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1. m Guideline assistant m Control mode External reference Lx OK y Position C No Yes Setup ok Step 1 Inthe lt lt Contral mode gt gt group box select what do C Speed Analogue Incremental Encoder __ Cancel you want to control position speed or torque In the C Torque J Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or q trapezoidal mode The trapezoidal mode is possible only if your ea m Commutation method motor is equipped with digital Hall sensors once Trapezoidal Sinusoidal Motor m Axis ID selection Pil ha Drive Info V Set change axis ID Haw x Setup m CANbus r Protections FN Set baud rate FAW default x CANopen settings V Over current eS OSAN PA FAW default Motor current 5 4 A x for more than o o x 125 Kbps Ve P i Detect v Control error CC _ 220 Kbps Position error gt os rot 7 for more than E x Current limit IZ Control error Current controller Gp error EP 10 rem v for more than 3 s gt Motor over temperature Kp 3 258 Fia Ki 0 394 Tune amp Test Over current 25 A x for 20 s x Speed controller r External brake resistor a ET ae I Connected Activate if power supply EE fv p de ntegrallimi jn z z y r Inputs polarity Enable Limit switch Limit switch C Active high Disabl
2. Immediately OUTO OUT1 Logic HIGH Default state after power up OUT2 Error OUT3 Ready Logic LOW Normal OUTO OUT1 OUT2 Error Logic HIGH operation OUT3 Ready Logic LOW Logic LOW output current 0 5A 0 2 0 8 Logic HIGH OUT2 Error OUT3 Ready 2 9 3 3 3 output current 0 no load OUTO OUT1 4 45 5 Output voltage V Logic HIGH external load to VLoc Vioc Absolute maximum continuous 0 5 Vioc 0 5 F t Absolute maximum surge duration lt 1S 1 Vioc 1 Logic LOW sink current continuous 0 5 A Logic LOW sink current pulse lt 5 sec 1 nu OUT2 Error Logic HIGH source 2 Output current current external load OUT3 Ready mA to GND VOUT gt 2 0V OUTO OUT1 4 Logic HIGH leakage current external 0 1 0 2 mA load to VLOG VOUT VLOG max 40V Minimum pulse width 2 uS ESD protection Human body model 15 KV 2 6 10 Digital Hall Inputs Hall1 Hall2 Hall3 Min Typ Max Units Mode compliance TTL CMOS Open collector Default state Input floating wiring disconnected Logic HIGH Logic LOW 0 0 8 Logic HIGH 2 5 Input voltage V Floating voltage not connected 4 4 t Absolute maximum surge duration lt 1S 10 15 Logic LOW Pull to GND 1 2 Input current mA Logic HIGH Internal 4 7KQ pull up to 5 0 0 0 Minimum pulse width 2 uS ESD pro
3. Selection of the Axis ID l anisa a rar ulebccdel ae 4 Step 2 Drive S Up iirscsccssosssnnnenicencnenasenenanenamneesssnnacnneureanenesugneucet 51 4 1 4 2 4 2 1 4 2 2 4 2 3 4 2 4 4 2 5 4 3 4 4 4 5 Installing PROconfig ee oes i et ah et ten een ete een ete chere Getting Started with PROconfig san StablIS COMMUNICAUONN Er ne tn ni der fra s de dant dont an Set pidrive MOLON arie e a a I eas Selecting NPN PNP inputs type in Setup Download setup data to drive motor Evaluate drive motor behavior optional Changing the drive AXIS ID trente tetes Setting GANDUS Fate nine rer inde init Creating an Image File with the Setup Data 5 Step 3 Motion Programming ne 60 5 1 5 1 1 5 1 2 5 1 3 5 1 4 Using a CANopen Master for PRO A0xV36 CANopen execution CiA 301 Application Layer and Communication Profile Overview CiA 305 Layer Setting Services LSS and Protocols Overview CiA 402 and Manufacturer Specific Device Profile Overview ccccecceeeeeeeeees ElectroCAN Extension iisic s etint a dotstonis dee deinen ee Made hate entame it ElectroCraft 2013 Vill PRO A0xV36x SA Technical Reference 5 1 5 Checking Setup Data Consistency
4. m Speed controller fe M z r i r Connected Activate If power supply gt 135 Yy X ntegral limi ja x z m Inputs polarity Enable Limit switch Limit switch Active high Disabled after power on C Active high Active high Tune amp Test Active low Enabled after power on Active low Active low m Position controller r Software limit switches I Restrict movement between Kp ee Integral limit fro Z x e Lim Positive Limit Ki 12 382 fo Acceleration 1073 8 rot z Feedforward p A Kd 317 6 j Speed operands for C d ry Kd filter 0 1 Move til aligned with phase A pe 34 x z ETA C Direct using Hall sensors Time to align on phases fi s gt Motionless start encoder only Tune amp Test The axis ID of a PRO A0xV36 drive can be set in 3 ways Hardware H W according with AxisID hex switch SW1 par 3 4 2 Software via Setup any value between 1 and 255 stored in the setup table If the drive is in CANopen mode a Node ID value above 127 is automatically converted into 255 and the drive is set with CAN communication in non configured mode waiting for a CANopen master to configure it using CiA 305 protocol A_ non configured drive answers only to CiA 305 commands All other CANopen commands are ignored and transmission of all other CANopen messages including boot up is disabled In absence of a CANopen master you can get out a dri
5. 61 5 2 Using the built in Motion Controller and MPL 61 5 2 1 ElectroCraft Motion PROgramming Language Overview 61 5 2 2 Installing MotionPRO Suite 22 5 c 03 dec ita Seca A Mate te ee 62 5 2 3 Getting Started with MotlonPRO Suite 2 2 rireredette teinte nn retiens 62 5 2 4 Creating an Image File with the Setup Data and the MPL Program 05 69 5 3 Combining CANopen or other host with MPL eeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 69 5 3 1 Using MPL Functions to Split Motion between Master and Drives 69 5 3 2 JExecuting MPL programs sas ad ced ater ae eae aden ges ra dent ee eas 69 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer 69 5 3 4 Customizing the Homing Procedures ccceceeeeeeseseneceeeneeteeeesneeeeeeeeeeeeenenses 70 5 3 5 Customizing the Drive Reaction to Fault Conditions 71 5 4 Using Motion Libraries for PC based Systems 71 5 5 Using Motion Libraries for PLC based Systems 71 6 Scaling fACIOrS nscmtrtenesssemensscemenssea ones cenvensreevone disease teens 72 Bale POSIIOMUNS ELLE ET RAR OA E Cr Te 72 6 1 1 Brushless DC brushed motor with quadrature encoder on motor 72 6 1 2 Brushless motor with linear Hall signals eeeeenneaeeeeeeeeeeeeee 72 6 1 3 DC brushed motor with quadrature
6. ElectroCraft 2013 34 PRO AOxV36x SA Technical Reference 3 3 11 Motor connections 3 3 11 1 Brushless Motor connection Brushless motor connection PRO A0xV36x SA CAN 4 phase Inverter Currents Info Figure 3 11 Brushless motor connection 3 3 11 2 2 phase Step Motor connection 2 phase step motor connection PRO A0xV36x SA CAN 4 phase Inverter Currents Info Controller Figure 3 12 2 phase step motor connection one coil per phase 1 coil per phase ElectroCraft 2013 35 PRO A0xV36x SA Technical Reference 2 coils per phase in series connection 2 coils per phase in parallel connection A1 A2 Af A2 B1 B2 B1 B2 A1 A1 A2 A2 B1 B1 B2 B2 Step MOTOR Step MOTOR Figure 3 13 2 phase step motor connection two coils per phase 3 3 11 3 3 Phase Step Motor connection 3 phase step motor connection iPOS360x BX CAN 4 phase Inverter Currents Info Controller Figure 3 14 3 phase step motor connection 1 coil per phase ElectroCraft 2013 36 PRO AOxV36x SA Technical Reference 3 3 11 4 DC Motor connection DC motor connection PRO A0xV36x SA CAN 4 phase Inverter J Shield Currents Info Controller Figure 3 15 DC Motor connection 3 3 11 5 Recommendations for motor wiring a Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters If this situ
7. RO SS ElectroCraft HECTIC Programmable Servo Drive Programmable Servo Drive for Step DC Brushless DC and AC Motors ElectroCraft Document Number A11222 Rev 1 Technical Reference ElectroCraft 2013 ELECTROCRAFT PRO A0xV36x SA CAN Technical Reference ElectroCraft Document Number A11222 ElectroCraft 4480 Varsity Drive Suite G Ann Arbor MI 48108 www electrocraft com Read This First While ElectroCraft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of it ElectroCraft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from ElectroCraft Inc The information in this document is subject to change without notice About This Manual This book is a technical reference manual for the PRO A0xV36x family of programmable servo drives including the following products PRO A02V36A SA CAN PRO A04V36A SA CAN In order to operate the PRO A0xV36x drives you need to perform the follow
8. 1 Safety information Read carefully the information presented in this chapter before carrying out the drive installation and setup It is imperative to implement the safety instructions listed hereunder This information is intended to protect you the drive and the accompanying equipment during the product operation Incorrect handling of the drive can lead to personal injury or material damage Only qualified personnel may install set up operate and maintain the drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling install ing commissioning and operating drives The following safety symbols are used in this manual SIGNALS A DANGER THAT MIGHT CAUSE BODILY WARNING INJURY TO THE OPERATOR MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT CAUTION DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION gt gt 1 1 Warnings TO AVOID ELECTRIC ARCING AND HAZARDS NEVER WARNING PLUG UNPLUG THE PRO A0xV36 FROM IT S SOCKET WHILE THE POWER SUPPLIES ARE ON THE DRIVE MAY HAVE HOT SURFACES DURING WARNING OPERATION DURING DRIVE OPERATION THE CONTROLLED WARNING MOTOR WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY gt gt gt 1 2 Cautions THE POWER SUPPLIES CONNECTED TO THE DRIVE CAUTION MUST COMPLY WITH T
9. ElectroCraft 2013 72 PRO A0xV36x SA Technical Reference 6 1 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is 2x7 Load_Position rad xLoad _ Position IU 4xNo_ encoder _lines where No_encoder_lines is the encoder number of lines per revolution 6 1 4 Step motor open loop control No feedback device The internal position units are motor usteps The correspondence with the load position in SI units is Load _ Position SI ae x Motor _ Position IU No _ usteps xNo _ steps x Tr where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Step motor closed loop control Incremental encoder on motor The internal position units are motor encoder counts The correspondence with the load position in SI units is 2x7 Load_ Position SI x Motor _ Position IU 4xNo_encoder_ lines xTr where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 5 Step motor op
10. Imax 10 FT 250 A s Time s 012 3 4 5 6 7 8 9 10 11 Current A Figure 2 20 PRO A04V36 SA CAN Over current diagram FOR PWM FREQUENCIES LESS THAN 20 KHZ CORRELATE THE PWM FREQUENCY WITH THE MOTOR PARAMETERS IN ORDER TO AVOID POSSIBLE MOTOR DAMAGE Vour the output voltage Vuor the motor supply voltage ElectroCraft 2013 23 PRO A0xV36 SA Technical Reference 3 Step 1 Hardware Installation 3 1 Mechanical Mounting The PRO A0xV36 SA drive is intended to be mounted vertically or horizontally on a metallic support using the provided mounting holes and the recommended mating connectors as specified in chapter 3 2 For thermal calculations each PRO AOxV36 SA drive can be assumed to generate 1 Watt at idle and up to 5 Watts 17 BTU hour worst case while driving a motor and using all digital outputs 3 1 1 Vertical Mounting When the PRO A0xV36 SA is mounted vertically its overall envelope size including the recommended mating connectors is shown in Figure 3 1 Fixing the PRO A0xV36x SA onto a support using the provided mounting holes is strongly recommended to avoid vibration and shock problems 83 05 80 sary PRO A0xV36x SA CAN Figure 3 1 Overall dimensions using recommended mating connectors The PRO A0xV36x SA drive s can be cooled by natural con
11. 1 KV 2 6 12 Linear Hall Inputs LH1 LH2 LH3 Min Typ Max Units Operational range 0 0 5 4 5 4 9 Input voltage Absolute maximum values continuous 7 7 Vv t Absolute maximum surge duration lt 1S 11 14 Input current Input voltage 0 5V 1 0 9 1 mA Interpolation Resolution Depending on software settings 11 bits Frequency 0 1 KHz ESD protection Human body model 1 KV 1 For full RS 422 compliance 120Q termination resistors must be connected across the differential pairs as close as possible to the drive input pins See Figure 3 17 Differential incremental encoder connection ElectroCraft 2013 19 PRO A0xV36 SA Technical Reference 2 6 13 Sin Cos Encoder Inputs Sin Sin Cos Cos Min Typ Max Units Input voltage differential Sin to Sin Cos to Cos 1 1 25 Vpp Operational range 1 2 5 4 Input voltage any pin to GND Absolute maximum values continuous 7 7 V t Absolute maximum surge duration lt 1S 11 14 Differential Sin to Sin Cos to Cos 4 2 4 7 KO Input impedance Common mode to GND 2 2 KO Interpolation Resolution Depending on software settings 11 bits Sin Cos interpolation 0 450 KHz Frequency Quadrature no interpolation 0 10 MHz ESD protection Human body model 1 KV 2 6 14 Analog 0 5V Inputs REF FDBK Min Typ Max Units Operational range 0 4 95 Input voltage Absolute m
12. By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is For rotary motors Load _ Acceleration SI x Motor _ Acceleration IU resolution x Tr x T For linear motors Pole_Pitch Load_Acceleration Sl s resolution x Tr x T xMotor_Acceleration IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole_Pitch is the magnetic pole pitch NN distance expressed in m 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load acceleration in SI units is 2x7 Load _ Acceleration SI xLoad_ Acceleration IU 4xNo_encoder_ lines x T where No_encoder_lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 4 Step motor open loop control No feedback device The internal acceleration units are motor steps slow loop sampling per
13. Drive Setup xi m Guideline assistant r Control mode p Extemal reference Previous Next Position C No Yes Setup Step 1 Inthe lt lt Control mode gt gt group box select what do Speed Analogue Incremental Encoder _ Cancel you want to control position speed or torque In the Sc J Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or trapezoidal mode The trapezoidal mode is possible only if your p Commutation method motor is equipped with digital Hall sensors __ Advanced Trapezoidal Sinusoidal i id Axis ID selection e zi Drive Info F Set change axis ID Hw z Setup r CANbus r Protections V Baud rate Faw default z CANopen settings N Over current Motor current gt 5 4 7 0 01 7 m Drive operation parameters Oran k P l Detect M Control error asie M Position error gt 0 5 rot x fa maa han Ro bp g Current limit 4 a nd Control error ONE Speed error Ap iom z for more than 8 z Motor over temperature Kp 3 2583 F 12 Ki 0 39403 Tune amp Test Overcurrent 25 A for 30 s z E m External brake resistor Activate if power supply F3 fv 7 Integral imit 41 E B T Connected VEERE m Inputs polarity Enable Limit switch Limit switch Type Active high Connected to log C OI Lo Sink PNP Active low
14. ElectroCraft protocol for exchanging MPL commands via CAN bus Related Documentation Help Screens within the PROconfig software describes how to use PROconfig to quickly setup any ElectroCraft PRO Series drive for your application using only 2 dialogues The output of PROconfig is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With PROconfig it is also possible to retrieve the complete setup information from a drive previously programmed PROconfig is part of the ElectroCraft Motion PRO Suite Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit PRO Series CANOpen Programming Manual Document No A11226 explains how to program the PRO Series family of programmable drives using CANopen protocol and describes the associated object dictionary for CiA 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards Motion Programming using ElectroCraft MotionPRO Suite Document No A11229 describes how to use the MotionPRO Suite to create motion programs usin
15. Sine cosine incremental encoder on motor 3 Position speed or torque control of a brushless AC linear motor with an incremental sine cosine encoder The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor piian 4 7 LINEAR MOTOR Incremental Sin Cos encoder Figure 2 3 Brushless AC linear motor Position speed torque control Sine cosine incremental encoder on motor 4 Position speed or torque control of a brushless DC rotary motor with digital Hall sensors and an incremental quadrature encoder on its shaft The brushless motor is controlled using Hall sensors for commutation It works with rectangular currents and trapezoidal BEMF voltages Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Hall Figure 2 4 Brushless DC rotary motor Position speed torque control Hall s
16. Stop Remote Node Enter Pre Operational Reset Node Reset Communication Error Control Services through these services the NMT master detects failures in a CAN based network Both error control services defined by DS301 v4 02 are supported by the PRO A0xV36 Node Guarding including Life Guarding and Heartbeat Bootup Service through this service the drive indicates that it has been properly initialized and is ready to receive commands from a master ElectroCraft 2013 60 PRO AOxV36x SA Technical Reference 5 1 2 CiA 305 Layer Setting Services LSS and Protocols Overview When used in a CANopen network the PRO A0xV36 drives accept node ID and CAN bus bit timing settings according with CiA 305 protocol This allows a CANopen master supporting CiA WD 305 to configure each PRO A0xV36 from the network with the desired node ID and CAN bus bit timing CiA 305 protocol allows connecting non configured drives to a CANopen network and performing the drives configuration on the fly via the CANopen master 5 1 3 CiA 402 and Manufacturer Specific Device Profile Overview The PRO A0xV36 supports the following CiA 402 modes of operation Profile position and velocity modes Homing mode Interpolated position mode Additional to these modes there are also several manufacturer specific modes defined External reference modes position speed or torque Electronic gearing and camming position mode 5 1 4 ElectroCAN Extension In
17. The motor position is not computed 6 11 4 Step motor open loop control No feedback device The internal motor position units are motor psteps The correspondence with the motor position in SI units is 2x7 Motor _ Position SI x Motor _ Position IU No_ustepsxNo_ steps where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig SI units for motor position are rad for a rotary motor m for a linear motor ElectroCraft 2013 85 PRO AOxV36x SA Technical Reference 6 11 5 Step motor open loop control Incremental encoder on load In open loop control configurations with incremental encoder on load the motor position is not computed 6 11 6 Step motor closed loop control Incremental encoder on motor The internal motor position units are motor encoder counts The correspondence with the motor position in SI units is 2x7 Motor _ Position SI x Motor _ Position IU 4xNo_ encoder _lines where No_encoder_lines is the motor encoder number of lines per revolution 6 11 7 Brushless motor with sine cosine encoder on motor The internal motor position units are interpolated encoder counts The correspondence with the motor position in SI units is For rotary motors Motor _ Position SI PET ___xMotor_ Position iU 4xEnc_ periods x Interpolation For l
18. application behavior In case of errors like protections triggered use the Drive Status control panel to find the cause ElectroCraft 2013 55 PRO AOxV36x SA Technical Reference 4 3 Changing the drive Axis ID Drive Setup xi m Guideline assistant M Control mode p External reference OK Previous Next Position No Yes Setup Lok C Speed Analogue Incremental Encoder Cancel Step1 Inthe lt lt Control mode gt gt group box select what do you want to control position speed or torque In the J Automatically activated after Power On lt lt Commutation method gt gt group box choose sinusoidal or C Torque Len trapezoidal mode The trapezoidal mode is possible only if your Rana f Commutation method motor is equipped with digital Hall sensors ices Trapezoidal Sinusoidal Motor m Axis ID selection g zl Drive Info MV Set change axis ID fji z Setup m CANbus m Protections M Set baud rate FAW default gt CANopen settings M Over current z 5 Motor current gt 5 4 A Drive operation parameters Fc l l o wK x Detect v Control error si 24 Position ei 0 5 rot Vv v Current limit fa A x M Control error Speed error gt ro ipm z for more than 3 s z o E z i or over temperature Ki 0 394 Tune amp Test_ Over current 2 5 a z for 30 s m External brake resistor r Current controller
19. 2 8 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 9 Load position control using an incremental quadrature encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI and IU units refer to the load L Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 10 PRO A0xV36 SA Technical Reference Motor PRO A0xV36 Tacho Incremental quadrature encoder Figure 2 9 DC brushed rotary motor Position speed torque control Quadrature encoder on load plus tachometer on motor 10 Speed or torque control of a DC brushed rotary motor with a tachometer on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Tacho Figure 2 10 DC brushed rotary motor Speed torque control Tachometer on motor 11 Open loop control of a 2 or 3 phase step motor in position or speed Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and accel
20. 3 5 3 3 6 3 3 7 3 3 8 3 3 9 3 3 10 3 3 11 3 3 12 3 3 13 3 3 14 3 3 15 3 3 16 3 4 3 4 1 3 4 2 Connectors and Connection Diagrams Connector Layout sesio RER GR ETEO EE E A ee J1 Power supply input connector pinout J2 Motor output and digital hall signals connector pinout J3 Feedback Connector pinout rnern neern en J4 Digital analog I O and logic supply connector pinout J5 J6 CAN connectors pinout ss J7 RS232 connector pinout E EEEE E EEEE En Ennan nenna 24V Digit l TOC OMIM CON ESS SRE AT a a a nt 5V Digital NPN I O Connection ois Seacide ces eter ctstotaerectentnn cle onal osc cosanenslaeees Analog Inputs Connections still tretmatmaess Motor Connections ini re Te ns Feedback connections gsar er e tint eaae Power Supply Connection nnnnnnnn nnan Ennn nenn E nnn Serial RS 232 connection cecccccccecceceeceeeeeceeeeeeeceeeeeeeeeeeeeeeeeeeceeeeeeeeeeeeseneeeeess CAN bus connection Disabling Autorun Mode seen Reese ne nn nat A tua Operation Mode and Axis ID Selection nnn nnreeennn nnna Selection of the Operation Mode
21. CANopen master This paragraph overviews a set of advanced programming features which arise when combining MPL programming at drive level with CANopen master control A detailed description of these advanced programming features is included in the CANopen Programming Document No A11226 manual All features presented below require usage of MotionPRO Suite as MPL programming tool Remark If you dont use the advanced features presented below you dont need MotionPRO Suite In this case the PRO AOxV36 is treated like a standard CANopen drive whose setup is done using PROconfig 5 3 1 Using MPL Functions to Split Motion between Master and Drives With ElectroCraft programmable drives you can really distribute the intelligence between a CANopen master and the drives in complex multi axis applications Instead of trying to command each step of an axis movement you can program the drives using MPL to execute complex tasks and inform the master when these are done Thus for each axis the master task may be reduced at calling MPL functions with possibility to abort their execution stored in the drives EEPROM and waiting for a message which confirms the finalization of the MPL functions execution 5 3 2 Executing MPL programs The distributed control concept can go one step further You may prepare and download into a drive a complete MPL program including functions homing procedures etc The MPL program execution can be started by simply writi
22. KV 2 6 17 Supply Output 5V Min Typ Max Units 5V output voltage Current sourced 250mA 4 8 5 5 2 V 5V output current 250 350 mA Short circuit protection NOT protected Over voltage protection NOT protected ESD protection Human body model 1 KV T Stresses beyond values listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability ElectroCraft 2013 21 PRO A0xV36 SA Technical Reference Temperature De rating N 20KHz 3 phase 100KHZ 3 phase m d 20KHz4 phase 20KHZ 3 phase 24V D TOOKHz 3 phase 65 24V Current A DOS SS ON BG NB OONN 50 55 60 Ambient Temperature C Altitude De rating N N tn on Current A en oO Altitude Km Figure 2 16 PRO A02V36 SA CAN De rating with ambient temperature Figure 2 21 PRO 02V36 SA CAN De rating with altitude PWM Frequency De rating 0 10 20 30 40 50 60 70 80 90100 PWM Frequency KHz 2 4 2 2 lt 2 36V 3 12 phase 4 15 24V 4 1 phase 5 g A 36V 4 oO 03 phase Figure 2 17 PRO A02V36 SA CANCur
23. LES LOTO A 0 LS EE TE SE 85 6 11 1 Brushless DC brushed motor with quadrature encoder on motor 85 6 11 2 Brushless motor with linear Hall signals 85 6 11 3 DC brushed motor with quadrature encoder on load and tacho on motor 85 6 11 4 Step motor open loop control No feedback device cececccccceecaeeeeseeeeeeeeeeeees 85 6 11 5 Step motor open loop control Incremental encoder on load 86 6 11 6 Step motor closed loop control Incremental encoder on motor 86 6 11 7 Brushless motor with sine cosine encoder on motor 86 6 12 Motor speed UNINS 2 ent died abattus sooikeathnuslsa ties d s tite 86 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 86 6 12 2 Brushless motor with linear Hall signals 87 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor 87 6 12 4 DC brushed motor with tacho ON motor 87 6 12 5 Step motor open loop control No feedback device or incremental encoder on load 87 6 12 6 Step motor closed loop control Incremental encoder on motor 88 6 12 7 Brushless motor with sine cosine encoder on motor 88 Ze 12 1 LCL A ALL POP OR RER 89 ElectroCraft 2013 X PRO A0xV36x SA Technical Reference This page is empty ElectroCraft 2013 XI PRO A0xV36x SA Technical Reference
24. Red LED J4 5V 77 470R Ho V oG or 50V max OUT2 Error 0 5Amax Green LED OUT3 Ready Lu 0 5 A max Outputs lel O Figure 3 7 24V Digital NPN Outputs connection Remarks 1 The outputs are compatible with NPN type inputs load is tied to common VLOG output pulls to GND when active and is floating when inactive ElectroCraft 2013 31 PRO A0xV36x SA Technical Reference 3 3 9 5V Digital NPN I O Connection Outputs 5V 1 0 Connection PRO A0xV36x SA CAN Inputs o IN3 LSN Red LED 5V Z 470R 41 _ LOAD ANT co 0 5Amax the S NL Figure 3 8 5V Digital 1 0 connection Remarks 1 The inputs are selectable as PNP NPN by software For this connection they are selected as NPN 2 The inputs are compatible with TTL 5V LVTTL 3 3V CMOS and open collector outputs 3 The outputs are compatible with TTL 5V inputs 4 The output loads can be individually and independently connected to 5V or to GND ElectroCraft 2013 32 PRO AOxV36x SA Technical Reference 3 3 10 Analog Inputs Connection 3 3 10 1 0 5V Input Range Analog Inputs PRO A0xV36x SA CAN Connection J4 Ref 0 5V 1000 1KQ Controller 5VouT 0 5V 1000 1KQ BOK Figure 3 9 Analog inputs connection Remark Default input range for analog inputs is 0 5 V for REF and FBDK For a 10 V range see Figure 3 10 3 3
25. Remark MotionPRO Suite handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application MPL Programs ElectroCraft 2013 4000h E ROM memory for MPL programs Cam tables Setup information Reserved Data acquisitions and cam tables at runtime SRAM memory 9FCFh Figure 7 1 PRO AOxV36Memory Map 89 PRO AOxV36x SA Technical Reference This page is empty ElectroCraft 2013 90 PRO A0xV36x SA Technical Reference ElectroCraft powering innovation ElectroCraft 2013 126 PRO A0xV36 SA Technical Reference
26. Speed IU resolution x T Pole_Pitch For linear motors Motor_Speed SI _ _ resolution x T x Motor _Speed IU where resolution is the motor position resolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole_Pitch is the magnetic pole pitch NN distance expressed in m 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue _ Input _ Range Motor _ Speed S 4096 x Tacho _ gain x Motor _Speed lU Where Analog_Input_Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho_gain is the tachometer gain expressed in V rad s 6 12 4 DC brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue _ Input _ Range Motor _ Speed S 4096 x Tacho _ gain x Motor _ Speed IU where Analog_Input_Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho_gain is t
27. T where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 1 F 3 SI units for acceleration are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 80 PRO A0xV36x SA Technical Reference 6 4 Jerk units The internal jerk units are internal position units slow loop sampling period i e the acceleration variation over one slow loop sampling period 6 4 1 Brushless DC brushed motor with quadrature encoder on motor The internal jerk units are encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load _ Jerk SI gat x Motor _ Jerk IU 4xNo_ encoder _ lines x Tr x T where No _encoder_ lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can rea
28. _ Jerk IU 4xNo_encoder_linesxT where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 4 Step motor open loop control No feedback device The internal jerk units are motor steps slow loop sampling period The correspondence with the load jerk in SI units is 2x Load _ Jerk SI x Motor _ Jerk IU No_ustepsxNo_ steps x Tr x T where No_steps is the number of motor steps per revolution No_psteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 5 Step motor open loop control Incremental encoder on load The internal jerk units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load jerk in SI units is Load _ Jerk SI gall xLoad_Jerk IU 4xNo_ encoder _ lines x T where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read thi
29. alternate forced cooling methods must be applied 3 1 2 Horizontal Mounting Figure 3 3 shows the recommended spacing to assure proper airflow by natural convection in the worst case closed box done from a plastic non metallic material with no ventilation openings Whenever possible ventilation openings shall be foreseen Remark In case of using a metallic box with ventilation openings all spacing values may be reduced substantially With proper ventilation keeping the air surrounding the PRO AOxV36Ax SA inside the limits indicated in Figure 2 16 and Error Reference source not found the spacing values may be reduced down to the mechanical tolerance limits of Figure 3 1 ElectroCraft 2013 25 PRO AOxV36x SA Technical Reference in Space for cables No extra space is needed foor cooling Space for cables No extra space is needed foor cooling Figure 3 3 Recommended spacing for horizontal mounting worst case non metallic closed box 3 2 Mating Connectors Connector Description Manufacturer Part Number Wire Insulation Gauge Diameter MICROFIT J1 RECEPTACLE MOLEX 43025 0200 oy 1 on HOUSING 2x1 WAY MICROFIT J5 J6 J7 RECEPTACLE MOLEX 43025 0400 abd 1 aa HOUSING 2x2 WAY MICROFIT J2 RECEPTACLE MOLEX 43025 1000 ies 1 un HOUSING 2x5 WAY MICROFIT J4 RECEPTACLE MOLEX 43025 1400 Ag 1 85 mm HOUSING 2x7 WAY J1 J2 J4 J5 J6 J CRIMP PIN AWG 1 85 mm 7 MICROFIT 5A MOL
30. at 0 2W minimum Do not use winded resistors which are inductive ElectroCraft 2013 47 PRO AOxV36x SA Technical Reference PRO A0xV36 SA AXISID 1 120R 5 0 25W PRO A0xV36 SA AXISID 2 amp E a Vv CAN_Hi PRO A0xV36 SA CAN_Lo a AXISID 3 CAN_GND PC AE Host Address 255 120R 5 0 25W PRO A0xV36 SA AXISID 255 CAN_GND Figure 3 24 Multiple Axis CAN network Remarks 1 The axis IDs in Figure 3 24 are valid for MPLCAN mode For CANopen mode the highest axis ID a drive can have is 127 2 Lmax is the bus length defined in paragraph 0 ElectroCraft 2013 48 PRO AOxV36x SA Technical Reference 3 3 16 Disabling Autorun Mode When a PRO A0xV36x is set in MPLCAN operation mode by default after power on it enters automatically in Autorun mode In this mode if the drive has in its local EEPROM a valid MPL application motion program this is automatically executed as soon as the motor supply Vuor is turned on In order to disable Autorun mode there are 2 methods a Software by writing value 0x0001 in first EEPROM location at address 0x4000 b Hardware by temporary connecting all digital Hall inputs to GND during the power on for about 1 second until the green LED is turned on as shown in Figure 3 25 This option is particularly useful when it is not possible to communicate with the drive After the drive is set in non Autorun slave mode using 2 method the 1 met
31. digital PNP NPN input Drive enable input 5 IN3 LSN 1 5 36V digital PNP NPN input Negative limit switch input 6 OUT2 Error O 5 36V 0 5A drive Error output active low NPN open collector TTL pull up Also drives the red LED 7 4V l Positive terminal of the logic supply 9 to 36Vpc If not connected the logic supply is 3 roS automatically routed from J1 pin 2 8 GND Return ground for I O pins 9 FDBK l Analogue input 12 bit 0 5V Used to read an analogue position or speed feedback as tacho or used as general purpose analogue input 10 IN1 5 36V general purpose digital PNP NPN input 11 IN2 LSP 1 5 36V digital PNP NPN input Positive limit switch input 12 OUTO O 5 36V 0 5A general purpose digital output NPN open collector TTL pull up 5 36V 0 5A drive Ready output active low NPN open collector TTL pull up Also ee ee drives the green LED 14 OUT1 O 5 36V 0 5A general purpose digital output NPN open collector TTL pull up 3 3 6 J5 J6 CAN connectors pinout Connector description Pin Name Type Description 1 VLoc O Positive terminal of the logic supply 9 to 36Voc S 2 GND Return ground for CAN Bus gs 3 Can Hi VO CAN Bus positive line dominant high 4 Can Lo I O CAN Bus negative line dominant low 3 3 7 J7 RS232 connector pinout Connector description Pin Name Type Description 1 232TX O RS 232 Data Transmission m2 GND Return ground for RS 232 pins 5 3 232RX RS 232 Data Recep
32. encoder on load and tacho on motor 73 6 1 4 Step motor open loop control No feedback device cceececcccccesceeeeeeeeceeeeeeeeees 73 6 1 5 Step motor open loop control Incremental encoder on load ccceeeeeeeeeeeeeeeees 73 6 1 6 Brushless motor with sine cosine encoder on motor 74 02a OPEET UNIS ait ne cease Nes UE A a a uae cea at ae 74 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 74 6 2 2 Brushless motor with linear Hall signals 75 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor 75 6 2 4 DC brushed motor with tacho ON motor 75 6 2 5 Step motor open loop control No feedback device 1 00 ceccecccceceecaeeeeeeeeeeeesesaaes 76 6 2 6 Step motor closed loop control Incremental encoder on motor 76 6 2 7 Brushless motor with sine cosine encoder on motor 77 Bud JACCCISRATION AIMS ects dense ti Stan eere ee eerie den Gaetan oredr e ceee 17 6 3 1 Brushless DC brushed motor with quadrature encoder on motor 77 6 3 2 Brushless motor with linear Hall signals 78 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor 78 6 3 4 Step motor open loop control No feedback device 2 0 ceececccc
33. how to program in a PLC Siemens series S7 300 or S7 400 a motion application for the ElectroCraft programmable drives using MPL LIB S7 motion control library The MPL_LIB_S7 library is IEC61131 3 compatible ElectroCraft 2013 IV PRO A0xV36x SA Technical Reference PRO Series and PLC Omron Series MPL_LIB_CJ1 Document No A11233 explains how to program in a PLC Omron series CJ1 a motion application for the ElectroCraft programmable drives using MPL_LIB_CJ1 motion control library for PLCs The MPL_LIB_CJ1 library is IEC61131 3 compatible MPL_LIB_X20 Document No A11234 explains how to program in a PLC B amp R series X20 a motion application for the ElectroCraft programmable drives using MPL_LIB_X20 motion control library for PLCs The MPL_LIB_X20 library is IEC61131 3 compatible ElectroCAN Document No A11235 presents ElectroCAN protocol an extension of the CANopen communication profile used for MPL commands QS PRO A0xV36 Document No 11235 describes the PRO AOxV36 Quick Start board included in the PRO A0xV36 Evaluation Kits ElectroCraft 2013 V PRO A0xV36x SA Technical Reference If you Need Assistance If you want to Contact ElectroCraft at Visit ElectroCraft online World Wide Web www electrocraft com Receive general information World Wide Web www electrocraft com or assistance see Note Email drivesuport electrocraft com Ask questions about Tel 1 734 662 7771 product operation or re
34. needed any of these homing modes can be customized In order to do this you need to select the Homing Modes from your MotionPRO Developer application and in the right side to set as User defined one of the Homing procedures Following this operation the selected procedure will occur under Homing Modes in a subtree with the name HomeX where X is the number of the selected homing eet tece Coce meme Appication Communication View ConvoiPanei Window Heip Project DSO S SORKE FOO 4 X TOR Ready Onbme ami AS PRO ADEVE PE CAN ONUA Fumware FEF Setup 0883 If you click on the HomeX procedure on the right side you ll see the MPL function implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged L Optional for the PRO A0xV36x CANopen execution ElectroCraft 2013 70 PRO A0xV36x SA Technical Reference 5 3 5 Customizing the Drive Reaction to Fault Conditions Similarly to the homing modes the default service routines for the MPL interrupts can be customized according to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the MPL interrupts is similar with that for the homing modes 5 4 Using Moti
35. order to take full advantage of the powerful ElectroCraft Motion PROgramming Language MPL built into the PRO A0xV36 ElectroCraft has developed an extension to CANopen called ElectroCAN through which MPL commands can be exchanged with the drives Thanks to ElectroCAN you can inspect or reprogram any of the ElectroCraft drives from a CANopen network using PROconfig or MotionPRO Developer and an RS 232 link between your PC and any of the drives ElectroCAN uses only identifiers outside of the range used by the default by the CANopen predefined connection set as defined by CiA 301 Thus ElectroCAN protocol and CANopen protocol can co exist and communicate simultaneously on the same physical CAN bus without disturbing each other 5 1 5 Checking Setup Data Consistency During the configuration phase a CANopen master can quickly verify using the checksum objects and a reference sw file see 4 5 and 5 2 4 for details whether the non volatile EEPROM memory of an PRO AOxV36 drive contains the right information If the checksum reported by the drive doesn t match with that computed from the sw file the CANopen master can download the entire sw file into the drive EEPROM using the communication objects for writing data into the drive EEPROM 5 2 Using the built in Motion Controller and MPL One of the key advantages of the ElectroCraft drives is their capability to execute complex motions without requiring an external motion controller This is
36. possible because ElectroCraft drives offer in a single compact package both a state of art digital drive and a powerful motion controller 5 2 1 ElectroCraft Motion PROgramming Language Overview Programming motion directly on a ElectroCraft drive requires creating and downloading a MPL ElectroCraft Motion PROgramming Language program into the drive memory The MPL allows you to Set various motion modes profiles PVT PT electronic gearing or camming etc Optional for PRO A04V36x CANopen execution ElectroCraft 2013 61 PRO AOxV36x SA Technical Reference Change the motion modes and or the motion parameters Execute homing sequences Control the program flow through e Conditional jumps and calls of MPL functions e MPL interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc e Waits for programmed events to occur Handle digital I O and analog input signals Execute arithmetic and logic operations Perform data transfers between axes Control motion of an axis from another one via motion commands sent between axes Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronize all the axes from a network In order to program a motion using MPL you need MotionPRO Suite software platform 5 2 2 Installing MotionPRO Suite
37. setup part The output of PROconfig is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With PROconfig it is also possible to retrieve the complete setup information from a drive previously programmed PROconfig shall be used for drive setup in all cases where the motion commands are sent exclusively from a master Hence neither the PRO A0xV36 MPL programming capability nor the drive camming mode are used MotionPRO Suite platform includes PROconfig for the drive setup and a Motion Editor for the motion programming The Motion Editor provides a simple way of creating motion programs and automatically generates all the MPL instructions With MotionPRO Suite you can fully benefit from a key advantage of ElectroCraft drives their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controllers MotionPRO Developer shall be used to program motion sequences in MPL This is the PRO AOxV36 typical operation mode when MPLCAN protocol is selected MotionPRO Developer shall also be used with CANopen protocol if the user wants to call MPL functions stored in the drive EEPROM or to use the camming mode With camming mode MotionPRO Developer offers the possibility to quickly download and test a cam profile and also to create a sw file see par 5 2 4 with the cam data The sw fi
38. 10 2 10V to 0 5V Input Range Adapter sy From PRO AOxV36x SA CAN J4 Pin 1 30K OVS To PRO AOXV36x SA CAN J4 Pin 2 or3 SND__ From PRO A0xV36x SA CAN J4 Pin amp Figure 3 10 10V to 0 5V adapter 3 3 10 3 Recommendation for wiring a If the analog signal source is single ended use a 2 wire twisted shielded cable as follows 1 wire connects the live signal to the drive input 2 wire connects the source ground to the drive ground shield will be connected to the drive ground terminal b If the analog signal source is differential and the signal source ground is isolated from the drive GND use a 2 wire twisted shielded cable as follows 1 wire connects the source plus positive ElectroCraft 2013 33 PRO A0xV36x SA Technical Reference in phase to the drive analog input 2 wire connects the source minus negative out of phase to the drive ground GND Shield is connected only at the drive side to the drive GND and is left unconnected at the source side c If the analog signal source is differential and the signal source ground is common with the drive GND use a 2 wire shielded cable as follows 1 wire connects the source plus positive in phase to the drive analog input 2 wire connects the source ground to the drive ground GND shield is connected only at the drive side to the drive GND and is left unconnected at the source side The source minus negative out of phase output remains unconnected
39. C Ambient humidity Non condensing 0 90 Rh gt Altitude referenced to sea level 0 1 0 2 5 Km Altitude pressure 3 Ambient Pressure 0 0 75 1 10 0 atm 2 6 2 Storage Conditions Min Typ Max Units Ambient temperature 40 85 C Ambient humidity Non condensing 0 100 Rh Ambient Pressure 0 10 0 atm 2 6 3 Mechanical Mounting Airflow natural convection closed box 2 6 4 Environmental Characteristics Min Typ Max Units 80 x 55 x 16 3 mm Without mating connector Size Length x Width x Height 3 15 x 2 17 x 0 64 inch 84 x 63 x 16 3 mm With recommended mating connectors 3 3 x 2 5 x 0 64 inch Weight Without mating connectors 70 g Idle no load 1 Power dissipation W Operating 3 5 Efficiency 98 Cleaning agents Dry cleaning is recommended Only Water or Alcohol based Protection degree According to IEC60529 UL508 IP20 Operating temperature can be extended up to 652C with reduced current and power ratings See Figure 2 16 and Error Reference source not found iPOS360x can be operated in vacuum no altitude restriction but at altitudes over 2 500m current and power rating are reduced due to thermal dissipation efficiency See Error Reference source not found and Figure 2 19 3 It is recommended to mount the iPOS3604 BX CAN on a metallic support using the provided mounting holes f
40. ER ta he he a acetate nn ee 15 2 6 6 Motor Supply Input Vuor iii 15 2 6 7 Motor Outputs A A B A C B BIR B Er nn nn ne 16 2 6 8 Digital Inputs INO IN1 IN2 LSP IN3 LSN IN4 Enable ccceeeeeeeereeeeeees 17 2 6 9 Digital Outputs OUTO OUT1 OUT2 Error OUT3 Ready 18 2 6 10 Digital Hall Inputs Hall1 Hall2 Hall3 cece ceeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeeneeees 18 2 6 11 Encoder Inputs A A A B B B Z Z Z 19 2 6 12 Linear Hall Inputs LAT LH2 LAS sscscacsnonctiumstaeceetsarenaats let ment etme ties eeaten 19 2 6 13 Sin Cos Encoder Inputs Sin Sin Cos Cos 20 2 6 14 Analog 0 5V Inputs REF PDB shine dedi diseeten tes 20 DO Nor RO D iemaibicde sates meters a a a 20 ZrO Ge AINE BUS Arae sen st des nil e Sitreleda natalie ne RE En tn 21 2 60 17 SUBI OUPS Van nr Mach A E a A E SANS temo 21 3 Step 1 Hardware Installation 24 3 1 Mechanical Mounting 2222222 as eccrine eee ee 24 9 11 Vertical Mounting ssenari on sass nasheed RE A bac Rea gala de 24 3 1 2 Horizontal Mounting sicieesic2icceboopabsativiachedghienve tad gincgedineas etl Aneh hada EEEN scenes 25 3 2 Mating Connectors sc ic lt 3 desc ds cs das en An A dae ees Ne ne MR ca os co ak EEEE EEE EE 26 ElectroCraft 2013 Vil PRO AOxV36x SA Technical Reference 3 3 3 3 1 3 3 2 3 3 3 3 3 4 3
41. EX 2490800007 20 24 max MILLIGRID J3 RECEPTACLE MOLEX 51110 1056 ie 1 HOUSING 2x5 WAY CRIMP PIN AWG J3 MILLIGRID MOLEX 50394 8400 24 30 1 4 mm max ElectroCraft 2013 26 PRO AOxV36x SA Technical Reference 3 3 Connectors and Connection Diagrams 3 3 1 Connector Layout JP1 PRO A0xV36x SA CAN Mefe f J1 J2 Swi Co 4 Re Tee rete tel lella lilli els J3 ko E Genre Ii Figure 3 4 PRO A0xV36x SA drive connectors ElectroCraft 2013 27 PRO A0xV36x SA Technical Reference 3 3 2 J1 Power supply input connector pinout Connector description Pin Name Type Description 1 GND gt Negative return ground of the power supply J1 i Positive terminal of the motor supply 9 to 36Vpc Feeds the positive terminal of the 2 Vmor logic supply if J4 pin 7 not connected separately 3 3 3 J2 Motor output and digital hall signals connector pinout Connector description Pin Name Type Description 1 A A O Phase A for 3 ph motors A for 2 ph steppers Motor for DC brush motors 2 C B O Phase C for 3 ph motors B for 2 ph steppers 3 Hall 1 l Digital input Hall 1 sensor 4 Hall 2 l Digital input Hall 2 sensor a 5 Hall 3 l Digital input Hall 3 sensor 2 6 B A O Phase B for 3 ph motors A for 2 ph steppers Motor for DC brush motors 7 BR B O Brake resistor Phase B for step motors 8 5Vour O 5V output
42. ElectroCraft 2013 75 PRO AOxV36x SA Technical Reference 6 2 5 Step motor open loop control No feedback device The internal speed units are motor usteps slow loop sampling period The correspondence with the load speed in SI units is 2x7 Load_Speed S x Motor _ Speed IU No_ustepsxNo_stepsxTrxT where No steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Step motor open loop control Incremental encoder on load The internal speed units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is 2x7 Load_ Speed rad s x Load _ Speed lU 4xNo_ encoder _linesx T where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in rad and load displacement in rad or m T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 6 Step motor closed loop
43. HE PARAMETERS SPECIFIED IN THIS DOCUMENT TROUBLESHOOTING AND SERVICING ARE PERMITTED CAUTION ONLY FOR PERSONNEL AUTHORISED BY ELECTROCRAFT ElectroCraft 2013 2 PRO A0xV36 SA Technical Reference gt gt ElectroCraft 2013 3 PRO A0xV36 SA Technical Reference 2 Product Overview 2 1 Introduction The PRO A0xV36x is a family of fully digital programmable servo drives based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller Suitable for control of brushless DC brushless AC vector control DC brushed motors and step motors the PRO A0xV36x SA drives accept as position feedback incremental encoders quadrature or sine cosine and linear Halls signals All drives perform position speed or torque control and work in single multi axis or stand alone configurations Thanks to the embedded motion controller the PRO AOxV36 drives combine controller drive and PLC functionality in a single compact unit and are capable to execute complex motions without requiring intervention of an external motion controller Using the high level ElectroCraft Motion PROgramming Language MPL the following operations can be executed directly at drive level Q Setting various motion modes profiles PVT PT electronic gearing or camming etc Q Changing the motion modes and or the motion parameters Q Executing homing sequences Q Controlling the program flow
44. MotionPRO Suite is an integrated development environment for the setup and motion programming of ElectroCraft programmable drives It comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates MotionPRO Suite including the fully functional version of PROconfig is part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit MotionPRO Suite is delivered on a CD Once you have started the installation package follow its indications After installation use the update via internet tool to check for the latest updates Alternately you can first install the demo version and then purchase a license 5 2 3 Getting Started with MotionPRO Suite Using MotionPRO Suite you can quickly do the setup and the motion programming of a ElectroCraft a drive according with your application needs The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or using ElectroCraft Ethernet to CAN adapter 3 Via another drive from the same CAN bus network which is conne
45. Open No connection C C SourcefNPN m Software limit switches r Position controller eani T Restrict movement between Kp 47 636 Integral limit 10 x h 1073741 8 frot Le Ki 2 3818 0 Acceleration Stat mod R757 Feedforward ob ei Kd Speed Move till aligned with phase A Current used of Bm pk Kd filter 0 1 BLDC with Hall sensors nominal current Tor PMSM with Hall sensors Time to align on phases 1 s X _TuetTest Motionless start encoder only Tune amp Test In Drive Setup choose the inputs type PNP or NPN Remark the inputs can be used only when Vlog from J4 J5 or J6 is connected to the power supply 4 2 4 Download setup data to drive motor Press the Download to Drive Motor button Drive Motor to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the Save drive motor RAM memory which is used during runtime It is also possible to Save the setup data on your PC and use it in other applications To summarize you can define or change the setup data in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 4 2 5 Evaluate drive motor behavior optional You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your
46. PROM in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The motion component contains the motion sequences to do These are described via a MPL ElectroCraft Motion PROgramming Language program which is executed by the drives motors built in motion controller ElectroCraft 2013 63 PRO AOxV36x SA Technical Reference 5 2 3 1 Create a new project MotionPRO Developer starts with an empty window from where you can create a new project or open a previously created one Bet Commason Wew tep DOSUD SEa Oosa SXITHR TERT When you start a new project MotionPRO Developer automatically creates a first application Additional applications can be added later You can duplicate an application or insert one defined in another project Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor axis ID The initial value proposed is 255 which is the default axis ID of the drives Press New button and select your drive type Depending on the product chosen the selection may continue with the motor technology for example brushless or brushed and the type of feedback device for example incremental encoder ElectroCraft 2013 64 PRO A0xV36x SA Technical Reference Step 1 Select axis number 255 La Step 2 Define load setup data 2 Phase Stepper 3 Phase Stepper Brushed Mo
47. aft 2013 12 PRO A0xV36 SA Technical Reference 2 4 PRO A0xV36x SA Drive Dimensions 80 m 2 fl m m I 9 PRO A0xV36x SA CAN g z NN H wo gt ae 8 Be z 14m mi 2 ve x 8 HEE el BTE el HI UU El Uy y 16 30 2 S M I I I I I I Ti I il m 1 P pa CEFETOU DU a a ZWMACR MESH GZM As ZW aa 21 T c Figure 2 14 PRO A04V36x SA drive dimensions All dimensions are in mm The drawings are not to scale 2 5 Identification Labels Identification label 3 PRO with Programmable Servo Drive ElectroCraft serial number i PRO ADAV3E A SA CAN Identification label Ce eo B with www glectrocta com ElectroCraft part number Figure 2 15 PRO A04V36x SA Identification Labels ElectroCraft 2013 13 PRO A0xV36 SA Technical Reference 2 6 Electrical Specifications All parameters measured under the following conditions unless otherwise specified Tamb 0 40 C Vioc 24 Voc Vuor 36Vpc Supplies start up shutdown sequence any Load current sinusoidal amplitude continuous BLDC DC stepper 4A PRO A04V36x SA 2 6 1 Operating Conditions Min Typ Max Units Ambient temperature 0 40
48. ation cannot be avoided use a shielded cable for the motor wires Connect the cable shield to the PRO AOxV36x GND pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 10nF If very long cables tens of meters are used this condition may not be met In this case add series inductors between the PRO A0xV36x outputs and the cable The inductors must be magnetically shielded toroidal for example and must be rated for the motor surge current Typically the necessary values are around 100 pH c A good shielding can be obtained if the motor wires are running inside a metallic cable guide ElectroCraft 2013 37 PRO AOxV36x SA Technical Reference 3 3 12 Feedback connections 3 3 12 1 Single ended Incremental Encoder Connection Single ended encoder PRO A0xV36x SA CAN connection A A Sin Not connected B B Cos Not connected Controller ZZ Not connected Figure 3 16 Single ended incremental encoder connection ElectroCraft 2013 38 PRO AOxV36x SA Technical Reference 3 3 12 2 Differential Incremental Encoder Connection Differential encoder PRO A0XV36x SA CAN connection AA Sin 120R terminator B B Cos 120R terrninalor ZIZ 120R terminator Controller Figure 3 17 Differential incremental encoder connection Remark 1200 0 25W terminators are required for long encoder cables or noisy env
49. aximum values continuous 12 18 V Absolute maximum surge duration lt 19 36 Input impedance To GND 30 KO Resolution 12 bits Integral linearity 2 bits Offset error 2 10 bits Gain error 1 3 FS Bandwidth 3dB Depending on software settings 0 1 KHz ESD protection Human body model 5 KV 2 6 15 RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud Short circuit protection 232TX short to GND Guaranteed ESD protection Human body model 2 KV 1 For many applications an 1200 termination resistor should be connected across SIN to SIN and across COS to COS Please consult the feedback device datasheet for confirmation ES stands for Full Scale ElectroCraft 2013 20 PRO A0xV36 SA Technical Reference 2 6 16 CAN Bus Min Typ Max Units 15011898 CiA 301v4 2 CiA WD 305 v2 2 13 CiA DSP402v3 0 Standards compliance Bit rate Depending on software settings 125 1000 Kbps 1Mbps 25 Bus length 500Kbps 100 m lt 250Kbps 250 Number of CAN nodes drives 125 Termination resistor Between CAN Hi CAN Lo none on board 1 15 amp LSS non configured Hardware by Hex switch SW1 CANopen 1 15 amp 255 TMLCAN 1 127 CANopen 1 255 TMLCAN Node addressing Software ESD protection Human body model 15
50. be set according with the AxisID hex switch If the setup table is invalid there is no previous axis ID set from a valid setup table or by a CANopen master according with the AxisID hex switch Remark If you don t know the axis ID set in a drive you can find it in the following way a b Connect the drive via a serial RS232 link to a PC where PROconfig or MotionPRO Developer are installed With the drive powered open PROconfig or MotionPRO Developer and check the status bar If communication with the drive is established the status bar displays Online in green and nearby the drive s Axis ID If the status bar displays Offline in red execute menu command Communication Setup and in the dialogue opened select at Channel Type RS232 and at Axis ID of drive motor connected to PC the option Autodetected After closing the dialogue with OK communication with the drive shall be established and the status bar shall display the drive s Axis ID If the access to the drive with the unknown Axis ID is difficult but this drive is connected via CANbus with other ElectroCraft drives having an easier access connect your PC serially to one of the other drives Use PROconfig or MotionPRO Developer menu command Communication Scan Network to find the axis IDs of all the ElectroCraft drives present in the network ElectroCraft 2013 57 PRO AOxV36x SA Technical Reference 4 4 Setting CANbus rate Drive Setup xi
51. cceseaeeeseeeeeeeeseeaees 78 6 3 5 Step motor open loop control Incremental encoder on load ccceeeeeeeeeeeeeeees 79 6 3 6 Step motor closed loop control Incremental encoder ON motor 79 6 3 7 Brushless motor with sine cosine encoder on motor 80 ElectroCraft 2013 IX PRO AOxV36x SA Technical Reference OAR QSMGUNITS 245425 demi nl dr eaei EA AE in dndinte nr E dates distants ts 81 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 81 6 4 2 Brushless motor with linear Hall signals 81 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor 82 6 4 4 Step motor open loop control No feedback device 2 0 cceccecccccceseaeeeeeeeeeeeeseeeaes 82 6 4 5 Step motor open loop control Incremental encoder on load ccceeeeeeeeeeeeeeees 82 6 4 6 Step motor closed loop control Incremental encoder on motor 83 6 4 7 Brushless motor with sine cosine encoder on motor 83 6 9 CUr UNIS rentes ante esceont coe ERRE E E EA ak escent cack cemecece cant EEEE 83 6 6 Voltage command units sense ne mentees ee ne 84 6 7 Voltage measurement units uses cueuseuseuseuptenentene entente eicends edceeds 84 6 0 1 TIMESU aana a aaa re acid 84 6 9 Master position units rien ren ese uahavsueraher ener ahen oneness enenshes ouenabebaueu tartes 84 6 10 Master speed NISSAN es 85 6 11 MOLE Lo
52. control Incremental encoder on motor The internal speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2XT Load _ Speed Si x Motor _ Speed IU 4xNo_ encoder _lines x Tr x T where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 1 SI units for speed are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 76 PRO AOxV36x SA Technical Reference 6 2 7 Brushless motor with sine cosine encoder on motor The internal speed units are interpolated encoder counts slow loop sampling period The correspondence with the load speed in SI units is For rotary motors Load_ Speed SI PEN ee x Motor _ Speed IU 4xEnc_ periods xInterpolation x Tr x T For linear motors Encoder _ accuracy Load _ Speed Sl Speeds Interpolation x Tr x T x Motor _ SpeedflU where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power
53. cted to the PC via one of the above options from point 1 The output of the MotionPRO Suite is a set of setup data and a motion program which can be downloaded to the drive motor EEPROM or saved on your PC for later use 1 The customization of the homing routines is available only for PRO A04V36x CAN execution ElectroCraft 2013 62 PRO A0xV36x SA Technical Reference MotionPRO Suite includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test measure and analyze your motion application MotionPRO Suite works with projects A project contains one or several Applications Each application describes a motion system for one axis It has 2 components the Setup data and the Motion program and an associated axis number an integer value between 1 and 255 An application may be used either to describe 1 One axis in a multiple axis system 2 An alternate configuration set of parameters for the same axis In the first case each application has a different axis number corresponding to the axis ID of the drives motors from the network All data exchanges are done with the drive motor having the same address as the selected application In the second case all the applications have the same axis number The setup component contains all the information needed to configure and parameterize a ElectroCraft drive This information is preserved in the drive motor EE
54. d this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 2 Brushless motor with linear Hall signals The internal jerk units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is For rotary motors Load _ Jerk Sl AR x Motor _ Jerk IU resolution x Tr x T Pole_Pitch resolution x Tr x T For linear motors Load_Jerk SI xMotor_Jerk IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole_Pitch is the magnetic pole pitch NN distance expressed in m 1 SI units for jerk are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 81 PRO A0xV36x SA Technical Reference 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is Load_Jerk SI za xLoad
55. d with an external capacitor whose value is not enough to absorb the entire regenerative energy Ey but can help reducing the brake resistor size Brake resistor selection The brake resistor value must be chosen to respect the following conditions 1 to limit the maximum current below the drive peak current Ipeax 10A R UMAX gt IPEAK 2 to sustain the required braking power 1 2 2 Em 5 ClUMax Uprake P BR ty where C is the capacitance on the motor supply external i e 2 U RER lt BRAKE 2x Par 3 to limit the average current below the drive nominal current INnow 4A 2 CYCLE INOM where tcycte is the time interval between 2 brakes in case of repetitive moves RBR gt 2 PgR xt U 4 tobe rated for an average power Pay BR anda peak power PpEAK MAX tCYCLE RBR Remarks 2 U 1 If Umax gt BRAKE the braking power Psr must be reduced by increasing either ty the time to IPEAK 2xPBR decelerate or C the external capacitor on the motor supply 2 Pap xt U 2 If BREA gt BRAKE either the braking power must be reduced see Remark 1 or 2 tCYCLE Nom teyc e the time interval between braking cycles must be increased THE BRAKE RESISTOR MAY HAVE HOT SURFACES DURING OPERATION ElectroCraft 2013 45 PRO AOxV36x SA Technical Reference 3 3 14 Serial RS 232 connection 3 3 14 1 Serial RS 232 connection RS 232 connection PRO A0xV36x SA CAN de a Transcei
56. driven in trapezoidal mode the voltage command is the voltage to apply between 2 of the motor phases according with Hall signals values In this case the correspondence with the voltage applied in SI units i e V is Voltage command V ude 32767 x Voltage command IU This correspondence is akso available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode 6 7 Voltage measurement units The internal voltage measurement units refer to the drive Vijor supply voltage The correspondence with the supply voltage in V is Voltage _ measured V VideNax Measurable x Voltage _ measured IU 65520 where VdcMaxMeasurable is the maximum measurable DC voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Remark the voltage measurement units occur in the scaling of the over voltage and under voltage protections and the supply voltage measurement 6 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with the time in s is Time s T x Time IU where T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup For example if T 1ms one second 1000 IU 6 9 Master position units When the master position is sent via a co
57. ected Logic LOW Logic LOW 0 1 6 Logic HIGH 1 8 24 39 Input voltage Floating voltage not connected 0 V Absolute maximum continuous 10 39 Absolute maximum surge duration lt 19 20 40 Logic LOW Pulled to GND 0 0 Input current Logic HIGH 39 si mA Input frequency 0 150 KHz Minimum pulse width 3 3 uS ESD protection Human body model 5 KV Min Typ Max Units TTL CMOS LVTTL 3 3V Mode compliance Software selectable Open collector NPN 24V outputs Default state Input floating wiring disconnected Logic HIGH Logic LOW 0 0 8 Logic HIGH 2 5 24 Input voltage Floating voltage not connected 3 V Absolute maximum continuous 10 30 Absolute maximum surge duration lt 1s 20 40 Logic LOW Pulled to GND 0 6 1 Logic HIGH Internal 4 7KQ pull up to 3 3 0 0 0 Inputcurrent Logic HIGH Pulled to 5V os o2 MA Logic HIGH Pulled to 24V 2 2 5 Input frequency 0 150 KHz Minimum pulse width 3 3 uS ESD protection Human body model 5 KV ElectroCraft 2013 17 PRO A0xV36 SA Technical Reference 2 6 9 Mode compliance All outputs OUTO OUT1 OUT2 Error OUT3 Ready Digital Outputs OUTO OUT1 OUT2 Error OUT3 Ready Min Typ Max Units TTL CMOS Open collector NPN 24V Ready Error Same as above LVTTL 3 3V Not supplied V og floating or to GND High Z floating
58. ed torque control 7 Position speed or torque control of a brushless AC linear motor with linear Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor 1 Motion commands can be referred to the motor by setting in PROconfig a linear to linear transmission with ratio 1 1 2 Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 9 PRO A0xV36 SA Technical Reference Motor a ap LINEAR MOTOR Linear Halls Figure 2 7 Brushless AC linear motor with linear Hall signals Position speed torque control 8 Position speed or torque control of a DC brushed rotary motor with an incremental quadrature encoder on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Figure
59. ed after power on C Active high C Active high Active low Enabled after power on Active low Active low r Position controller Software limit switches J Restrict movement between Kp 47 64 Integral limit fio x gt Negative Limit Positive Limit Ki 2 382 En fo Acceleration i 8 073 he eedforward p ines Kd 317 6 fo Speed eae ne Kd filter fa Move till aligned with phase A pe pd 54 TER Direct using Hall sensors Time to align on phases fi s Motionless start encoder only Tune amp Test The PRO AOxV36 drives accept the following CAN rates 125Kbps 250 Kbps 500kbps and 1Mbps Using the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm a If a valid setup table exists and this setup table was created with the Set baud rate checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be one of the above 4 values or the firmware default F W default which is 500kbs b Ifa valid setup table exists and this setup table was created with the Set baud rate checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol c Ifthe setup table is invalid with the last value set either from a valid setup table or by a CANopen mast
60. en loop control Incremental encoder on load The internal position units are load encoder counts The transmission is rotary to rotary The correspondence with the load position in SI units is 2x7 Load_Position S x Load _ Position IU 4xNo_ encoder _lines where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 1 SI units for position are rad for a rotary movement m for a linear movement ElectroCraft 2013 73 PRO AOxV36x SA Technical Reference 6 1 6 Brushless motor with sine cosine encoder on motor The internal position units are interpolated encoder counts The correspondence with the load position in SI units is For rotary motors Load _ Position SI RE x Motor _ Position IU 4xEnc_ periods xInterpolation x Tr For linear motors Encoder ACCUS ea Load _ Position S Interpolation x Tr where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 2 Speed units The internal speed units are internal
61. encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same command s expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Figure 2 1 Brushless AC rotary motor Position speed torque control Quadrature encoder on motor 2 Position speed or torque control of a brushless AC rotary motor with an incremental sine cosine encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor 1 Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 7 PRO A0xV36 SA Technical Reference Motor PRO A0xV36 Sin Cos incremental encoder Figure 2 2 Brushless AC rotary motor Position speed torque control
62. ensors and quadrature encoder on motor 5 Position speed or torque control of a brushless AC linear motor with an incremental quadrature linear encoder on the track The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling ElectroCraft 2013 8 PRO AOxV36 SA Technical Reference factors take into account the transmission ratio between motor and load linear or rotary Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 LINEAR MOTOR Linear Encoder Figure 2 5 Brushless AC rotary motor with incremental quadrature linear encoder Position speed torque control 6 Position speed or torque control of a brushless AC rotary motor with linear Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Linear Hall Figure 2 6 Brushless AC rotary motor with linear Hall signals Position spe
63. er via CiA 305 protocol d If the setup table is invalid there is no previous CAN rate set from a valid setup table or by a CANopen master with f w default value which is 500kbs 4 5 Creating an Image File with the Setup Data Once you have validated your setup you can create with the menu command Setup Create EEPROM Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your drive ElectroCraft 2013 58 PRO AOxV36x SA Technical Reference A software file is a text file that can be read with any text editor It contains blocks of data separated by an empty row Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at start address 1 etc All the data are hexadecimal 16 bit values maximum 4 hexadecimal digits Each row contains a single data value When less then 4 hexadecimal digits are shown the value must be right justified For example 92 represent 0x0092 The sw file can be programmed into a drive from a CANopen master using the communication objects for writing data into the drive EEPROM from a host PC or PLC using the MPL_LIB functions for writing data into the drive EEPROM using the PRO EEPROM Programmer tool which comes with PROconfig but may also be installed separately The PRO EEPROM Programmer was speci
64. eration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 1 Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 11 PRO A0xV36 SA Technical Reference Figure 2 11 No position or speed feedback Open loop control motor position or speed 12 Closed loop control of load position using an encoder on load combined with open loop control of a 2 or 3 phase step motor in speed with speed reference provided by the position controller The motion commands in both SI and IU units refer to the load Motor PRO A0xV36 Incremental quadrature encoder Figure 2 12 Encoder on load Closed loop control load position open loop control motor speed 13 Closed loop control of a 2 phase step motor in position speed or torque Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Figure 2 13 Encoder on motor shaft Closed loop control motor position speed or torque Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCr
65. es which are performed with no protocol overhead Transmit PDOs are used to send data from the drive and receive PDOs are used to receive on to the drive The PRO AOxV36 accepts 4 transmit PDOs and 4 receive PDOs The contents of the PDOs can be set according with the application needs using the dynamic PDO mapping This operation can be done during the drive configuration phase using SDOs Synchronization Object SYNC The SYNC message provides the basic network clock as the SYNC producer broadcasts the synchronization object periodically The service is unconfirmed The PRO AOxV36 supports both SYNC consumer and producer Time Stamp Object TIME The Time Stamp Object is supported by the PRO AOxV36 device Emergency Object EMCY Emergency objects are triggered by the occurrence of a drive internal error situation An emergency object is transmitted only once per error event As long as no new errors occur the drive will not transmit further emergency objects Network Management Objects NMT The Network Management is node oriented and follows a master slave structure NMT objects are used for executing NMT services Through NMT services the drive can be initialized started monitored reset or stopped The PRO A0xV36 is a NMT slave in a CANopen network Module Control Services through these unconfirmed services the NMT master controls the state of the drive The following services are implemented Start Remote Node
66. f your host is a PLC MPL_LIB offers a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program ElectroCraft 2013 51 PRO AOxV36x SA Technical Reference Implement on your master the MPL commands you need to send to the drives motors using one of the supported communication channels The implementation must be done according with ElectroCraft communication protocols Combine MPL programming at drive level with one of the other options see Section 5 3 4 2 1 Establish communication PROconfig starts with an empty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor coon PRO Deve oe x D x om A amp re he Commumcation yam bai f T Me E Programmable Servo Drives Before selecting one of the above options you need to establish the communication with the drive you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive and do the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established PROconfig displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and it
67. fically designed for repetitive fast and easy programming of sw files into the ElectroCraft drives during production ElectroCraft 2013 59 PRO AOxV36x SA Technical Reference 5 Step 3 Motion Programming 5 1 Using a CANopen Master for PRO A0xV36 CANopen execution The PRO A0xV36 drive conforms to CiA 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control the now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards For details see ElectroCraft PRO Series CANopen Programming Document No A11226 5 1 1 CiA 301 Application Layer and Communication Profile Overview The PRO AOxV36 drive accepts the following basic services and types of communication objects of the CANopen communication profile CiA301 v4 2 Service Data Object SDO Service Data Objects SDOs are used by CANopen master to access any object from the drive s Object Dictionary Both expedited and segmented SDO transfers are supported SDO transfers are confirmed services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen master and the drives Process Data Object PDO Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the drives The PDOs are unconfirmed servic
68. final system altitude m Im motor current during deceleration Arus phase Rpn motor phase resistance Q ty time to decelerate s Tr total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jm and the load inertia J will be replaced by the motor mass and the load mass measured in kg the angular speed Wp will become linear speed measured in m s and the friction torque Tp will become friction force measured in N Option 2 Connect a brake resistor Reg between phase BR B pins A25 A28 and ground pins A23 A24 B23 B24 and activate the software option of dynamic braking see below This option is not available when the drive is used with a step motor The dynamic braking option can be found in the Drive Setup dialogue within MotionPRO Developer PROconfig The braking will occur when DC bus voltage increases over Ugraxe This parameter Usraxe should be adjusted depending on the nominal motor supply Optimally from a braking point of view Usraxe Should be a few volts above the maximum nominal supply voltage This setting will activate the brake resistor earlier before reaching dangerous voltages when the over voltage protection will stop the drive Of course Ugrake must always be less than Umax the over voltage protection threshold ElectroCraft 2013 44 PRO AOxV36x SA Technical Reference Remark This option can be combine
69. g the ElectroCraft Motion PROgramming Language MPL The MotionPRO Suite platform includes PROconfig for the drive motor setup and a Motion Wizard for the motion programming The Motion Wizard provides a simple graphical way of creating motion programs and automatically generates all the MPL instructions With MotionPRO Suite you can fully benefit from a key advantage of ElectroCraft drives their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controller Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit MPL_LIB v2 0 Document No A11230 explains how to program in C C C Visual Basic or Delphi Pascal a motion application for the ElectroCraft programmable drives using ElectroCraft Document Number A11230 motion control library for PCs The MPL_LIB includes ready to run examples that can be executed on Windows or Linux x86 and x64 PRO Series and MPL_LIB_LabVIEW Compatibility Document No A11231 explains how to program in LabVIEW a motion application for the ElectroCraft programmable drives using MPL_LIB_Labview v2 0 motion control library for PCs The MPL_LIB_LabVIEW includes over 40 ready to run examples PRO Series and PLC Siemens Series S7 300 or S7 400 Document No 11232 explains
70. he slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole_Pitch is the magnetic pole pitch NN distance expressed in m 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is 2x7 Load_ Speed S xLoad_ Speed IU 4xNo_ encoder _linesx T where No_encoder_lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 4 DC brushed motor with tacho on motor When only a tachometer is mounted on the motor shaft the internal speed units are A D converter bits The correspondence with the load speed in SI units is Analogue _ Input _Range Load _ Speed SI gt 4096 x Tacho _ gain x Tr x Motor _ Speed IU where Analog_Input_Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho_gain is the tachometer gain expressed in V rad s 1 SI units for speed are rad s for a rotary movement m s for a linear movement
71. he tachometer gain expressed in V rad s 6 12 5 Step motor open loop control No feedback device or incremental encoder on load The internal motor speed units are motor usteps slow loop sampling period The correspondence with the motor speed in SI units is 1 SI units for motor speed are rad s for a rotary motor m s for a linear motor ElectroCraft 2013 87 PRO A0xV36x SA Technical Reference Motor _ Speed SI an x Motor _ Speed IU No_ustepsxNo_ steps x T where No steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 6 Step motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is Motor _Speed S eal x Motor _ Speedf lU 4xNo_ encoder _linesx T where No_encoder_lines is the motor encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 7 Brushless motor with sine cosine encoder on motor The internal motor speed un
72. hile the drive has a non configured Axis ID it cannot communicate with other drives in the network ElectroCraft 2013 50 PRO AOxV36x SA Technical Reference 4 Step 2 Drive Setup 4 1 Installing PROconfig PROconfig is a PC software platform for the setup of the ElectroCraft drives PROconfig is part of the ElectroCraft Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit PROconfig comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates PROconfig can be installed independently or together with the MotionPRO Suite platform for motion programming using MPL You will need MotionPRO Suite only if you plan to use the advanced features presented in Section 5 3 On request PROconfig can be provided on a CD too In this case after installation use the update via internet tool to check for the latest updates Once you have started the installation package follow its indications 4 2 Getting Started with PROconfig Using PROconfig you can quickly setup a drive for your application The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or
73. hod may be used to invalidate the MPL application from the EEPROM On next power on in absence of a valid MPL application the drive enters in the non Autorun slave mode independently of the digital Hall inputs status Connection for Non Autorun PRO A0xV36x SA CAN Figure 3 25 Temporary connection during power on to disable Autorun mode ElectroCraft 2013 49 PRO AOxV36x SA Technical Reference 3 4 Operation Mode and Axis ID Selection 3 4 1 Selection of the Operation Mode On PRO A04V36x SA CAN the selection of the operation mode CANopen or MPLCAN is done by setting the JP1 jumper e CANopen mode JP1 1 2 e MPLCAN mode JP1 2 3 3 4 2 Selection of the Axis ID The Hardware Axis ID selection is done through the hex switch SW1 It contains numbers from 0x0 to OxF Depending on SW1 position the axis ID will be sw1 AxisID in AxisID in position MPLCAN CANopen mode mode LSS non 0x0 255 configured state 0x1 1 1 0x2 2 2 0x3 3 3 0x4 4 4 0x5 5 5 0x6 6 6 0x7 7 7 0x8 8 8 0x9 9 9 OxA 10 10 0xB 11 11 OxC 12 12 OxD 13 13 OxE 14 14 OxF 15 15 Note LSS non configured state is a state in which the drive does not have assigned an active Axis ID while connected to the CAN network In this mode the Axis ID for RS232 communication is 255 The Axis ID can be configured via a LSS master using CiA 305 protocol which can set and save a new unique value W
74. inear motors Encoder _ accuracy Motor __Position IU Motor _ Position SI Interpolation where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period 6 12 Motor speed units 6 12 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors Motor _ Speed SI pe oo x Motor _Speed lU 4xNo_ encoder _linesx T where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2013 86 PRO AOxV36x SA Technical Reference 6 12 2 Brushless motor with linear Hall signals The internal motor speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor speed in SI units is For rotary motors Motor _Speed Sl a x Motor _
75. ing 3 steps Q u m u u Step 1 Hardware installation Q Step 2 Drive setup using the ElectroCraft PROconfig software for drive commissioning Step 3 Motion programming using one of the options A CANopen master The drive s built in motion controller executing an ElectroCraft Motion PROgramming Language MPL program developed using ElectroCraft MotionPRO Developer software A MPL_LIB motion library for PCs Windows or Linux A MPL_LIB motion library for PLCs A distributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in MPL This manual covers Step 1 in detail It describes the PRO A0xV36x hardware including the technical data the connectors and the wiring diagrams needed for installation The manual also presents an overview of the following steps and includes the scaling factors between the real SI units and the drive internal units For detailed information regarding the next steps refer to the related documentation Notational Conventions This document uses the following conventions e PRO AOxV36x all products described in this manual 1 when PRO AOxV36 is set in CANopen mode ElectroCraft 2013 ll PRO AOxV36x SA Technical Reference e IU units Internal units of the drive e Sl units International standard units meter for length seconds for time etc e MPL ElectroCraft Motion PROgramming Language e MPLCAN
76. ing braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics If the voltage bypasses 39V the drive over voltage protection is triggered and the drive power stage is disabled In order to avoid this situation you have 2 options Option 1 Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2x Eu 2 2 U max U Nom C2 where Umax 39V is the over voltage protection limit Unom is the nominal motor supply voltage Em the overall energy flowing back to the supply in Joules In case of a rotary motor and load Ey can be computed with the formula 1 Eu a Jy tJ Tyi Myu M 9 hiritia Ninar AIRE Kinetic energy Potential energy Copper losses Friction losses yOu Te where Ju total rotor inertia kgm7 J total load inertia as seen at motor shaft after transmission kgm motor angular speed before deceleration rad s Mpu motor mass kg when motor is moving in a non horizontal plane M load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s7 hinitia initial system altitude m tinal
77. iod The correspondence with the load acceleration in SI units is 2x7 i Load _ Acceleration SI x Motor _ Acceleration IU No_ustepsxNo_ steps x Trx T where No_steps is the number of motor steps per revolution 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 78 PRO A0xV36x SA Technical Reference No_psteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 5 Step motor open loop control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary to rotary transmission 2x7 Load _ Acceleration SI _ x Load _ Acceleration iU 4xNo_ encoder _ lines x T For rotary to linear transmission Encoder _ Load _ Acceleration m s xLoad_ Acceleration U where No_encoder_lines is the rotary encoder number of lines per revolution Encoder_accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr tran
78. ion settings If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected If this drive is part of a CANbus network and the PC is serially connected with another drive use the menu command Communication Scan Network 5 2 3 3 Setup drive motor In the project window left side select S Setup to access the setup data for your application TT MoticnPRO Developer Project Apphemen Commune Contre Panel Window Help men View Og COr Ei FOO fs X Zgor Define Losd e eas Mto Currer Ready n ne AiD 255 PRO AGIVISA PE CAN SNL Viermeare FS08 Setup 0688 ElectroCraft 2013 66 PRO AOxV36x SA Technical Reference A z Press View Modify button ew oai This opens 2 setup dialogues for Motor Setup and for Drive Setup same like on PROconfig through which you can configure and parameterize a ElectroCraft drive In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process
79. ironments ElectroCraft 2013 39 PRO A0xV36x SA Technical Reference 3 3 12 3 Digital Hall Connection PRO A0xV36x SA CAN Hall connection Internally generated 5V Controller Figure 3 18 Digital Hall connection ElectroCraft 2013 40 PRO A0xV36x SA Technical Reference 3 3 12 4 Linear Hall Connection PRO A0xV36x SA CAN Linear Hall connection ae 3 x 3 6K bow pass _ amp ESD Controller Internally generated Figure 3 19 Linear Hall connection ElectroCraft 2013 41 PRO AOxV36x SA Technical Reference 3 3 12 5 Sine Cosine Analog Encoder Connection Sine Cosine Connection PRO A0xV36x SA CAN 120R AJA Sin terminator 120R terminator DSP Controller Figure 3 20 Sine Cosine analog encoder connection 3 3 12 6 Recommendations for wiring a Always connect both positive and negative signals when the position sensor is differential and provides them Use one twisted pair for each differential group of signals as follows A Sin with A Sin LH1 B Cos with B Cos LH2 Z with Z LH3 Use another twisted pair for the 5V supply and GND b Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Connect the cable shield to the GND at only one end This point could be either the PRO AOxV36x using the GND pin or the encoder m
80. it switch 2 general purpose e 4digital outputs 9 36V 0 5A 1 7A peak PNP Ready Error 2 general purpose e RS 232 serial interface up to 115200 bps e CAN bus 2 0B up to 1Mbit s with hardware axis ID selection e Two operation modes selectable by jumper e CANopen conforming with CiA 301 v4 2 CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 e MPLCAN programmable drive conforming with ElectroCraft protocol for exchanging MPL commands via CAN bus e 2 5K x 16 internal SRAM memory e 4K x 16 E ROM to store MPL programs and data e PWM switching frequency up to 100kHz e Motor supply 9 36V e Logic supply 9 36V Separate supply is optional 1 Available if the master axis sends its position via a communication channel 7 In only one output is used at a time the sink current can be up to 1 7A 3 15 hardware addresses in CANopen mode or 16 in MPLCAN mode ElectroCraft 2013 6 PRO A0xV36 SA Technical Reference e Output current e PRO A02V36A SA CAN 2A continuous 3 2A peak e PRO A04V36A SA CAN 4A2 continuous 10A peak e Operating ambient temperature 0 40 C over 40 C with derating e Hardware Protections e Short circuit between motor phases e Short circuit from motor phases to ground e Over voltage e Under voltage e Over current 2 3 Supported Motor Sensor Configurations PRO A0xV36 supports the following configurations 1 Position speed or torque control of a brushless AC rotary motor with an incremental quadrature
81. ith FOC A04V36 sinusoidal control sinusoidal amplitude value PRO 2 A02V36 PRO 2 82 for PMSM motors with FOC A04V36 sinusoidal control sinusoidal effective value PRO 141 A02V36 i 5 PRO maximum 2 5s A04V36 10 10 A Motor output current peak PRO maximum 24s A02V36 3 2 3 2 A Aie 13 15 Short circuit protection threshold measurement range A PRO A02V36 PL Short circuit protection delay 5 10 uS On state voltage drop Nominal output current including typical 03 40 5 v mating connector contact resistance Off state leakage current 0 5 1 mA Fpwm 20 kH 250 Recommended value for Eu 40 He 120 ripple 5 of measurement oe a0 50 uH RE Fa 100 kHz 45 Motor inductance phase to phase PWM Z my Fpwm 20 kHz 75 Absolute minimum value Bes A i Fewm 40 kHz 25 limited by short circuit F 80 kHz 10 uH inns PWM protection Vmor 36 V Fewn 100 KHz 5 Recommended value for EE a KHz 250 Motor electrical time constant L R 5 current measurement ae a0 KHZ 63 us 5 PWM 7 error due to ripple Fow 100 kHz 50 Current measurement accuracy FS Full Scale 4 8 XFS ElectroCraft 2013 16 PRO A0xV36 SA Technical Reference 2 6 8 Digital Inputs INO IN1 IN2 LSP IN3 LSN IN4 Enable Min Typ Max Units Mode compliance Software selectable NP Default state Input floating wiring disconn
82. ith a serial RS232 and a CAN 2 0B interface and can be set via a jumper to operate in 2 modes QO CANopen Q MPLCAN When CANopen mode is selected the PRO A0xV36 conforms to CiA 301 v4 2 application layer and communication profile CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards In this mode the PRO A0xV36 may be controlled via a CANopen master As a bonus PRO A0xV36 offers a CANopen master the option to call motion sequences written in MPL and stored in the drive EEPROM using manufacturer specific objects see for details par 5 3 When MPLCAN mode is selected the PRO AOxV36 behaves as standard ElectroCraft programmable drive and conforms to ElectroCraft protocol for exchanging MPL commands via CAN bus When MPLCAN protocol is used it is not mandatory to have a master Any PRO AOxV36 can be set to operate standalone and may play the role of a master to coordinate both the network communication synchronization and the motion application via MPL commands sent directly to the other drives When higher level coordination is needed apart from a CANopen master the PRO AOxV36 drives can also be controlled via a PC or a PLC using one of the MPL_LIB motion libraries For PRO AOxV36 commissioning PROconfig or MotionPRO Developer PC applications may be used PROconfig is a subset of MotionPRO Suite including only the drive
83. its are interpolated encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors Motor _ Speed Si aS x Motor _ Speedf lU 4xEnc _ periods x Interpolation x T For linear motors Encoder accra iior Speedi Motor _ Speed SI gt Interpolation x T where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2013 88 PRO AOxV36x SA Technical Reference 7 Memory Map PRO A0xV36 has 2 types of memory available for user applications 1Kx16 SRAM and 4Kx16 serial E ROM The SRAM memory is mapped in the address range 9000h to 9FFFh It can be used to download and run a MPL program to save real time data acquisitions and to keep the cam tables during run time The E ROM is mapped in the address range 4000h to 4FFFh It is used to keep in a non volatile memory the MPL programs the cam tables and the drive setup information
84. l unit has been named after its associated signal For example the position units are the internal units for position the speed units are the internal units for speed etc 6 1 Position units 6 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units is Load _ Position SI mn x Motor _ Position IU 4xNo_encoder_ lines xTr where No _ encoder _ lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 2 Brushless motor with linear Hall signals The internal position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load position in SI units is 2x7 For rotary motors Load _ Position SI _ x Motor _ Position IU resolution x Tr For linear motors Load_Position Si Se xMotor_Position IU r where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Pole_Pitch is the magnetic pole pitch NN distance expressed in m SI units for position are rad for a rotary movement m for a linear movement
85. le can be afterwards stored in a master and downloaded to the drive wherever needed ElectroCraft 2013 5 PRO A0xV36 SA Technical Reference 2 2 Key Features e Fully digital servo drive suitable for the control of rotary or linear brushless DC brush and step motors e Very compact design e Sinusoidal FOC or trapezoidal Hall based control of brushless motors e Open or closed loop control of 2 and 3 phase steppers e Various modes of operation including torque speed or position control position or speed profiles external analog reference or sent via a communication bus e ElectroCraft Motion PROgramming Language MPL instruction set for the definition and execution of motion sequences e Standalone operation with stored motion sequences e Various motion programming modes e Position profiles with trapezoidal or S curve speed shape e Position Velocity Time PVT 3 order interpolation e Position Time PT 1 order interpolation e Electronic gearing and camming e 35 Homing modes e Single ended and RS 422 differential encoder interface e Single ended open collector Digital Hall sensor interface e Linear Hall sensor interface e Analog Sin Cos encoder interface differential 1Vpp e SSI EnDAT BiSS absolute encoders and resolver feedback possible with an additional feedback extension module e 2 analog inputs 12 bit 0 5V Reference Feedback or general purpose e 5digital inputs 5 36V PNP Enable Limit switch Lim
86. mmunication channel the master position units depend on the type of position sensor present on the master axis ElectroCraft 2013 84 PRO AOxV36x SA Technical Reference 6 10 Master speed units The master speed is computed in internal units IU as master position units slow loop sampling period i e the master position variation over one position speed loop sampling period 6 11 Motor position units 6 11 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position in SI units is 2x7 Motor _ Position SI x Motor _ Position IU 4xNo_ encoder _lines where No_encoder_lines is the rotary encoder number of lines per revolution 6 11 2 Brushless motor with linear Hall signals The internal motor position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor position in SI units is For rotary motors Motor _ Position SI Re x Motor _ Position IU resolution For linear motors Motor_Position SI POBL PION x Motor_Position IU resolution where resolution is the motor position resolution Pole_Pitch is the magnetic pole pitch NN distance expressed in m 6 11 3 DC brushed motor with quadrature encoder on load and tacho on motor
87. ng a value in a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer The PRO A0xV36 offers others motion modes like electronic gearing electronic camming external modes with analog or digital reference etc When electronic camming is used the cam tables can be loaded in the following ways 1 The customization of the interrupt service routines and homing routines is available only for PRO A0xV36 CAN executions ElectroCraft 2013 69 PRO A0xV36x SA Technical Reference a The master downloads the cam points into the drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the drive EEPROM and during the drive initialization transition to Ready to Switch ON status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in MotionPRO Suite and are included in the information stored in the EEPROM together with the setup data and the MPL programs functions Remark The cam tables are included in the sw file generated with MotionPRO Developer Therefore the drives can check the cam presence in the drive EEPROM using the same procedure as for testing of the setup data 5 3 4 Customizing the Homing Procedures The PRO A0xV36 supports all homing modes defined in CiA402 device profile plus 4 custom based on hard stop If
88. of introducing and or checking your data ErP LS Download to Drive Motor Press the Download to Drive Motor button to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory which is used during runtime It is also possible to save the setup data on your PC and use it in other applications Note that you can upload the complete setup data from a drive motor To summarize you can define or change the setup data of an application in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 5 2 3 4 Program motion In the project window left side select M Motion for motion programming This automatically activates the Motion Wizard ElectroCraft 2013 67 PRO AOxV36x SA Technical Reference 2 ARE FT lt Propet appien Commmunicaten View Contei Pane DSU SCORNU Fe x TD Preject secs AAADPOMNDF ANY Ie nu IRON E CI Past mine Aan ISS PRO AOAVI A PE CAN LTVLLOOKT Fumare FIB Setup DEEE The Motion Editor offers you the possibility to program all the motion sequences using high level dialogues which automatically generate the corresponding MPL instructions Therefore with Motion Editor you can develop motion programs using almost all the MPL instructions wi
89. of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 Acceleration units The internal acceleration units are internal position units slow loop sampling period i e the speed variation over one slow loop sampling period 6 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is 2XT j Load _ Acceleration SI x Motor _ Acceleration IU 4xNo_ encoder _linesx Tr x T where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2013 77 PRO A0xV36x SA Technical Reference 6 3 2 Brushless motor with linear Hall signals The internal acceleration units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192
90. olation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 5 Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is 2 x lpeak 65520 where Ipeak is the drive peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Current A x Current IU ElectroCraft 2013 83 PRO AOxV36x SA Technical Reference 6 6 Voltage command units The internal voltage command units refer to the voltages applied on the motor The significance of the voltage commands as well as the scaling factors depend on the motor type and control method used In case of brushless motors driven in sinusoidal mode a field oriented vector control is performed The voltage command is the amplitude of the sinusoidal phase voltages In this case the correspondence with the motor phase voltages in SI units i e V is 1 1x Vdc Voltage command V _ x Voltage command IU 65534 where Vdc is the drive power supply voltage expressed in V In case of brushless motors
91. on Libraries for PC based Systems A MPL Library for PC is a collection of high level functions allowing you to control from a PC a network of ElectroCraft programmable drives It is an ideal tool for quick implementation on PCs of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a drive motor via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc The MPL Motion Library can work under a Windows or Linux operating system Implemented as a dll so it can be included in an application developed in C C C Visual Basic Delphi Pascal or Labview Using a MPL Motion Library for PC you can focus on the main aspects of your application while the motion programming part can be reduced to calling the appropriate functions and getting the confirmation when the task was done All ElectroCraft s MPL Motion Libraries for PCs are provided with PROconfig 5 5 Using Motion Libraries for PLC based Systems A MPL Motion Library for PLC is a collection of high level functions and function blocks allowing you to control from a PLC the ElectroCraft programmable drives The motion control function blocks are developed in accordance with the PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLC
92. or better reliability and reduced de rating due to heat dissipation ElectroCraft 2013 14 PRO A0xV36 SA Technical Reference 2 6 5 Logic Supply Input VLoc Min Typ Max Units Nominal values 9 36 Voc Absolute maximum values drive operating 5 9 39 Voc Supply voltage but outside guaranteed parameters Absolute maximum values surge t 0 45 V duration lt 10ms VLos 9V 125 300 No Load on Digital Viog 12V 80 200 Supply current Outputs Viog 24V 50 125 mA VLoc 40V 40 100 2 6 6 Motor Supply Input Vuor Min Typ Max Units Nominal values 9 36 Voc Absolute maximum values drive operating j 8 5 40 Voc Supply voltage but outside guaranteed parameters Absolute maximum values surge j 0 42 Vv duration lt 10ms Idle 1 5 mA PRO Operating aoav3ae 10 4 10 PRO Supply current ao2v36 52 2 32 PRO Absolute maximum value short 194136 15 circuit condition duration lt A t PRO 10 ms A02V36 gt ElectroCraft 2013 15 PRO A0xV36 SA Technical Reference 2 6 7 Motor Outputs A A B A C B BR B Min Typ Max Units PRO 4 for DC brushed steppers and A04V36 BLDC motors with Hall based trapezoidal control PRO 2 A02V36 Nominal output current continuous PRO A for PMSM motors w
93. otor Do not connect the shield at both ends c If the PRO A0xV36x 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V and GND lines The capacitor value can be 1 10 uF rated at 6 3V ElectroCraft 2013 42 PRO AOxV36x SA Technical Reference 3 3 13 Power Supply Connection 3 3 13 1 Supply Connection Power supply connection PRO A0xV36x SA CAN Digital Le Inputs Outputs Digital Inputs 4 phase Inverter Figure 3 21 Supply connection 3 3 13 2 Recommendations for Supply Wiring Always provide a nearby capacitor on the motor supply lines The capacitor should be located within 10cm of the PRO A0xV36x edge connector max 20cm The minimum recommended capacitance is 470uF for PRO A04V36x or 220UF for PRO A02V36x always rated at the appropriate voltage Use short thick wires between the PRO AOxV36x and the motor power supply Connect power supply wires to all the indicated pins If the wires are longer than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 2 200uUF rated at an ElectroCraft 2013 43 PRO A0xV36x SA Technical Reference appropriate voltage right on the terminals of the PRO A04V36x respectively 1 0001F for the PRO A02V36x 3 3 13 3 Recommendations to limit over voltage dur
94. port Email drivesuport electrocraft com suspected problems see Note Make suggestions about Mail ElectroCraft Michigan or report errors in 4480 Varsity Drive Suite G documentation see Note Ann Arbor MI 48108 USA ElectroCraft 2013 VI PRO A0xV36x SA Technical Reference Table of Contents Read THIS FIFST swsssssssicccieesiwesinsticascncweneeunsunsiuwseecssineniasaundensieussvineaunsbnnanunveneeninsens lll 1 Safety INOFMATION scaicccicisesccdcawciscicecascndeasstcnssadeiaadaataaawaccdsicetaasenawesaseaieiaeeana 2 Ti NARNIA S ck star de ste RE RS SC A idee be 2 1 27 HCAUNIONS 22 nr Le ee er ee ere 2 2 Product OVGIVICW rennes een aaneaee 4 iss PR 016 161 ON eRe RRO ne NS A nn SN 4 2 2 Key FOAlUreS sean nee cede ke eee eee 6 2 3 Supported Motor Sensor Configurations 7 2 4 PRO A0xV36x SA Drive Dimensions 13 2 5 Identification Ales ne a ne nn nn en ne nn sn A 13 2 6 Electrical Sp GITICANONS issnertinameinetinaitinentinstinesinntiriederes 14 20 15 Operating Conditions saene nene enes Se nn cave E AET A sc ties Ath NS 14 2 6 2 Storage Conditions tnennnns rentrent 14 2 6 9 Mechanical MORIN 2222258 ste Ss conse res cence diana Te TT ne ere nd nette Reda 14 2 6 4 Environmental Gnaracien Sues ci ssc aus Re a wtatadacttesdaset tates tet aacae tute t da ue 14 2 6 5 Logic Supply Input CV GS
95. position units slow loop sampling period i e the position variation over one slow loop sampling period 6 2 1 Brushless DC brushed motor with quadrature encoder on motor The internal speed units are encoder counts slow loop sampling period The correspondence with the load speed in SI units is x Load_ Speed Si FR Motor _ Speed lU where No _ encoder _ lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2013 74 PRO AOxV36x SA Technical Reference 6 2 2 Brushless motor with linear Hall signals The internal speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load speed in SI units is 2x7 For rotary motors Load _ Speed Sl x Motor _ Speed IU resolution x Tr x T Pole_Pitch resolution x Tr x T For linear motors Load_Speed SI xMotor_Speed IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is t
96. rent De rating with PWM frequency Output Voltage De rating Output Voltage Vout Vor 0 10 20 30 40 50 60 70 80 90 100 PWM Frequency KHz Figure 2 18 PRO A0xV36 SA CAN Output ElectroCraft 2013 Overcurrent Diagram 70 lyon 4 60 lyax 10 PT 250 As T 50 t tx 2 55 o 40 E 30 20 10 0 0 0 5 1 1 5 2 2 5 3 3 5 Current A Figure 2 22 PRO A02V36 SA CAN Over current diagram Current A N Temperature De rating 20KHz 3 phase Aw Co Un Un N O1 Go Un 100KHz 3 phase ee 20KHz 4 phase ome 20KHz 3 phase 35 40 45 50 55 60 65 Ambient Temperature C Figure 2 23 PRO A04V36 SA CAN De rating with ambient 22 PRO A0xV36 SA Technical Reference Voltage De rating with PWM frequency Altitude De rating PWM Frequency De rating 45 TT 45 4 z FER azs pe 2 5 E 2 5 E H p 31 5 3 1 5 0 5 o gt 0 0 oe ee oe 0 10 20 30 40 50 60 70 80 90100 Altitude Km PWM Frequency KHz Figure 2 19 PRO A04V36 SA CAN De rating with altitude Figure 2 24 PRO A04V36 SA CAN Current De rating with PWM frequency Overcurrent Diagram Ion 4
97. s firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started PROconfig tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected If this drive is part of a CANbus network use the menu command Communication Scan Network 4 2 2 Setup drive motor ElectroCraft 2013 52 PRO A0xV36x SA Technical Reference Press New button and select your drive type r al HX EIRE Step 1 Select axis number 255 La Step 2 Define load setup data PRO A02V36A PE CAN PRO A02V36A PE CAT PRO A02V36A SA CAN PRO A04V36A PE CAN PRO A04V36A PE CAT PRO A04V36A SA CAN PRO A08V48 PE CAN PRO A08V48 PE CAT PRO A08V48 SA CAN Offline The selection continues with the motor technology for example brushless or brushed and type of feedback device for example Incremental encoder Linear Halls The selection opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize an ElectroCraft drive plus several predefined control panels customized for the produc
98. s of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a MPL Motion Library for PLC you can focus on the main aspects of your PLC application while the motion programming part can be reduced to calling the appropriate functions and monitoring the confirmations that the task was done All these blocks have been designed using the guidelines described in the PLC standards so they can be used on any development platform that is IEC 61136 compliant All ElectroCraft s MPL Motion Libraries for PLC are provided with PROconfig ElectroCraft 2013 71 PRO AOxV36x SA Technical Reference 6 Scaling factors ElectroCraft drives work with parameters and variables represented in the drive internal units IU These correspond to various signal types position speed current voltage etc Each type of signal has its own internal representation in IU and a specific scaling factor This chapter presents the drive internal units and their relation with the international standard units Sl In order to easily identify them each interna
99. s value in the Advanced dialogue which can be opened from the Drive Setup 1 SI units for jerk are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 82 PRO A0xV36x SA Technical Reference 6 4 6 Step motor closed loop control Incremental encoder on motor The internal jerk units are motor encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load _ Jerk SI 2 x Motor _ Jerk IU 4xNo_ encoder _linesx Tr x T where No_encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 7 Brushless motor with sine cosine encoder on motor The internal jerk units are interpolated encoder counts slow loop sampling period The correspondence with the load jerk in SI units is For rotary motors Load _Jerk SI S x Motor _ Jerk IU 4x Enc _ periods x Interpolation x Tr x T Encoder _ accuracy For linear motors Load _Jerk SI x Motor _ Jerk IU Interpolation x Tr x T where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder_accuracy is the linear encoder accuracy in m for one sine cosine period Interp
100. smission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 6 Step motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load acceleration in SI units is Load _ Acceleration SI n x Motor _ Acceleration IU 4xNo_ encoder _linesx Tr x T where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2013 79 PRO AOxV36x SA Technical Reference 6 3 7 Brushless motor with sine cosine encoder on motor The internal acceleration units are interpolated encoder counts slow loop sampling period The correspondence with the load acceleration in Sl units is For rotary motors Load_ Acceleration S ea x Motor _ Acceleration IU 4x Enc _ periods x Interpolation x Tr x T For linear motors Load_ Acceleration Si Encoder _ accuracy x Motor _ Acceleration IU Interpolation x Tr x
101. supply internally generated 9 GND Negative return ground of the motor supply 10 GND Negative return ground of the motor supply 3 3 4 J3 Feedback connector pinout Connector description Pin Name Type Description 1 GND Return ground for sensors supply 2 5Vour O 5V output supply for I O usage 3 GND Return ground for sensors supply 4 5Vour O 5V output supply for I O usage om 5 A Sin LH1 l Incr encoder A diff input or analogue encoder Sin diff input or linear Hall 1 input gt 6 A A Sin l Incr encoder A single ended or A diff input or analogue encoder Sin diff input 7 B Cos LH2 l Incr encoder B diff input or analogue encoder Cos diff input or linear Hall 2 input 8 B B Cos l Incr encoder B single ended or B diff input or analogue encoder Cos diff input 9 Z LH3 l Incr encoder Z diff input or linear Hall 3 input 10 ZI Z l Incr encoder Z index single ended or Z diff input ElectroCraft 2013 28 PRO A0xV36x SA Technical Reference 3 3 5 J4 Digital analog I O and logic supply connector pinout Connector description Pin Name Type Description 1 5Vour O 5V output supply for I O usage 2 REF i Analogue input 12 bit 0 5V Used to read an analog position speed or torque reference or used as general purpose analogue input 3 INO _5 36V general purpose digital PNP NPN input 4 IN4 Enable 5 36V
102. t selected ElectroCraft 2013 53 PRO A0xV36x SA Technical Reference Test Phare Connectors Detect Nbr of Pele Paste Identity Reustance and inductance F Motor natia ia urinon Se on me ire F Hal sensors Halcertguaten 5 _ Tes Correctors Detect Hal Corigasion D Faer encoder inputs to of men barage only for uingle ended encoder I Revene encoder courting CS os 77 po IT Motor brake on output ine aoe c eorr Dhe wiemed 0 amet Postoni Toad Posticnlr CRE PT Tres tod Tewabden yen loupe nur Motor depiscement ot 1 ra J Acta io rew conesponds on toad fT la Ready iine PRO ADEVI A PE CAN SetuplD 0888 In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup ElectroCraft 2013 54 PRO A0xV36x SA Technical Reference 4 2 3 Selecting NPN PNP inputs type in Setup
103. tection Human body model 5 KV ElectroCraft 2013 18 PRO A0xV36 SA Technical Reference 2 6 11 Encoder Inputs A A A B B B Z Z Z Min Typ Max Units Single ended mode compliance Leave negative inputs disconnected TTL CMOS Open collector Logic LOW 1 6 Input voltage single ended mode ane F AJA B B Logic HIGH 1 8 V Floating voltage not connected 4 5 Logic LOW 1 2 Input voltage single ended mode te Z 7 Logic HIGH 1 4 V Floating voltage not connected 4 7 Input current single ended mode Logic LOW Pull to GND 2 5 3 AN AIA B B Z Z Logic HIGH Internal 2 2KQ pull up to 5 0 0 0 Differential mode compliance For full RS422 compliance see TIA EIA 422 A Hysteresis 0 06 0 1 0 2 Input voltage differential mode V Common mode range A to GND etc 7 7 A to A B to B 4 2 4 7 Input impedance differential KQ Z to Z 6 1 7 2 Single ended mode Open collector NPN 0 500 KHz Input frequency Differential mode or Single ended driven by 0 10 MHz push pull TTL CMOS Single ended mode Open collector NPN 1 uS Minimum pulse width Differential mode or Single ended driven by o nS push pull TTL CMOS Absolute maximum values continuous 7 7 Input voltage any pin to GND 7 V Absolute maximum surge duration lt 1S 11 14 ESD protection Human body model
104. thout needing to learn them A MPL program includes a main section followed by the subroutines used functions interrupt service routines and homing procedures The MPL program may also include cam tables used for electronic camming applications When activated Motion Editor adds a set of toolbar buttons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated MPL instructions are automatically generated Note that the MPL instructions generated are not a simple text included in a file but a motion object Therefore with the Motion Editor you define your motion program as a collection of motion objects The major advantage of encapsulating programming instructions in motion objects is that you can very easily manipulate them For example you can Save and reuse a complete motion program or parts of it in other applications Add delete move copy insert enable or disable one or more motion objects Group several motion objects and work with bigger objects that perform more complex functions As a starting point push for example the leftmost Motion Editor button Trapezoidal profiles and set a position or speed profile Then press the Run button At this point the following operations are done automatically A MPL program is created by inserting your motion objects into a predefined template The MPL program is compiled and downloaded to the dri
105. through Conditional jumps and calls of MPL functions MPL interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analog input signals Executing arithmetic and logic operations Performing data transfers between axes Controlling motion of an axis from another one via motion commands sent between axes Oooodo Sending commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Q Synchronizing all the axes from a network By implementing motion sequences directly at drive level you can really distribute the intelligence between the master and the drives in complex multi axis applications reducing both the development time and the overall communication requirements For example instead of trying to command each movement of an axis you can program the drives using MPL to execute complex motion tasks and inform the master when these tasks are done Thus for each axis control the master job may be reduced at calling MPL functions stored in the drive EEPROM and waiting for a message which confirms the MPL functions execution completion 1 Available if the master axis sends its position via a communication channel ElectroCraft 2013 4 PRO A0xV36 SA Technical Reference All PRO A0xV36 drives are equipped w
106. tion 4 GND Return ground for RS 232 pins 3 3 8 24V Digital O Connection 1 In case VLoc J4 pin7 is not connected the digital outputs and inputs will not be operational ElectroCraft 2013 29 PRO A0xV36x SA Technical Reference 3 3 8 1 PNP Inputs 24V PNP Inputs Connection PRO A0xV36 SA CAN Viog INO Inputs o O k IN 2 08 0 N4 Enable o or at 50V max IN2 LSP fe S IN3 LSN GND Figure 3 5 24V Digital PNP Inputs connection Remarks 1 If Vlog is not supplied the digital inputs will not work 2 The inputs are selectable as PNP NPN by software 3 The inputs are compatible with PNP type outputs input must receive a positive voltage value 5 36V to change its default state 3 3 8 2 NPN Inputs 24V NPN Inputs Connection PRO A0xV36x SA CAN Vioc IN4 Enable IN2 LSP IN3 LSN Inputs Controller Figure 3 6 24V Digital NPN Inputs connection Remarks 1 If Vlog is not supplied the digital inputs will not work 2 The inputs are selectable as PNP NPN by software 3 The inputs are compatible with NPN type outputs input must be pulled to GND to change it s default state 4 The outputs are compatible with NPN type inputs load is tied to common VLOG output pulls to GND when active and is floating when inactive ElectroCraft 2013 30 PRO AOxV36x SA Technical Reference 3 3 8 3 NPN Outputs 24V NPN Outputs Connection PRO A0xV36x SA CAN
107. tor Brushless Linear Motor Brushless Rotary Motor loffiine Click on your selection MotionPRO Developer opens the Project window where on the left side you can see the structure of a project At beginning both the new project and its first application are named Untitled The application has 2 components S Setup and M Motion program Ready f Celine ADI PROMOS PECAT SANLY Fumme FEF SetupiD OCES ElectroCraft 2013 65 PRO A0xV36x SA Technical Reference 5 2 3 2 Step 2 Establish communication If you have a drive motor connected with your PC now it s time to check the communication Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive motor and the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established MotionPRO Developer displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started MotionPRO Developer tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communicat
108. using ElectroCraft Ethernet to CAN adapter 3 Via another drive from the same CAN bus network which is connected to the PC via one of the above options from point 1 The output of PROconfig is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use PROconfig includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure check and analyze your drive commissioning PROconfig works with setup data A setup contains all the information needed to configure and parameterize a ElectroCraft drive This information is preserved in the drive EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive and is used during runtime With PROconfig it is also possible to retrieve the complete setup information from a drive previously programmed Note that with PROconfig you do only your drive motor commissioning For motion programming you have the following options Use a CANopen master to control the PRO A0xV36 as a standard CANopen drive Use MotionPRO Developer to create and download a MPL program into the drive motor memory Use one of the MPL_LIB motion libraries to control the drives motors from your host master If your host is a PC MPL_LIB offers a collection of high level motion functions which can be called from applications written in C C Visual Basic Delphi Pascal or LabVIEW I
109. ve from non configured mode by setting another axis ID between 1 and 127 from above dialogue using a serial link between the drive and the PC Software via CANopen master using CiA 305 protocol ElectroCraft 2013 56 PRO AOxV36x SA Technical Reference The axis ID is initialized at power on using the following algorithm a d If a valid setup table exists and this setup table was created with the Axis ID Selection checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with the AxisID hex switch If the drive is set in CANopen mode and the Axis ID is over 127 it is converted into 255 and the drive enters in CAN communication LSS non configured mode If a valid the setup table exists and this was created with the Axis ID Selection checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to 255 for MPLCAN 1 to 127 for CANopen or can indicate that axis ID will be set according with the AxisID hex switch If the setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to 255 for MPLCAN 1 to 127 for CANopen or can indicate that axis ID will
110. ve motor 1 The customization of the interrupt service routines and homing routines is available only for PRO A04V36x CAN execution Optional for PRO A04V36x CANopen execution ElectroCraft 2013 68 PRO AOxV36x SA Technical Reference The MPL program execution is started For learning how to send MPL commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances MotionPRO Suite includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the MPL Program Once you have validated your application you can create with the menu command Application Create PRO EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph 4 5 5 3 Combining CANopen or other host with MPL Due to its embedded motion controller an PRO AOxV36 offers many programming solutions that may simplify a lot the task of a
111. vection The support can be mounted horizontally or vertically In both cases the air temperature must not exceed the limits indicated in Figure 2 16 and Error Reference source not found Figure 3 2 shows the recommended spacing to assure proper airflow by natural convection in the worst case closed box done from a plastic non metallic material with no ventilation openings Whenever possible ventilation openings shall be foreseen on the top side wall or the box and at the bottom of the lateral walls When using a horizontal support considerably larger than the size of the hosted PRO A0xV36x SA drives it is recommended to provide ventilation holes in the support also Remark In case of using a metallic box with ventilation openings all spacing values may be reduced substantially With proper ventilation keeping the air surrounding the PRO AOxV36x SA inside the limits indicated in Figure 2 16 and Error Reference source not found the spacing values may be reduced down to zero ElectroCraft 2013 24 PRO AOxV36x SA Technical Reference Space for cables No extra space is needed for cooling Figure 3 2 Recommended spacing for vertical mounting worst case non metallic closed box If ventilation driven by natural convection is not enough to maintain the temperature surrounding the PRO AOxV36x SA drive s inside the limits indicated in Figure 2 16 and Error Reference source not found then
112. ver Controller Figure 3 22 Serial RS 232 connection 3 3 14 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shielded cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin 2 or 4 of J7 must be included inside the shield like the 232Rx and 232Tx signals b Always power off all the PRO AOxV36x supplies before inserting removing the RS 232 serial connector c Do not rely on an earthed PC to provide the PRO A0xV36x GND connection The drive must be earthed through a separate circuit Most communication problems are caused by the lack of such connection ElectroCraft 2013 46 PRO AOxV36x SA Technical Reference 3 3 15 CAN bus connection 3 3 15 1 CAN connection PRO A0xV36x SA CAN CAN connection To Previous Node Controller CAN transceiver To Next Node Figure 3 23 CAN connection Remarks 1 The CAN network requires a 120 Ohm terminator This is not included in the drive 2 CAN signals are not insulated from other PRO AOxV36x circuits 3 3 15 2 Recommendation for wiring a Build CAN network using cables with twisted wires 2 wires pair with CAN Hi twisted together with CAN Lo It is recommended but not mandatory to use a shielded cable If so connect the shield to GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b The 120Q termination resistors must be rated

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