COOL WORKS LITE USER`S MANUAL
Contents
1. http www musclecorp com Microsoft and Windows are registered trademarks of Microsoft Corporation in the United States and other countries Other company names and product names described in this document are trademarks or registered trademarks of their respective holders The trademarks notices are not necessarily appended to company system and product names described in this document 2007 Muscle Corporation All rights reserved co Soa eae N2. 35 S45 SbF eg SF ay E Bal Motor Mz Motor Test Controller ID 1 I Type p z Control Design and Simulation Plot Type Hentify System hertia Load Inertiafecm 2 Moo C Step Test Starting Freq HZ fi Viscosity Coef g cm s Freq Test Ending Freg HZ fioo Pos P Gain fi 51 Amplitude pulse 500 Speed P Gain fico MaxIq Sampling poo Value Speed I Gain F Pebesma 76000000 The Simulated hertia g cm 2 o Start Iden Send to Motor Complementary Sensitivities m E a aaas Relates aa siete wt PSs sss5 5654555555555 Dll el ail el el pests je SSS Sepisse pss ass 7454575 7 Amp DB Freq Rad sec FirmVer 2 36 MotorRespMode Echo On COMS is opened Rec To start the Frequency Test click Start button The motor shaft will vibrate in the range of plus minus 3 6 degrees then the frequency of vibration will be increased gradually Pay attention please 2 To stop the test process click Stop button 3 When the test process ends click OK Frequency Response Ed Frequency Response Ed Frequency Response Experiment Experiment finished Warning The altitude of the vibration increases during the identification process Pay attention please Current Frequency E Hz X axis in frequency response graph is an angular frequency W rad sec and the formula in relation with the frequency f is w rad sec 2 x f Ex When 100 Hz 2 X x X 100 628 rad s
3. Gain ertsteem 2 Te The Simulated lhertia g cm 2 Start Iden pulse 50 000ppr Timetmsec FirmVer 2 36 MotorRespMode Echo On COM3 is opened Rec For CM2 ver 3 XX Servo stiffness adjustment is available See Page 22 for details CoolWorks Lite 4 3 2 Bele File Edit View Communication Windows Tools Options Help G3 SP o5 25 25 55 aaa ESA E Motor ID fi x Stiffness Step Response C Frequency Response Timeli msec FirmVer 3 01R MotorRespMode Echo On COMS is opened Re Chapter 8 Response Adjustment Window 17 How to Use Response Adjustment Window for CM1 The Response Adjustment window can simulate and assist tuning the PPI control parameters GoolWorks Lite 4 3 2 SEE D Motor Selection File Edit View Communication Windows Tools Options Help as b A amp ER OBB Choose Motor ID and Motor Type do E LAS E ST eal J OF 3 Ea Sol Mot i Mot i gt m Test Controller ID a E Type 7 Control Design and Simulation 3 Plot Type a l m entity System Inertia Load Inertia e cm 2 40 Step Test 2 Identity system Inertia Optional 2 Starting Freg HZ i Viscosity Coefle cm s 0 Freq Test Calculate and display the inertia of i e E Pos P Gain Jem Amplitude pulse 500 Speed P Gain 2 fs the payload by experimental results MaxdaSampling py pay y P Value J Speed I Gain _ 5 based on the vibration s
4. Identification x The identification of inertia successed the identified result will be entered into Load Inertia box in Identification Error The identification error will be occurred when the identification results do not converge which is tested at each frequency When the identification error occurs the data shall be reflected but the identification result shall be considered as inadequate More precise identification result will be obtained by avoiding errors following the steps below Step 1 Increase the value for Max lq torque Mice 1S 1L 17S 17L 23S 23L Max Iq Torque RTO 5o 5o 90 140 150 If the identification error can not be avoided Step 2 Decrease the value for amplitude pulse pulse If the identification error can not be avoided Step 3 Increase the value for ending frequency Hz 3 Control Design and Simulation Enter the inertia directly if it is known If the inertia is already known and entered into this box previous step is not necessary Enter the viscosity coefficient if it is known If it is unknown enter O Tuning of Position P Gain Speed P Gain and Speed Gain Click and drag the slider on one of the bars The simulation result is displayed in the graph Tune the gains refering to the simulation results The gain values can be entered directly however the results is displayed only after the click of Start button in The data is not sent to the motor
5. MDUG CWL 08225E 01 Rev 1 Utility software for Cool Muscle 07070 E WORKS LITE Ver 4 3 2 USER S MANUAL INDEX Chapter 1 Installation 1 Chapter 2 Startup and Initial Settings 3 Chapter 3 General Terminology and Descriptions 5 Chapter 4 Terminal Window 9 Chapter 5 Motor Browser Window 11 Chapter 6 Jog Window 12 Chapter 7 Graph Window 13 Chapter 8 Response Adjustment Window 17 a Chapter 9 Uninstallation 23 CLE f Chapter 10 Appendix 24 CORPORATION Chapter 1 Installation CoolWorks Lite Installation 1 CoolWorks Lite CWL is a utility software for CoolMuscle Extract the downloaded zip file CWL can communicate with a CoolMuscle directly It lets you modify and save parameters and data It can jog the motor plot motor data on a graph and do P o gain tuning CWL is CoolMuscle Language CML compatible CWlite 432 CWL is a user friendly software It assists in easy operation of CoolMuscle Installer Main features In the terminal window data and bank programs can be set and the status To install click SETUP exe in the folder where the files are extracted of motion monitored Terminal function In the motor browser window the motor parameters are easily set Motor browser function ZIADA In the Jog window the motor can be rotated by dragging a slider with the Ee mouse Jog motion function In the graph window the position speed torque etc can b
6. Pi Cabinet Fils Cabaret Fle TAG Fie jo imap mi Internet Cornus Applicaton Configuration Satri LID Fie Chapter 1 Dabe Masi SNS 4 05 PH BALONLA 4 05 PH BALONI PIT 4 08 PH ADOL 5116 PH ran 5116 PM AZOR 6316 PH r A aa SADS LI AM e EA TENDA 1 13 AH 5 8 1997 2 15PM STAZO 112014 BONDO 1 57 PM LVS 997 4008 PH aPW2006 5 16 PH eaa EE a Installation 2 Chapter 2 Startup and Initial Settings Make sure DC 24V power supply is OFF 1 Connect the PC DC 24V and CoolMuscle by a RS 232C cable CM1C2 2000A according to the following diagram a Caution Do not plug or unplug the connector when the power is on This can cause damages to CoolMuscle or other devices CoolMuscle Please pay attention to the direction of the connector lt Connection example gt Joos i ce zi pj Mua owe CORPORATION eae RS 232C cable RS 232C connector Br Ti P K 4 Li Connect to PC s RS 232C port DC 24V power supply Chapter 2 Startup and Initial Settings 3 After turning on the DC 24V power supply double click CoolWorks 3 Choose the COM Port P Lite 4 3 2 icon to open CWL Enter COM port number which the CoolMuscle is connected Remark Please refer Page 22 about how to find the available COM port in your computer 4 Start communication by clicking on the Open COM Button To start communication and open the terminal window click Open COM To close the CWL progr
7. Ti kpps 500 Speed Hccelaration Go To Origin Move to the position 0 Chapter6 Jog Window 12 Chapter 7 Graph Window Caution Do not start up the Graph Window function while Cool Muscle is not powered on or executing communication frequently Doing so may cause CWL to stop working and to be inoperative subsequently To recover from such unusual situation the reinstall of CWL is necessary How to Use Graph Window The specified data can be displayed in a graph Operate according to steps from O 4 GoolWorks Lite 4 3 2 File Edit ax Windows Toole Options Help Wiew Communication Yy a Bg aa SAS aS SESE A A cota G ee eH Hg 2 4 p 1 1000 2 100 a 1 d ee mmmn mnnmnmmmm mmm mle mnmnnmmmebLunnnmnnmnmmm mmm aioi aaa aaa A a ae aaa a a a a ea RAS aaa a a aaa x When only one motor is connected X Y Plot is not displayed Draw Stop Draw 1 SamplingTime Plot Type Data Selection _ Graph Prop fe ot j J e cua 20 ms Time History Flot Motor IDX 4 ees 2 i Folling 2 Clear Graph 4 Ready Data T x AORE A fa ReaPe wl Y O No g a FirmVer 2 36 Motor RespMode Echo On ComM Is opened Rec Graph Prop Set the necessary data See Page 14 for details 2 Clear Graph Clear graphical data displayed 3 Setting Choose Streaming for Ver 2 20 or after Choose Polling for Ver1 07 or before 4 S
8. am click Exit CoolWorks Lite 010 WORKS c 38400 Defa Defa Fill in the necessary information E 4 The terminal window is now displayed E CoolWorks Lite 4 3 2 mef File Edit View Communication Windows Tools Options Help JABS 25 25 55 By 35 35 85 Command Line Moto ier SS GML Editor Program bank execution Motor Response o FirmVer 3 01 R MotorRespMode Echo On COM3 is opened Re M Choose the Communication Type Default is Serial communication 2 Choose the Baud Rate Default is 38400bps Chapter 2 Startup and Initial Settings 4 Chapter 3 General Terminology and Descriptions The menu bar for all the windows Main Menu GoolWorks Lite 4 3 2 File Edit View Communication Windows Tools Options Help See Page 6 for details 2 Tool bar Select windows and functions h hi Communication Open Close Open Open Open Open Open t rougn Icons settings COM1 COM2 COM3 COM4 COM5 COM6 COM terminal motor jog graph Response window browser amp window F window adjustment Response adjustment window will not window window work for Ver 3 00 and 1 07 or before Motor firmware version 3 Status bar Displays the motor status and other relevant CWL information Firmvers2 96 MotorRespMode Echo On COM iS opened Received 141 bytes data Trans Chapter 3 General Terminology and Descriptions 5 AM Menu bar Descr
9. ampling Time unit msec The sampling time for data streaming or polling 1 30000 5 Plot Type See Page 15 and 16 for details Time History Plot Display the data trend versus time X Y Plot Display two related data in an X Y plane Choose one of the two When only one motor is connected X Y Plot is not displayed CML Data Please enter the motion commands in this window which will be used for generating the graph Any direct motion commands or bank programs are available Run Stop Q Draw Draw the graph Stop Draw Stop drawing the graph Data Selection To select the data for monitoring first select the motor ID from Motor ID and then select data type from Data Type for each motor Run the motor according to the CML data given Stop the motion Streaming 0 No Action 1 Target Speed 2 Real Position 3 Real Speed 4 Torque Polling 0 No Action 1 Real Position 2 Real Speed 3 Torque 4 Position Error Chapter 7 Graph Window 1 Setting of Graph Properties To display the following window click Graph prop button setting of Graph Properties x Set the minimum and maximum values for the X Mm Axis Range Labels axis an integer between Start o Label x 32767 and 32767 ee Set the labels for the X j i O00 Label fy axis Y axis and title Title Experiment Resul Set the minimum and Y Axis Range beeta So neti a CRP IPI The color of each data axis an intege
10. aph Window 15 C Plot Type X Y Plot When only one motor is connected X Y Plot is not displayed Related data will be displayed in X Y plane The following example is real time position display When multiple motors are selected graphs will be displayed only when the motor of the final axis is in motion GoolWorks Lite 4 3 2 Efx File Edit View Communication Windows Tools Options Help T G5 25 25 53 BF 25 83 200 200 SamplingTime 10 ms Time History Plot Polling Clear Graph x Y Plot Ready FirmVer 2 36 MotorRespMode Echo On COM3 is opened Received 2126 bytes data Transmitted 245 bytes data Chapter 7 Graph Window 16 Chapter 8 Caution Motor will vibrate during the identification and tuning process This window will not work for Ver 3 00 and 1 07 or before Response Adjustment Window Bazza Type of Response Adjustment Window The screen contiguration depends on Cool Muscle s version For CM1 ver 2 XX Tuning and simulation are available See Page 18 21 for details GoolWorks Lite 4 3 2 File Edit View Communication Windows Tools Options Help AHAS 5 25 35 S5 S5 25 55 3 ESAE p im re fru z Control Design and Simulation nS ee System ai Load Inertia e cm 2 00 Step Test Starting Freq HZ fi Viscosity Coef e cm s Freq Test Ending Frea HZ 0 Pos p Gain Amplitude pulse 500 Speed P Gain gt MaxIqSampling 30 Value Speed I
11. button 3 Sent Data Display the data sent to the motor in or To clear the motor response window click Clear button Save Print Email Save Print Email the data which is sent to or received from motors GoolWorks Lite 4 3 2 File Edit Yiew Communication Windows Tools Options Help ax Command Line GML Editor Ready LIF SBP 5S o z zd T 5 T A T wo Motor ID Motor data Program bank execution E o u Save ee Ooo oo Em a FirmVer 3 01R MotorRespMode Echo On COMS is opened Re S eee Motor information oe Motor Response a 2 El ie EA Clear Motor ID Select the target motor ID 6 Function Buttons Go to origin Reset motor coordinates and motor Enable Disable 7 Motor data See Page 10 for details Motor information See Page 10 for details 9 Buttons for Program bank See Page 10 for details Motor Response Display the data received from the motor To clear the Motor Response window click Clear button The data log file will not be affected by clicking Clear button Chapter 4 Terminal Window 9 D Motor data Buttons for Program bank Motor information Button Command Description Choose bank No from the list 1 30 m is selected from the Bank No list ID1 must be selected in Motor ID Button Query Descri
12. con for Change or Remove programs Select Add or Remove Programs icon on the left column Select CoolWorks Lite 4 3 2 and click Change Remove button Add or Remove Programs cer Currently installed programs d Sort by Name Change or F Remove j5 Color Network ScanGear Ver 1 3 Sie 6 13MB Programs CoolWorks Lite 4 3 2 Size 5 46MB P Used occasionally amp Last Used On 3 5 2007 Programs To change this program or remove it from your computer click Change Remove i S unlnstall GoolWorks Lite 4 3 2 The following message will be displayed Click Yes To All button Re move Shared File The system indicates that the following shared file is no longer used by any programs If any programs are still using this file and it is removed those programs may not function Are you sure you want to remove the shared file Leaving this file will not harm your system If you are not sure what to do it is suggested that you choose to not remove this shared component File name Located in Re move Shared File YD You have chosen to remove all shared components which the system indicates are no longer being used This may cause some programs not to function if they still require any of these files Are you sure you want to proceed The uninstallation is successful if the following message window is displayed Remove Programs From Your Computer unlnstallShield will remove the software CoohWorks Lite 4 3 2 from your comp
13. e displayed graphically in real time Graph function In the Response Adjustment window controller gain can be easily tuned by step response or frequency response Response Adjustment function The latest CoolWorks Lite can be downloaded for free from the following web site by answering a simple questionnaire http www musclecorp com Compatible OS Windows 98 2000 ME XP File Size 2 35MB CWL would be updated without notice Other Places New Folder E My Documents D Shared Documents My Computer i My Network Places Chapter 1 11 19 1997 4 05 PM LU oy E97 4 05 PM LLL 997 4308 PM fazne 5116 PM 6 9 2006 5 16 PM 6 9 2006 S16 PM 6 9 2006 5 16 PM S S0 1997 11 31 AM 6 9 2006 5 16 PM THS 2006 iiia AM 5 6 1997 21S PM S 7 2002 1 20 PM n BULLOCH eS PH 11 19 1997 4 09 PM 6 9 2006 5 16PM Gfoi2OG S316 PM To install CWL from the CoolMuscle CD click SETUP exe in the CD Installation J Choose the folder to install CWL according to the instructions given by the installer Click Next button to continue Choose Destination Location al CoolWorks Lite 4 3 2 GeT ideii COOL WOSu We lirmr hetero ee Lei ee ea Setup will install CoolWorks Lite 4 3 2 in the following folder To install to this folder click Next To install to a different folder click Browse and select another folder You can choose not to install CoolWorks Lite 4 3 2 by clicking Cancel
14. ec Chapter 8 Response Adjustment Window 21 How to Use Response Adjustment Window for CM2 The servo stiffness for applied motor can be adjusted with using this screen CoolWorks Lite 4 3 2 of D Motor Selection File Edit View Communication Windows Tools Options Help Test Controller Choose Motor ID t EE E PF 5 25 35 25 Ss 7355593 JE Test results for Step and 1 Motor 1D Fz Frequency responses are P stitiness Gq ae available See Page 19 and Low High c Frequency 20 for details Response Servo Stiffness Adjustment 26 eee The servo stiffness can be nt i ee ee eee adjusted by moving the slider au Additionally direct setting of numeric number into the right box is available for the adjustment pulse 50 000ppr 500 Time tmsec v fa Ready FirmVer 3 01R MotorRespMode Echo On COM3 is opened Re Overshoot Setting is high High servo stiffness and response are obtained However if too high the servo system becomes unstable and the oscillating state or the overshoot tends to occur Too low Setting is low If too low the response and tracking performance go down For adequate setting adjust the servo stiffness to get no oscillation and less overshoot Chapter 8 Response Adjustment Window 22 Chapter 9 Uninstallation There are two ways to uninstall CWL Open the control panel for windows on the start menu Click the i
15. in Search Direction Origin Search Method Sase id Save the parameters Save the data to all Save the data to the Offset dist Op Travel Dis to the oa ney motors connected pop caren i motor changes from Reading data from A K parameters or Bank programs have been changed Do you want to save them to motor or not motor to Ready Cp E a O n Deon O Caution If you click OK the original FirmVer 2 36 REE Echo On COM3 FAP Received 2 data of the motor will be changed Chapter 5 Motor Browser Window 11 Chapter 6 Jog Window How to Use Jog Window This window is for a jog motion with the mouse pointer The resolution and speed unit can be set For jog motion click and drag the slider on the speed bar The resolution changed in this window will be saved to the motor Any modification of the resolution and speed unit will be saved to the motor The current position is displayed according to the modified resolution Joe Motor Choose Speed unit Choose Resolution selected Motor Z 100pps or 10pps from 200 50000 ppr Since the incremental motion can not be executed when K37 40s Resolution 1000 oor peed unit 100pps and 60s Except for K37 41 and 61 this list does not show the resolutions for K37 40s and 60s S If you change the resolution Motor resolution settings the changed values will be saved into the motor Max speed 00 100pps Current position Max acc i
16. ing so Value Speed I Gain _ p Estimated oy fi Ofe 002 The Simulated lnertiafgccm 2 30 Start Iden Step Response Experiment Warning The altitude of the vibration increases during the identification process Pay attention please Send to Motor oO i PERITE E EE EE E AET Step Responses llla Exp 1001 Li Red line The simulation result from Green line Real response for the same experimental condition The step response is displayed The experimental data is also displayed in The instruction box for every 2msec 1000pulse 7 2 degree Time msec FirmVer 2 36 MotorRespMode Echo On COMS is opened Rec Chapter 8 Response Adjustment Window 20 Frequency Test Frequency response shows output gain amplitude proportion against input frequency command Gain dB shall be 20log K and the output amplitude proportion against input shall be K time When gain equals 0 the amplitude proportion equals 1 So that the same output amplitude as input amplitude shall be obtained Frequency characteristic has features as less intuition but minutia feature is well described Frequency response test displays its response characteristic by increasing the amplitude 3 6 degree S00pulse 50000ppr sine wave from 1 Hz up to 100 Hz despite the motor s set resolution GoolWorks Lite 4 3 2 mB File Edit View Communication Windows Tools Options Help E EE B f INF 225
17. iption Open a selected file into the CML Editor Close CoolWorks Lite Name of Item CM Toolbox Display the CM toolbox on the upper left corner of the screen CM Toolbox X Choose the motor ID Stop the motor Enable the motor Disable the motor Set Show Hide toolbar Status Bar Set Show Hide Status bar Set the language for CWL Open COM port 1 Open COM port 2 Open COM port 3 Open COM port 4 Open COM port 5 Open COM port 6 Close Terminate communication indows Terminal Display the terminal window main window W T Convert the speed value from rom to pps Calculate the motion data according to given position speed acceleration and time Speed Calculator 2 Motion Calculator 3 Copy Motor Settings 4 Copy the settings from one motor to the other Data Log 5 Record the log file of incoming messages OO from motors Hel 1 Is p Contents o o O About CoolWorks Lite The version information for CoolWorks Lite is displayed in the following window About CoolWorks Lite CoolWorks Lite Version 4 3 2 Copyright Co 2006 2007 Muscle Corporation All Rights Reserved http fay musclecorp cam The Response Adjustment window cannot be used for firmware Ver 1 07 or before 2 5 Please refer to page 7 8 for the details Chapter 3 General Terminology and Descriptions 2 Speed Calculator Enter the target speed in rom Click Calculate button Calculate the Speed value i
18. n pps for given resolution Since the incremental motion can not be executed when K37 40s and 60s Except for K37 41 and 61 the speed calculator does not show the resolutions for K87 40s and 60s Speed Calculator Ed 2 Calculate Speed Unit Gps Resolution ppr Speed rpm 100 BOO 999 S600 100 25000 1000 0800 100 10000 1000 2000 10 10000 1000 0200 5000 999 6000 5000 999 S600 2500 1000 8000 2500 1000 0800 2000 999 0000 LL 494 SUL 1000 1002 0000 To00 TOO 2000 500 996 0000 500 999 6000 400 1005 0000 400 1000 5000 200 990 0000 200 999 0000 Motor Speed rpm i 000 D For the above case where the Resolution is 1000ppr and Speed Unit is 100pps s 167 is calculated as 1002rpm 3 Motion Calculator Set motion type Set the combination of resolution and speed unit Choose distance speed acceleration or time to be calculated Enter the Click Calculate button The chosen variable and time for motion will be calculated Distance Speeed Acceleration and Time Calculator 2 r Resolution speed unit 341 000 ppr 100 pps v necessary data for calculation In the left case distance of Motion Type Rotation Linear pitch lt mm rot fi Calculate Ss T Distance Speed Rotation type is selected Resolution 1000ppr Pires T ba Speed unit 100pps 0 t1 t2 Time Speed Acceleration Time Speed 1 0000 1 00 1 00 pps fo 100pps f
19. oo kpps 2 fo s Acceleration 100kpps and Calculate Solution and Time Periods 6 Distance 99000 p tt At t2 the motor will j decelerate to zero Peguired speed reached at tl Time 10s The rotation distance is calculated as 99000 pulses Cancel Distance Speeed A cf leration and Time Calculator r Resolution speed unit 3 1000 ppr 100 pps Motion Type Acceleration C Time To transform the result to the Speed Acceleration Time other motion type in this case fio mm s fioo mm s 2 fio s it is Linear type simply change Solution and Time Periods Start by selecting your motion and calculation type the motion type You will have to Distance 99 mm Enter your numbers and click the calculate button enter the pitch data first Enter the pitch data in the Linear type OK Chapter 3 General Terminology and Descriptions 7 4 Copy Motor Settings 5 Data Log Copy the motor parameters and program banks from one motor to the other To record the incoming messages from the motors check Log file on Caution The settings for the motor depend on its type Such as 23L 17S The Log file on is not checked by default C type and P type Please be careful when copying between motors with The log file will be reset if Log file on is unchecked or CWL is closed different types Select the source mo
20. ption Display current motor status Display current motor torque Display current motor position Display current position error Display current motor speed op Caaf oo oo Chapter 4 Terminal Window 10 Chapter 5 Motor Browser Window How to Use Motor Browser Window Motor data and parameters can be set up by features Open the feature folder which you want to check or change The list of parameters related to this feature are displayed in the right window Choose and double click the parameter that you want to modify The setting window of the parameter is displayed In order to change the data choose an item from the data list or enter data directly and then click OK At this point the modified data has not been sent to the motor After modifying all the data click Apply All or Apply A dialog box is displayed To save the data to the motor click OK To save the parameters to the PC click Save To File Only parameters can be saved in PC GoolWorks Lite 4 3 2 f fol File Edit View Communication Windows Tools Options Help S25 83 ESO 2 T ooa Enter a number directly when using a combination of functions as K23 This example shows 7 should be entered to assign 1 Mote Deseription 4 In position and Alarm 2 Report when input E User Parameters Baud Rate 0 38 4Kbps gt K20 7 A Communication Setting Full Semi Clo
21. r between 32767 and 32767 End f Ti Line Mo line can be independently defined Grids Color Set the horizontal and l Horn trid Mo lE verica cae ee a Background olor Set the Background Color integer between 1 an i l 32767 Wert Grid Mo l mawas Grid Color and Font width and Scale Font Set the width of the line Line Width i o and the scale of the data Graph Scale 1 Chapter 7 Graph Window 4 Plot Type Time History Plot The time history plot data Y axis can be displayed versus time X axis Unit for the X axis is SamplingTime msec When multiple motors are selected graphs will be displayed only when the motor of the final axis is in motion CoolWorks Lite 4 3 2 File Edit View Communication Windows Tools Options Help 535 BAP os Ss S5 S5 raph Prop Clear Graph 4 Ready 1 200000 21 200 a1 10 p 2 400000 z 2 300 a 2 20 aq ag Se ee eee a ee ee p eo a ee ee e SamplingTime Data Selection Streaming 1o oe Time History Plat Motor ID 2 i 2 Pollin 5 xyr ooo ee F tmWer 2o6 MotorRespMode Echo On oo MG is opened Rece wed 148 bytes data Transmitted 134 bytes data i i Tee ee oe BBE AAAs SESE Even when multiple motors are connected the data from specified motors can be obtained by setting unspecified motor s Data Type as 0 No Action Chapter 7 Gr
22. rial motion Control Design and Simulation Simulate with different inertia If the inertia of payload is unknown use the inertia identification function Identification is to add some probing signal to the system and estimate the unknown parameter of it in order to build a mathematical model for control design Chapter 8 Response Adjustment Window 18 Identify System Inertia Identify the inertia of the playload by motor s information from vibration at specified frequency Precise identification is achieved by aggregating the information from the motor by gradually increasing the vibration frequency The amplitude pulse setting shall always be based on 50000ppr despite the motor s set resolution Ex The motor shaft will vibrate between plus minus 3 6 degrees 500pulses 50000ppr when the amplitude pulse is set to 500 Enter the Starting frequency Ending frequency Amplitude and Max lq Set these values according to your machine To start the identification click Start Iden button The altitude of the vibration increases gradually during the identification process Pay attention please Identification of Inertia Identity ine Warning The altitude of the vibration increases during the identification process Fay attention pleaze Current Frequency l Hz 3 To stop the identification click STOP 4 When identification ends click OK The value subtracted the rotor inertia from Inertia
23. sed 0 O1deg KOI signal changes and 4 Report when output signal changes as1 2 4 7 Resolution Speed Unit Time Delay for Semi Closed Mode 200 msec K22 Full Semi Closd Loop METREN I O Position Mark Interface and Settings Time Delay for Slow Response Signal Origin Search Input Logic _ PPI Controller Input Function at Target Voltage Level of Q K Param Setting Window 3 Ed Software Limit Input Function at Rising Edge of Quick Resp Manual Operation Input Function at Falling Edge of Quick Res Push Mode Input Function at Target Voltage Level of SI pulses K24 O 1sec K25 Parameter Description Motor Status preitnn and Creeping Ft Euan ot ire Tips of Se oe A Hox Deceleration Ratio Output Logic EFT a Mn D Overflow and Overload Output Function G 1 Ir position ahd Alarm Unit F Analog Inputs in C Type Analog Output Function 2 Report when input signal changes All Parameters Pulse Interface 4 Report ooo signal changes It takes several seconds to read Motion Parameters Resolution F r mo aklai input signal ares Position Analog Interface V type Oncel the data from the motor when the Speed Voltage Filter Gain Acceleration Max Speed for V type motor motor browser is started up Time Delay eave Fange for V type 9 j j Turve cang ca leeaticn for Origin Search and Manual F CoolWorks Please wait until the status bar Bank Programs E Rio Dynamic Motion Orig
24. tarting hertisgem 2 Te The Simulated lhertia g cm 2 a ja from Starting Freq to Ending isk nicl Freq with the given Amplitude Somo See Page 18 for details Seen oa Oo Sim 0 A SO ee tales Me aA a aoe eeeapedeeecieeceeee Exp 0 a o Q TAN AAEE AEAEE E AEN TESNE EAE E PEASE A EEE E EEEE E EEE A EEA E EE a O O In O L eee ee ee ee ee ee ee TETTETETT ee See ee EE g 9 D op i ee a ESEE E E EE E S A E A EE E A E E E EEE S E a o 56 112 168 224 280 b Time msec c 4 b Ready FirmVer 2 36 MotorRespMode Echo On COM3 is opened Rec 3 Control Design and Simulation Position P Gain Speed P and Gain can be tuned by comparing the results of the simulation for a given inertia and viscosity coefficient See Page 18 for details 4 Test Controller Test results for Step and Frequency responses are available See Page 19 and 20 for details The tuning result is dependent on the payload inertia Identify System Inertia is a tool to identify the payload inertia when the design value is unknown All the conditions for identification must be set properly in order to get an accurate estimation The identification results might be different if the experimental conditions are not set properly The estimated result might not be accurate enough even under the proper experimental condition The estimated data is a reference to adjust the tuning The parameters must be tuned with a t
25. to exit Setup Destination Folder Ez Tt i str ntly pence Uhal vou xit all Timina programs balora running Uhia Belin propre Dick Camal ta guii Salus and Uhom cios ary C CoolWorks Lite 4 3 2 Belooes bo Uhe Goolfork Lite 4 3 2 Setup rl oe This program wili inslall Deal Berka Lite A F F on p ur ooemutar hive runnin Dok Mast bo continue br iribi you with they Salur progres TEHING Thii Broce if proietted by Sosy ich lew siete inlomalimal Aira iaz Wut hor izad lingers or distribui bon of thts of Uk may reull in eevee Program ih rth civil and criminal permili ias and wlll be prosecuted te the soci extent possible uder lar x Selup will add program icons to the Program Folder listed below You may type a new folder name or walect one from the existing Folders list Click Next to continue Prozram Folders ing Existing Folders Canon Printer Uninstaller Dell Accessories Norton Internet Security OpenOffice org 2 0 v lt Back Cancel To complete the installation click Finish button a CaotWarks fate 4 3 2 oo Mt Ciemi Gm FRETS wow lt nmas s neres t vetup Complete Click Finish to complete Solus Lite 4 9 2 l CA When the installation is completed successfully an icon will be appeared on your desktop A Nem Sw 3 Jti 2 Ko a oe S et al Type Ei Pile Appication Cabinet
26. tor ID To read the data click Read button Data Log Copy One Motor to the Other Source Motor Read Copy Destination Motor po J status Click Rea to read data from source mot Display the log file Select the destination motor ID To copy the motor settings click Copy iiias log Notepad Sele File Edit ieee View Help button Copy One Motor to the Other Subject Log File of CoolWorks Log message Destination Motor i oo 00 0o o 2 OK Status Ready Click Copy to start copy x10 Id HY S iE B h 0 n eeeeeeee e e e e e ecedceaeceeceeceacececececeaeceaceceaceceacecaecececececeaeceeceaecececececececeaececececececececeacecececeaeceecececeacecececeacecececeaeceeceaeceaeceaeceaeceeceaceceaeceaeceacaenaeaeo Z wCudT Mm Chapter 3 General Terminology and Descriptions 8 Chapter 4 Terminal Window How to Use Terminal Window The first window displayed after opening CWL and selecting a COM port is the terminal window The terminal window allows reading and writing of motor data parameters and program banks Text files created in other editors for example notepad can be read into this window It is convenient to save data as a file and use it later repeatedly AM Command Line Enter CML commands in a single line and press Enter key to send 2 CML Editor Send multiple lines of CML at the same time To send a set of commands click Send
27. uter Please wait while each of the following components is removed Shared program files Standard program files Folder items Program folders Program directories Program registry entries BESS ER ERR Uninstall successfully completed Chapter 9 Uninstallation 23 Chapter 10 Appendix How to find the COM port No in Window XP Open the Control panel click Performance and Maintenance and then System Pick a task ur hard disk to mae programs anm laste or pick a Control Panel icon r Amwanists at iv losl b Power Dpti ef TURUT LE 1 oak Choose Hardware Tab on the opened window and then click m Device Manager The Dario Manager ts atthe Prather iiia ores ines prise ange ray a the Girne Haaga bo change Her a mahe gure thal baled dervery EJ cease wich We Up es ost Saanaa lg wiran Li peda C ee erie nae a aed lore ifinia hades Plandeeans Protas The available COM ports are displayed in the tree selection Ports COM amp LPT Device Manager SE File Action view Help e mgg H H Disk drives H Display adapters HAA DVD CD ROM drives EZ Floppy disk controllers Hdi Floppy disk drives H IDE ATAJATAPI controllers S IEEE 1394 Bus host controllers H Keyboards H 5 Mice and other pointing devices HR Modems H Monitors El ze Network adapters Other devices In this case COM1 is available Chapter 10 Appendix 24
28. yet at this point 4 Set the inertia for simulation to the same value as the normal payload However you can set it to any value for the simulation To send the tuned gains to the motor click Send to Motor button The data will be sent to the motor Chapter 8 Response Adjustment Window 19 4 Test Controller Select Step Test or Freq Test Step Test Step Test is as shown in the right the output waveform when step shaped command is entered Step response test has the feature that shows aia the characteristic features intuitively and comprehensibly Roughness could be ters To start the Step Test click Start button still existing instead of the above features The motor will move 7 2 degree instantaneously during the test Step command 1000pulse 50000ppr that is 7 2 degree on the motor shaft Pay attention please is applied for the step response test despite the motor s set resolution To stop the test process click Stop button 3 When the test process ends click OK e GCoolWorks Lite 4 3 2 FER File Edit View Communication Windows Tools Options Help Step Response GoolWorks Motor Ml Motor 7L Test Controller ID Y Type zi Control Design and Simulation l Plot Type m ldentify System hertia Load Ihertiafe cm 2 B00 Step Test Starting Freq HZ fi Viscosity Coef e cm s TT C Freq Test Ending Freg HZ ho Pos P Gain a L GE Amplitudepulse 500 Se an EE MaxIq Sampl
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