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Pro-Motion User`s Guide - Performance Motion Devices

1. cancel am When a module is enabled its Active circle is filled conversely when the circle is empty the module is disabled Pro Motion User s Guide 49 AN Control Window The current loop option is available only with the ION The position loop option is available only with servo motors 4 10 1 Using the Operating Mode Dialog Box To change a control module s status 1 Select the Set box of the module s whose status is to be changed 2 Click the Apply button The Active indicators will indicate that the status of the selected modules has been changed 3 Click OK to exit or click Cancel to cancel your action For more information refer to Enabling and Disabling Control Modules in Chapter 3 of the Magellan Motion Processor Users Guide 4 11 Tracking Module The Tracking module Figure 4 13 is used to set the axis position monitoring param eters for which motion is to be tracked Tracking Axis 1 Motion error Action None hd Position error limit PIESEEEIET s counts Figure 4 13 Motion tracking Tracking dialog box Settle time 0 00 n Settle window 0 S counts Tracking window 0 5 counts Motion complete mode Commanded Cancel Apply The Motion error options define e The action to be taken when the Position error limit is exceeded e The maximum allowed magnitude of the position error before a motion error condition occurs 50 Pro Motion User s Guide Control Wi
2. F Overlay 2000 00 div I Points Time Avis c OK Cancel Apply NUM 2 In the Step Function dialog box set the distance the motor will move Keep in mind that the step function causes an instantaneous move at maximum acceleration and velocity An overcurrent condition may occur if the step distance is set too high 38 Pro Motion User s Guide Control Window 3 Adjust the settings in the Position Loop dialog box as indicated by the trace see Section 4 4 1 4 Clicka directional arrow in the Step Function dialog box to jog the motor and monitor the motion on the oscilloscope to verify the servo loop re sponse 5 Repeat Steps 2 and 3 until the oscilloscope demonstrates that the motion is stable and the actual position follows the commanded position as close ly as possible with no overshoot 4 5 Motor Control Module The Motor Control module is used to set output specific motor parameters for ex ample a motor command limit and a motor bias The module is also used to control the motor command manually during motor or amplifier calibration The fields available in the Motor Control dialog box Figure 4 6 depend on motor type and product type For brushless DC and DC brush motor types the Motor com mand Motor bias and Motor limit can be set For microstepping motors only Motor command can be set The Motor Control module is not available for pulse amp direc tion motors Motor Contr
3. For a detailed description of the S curve profile mode see S curve point to point profile in Chapter 4 of the Magellan Motion Processor Users Guide Section Options Trajectory parameters Jerk Acceleration Velocity Motion box Shuttle mode Single move Manual Automatic Position Position available for all Shuttle modes Position 2 available for Manual and Automatic modes Dwell available for Automatic mode only Go Stop button available for all Shuttle modes Electronic Gear Profile Options The trajectory options for the electronic gear profile mode are shown in the follow ing table For a detailed description of the electronic gear profile mode see Elec tronic gear profile in Chapter 4 of the Magellan Motion Processor Users Guide Pro Motion User s Guide Control Window Section Options Master axis Applicable axis selected from dropdown list Source position data Actual or Commanded Gear ratio The direction and ratio of master gear counts to slave counts 4 3 3 Motion Shuttle Modes Available motion shuttle modes are described in the following table Shuttle Mode Result Single move The motor runs to Position and stops Manual The motor runs to Position and stops then must be started again by clicking Go to move to Position 2 Automatic The motor runs to Position pauses for the specified Dwell time and returns to Position 2 The motion will co
4. In motion In positive limit In negative limit Profile segment bit 1 Profile segment bit 2 Profile segment bit 3 Cancel Apply 4 13 1 Using the Breakpoints Dialog Box To set up the breakpoint parameters 1 2 In the Breakpoint field select 1 or 2 if Breakpoint 1 is already set up In the Source axis field select the number of the axis on which the triggering event will be located In the Action field select the action that should occur when the break point is reached None Update Abrupt stop Smooth stop Disable position loop Disable current loop Disable Motor Output Abrupt stop with clear position error NOTE For descriptions of these options refer to Section 4 5 3 54 Pro Motion User s Guide Control Window 4 Inthe Trigger field select the event that will trigger the breakpoint action e None e gt Commanded position e gt Actual position e lt Commanded position e lt Actual position e Commanded position crossed e Actual position crossed e Time e Event Status e Activity Status e Signal Status e Drive Status 5 Inthe Value field if applicable indicate the number of counts 6 If appropriate for the selected trigger the Trigger bit mask field will be displayed Select the Sense and Selection option s for one or more bits of the selected status register 7 Click Apply to activate the settings without closing the dialog box or
5. The applicable settings for the selected Profile mode will be displayed below in the Trajectory parameters box Set the desired trajectory motion parameters For available options for each profile mode refer to the tables in Section 4 3 2 Using the information below and in Section 4 3 3 select one of the mo tion shuttle modes and enter the desired values Pro Motion User s Guide Control Window Shuttle Mode To start a motion Result Single Enter a value for Position then The motor will run to move click Go Position and stop Manual Enter values for Position and The motor will run to Position 2 then click Go Position and stop Click Go again to move the motor to Position 2 Automatic Enter values for Position and The motor will run to Position Position 2 and set the time the axis should pause between moves Dwell time then click Go pause for the Dwell time then return to Position 2 Click Stop to end the motion 4 Click Go to start the trajectory You can monitor the motor s activity in the Status window which is located below the Control window in Normal View or is available by clicking the Status icon on the tool bar or selecting View Status on the menu bar 4 3 2 Trajectory Profile Options The Trajectory profile modes include trapezoidal velocity contouring S curve and electronic gear for each of which a unique set of trajectory and motion parameters
6. The options available in the Tracking module are described in the following table Field Description Settle time Sets the time the axis must remain in the position range speci fied in Settle window before the axis settled bit in the Activity Status register is set Settle window Sets the position range within which the axis must remain for the duration specified in Settle Time before the axis settled bit in the Activity Status register is set Tracking window Sets boundaries for position error of the axis If the position error exceeds this value at any time the tracking indicator is set to 0 off When position error returns to within the limit the tracking indicator is set to on Motion complete mode Commanded Motion is complete when the profile velocity reaches zero 0 Actual Motion is complete when the actual position has been within the specified Settle window for the specified Settle time 4 12 Limit Switches Module The Limit Switches module Figure 4 14 is used to define the action that the motion processor will take when those limits are tripped Limit Switches Axis 1 Positive Negative Active p Invert O None O m None Cancel Apply Pro Motion User s Guide Control Window 4 12 1 Using the Limit Switches Dialog Box To enable the Limit switches 1 Verify whether or not the Positive and Negative switches are active When a switch is
7. 50 4 14 Limit Switches dialog box 1 01 0 SE SE cee eee eee 52 4 15 Breakpoints dialog box 0 eee eee ee eee eens 54 4 16 Axis I O dialog BOX EE EE EE cect cee eens 56 4 17 Event Manager dialog box 1 0 cece eee cee een eee 57 4 18 Units dialog box 6 EE EE SE EE SE Se Ee SEE Se se ee 58 5 1 Scope window eee ec eee tenet es Se see 62 5 2 Scope Settings dialog box eee eee eect eee ee 63 5 3 Exported trace data 2 0 eee eee cece eee eee een eee 67 5 4 Status Window eec crricsa ee EE ES ee ce eee eens 68 5 5 Drive Status window ION only 2 cee eee eee eee 69 6 Encoder tests sich RE EE OR 72 6 2 Microstepping motor settings 0 0 eee cee eee ee eee 73 6 3 Motor output test 00 cece cece ete tent see 74 6 4 Algorithmic phase initialization method brushless DC only 75 6 5 Hall signal test brushless DC only 0 0 02 eee eee 76 6 6 Commutation test brushless DC only 02 00000 77 Pro Motion User s Guide vii a List of Figures viii 6 7 6 8 6 9 6 10 6 11 7 1 7 2 7 3 Current loop tuning ION only 0 cee eee eee eee ee 78 Servo loop tuning 0 2 cece Se es Se ee tte Se es ee ee 80 Encoder Index signal test 0 ce eee eee eee eee ene 83 Capture Input signal test iese SE SS ES eee eee eee 84 Positive Limit switch signal test 0 0 00 cece ee eee eee 85 Command window 0 cece
8. Captured position O counts cst red To test the capture signal 1 Verify that the signal active indicator properly reflects the state of the signal 2 When the signal becomes active it will trigger a capture The message Capture received is displayed in the Capture event box confirming that the capture occurred 3 To run the test again click the Reset button to re arm the trigger 84 Pro Motion User s Guide The Axis Wizard l 6 7 Positive Negative Limit Switch Tests If you are using positive and or negative limit switches run the Limit Switch tests to verify that the limit switches are working The Positive Limit Switch Signal test moves the motor in the positive direction to test the positive limit switch signal The Negative Limit Switch Signal test moves the mo tor in the negative direction to test the negative limit switch signal Axis 2 Wizard Positive Limit Switch Signal Test Move the motor in the positive direction for testing the positive limit switch signal If a positive limit switch is not in use click Next to proceed to the next page Signal state O Signal active Invert signal Positive Motion Velocity 0 10000 5 counts ms u Figure 6 11 A Positive Limit switch signal test Motion monitor Actual position 0 counts a Limit event Reset lt Back Cancel Pro Motion User s Guide 85 a The Axis Wizard 86 To test the positive or negative limit switch NOTE Ifyou are not u
9. Motion User s Guide List of Figures EE as ee 2 Interface dialog box 1 eee eect eect tenes 14 2 2 Serial port dialog box EE EE SS SE EE Se eee eee 15 2 3 CAN port dialog box cece eee ence ences 15 2 4 Project Window 0 cece cece cette ene ene ences 16 2 5 Axis Wizard opening page EE SS eee eee eee eee 17 3 Pro Motion interface normal view 0 00 ee EE eee eee 19 3 2 TURIN VIEW e sasa etka ei ey eee aed Ge RA 24 3 3 Project Window 0 cece cece eee teen eee ene ences 25 3 4 Upload caution message ie ses ES EE Se ee eens 26 3 5 Setting module properties 0 0 0 cece eee eee eee 26 4 Control window ees SEE SS SE ee ee E se eee 29 4 2 Trajectory dialog box EE SS SE ES ee SS ER See eens 32 4 3 Position Loop dialog box EE EE SS eee eee eee 35 4 4 Filter Coefficients dialog box 0 cece eee eee ee eee 37 4 5 Tuning view 0 EE cece cnet teen eens 38 4 6 Motor Control dialog box brushless DC and DC brush motors 39 4 7 Current Loop dialog box EE eee eee cette eens 42 4 8 Phasing dialog box 0 cece eee ene ene ee 43 4 9 Motor Output dialog box ION only 0 2 02 ee ee ee 47 4 10 Motor Output dialog box Magellan only 0 47 4 I1 Feedback dialog box 2 0 eee cece cee eens 48 4 12 Operating Mode dialog box eee eee ee cee eens 49 4 13 Tracking dialog box eee cece eee eee eens
10. Properties View Module N A Er dialog box Properties 0 Activate Status Polling to enable the event manager and Status window updates View Status Polling N A N A Pro Motion User s Guide The Pro Motion Interface 3 3 3 Actions Menu Options and Icons The options available from icons from the Actions menu on the menu bar and the icons from which they can also be accessed are described in the following table To Select Or click Reset the motion processor Action Reset aeset to default settings 5 Stop all motors instantly by Action Emergency Stop or press the a issuing an abrupt stop com hot key Pause Break Q mand and then disabling the motor output 3 4 Pro Motion View Options To toggle a window open or closed select its icon from the toolbar or use the View menu If open the window will close If closed the window will open in the same location and dimensions as when it was last opened during the current session 3 4 1 Standard Combination Views Pro Motion offers two standard combination views each of which displays a set of windows and or dialog boxes that are frequently utilized together e The Normal view View Normal View contains the Project Control and Status windows Figure 3 1 This is the default view when Pro Motion is first opened e The Tuning view View Tuning View displays the Scope window along with the floating Step Function and Posistion Loop dialog boxes F
11. Trace Show Settings gt gt F Overlay 200 oos Points Time Axis milliseconds v 5 2 1 Using the Scope Window To select or change the oscilloscope settings 1 Select the Scope icon from the toolbar or View Scope from the menu bar to open the Scope window 2 Select Show Settings to display the available options For detailed information on the oscilloscope options see Section 5 2 2 3 Select the Variable and Axis you want to track for each color NOTE Ifyou select None under Miscellaneous in the pulldown menu for an axis it and the axes that follow will not be tracked 4 To select the Trigger Conditions e Select the Start trigger from the dropdown list of available options e Select the desired axis e If the Start trigger is Event Activity or Signal status select the Start condition from the Bit dropdown list and set the Trigger State to 0 off or 1 on 5 Inthe Trace Period field select the number of cycles to be covered by a single trace 62 Pro Motion User s Guide Monitoring Motion 4 6 Select a Trace mode option Option Description One time Monitoring ends when the motion processor s buffer is filled Rolling buffer Monitoring is continuous 7 To activate the selected changes and run the trace click the Start Stop button either in the Settings dialog box or below the oscilloscope NOTE To close the Settings dialog box click Hide Settings 5 2 2 The Sett
12. beneath the mouse NOTE The value will simultaneously be displayed in the Value at Cursor field of the Scope Settings dialog box View the values at each point along the trace Press and hold the left mouse button and move the mouse across the oscilloscope to display the values at multiple points along the trace NOTE The value will also be displayed in the Value at Cursor field of the Scope Settings dialog box Scroll the graph Press the right mouse button and drag the mouse in the desired direction The graph will scroll in the direction of the mouse movement Pro Motion User s Guide Monitoring Motion 4 5 2 6 Saving and Printing The Trace Data To save the trace data select File Save from the File menu To print the oscilloscope data select Print from the Pro Motion File menu to open the Scope Print dialog box The trace settings currently displayed will be printed at the current zoom level and scroll position 5 2 7 Exporting the Trace Data To export oscilloscope data select Export from the Pro Motion File menu Pro Motion will export all of the trace data from the Scope window to a comma separated ASCII file format that is compatible with many applications Figure 5 3 The data file contains one column of data for each trace with two lines of header data defining the trace variables and units of measure in use NOTE Export Trace is disabled while the oscilloscope is running AXA AXA AXA AXA Samp
13. motion by clicking the settings square between the arrows e Change the Velocity and or Motor output level e Click one of the directional arrows to re start the motion 4 If the direction of the motion is not correct select the Invert direction sense option and repeat Step 2 to verify the change 6 4 1 Algorithmic Phase Initialization Method Brushless DC Only Axis 2 Wizard Algorithmic Phase Initialization Method Enter the desired parameters and click the Initialize phasing button to begin the algorthmic phasing sequence The motor must be allowed to move freely Wait until it has completed before moving on to the next page which is the commutation test page Motor output level Phase initialization time ms Phase counts counts Initialize phasing Fig ure 6 4 Status Ready Algorithmic phase initialization method brushless DC only lt Back Cancel Pro Motion User s Guide 75 a The Axis Wizard To initialize the Algorithmic phasing sequence 1 Enter the desired Phase initialization time 2 4 seconds 2 Click the Initialize phasing button The motor will move slightly When it stops moving the algorithmic phase is initiated and the Status message displays Done 3 Click Next to display the Commutation Test page 6 4 2 Hall Signal Test Brushless DC Only Axis 3 Wizard Hall Signal Test Figure 6 5 Hall signal test brushless DC only 76 Th s test wil excite the mo
14. service without notice and advises custom ers to obtain the latest version of relevant information to verify before placing orders that information being relied on is current and complete All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement in cluding those pertaining to warranty patent infringement and limitation of liability Safety Notice Certain applications using semiconductor products may involve potential risks of death personal injury or severe property or environmental damage These products are not designed authorized or warranted to be suitable for use in life support de vices or systems or other critical applications Inclusion of PMD products in such ap plications is understood to be fully at the customer s risk In order to minimize risks associated with the customer s applications adequate de sign and operating safeguards must be provided by the customer to minimize inher ent procedural hazards Disclaimer PMD assumes no liability for applications assistance or customer product design PMD does not warrant or represent that any license either express or implied is granted under any patent right copyright mask work right or other intellectual prop erty right of PMD covering or relating to any combination machine or process in which such products or services might be or are used PMD s publication of infor mation regarding any third party s pro
15. the key above the oscilloscope Pro Motion User s Guide 65 A Monitoring Motion 66 Task Action View the traces overlaid on one another Select Overlay Note that in Overlay view the cycle count axis labels are not displayed NOTE In Overlay view if two or more traces are follow ing the same trajectory the color of the lower trace will be displayed on the oscilloscope Change the zoom Use the and buttons below the oscilloscope NOTE The changing scale is reflected in the bar between the and symbols and in the scale of the oscilloscope s time axis Mouse alternative Press SHIFT the left mouse button and drag the displayed cursor over a range of data from left to right to zoom the display Display data points on each trace Select the Points option To remove the data points dese lect the option Change the scale on the Time axis Select the desired scale from the Time axis box active only when the trace is not running 5 2 5 Using the Mouse as a Data Probe Cursor To use the mouse to probe and manipulate the oscilloscope Task Action Change the zoom Press SHIFT the left mouse button and drag the displayed cursor over a range of data from left to right to zoom the display View the value of one point on the trace Position the mouse over the desired point then press and hold the left mouse button to display the value of the trace
16. to hold the current command motor when stationary Delay Microstepping Amount of time to wait after the end of move before going into holding current Foldback Continuous ION Amount of continuous current while in current current foldback Action ION Action to take when current foldback occurs Pro Motion User s Guide Control Window 4 5 3 Current Foldback Responses The available current foldback responses are described in the following table Action Response None No action taken Abrupt stop Instantaneous halt of the trajectory generator velocity command then set to zero Smooth stop Smooth stop at the current active deceleration rate velocity then set to zero Disable position loop Trajectory generator and position loop modules are disabled Disable current loop Trajectory generator position loop and current loop modules are disabled Disable motor output Trajectory generator position loop current loop and motor out put modules are disabled Abrupt stop with clear Instantaneous halt of the trajectory generator velocity position error command then set to zero Also clears the position error Refer to the Magellan Motion Processor Users Guide for more information on the follow ing topics e For Motor command see Chapter 11 e For Motor bias and Motor limit see Chapter 5 e For current foldback see Chapter 15 e For holding current see Chapter 14 Refer also to the applicable
17. to set up your project parameters Section 2 4 Using the Wizard you will e Select the type of motor that will be connected to the axis Magellan only e Set up test and adjust if necessary the appropriate Encoder Type e Setup motor output signal type that is compatible with your amplifier and the necessary frequency mode and or range settings for the selected motor output signal type test and adjust the settings e Set up and test a method for initializing commutation brushless DC only e Enter the Servo setup and position capture signal and test the Encoder index or Home signal as applicable e Test Positive and Negative limit switches 2 2 Installing Pro Motion To install Pro Motion insert the Pro Motion installation CDROM in your system s CD drive If you have autorun enabled the installation program will start when you insert the CDROM and guide you through the process which will install the Pro Motion soft ware and a pdf version of the Pro Motion Users Guide Pro Motion User s Guide 13 AA Getting Started Once the software is installed the Pro Motion icon will appear on your desktop Pro Motion NOTE The Adobe Acrobat Viewer is required for viewing the User Guide files If the viewer is not installed on your computer you can download it from bttp www adobe com 2 3 Launching Pro Motion To launch Pro Motion 1 Figure 2 1 Interface dialog box 14 Click on the Pro Mo
18. The field is not active if Phase initialization mode is Hall based Phase init motor Determines the overall amount of power to introduce into the motor command during phase initialization Initialize phase When phase initialization mode is algorithmic this will begin the phase button initialization process by moving the motor When phase initialization mode is hall based this will initialize the phasing by reading the hall signals No motor rotation will occur Exercise motor box Motor command The percentage of voltage to apply to the motor in open loop mode Go and Stop Start and stop open loop motor operation respectively Note the buttons position loop current loop and trajectory operating modes will be disabled Only the Motor output operating mode is affected 4 8 Motor Output Module The Motor Output module is used to set output signal and amplifier parameters 46 Pro Motion User s Guide Control Window 4 8 1 ION Only Motor Output Axis 1 PWM frequency 20 kHz Limits Bus overvoltage 60 03 S Volts Figure 4 9 Bus undervoltage 3 94 Volts Motor Output dialog box Overtemperature 75 00 TE ION only Status Bus voltage 53 60 Volts Temperature S250 sie Cancel Apply 4 8 2 Magellan Only Output Axis 1 Output mode i i utput mode PWM sign magnitude Figure 4 10 Pw frequency 20 kHz Motor Output dialog box Invert signal sense Magell
19. active its Active circle is filled conversely when the cir cle is empty the switch is inactive 2 To invert the state of a signal from positive to negative or vice versa select the appropriate Invert check box 3 Select the preferred response for when a positive or negative limit is reached e Abrupt stop e Smooth stop e Disable position loop e Disable current loop e Disable Motor Output e Abrupt stop with clear position error NOTE For descriptions of these options refer to Section 4 5 3 4 Click Apply to activate the settings without closing the dialog box or click OK to activate the settings and close the dialog box Click Cancel to abort For more information about limit switches refer to Travel limit switches in Chapter 8 of the Magellan Motion Processor Users Guide and applicable commands in the Magellan Motion Processor Programmer s Command Reference 4 13 Breakpoints Module The Breakpoints module allows the user to define up to two different breakpoint conditions and the action that is to be taken when a defined breakpoint is reached Figure 4 15 Pro Motion User s Guide 53 AN Control Window Breakpoints Figure 4 15 Breakpoints dialog box Breakpoint Source axis Action Update Trigger Activity status Trigger bit mask Sense Selection Tracking Profile mode bit 1 Profile mode bit 2 Profile mode bit 3 Axis settled Motor on Position capture
20. ad filters Generic programmable digital filters Two programmable biqual output filters are supported for each axis When both are enabled the output of Filter 0 feeds the input of Filter 1 If Filter 0 is disabled default Filter cannot be enable and the filter chain is bypassed Filter Accessible from Edit buttons in biquad options box For a discussion coefficients of filter coefficients refer to Biquad Output Filters in Chapter 5 of the Magellan Motion Processor User s Guide 4 4 3 Setting Biquad Filter Parameters A biquad filter is a generic digital filter structure that can be programmed with coefficients to be a low pass filter high pass filter band pass filter notch filter or custom filter Once calculated the biquad filter coefficients are entered in the Filter Coefficients dialog box Figure 4 4 which is accessed from the Edit button associated with each biquad option in the Position Loop dialog box Filter Coefficients Axis 1 Figure 4 4 Filter Coefficients dialog box Cancel Apply NOTE The biquad filters in Magellan products are chained Filter 1 can be enabled only if Filter 0 has been enabled To set the biquad filtering function 1 Calculate the appropriate filter coefficients For instructions and formulae for determining the appropriate biquad coefficients refer to Biquad Output Filters in Chapter 5 in the Magellan Motion Processor Users Guide To find
21. an Direction only Cancel Apply Pro Motion User s Guide 47 AN Control Window 4 8 3 Using the Motor Output Dialog Box Field Description PWM frequency Sets the frequency of the pulse width modulated output signal Output mode Magellan only Sets the motor output signal format Bus overvoltage ION only Sets the input voltage limit that will cause an overvoltage condition if exceeded Bus undervoltage ION only Sets the input voltage limit that will cause an undervoltage condition if the input voltage falls below this amount Overtemperature ION only Sets the temperature that will cause and overtemperature condition if exceeded 4 9 Feedback Module The Feedback module Figure 4 11 is used to select the type of position feedback device encoder that is connected to the motor Figure 4 11 Feedback Axis 1 Signal state Invert Encoder source MMEM 7 EI mee Capture source ndex hd J Encoder B Encoder index Capture input Cancel Apply 4 9 1 Using the Feedback Dialog Box To change parameters in the Feedback dialog box Feedback dialog box 1 2 3 4 48 In the Encoder source field select the appropriate source Incremental or None In the Capture source field select the desired position Index or Home In the Signal state invert box click in the appropriate check box to invert a signal Click Apply to activate the settings wit
22. ance to cause noticable movement that fits the dynamics of the application CAUTION The motor may oscillate If an overcurrent condition occurs reduce the step distance Step distance 500 E counts lt current loop DISABLED gt Analysis completed successfully Step 2 Test the response To test the position loop settings press a direction arrow to cause the 4 a gt Figure 6 8 motor to step by the Step distance amount specified above The resulting movement will be displayed in the scope window Servo loop ee cop tuning Step 3 Adjust position loop settings The PID paremeters can be manually optimized or the sliders can be used for automatic readjustment Repeat step 2 after each readjustment Proportional gain Kp 475 4 Auto set parameters ens a Conservative Aggressive Derivative gain Kd 3210 Quiet Stiff MR zA Denvero ume o Aa ELE EE od Integral gain Ki 16 5 at the current value Integration limit ILimit 17796 Output scaler Kout 187 3 z Apply loop settings Enable Output Cancel 6 5 1 Auto tuning To use the auto tuning procedure 1 Enter a step distance that will cause noticeable movement keeping in mind that the motor will oscillate with a magnitude of the step distance A value less than 1 4 rotation should be sufficient 2 Press Start and monitor the status line displaying the auto tune procedure progress 80 Pro Motion User s Guide The Axis Wizard l The procedure goes thr
23. ancel or pressing Escape at any time in the Axis Wizard will exit the Wizard as well as disable the motor output If the Axis Wizard is completed without canceling i e the Finish button is clicked the motor output will remain enabled 6 2 Encoder Setup The encoder setup defines the type of position feedback device encoder that is con nected to the motor Once the encoder is set up it is used to verify that the direction of the motor is set correctly Pro Motion User s Guide 71 a The Axis Wizard 6 2 1 Encoder Test Axis 1 Wizard Encoder Test Manually rotate the motor slowly in the direction that you would like to be positive and verify the actua direction If it is not the same you can invert an encoder signal or physically swap the encoder 4 B connections If an index signal is connected verify that it is not active most of the time Signal state Encoder A active Invert signal Encoder B active Invert signal Motion monitor Figure 6 1 Actual position 0 counts Encoder test lt Back Cancel To verify that the incremental encoder is counting in the right direction 1 Manually rotate the motor slowly in the direction selected to be positive and verify the direction in the Motion monitor which shows both the di rection of the motion or and the actual position of the motor 2 Ifthe Actual position is going in the wrong direction either Invert one of the signals or physically swap the conne
24. cale Scale units for position velocity and acceleration values available for both linear and rotary type motors e Linear units include Counts Millimeters Inches Feet and Meters e Rotary units include Counts Degrees Radians and Revolutions Pro Motion User s Guide Control Window 4 16 1 Using the Units Dialog Box To set unit preferences 1 Click Units in the Control window to open the Units dialog box 2 Select the time and scale values appropriate for the selected axis 3 Click Apply to activate the settings without closing the Units dialog box or click OK to activate the settings and close the dialog box Click Cancel to abort Pro Motion User s Guide 59 AN Control Window This page intentionally left blank 60 Pro Motion User s Guide 5 Monitoring Motion In This Chapter Introduction The Scope Oscilloscope Window The Status Window The Drive Status Window 5 1 Introduction Pro Motion provides four monitoring capabilities e Observing the trace of one to four selected motion processor parameters using the interactive oscilloscope in the Scope window e Observing the motor s position and status Limit switches in motion etc in the Status window e Monitoring the communication activity between Pro Motion and the motion processor in the Monitor window e Checking the amplifier bus voltage temperature and status of the cur rently active drive ION only One or more of these f
25. can be set The available trajectory profile modes and their applicable parameters are described in this section Trapezoidal Profile Options The Trajectory options available for the trapezoidal profile mode are listed in the fol lowing table For a detailed description of the trapezoidal profile mode see Trape zoidal point to point profile in Chapter 4 of the Magellan Motion Processor Users Guide Section Options Trajectory Deceleration parameters Acceleration Velocity Start velocity Applicable to stepping motor types only Motion box options Shuttle mode Single move Manual Automatic Pro Motion User s Guide 33 AN Control Window 34 Section Options Position Position applicable to all shuttle modes Position 2 applicable to Manual and Automatic modes Dwell applicable to Automatic mode only Go Stop button applicable to all shuttle modes Velocity Contouring Profile Options The Trajectory options available for the velocity contouring profile mode are listed in the following table For a detailed description of the velocity contouring profile mode see Velocity contouring profile in Chapter 4 of the Magellan Motion Processor Users Guide Section Options Trajectory parameters Deceleration Acceleration Velocity Motion box Go Stop button S curve Profile Options The trajectory options for the S curve profile mode are shown in the following table
26. cece eee eens 87 Sample command session 0 ee eee eee eee eee eens 88 Sample monitor view 0 ce eee eee eee eee eens 90 Pro Motion User s Guide 1 Introduction 9 In This Chapter Introduction to Pro Motion Pro Motion Specifications 1 1 Introduction to Pro Mltion Pro Motion is a prototyping tool designed to expedite the development of your Magellan Motion Processor based system It is a sophisticated easy to use program that uses a standard Windows interface Pro Motion optimizes motion system devel opment by facilitating the setting and viewing of all parameters and the exercising of all features of your Magellan based product 1 1 1 Pro Motion Features Pro Motion can be used as a e Ready to go motion exerciser that can be used by the entire development team e Analysis tool for optimizing profiles and servo parameters e Pre production system for verifying amplifier motor and hardware performance e Software development system for prototyping Magellan command sequences Pro Motion allows you to e Access motion control features easily using graphical icons and buttons e Create and save separate motion projects and re load the current settings of each e Configure hardware bus serial and CANbus connections to one or more Magellan based cards or modules e Quickly configure motor type and other control parameters for each axis using the Axis Wizard e Auto tune servo loop and curren
27. click OK to activate the settings and close the dialog box Click Cancel to abort For more information about breakpoints refer to Chapter 6 in the Magellan Motion Processor Users Guide Pro Motion User s Guide 55 AN Control Window 4 14 Axis VO Module The Axis I O module Figure 4 16 is used to identify which bit s of the selected register is to be reflected on the AxisOut pin Figure 4 16 Axis VO dialog box Axis VO Axis 1 Axis out mask Source axis fi Register Event status Sense Selection Wrap around Breakpoint 1 Capture received Motion error In positive limit In negative limit Instruction error Drive disabled Overtemperature fault Bus voltage fault Commutation error Current foldback Breakpoint 2 To set the Axis I O preferences 1 Signal state invert T Asisin I Asis out Enable in Fault out Fault out mask M Motion complete M Wrap around Breakpoint 1 Capture received Motion error M In positive limit In negative limit Instruction error M Drive disabled M Overtemperature fault Bus voltage fault Commutation error I Current foldback M Breakpoint 2 Cancel Apply In the Source axis field select the number of the axis 1 2 3 or 4 from which to obtain the status register In the Register field select the preferred source register e Disabled no register selected e Event status e Activity status e Signal status e Drive sta
28. commands in the Magellan Motion Processor Programmer Command Reference 4 6 Current Loop Module The Current Loop module allows the user to change the mode of current control to field oriented control FOC or current loop and set the gain factors for the proportional integral PI controller and the limit for the integral contribution Inte gration limit Pro Motion User s Guide 41 AN Control Window Current Loop Axis 1 Current control mode ENA T PI loop parameters Kp E Figure 4 7 DY 0 A Current Loop ne dialog box Integration limit 0 a Cancel Apply NOTE To automatically determine the optimum current loop parameters use the current loop tuning feature of the Axis Wizard 4 6 1 Setting Current Loop Parameters To set the Current Loop parameters 1 Select the desired Current control mode Current loop or Field oriented control 2 Set the desired proportional gain Kp and integrational gain Ki parameters and the Integration limit 3 Click Apply to activate the settings without closing the dialog box or click OK to activate the settings and close the dialog box Click Cancel to abort For more information refer to Chapter 15 of the Magellan Motion Processor Users Guide and the related commands from the Magellan Motion Processor Programmers Command Reference 4 7 Phasing Module The Phasing module Figure 4 8 is used to set the parameters that establish and maintain the motor commutation f
29. ctions 72 Pro Motion User s Guide The Axis Wizard 2 6 3 Microstepping Motor Settings Axis 1 Wizard Microstepping Motor Settings This page contains the parameters associated with a Microstepper motor Microsteps step 256 3 counts Figure 6 2 Microstepping motor settings Encoder to step ratio Counts Steps al sa lt Back Cancel Pro Motion User s Guide 73 a The Axis Wizard Figure 6 3 Motor output test 74 6 4 Motor Output Test Axis 1 Wizard Motor Output Test This test will excite the motor to verify the correct direction of motion If it is not going in the proper direction then swap the appropriate connections Motion Velocity 0 10000 counts ms Motor output level 10 0 4 a gt Invert direction sense Motion monitor Current motor output level 00 x Commanded Position 0 steps lt Back Cancel The Motor Output test excites the motor to verify that the motor is moving in the correct direction To run the test 1 Verify that the amp is enabled 2 Enter the minimum velocity and or motor output level depending on motor type required to make the motor move 3 Click one of the directional arrows and verify correct motor operation Pro Motion User s Guide The Axis Wizard l Action Procedure To stop the motion Click the square between the for ward and back arrows To reverse the motion Click the opposite arrow To change the Motion e Stop the
30. ctions Help comey orm save save ae pute conto status tmo MONITOR DRE ams RESET STOP ge sad fd Elk Ce ee gt BE 3 Hest Position Current Motor Es or Interface Trajectoy f Loop Loop Output E 1ON j Motor lt p Axis 1 Control Phasing fh an e Feedback H Brushless DC 3 phase Pro Motion functions F l g ure 3 1 slit sens aavo ERE nt Pro Motion interface normal view Operating Mode Tracking Status Commanded position Actual position Position error Capture position Current motor command lt For Help press F1 Pro Motion User s Guide 19 A gt The Pro Motion Interface 20 3 2 The Pro Motion Windows Pro Motion has nine major windows Each is described briefly in the follwing table along with a reference to where in this manual you can find more detailed informa tion about its function and use Pro Motion s windows are accessed by selecting the appropriate icon from the toolbar or the View menu on the menu bar For more Window Use information Project Shows the controllers Pro Motion is con Section 3 6 nected to and their axes used to select an active axis Control Used to manage motion processor functions Chapter 4 for example setting trajectories and servo parameters setting options for motion processor events and so forth Status Shows position and signal data for up t
31. d mode and then verify the commutation in three stages 1 Setting the Commutation parameters 2 Initializing the phase 3 Exercising the motor to test the commutation NOTE For definitions of the Phasing parameters refer to Section 4 7 3 Setting Phasing Options for the Sinusoidal Commutation Mode To set Phasing options for the Sinusoidal mode 1 Select the Sinusoidal Commutation mode 2 Set the Phase initialization mode Phase correction mode Phase prescale and Phase counts parameters 3 Use the following table to determine your next step If the Phase initialization mode is Then Algorithmic Set the Phase initialization time and Phase init motor command which should be sufficient to hold the motor shaft Hall based Verify the Signal sense 4 Click Initialize phasel which applies the changes and initializes phasing If phase initialization mode is set to algorithmic the motor will rotate ap proximately 1 electrical cycle 5 Verify the commutation by running the motor in open loop mode following the instructions in Verifying the Commutation in Section 4 7 2 Setting Phasing Options for Hall based Commutation Mode To set Phasing options for Hall based mode 1 Select the Hall based Commutation mode The Signal states field is displayed Figure 4 9 and the remaining parameters are grayed out 2 If necessary select the appropriate Invert check box es to invert an inactive Signal state s Rad
32. dialog box NOTE Trace data is overwritten as soon as a new trace is started Trigger Conditions Condition Sets the conditions that will Start and Stop the trace Options Start include Stop e Immediate when start stop button pressed e Update e Event status e Activity status e Signal status Axis Sets the axis to which the Start or Stop condition applies Bit For Event Status Activity Status and Signal Status Condition defines the bit that will be the triggering event For descriptions of the event options see Event Status register in Chapter 7 of the Magellan Motion Processor User s Guide State Sets the state of the bit that will cause a trigger 0 off on Trace Period The number of cycles to be sampled in a trace period Changes the time axis scale proportionally Trace Mode One time Rolling buffer Sets the conditions that control the length of the trace e One time mode automatically ends the trace when the motion processor s buffer is filled e Rolling buffer mode continuously traces data and stores it in the host until the host s virtual memory is exhausted Pro Motion User s Guide Monitoring Motion 4 5 2 3 The Oscilloscope Control Bars The oscilloscope controls are located directly above and below its display The con trols are described in the following table Option Function Start Trace Stop Starts and stops the trace Initiates setting changes T
33. dow permits quick access to amplifier information for the cur rently active drive Drive Status Bus voltage Temperature Figure 5 5 Drive Status window ION only In addition to showing the present voltage and temperature the window indicates whether the drive is in any of the following states e In holding e In foldback e Undervoltage e Overvoltage e Overtemperature Pro Motion User s Guide 69 AA Monitoring Motion This page intentionally left blank 70 Pro Motion User s Guide 6 The Axis Wizard A In This Chapter Introduction Encoder Setup Motor Signal Output Setup Phase Initiation Setup Servo Setup Position Capture Signal Setup Positive Negative Limit Switch Tests vvvvvvv 6 1 Introduction to the Axis Wizard The Axis Wizard guides you through the process of setting up and testing motor con nections and parameters for an axis The Wizard consists of a series of setup pages followed by test pages that allow you to verify and adjust individual parts of the setup as you go This chapter contains information about the pages of the Axis Wizard and instruc tions for each one Once the axis has been set up further tuning can be done using the Control module For instructions refer to Chapter 5 of this User s Guide The series of pages you will see in the Wizard will vary depending on the type of mo tor and the variables you select along the way As a safety feature selecting C
34. ducts or services does not constitute PMD s approval warranty or endorsement thereof Pro Motion User s Guide AA Related Documents Magellan Motion Processor Users Guide Complete description of the Magellan Motion Processor features and fanctions with detailed theory of its operation Magellan Motion Processor Programmer s Command Reference Descriptions of all Magellan Motion Processor commands with coding syntax and examples listed alphabetically for quick reference Magellan Motion Processor Electrical Specifications Booklets containing physical and electrical characteristics timing diagrams pinouts and pin descriptions of each series MC58000 Series for DC brush brushless DC Microstepping and Pulse amp Direction motion processors MC55000 Series for Pulse amp Direction motion processors Magellan Motion Processor Developer s Kit Manual How to install and configure the DK58000 series and DK55000 series developer s kit PC board Magellan Motion Controller Card Users Guide How to install and configure the Magellan PCI motion board ION Digital Drive User s Manual How to install and configure ION Digital Drives iv Pro Motion User s Guide Table of Contents 1 Introducti n SE BES Se eee eed oe Sas Sieh ee ee a O I 1 Introduction to Pro Motion ees ser seke gee Gee ee Gee ee ee ee ae ee ee ee 9 1 2 Pro Motion Specifications uses sesse see ee ee ee ee ee ee ee Ge ee e
35. e If Pro Motion finds the motion board or ION module it will make the connection and open in Normal View Figure 3 1 with the model num ber of the connected motor and its axes displayed in the Project window e If the connection fails an error message is displayed Click OK to re turn to the Interface dialog box and try again If repeated attempts fail contact PMD 3 Continue by running the Axis Wizard Section 2 4 2 4 Running the Axis Wizard Once you have established communication with the Magellan based product continue the setup by running the Axis Wizard The Wizard will guide you through the process of making motor connections and setting and testing parameters for the selected axis The Axis Wizard is customized for each motor type DC brush brushless DC micro stepping or pulse amp direction 2 4 1 To Run the Axis Wizard 1 In the Project window Figure 2 4 select the axis you want to set up Project a Host F PC Interface Bus 5 Slot 2 BEE model mcs8420 Figure 2 4 d Axis 1 Project CR Axis 2 window Gee Axis 3 Gate Axis 4 x S amp S Serial Interface COM4 57600 n 8 1 TT 1ON ae ST Axis 2 Aux Encoder 16 Pro Motion User s Guide Getting Started A Select the Axis Wizard icon from the Pro Motion tool bar or View Axis Wizard from the menu bar to open the Axis Wizard Figure 2 5 The Wizard will lead you through the setup for your motor Note that as you perform the Axis Wizard tes
36. e ee ee ee ee Gee 10 2 Getting Started EE IE EE sees s 13 2 1 Getting Started with Pro Motion 2 2 Installing Pro MOtion iese sees see ee ees 23 Launching Pro Motion OR EE 2 4 Running the Axis Wizard sesse sesse ee gee ee Ge ee ee ee ee ee eek Ge ee Re Ge ee ee ees 3 The Pro Motion Interface sesse sesse esse ses see se ee 19 Biles ST EE EE OM EE RE 19 3 2 The Pro Motion Windows 00 EON 3 3 Accessing Pro Motion s Windows and Utilities seek see eek ee ee 3 4 Pro Motion View Options uses ese see ee ee ee ee ee ee ee Ge ee ee ee eek ee eis 3 5 Conventions and Hot Keys uu see see see ee ee ee Ge ee ee ee ee Ge ee ee gee eek ee ee eene 3 6 Opening an Existing Project 3 7 Setting Module Properties uui esse see see ee ee ee Ge ee eek Ge ee Bee eek ge eek ee eek ee Gee 4 Control WindoOW cece cece cc ccc esse see sesse Ese esse 4 1 Overview of the Control Window e esse ee ee ee eek ee ee ee ee ee ee ee A25 Motor TYD EERS SA eek eie Ge oe ee eek ER E ER ee ee DE see ie 43 Trajectory Mod llerinin na 44 Position Loop Module Servo Motors Only 4 5 Motor Control Module ue ee seer ee ee ee ee ek Bee ee Bee oek Bee Ge ee Ge ee Koek ek See 4 6 Current Loop Module 4 7 Phasing Module ui sesse sesse see ee ee ee ee 48 Motor Output Module 4 9 Feedback Module iese sesse see 4 10 Operating Mode Module uee sesse see sesse ee gee ee ee ee ge ee ee ee Ge ee ee Gee eke Al F
37. eatures can be open on the desktop at all times if desired 5 2 The Scope Oscilloscope Window The Magellan and ION motion processors allow the continuous capture of system parameters The Pro Motion oscilloscope which is located in the Scope window Figure 5 1 displays this data as it is captured from the motion processor s hardware trace buffer in a flexible graphical format The oscilloscope which is interactive has the capability to simultaneously display selected data for up to four variables at one time Features of the Scope window include e Virtual buffering of trace data allowing for the display of traces many times longer than the capacity of the hardware trace buffer e Interactive zooming and scrolling of the trace data display e Interactive probing of individual data samples e Both separate and overlaid trace display modes e Saving capability for trace data both image and settings e Printing and exporting of trace data For more information on the capabilities of the motion processor s trace facility refer to Trace Capture in Chapter 8 of the Magellan Motion Processor Users Guide Pro Motion User s Guide 61 A Monitoring Motion MV AX1 Commanded Position 4X1 Commanded Position V AX1 Commanded Velocity AX1 Commanded Acceleration on Ss counts counts counts cpolesfs cycle Figure 5 1 Te 500 Scope g window 0 21 200 milliseconds gt Start
38. ed pmd file The following caution is displayed Information Pro Motion is about to upload all parameters to the processor This may initiate motion to any motors which are currently attached Do you wish to continue Cancel J Continue to display this message in the future 2 If necessary turn off motors that are currently attached 3 In the Project window select the axis you want to work on 3 6 3 Saving a Project File To save the current project select File Save from the menu bar and assign the project a pmd file name NOTE Pro Motion will restore the current connections when restarted 3 7 Setting Module Properties The Module Properties window Figure 3 5 is used to set global properties in con trast to axis specific settings Version CAN CAN Default General Model 9911 0000 Family ION Motor type Brushless DC axes 1 Cancel Pro Motion User s Guide The Pro Motion Interface The Module Properties window has three to six pages depending on the controller type and may include the following e The Version page displays the version information of the motion processor e The Serial page displays the motion processor s serial port settings If Pro Motion is connected via the serial port changing these settings will change the processor s port settings as well as the host computer s port settings to maintain communications e The CAN page displays the motion pr
39. ey Pro Mlotion User s Guide gt PMD Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 1 July 2006 NOTICE This document contains proprietary and confidential information of Performance Motion Devices Inc and is protected by federal copyright law The contents of this document may not be disclosed to third parties translated copied or duplicated in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 1998 2006 by Performance Motion Devices Inc Magellan ION Magellan ION Pro Motion C Motion and VB Motion are trade marks of Performance Motion Devices Inc Pro Motion User s Guide Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD s standard warranty Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty Specific testing of all parameters of each device is not necessarily per formed except those mandated by government requirements Performance Motion Devices Inc PMD reserves the right to make changes to its products or to discontinue any product or
40. fect sensor inputs are used to commutate the motor windings using a six step or trapezoidal waveform method If selected only the Motor command fields remain active Phase initialization Algorithmic mode briefly stimulates the motor windings and sets the mode initial phasing based on the observed motor response Hall based mode determines the motor phasing from the state of the 3 hall sensor signals Pro Motion User s Guide 45 AN Control Window Field unit Description Signal state invert The radio buttons reflect the current signal state of the hall signal Hall A The check boxes are used to invert the signal sense of the hall signals Hall B Hall C Phase correction When phase correction is enabled the encoder index signal is mode used to update the commutation phase angle once per motor revolu tion This ensures that the commutation angle will remain correct even if some encoder counts are lost due to electrical noise or due to the number of encoder counts per electrical phase not being an integer Phase prescale The amount to scale the encoder counts before they are used to cal culate a commutation angle Enable prescaling if the number of counts per electrical cycle exceeds 32767 Phase counts Sets the number of encoder counts per electrical cycle Initialize commutation box Phase initialization Sets the duration of each of the four segments in the phase time initialization algorithm
41. hen the motor is stationary The integration limit must be non zero for Ki to have an effect Enable or disable the biquad filtering function and if filtering is enabled set the filter parameters For detailed instructions refer to Section 4 4 3 Click Apply to accept the Position Loop settings or click OK to accept the settings and close the dialog box Click Cancel to abort 4 4 2 Position Loop Module Options The Position loop parameters are described in the tables below For more detailed in formation about the Position loop refer to Chapter 5 in the Magellan Motion Processor Users Guide Field Factors Kp Sets the Proportional gain of the digital Position loop for the axis Motor output Kp x position error Ki Sets the Integral gain of the filter for the axis which closes the position gap over time Integration limit Sets the boundary on the absolute value contributed to the PID output by the integration term Kd Sets the Derivative gain which dampens any rapid change in motion Derivative time The interval in cycles at which the derivative is computed Kaff Sets the Acceleration feed forward gain for the axis Kvff Sets the Velocity feed forward gain for the axis Kout Sets the factor used to scale down the output of the PID filter Dual loop source Identifies the axis used to augment the primary load encoder Pro Motion User s Guide Control Window Field Factors Biqu
42. hout closing the Feedback dialog box or click OK to activate the settings and close the dialog box Click Cancel to abort Pro Motion User s Guide Control Window 4 9 2 Feedback Module Options The available Feedback module options are described in the following table Encoder type Description Encoder source Selects the type of encoder connected to the axis incremental quadrature encoder A B signals parallel or none Capture source Selects the input signal that will be used for the position capture feature Encoder to step ratio Sets the ratio of the number of encoder counts to motor output stepping motors steps This is primarilly used for stall detection with steppng motors only Signal state invert Displays the current input signal states and sets the input signal sense For more information refer to Chapter 10 in the Magellan Motion Processor Users Guide the related commands from the Magellan Motion Processor Programmers Command Refer ence and Section 6 2 in this user s guide 4 10 Operating Mode Module The Operating Mode module Figure 4 12 shows which of the motion processor s control modules are currently active The module can be used to selectively enable or disable specific control modules Operating Mode Axis 1 Active Set M Trajectory Position loop 7 Figure 4 12 Current loop 3 See Operating otor outpu i RE Mode dialog MV Axis enable box Restore Enable all
43. igure 3 2 3 4 2 Other View Options Customize the current view by opening additional windows which you can either float outside of the standard view or dock within the Pro Motion frame Save the cur rent window layout as a Cusom view which can later be restored by selecting View Custom View Pro Motion User s Guide 23 A gt The Pro Motion Interface Step function Axis 1 E Step distance 500 4 MV AX1 Commanded Velocity Kp Ki Figure 3 2 Tuning view Derivative time Kaff Kyff Kout Dual loop source Bi quad filter O 2000 4 000 6 000 8 000 10 000 12 000 14 000 16 000 18 000 20 000 Enable Filter 1 Edit cycles r Integration limit Kd OK Cancel Apply Vv AX1 Commanded Position rd AX1 Current Motor Command rd AX1 Commanded Acceleration count x cycles 0 0 1 1 100 000 2 Disabled v Edit Start Trace Show Settings gt gt Overlay Jz000 00 dv Points Time Axis oy NUM You can easily return to the standard Pro Motion view by selecting the Normal icon from the toolbar or View Normal from the menu bar 3 5 Conventions and Hot Keys 3 5 1 Pro Motion Dialog Box Conventions The following conventions are used in the Pro Motion dialog boxes 24 Up down arrows are provided for fields that require numerical data If you prefer type in numerical data instead Signal state symb
44. ings Dialog Box The Settings dialog box Figure 5 2 in the Scope widow allows you to select and con figure up to four traces on the oscilloscope Changes made to the settings are activat ed when the next trace is started Start Trace l Overlay wa Points Tir Color Variable Axis Value At Cursor 2 CommandedPosiion ft fo 5 Figure 5 2 3 CommandedVelocty vi x f 0 Scope 4 ll Commended Acceleration 1 dIE Settings dialog box Trigger Conditions Condition Axis Bit State Start Immediate gt z e c Stop Activity status E v Axis settled yi e 1 Trace period 100 cycles Trace mode One time X Pro Motion User s Guide 63 A Monitoring Motion The oscilloscope settings are described in the following table Option Description Variable Defines the motion processor parameter to be tracked and stored for the selected Axis Selecting None disables that trace and any traces that follow For descriptions of the data available for capture see Chapter 8 of the Magellan Motion Processor User s Guide Axis Sets the axis to be tracked for the selected Variable Value at Cursor Displays the value under the mouse activated data probe cursor For more information about the mouse activated data probe cur sor refer to Section 5 2 5 Load button Loads the previous trace data from memory Start button Starts a new trace Applies changes made in the Settings
45. io buttons reflect the current state of the signal Pro Motion User s Guide Control Window 3 Click Initialize phase or Apply 4 Verify the commutation by running the motor in open loop mode following the instructions in Section 4 7 2 4 7 2 Verifying the Commutation To verify the commutation run the motor in open loop mode 1 Set the Motor command parameter located in the Motor Control dialog box to a low value between 1 and 15 keeping in mind that the motor may start to move at a rate proportional to the motor command setting 2 Click the Go button in the Exercise Motor box If Then The motion occurs smoothly The motor is commutating properly Click the in a single direction Stop button to stop the motion The motion is not smooth The motor is not commutating correctly Re run or is stuck the Axis Wizard check the encoder and Hall connections in the appropriate Control window or consult PMD 4 7 3 Phasing Module Options The Phasing module options are described in the following table For more information refer to Chapter 12 of the Magellan Motion Processor Users Guide and the related commands from the Magellan Motion Processor Programmers Command Reference Field unit Description Commutation Sinusoidal As the motor turns encoder input signals are used to mode calculate the phase angles and generate sinusoidally varying outputs to each motor winding Hall based Hall ef
46. ipped Pro Motion User s Guide Control Window See Module Use Section Breakpoints Defining breakpoint conditions and the actions to be 4 13 taken when the breakpoint occurs Axis VO Setting the axis in and axis out pin settings 4 14 Event Manager Setting preferred responses for a set of critical 4 15 events Units Setting preferred units of measure for space and time 4 16 For more detailed descriptions of processor parameters refer to the Magellan Motion Processor Users Guide and the applicable commands in the Magellan Motion Processor Pro grammers Command Reference for your Magellan or ION product NOTE When setting up an axis for the first time use the Axis Wizard For more information about the Axis Wizard refer to Chapter 6 4 2 Motor Type The Magellan family of Motion Processors is designed to work with DC brush brushless DC microstepping and pulse amp direction motor types In addition to ac cessing the control modules the Control window allows you to select the appropriate motor type Available motor type options are listed in the following table Motor Type Description Brushless 3 Phase Servo motor requiring external 3 phase electrical commutation Brushless 2 Phase Servo motor requiring external 2 phase electrical commutation Microstepping 3 Phase 3 phase step motor with microstepping drive Microstepping 2 Phase 2 phase step motor with microstepping drive P
47. ized after the first hall signal transtion Phasing initialized Pro Motion User s Guide 77 a The Axis Wizard Figure 6 7 Current loop tuning ION only 78 To run the Commutation test 1 Ifusing an encoder enter the desired number of encoder counts per cycle in the Phase counts box 2 Enter the minimum value required to cause motion in the Motor output level box 3 Click the forward or back arrow to excite the motor 4 Verify that the motor is moving smoothly in the direction of the selected arrow 6 4 4 Current Loop Tuning ION Only Axis 1 Wizard Current Loop Tuning This test will automatically tune the current loop The procedure takes several seconds to complete and will briefly energize the motor Parameters Motor rated continuous current 4 0 Amps Phase margin wy Radians Constraint on Kp 1000 4 Start Results Retrying Kp 169 Ki 1 Tuning completed successfully The estimated electrical constant of the motor is tau_e 0 000409 The estimated gain of the open loop is K 1 495320 The controller was tuned to Kp 169 Ki 1 The estimated bandwidth and phase margin are BW 1850 Hz PM 1 1 rad respectively Pro Motion User s Guide The Axis Wizard l The current loop tuning page automatically determines the current loop PI settings for your motor The ION utilizes a digital current loop to control the current through the windings of the motor To run the c
48. le Position Commanded Commanded Commanded Time Error Position Velocity Acceleration cycles counts counts counts ms counts ms 0 99999 0 99999 Figure 5 3 0 99999 Exported 0 99999 trace data 0 99999 0 99999 0 99999 0 99999 0 99999 0 99999 0 99999 0 0 0 0 0 0 0 0 0 0 0 Pro Motion User s Guide 67 A Monitoring Motion 5 3 The Status Window Commanded position Actual position Figure 5 4 Position error Status Capture position window Active motor command Settled Settled Settled Settled The Status window allows you to continuously monitor the values of selected motion y y processor registers Status tracks the values of up to four axes in tabular form and dis plays the following data for each axis e Commanded position e Actual position e Position error e Capture position e Active motor command not available with Pulse amp Direction motor type The boxes labeled Home Positive limit and Negative limit indicate the signal states those labeled In motion and Settled indicate the activity states 5 3 1 Using the Status Window The Status window is included in the Normal View To toggle the Status window open or closed and move it onto the desktop when not in Normal View click the Sta tus icon on the toolbar or select View Status on the menu ban 68 Pro Motion User s Guide Monitoring Motion 4 5 4 The Drive Status Window ION Only The Drive Status win
49. meters The parameters can represent a single 16 bit word of data or a 32 bit double word of data depending on the requirements of the particular command as shown in the Magellan Motion Processor Programmers Com mand Reference Pro Motion User s Guide Command Processing rN Numeric format The Command window accepts numeric parameters in either decimal or hexidecimal ormat Pre fixing a numeric parameter wi x enters that number using hexadec f t Pre fixi jl t ith 0x enters that b ing hexad imal format For example gt SetAcceleration 0xA sets the acceleration to 10 decimal When a numeric parameter is entered without any prefix it is assumed to be in decimal format Examples of commands Some examples of command structure are shown below For a full list of commands and their required parameters refer to The Magellan Programmers Command Reference Example 1 In the command gt SetBreakpointValue 0 1000 the first parameter represents a 16 bit word that contains the selected breakpoint number 0 or 1 and the second parameter represents a 32 bit word that contains the breakpoint value In this example 0 selects the breakpoint number for which the value is set Example 2 All of the Get commands display the value returned by the chipset For example the command gt GetEventStatus returns the value in hexadecimal format 0x0000 Example 3 Some Get commands require a parameter for selecting
50. n tinue until you click Stop 4 4 Position Loop Module Servo Miotors Only The Position Loop module Figure 4 3 is used to set the PID filter for servo motors The PID filter generates a motor command from the position error which is the commanded position minus the actual position from the encoder Position Loop Axis 1 Integration limit count x cycles Kd Derivative time 1 cycles Figure 4 3 Katt Position Loop dialog box Kv Kout Bi quad filter Enable Filter 1 Edit Edit Cancel Apply Pro Motion User s Guide 35 AN Control Window CAUTION The position loop settings are generally changed while the axis is at rest 36 Although it is possible to change the parameters while the axis is in motion exercise caution when changing the parameters to avoid unexpected and or dangerous motion 4 4 1 Using the Position Loop Dialog Box To set and tune the Position Loop parameters NOTE For definitions of the Position Loop parameters refer to Section 4 4 2 1 Using the Tuning view set the initial proportional gain Kp and Derivative gain Kd parameters in the Position Loop dialog box to small values Verify the position loop response by jogging the motor Increase Kp and Kd until the actual position follows the commanded position as closely as possible with no overshoot When Kp and Kd provide stable and responsive motion set the Integral gain Ki to reduce any position error w
51. ndow The Motion tracking options define e The maximum allowed magnitude of the position error for the tracking mechanism and for the at settle mechanism e The amount of time allowed for the axis to settle e Whether or not the motion complete status bit will utilize the command ed position or the actual encoder position to determine if motion is complete 4 11 1 Using the Tracking Dialog Box To set the Tracking options 1 Inthe Action field select the action the motor should take when the position error limit is reached e None e Abrupt stop e Smooth stop e Disable position loop e Disable current loop e Disable Motor Output e Abrupt stop with clear position error NOTE For descriptions of these options refer to Section 4 5 3 2 In the Position error limit field set the value of the maximum position error to be allowed by the motion processor 3 Complete the Settle time Settle window Tracking window and Motion complete mode fields as described Section 4 11 2 4 Click Apply to activate the settings without closing the dialog box or click OK to activate the settings and close the dialog box Click Cancel to abort For more information refer to Chapter 7 in the Magellan Motion Processor Users Guide and the related commands from the Magellan Motion Processor Programmer s Reference Pro Motion User s Guide 51 AN Control Window 4 11 2 Tracking Options Figure 4 14 Limit Switches dialog box 52
52. o four Section 5 4 axes Scope Shows traces of motion processor data for up Section 5 2 to four variables simultaneously CMD Command Used to issue commands directly Section 7 1 to the motion processor using a command line interface Monitor Shows the stream of commands currently Section 7 2 being executed by an axis Drive Drive Status Shows the bus voltage and Section 5 4 temperature of the current drive ION only Axis Wizard Guides you through the process of setting up Chapter 6 and testing motor connections and parame ters for an axis Module Used to set global module properties in Section 3 7 contrast to setting axis specific settings 3 3 Accessing Pro Motion s Windows and Utilities Pro Motion s windows and utilities can be toggled open or closed by selecting the ap propriate icon from the toolbar or its counterpart from View on the menu bar as shown in the tables below Pro Motion also offers three standard combinations of windows Normal view Tuning view and Custom view Pro Motion User s Guide The Pro Motion Interface 3 3 1 File Menu Options and Icons The options available from icons on the toolbar or from the File menu on the menu bar are described in the tables below To Select Press Or click Connect Pro Motion to a motion File Connect CTRL C connect controller or processor Display an existing project File Open Project CTRL O Save project parame
53. ocessor s CAN port settings If Pro Motion is connected via the CAN port changing these settings will change the processor s port settings as well as the host computer s port settings to maintain communications e The RS485 default page displays the ION s power on default RS485 serial port settings These settings are stored in the EEPROM and used when the RS485 mode is enabled via pin1 of the DB9 connector To store the current settings in the EEPROM click the Store as power on default button e The CAN default page displays the ION s power on default CAN port settings These settings are stored in the EEPROM and used when the ION is powered on To store the current settings in the EEPROM click the Store as power on default button e The User IO page displays the 8 bit user input and output signal state The input state is shown by the radio buttons on the left and the output state is shown and altered by the check boxes on the right e The General page displays the cycle time of the motion processor Pro Motion User s Guide 27 A gt The Pro Motion Interface This page intentionally left blank 28 Pro Motion User s Guide 4 Control Window A In This Chapter Overview of the Control Window Motor Type Trajectory Module Position Loop Module Motor Control Module Current Loop Module Phasing Module Motor Output Module Feedback Module Operating Mode Module Tracking Module Limit Switches Module Break
54. og box 2 For each event listed select your preferred response based on the information in the following table Pro Motion User s Guide 57 AN Control Window Figure 4 18 Units dialog box 58 Response Type Description Ignore No action will be taken Display Displays a pop up message box notifying you of the message particular event 3 Click Apply to activate the settings without closing the dialog box or click OK to activate the settings and close the dialog box Click Cancel to abort 4 16 Units Module The Units module Figure 4 18 allows you to specify Time and Scale in real world units and then automatically translates your settings into counts when communicating with the motion processor Units Axis 1 Time Modifying this setting allows you to specify motion parameters in real world time units such as seconds Pro Motion translates your settings into cycles when communicating with the motion processor Time Unit Milliseconds x Scale Modifying this setting allows you to use real world units for position velocity and acceleration values When communicating with the motion processor Pro Mation translates your settings into counts or steps using the scaling values you provide here C Linear a F Com FT Cancel Apply e Time Available time units for motion processor parameters that are based on time such as trajectory Options Cycles Milliseconds Seconds and Minutes e S
55. ol Axis 1 Ed Motor command ja Motor bias ET Figure 4 6 Motor limit 100 000 2 Motor Control Holding current dialog box Motor command 0 000 brushless DC cycles and DC brush motors a a X Delay 0 000 Foldback current Continuous current 3 998 Action Smooth stop ss Cancel Apply Pro Motion User s Guide 39 AN Control Window 4 5 1 Using the Motor Control Dialog Box The Motor Control dialog box can be used to operate a servo motor in open loop 1 Disable the position loop and trajectory operating modes in the Operating Mode dialog 2 Use the Motor command field to set the speed torque of the motor 3 Click Apply to start the motor 4 5 2 Motor Control Module Options Available Motor Control settings are described in the following table Available Field for Description Motor Brushless DC Directly sets the Motor Output register command DC brush when the Position Loop and Trajectory Generator modules are disabled in the Operating Mode Microstepping Sets the magnitude of the output waveform Motor bias Brushless DC Amount added to the Motor Output DC brush register when the position loop is enabled Primarily used to prevent a vertical axis from falling in the event of a motion error Motor limit Brushless DC Prevents the filter output from exceeding a DC brush boundary magnitude in either direction Holding Motor Microstepping Amount of constant current
56. ols indicate whether a signal is off or on Signal is off Signal is on The Apply button is used to accept new or changed parameters and keep the dialog box open The OK button is used to accept new changed parameters and close the dialog box Pro Motion User s Guide The Pro Motion Interface 3 5 2 Pro Motion Hot Keys The following hot keys are available in Pro Motion e To abruptly stop all axes and disable motor output use the Pause Break key e To pause the Output module use the Scroll Lock key e To float a window on the desktop rather than docking it within the Pro Motion frame grab the window by its title bar and hold down the CTRL key as you move it 3 6 Opening an Existing Project 3 6 1 The Project Window The Project window Figure 3 3 displays the model number and the axes of the mo tion controller to which Pro Motion is connected The window is used to select the axis that is to be currently active a Host PCI Interface Bus 5 Slot 2 BEE model mcs8420 Axis 1 7 de Figure 3 3 dad Project a Axis 3 window Ge Axis 4 2 T Serial Interface COM4 57600 n 8 1 a IE ION ce Axis 1 a Axis 2 Aux Encoder Pro Motion User s Guide 25 A gt The Pro Motion Interface Figure 3 4 Upload caution message Figure 3 5 Setting module properties 26 3 6 2 Opening a Project To open an existing project 1 Select File Open Project from the menu bar then select the desir
57. or brushless DC motors The Axis Wizard can help determine these automatically 42 Pro Motion User s Guide Control Window Phasing Axis 1 Commutation settings Signal state invert Commutation mode Sinusoidal v OT Hal OT Halg OT Halc Phase correction mode Enabled v Phase prescale Off id Phase counts 1024 counts Phase initialization Phase initialization mode Hall based Fi gure 4 8 Phase initialization time Phasing Phase init motor command dialog box Initialize phase Exercise motor Motor command 10 0 z Stop Cancel Apply The functions of the Phasing dialog box are defined by its three units Unit Use Commutation settings Allows the user to establish the basic setup parameters such as commutation method counts per electrical cycle and so forth Phase initialization Allows the user to initiate the processor s commutation algorithm Exercise motor Allows the user to test motor rotation in order to verify proper commutation NOTE Phasing parameters are set when the Axis Wizard is run and typically are not changed after that except to re initialize commutation if proper commutation was lost due to a power cycle reset or commutation error Pro Motion User s Guide 43 AN Control Window 44 4 7 1 Using the Phasing Dialog Box The Phasing dialog box is used to set Phasing options for either the Sinusoidal mode or the Hall base
58. ough the following steps a Evaluation of the system s noise b Relay testing c Verification In the noise evaluation step the point where the motor command over comes the shaft s friction is sought together with a value for the derivative term Kd for which the noise level is reasonable The motor is then set to oscillate is a series of relay tests which may take 30 90 sec The amplitude of these oscillations should correspond to the step distance entered in step 1 If excessive oscillations occur use the Stop ot Cancel buttons to terminate immediately the procedure On the successful completion of the relay testing step a new set of servo loop parameters is shown and the Auto set parameters window appears The new set of parameters is not applied unless the Apply loop setting button is pressed and the motor output is disabled If at this point the out put is enabled the previous to the auto tuning servo loop parameters will take effect The first time the Apply loop parameters button is pressed the procedure goes through a short less than 10 seconds verification step in which oscil lations are being detected 3 Test and adjust the loop setting The servo tuning page provides a step response generator to test the ser vo loop s response Use the Display scope button to display the responses of the position error integral component and motor command Use the Auto set parameters window to adjust the loop s
59. ow 4 1 2 Accessing the Control Window To open or close the Control window select the Control icon from the toolbar or select View Control from the menu bar or select the Normal icon or View Normal View from the menu bar 4 1 3 Control Modules The following table describes the modules available in the Control window and iden tifies the section of this chapter in which each module is described See Module Use Section Motor Type Setting the motor type for the selected axis 4 2 Magellan only Trajectory Setting a trajectory 4 3 or running the Motion Shuttle Position Loop Setting the parameters used to correct the motor 44 position servo loop Motor Control Setting output specific motor parameters 45 Current Loop Changing the mode of current control setting the 4 6 parameters used to correct for current fluctuations Phasing Setting the parameters for initializing the phasing of 4 7 the brushless DC motor and testing the settings Motor Output Setting the form of the motor output signal s 48 Feedback Identifying the type of encoder position feedback 49 device that is connected to the motor Operating Mode Setting the operating mode of the axis 4 10 Tracking Defining motion and position parameters against 4 11 which to identify motion and position error Limit Switches Defining the action the system will take when the 4 12 positive or negative travel limits switches are tr
60. p com PMD Performance Motion Devices 80 Central Street Boxborough MA 01719 Pro Motion User s Guide
61. pen the Select a Command window Figure 7 2 e Scroll through the list to locate the desired command NOTE Ifyou type the first few characters of a command at the prompt then press Tab the Command window scrolls to the commands that begin with those characters Pro Motion User s Guide 87 77N Command Processing Select a command Ed Figure 7 2 Sample command session 88 SetOperatingMode SetOutputMode SetPhaseAngle SetPhaseCorrectionMode SetPhaseCounts SetPhaselnitializeM ode SetPhaselnitializeT ime SetPhaseD ffset SetPhasePrescale SetPosition SetPositionE rrorLimit SetPositionLoop SetProfileMode SetP wMFrequency SetSampleT ime SetSerialPortMode SetSettleT ime SetSettleWindow SetSignalSense SetSPlMode SetStartVelocity SetStepRange SetStopMode e Highlight the command then press Enter The selected command appears at the Command prompt gt and the Select a Command window closes e Enter any required parameters for that command e Press Enter again to send the command Commands entered in the Command window will be retained until the current Pro Motion session is closed 7 1 2 Command Structure The sequence in Figure 7 1 shows a typical command session The Command settings are not case sensitive so commands can be entered in any combination of upper and lower case characters As illustrated in Figure 7 1 commands are entered as a sequence of command name followed by up to three numeric para
62. points Module Axis I O Module Event Manager Units vvvvvvvvvvvvvvyvyv 4 1 Overview of the Control Window The Control window is used to access the controls for most of the motion processor functions allowing you to set trajectories position loop parameters feedback prefer ences and much more This chapter provides descriptions of the options available in the Control window and information on how to use each option Control Traject Position Current Motor ees on Loop Loop _ Dupa Motor type Operating Mode Tracking Motor Phasing E i ef Control Feedback Brushless DC 3 phase Pro Motion functions Limit Switches Event Manager Units Breakpoints Axis 1 0 Pro Motion User s Guide Figure 4 1 Control window 29 AN Control Window 30 4 1 1 The Control Window Display The Control window Figure 4 1 displays the modules used to set up run and mon itor motion each module of the diagram represents a functional area used to control an axis A set of the modules is arranged to illustrate the over all control flow for an axis with arrows identifying feedback and control paths NOTE The specific modules displayed will vary depending on the motor type selected For ex ample because servo parameters cannot be set for stepping motors when the motor type is set to mi crostepping or pulse gt direction the Position Loop option is not displayed in the Control wind
63. race Show Settings Hide Displays the Scope Settings dialog box Settings e To display the settings select Show Settings e Click to toggle between Show Settings and Hide Settings Overlay When checked lays the traces over one another NOTE In overlay mode it is often helpful to disable one or more traces by deselecting the checkboxes above the oscilloscope Zoom level indicator Indicates the zoom level of the trace display in the selected time and buttons units range 5000 div to 10 div e To display more samples click the button e To display fewer samples click the button e To reset the zoom level to the oscilloscope default click the zoom level indicator Points Displays points of reference on the trace This feature is most useful at high zoom levels as it allows the motion engineer to differentiate between trace data points and interpolated display values Time Axis Controls the units displayed along the time axis of the oscillo scope display NOTE The time axis can be changed only when the trace is not running 5 2 4 Changing the Oscilloscope Display Use the options displayed directly above and below the oscilloscope to change the view while the oscilloscope is running Task Action Remove a trace from the Deselect the trace in the key above the oscilloscope oscilloscope Read the y axis scale Either enlarge the oscilloscope or deselect one or more of the traces from
64. racking Mod le e 4 12 Limit Switches Module 4 13 Breakpoints Module 0 esses 4 14 Axis I O Module uo ees 4 15 Event Manager Module oo ee sesse see ee ee ee ee ee ee ee gee eke ee ee Ge eek ee Gee ee 416 Units Modul EE ER N Pro Motion User s Guide v y N Table of Contents 5 Monitoring Motion ss cc 065 0506564 Vee ER Rg been EK 61 Dell Te es re o1 EE TE EE EE N 6l 5 2 The Scope Oscilloscope Window uses sesse ee ee gee eek Ge ee Ge ee ee ees 6l 53 Th Status Wind Ow sssini i 68 5 4 The Drive Status Window ION Only sees ee ee ee ee ee Ge ee ees 69 6 The Axis Wizard EE tala ed ere ee HE EE 6 1 Introduction to the Axis Wizard usus ees esse ee ee ee ee gee ee ee ge ee ee Gee eke 71 6 2 Encoder Setup ate 6 3 Microstepping Motor Settings ui sesse see see ee ee ee ee ee ee gee ee ee ge ee ee Gee eke 64 Motor Output Test ui ses EE ee detuned ek oes GE bee Re Ee ES cases 6 5 Servo Loop Tuning Servo Motors Only 6 6 Encoder Index Signal Test csssessessesssssssesseessecesesenssesneeses 6 7 PositivelNegative Limit Switch Tests uses sesse ee ee eek Ge ee be 7 1 The Command Window uses sesse ee gee eek se Bee ee ge ee ee Gee ee ee ee ee ee ee ee 7 Command Processing is 09 EED ER D deo ewesneswose Eed 87 7 1 The Command Window uses sesse ee ee gee ee se Bee ee ge ee ee Gee ee ee ee ee aaas 87 72 The Monitor Window ou see seer see ener ee ee ee ee Bee ee ee ee ee Ge oe ee Ge ee ee ee ee ee ees 90 vi Pro
65. s Motion monitor f Actual position PES steps Figure 6 9 Encoder m Index signal Capture event test Reset Captured position D counts lt Back Cancel The Encoder Index Signal test verifies that the index signal is being received To run the test turn the motor at least one full rotation to trigger the signal and receive an Index capture NOTE You can either rotate the motor manually or use the velocity and direction controls in the Motion box When the signal is triggered a position capture will occur and the following informa tion will be displayed in the Capture event box e The Capture received indicator hi lited e Inthe Captured position field the contents of the position register in counts If a capture occurs more than once within one rotation you may need to invert the signal sense Pro Motion User s Guide 83 a The Axis Wizard 6 6 1 Capture Input Signal Test If the position capture signal is not set to index this page will be displayed instead The Capture Input Signal test uses the selected capture input signal to verify connec tivity to the processor Axis 2 Wizard Capture Input Signal Test Manually trigger the capture input signal to verify connectivity to the processor Signal state Signal active 7 Invert signal Velocity 0 10000 3 steps ms Figure 6 10 4u Capture Input Motion monitor signal test Actual position di a Capture event Capture received Reset
66. setting and re sponse The Auto set parameters window provides the following con trols 1 Aggressiveness slider 2 Stiffness slider 3 Hold Ki check box To adjust the loop s setting 1 Use the stiffness slider to determine a tradeoff between the amount of noise and stiffness of the motor If the noise is too high try increasing the Derivative time dT The auto tuner will adjust the value for the Derivative gain Kd automatically Pro Motion User s Guide 81 a The Axis Wizard 2 When the motor s stiffness versus noise is satisfactory use the Aggressiveness slider to determine the loop s stability versus dynamics Remember to use the Apply loop settings button to apply the changes and to check the step response of the motor In cases where the automatic setting doesn t set the Integral gain properly use Hold Ki checkbox and set a new value for Ki The other loop s settings will be changed accord ingly to satisfy the required value for Ki In case the auto tuner doesn t come up with a satisfactory set of parame ters set the loop parameters manually as described in the following sub section 6 5 2 Adjusting the Servo Loop Parameters Manually To set the preliminary servo loop parameters 1 Initially set the Proportional gain Kp and Derivative gain Kd parame ters to small values Enter a step distance in encoder counts typically at least a 1 4 motor ro tation Too large a step distance may cause an o
67. sing a positive limit switch click Next to continue with the Neg ative Limit Switch test 1 Trigger the appropriate limit switch manually or by moving the axis into the switch by clicking the appropriate direction arrow to start motion 2 When the positive negative limit is reached the Limit triggered indica tor is displayed in the Limit event box 3 Ifthe Signal state shows Active when the limit switch is not triggered in vert the signal and run the test again Pro Motion User s Guide 7 Command Processing e In This Section The Command Window The Monitor Window 7 1 The Command Window The Command window Figure 7 1 is an alternative lower level method for controlling the motion processor The window has a DOS command line style interface with the command prompt gt and accepts all of the motion processor commands This window is provided for backwards compatibility to previous versions of Pro Motion GetActualPosition Figure 7 1 SetAcceleration 10000 Command SetVelocity 1000 window SetPosition 1000 update GetActivityStatus Ox2101 gt gt GetCaptureValue 7218 gt 7 1 1 Using the Command Window To use the Command window 1 Select the Command icon from the tool bar or View Command from the menu bar to open the Command window 2 Type the desired sequence of commands one command per line Or if you prefer use the Select a Command utility e Press TAB at the prompt to o
68. t loop parameters e Perform a variety of motion trajectories as well as simple repetitive motions for testing and hardware burn in e Try out new values for a processor and monitor the results to assess the effects of the changes Pro Motion User s Guide 9 ri Introduction e Monitor the action on an oscilloscope then print or export the trace e Enter direct text commands at the command prompt e Monitor the commands sent to the chip by your selected settings for fur ther analysis before writing any code 1 1 2 Products Supported by Pro Motion Pro Motion supports PMD s Magellan based products including developer s kits motion cards and ION digital drives as shown in the following table Product No Description Developer s kits DK58000 Developer s Kit for MC58000 Magellan Motion Processor DK55000 Developer s Kit for MC55000 Magellan Motion Processor Cards MB9058000 PC based motion card with support for all motor types MB9055000 PCl based motion card with support for Pulse amp Direction motors ION modules Dx131x0 ION Digital Drive module for brushless DC motors DxlI 11 0 ION Digital Drive module for DC brush motors Dx141x0 ION Digital Drive module for step motors NOTE Pro Motion does not support Navigator products For a complete list of Magellan products refer to Chapter 1 in the Magellan Motion Processor Users Guide 1 2 Pro Mlotion Specifications 1 2 1 Sof
69. ters to a file File Save Project CTRL S Save an existing project file toa new File Save Project N A ae file Save as As Open the previously opened Revert N A N A project file Export a trace on the File Export Trace N A N A oscilloscope Display and execute a selected File Load Script N A N A script in the Command window Print oscilloscope views trace data File Print N A N A commands etc 3 3 2 View Menu Options and Icons The options available from icons on the toolbar or from the View menu on the menu bar are described in the tables below To Select Press Or click Display close the Project window ViewiProject Alt PROJECT Display close the Control window View Control Alt 2 CONTRO Pro Motion User s Guide 21 A gt The Pro Motion Interface 22 To Select Press Or click Display close the View Status Alt 3 ie Status window Display close the View Scope Alt 4 Scope window Display close the View Command Alt 5 Command window EF Display close the View Monitor Alt 6 Monitor window a ES Display close the View Drive Status Altt7 Ee Drive Status window Display close the Normal View View Normal N A View Aes EES Display close the Tuning View View Tuning View N A Custom View View Custom N A View Save as Custom View View Save As N A Custom View Open the Axis Wizard View Axis Wizard CTRL W a lt p Display the Module
70. the coefficients see also the Octave program www octave org 2 Select Edit to open the Filter Coefficients dialog box Pro Motion User s Guide 37 AN Control Window 3 Set the filter coefficient parameters specific to the selected biquad filter 4 Select OK to enable the biquad filtering and close the dialog box 5 When the parameters for both filters have been set as desired click Apply to set these as the active servo parameters in the chipset 4 4 4 Tuning a Servo Motor When using servo motors to maximize system performance it is important to opti mize tuning parameters The tuning parameters derived in the Axis Wizard may or may not be optimum therefore you may want to tune the position loop manually to improve system performance To tune a servo motor 1 Select the Tuning View icon or View Tuning View to open the oscilloscope along with the Position Loop and Step Function dialog boxes Step function Axis 1 Step distance 500 2 M AX1 Commanded Velocity AX1 Commanded Position AX1 Current Motor Command AX1 Commanded Acceleration Ki Fi gu re 4 5 Integration limit EE count x cycles i H Kd Tuning view Derivative time Kaff Kyff Kout Dual loop source Disabled Bi quad filter 2 000 4 000 6 000 8 000 10 000 12 000 14 000 16 000 18 000 20 000 Enable Filter 1 Edit cycles p Edit gt Start Trace Show Settings gt gt
71. the desired value For example gt GetBreakpointValue 0 in which 0 selects the breakpoint number for which the value is retrieved Pro Motion User s Guide 89 7 Command Processing 7 2 The Monitor Window The Monitor window Figure 7 3 displays the stream of commands sent to the mo tion processor Like all windows in Pro Motion the Monitor can be docked on the desktop and re sized to display as much of the command stream as desired Monitor Update SetAcceleration 1507 SetDeceleration 1638 SetVelocity 1245 Figure 7 3 SetProfileMode 0 Update Sample GetMotorMode SetProfileMode 0 SetAcceleration 1507 SetDeceleration 1638 SetVelocity 1245 SetJerk 0 SetPosition 21 ResetEventStatus Oxffee Update GetEventStatus monitor view To use the Monitor 1 Select the Monitor icon on the toolbar 2 Use the scroll bar to scroll through the command history 3 To monitor only Set commands right click in the window and select filter Gets 4 To save the contents of the monitor window buffer to a file right click on the window and select Save As NOTE When the window is resized the display scrolls to the end of the command stream Use the scroll bar to view earlier commands in the stream 90 Pro Motion User s Guide For additional information or for technical assistance please contact PMD at 978 266 1210 You may also e mail your request to support pmdcorp com Visit our website at http www pmdcor
72. tion icon on the desktop Pro Motion will attempt to connect to your Magellan based product using the default settings e If the connection is made Pro Motion s Normal View is displayed Figure 3 1 and Pro Motion is ready for use e If Pro Motion does not automatically establish communication with the Magellan based product the Interface dialog box Figure 2 1 is displayed Select the appropriate interface type Select Interface Type C None Demo C Auto scan PCI COM1 and CAN port re PCI Board number BE C ISA C COM port C CAN port OK Cancel e Ifyou are using the serial interface select the appropriate COM port number Click OK to display the Serial port dialog box Figure 2 2 then complete the fields in that dialog box Pro Motion User s Guide Getting Started 2 Serial port Serial Baud fasta v Parity None bi Figure 2 2 Serial port Stop bits 1 dialog box Protocol Point to point Address 0 Cancel e Ifyou are using a CAN interface select CAN port and click OK The CAN port dialog box is displayed Figure 2 3 Enter the appro priate Baud rate and Note ID then click OK CAN port Figure 2 3 os CAN port Node ID fo dialog box Pro Motion User s Guide 15 A Getting Started e If you are using a PCI card select PCI interface the Board number field is displayed Select the appropriate board number If you have only one card enter 1
73. tor through one electrical cycle to verify the Hall signals are connected corectly Motion Signal state invert F HallA F HallB C T Hall Motor output level 50 0 3 Done Start Status Resutts The Hal connections are conect Electrical cycle monitor Output phase angle Hall angle Pro Motion User s Guide The Axis Wizard 2 To verify that the Hall signals are connected properly 1 Enter a sufficient motor output level required to move the motor and hold it at a specific phase angle 2 Click Start The motor will move through one electrical cycle over 10 seconds 3 Observe the results in the Results window 6 4 3 Commutation Test Brushless DC Only The Commutation test will excite the motor in open loop mode to verify commutation If the motor locks up check the motor connections and phase counts if applicable and re run the Wizard Axis 3 Wizard Commutation Test Thes test wil excite the motor in open loop mode to verly commutation Motion Phase conection Phase counts 4095 counts Enable encoder counts elecical cycle Enable phase conection if oup 1007 the actual phase counts is Motor klovet n not an integer An encoder gt index signal must be present 45d Invest index signal Figure 6 6 Motion monitor Commutation Current motor output levet 00 x test brushless Actual postion 835362 counts DC only For hall based phase initialization phasing is initial
74. ts you will be able to return to previous Wizard pages to change settings if necessary For detailed information about the Axis Wizard refer to Chapter 6 Axis 1 Wizard Welcome to the Axis Wizard This wizard will guide you through the motor connections and parameters for an axis A description of each processor parameter can be found in the Programmer s Command Reference The Axis Wizard can be invoked at any time from the View menu It is suggested that a load NOT be connected to the motor during the axis setup wizard Figure 2 5 Axis Wizard opening page To continue click Next sees NOTE Once you have finished the Axis Wizard you can use the options in the Control window to change settings and to set preferences for responses to events and units of measure Pro Motion User s Guide 17 Getting Started This page intentionally left blank 18 Pro Motion User s Guide 3 The Pro Mltion Interface In This Chapter Overview The Pro Motion Windows Accessing Pro Motion s Windows and Utilities Pro Motion View Options Conventions and Hot Keys Opening an Existing Project 3 1 Overview The Pro Motion interface consists of a set of dockable windows and dialog boxes that can be viewed individually within the Pro Motion frame or floated on the desk top Pro Motion s options are accessed through these windows and dialog boxes and from menu selections and or icons Project Pro Motion File View A
75. tus A list of available bits for the selected register is displayed 3 56 Select both the Sense and Selection check boxes for each bit you want to be reflected on the AxisOut pin Click Apply to activate the settings without closing the dialog box or click OK to activate the settings and close the dialog box Click Cancel to abort Pro Motion User s Guide Control Window 4 15 Event Manager Module The Event Manager module Figure 4 17 enables you to specify a desired response for Pro Motion to take Ignore or Display message for each event listed Event Manager Axis 1 Set the desired action for Pro Motion to take when each event occurs Wrap around Position capture Motion error In positive limit In negative limit Instruction error Commutation error Edit 1 Breakpoint 1 Edit 2 Breakpoint 2 Drive disable input Over temperature Bus voltage error Current foldback Action Ignore T Ignore Display message i z Display message 2 Display message hd Display message Display message v Display message z Display message hd Display message sl Display message v Display message id Cancel Apply NOTE The Jast four events apply to the ION Digital Drive only 4 15 1 Using the Event Manager Dialog Box To set the preferred response for each listed event Figure 4 17 Event Manager dialog box 1 Click Event Manager on the Control window to open the Event Manager dial
76. tware and User s Guide Pro Motion software plus a copy of this User s Guide are provided on the installation CD 10 Pro Motion User s Guide Introduction A 1 2 2 Hardware and Software Requirements The following platform is required to run Pro Motion e Intel or compatible processor Pentium or better e 20MB of available disk space e 16MB of available RAM e PC operating system Windows 98 ME NT 2000 XP NOTE Pro Motion is for use on a system where a Magellan product has been installed For more information about hardware and software requirements refer to the Mage lan Motion Processor Developer s Kit Manual Pro Motion User s Guide 11 dy Introduction This page intentionally left blank 12 Pro Motion User s Guide 2 Getting Started A In This Chapter Getting Started with Pro Motion Installing Pro Motion Launching Pro Motion Running the Axis Wizard 2 1 Getting Started with Pro Motion NOTE Before you can install Pro Motion you must have installed your Magellan based hardware product For instructions for installing Magellan based products refer to the ap propriate users manual for your product The three stages of the process for getting started in Pro Motion are described here Instructions for each stage follow in this chapter 1 Install the Pro Motion software Section 2 2 2 Launch Pro Motion and establish communication with the Magellan based product Section 2 3 3 Run the Axis Wizard
77. ulse amp Direction Step motor with pulse and direction drive DC brush Servo motor with internal mechanical commutation To select a motor type use the dropdown list in the Motor type area of the Control window Note that when a motor type is selected diagrams of the motor type s sig nalling are also displayed and the set of Control modules is changed to reflect the selected motor type Pro Motion User s Guide 31 AN Control Window 4 3 Trajectory Module The Trajectory module Figure 4 2 is used to get the motor to move using the motion processor s trajectory monitor The module is utilized by selecting a motion profile mode trapezoidal velocity contouring S curve or electronic gear setting the trajec tory parameters for that profile selecting a motion shuttle mode single move manual or automatic defining the motion parameters if any and then pressing the Go button to move the motor Figure 4 2 Trajectory dialog box Trajectory Axis 1 Profile mode Trapezoidal id Trajectory parameters Deceleration 1 0000 4 counts ms Acceleration 1 0000 4 counts ms Velocity 1 00000 counts ms Start velocity 1 00000 counts ms Motion Shuttle mode Position 1 8 S counts C Single move so EE Manual Automatic Pasion 1000 counts Dwell 0 2 Close 4 3 1 Using the Trajectory Dialog Box To set a trajectory and use the motion shuttle 1 32 Select the desired Profile mode
78. urrent loop auto tuning procedure 1 Use the up down arrows to enter the amps for the Motor s rated contin uous current desired loop s Phase margin and Constraint on the propor tional gain Kp 2 Click Start The procedure takes approximately 30 60 seconds to com plete during which the shaft may move and audible tones may be heard 3 In the Results window verify that the tuning completed successfully If the tuning result is too aggressive or noisy try to 1 Increase the phase margin maximum value is 1 6 rad 2 Decrease the constraint on the proportional gain Kp 6 5 Servo Loop Tuning Servo Motors Only The servo loop tuning page is used to set up the servo loop parameters You may either do this manually by trial and error using steps 2 and 3 or you may use the built in auto tuning procedure in step 1 The servo loop settings are used to correct the position of the motor while it is moving and when it is at rest Accurate settings are important for stable and reliable motion Pro Motion User s Guide 79 Ap The Axis Wizard Axis 1 Wizard Servo Loop Tuning The servo loop settings are used to correct the position of the motor while moving and at rest Accurate settings are important for stable and reliable motion You may skip step 1 but the loop settings in step 3 must be non zero for motion to occur Step 1 Analyze system response Enter a step distance and press Start to analyse the system Choose a step dist
79. vercurrent condition Select the Display Scope button to open the oscilloscope Click one of the direction arrows on the Servo Setup page to jog the mo tor The motor will move by the selected step distance and the resulting movement will be displayed in the oscilloscope Scope window Check the oscilloscope to verify the servo loop response and that the mo tor is moving in the expected direction Increase Kp and Kd until the motion is stable and the actual position fol lows the commanded position as closely as possible with no overshoot If the motor starts oscillating reduce the Kp When Kp and Kd provide stable and responsive motion set the Integral gain I To close any remaining position error after the move is complete set the integration limit For more in depth manual servo tuning you may use the Tuning view in the View menu For more information about 82 The servo setup refer to Section 4 4 Utilizing the oscilloscope refer to Section 5 2 Pro Motion User s Guide The Axis Wizard 2 6 6 Encoder Index Signal Test Axis 2 Wizard Encoder Index Signal Test Rotate the motor one full rotation to receive an index capture When the signal is triggered a capture will occur which will transfer the contents of the actual position register to the position capture register and the capture received indicator will be set Signal state Signal active I Invert signal Motion Velocity 0 10000 counts m

Pro-Motion User`s Guide - Performance Motion Devices

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