if desired POFFSETL x Set the phase offset angle POFFSET Show phase offset angle setting Number of Motor Poles POL POL 1 2 3 4 5 2 100 poles In order for the motor to be commutated correctly it is vital th
118. ng examples shows how a program segment can be used to wait for input from IN1 or IN2 When IN1 is active 1 the acceleration is set to 500 and the program continues If IN1 is inactive 0 and IN2 is active 1 the acceleration is set to 900 and the program continues START IF IN1 1 1N1 active set AC 500 AC 500 ELSE BEGIN IF IN2 1 IN2 active set AC 900 AC 900 ELSE J START Jump to START if neither IN1 nor IN2 is active END Note if more IF ELSE statements are used in connection you must use BEGIN and END tags Cf and can be used instead of BEGIN and END JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 61 4 7 Program Execution in the AMC12 4 7 9 Error messages during programming and program execution Three types of error message can occur during programming and program execution grammatical errors syntactic errors and errors during execution runtime errors A check for grammatical errors is carried out immediately during transfer of a program to the Controller A check is made to ensure that the individual commands and operators exist that absolute values are not too large etc A check is also made to ensure that commands are used in the correct context For example the following program line AC H will result in the error message Error This command must not be included in an equation The H command is not of the register type When a program is transfer
119. ntroller s non volatile memory by pressing EEPROM If the encoder type is set via the on line editor the ET command is used Example ET 0 enter Set encoder type to PNP ET 1 enter Set encoder type to NPN ET enter Display current setting for encoder type To store the setting in the Controller s permanent memory key MS enter JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 133 5 6 Connection of an unknown motor type 5 6 3 Setting the Index Input It is recommended that an encoder with an index channel is used If an encoder with index channel is used the Controller s Index Input EZ1 and EZ2 must be set up for the encoder index polarity If the index pulse is active high i e that it only becomes high once per revolution the High field should be crossed otherwise the Low field should be crossed Illustration of active levels Encoder with active high index Encoder with active low index Encoder a Encoder R A channel A channel gt e degrees gt 90 degrees Encoder A Encoder 3 B channel B channel Encoder I Encoder Index channel Index channel TT0009GB If the index input level is set via the on line editor the INDEX command is used Example INDEX 1 enter Set active level to logic high INDEX enter Display current active level setting 134 JVL Industri Elekt
120. nual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 90 Command Modes Description Usage 4 10 91 Command Modes Description Usage 4 10 92 Command Mode Description Usage Analogue Input Zero point Voltage VVO VVO 4 5 This command is used to calibrate the analogue input s zero point voltage To calibrate the Controller the zero point voltage should be applied to the input and the command sent to the Controller The Controller will then reset the input In the majority of cases the zero point voltage will be 0 Volt but this is not a requirement however The zero point voltage must lie within the range from the maximum negative voltage to the maximum positive voltage See Adjustment of Analogue Input page 66 for further infor mation about the use of this command VVO Zero point voltage is calibrated Analogue Input Maximum Positive 10V Value VVU VVU 4 5 Calibrate full scale set positive voltage max 10V at the analogue input and send the VVU command The Controller will then calibrate the analogue input s positive voltage The positive voltage must not be less than the zero point voltage See Adjustment of Analogue Input page 66 for further information about the use of this command VVU Maximum positive voltage is calibrated Show all Parameter Set Values X X 3 The X command can be used to obtain a quick overview of all the values in th
121. obtained which can also be interpreted by other software programs Using the command EST an overview of text responses is obtained There are two error status registers Register 0 provides information about RS232 communication and set up errors This register accumulates and stores all errors that have occurred since the register was last read When the register is read the information is automatically erased Table 2 Error status bits Register 0 Error Value out of allowable range Incorrect number of parameters Unknown command command does not exist Not a command Error in parameter or value out of allowable range Error in register number or value out of allowable range Data cannot be stored in EEPROM Error in command checksum Parameter will be truncated No Program available See status register 1 0 1 2 3 4 5 6 7 8 9 1 1 Register 1 provides information about Controller and motor errors Some error conditions may be temporary for example the maximum peak current may have been exceeded for a short duration and the corresponding bit set in the status register The error indication is cleared after reading the error status For critical vital errors motor operation is interrupted and the error information remains in the register and O2 is set high 1 The user must then either switch the system off and on again to reset the error status or use the RESET command J
122. ock commutation If a HALL element is used the PT and IMCL parameter settings can be disregarded PT x Where x specifies the duration in milliseconds for initialisation PT Show current value of PT User registers R Only AMC12 R Programming 0 99 The Controller includes 100 user registers which can be used freely in a program The registers can be assigned a value be included in equations etc The registers can contain values in the range 2147483648 2147483648 Rx v Set register x the value of v Rx Show the value of register x R1 100 R1 2 AC 34 R99 R67 Show the value of register 67 on the RS232 IF R45 gt 666 OR R1 99 R2 AC JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 103 4 10 Command Description 4 10 75 Command Modes Description Usage 4 10 76 Command Modes Description Usage 4 10 77 Command Modes Range Description Usage Reset Controller RESET Reset 1 2 3 4 5 If a system overload occurs for example if the supply voltage is too high see the ES command the system must be reset before motor control is possible again The Reset command has the same effect as turning the Controller off and then on again The Controller s set up values can be stored using the MS command before the Reset command is used Warning When using the Reset command do always keep a minimum delay of 1 second before sending additional commands RESET Reset C
123. ommands in a program AC 330 Set acceleration to 330 RPM s VM 500 Set max velocity to 500 RPM SR 100000 Advance the motor 100000 pulses AP Show actual position via the RS232 interface User Registers All registers can be used for temporary storage of values Since some registers have direct effect on motor movement as mentioned above the Controller is equipped with 100 user definable registers denoted RO R99 These can be used freely to store intermediate values can be used and included in arithmetic expressions in the same way as any other parameter such as the servo parameters KD KI KP or acceleration AC The user registers can store values in the range 2 147 483 647 to 2 147 483 647 and can be saved in the Controller s non volatile memory using the command MS2 When the contents of the user registers are saved in non volatile memory they must be recalled using the MRI command before they can be used Examples of the use of user registers R1 R2 Set register 1 R1 equal to register 2 R2 R1 R1 Negate the value of register 1 R1 R2 Negate the value of R2 and save the result in R1 R3 R1 R2 Negate R2 multiply by R1 and save result in R3 R1 KP 10 Multiply KP by 10 and save the result in R1 54 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 7 Program Execution in the AMC12 The user registers can also be used for indirect addressing by used of square bracket
124. ontroller Terminate sub routine RET RET Programming RET Return is used to terminate a sub routine See Call of sub routine page 63 RET Return to main program Report Motor Status RS RS 1 2 3 4 5 0 3 During operation the system can report information about the status of the motor stationary running etc using the RS command RS Motor Status O stationary 1 accelerating 2 max velocity 3 decelerating 104 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 78 Command Modes Description Usage Report Motor Program Status in text RST RST 1 2 3 4 5 During operation the system can report information about the status of the motor stationary running etc using the RST command For the ACM12x controller this command will report program status also RST Motor Status Stationary Motor Status Accelerating Motor Status Running Motor Status Decelerating The following apply to the AMC12x only Program Mode Standby Program Mode Programming Program Mode Running JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 105 4 10 Command Description 4 10 79 Command Modes Description Usage 4 10 80 Command Modes Description System Default SD SD 1 2 3 4 5 The SD command is used to recall the Controller s factory default set up Note however that after recalling the
125. or set up programming of Controller Handle for use when Controller is removed from 19 rack Controller can also be mounted on a surface in a cabinet etc using BASE1 mounting plate Mounting holes for fixture in 19 rack JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 1 3 Overview of Operating M odes 1 3 1 Basic Modes of Controller Operation The AMC series of Servo Controllers includes many individual features for use in a wide range of applications The Controllers are operated in one of five basic modes of operation which are selected using the Mode command MO The basic modes of opera tion are as follows 1 Gear Mode In Gear Mode the Controller functions as in a step motor system The motor will move one step each time a voltage pulse is applied to the Controller s pulse inputs Velocity and acceleration deceleration are determined by the externally applied pulse frequency Configuration of these pulse inputs enables the following e Connection of an incremental encoder so that the motor operates at a selectable gearing ratio in relation to the encoder electronic gearing e Connection of a step pulse and direction signal to the 2 pulse inputs This repre sents a typical step motor configuration e Connection of a pulse signal to one of the two pulse inputs If the motor is required to move forward pulses are applied to one input if the motor is required to move in the opposit
126. or similar i l Li T i O 1 Li i i Li i Motor Output Power Dump output Industry bus out NPN Output Industry bus in gt Hall Input User Outputs Encoder Input Pulse Inputs Inductive ES sensor or similar O User Inputs j HNL E 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor Pulse Outputs TT0024GB 3 3 1 3 3 2 3 3 3 General The Controller is equipped with a total of 8 digital inputs Each input can be used for a variety of purposes depending on the basic mode of Controller operation selected The Inputs are optically isolated from other Controller circuitry All of the Inputs have a common ground terminal denoted IN Note that this terminal is also used with the end of travel limit input and reset Home input Each Input can operate with voltages in the range 5 to 30VDC Note that the Inputs should normally be connected to a PNP output since a positive current must be applied for an input to be activated Connection of NPN Output If an Input is connect to an NPN output a Pull Up resistor must be connected between the Input and the supply See above illustration The value of the resistance used de pends on the supply voltage The following resistances are recommended Supply Vo
127. otor Connection csoseedceceyissoocsusoaseneseestosestpanesnsageseoseseovscaesesdnendineegutestensbeterosesagendensasessecennaans 141 Typical Appl AAA wnebtesdencusassssenesasdendesssesdenssasae odes ssdeedbsosodesdeetestovesdes codes 143 Connector Bard tai 144 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 Introduction JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 1 1 Features 3 Bxtended functions in AMC11 and AMC12 gt 15 8000C AMC10 12C gt Ll 3 2yphase Brushless 15 80VDE te fered vover spy Lo tags fn Data curr O servo or AMC11B 12B 9 ed let Driver Step motor 230VAC 1 External Internal Reset and Scere AJ D converter Ballast Power Dump power temperature Signal processor Shore for digital Resistor supply monitoring current loop Analogue output Motor torque Transceiver gt Opto coupler Balanced Encoder input RS232 Interface lt DaisyChain gt e interface logic Digital Fiter e P rh a lt b 4 Hall input 8 Basic inputs gt Opto coupler Opto coupler Pulse inputs oe at alice MESTE y a thy DN AS lt lt e Encoder input 8 Basic outputs lt j pe a gt electronic gear Program Processor Analogue output gt Op
128. pretation will not begin until the entire command line has been received 1 e is terminated by a lt CR gt A maximum of 80 characters may be sent in a single command line If the Controller is set to use addressing ADDR gt 0 the string can be terminated by Checksum In industrial applications electrical noise from motors etc often occurs This noise is quite arbitrary and random and cannot be eliminated 100 even by effective electrical filtering To ensure correct transmission of Controller commands therefore a checksum can be used A typical command line may be as follows 25KP 25 KI 471d TT0037GB In this example addressing is used address 25 Two commands delimited by a semi colon are transmitted followed by a checksum The checksum consists of two cha racters The checksum is a simple checksum and is calculated in the following way First the ASCII value of each of the characters in the command line is determined These values are summed and the two least significant characters the least significant byte of the result s hexadecimal value are used The two least significant digits are converted to ASCII values and transmitted along with the command line The actual calculation in this example is as follow 50 53 75 80 61 50 53 59 75 73 61 52 55 797 decimal 31d hexadecimal The checksum is thus 1d which is sent as ASCII 49 decimal and 100 decimal The hex characters a f can also b
129. put AIN The input voltage must be in the range 10V to 10V with negative voltages producing motor movement in a negative direction and positive voltages producing movement in a positive direction The VM command is used to specify the maximum velocity i e the velocity at which the motor will rotate for maximum voltage applied to the analogue input The numeric value of the full scale voltage does not have to be the same in both the positive and negative direction Use the VVx commands for adjustment of the Analogue Input Once the servo loop has been adjusted the Controller will ensure that the required velocity is maintained regardless of whether the motor is loaded or not The load however must not be so great that the current limits are exceeded If the rated current or peak current limits begins to regulate motor operation will be very unsmooth and in extreme circumstances the motor will resonate If for example VM 500 rpm and the analogue input voltage is set to 5V the motor will rotate at 250 rpm in a positive direction See also Getting Started Velocity Mode Mode 4 page 8 Use of Velocity Mode Select Velocity Mode MO 4 Adjust the servo loop If necessary see Adjustment of Servo Regulation page 16 If necessary adjust the analogue input See Adjustment of Analogue Input page 66 Set the maximum velocity using VM The motor can now be controlled via the analogue input AIN Commands of particular interest in this
130. put 24 25 26 0 O1 47 OR 91 OUT 92 Outputs Power Dump Output 37 Pulse Outputs 35 User Outputs 27 Overload Voltage 31 Overview of 118 P P terminal 31 P terminal 31 PE 92 Peak current 79 PL 94 PLS 94 PM 94 PNP 24 25 26 PO 95 POFFSET 96 Positioning Mode 6 46 Positive Limit Switch 94 Power Dump Output 37 Power Supply 31 PROGRAM 100 PROM error 127 Pull Up resistor 24 25 26 Pulse input 33 34 Pulse Outputs 35 R R 101 Register Mode 7 47 RS232 118 RS232 Interface 38 39 40 RST 103 S Servo 126 Step pulse 45 Step pulse input 33 34 T Torque Mode 9 64 U User Inputs 24 25 26 User Outputs 27 V Velocity 107 Velocity Mode 8 50 64 VM 50 107 VOL 107 Voltage Overload 31 VVL 108 X XAn 110 XPn 110 XRn 111 Z Zero point seek function 63 Zero point Status 112 ZS 112 JVL Industri Elektronik A S Brugermanual AC servocontroller AMC10 11 12 146 JVL Industri Elektronik A S User Manual AC Servo Controller AMC10 11 12 147
131. put is protected against voltage overload up to 100V peak and has a built in filter which removes input signal noise Always use screened cable to connect the source used to control the Analogue Input since the motor etc can easily interfere with the analogue signal and cause instability The Controller is equipped with an analog to digital converter ADC which converts the measured analogue signal level The ADC has a resolution of 11 bit which gives a total operating range of 2048 steps 36 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 13 Power Dump Output Industry bus in User Outputs User Inputs Connector DIN41612 ver C a Power Supply in E un 15 80V DC E P R Min 15 Ohm Power Dump output Industry bus out PDO activated PDO V when voltage exceeds 89V Hall Input Time Encoderinput voltage v Energy fed back fom 89V Nom 80V Pulse Inputs Time Velocity Pulse Outputs Time Hral 10V Input End of travel inputs Home Reset input Secondaryaxis 318 Analogue output 328 torque monitor 3 13 1 3 13 2 General Aspects of the Power Dump Output If the Controller is used in systems in which there are very large inertial loads flywheels etc a problem can arise during deceleration with energy being
132. puts Home Reset input Incremental Secondary axis encoder Analogue output For electronic gearing an torque monitor incremental encoder is used 3 10 1 General The Pulse Inputs are used in Mode 1 Each time a voltage pulse is applied to the Inputs the motor moves a specified amount This amount is determined by the GEAR command and the encoder resolution Both In puts are equipped with a built in noise filter which cuts off all frequencies above 1MHz The diagram on the following page illustrates minimum durations for the signals Note that if the source used for the pulse and or direction signal has a PNP output the Inputs must be connected as shown for PNP above Similarly if the signal source is of the NPN type the Inputs must be connected for NPN above It is recommended that screened cable is used 3 10 2 Input Voltage As standard the Inputs are designed to operate with voltages of 5V If greater input voltages are used a resistor R must be connected as shown in the above illustration The value of the required resistance is given in the following table See also the description of Mode 1 Getting Started Gear Mode Mode 1 page 5 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 10 Pulse Inputs Input Configuration 1 Input Configuration 2 Input Configuration 3 Inp
133. r fi fi fr fo Jo i xas7 xvsr xe57 Jxrs7 5 fr i fr fo Jr fo xass o xvss ess Rss 5 fr i fr fo Jr i xaso xvso xrso xrso 60 fi i fr i Jo fo xaso kvo xro xro er fr fi fr fi Jo fi xaer xver xrer xrer fait fi fr fi Jr fo xae Jxver xrer Jxre 0 Low Inactive 1 High Active 50 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 4 Register Mode MO 3 Set up of parameter set Example 1 Sent to Controller XV1 1000 Set velocity in parameter set I to 1000 rpm Received from Controller Y Example 2 Sent to Controller XVI Show parameter set 1 Received from Controller XV1 1000 Example 3 Sent to Controllerxv Show all parameter sets Received from Controller XV0 0 XV1 1000 XV2 200 XV63 0 Velocity profile DE A A ter X18 Register x2 IN1 IN6 Register x1 Regis T l l l l l l l l l l End of travel PL NL Pause IN7 At position Output O1 i Do i uc M A A A Front panel TT0052GB Figure 2 Time history for selection of parameter set and end stop Note that if the end of travel is activated the current motor operation sequence is stopped JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 5 Velocity Mode M O 4 Analogue control of the motor velocity can be achieved using the analogue in
134. r logical expressions Operators on the same line of the table have the same rank i e multiplication and division are ranked equally and an expression is evaluated from left to right For example 2 35 3 results in a value of 23 and 35 3 2 gives a value of 22 note integer arithmetic is used here The table is listed in order of precedence Thus and have a higher rank than addition and subtraction This means that multiplication and division are calculated first For example 35 3 2 gives the result 41 Parentheses can be used to change the order of evaluation of arithmetic operators For example the expression 35 3 2 results in a value of 76 58 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 7 Program Execution in the AMC12 4 7 7 Operators that can be used in arithmetic and logical expressions Operator Order of evaluation el left to right left to right lt gt lt gt lt gt left to right AND left to right OR left to right value assignment right to left Logical equations Logical equations are used to evaluate whether one of more conditions are fulfilled in connection with IF statements Formally the syntax is as follows Logical equation logical expression OR logical expression logical expression logical factor AND logical factor logical factor value rel_op value where rel_op is lt gt lt gt or lt gt value
135. r signals must be within the voltage range 0 to 5V Note The cable between the Hall sensor and the Controller must always be screened cable and the screen must only be connected to the Controller s encoder hall chassis ter minal ECM For further details see Setting the Hall Element page 139 30 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 3 9 Power Supply P P PowerSupplyin 4 15 80V DC Motor Output PowerDump output gt Far Industry bus out gt N Industry busin 97354 gt rS Hall Input o pr o o i O User Outputs o au Encoder Input fo e fe fe NES ze 00 Pulse Inputs z 2 2 GAS UserInputs zZ ES Pulse Outputs z rr Fd N Z fa 10V Input End of travel inputs Home Reset input Secondary axis Analogue output torque monitor 3 9 1 3 9 2 3 9 3 3 9 4 General Aspects of Power Supply Powering of the Controller is relatively simple Types AMC10B AMC10C and AMC12C require a supply voltage in the range 15 80VDC Type AMC11B 12B is equip ped with a built in mains supply and must therefore be connected to 230V AC see de scription on page 32 Power Supply of AMC10B AMC10C and AMC12C To ensure that powering of the Controller is as simple as possib
136. ram segment START IF IN1 1 If IN1 is equal to 1 next line is executed J OK Jump to label OK ELSE If IN1 is O execute line after ELSE J FEJL Jump to label ERROR OK OUT5 1 Set OUTS J START Jump to label START Begin again ERROR OUT5 0 Clear OUTS J START Jump to label START Begin again is translated to IF IN1 1 Call of sub routine If the same sequence of commands are used often then it is a goog ide to make a sub routine A sub routine is started with a lable and terminated by the RET command A sub routine is called by the JS Jump Subroutine command When the JS command is executed the program execution will continue from the line number specified by the command in the form of a number or a lable When the RET Return command is encountered in the sub routine the program returns to the main program at the line immediately after the JS command and continues from there Following is a exampel of the use of a sub routine R5 500 R6 1000 R1 5 JS TEST set accelerationen to 500 R1 6 JS TEST set accelerationen to 1000 J END TEST AC R R1 RET END JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 63 4 7 Program Execution in the AMC12 4 7 12 Pause in program execution Delay The D command pauses program execution The break in msec is defined by writing D pause or D pause While a program line is executed every 2 msec the delay specified wil
137. rd Display thumbwheel BCD data from PLC equipment printer extra inputs digital to analogue modules etc All of the above mentioned external modules are intelligent and will there fore contain registers whose contents can be read into the Controller s registers using the INPUT command The size and number of registers in external modules may vary but each module has at least register INPUTx y Command Format x Specifies the address of the external module from which input is required The ad dress parameter must be specified as a value between 0 and 31 The RS485 interface enables up to 32 modules to be connected to the interface The address of each mod ule must be set via DIP switches on the individual module y Specifies the register in the external module from which input is to be read n2 must be specified in the range 0 255 An IOM11 module has 16 inputs and 8 outputs are used The Module address is 5 All 16 inputs are to be read and tested to determine if the value is 255 If this is the case the mod ule Counter is read and the program continues In the instruction manual for the IOM11 module the Counter register is specified as register 2 and the register for all 16 inputs is 3 READINP R10 INPUT5 2 READ ALL 16 INPUTS AND TRANSFER CONTENTS TO R10 IF R10 255 IF INPUTS NOT EQUAL TO 255 READ AGAIN J READ COUNT J READINP ELSE READ COUNTER VALUE AND CONTINUE PROGRAM
138. re 31 Pulse Inputs sts a TA 33 Pulse Outputs a teen aged didas 35 Analogue put kaimanan ale edad cvipaios T EOR E A E E dosnvexsulssteusvedss diodo dates 36 Power Dump Output aa a 37 RS232 Interfaces RN 38 Module Interface iris ns dc cusses E REEERE ERO EAE ARAS 41 SOLE WEE Ke 43 Wse 0f RS232 Commands ee ii dd diria 44 Gear Mode MOS Distri in di a a oda dada 45 Positioning Mode MO A ia edit 46 Register Mod MOS ti dai 47 Velocity Mode MOSS rotatorios babe ht andea See aaaea de ae vend sa sdeenedbeestabnaeageansddaged ches gee 50 LOQUE Mode MOS A A capbanebaovepsanades 51 Program Execution in the AMC12 esseenonnsnrsnevnennsvsvnevrevnsvnsvavrevnsvnsvevnennsnnsnennensennsvavvevssvnsvavvevssvnsvasnennsensvavsenssnnseee 52 Mech mc l Reset ci tios 63 Adjustment of Analogue Input essiri e ER ARE E AEN AAEE GAEREN a E 64 Command Description sus nra e aE AR AO E A AA E EE ATAA A lenet RTAS 65 Error Messages hanen ARNE 113 Alphabetical Overview of Commands rnvnrvnvvnnrnnrrververernervervensenerverernrsnenvenesnesnasveveessevesvevsevssvanveveevssvasvesvenssnene 118 Appendix asen OOO 121 Technical Data dida 122 Physical DIMENSIONS voor dianas Sten a E A E N o es REE eE E AAN A Ea E AOE EEs 123 SELVO LOOP ise ss irie o E A E A R E E E IA 126 Error Indication O A A Bea 127 COMMON td AA 128 Connection of an unknown motor type oo eee cece cece ese tseeeceecseeseeseseesessesscsecsesaesscsessessesscsesssssstseeseesaaeaes 129 Examples OF M
139. rection the pulse signal is connected to YI Reserved for future use Cannot be selected fy we Incremental encoder format Electronic gear Same as PIF 1 with a 200 kHz filter at the signal input The input can be connected to a standard incremental encoder with 2 channels which are shifted 90 degrees in phase Pulse and direction format Simulation of step Same as PIF 2 with a 200 kHz filter at the signal input motor system A pulse signal is connected to XI to control the motor s Control from PLC position and velocity A direction signal is connect to YI controller module to determine the direction of motor operation Pulse Pulse format Simulation of step Same as PIF 3 with a 200 kHz filter at the signal input motor system A pulse signal is connected to XI to control the motor s Control from PLC position and velocity in the positive direction of operation controller module If the motor is required to operate in a negative direction the pulse signal is connected to YI See also Pulse Inputs page 33 Usage PIF x Set Pulse Input Format x PIF Show current Pulse Input Format JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 95 4 10 Command Description 4 10 61 Command Modes Description Usage 4 10 62 Command Modes Selection Description Usage 4 10 63 Command Modes Range Description Usage Show power consumption PL PL 1 2
140. red via the MotoWare program editor and an error occurs transfer is interrupted and the line containing the error is highlighted When a program is interpreted during execution any syntax errors are found while the program is in use During testing therefore it is important to use MotoWare with the On Line editor window open During execution the Controller will automatically transmit any error messages The following is an example VM 500 AC VM CP This line has incorrect syntax IF VM gt 600 VM 900 The above program segment will result in the error message Error in line 1 Des Syntax indicating a syntax error in line number 1 VM 500 R4 14 AC VM IF VM gt 600 OR AC lt gt 800 Right closing bracket missing after 600 The above program segment will result in the error message Error in line 3 Des Right paraentes expected indicating that a closing bracket is missing in line 3 Remember that line numbering begins with line 0 If syntax errors occur program execution is stopped The third type of error is those that occur during normal operation of a program that functions These are not program errors as such but errors for example in the use of registers Assigning a value which is too great or too small to a register during online control will normally result in the error message E2 Out of range During program execution however this type of error will not generate error messages on the RS232 interface Instead
141. register or arithmetic expression Logical equations may use ordinary arithmetic expressions registers relational operators lt gt lt gt or lt gt and logical operators AND and OR The order of evaluation for OR and AND cannot be changed using parentheses A logical expression must be specified before and after an AND or an OR operator A logical expression must contain a relational operator Thus it is not sufficient to specify an expression such as AC OR VM but an expression such as AC gt 0 OR VM gt 0 is legal As many relational and logical operators as required may be used providing the formal requirements are met A logical equation may also include arithmetic expressions in which the result is compared to value register or another arithmetic expression The following illustrates examples of logical equations IN1 1 OR IN2 1 OR IN3 1 AND IN4 1 is true if IN1 or IN2 is 1 or IN3 and IN4 is 1 AC gt 8 4 3 AND IN1 IN2 IN3 IN4 is true if the acceleration is greater than 8 and when IN is 1 at the same time as IN2 IN3 and IN4 are 1 or IN1 0 and only one of IN2 IN3 or IN4 is O AC lt gt VM IN1 is always true when the acceleration is greater than zero and different from the velocity The following are illegal AC gt 45 OR VM lt 67 AND AC lt gt VM parentheses cannot be used to change the order of evaluation of OR and AND the right bracket is expected after 45 IN1 OR IN2 relational opera
142. ronik A S User Manual AC servocontroller AMC10 1 1 12 5 6 Connection of an unknown motor type AMC10 Basic Motor Parameters x Motor r Commutation Constants PhaseNo C2 3 Kphase Magnetic Poles e Poffset Initialization Active Level Number of Hall Elements Index Low High poles set here Motor Level Hall Low High Encoding Encoder Type PNP KI Pulse rev 5 6 4 Setting the number of motor poles The motor s number of poles must be specified for the Controller to function correctly If the number of poles is specified incorrectly the Controller will produce an error after start up or during the first motor operation and report the error message E28 The encoder is not connected or the motor is blocked The number of poles can be specified in the range 2 100 The majority of 3 phase servo motors have 2 4 6 or 8 poles A typical step motor has 100 poles 200 steps revolution The number of motor poles is most easily set using the parameter window Key in the number of poles in the Magnetic poles field and send the information to the Controller by pressing Send If required save the setting in the Controller s non volatile memory by pressing EEPROM To set the number of poles via the on line editor the POL command is used Example POL 8 enter Set the number of poles to 8 4 sets POL enter Display the current number of poles setting
143. rror Current T gt 80 128 5 3HE AMC10C O el Y 81 1 16TE JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 127 5 3 Servo Loop The Controller uses a PID Proportional Integral Differential servo loop as illustrated in the figure below Desired position To motor commutation gt Actual position TT0041GB Figure 7 AC servo 5 3 1 Mathematical Description of the Servo Loop The servo loop can be mathematically described as follows P En KP I S En KI S S En D En E n 1 KD Where En Instantaneous error level E Previous error level S Sum ofall previous measurements Note that S is limited by the integral summation limit IL The servo loop can be adjusted using the IL KP KI KD KVFF BIAS parameters 128 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 5 4 Error Indication 5 4 1 5 4 2 5 4 3 5 4 4 5 4 5 5 4 6 In addition to their normal function the Controller LEDs are also used to indicate vital error conditions The following describes the normal functions of the LEDs and then their additional functions See also Error Status Text EST page 78 concerning Controller er ror messages Error LED The Error LED is lit when a fatal error occurs A fatal error is an error which prevents motor operation e g a fault in an encoder cable the motor is jammed a temperature overload s
144. s and R 3 and R3 will give the same result and gives the possibility of using another register or a equation as index for the register Following are examples of indirect addressing VM R R5 CA R R5 1 4 7 4 Programming the AMC12 using MotoWare Using MotoWare programs can be easily developed and saved in the Controller Proceed as follows to create a new program 1 First open a new program document either by selecting FILE and then New or by selecting the new document icon Open a new program document am MotoW are Moto1 File Edit MainKeys View Window Applications Setup 2 Select the correct Controller type and if required whether addressing and checksum are to be used Document status AMC1xx must be selected here otherwise the selected Controller type is incorrect ee Controller AMC1xx Chksum If Controller type checksum status Address or addressing is to be fo KILL HALT changed select SETUP AAA JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 55 Program Execution in the AMC12 3 Key in the program in the program document editor window Key in program here at MotoWare CP_TEST MCP o el AC 50000 Set accelerationen til 50000 jo ARGE PE f Position error disabled O START CP 12 Peak str m 12 A Controll ses d Positionsmode AMC1 T IF IN1 1 IN1 a
145. sed AC ADDR AP CHS Gr JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 81 4 10 Command Description 4 10 33 Command Modes Selection Description Usage HALL Level Type HL HL 1 2 3 4 5 0 PNP or 1 NPN To achieve correct decoding of the HALL element in the motor if the Hall element is used it is vital that the HALL set up is correct HALL elements may either be PNP types or NPN types In addition both a balanced or unbalanced signal from the HALL element can be accepted For details of HALL element connection see Hall Input page 30 If a HALL element with a balanced output is used the setting of the HL value can be omitted If however an unbalanced NPN Hall element is used HL must be set to 1 HL 1 If an unbalanced PNP Hall element is used HL must be set to 0 HL 0 If a Yaskawa motor is used the setting of the HL parameter is unimportant since the HALL signal is encoded with the encoder signal itself and the HALL Input is therefore not used HL x Set HALL type HL Show current setting of HALL type 82 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 34 Statement Mode Description Usage Examples IF statement IF Only AMC12 IF Programming Program execution can be controlled using conditional statements If the condition specified by the IF statement is true not 0 the next li
146. sed The following resistances are recommended Supply Voltage Recommended Resistance 1kOhm 0 25W 3 3kOhm 0 25W 4 7kOhm 0 25W 2 2kOhm 0 25W JVL Industri Elektronik A S User Manual AC servocontroller AMC 10 11 12 25 3 5 Home Reset Input Connector DIN41612 ver C This diagram Is used If an NPN output IS connected A H i Power Supplyin i i 1 1 1 MotorOutput i inductive rs i i or similar ag Power Supply i Power Dump output 1 5 30VDC 1 1 1 i Industry bus out i 4 2 1 Industry bus in i NPN Output i as Hallinput O i 08 A o A 1 07 06 User Outputs re Encoder Input 03 02 01 0 IN8 Hin Pulse Inputs IN6 User Inputs NS PNP Output LIEN PulseOutputs LIN3 LIN2 I ad INT f ad 10V Input y y End of travel inputs Fuml ome af PowerSupply Note that End of travel inputs Secondaryaxis Inductive m 5 IN1 8 and HM input share a 318 TCM Analogueoutput Home Reset Input sensor 328 TAC torque monitor common ground IN or similar o i TT0013GB 3 5 1 General The Reset Input HM Home is used during the zero point seek function A zero point seek occurs after one of the following condit
147. sent back from the motor to the Controller supply This can result in increases in the supply voltage to a critically high level above the Controller s maximum working range To alleviate this problem the Power Dump Output PDO can be used This output can be used to sink the energy to an external shunt resistor and thus avoid that the Controller shuts down and reports an error Note that reduction of the velocity VM acceleration AC or peak current CP can minimise the energy surge from the motor Detailed Description of Power Dump The value of the PDO shunt resistor will depend on many parameters such as the max rpm of the motor the supply voltage how rapidly the motor decelerates etc It is however recommended that the resistor has a minimum value of 15 Ohm 50W The rated power of the resistor can be greater or less depending on the actual load 1 When the Controller registers that the supply voltage exceeds 89V the PDO output is activated and the Error LED is lit The Controller automatically transmits an error message E29 Supply Voltage exceeds 89 V 2 Ifactivation of the PDO output and thus the PD shunt resistor does not stop the incre ase in supply voltage the following occurs When the supply voltage exceeds 95V the Controller shuts down completely and the motor is short circuited and thus stops instantaneously The Controller sends an error message E24 Supply Voltage ex ceeds 95 V The PDO output is activate
148. ses page 136 Number of encoder pulses per revolution and encoder type parameters PR ET and INDEX See Set up of Encoder Resolution page 132 Values of the motor s allowable average current peak current parameters CA and CP See Adjustment of Motor Current page 137 It is recommended that the Controller is adjusted without using Hall elements even if the motor is equipped with Hall elements These should first be connected after adjustment If the motor does not have Hall elements follow the instructions in Start up of Motor without Hall Element page 142 If the motor has Hall elements these may be used See Setting the Hall Element page 139 Adjust the other critical parameters for the actual type of motor including KP KD and KI See Adjustment of Servo Regulation page 16 Velocity dependent commutation offset parameter KPHASE See Setting KPHASE page 141 For set up of other Controller functions see Software page 45 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 131 5 6 Connection of an unknown motor type 5 6 1 r Mode r Formats p Electronic Gear C i Gear EAS 2 Position Dolo Y Pulse rev Master C 4 Velocity Pulse Out Encoder p BI C 5 Torque p Protection Limits m Servo Constants m Profile RPM Power W gt oo D Pos Error Pulse ka hevet fr i s Ed RO H Pour
149. set to O normal See Hall element Type HALL page 81 E33 Position counter overflow The position counter has exceeded its maximum range from 1073741824 to 1073741823 Correction Avoid repeated use of the SR command or perform frequent system resets Possibly use SP absolute positioning instead of SR 118 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 11 Error Messages E34 Motor controller communication error Internal error The main processor is not able to communicate with the motor processor that takes care of the motor Correction Consult JVL JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 119 4 12 Alphabetical Overview of Commands mm vee PP Re faser ECO ECTS E E CC EE 330 CE ANd rogar TITT Kr 0 R ar fure Asus roion Jrs porras fa fo x x fx fr Jo e a Er eel ram eesosa TITT TT BAS 72 ep ET cs fuecs CTI ESSE e ar stos mercante fo fm i he pa co crear mag inerea i ee Pr cv stow monrcame Pe ee a J to cares Pe a fm p perans h pomas TI IT E pir CEC HEEE Poem TT E is fersevacnen f TITT G en fenioenmmer TITT A END Termine pos Pt e CCOO seve Posies fem dine i Po eres Od bm sr omorsawiee fe fr E E E EE A EC Et mero CES PESE E E E EE A ET Ext Jeanne O Pr GEAR carne vereen maserasi Joon far fet TT a Go feeen O O CCS CO forme AOS i 0 SC HALL CONCE Joi i E E Pp CU ete sroven
150. ssage Error messages consist of an E followed by a number followed by an explanatory text See Error Messages page 115 Example Sent to Controller VM lt CR gt Received from Controller VM 500 lt CR gt Sent to Controller VM 600 lt CR gt Received from Controller Y lt CR gt Sent to Controller VM 5 lt CR gt Received from Controller E2 Out of range lt CR gt When addressing is used the Controller will not acknowledge receipt of a command Any errors in communication will be stored in the error status register 0 This register can be read using the command ESTO enter see also Error Status Text EST page 78 Commands may be sent as both upper case and lower case characters With the exception of error messages replies from the Controller are always upper case The following sections described all of the RS232 commands As mentioned above all commands must be terminated by a carriage return character lt CR gt or a semi colon before they will be interpreted by the Controller These characters are not included in the description of the individual commands 46 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 2 Gear Mode M O 1 This mode is primarily intended for use as an electronic gear The Pulse Input XI and YI are connected to an incremental encoder and the motor will then follow this encoder The system can also be controlled as a step motor system via step pulse an
151. start up the motor will be supplied with a current specified by the Init Motor Level field or the IMCL command The current will be applied for the duration specified by the Init Time field or the PT command The duration is specified in milliseconds After this duration which is typically set to 1000 3000 ms the motor is moved to a position of equilibrium in the generated magnetic field and the Controller locks its commutation circuitry to the actual motor position Initialisation is then complete and the Controller is operational Set the parameters mentioned above and send the set up to the Controller by pressing Send To save the settings in the Controller s non volatile memory press EEPROM If the motor is required to remain completely stationary during start up the motor s Hall element must be used and the Hall register is set to 1 2 or 3 In this case the setting of the PT and IMCL parameters can be omitted See Setting the Hall Element page 139 142 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 5 7 Examples of M otor Connection 5 7 1 This section illustrates several examples of motor connection for 2 and 3 phase motors including the settings for vital Controller parameters For details of general set up and fine tuning see General Aspects of Installation page 12 Example 1 Yaskawa 3 phase motor 200W 200V Type SGM 02A3xxx Filename in Motorware for parameter set up SGM
152. t 80 C LEDs on the front panel flash simultaneously if the maximum pulse error is exceeded PE x Set pulse error PE Show current Pulse Error limit 94 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 60 Pulse Input Format PIF Command PIF Mode 1 Selection 1 2 3 4 5 6 7 Description The PIF register determines how the incoming pulse signal at the Pulse Input XI and YT is decoded The PIF register is only relevant when the Controller is set to Mode 1 Gear Mode The following Pulse Input Formats can be selected PIF I Incremental encoder format Electronic gear The bandwidth at the signal input is 2 MHz see PIF 5 The input can be connected to a standard incremental encoder with 2 channels which are shifted 90 degrees in phase Pulse and direction format Simulation of step The bandwidth at the signal input is 2 MHz see PIF 6 motor system A pulse signal is connected to XI to control the motor s Control from PLC position and velocity A direction signal is connect to YI controller module to determine the direction of motor operation Pulse Pulse format Simulation of step The bandwidth at the signal input is 2 MHz see PIF 7 motor system A pulse signal is connected to XI to control the motor s Control from PLC position and velocity in the positive direction of operation controller module If the motor is required to operate in a negative di
153. t Commutation Offset KPHASE KPHASE 1 2 3 4 5 0 32767 The KPHASE parameter is decisive for how far commutation of the motor is offset from the motor s actual position KPHASE is velocity dependent which means that it has increasing significance as motor velocity increases It is of vital importance to system performance that this parameter is adjusted correctly since poor adjustment will result in the motor not providing optimum torque at high velocities In the worst case the motor will not be able to run at full velocity and the system will produce an error when the positioning error exceeds the limit specified by the PE register see Maximum Pulse Error PE page 94 KPHASE x Set KHASE to value x KPHASE Show current KPHASE set up value JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 89 4 10 Command Description 4 10 49 Command Modes Range Description Usage 4 10 50 Command Modes Range Description Usage 4 10 51 Command Modes Description Usage Feed Forward Constant KVFF KVFF 1 2 3 4 5 0 32767 The Feed Forward constant is normally used when it is required that the motor must start very quickly The constant results in instantaneous application of current to the motor each time it is started or stopped Normally a start signal will pass through the PID filter and will therefore also be subject to the influence of KI KD and
154. t I Opto k E 2 End of travel limit inputs gt pelea ad Ly end dB Je axes 1 Zero point seek input ye D yeh gt Pulse output Flash PROM wih code protection 10V In InterbusS module 5 Velocity Al D Converter gt Onto coupler EN y Field bus 10 bit Si D 5 Raley Interbus S Torque ts a Expansion TT00446B Types AMC10 AMC11 and AMC12 comprise a se ries of compact programmable AC servo motor con trollers The Controllers are characterised by an ability for control via either the built in RS232 interface or an analogue input 10V In addition the Controllers can be controlled as in a step motor system via pulse inputs The Controllers can be configured for absolute rela tive positioning via 6 digital inputs The Controllers accept a balanced or unbalanced signal from a standard 2 channel incremental enco der All inputs and outputs are optically isolated and pro tected against voltage overloads The Controllers are equipped with 8 general purpo se outputs These can be configured for example to give a ready signal when the motor has reached its desired position or an error signal if an obstruction occurs that prevents motor operation The Control lers can be mounted in a 19 rack or mounted on a surface M ain Features Digital servo regulation loop Extremely precise positioning Small physical dimensions e Current 6A cont 12A peak AMCxxB e Current 12A cont 25A peak
155. t function than the other position registers The motor and encoder are connected correctly but still report an error Check that the encoder type is set correctly using the ET command page 79 The motor does not supply the correct torque It is important that the servo constants are adjusted The system cannot produce the correct torque if the servo loop is not adjusted Four LEDs blink simultaneously A problem has occurred with either the encoder or the motor The encoder has fallen off or the motor is jammed If the error occurs when the system is switched on see Set up of Encoder Resolution page 132 The error may also occur during motor operation In cases where the encoder and motor appear to be connected correctly check the maximum allowable pulse error using the PE command Maximum Pulse Error PE page 94 Check also the encoder type using the ET command see Encoder Type ET page 79 130 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 5 6 Connection of an unknown motor type This section should be followed if the Controller is to be adjusted for an unknown motor type which is not included in the MotoWare parameter list Proceed as follows 1 Find the following data for the actual motor and adjust the Controller accordingly Number of Poles parameter POL See Setting the number of motor poles page 135 Number of Phases parameter PN See Setting the number of motor pha
156. t up In this case the HALL command is used to set the Hall register to 0 If however it is required that the motor remains completely stationary during start up a Hall element must be used and the HALL command is used to set the Hall register to 1 2 or 3 The Hall element is used during start up to tell the Controller the position of the motor so that the commutation circuitry can lock the applied magnetic field at the motor s actual position without the motor moving The information from the motor s incremental encoder cannot be used for this purpose The Hall element is only used during start up The following Hall types can be selected HALL 0 Start up without HALL 2 Normal HALL use HLA HLB and MA HLC inputs Yaskawa HALL encoding type 1 Use only HALL 2 encoder inputs incl Index channel Yaskawa HALL encoding type 2 Use only HALL 3 encoder inputs incl Index channel Note that Yaskawa motors have their HALL signals encoded together with the encoder signals including the index signal This minimises the number of cables between the motor and the Controller See also Hall Input page 30 HALL xx Set HALL type HALL Show current setting of HALL type Command Overview HELP HELP 1 2 3 4 5 The HELP command is used to display an alphabetical list of the commands that can be used with the Controller HELPShow commands Sent to Controller HELP Received from Controller Following Instructions can be u
157. terminals at the 15 pin SUB D connector are used to other purposes and therefore must be left unconnected The illustration above shows the connection setup with the keyboard display module KDM10 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 44 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 Software JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 1 Use of RS232 Commands The AMC Controller can be controlled via its RS232 interface Controller commands are sent as ASCII characters terminated by lt CR gt ASCII 13 decimal or See also RS232 Interface page 38 Some of the Controller commands have associated command parameters others do not For those commands which use parameters transmitting the command alone without specifying the parameter will provoke the Controller to respond with the command and the currently set value of the parameter If no addressing is used the Controller always responds when a command has been received If the purpose of the command is to display a value or set up the required information will be sent as a reply or a Y will be transmitted to indicate that the command has been received In the event that incorrect information has been sent to the Controller for example a command that does not exist or a value that is out of range the Controller will respond with an error me
158. thout HALL Normal HALL use HLA HLB and Yaskawa HALL encoding type 1 Use only HAr encoder inputs incl Index channel 7 Yaskawa HALL encoding type 2 Use only ARES encoder inputs incl Index channel Note that Yaskawa motors have their HALL signals encoded together with the encoder signals incl index signal This minimises the number of cables between the motor and the Controller See also Examples of Motor Connection page 143 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 139 5 6 Connection of an unknown motor type Set the Hall type in the Hall elements field and send the information to the Controller by pressing Send If required save the setting in the Controller s non volatile memory by pressing EEPROM To set the Hall type via the on line editor the HALL command is used Example HALL 1 enter Set Hall type to normal hall sensor HALL enter Display current setting for Hall type To save the setting in the Controller s permanent memory key MS enter 5 6 10 Adjustment of Hall type In order to achieve correct decoding of the motor Hall element if this is used it is vital that the Hall set up is correct Hall elements can either be PNP or NPN types In addition both a balanced and unbalanced signal can be accepted from the Hall element For connection of the Hall element see Hall Input page 30 If a Hall element with a balanced output is used the sett
159. to Controller Received from Controller AMC10C ADDR 24 Note that the above is only an example If the Controller is a type AMC1xB the response would be AMC10B Similarly the address 24 in the above example will also depend on the actual address of the Controller in question JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 67 4 10 Command Description 4 10 3 Command Modes Range Description Usage 4 10 4 Command Modes Range Description Usage 4 10 5 Operator Modes Description Usage Example Acceleration AC AC 2 3 100 100000 rpm sec This command is used to specify the acceleration deceleration profile If the motor is running when the acceleration is changed the acceleration will first be changed when the motor has stopped Note that AC must under no circumstances be used in Modes 1 4 and 5 AC x Set acceleration in rpm sec AC Show acceleration Address ADDR ADDR 1 2 3 4 5 0 255 The Controller can be configured to react to all communication via the interface bus Point to Point communication In this case the Controller address must be set to 0 When the address is set to 0 the address must not be transmitted together with any command during communication with the Controller It is also possible to connect several Controllers to the same interface bus In this case each Controller must be assigned its own unique address in the range 1 2
160. tor missing JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 59 4 7 Program Execution in the AMC12 4 7 8 IF statement Logical expressions can be evaluated using an IF statement Together with ELSE the IF statement can be used to express decisions within the programming sequence Formally the syntax for the IF statement is as follows TF expression action ELSE action2 in which the ELSE clause is optional The conditional test is performed by evaluating expression If it is true action is carried out If expression is false and if an ELSE clause 1s included then action2 is carried out The IF statement is line based action must be specified on the lines following the IF statement and if an ELSE clause is used ELSE and action2 must be specified on the following lines action can include several command lines terminated by ELSE or ENDIF If action2 consist of several lines the sequence must be terminated by ENDIF otherwise the IF ELSE statement will only include first line and the following lines will always be executed Because of the above the following program segment will not work IF IN1 1 NB this program segment will not work IF IN2 1 AC ELSE VM If IN1 is 1 the program segment will work since the following line IF IN 2 will be evaluated If however IN1 is 0 the line IF IN2 1 will be skipped and the AC command executed The next line begins an ELSE clause Lines followin
161. type set here O Set up of active level on index input 132 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 5 6 Connection of an unknown motor type 5 6 2 The encoder resolution must be set to a value in the range 256 to 20000 pulses per revolution Set the encoder resolution in the Pulse rev S field and send the information by pressing Send If required store the value in the Controller s non volatile memory by pressing EEPROM If the encoder resolution is set via the on line editor the PR command is used Example PR 2048 enter Sets the encoder resolution to 2048 pulses per revolution PR enter Displays the current encoder resolution set up To store the value in the Controller s permanent memory key MS enter Setting the Encoder Type The encoder used with the AMC Controller can be of either a PNP or NPN type In addition the Controller accepts both a balanced and unbalanced signal from a standard 2 channel incremental encoder For connection of the encoder see Encoder Input page 28 The Encoder Type field determines which type of encoder is connected to the Controller If an encoder with a balanced output is used this setting can be omitted If however an unbalanced NPN type encoder is used the field must be set to NPN If the encoder is a PNP type the field is set to PNP Send the information to the Controller by pressing Send If required save the setting in the Co
162. ues must be set using software commands CA and CP The Controller Driver uses Mos Fet transistors which give exceptionally good perfor mance The motor voltage is regulated at a frequency of 24 3kHz which ensures that the motor does not produce any audible noise as a result of regulation The Driver s switching time is very short lt 200nS which can result in high frequency noise components in the cables between the Driver and the motor In certain situations this can result in undesirable influences on other electronic equip ment in close proximity to the servo motor system To avoid this problem the connection between the Controller and the motor should be made using screened cable as shown in the illustrations on pages 22 and 23 Furthermore it is strongly recommended that screened cable is also used for the encoder cable to avoid influences from the motor cable affecting the encoder signal Short circuiting of the Motor Output The Motor Output can withstand short circuiting between the FA FB FC and FD termi nals In addition all motor terminals can withstand short circuiting to ground or to the positive supply If a short circuit occurs the Controller will stop all activity and report an error condition by activating the red Current LED In addition the Controller s error register will be ac tivated See the ES and EST commands Allowable Motor Inductance The Driver can drive motors that have an inductance per phase in
163. ul during acceleration Power consumption is measured additively i e reverse power feeds from the motor during deceleration will be subtracted from the measured value The actual power consumption can be shown at any time using the PL command See Show power consumption PL page 96 PM x Set maximum power consumption to x watts PM Show actual level of the PM register 96 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 64 Command Modes Selection Description Usage 4 10 65 Command Modes Selection Description Usage 4 10 66 Command Modes Selection Description Usage Number of Motor Phases PN PN 1 2 3 4 5 2 3 This command enables the Controller to be set up to operate together with motors with 2 phases step motors or 3 phases AC servo motors If PN is set to 2 phases all 4 motor outputs denoted FA FB FC and FD are used If PN is set to 3 phases only motor outputs FA FB and FC are used See also Motor Connection page 21 PN x Set PN to the number of motor phases PN Show current number of phases setting Motor Current ON OFF PO PO 1 2 3 4 5 0 ON current to motor or 1 OFF no current to motor This command enables the motor current to be disconnected or connected This feature can be useful for example for operation in Velocity Mode MO 4 and Torque Mode MO 5 when motor current is discon
164. unction of the module s flags AO 1 lt a lt 31 1 lt 0 lt 255 A Keyboard Display Module has address 4 The module display is to be erased so that new text can be displayed The following command will erase the display and position the cursor at the top left hand corner of the display AO4 1 Erase LCD display An IOM11 module and the Controller are connected together in a system The IOM11 module address is 10 Output 4 is to be activated The following command is used AO10 4 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 69 4 10 Command Description 4 10 7 Command Modes Range Description Usage 4 10 8 Command Modes Range Description Usage 4 10 9 Command Modes Description Usage Actual Position AP AP 1 2 3 4 5 1073741824 1073741823 pulses The motor position can be read at any given time The position is given in terms of encoder pulses relative to the zero point The motor s position can also be reset by specifying an argument to the AP command It is recommended that the position is only changed when the motor is stationary AP x Set motor s current position to x AP Show motor s position in pulses Actual Position of the master axis APM APM 1 2 3 4 5 1073741824 1073741823 pulses The position for the master axis can be read at any given time The position is given in terms of encoder pulses relative to the
165. user program The EXIT or GO commands will end the programming sequence PROGRAM Set the Controller in programming mode 102 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 11 12 4 10 Command Description 4 10 73 Command Modes Range Description Usage Description Usage Examples M otor Initialisation Time PT PT 1 2 3 4 5 100 17694 The PT command is used to specify the duration during which the motor is initialised using the current specified by the IMCL register This duration is expressed in milliseconds If the motor used does not have a HALL element and the HALL register is set to 0 off the Controller will use the following algorithm for initialisation of the motor 1 After start up the current specified by the IMCL register is applied to the motor 2 This current is applied for the duration specified by the PT register 3 After this time which is typically set to 1000 3000 ms the motor moves to a position of equilibrium in the generated magnetic field The Controller then locks its commutation circuitry to the actual motor position 4 The initialisation sequence is then complete and the Controller is ready for operation Normally PT is set to a value of 1000 3000 corresponding to an initialisation time of 1000 3000 milliseconds This period is normally sufficient to position the motor precisely in the generated magnetic field and allow the Controller to l
166. ustri Elektronik A S User Manual AC servocontroller AMC10 11 12 2 2 Transfer of Parameters to the Controller Position Formats Digital input 1 r Electronic Gear AMC10 Parameter Set Eg F checksum Address Df Desto Gear Ratio Pulse rev Master Kd wi M Current Amps Mean Peak ii cz 3 Register Pulse In Encoder y C 4 Veloci C 5 Torque DE Servo Constants Profile RPM Kp Velocity 100 Accel S 500 Jerk 7575 0 aye fale I Protection Limits Power W Pos Error Pulse Active Level Home C Low High Negative Low High Positive Low High Port SUT IN Active high 1e Vv 9 9 Vv PE 2 oe g lv o g g Vv 99 A 7 Pause Vv 8 C Start stop VV LED select Input Output i Basics Register Get Setup Send Send set up to the Controller EEPROM File Close Save set up in memory The parameters will now appear on the screen in the parameter window These are the default values which can then be adjusted as required When all parameters are set as required they can be sent to the Controller via this screen Select Send to trans fer the parameters to the Controller The Controller will probably prompt to initiate a restart In this case answer Yes Then select EEPROM to store the parameters permanently in the Controller The Con troller is now set up for the selected motor Rest
167. uts XI and YI are supplied with Input XI is supplied with pulses Pulses applied to input XI move the motor signals from an incremental encoder and input YI determines the direction in a positive direction Pulses applied to Normally used for electronic gearing Movement occurs on the rising flanks YI move the motor in a negative direction Movement occurs on the rising flanks Function and minimum durations Function and minimum durations Function and minimum durations 2 0us 1 0us 1 0us 2 0us 1 0us 2 0us gt e gt gt gt gt e gt le a UT use UL LIU uses A L Pulse Pulse gt E PE e y 1420 degrees 2us Lops 1 0ps 2us 1 0us gt e gt E gt EN 2us w tUULIUUUL o P PUL UL B L Direction Loo Pulse __ Direction Direction Direction Motor Motor Motor Direction Direction Direction F TT0033GB 3 3 3 10 3 10 4 10 5 3 10 6 Pulse Input Format The Pulse Inputs can be set to 3 different configurations See above illustration These configurations are selected using the PIF command See Pulse Input Format PIF page 95 The 3 configurations have the following function For further details see Gear Mode MO 1 page 47 Input Format 1 This format is normally used if the Controller is used in a system as an electronic gear An incremental encoder is connected to the input to read the motor
168. zero point The position can also be reset by specifying an argument to the APM command APM x Set current position to x APM Show position in pulses Start program block BEGIN BEGIN Programming BEGIN is used in IF statements when more command lines must be connected in a block BEGIN can be used in IF statements only See IF statement page 60 IF AC gt 500 BEGIN AC 500 VM 1000 END 70 JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 4 10 Command Description 4 10 10 Command Modes Range Description Usage Bias after PID Filter BIAS BIAS 1 2 3 4 5 32767 32767 The BIAS command can be used in applications in which the motor is subjected to a persistent load such as in a lifting mechanism The BIAS command enables the static load to be balanced regardless of whether the load pushes or pulls on the motor This counter balancing is usually advantageous since the load on the PID filter is uniform regardless of whether the motor will move in one direction or the other and ultimately use of the BIAS function gives an easier adjustment of the complete system and thus a faster response time BIAS xx Set BIAS to xx BIAS Show current BIAS setting JVL Industri Elektronik A S User Manual AC servocontroller AMC10 1 1 12 71 4 10 Command Description 4 10 11 Command Modes Range Description Usage 4 10 12 Command Modes Selection

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