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1. 77 5 3 1 Using MPL Functions to Split Motion between Master and Drives 78 5 3 2 Executing MPL 78 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer 78 5 3 4 Customizing the Homing Procedures ssseeee 78 5 3 5 Customizing the Drive Reaction to Fault Conditions ssse 79 5 4 Using Motion Libraries for PC based 79 5 5 Using Motion Libraries for PLC based 80 ElectroCraft 2013 VIII PRO AOxV36 PE Technical Reference 6 Scaling factors ee 80 6 1 Position 81 6 1 1 Brushless DC brushed motor with quadrature encoder on motor 81 6 1 2 Brushless motor with linear Hall signals ssesssseeeeeese 81 6 1 3 DC brushed motor with quadrature encoder on load and tacho on motor 81 6 1 4 Step motor open loop control No feedback 82 6 1 5 Step motor open loop control Incremental encoder on load 82 6 1 6 Brushless motor with sine cosine encoder 82 6 2 Speed
2. B25 B28 A23 A24 B23 B24 Currents Info Controller Figure 3 18 3 phase step motor connection 1 coil per phase ElectroCraft 2013 44 PRO A0xV36 PE CAN Technical Reference 3 4 9 4 DC Motor connection DC motor connection PRO AOxV36 PE 4 phase Inverter Shield Currents Info Controller Figure 3 19 DC Motor connection 3 4 9 5 Recommendations for motor wiring a Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters If this situation cannot be avoided use a shielded cable for the motor wires Connect the cable shield to the PRO AOxV36 GND pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 10nF If very long cables tens of meters are used this condition may not be met In this case add series inductors between the PRO AOxV36 outputs and the cable The inductors must be magnetically shielded toroidal for example and must be rated for the motor surge current Typically the necessary values are around 100 pH C A good shielding can be obtained if the motor wires are running inside a metallic cable guide ElectroCraft 2013 45 PRO AO0xV36 PE CAN Technical Reference 3 4 10 Feedback connections 3 4 10 1 Single ended Incremental Encoder Connection Single ended encoder PRO AOxV36 PE connection A A Sin Not connected B
3. 40 kHz 25 limited by short circuit 80 kHz 10 uH PWM protection Vyor 36 V Fewm 100 kHz 5 Recommended value for Lam a z me Motor electrical time constant L R 5 current measurement us error due to ripple Fewm 80 kHz 63 Fpwm 100 kHz 50 Current measurement accuracy FS Full Scale 4 8 9058 2 5 8 Digital Inputs INO IN1 IN2 LSP IN3 LSN IN4 Enable Min Typ Max Units Mode compliance TTL CMOS LVTTL 3 3V Open collector NPN 24V outputs Default state Input floating wiring disconnected Logic HIGH Logic LOW 0 0 8 Logic HIGH 2 9224 Input voltage Floating voltage not connected 3 V Absolute maximum continuous 10 30 Absolute maximum surge duration lt 1S 20 40 Logic LOW Pulled to GND 0 6 1 apc eave Logic HIGH Internal 4 7KQ pull up to 3 3 0 0 0 mA Logic HIGH Pulled to 5V 0 15 0 2 Logic HIGH Pulled to 24V 2 2 5 Input frequency 0 150 KHz Minimum pulse width 3 3 uS ESD protection Human body model 5 KV 2 5 9 Digital Outputs OUTO OUT1 OUT2 Error OUT3 Ready Min Typ Max Units All outputs OUTO OUT1 OUT2 Error TTL CMOS Open collector NPN OUT3 Ready 24V Mode compliance Default state Output voltage ElectroCraft 2013 Ready Error Not supplied V og floating or to GND Same as above LVTTL 3 3V High Z floating Immedi
4. 94 6 11 5 Step motor open loop control Incremental encoder on load 94 ElectroCraft 2013 PRO AOxV36 PE Technical Reference 6 11 6 Step motor closed loop control Incremental encoder on motor 94 6 11 7 Brushless motor with sine cosine encoder on motor 95 6 12 Motor Speed uhlts c ato eio dai oce eed Cea Ra seer a a Cu a RA 95 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 95 6 12 2 Brushless motor with linear Hall signals sssssseeees 95 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor 96 6 12 4 DC brushed motor with tacho on 96 6 12 5 Step motor open loop control No feedback device or incremental encoder onload 97 6 12 6 Step motor closed loop control Incremental encoder on motor 97 6 12 7 Brushless motor with sine cosine encoder on motor 97 T Memory cp e ie e puer Dia cee 99 ElectroCraft 2013 x PRO AOxV36 PE Technical Reference This page is empty 1 Safety information ElectroCraft 2013 PRO AOxV36 PE Technical Reference Read carefully the information presented in this chapter before carrying out the drive installation and setup It is imperative to implement the sa
5. Pin Name Type Description Return ground for OND extension bus AZ wasswed O Reserved do not connect Reserved do not A3 reserved O Connect A4 reserved I O Reserved do not connect Reserved do not A5 reserved I O eonnact 5 36V 0 5A general t purpose digital output po Se B NPN open collector TTL pull up Reserved do not A7 reserved Connad A8 Hall 1 Digital input Hall 1 gt sensor Digital input Hall 2 A9 Hall 2 l Digital input Hall 3 A10 Hall 3 BITS 5V supply for sensors N Ner internally generated Return ground for ple GND sensors supply Incr encoder A differential input or fes Cy 2 analog encoder Sin differential input or linear Hall 1 input Incr encoder A single ended or A differential A14 input or analog encoder Sin differential input ElectroCraft 2013 28 Pin A15 A16 A17 A18 A19 A20 A21 A22 A23 A24 A25 A28 A29 A32 Name B Cos LH2 B B Cos Z LH3 Z Z Can Hi GND Vyor GND BR B B A Type Description Incr encoder B differential input or analog encoder Cos differential input or linear Hall 2 input Incr encoder B single ended or B differential input or analog encoder Cos differential input Incr encoder Z differential input or linear Hall 3 input Incr encoder Z index single ended or Z differential input CAN Bus positive line domin
6. for 0 s r Speed controller gt External brake resistor i Connected Activate if power supply gt 5 v zi ntearal limit n s z r Inputs polarity Enable Limit switch Limit switch Active high Disabled after power on C Active high C Active high Tune amp Test Active low Enabled after power on Active low Active low r Position controller r Software limit switches Restrict movement between Kp 47 64 Integral limit fro s Negative Limit Positive Limit Ki 12382 fo Acceleration 8 Y j2 rot z Feedforward o MA p Speer m Start mode t used 3 of F Kd fiter 01 Move til aligned with phase A 34 x x Tune amp Test C Direct using Hall sensors C Motionless start encoder only Time to align on phases fi s Tune amp Test The axis ID of a PRO A0xV36 drive can be set in 3 ways Hardware H W according with AxisID inputs levels as described in par 3 4 5 Software via Setup any value between 1 and 255 stored in the setup table If the drive is in CANopen mode a Node ID value above 127 is automatically converted into 255 and the drive is set with CAN communication non configured mode waiting for a CANopen master to configure it using CiA 305 protocol A non configured drive answers only to CiA 305 commands All other CANopen commands are ignored and transmission of all other CANopen messages including boot up is disab
7. where No_encoder_lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 4 DC brushed motor with tacho on motor When only a tachometer is mounted on the motor shaft the internal speed units are A D converter bits The correspondence with the load speed in SI units is Analogue Input Range Load _ Speed SI 4096 x Tacho _ gain x Tr x Motor _ Speed IU where Analog Input Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 2 5 Step motor open loop control No feedback device The internal speed units are motor steps slow loop sampling period The correspondence with the load speed in SI units is 1 SI units for speed are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 84 PRO A0xV36 PE CAN Technical Reference Load Speed SI E x Motor _ Speed IU No _ usteps x No _ steps x Tr x T where No_steps is the number of motor steps per revolution No ysteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the moto
8. ElectroCraft 2013 68 PRO A0xV36 PE CAN Technical Reference Module Control Services through these unconfirmed services the NMT master controls the state of the drive The following services are implemented Start Remote Node Stop Remote Node Enter Pre Operational Reset Node Reset Communication Error Control Services through these services the NMT master detects failures in a CAN based network Both error control services defined by DS301 v4 02 are supported by the PRO A0xV36 Node Guarding including Life Guarding and Heartbeat Bootup Service through this service the drive indicates that it has been properly initialized and is ready to receive commands from a master 5 1 2 CiA 305 Layer Setting Services LSS and Protocols Overview When used in a CANopen network the PRO A0xV36 drives accept node ID and CAN bus bit timing settings according with CiA 305 protocol This allows a CANopen master supporting CiA WD 305 to configure each PRO AOxV36 from the network with the desired node ID and CAN bus bit timing CiA 305 protocol allows connecting non configured drives to a CANopen network and performing the drives configuration on the fly via the CANopen master 5 1 3 CiA 402 and Manufacturer Specific Device Profile Overview The PRO AOxV36 supports the following CiA 402 modes of operation Profile position and velocity modes Homing mode Interpolated position mode Additional to these modes there are also sever
9. ElectroCraft 2013 60 PRO A0xV36 PE CAN Technical Reference communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started PROconfig tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected If this drive is part of a CANbus network use the menu command Communication Scan Network 4 2 2 Setup drive motor Press New button and select your drive type FOXES a IET Re ElectroCraft 2013 61 PRO AO0xV36 PE CAN Technical Reference The selection continues with the motor technology for example brushless or brushed and type of feedback device for example Incremental encoder Linear Halls The selection opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize an ElectroCraft drive plus several predefined control panels customized for the product selected B FaOcontg Unni TERT 5541 States Rogier High SRL Sues ReghterLow DER Deal Ener Regler 15 Axis is ON LJ Enable input is inactive 15 Reserved Reedy cee PRO 404 364 PE CAN SetuplD 0688
10. Figure 3 5 Recommended spacing for horizontal mounting worst case non metallic closed box 3 2 Motherboard PCB Design The PRO AOxV36 drive when plugged vertically into the recommended mating connector and retainer has the following PCB footprint 17 9 i 0 29 15 0000000000 Figure 3 6 PCB footprint of mating connector and retainer It is recommended to use a multi layer PCB for the motherboard in order to have enough room for routing all the 64 pins of the PRO AOxV36 Using 8 2 layer PCB is possible when some of the PRO AOxV36 pins remain un connected Below is a list of recommendations for the PCB design of the motherboard e Motor supply and motor outputs use islands areas of copper to escape connector area this will maximize current capability When using simple tracks use at least 100mil cross section 75mil track width for 10z ft copper thickness for PRO AOxV36 Halve these values for the PRO A02V36 ElectroCraft 2013 24 PRO 0xV36 PE CAN Technical Reference Motor supply and ground return tracks between PRO AOxV36 and the nearby Vyor decoupling capacitor are to be considered as EMI sources and kept to a minimum length Place the decoupling capacitors on Vyor and Vioc see also 3 4 11 Power Supply Connection as close as physically possible to the PRO A0xV36 to min
11. Drive Setup 6 12 6 Step motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2xm Motor Speed SI x Motor Speed IU 4xNo encoder _lines xT where No_encoder_lines is the motor encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 7 Brushless motor with sine cosine encoder on motor The internal motor speed units are interpolated encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors Motor Speeq SI ux x Motor _ Speed IU 4xEnc periods x Interpolation x T For linear motors Motor Speed SI Encoaer x Motor Speed IU Interpolation x T where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation ElectroCraft 2013 97 PRO AO0xV36 PE CAN Technical Reference Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is
12. Overcurrent Diagram 20 18 Iion 4A 18 10A 14 ET 250 As tp 2 5s E 8 F 6 4 2 D 0 12 3 4 5 6 7 8 8 10 t1 Current A Figure 2 23 PRO A04V36 PEX Over current diagram FOR PWM FREQUENCIES LESS THAN 20 KHz CAUTION CORRELATE THE PWM FREQUENCY WITH THE MOTOR PARAMETERS IN ORDER TO AVOID POSSIBLE MOTOR DAMAGE ElectroCraft 2013 20 PRO 0xV36 PE CAN Technical Reference 3 Step 1 Hardware Installation 3 1 Mechanical Mounting The PRO AOxV36 drive is intended to be mounted vertically or horizontally on a motherboard equipped with the recommended mating connectors as specified in chapter 3 3 Several PRO A0xV36 drives can be hosted by a single motherboard For thermal calculations each PRO AOxV36 drive can be assumed to generate 1 Watt at idle and up to 3 Watts 10 BTU hour worst case while driving a motor 3 1 1 Vertical Mounting When PRO AOxV36 is mounted vertically its overall envelope size including the recommended mating connector and an optional retainer is shown in Figure 3 1 In absence of a fixing case holding the drive in the mating connector the use of the retainers is strongly recommended to avoid vibration and shock problems p Figure 3 1 Overall dimensions using recommended mating connector and retainer The ensemble motherboard PRO AOxV36 drive s can be cooled by natural convection The mo
13. T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 5 Step motor open loop control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary to rotary transmission 2xm Load Acceleration SI xLoad Acceleration IU 4xNo encoder _linesx T For rotary to linear transmission Encoder accuracy xLoad Acceleration lU Load Acceleration m s B 1 where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 6 Step motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load acceleration in SI units is 2 E Load Acceleration SI x Motor _ Acceleration IU 4xNo_ encoder _ lines x Tr x T where No_encoder_lines is the motor encoder number of lines per revolution
14. Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2013 88 PRO A0xV36 PE CAN Technical Reference 6 3 7 Brushless motor with sine cosine encoder on motor The internal acceleration units are interpolated encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary motors 2 Load Acceleration SI xMotor Acceleration IU 4xEnc periods xInterpolation x Tr x T For linear motors Encoder accuracy Load Acceleration SI x Motor _ Acceleration IU Interpolation x Tr x T where Enc_periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 Jerk units The internal jerk units are internal position units slow loop sampling p
15. is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 2 Brushless motor with linear Hall signals The internal motor speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between ElectroCraft 2013 95 PRO AO0xV36 PE CAN Technical Reference 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor speed in SI units is For rotary motors Motor Speed SI E NS x Motor Speed IU resolution x T Pole_Pitch For linear motors Motor_Speed SI resolution x T xMotor Speed IU where resolution is the motor position resolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range Motor Speeq SI 4096 x Tacho gain x Motor _ Speed IU where Analog Input Range is the range of the drive analog input for feedback expressed i
16. ElectroCraft 2013 ll PRO AOxV36 PE Technical Reference Related Documentation Help Screens within the PROconfig software describes how to use PROconfig to quickly setup any ElectroCraft PRO Series drive for your application using only 2 dialogues The output of PROconfig is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With PROconfig it is also possible to retrieve the complete setup information from a drive previously programmed PROconfig is part of the ElectroCraft Motion PRO Suite Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit PRO Series CANOpen Programming Manual Document No A11226 explains how to program the PRO Series family of programmable drives using CANopen protocol and describes the associated object dictionary for CiA 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards Motion Programming using ElectroCraft MotionPRO Suite Document No A11229 describes how to use the MotionPRO Suite to create motion programs u
17. L4 LO 28 L4 12 12 65 L3 L4 L1 29 Aree 66 L3 L4 L2 30 L4 12 4 67 L3 L4 L3 31 DIE 68 L3 L4 14 32 L4 12 L6 69 L3 L4 L5 33 L4 L3 LO 70 L3 L4 L6 34 L4 13 11 71 L3 L5 LO 35 XS 72 L3 L5 L1 36 4 13 13 73 ElectroCraft 2013 35 PRO AO0xV36 PE CAN Technical Reference Axis Axis Axis ID Axis Axis Axis ID ID2 ID1 IDO MPLCAN ID2 1D1 IDO MPLCAN VERBERE 74 EZ 114 E E iE L5 L2 L3 115 THEE 116 Walaa oa a T L5 2 L5 117 B ES ETE 118 a0 L5 L3 LO 119 tA da 14 m wee 120 a L5 13 L2 121 83 E ee 122 meae a L5 3 4 123 ia ea 85 124 Taian BE L5 13 L6 125 ia Ye T 18 ET ERR REIS 126 HATENA EE L5 L4 L4 127 TERARI m 128 aA L5 L4 L3 129 bx ee 91 ER AA 130 enna Em L5 L4 L5 131 te 93 L5 L4 L6 132 Vs ne 8i L5 L5 LO 133 TEC 95 134 aS L5 L5 2 135 a 16 aii a7 e ee 136 C E ES L5 L5 4 137 En T X9 1 4 m L5 L5 L5 138 Er woe 100 L5 L5 L6 139 L5 Lo L3 101 L5 L6 LO 140 L5 L4 102 L5 L6 L1 141 L5 Lo L5 103 L5 L6 L2 142 L5 L6 104 L5 L6 L3 143 L5
18. slow loop sampling period The correspondence with the load acceleration in SI units is n 2 Load Acceleration SI x Motor _ Acceleration IU 4xNo encoder _ lines x Tr xT where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 2 Brushless motor with linear Hall signals The internal acceleration units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between ElectroCraft 2013 86 PRO A0xV36 PE CAN Technical Reference 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is For rotary motors 2 Load Acceleration SI x Motor Acceleration lU resolution x Tr x T For linear motors Pole_Pitch resolution x Tr x T Load Acceleration SI xMotor Acceleration IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can
19. 2 v J ag My m JO Pinta F SI Ret ur Kinetic energy Potential energy Copper losses Friction losses yu where Jy total rotor inertia kgm J total load inertia as seen at motor shaft after transmission kgm Wm motor angular speed before deceleration rad s Mpu motor mass kg when motor is moving in a non horizontal plane Im load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s hinitial initial system altitude m final system altitude m Im motor current during deceleration Agys phase Rp motor phase resistance ty time to decelerate s ElectroCraft 2013 52 PRO A0xV36 PE CAN Technical Reference total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jy and the load inertia J will be replaced by the motor mass and the load mass measured in kg the angular speed Wy will become linear speed measured in m s and the friction torque will become friction force measured in N Option 2 Connect a brake resistor Rgr between phase BR B pins A25 A28 and ground pins A23 A24 B23 B24 and activate the software option of dynamic braking see below This option is not available when the drive is used with a step motor The dynamic braking option can be found in the Dr
20. AxisID is computed with formula 49 x AxisID2 3 7 x AxisID1 AxisIDO where each AxisID can have one of the integer values 0 to 6 0 for LO 1 for L1 2 for L2 etc 2 If the resulting AxisID value is 0 the axis ID will be set to 255 ElectroCraft 2013 30 PRO 0xV36 PE CAN Technical Reference PRO A04V36 PE AxisID 0 LO AxisID 1 LO AxisID 2 LO CANopen AxisID 127 Controller AxisID 0 L2 PRO A04V36 PE AxisID 1 LO AxisID 2 LO J1 CANopen AxisID 2 5 Signal Conditioning Controller PRO A04V36 PE AxisID 0 L4 AxisID 1 LO AxisID 2 LO J1 CANopen AxisID 4 B1 m B5 Controller AxisID 0 L6 AxisID 1 LO AxisID 2 LO PRO A04V36 PE CANopen AxisID 6 PRO A04V36 PE AxisID 0 2 L1 AxisID 1 LO AxisID 2 LO CANopen AxisID 1 Controller AxisID 0 L3 PRO A04V36 PE AxisID 1 LO AxisID 2 LO CANopen AxisID 3 AEST Controller AxisID 0 2 L5 PRO A04V36 PE AxislD 1 LO AxisID 2 LO CANopen AxisID 5 x 2 5 o Figure 3 9 Axis ID Setting Examples CANopen mode ElectroCraft 2013 31 PRO 0xV36 PE CAN Technical Reference MPLCAN AxisID 255 MPLCAN AxisID 1 LO AxisID 51 AxisID 2 L3 AxisID 1 LO AxisID 0 LO AxisID 2 L3 AxisID 0 L1 AxisI
21. ElectroCraft 2013 VII PRO AOxV36 PE Technical Reference 9 4 4 J1 Connector pinout B 5 29 3 4 5 Operation Mode and Axis ID Selection nerens 30 3 4 6 24V Digital 38 3 4 7 Digital V O Connection 39 3 4 8 Analog Inputs 40 9 49 iMOlOrCONNCCUONS iio tae 42 3 4 10 Feedback Connections ccccccccceeeeseeeeeceeeeeeeeeeeeeneaeeaaeeeeeeseeeneeeaaeeeeees 46 3 4 11 Power Supply Connection sessssssseem emn 51 3 4 12 Serial RS 232 connection ssssssssssssssseeeeem eene 54 3 4 13 CAN bus connection sssssssssssmeeeeenenn nemen nnns 55 3 4 14 Disabling Autorun Mode ssssssssssnm enne 58 4 Step 2 Drive Setup reto trece rte rhet trus 59 4 1 Histalling PROcCOnflg ree tp kot tp Eo epe re rege cdd 59 4 2 Getting Started with PROCONSIG sseeeeeeeen 59 4 2 1 Establish communication seia eriei eao ear EE EE
22. In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup 4 2 8 Download setup data to drive motor Download to Press the Download to Drive Motor button Drive Motor to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data ElectroCraft 2013 62 PRO A0xV36 PE CAN Technical Reference is copied into the drive motor RAM memory which is used during runtime It is also possible to E E Save Save the setup data on your PC and use it in other applications To summarize you can define or change the setup data in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 4 2 4 Evaluate drive motor behavior optional You can use the Data Logger or the Control Panel evaluation tools to
23. No encoder lines is the rotary encoder number of lines per revolution 6 11 2 Brushless motor with linear Hall signals The internal motor position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor position in SI units is For rotary motors Motor Position SI e oi x Motor _ Position IU resolution For linear motors Motor Position SI Fole T tton xMotor Position IU resolution where resolution is the motor position resolution Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 11 3 DC brushed motor with quadrature encoder on load and tacho on motor The motor position is not computed 6 11 4 Step motor open loop control No feedback device The internal motor position units are motor usteps The correspondence with the motor position in SI units is 2x7 Motor Position SI x Motor _ Position IU No ustepsxNo steps where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig 6 11 5 Step motor open loop control Incremental encoder on load In open loop control configurations with incremental encoder on load the motor position is not computed 6 11 6 Step motor closed loop co
24. See Figure 2 15 and Figure 2 20 PRO 04V36 can be operated in vacuum no altitude restriction but at altitudes over 2 500m current and power rating are reduced due to thermal dissipation efficiency See Figure 2 16 and Figure 2 21 In case of forced cooling conduction or ventilation the spacing requirements may drop down to mechanical tolerances as long as the ambient temperature is kept below the maximum operating limit ElectroCraft 2013 13 PRO 0xV36 PE CAN Technical Reference connector Height above PCB surface 22x1 6x0 3 inch Weight 10 g Idle no load 1 Power dissipation WwW Operating 3 Efficiency 98 Cleaning agents Dry cleaning is recommended Only Water or Alcohol based Protection degree According to IEC60529 UL508 IP00 2 5 5 Logic Supply Input V og Min Typ Max Units Nominal values 7 36 Voc Absolute maximum values drive operating 4 9 42 Voc Supply voltage but outside guaranteed parameters Absolute maximum values surge 1 45 V duration lt 10ms Vioc 125 300 Viog 12V 80 200 Supply current Vice 24V 50 125 mA Vioc 40V 40 100 2 5 6 Motor Supply Input Vmort Min Typ Max Units Nominal values 9 36 Voc Absolute maximum values drive operating 8 5 40 Voc Supply voltage but outside guaranteed parameters Absolute maximum values su
25. V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Remark the voltage measurement units occur in the scaling of the over voltage and under voltage protections and the supply voltage measurement 6 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with the time in s is Time s T x Time IU where T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup For example if T 1ms one second 1000 IU 6 9 Master position units When the master position is sent via a communication channel the master position units depend on the type of position sensor present on the master axis 6 10 Master speed units The master speed is computed in internal units IU as master position units slow loop sampling period i e the master position variation over one position speed loop sampling period 6 11 Motor position units 6 11 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position in SI units is SI units for motor position are rad for a rotary motor m for a linear motor ElectroCraft 2013 93 PRO A0xV36 PE CAN Technical Reference Motor Position SI 2 xMotor Position lU 4xNo encoder lines where
26. example pin B11 L5 Connect input through a 4 7Kohm resistor to 5Vdc L6 Connect input directly to 5V The operation mode selection is done via AxisID 2 e CANopen mode if the input levels are LO L1 or L2 e MPLCAN mode if the input levels are L3 L4 L5 L6 Figure 3 9 shows how to set the 7 levels on the AxisID 0 input and the resulting axis ID values when AxisID 2 input level is set for CANopen operation Table 3 1 shows how to set all possible values for axis ID in this mode of operation Remarks 1 AxisID value is computed with formula 49 x AxisID2 7 x AxisID1 AxisIDO where each AxisID can have one of the integer values 0 to 6 0 for LO 1 for L1 2 for L2 etc 2 If the resulting AxisID value is O all 3 inputs are connected to GND the axis ID will be set to 127 If the resulting AxisID is greater than 127 the axis ID will be set to 255 3 If the AxisID is set to 255 the drive remains non configured waiting for a CANopen master to configure it using CiA 305 protocol A non configured drive answers only to CiA 305 commands All other CANopen commands are ignored and transmission of all other messages including boot up is disabled Figure 3 10 shows how to set the 7 levels on the AxisID 0 input and the resulting axis ID values when AxisID 2 input level is set for MPLCAN operation Table 3 2 shows how to set all possible values for axis ID in this mode of operation Remarks 1
27. 0883 If you click on the HomeX procedure on the right side you ll see the MPL function implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged 5 3 5 Customizing the Drive Reaction to Fault Conditions Similarly to the homing modes the default service routines for the MPL interrupts can be customized according to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the MPL interrupts is similar with that for the homing modes 5 4 Using Motion Libraries for PC based Systems A MPL Library for PC is a collection of high level functions allowing you to control from a PC a network of ElectroCraft programmable drives It is an ideal tool for quick implementation on PCs of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a drive motor via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc ElectroCraft 2013 79 PRO AO0xV36 PE CAN Technical Reference The MPL Motion Library can work under a
28. 2013 72 PRO A0xV36 PE CAN Technical Reference Step 1 Select axis number ess Step 2 Define load setup data PRO A08V48 PE CAT PRO A08V48 SA CAN Offline Click on your selection MotionPRO Developer opens the Project window where on the left side you can see the structure of a project At beginning both the new project and its first application are named Untitled The application has 2 components S Setup and M Motion program ElectroCraft 2013 73 PRO AO0xV36 PE CAN Technical Reference 7 Meter RO Developer Uvaitied Pret appen Commancation Yee ContrclPaned Window Mp Dau 79 Sonn Y 1 Motion I t 1 CANopen taa porad Pm H 5 Be teol 15 Anis in HI so A S etes ELIT 45 Fault 15 Axis is ON 15 Enable input is inactive 15 Reserved M in Cam M Event set bas occured M Command eror M Reserved LELI EAC WO Iu EXER Application General Information Load Position Not present Motor Position incremental Encoder Motor Speed Not present Ready Coline PRO AORW PI CAT SNUSE Vamma FSG SetupiD OCES 5 2 3 2 Step 2 Establish communication If you have a drive motor connected with your PC now it s time to check the communication Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here yo
29. 5 9 Digital Outputs OUTO OUT1 OUT2 Error OUT3 Ready 15 2 5 10 Digital Hall Inputs Hall1 Hall2 3 16 2 5 11 Encoder Inputs A A A B B B Z Z Z ssssseseeeenee 16 2 5 12 Linear Hall Inputs LH1 LH2 EF ub teta 17 2 5 13 Sin Cos Encoder Inputs Sin Sin COS 5 17 2 5 14 Analog 0 5V Inputs REF FDBIS citi et enorm ee code eot efe 17 2 5 15 Axis ID Inputs AxisID 0 AxisID 1 Axis ID 2 18 2 5 16 JRS 292 Wb ve Aa e 18 2505 CAN II 18 2 5 8 Supply 18 3 Step 1 Hardware Installation eese 21 3 1 Mechanical Mounting e enhn nan xr i diruta 21 3 1 1 Vertical Mo nting em RERPERBEBRRRRREBRUBBEEBERI 21 3 1 2 Horizontal Mounting essnee AEEA EAEE 22 3 2 Motherboard PCB Design sse 24 3 3 Mating Connector and Retainer ssssseee 27 3 4 Connector and Connection 8 8 5 27 3 4 1 Connector Layout e tyes etarata rotat r ree nres r ara oaia reisib 27 3 4 2 Identification Labels iirrainn rrr eret ed eed ee ees ee e a 28 3 4 3 J1 Connector pinout A Side sssssssssssseeee 28
30. 6 6 Voltage command units The internal voltage command units refer to the voltages applied on the motor The significance of the voltage commands as well as the scaling factors depend on the motor type and control method used In case of brushless motors driven in sinusoidal mode a field oriented vector control is performed The voltage command is the amplitude of the sinusoidal phase voltages In this case the correspondence with the motor phase voltages in SI units i e V is Voltage command V x Voltage command IU 65534 where Vdc is the drive power supply voltage expressed in V In case of brushless motors driven in trapezoidal mode the voltage command is the voltage to apply between 2 of the motor phases according with Hall signals values In this case the correspondence with the voltage applied in SI units i e V is Vdc 32767 This correspondence is akso available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode Voltage command V x Voltage command IU ElectroCraft 2013 92 PRO A0xV36 PE CAN Technical Reference 6 7 Voltage measurement units The internal voltage measurement units refer to the drive Vyor supply voltage The correspondence with the supply voltage in V is Voltage measured V ioe MexMeasuiabls x Voltage _ measured IU 65520 where VdcMaxMeasurable is the maximum measurable DC voltage expressed in
31. Advanced dialogue which can be opened from the Drive Setup 6 4 7 Brushless motor with sine cosine encoder on motor The internal jerk units are interpolated encoder counts slow loop sampling period The correspondence with the load jerk in SI units is For rotary motors Load Jerk SI ZR xMotor _ Jerk IU 4xEnc periods x Interpolation x Tr x T ElectroCraft 2013 91 PRO A0xV36 PE CAN Technical Reference Encoder accuracy For linear motors Load Jerk SI x Motor Jerk IU Interpolation x Tr x T where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 5 Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is 2xlpeak 65520 where lpeak is the drive peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Current A x Current IU
32. Connection PRO A0xV36 PE Vive IN4 Enable IN2 LSP IN3 LSN Inputs Red LED 5V 77 470R OUT2 Error Green LED 5V 77 OUT3 Ready Controller Outputs 0 5 A max Figure 3 11 24V Digital I O connection Remarks 1 Connect the external load to the external supply Vioc for using the 24V outputs 2 The maximum sink current is 0 5A continuous up to 1A pulsed for less than 5 seconds 3 The inputs are compatible with NPN type outputs input must be pulled to GND to change it s default state ElectroCraft 2013 38 PRO A0xV36 PE CAN Technical Reference 4 The outputs are compatible with NPN type inputs load is tied to common output pulls to GND when active and is floating when inactive 3 4 7 5V Digital I O Connection 5V I O Connection PRO A0xV36 PE J1 IN4 Enable IN2 LSP Inputs IN3 LSN Red LED 5V 470R amp w LOAD 5 0 5A max Green LED 5V 7 ATOR e 2 o pan m o o Bn LOAD 0 5 max Outputs B11 LOAD 45V 5 0 5A max LOAD w5V e 0 5A max Figure 3 12 5V Digital I O connection Remarks 1 The inputs are compatible with TTL 5V LVTTL 3 3V CMOS and open collector outputs 2 The outputs are compatible with TTL 5V inputs 3 The output loads can be individually and independently connected to 5V or to GND ElectroCraft 2013 39 PRO AO0xV36 PE CAN Technical
33. EEPROM memory 5 2 3 4 Program motion In the project window left side select M Motion for motion programming This automatically activates the Motion Editor conos deum HT l Ped Applicaton Commumcmon Wee Cow Window Heip Da GS FOO umMx 3905 9X QW V rn 1 Re ow lope Porel Ready ADS PRO AAGBA PECAN SW LLEDE7 Firrmewre FOF SetupiD 0688 The Motion Editor offers you the possibility to program all the motion sequences using high level dialogues which automatically generate the corresponding MPL instructions Therefore with Motion Editor you can develop motion programs using almost all the MPL instructions without needing to learn them A MPL program includes a main section followed by the subroutines used functions interrupt service routines and homing procedures The MPL program may also include cam tables used for electronic camming applications When activated Motion Editor adds a set of toolbar buttons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated MPL instructions are automatically generated Note that the MPL instructions The customization of the interrupt service routines and homing routines is available only for PRO A04V36 CAN execution Optional for PRO A04V36 CANopen execution ElectroCraft 2013 76 PRO A0xV36 PE CAN Technical Ref
34. GND 30 Resolution 12 bits Integral linearity 2 bits Offset error 2 10 bits Gain error 1 3 FS For many applications an 1200 termination resistor should be connected across SIN to SIN and across COS to COS Please consult the feedback device datasheet for confirmation ES stands for Full Scale ElectroCraft 2013 17 PRO 0xV36 PE CAN Technical Reference Bandwidth 3dB Depending on software settings 0 1 KHz ESD protection Human body model 5 KV 2 5 15 Axis ID Inputs AxisID 0 AxisID 1 Axis ID 2 Min Typ Max Units Not connected Strap to GND External connections 7 levels Sispig 4 7KQ to 5V 22 to GND 22KQ to 5V Pin current Use to size PCB tracks 0 5 mA 4 7KQ 22KO resistor rating 3 mW 4 7KQ 22KQ resistor tolerance 5 ESD protection Human body model 5 KV 2 5 16 RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud Short circuit protection 232TX short to GND Guaranteed ESD protection Human body model 2 KV 2 5 17 CAN Bus Min Typ Max Units Standards compliance 18011898 CiA 301v4 2 CiA DSP402v3 0 Bit rate Depending on software settings 125 1000 Kbps 1Mbps 25 Bus eng ste R m lt 250Kbps 250 Number of CAN nodes driv
35. Short circuit from motor phases to ground e Over voltage e Under voltage e Over current 1 Available if the master axis sends its position via a communication channel 427 addresses in CANopen mode 196 addresses in MPLCAN mode 2A cont with DC step and BLDC motors trapezoidal 2A amplitude 1 41Arms for PMSM sinusoidal 3 4A cont with DC step and BLDC motors trapezoidal 4A amplitude 2 82Arms for PMSM sinusoidal ElectroCraft 2013 6 PRO 0xV36 PE CAN Technical Reference 2 9 Supported Motor Sensor Configurations PRO AOxV36 supports the following configurations 1 Position speed or torque control of a brushless AC rotary motor with an incremental quadrature encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Figure 2 1 Brushless AC rotary motor Position speed torque control Quaarature encoder on motor Position speed or torque control of a brushless AC rotary motor with an incremental sine cosine encoder on its shaft The brushless motor is vector c
36. Windows or Linux operating system Implemented as a dll so it can be included in an application developed in C C C Visual Basic Delphi Pascal or Labview Using a MPL Motion Library for PC you can focus on the main aspects of your application while the motion programming part can be reduced to calling the appropriate functions and getting the confirmation when the task was done All ElectroCraft s MPL Motion Libraries for PCs are provided with PROconfig 5 5 Using Motion Libraries for PLC based Systems A MPL Motion Library for PLC is a collection of high level functions and function blocks allowing you to control from a PLC the ElectroCraft programmable drives The motion control function blocks are developed in accordance with the PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a MPL Motion Library for PLC you can focus on the main aspects of your PLC application while the motion programming part can be reduced to calling the
37. a single compact unit and are capable to execute complex motions without requiring intervention of an external motion controller Using the high level ElectroCraft Motion PROgramming Language MPL the following operations can be executed directly at drive level Q Setting various motion modes profiles PVT PT electronic gearing or camming etc Changing the motion modes and or the motion parameters m Executing homing sequences Q Controlling the program flow through Conditional jumps and calls of MPL functions MPL interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analog input signals Executing arithmetic and logic operations Performing data transfers between axes Oooo Controlling motion of an axis from another one via motion commands sent between axes Q Sending commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Q Synchronizing all the axes from a network By implementing motion sequences directly at drive level you can really distribute the intelligence between the master and the drives in complex multi axis applications reducing both the development time and the overall communication requirements For example instead of trying to command each movement of an axi
38. be opened from the Drive Setup Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load acceleration in SI units is 2 gt Load _ Acceleration SI xLoad _ Acceleration IU 4xNo encoder linesx T where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 4 Step motor open loop control No feedback device The internal acceleration units are motor steps slow loop sampling period The correspondence with the load acceleration in SI units is 2x7 Load Acceleration SI xMotor Acceleration IU No ustepsxNo stepsxTr x T 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 87 PRO AO0xV36 PE CAN Technical Reference where No_steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units
39. case all the applications have the same axis number The setup component contains all the information needed to configure and parameterize a ElectroCraft drive This information is preserved in the drive motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The motion component contains the motion sequences to do These are described via a MPL ElectroCraft Motion PROgramming Language program which is executed by the drives motors built in motion controller ElectroCraft 2013 71 PRO A0xV36 PE CAN Technical Reference 5 2 3 1 Create a new project MotionPRO Developer starts with an empty window from where you can create a new project or open a previously created one When you start a new project MotionPRO Developer automatically creates a first application Additional applications can be added later You can duplicate an application or insert one defined in another project Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor axis ID The initial value proposed is 255 which is the default axis ID of the drives Press New button and select your drive type Depending on the product chosen the selection may continue with the motor technology for example brushless or brushed and the type of feedback device for example incremental encoder ElectroCraft
40. drive from the same CAN bus network which is connected to the PC via one of the above options from point 1 The output of PROconfig is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use PROconfig includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure check and analyze your drive commissioning PROconfig works with setup data A setup contains all the information needed to configure and parameterize a ElectroCraft drive This information is preserved in the drive EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive and is used during runtime With PROconfig it is also possible to retrieve the complete setup information from a drive previously programmed Note that with PROconfig you do only your drive motor commissioning For motion programming you have the following options Use a CANopen master to control the PRO A0xV36 as a standard CANopen drive Use MotionPRO Developer to create and download a MPL program into the drive motor memory ElectroCraft 2013 59 PRO A0xV36 PE CAN Technical Reference Use one of the MPL LIB motion libraries to control the drives motors from your host master If your host is a PC MPL LIB offers a collection of high level motion functions which can be called from applications written in C C Visual Basic Delphi Pascal o
41. is 1 SI units for position are rad for a rotary movement m for a linear movement ElectroCraft 2013 82 PRO A0xV36 PE CAN Technical Reference For rotary motors Load Position SI COHEN x Motor _ Position IU 4xEnc _ periods x Interpolation x Tr For linear motors Encoder _ accuracy E x Motor Interpolation x Tr Load Position Sl Position IU where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 2 Speed units The internal speed units are internal position units slow loop sampling period i e the position variation over one slow loop sampling period 6 2 1 Brushless DC brushed motor with quadrature encoder on motor The internal speed units are encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2 Load Speed Sl x Motor Speed IU 4xNo encoder _lines x Tr x T where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow
42. loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 2 Brushless motor with linear Hall signals The internal speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load speed in SI units is 2 For rotary motors Load Speed Sl x Motor _ Speed IU resolution x Tr x T ElectroCraft 2013 83 PRO AO0xV36 PE CAN Technical Reference Pole_Pitch For linear motors Load_Speed Sl resolution x Tr x T xMotor Speed IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is 2 Load Speeq SI xLoad _ Speed lU 4xNo encoder _lines xT
43. ntegral lint n z m Inputs polarity i Enable Limit switch Limit switch Active high Disabled after power on Active high C Active high Tune amp Test Active low Enabled after power on Active low Active low m Position controller r Software limit switches Restrict movement between Kp 47 64 Integral limit fro 5 re Limit Positive Limit Ki ee o Acceleration 10 8 5 z Z Feedforward 2 Kd 13176 o Speed reat ae Current used of Kd fite 01 Movettlaigned with phase 54 x Direct using Hall sensors Time to align on phases fi s C Motionless start encoder only Tune amp Test The PRO AOxV36 drives accept the following CAN rates 125Kbps 250 Kbps 500kbps and 1Mbps Using the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm a If a valid setup table exists and this setup table was created with the Set baud rate checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be one of the above 4 values or the firmware default F W default which is 500kbs b If a valid setup table exists and this setup table was created with the Set baud rate checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table o
44. quickly measure and analyze your application behavior In case of errors like protections triggered use the Drive Status control panel to find the cause ElectroCraft 2013 63 PRO A0xV36 PE CAN Technical Reference 4 9 Changing the drive Axis ID Drive Setup IV Set baud rate row default CANopen settings m Drive operation parameters Power supply a UNE Current limit fa Detect r Guideline assistant r Control mode m External reference Previous Next 5 Position C No Yes Setup Step 1 Inthe Control mode group box select what do C Speed Analogue 7 Incremental Encoder Came you want to control position speed or torque In the Toae Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or sl EET TT trapezoidal mode The trapezoidal mode is possible only if your v ommutation me motor is equipped with digital Hall sensors Advanced Trapezoidal Sinusoidal M otor 7 Anis ID selection demas zi Drive Info V Set change axis rt Setup r C Nbus r Protections IV Over current Motor current 5 4 IV Control error Position ey Iv Control error Current controller Speed error 7 0 rom z for more than 3 Motor over temperature Kp 3 258 Ea Ki 1394 Tune amp Test Over current 25 A a
45. the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2013 98 PRO A0xV36 PE CAN Technical Reference 7 Memory Map PRO AOxV36 has 2 types of memory available for user applications 1Kx16 SRAM and 4Kx16 serial The SRAM memory is mapped in the address range 9000h to 9FFFh It can be used to download and run a MPL program to save real time data acquisitions and to keep the cam tables during run time The E ROM is mapped in the address range 4000h to 4 It is used to keep in a non volatile memory the MPL programs the cam tables and the drive setup information Remark MotionPRO Developer handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application 4000h EROM memory for MPL programs Cam tables Setup information Reserved Data acquisitions and cam tables at runtime SRAM memory MPL Programs 9FFFh Figure 7 1 PRO A0xV36Memory Map ElectroCraft 2013 99 PRO A0xV36 PE CAN Technical Reference This page is empty ElectroCraft 2013 100 PRO A0xV36 PE CAN Technical Reference ElectroCraft powering innovation
46. units ioc sop rk eese See ar sain iincigt 83 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 83 6 2 2 Brushless motor with linear Hall signals 83 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor 84 6 2 4 DC brushed motor with tacho on motor ees 84 6 2 5 Step motor open loop control No feedback 84 6 2 6 Step motor closed loop control Incremental encoder on motor 85 6 2 7 Brushless motor with sine cosine encoder 85 6 3 Aeceleraltoriinils 2 86 6 3 1 Brushless DC brushed motor with quadrature encoder on motor 86 6 3 2 Brushless motor with linear Hall signals sssseeeeeese 86 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor 87 6 3 4 Step motor open loop control No feedback device ssss 87 6 3 5 Step motor open loop control Incremental encoder on load 88 6 3 6 Step motor closed loop control Incremental encoder on motor 88 6 3 7 Brushless motor with sine cosine encoder on 89 As Jer e aote ae ate 89 6 4 1 Bru
47. 0 60 70 80 90100 PWM Frequency KHz Figure 2 17 PRO A02V36 PE Current De rating with PWM frequency Time s No hog e cC e e ce e m eA Overcurrent Diagram 4 A In 7 10A ET 250 A s tp 2 5s 0 5 1 5 2 25 Current A Figure 2 18 PRO A02V36 PE Over current diagram Output Voltage De rating Output Voltage our Vor 0 10 20 30 40 50 60 70 80 80 100 PWM Frequency KHz Figure 2 19 PRO A0xV36 Output Voltage De rating with PWM frequency E tn co C amp tn Ns moms Current A e Temperature De rating 35 40 Ambient Temperature C 50 55 60 65 20KHz 3 phase 100KHz 3 phase 20KHz 4 phase 20KHz 3 phase Figure 2 20 PRO A04V36 VX De rating with ambient temperature i Vour the output voltage Vyor the motor supply voltage PRO 0xV36 PE CAN Technical Reference ElectroCraft 2013 19 Altitude De rating PWM Frequency De rating 45 45 4 4 235 L7 3 25 E25 o 2 E 2 E 15 315 3 o D 5 0 5 0 0 10 20 30 40 50 60 70 80 90100 0 1 2 3 4 5 6 7 8 g 10 Altitude Km PWMFrequency KHz Figure 2 21 PRO A04V36 PE De rating with altitude Figure 2 22 PRO A04V36 PE Current De rating with PWM RE frequency
48. 103 L2 L6 L1 255 L2 LO L6 104 L2 L6 L2 255 L2 L1 LO 105 L2 L6 L3 255 L2 L1 L1 106 L2 L6 L4 255 L2 L1 L2 107 L2 L6 L5 255 L2 L1 L3 108 L2 L6 L6 255 L2 L1 L4 109 ElectroCraft 2013 34 PRO A0xV36 PE CAN Technical Reference Table 3 2 Axis ID setting in MPLCAN mode Axis Axis Axis ID Axis Axis Axis ID ID2 ID1 IDO MPLCAN ID2 ID1 IDO MPLCAN L3 LO LO 255 L3 L5 L2 37 L3 LO L1 1 38 L3 LO L2 2 L3 L5 L4 39 L3 LO L3 3 ee e 40 L3 L0 H4 4 L3 L5 L6 41 L3 LO L5 5 SISSE 42 L3 LO L6 6 L3 L6 L1 43 L3 L1 LO 7 ee e 44 L3 L1 L1 8 L3 6 13 45 L3 L1 L2 9 a 46 L3 L1 L3 10 L3 L6 L5 47 L3 L1 L4 11 ee e 48 L3 L1 L5 12 L4 Lo Lo 49 L3 L1 L6 13 50 L3 L2 LO 14 L4 Lo L2 51 L3 L2 L1 15 L4 0T 3 52 L3 L2 L2 16 14 l0 14 53 L3 L2 L3 17 me oc Sa L3 L2 L4 18 L4 Lo L6 55 L3 L2 L5 19 L4 L1 Lo 56 L3 L2 L6 20 ulula 5 L3 L3 LO 21 4X EI 58 L3 L3 L1 22 L4 1 13 59 L3 L3 L2 23 pu 60 L3 L3 L3 24 L4 L1 L5 61 L3 L3 L4 25 L4 L1 L6 62 L3 L3 L5 26 L4 L2 Lo 63 L3 L3 L6 27 i 64 L3
49. 232 explains how to program in a PLC Siemens series S7 300 or S7 400 a motion application for the ElectroCraft programmable drives using MPL LIB S7 motion control library The MPL LIB S7 library is IEC61131 3 compatible PRO Series and PLC Omron Series CJ1 Document No A11233 explains how to program in a PLC Omron series CJ1 a motion application for the ElectroCraft programmable drives using MPL LIB CJ1 motion control library for PLCs The MPL LIB CJ1 library is IEC61131 3 compatible PRO Series and X20 Document No A11234 explains how the MPL LIB X20 library is IEC61131 3 compatible ElectroCAN Document No A11235 presents ElectroCAN protocol an extension of the CANopen communication profile used for MPL commands ElectroCraft 2013 IV PRO A0xV36 PE Technical Reference QS PRO A0xV36 Document No 11237 describes the PRO AOxV36 Quick Start board included in the PRO AOxV36 Evaluation Kits ElectroCraft 2013 V PRO AOxV36 PE Technical Reference If you Need Assistance If you want to Contact ElectroCraft at Visit ElectroCraft online World Wide Web http www electrocraft com Receive general information World Wide Web http www electrocraft com or assistance see Note Email drivesuport electrocraft com Ask questions about Tel 1 734 662 7771 product operation or report Email drivesuport electrocraft com suspected problems see Note Make suggestions about Mail Elect
50. 9888 Press View Modify button This opens 2 setup dialogues for Motor Setup and for Drive Setup same like on PROconfig through which you can configure and parameterize a ElectroCraft drive In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Download to Drive Motor data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory which is used during runtime It is also possible to save the setup data on your PC and use it in other applications Note that you can upload the complete setup data from a drive motor Press the Download to Drive Motor button to download your setup ElectroCraft 2013 75 PRO AO0xV36 PE CAN Technical Reference To summarize you can define or change the setup data of an application in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor
51. B Cos Not connected Controller ZZ Not connected Figure 3 20 Single ended incremental encoder connection ElectroCraft 2013 46 PRO A0xV36 PE CAN Technical Reference 3 4 10 2 Differential Incremental Encoder Connection PRO AOxV36 PE Differential encoder connection Shield T GND A A Sin 120R terminator B B Cos BLZ Controller terminator Figure 3 21 Differential incremental encoder connection Remark 1200 0 25W terminators are required for long encoder cables or noisy environments ElectroCraft 2013 47 PRO AO0xV36 PE CAN Technical Reference 3 4 10 3 Digital Hall Connection PRO AOxV36 PE Hall connection Internally generated Controller Figure 3 22 Digital Hall connection ElectroCraft 2013 48 PRO A0xV36 PE CAN Technical Reference 3 4 10 4 Linear Hall Connection Linear Hall connection PRO AOxV36 PE A f Sin LH1 B Cos LH2 C LH3 x 3 6K 5V Internally generated GND Controller Figure 3 23 Linear Hall connection ElectroCraft 2013 49 PRO AO0xV36 PE CAN Technical Reference 3 4 10 5 Sine Cosine Analog Encoder Connection Sine Cosine Connection PRO A0xV36 PE J1 5VOUT DSP Controller terminator Figure 3 24 Sine Cosine analog encoder connection 3 4 10 6 Recommendatio
52. Closed loop control load position open loop control motor speed 13 Closed loop control of a 2 phase step motor in position speed or torque Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Figure 2 13 Encoder on motor shaft Closed loop control motor position speed or torque Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 11 PRO 0xV36 PE CAN Technical Reference 2 4 PRO AO0xV36Drive Dimensions Figure 2 14 PRO AOxV36 drive dimensions All dimensions are in mm The drawings are not to scale ElectroCraft 2013 12 PRO 0xV36 PE CAN Technical Reference 2 5 Electrical Specifications All parameters measured under the following conditions unless otherwise specified Tamb 0 40 C Vioc 24 Voc 36Vpc Supplies start up shutdown sequence any Load current sinusoidal amplitude continuous BLDC DC stepper 2A PRO A02V36 4A PRO A04V36 2 5 1 Operating Conditions Min Typ Max Units Ambient temperature 0 40 C Ambient humidity Non condensing 0 90 Rh Altitude referenced to sea leve
53. D 0 L3 AxisID 1 LO AxisID 2 L3 AxisID 1 LO ayicip 22 AxisID 0 5 MPLCAM AxisID 2 L3 AxisID 0 L4 AxisiD 0 L5 PRO AOXV36 PE AxisID 1 Lo MPLCAN AxisID 1 Lo MPLCAN AxisID 4 AxislD 5 AxisID 2 L3 AxisID 2 L3 J1 Controller AxisIDO L6 ay AxisID 1 LO 6 AxisID 2 L3 Controller Figure 3 10 Axis ID Setting Examples MPLCAN mode ElectroCraft 2013 32 PRO 0xV36 PE CAN Technical Reference 3 4 5 2 Axis ID Settings Table 3 1 Axis ID setting in CANopen mode Axis Axis Axis ID Axis Axis Axis D ID2 ID1 IDO CANopen ID2 ID1 IDO CANopen LO LO LO 127 LO L5 L1 36 LO LO L1 1 LO L5 L2 37 LO LO L2 2 LO L5 L3 38 LO LO L3 3 LO L5 L4 39 LO LO L4 4 LO L5 L5 40 LO LO L5 5 LO L5 L6 41 LO LO L6 6 LO L6 LO 42 LO L1 LO 7 LO L6 L1 43 LO L1 L1 8 LO L6 L2 44 LO L1 L2 9 LO L6 L3 45 LO L1 L3 10 LO L6 L4 46 LO L1 L4 11 LO L6 L5 47 LO L1 L5 12 LO L6 L6 48 LO L1 L6 13 L1 LO LO 49 LO L2 LO 14 L1 LO L1 50 LO L2 L1 15 L1 LO L2 51 LO L2 L2 16 L1 LO L3 52 LO L2 L3 17 L1 LO L4 53 LO L2 L4 18 L1 LO L5 54 LO L2 L5 19 L1 LO L6 55 LO L2 L6 20 L1 L1 LO 56 LO L3 LO 21 L1 L1 L1 57 LO L3 L1 22 L1 L1 L2 58 LO L3 L2 23 L1 L1 L3 59 LO L3 L3 24 L1 L1 L4 60 LO L3 L4 25 L1 L1
54. E AREA KA EE ene 60 4 2 2 SUP dive molOr s nn dee reete ee 61 4 2 3 Download setup data to drive motor ssseeeeee 62 4 2 4 Evaluate drive motor behavior optional ssssssssseesss 63 4 3 Changing the drive Axis ID sse 64 44 Setting CANDUS fale cerit eet Pete een ee ed ts 66 4 5 Creating an Image File with the Setup 67 5 Step 3 Motion Programming eeeeeeeeeeeeeeeene enne nnn 68 5 1 Using a CANopen Master for PRO A0xV36 CANopen execution 68 5 1 1 CiA 301 Application Layer and Communication Profile Overview 68 5 1 2 CiA 305 Layer Setting Services LSS and Protocols Overview 69 5 1 3 CiA 402 and Manufacturer Specific Device Profile Overview 69 5 1 4 ElectroCAN Extension Lnn iea enne a aa enhn nnne 69 5 1 5 Checking Setup Data Consistency ssssssssseeeeen 69 5 2 Using the built in Motion Controller and 70 5 2 1 ElectroCraft Motion PROgramming Language Overview 70 5 2 2 Installing Motion P RO e ae eee e t dues 70 5 2 3 Getting Started with MotionPRO Suite ssssssssssseee 71 5 2 4 Creating an Image File with the Setup Data and the MPL Program 7T 5 3 Combining CANopen or other
55. ElectroCraft RO cerle PRO A0xV36x PE Programmable Servo Drive CAN Programmable Servo Drive for Step DC Brushless DC and AC Motors ElectroCraft Document Number A11221 Rev 1 Technical Reference ElectroCraft 2013 ELECTROCRAFT PRO A0xV36x PE Technical Reference ElectroCraft Document Number A11221 ElectroCraft 4480 Varsity Drive Suite G Ann Arbor MI 48108 www electrocraft com Read This First While ElectroCraft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of it ElectroCraft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from ElectroCraft Inc The information in this document is subject to change without notice About This Manual This book is a technical reference manual for the PRO A0xV36 family of programmable servo drives including the following products PRO A02V36x PE CAN PRO A04V36x PE CAN In order to operate the PRO AOxV36 drives you need to perform the f
56. HIS DOCUMENT CAUTION TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY ELECTROCRAFT CAUTION p gt gt THE PRO A0xV36 IS AN ELECTROSTATICALLY SENSITIVE DEVICE WHICH WILL BE DAMAGED BY INCORRECT HANDLING THEREFORE THE DRIVE ElectroCraft 2013 2 PRO 0xV36 PE CAN Technical Reference SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT To prevent electrostatic damage avoid contact with insulating materials such as synthetic fabrics or plastic surfaces In order to discharge static electricity build up place the drive on a grounded conductive surface and also ground yourself ElectroCraft 2013 3 PRO 0xV36 PE CAN Technical Reference 2 Product Overview 2 1 Introduction The PRO AOxV36 is a family of fully digital programmable servo drives based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller Suitable for control of brushless DC brushless AC vector control DC brushed motors and step motors the PRO AOxV36 drives accept as position feedback incremental encoders quadrature or sine cosine and linear Halls signals All drives perform position speed or torque control and work in single multi axis or stand alone configurations Thanks to the embedded motion controller the PRO AOxV36 drives combine controller drive and PLC functionality in
57. KQ pull up to 5 0 0 0 Minimum pulse width 2 uS ESD protection Human body model 5 KV 2 5 11 Encoder Inputs A A B B B Z Z Z Min Typ Max Units Single ended mode compliance Leave negative inputs disconnected TTL CMOS Open collector Logic LOW 1 6 Input voltage single ended mode ET A A BIB Logic HIGH 1 8 V Floating voltage not connected 4 5 Logic LOW 1 2 Input voltage single ended mode ud Zz4 Logic HIGH 1 4 V Floating voltage not connected 4 7 Input current single ended mode Logic LOW Pull to GND 2 5 3 mA AIA B B Z Z Logic HIGH Internal 2 2KQ pull up to 5 0 0 0 Differential mode compliance For full RS422 compliance see TIA EIA 422 A Hysteresis 0 06 0 1 0 2 Input voltage differential mode V Common mode range A to GND etc 7 7 At to A B to B 4 2 4 7 Input impedance differential KO Z to Z 6 1 7 2 For full RS 422 compliance 120Q termination resistors must be connected across the differential pairs as close as possible to the drive input pins See Figure 3 21 Differential incremental encoder connection ElectroCraft 2013 16 PRO 0xV36 PE CAN Technical Reference Single ended mode Open collector NPN 0 500 KHz Input frequency Differential mode or Single ended driven by 0 10 MHz push pull TTL CMOS Sing
58. L5 61 LO L3 L5 26 L1 L1 L6 62 LO L3 L6 27 L1 L2 LO 63 LO L4 LO 28 L1 L2 L1 64 LO L4 L1 29 L1 L2 L2 65 LO L4 L2 30 L1 L2 L3 66 LO L4 L3 31 L1 L2 L4 67 LO L4 L4 32 L1 L2 L5 68 LO L4 L5 33 L1 L2 L6 69 LO L4 L6 34 L1 L3 LO 70 LO L5 LO 35 L1 L3 L1 71 ElectroCraft 2013 33 PRO 0xV36 PE CAN Technical Reference Axis Axis Axis ID Axis Axis Axis ID ID2 ID1 IDO CANopen ID2 ID1 IDO CANopen L1 L3 L2 72 L2 L1 L5 110 L1 L3 L3 73 L2 L1 L6 111 L1 L3 L4 74 L2 L2 LO 112 L1 L3 L5 75 L2 L2 L1 113 L1 L3 L6 76 L2 L2 L2 114 L1 L4 LO TT L2 L2 L3 115 L1 L4 L1 78 L2 L2 L4 116 L1 L4 L2 79 L2 L2 L5 117 L1 L4 L3 80 L2 L2 L6 118 L1 L4 L4 81 L2 L3 LO 119 L1 L4 L5 82 L2 L3 L1 120 L1 L4 L6 83 L2 L3 L2 121 L1 L5 LO 84 L2 L3 L3 122 L1 L5 L1 85 L2 L3 L4 123 L1 L5 L2 86 L2 L3 L5 124 L1 L5 L3 87 L2 L3 L6 125 L1 L5 L4 88 L2 L4 LO 126 L1 L5 L5 89 L2 L4 L1 255 L1 L5 L6 90 L2 L4 L2 255 L1 L6 LO 91 L2 L4 L3 255 L1 L6 L1 92 L2 L4 L4 255 L1 L6 L2 93 L2 L4 L5 255 L1 L6 L3 94 L2 L4 L6 255 L1 L6 L4 95 L2 L5 LO 255 L1 L6 L5 96 L2 L5 L1 255 L1 L6 L6 97 L2 L5 L2 255 L2 LO LO 98 L2 L5 L3 255 L2 LO L1 99 L2 L5 L4 255 L2 LO L2 100 L2 L5 L5 255 L2 LO L3 101 L2 L5 L6 255 L2 LO L4 102 L2 L6 LO 255 L2 LO L5
59. LO 105 LS 16 L4 144 L5 L1 L1 106 L5 L6 L5 145 L5 L2 107 L5 L6 L6 146 L5 L1 L3 108 L6 LO LO 147 L5 L4 109 L6 LO L1 148 L5 L5 110 L6 LO L2 149 L5 L4 L6 111 dus 290 L5 L2 LO 112 L6 LO L4 191 5 12 01 113 L6 LO L5 192 ElectroCraft 2013 36 PRO A0xV36 PE CAN Technical Reference Axis Axis Axis ID Axis Axis Axis ID ID2 ID1 IDO MPLCAN ID2 ID1 IDO MPLCAN L6 LO L6 153 L6 L4 LO 175 L6 L1 LO 154 Ee EATER 176 L6 L1 L1 155 L6 l4 L2 177 L6 L1 L2 156 L6 L4 L3 178 L6 L1 L3 157 L6 L4 L4 179 L6 L1 L4 158 L6 L4 L5 180 L6 L1 L5 159 L6 L4 L6 181 L6 L1 L6 160 L6 L5 LO 182 L6 L2 LO 161 L6 L5 L1 183 6 a EET 162 L6 L5 L2 184 L6 L2 L2 163 L6 L5 L3 185 L6 L2 L3 164 L6 L5 L4 186 L6 L2 L4 165 L6 L5 L5 187 L6 L2 L5 166 L6 L5 L6 188 L6 L2 L6 167 L6 L6 LO 189 L6 L3 LO 168 L6 L6 L1 190 L6 L3 L1 169 L6 L6 L2 191 L6 L3 L2 170 L6 L6 L3 192 L6 L3 L3 171 L6 L6 L4 193 L6 L3 L4 172 L6 L6 L5 194 L6 L3 L5 173 L6 L6 L6 195 L6 L3 L6 174 ElectroCraft 2013 37 PRO A0xV36 PE CAN Technical Reference 3 4 6 24V Digital I O Connection 24V
60. Reference 3 4 8 Analog Inputs Connection 3 4 8 1 0 5V Input Range Analog Inputs PRO AOxV36 PE Connection J1 Ref 1000 1KO 5Vour Controller 100 1 Figure 3 13 Analog inputs connection Remark Default input range for analog inputs is 0 5 V for REF and FBDK For a 10 V range see Figure 3 14 ElectroCraft 2013 40 PRO A0xV36 PE CAN Technical Reference 3 4 8 2 10V to 0 5V Input Range Adapter sv _ From PRO AOxV36 PE Pin B11 15K 0 5V To PRO AOxV36 PE B9 or B10 GND From PRO AOxV36 PE Pin B5 Figure 3 14 10V to 0 5V adapter 3 4 8 3 Recommendation for wiring a If the analog signal source is single ended use a 2 wire twisted shielded cable as follows 1 wire connects the live signal to the drive input 233 wire connects the source ground to the drive ground shield will be connected to the drive ground terminal If the analog signal source is differential and the signal source ground is isolated from the drive GND use a 2 wire twisted shielded cable as follows 1 wire connects the source plus positive in phase to the drive analog input 2 wire connects the source minus negative out of phase to the drive ground GND Shield is connected only at the drive side to the drive GND and is left unconnected at the source side If the analog signal source is differential and the signal source ground is common with the drive GND use a 2 wire shi
61. V Enable Drive enable input Axis ID Address input 7 CAN Bus negative line Be AxsID2 1 States floating strap to Bigs Ceno OFF Vy TESISLOT Positive terminal of the or 22K to GND or 5V B20 logic supply 7 to 36VDC Analog input 12 bit 0 B21 Positive terminalor the 2 Ma uo an dor B22 MOT motor supply 9 to 36VDC B9 REF a 23 Negative return ground orque reference or used B24 GND fth t as general purpose o te motor Supp y anabdi B25 Phase C for 3 ph motors g input C B O Analog input 12 bit 0 EB fone ph stepper en 5V Used to read an 28 E analog position or speed AL At O B10 feedback as tacho or B32 cel for DC brush used as general purpose analog input ElectroCraft 2013 29 PRO 0xV36 PE CAN Technical Reference 3 4 5 Operation Mode and Axis ID Selection 3 4 5 1 Selection Levels on Axis ID Inputs On PRO AOxV36 the selection of the operation mode CANopen or MPLCAN as also of the axis ID number is done by setting different voltage levels on the inputs AxisID 0 pin B6 AxisID 1 pin B7 and AxisID 2 pin B8 Each input can be set to one of the following 7 levels Level Connection needed LO Connect input directly to ground for example pin B5 L1 Connect input through a 4 7KQ resistor to ground L2 Connected input through a 22KO resistor to ground L3 Nothing connected leave input open L4 Connect input through 8 22KQ resistor to 5Vdc for
62. V36 PE CAN Technical Reference 4 4 Setting CANbus rate Drive Setup x m Guideline assistant Control mode p External reference Previous Next Position C No 5 Yes Setup Step1 Inthe lt lt Control mode gt gt group box select whatdo C Speed Analogue 7 Incremental Encoder taxe you want to control position speed or torque In the Automatically activated after Power On lt lt Commutation method group box choose sinusoidal or C Torque v Hep trapezoidal mode The trapezoidal mode is possible only if your Ad J Commutation method motor is equipped with digital Hall sensors Advanced Trapezoidal Sinusoidal Motor r Axis ID selection g xl Drive Info v Set change axis ID now Setup gt CANbus r Protections IV Set baud rate row default CANopen settings Over current Few defa Motor current 54 4 for more than joo 5 Detect I Control error Position error gt os rot iatea BP s s Power supply 24 Current limit Control error Current controller Speed error gt fai 0 rom z for more than 3 z Motor over temperature Kp 3 258 Em Ki 0 334 Tune amp Test ver current 25 a for m Speed controller p External brake resistor Connected Activate if power supply gt 8 v v p
63. a an RS232 link directly connected to the PC or via an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or using ElectroCraft Ethernet to CAN adapter 3 Via another drive from the same CAN bus network which is connected to the PC via one of the above options from point 1 The output of the MotionPRO Developer is a set of setup data and a motion program which can be downloaded to the drive motor EEPROM or saved on your PC for later use MotionPRO Suite includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test measure and analyze your motion application MotionPRO Suite works with projects A project contains one or several Applications Each application describes a motion system for one axis It has 2 components the Setup data and the Motion program and an associated axis number an integer value between 1 and 255 An application may be used either to describe 1 One axis in a multiple axis system 2 An alternate configuration set of parameters for the same axis In the first case each application has a different axis number corresponding to the axis ID of the drives motors from the network All data exchanges are done with the drive motor having the same address as the selected application In the second
64. al manufacturer specific modes defined External reference modes position speed or torque Electronic gearing and camming position mode 5 1 4 ElectroCAN Extension In order to take full advantage of the powerful ElectroCraft Motion PROgramming Language MPL built into the PRO AOxV36 ElectroCraft has developed an extension to CANopen called ElectroCAN through which MPL commands can be exchanged with the drives Thanks to ElectroCAN you can inspect or reprogram any of the ElectroCraft drives from a CANopen network using PROconfig or MotionPRO Developer and an RS 232 link between your PC and anyone of the drives ElectroCAN uses only identifiers outside of the range used by the default by the CANopen predefined connection set as defined by CiA 301 Thus ElectroCraft Document Number A11235 and CANopen protocol can co exist and communicate simultaneously on the same physical CAN bus without disturbing each other 5 1 5 Checking Setup Data Consistency During the configuration phase a CANopen master can quickly verify using the checksum objects and a reference sw file see 4 5 and 5 2 4 for details whether the non volatile EEPROM memory of an PRO AOxV36 drive contains the right information If the checksum reported by the drive doesn t match with that computed from the sw file the CANopen master can download the entire ElectroCraft 2013 69 PRO A0xV36 PE CAN Technical Reference SW file into the drive EEPROM using the com
65. anks to their built in motion controllers MotionPRO Developer shall be used to program motion sequences in MPL This is the PRO A0xV36 typical operation mode when MPLCAN protocol is selected MotionPRO Developer shall also be used with CANopen protocol if the user wants to call MPL functions stored in the drive EEPROM or to use the camming mode With camming mode MotionPRO Developer offers the possibility to quickly download and test a cam profile and also to create a sw file see par 5 2 4 with the cam data The sw file can be afterwards stored in a master and downloaded to the drive wherever needed 2 2 Key Features e Fully digital servo drive suitable for the control of rotary or linear brushless DC brush and step motors e Very compact design e Standard PCle 4x mating connector e Sinusoidal FOC or trapezoidal Hall based control of brushless motors e Open or closed loop control of 2 and 3 phase steppers Various modes of operation including torque speed or position control position or speed profiles external analog reference or sent via a communication bus e ElectroCraft Motion PROgramming Language MPL instruction set for the definition and execution of motion sequences e Standalone operation with stored motion sequences e Various motion programming modes e Position profiles with trapezoidal or S curve speed shape e Position Velocity Time PVT 3 order interpolation e Position Time PT 13 order interpolati
66. ant high Negative return ground of the logic supply Positive terminal of the motor supply 9 to 36Vpc Negative return ground of the motor supply Brake resistor Phase B for step motors Phase B for 3 ph motors A for 2 ph steppers Motor for DC brush motors PRO 0xV36 PE CAN Technical Reference 3 4 4 J1 Connector pinout B Side Connector description Pin Name Type Description Pin Name Type Description B11 5VOUT run ior MO si l em e R eee BAN 5 36V 0 5A drive error Bus and RS232 pins 2 output active low NPN B2 232TX RS 232 Data B12 O open collector TTL pull T issi Error SIMS SION eee up Also drives the red B3 232RX RS 232 Data Reception LED 5 36V 0 5A general 5 36V 0 5A drive ready purpose digital output OUT3 output active low NPN B4 OUTO O NPN open collector TTL B13 Ready O open collector TTL pull pull up up Also drives the green LED Return ground for I O B5 GND m pins B14 INO pne o input Axis ID Address input 7 nu LLL 2S EST EDT i states floating strap to B15 IN1 9 36V digital input B6 AxislD 0 GND or 5V resistor 4K7 B16 IN2 5 36V digital input or 22K to GND or 5V LSP Positive limit switch input Axis ID Address inputs 7 B17 IN3 5 36V digital input 5 B7 AxisiD 1 States floating strap to LSN Negative limit switch input ii GND or 5V resistor 4K7 Ny 536Vdutalinput WEEE B18 IN4 5 36V digital input or 22K to GND or 5
67. appropriate functions and monitoring the confirmations that the task was done All these blocks have been designed using the guidelines described in the PLC standards so they can be used on any development platform that is IEC 61136 compliant All ElectroCraft s MPL Motion Libraries for PLC are provided with PROconfig 6 Scaling factors ElectroCraft drives work with parameters and variables represented in the drive internal units IU These correspond to various signal types position speed current voltage etc Each type of signal has its own internal representation in IU and a specific scaling factor This chapter presents the drive internal units and their relation with the international standard units SI In order to easily identify them each internal unit has been named after its associated signal For example the position units are the internal units for position the speed units are the internal units for speed etc ElectroCraft 2013 80 PRO A0xV36 PE CAN Technical Reference 6 1 Position units 6 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units is 2 Load Position Sl x Motor _ Position IU 4xNo encoder _ lines x Tr where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load disp
68. ately OUTO OUT1 Logic HIGH after power up QUT2 Error OUT3 Ready Logic LOW Normal OUTO OUT1 OUT2 Error Logic HIGH operation OUT3 Ready Logic LOW Logic LOW output current 0 5A 0 2 0 8 V 15 PRO 0xV36 PE CAN Technical Reference Logic HIGH OUT2 Error OUT3 Ready 2 9 3 3 3 output current 0 no load OUTO OUT1 4 4 5 5 Logic HIGH external load to Vioc Vioc Absolute maximum continuous 0 5 Vioc 0 5 t Absolute maximum surge duration lt 1S Vioct1 Logic LOW sink current continuous 0 5 A Logic LOW sink current pulse lt 5 sec 1 A Output current Logic HIGH source OU RM 2 mA current external load UT3 Ready to GND Vour gt 20V OUTO OUT1 4 mA Logic HIGH leakage current external load to Vioc Vout Viog max 40V 0 1 0 2 mA Minimum pulse width uS ESD protection Human body model 5 KV 2 5 10 Digital Hall Inputs Hall1 Hall2 Hall3 Min Typ Max Units Mode compliance TTL CMOS Open collector Default state Input floating wiring disconnected Logic HIGH Logic LOW 0 0 8 Logic HIGH 2 5 Input voltage Floating voltage not connected 4 4 t Absolute maximum surge duration lt 1S 10 15 Logic LOW Pull to GND 1 2 Input current mA Logic HIGH Internal 4 7
69. ber of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 5 Step motor open loop control Incremental encoder on load The internal jerk units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load jerk in SI units is Load _ Jerk Sl ZR xLoad_ Jerk IU 4xNo_ encoder _ lines x T where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 6 Step motor closed loop control Incremental encoder on motor The internal jerk units are motor encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI 2K xMotor _ Jerk IU 4xNo encoder _ lines x Tr x T where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the
70. connector 2x32 contacts FCI 10018784 11101TLF 91 PCI Express PCle 4x horizontal card Tyco 1761465 2 edge connector 2x32 contacts Samtec PCIE 064 02 F D RA 10035591 001LF Retainer for vertical PCle card FCI 10042618 002LF 3 4 Connector and Connection Diagrams 3 4 1 Connector Layout J1 GND ul ade Camis E GND B2 mum 4 A M ase 4m A3 GND B4 mE A4 B5 am A5 AxislDO B6 Out1 AxisID1 E yan AxisID2 D Hall REF Hall2 FDBK A m Per Hall3 Nu tad B11 488 A11 39M OUT2 Error GND Stipes Bi2NNEEe aA OUT Seedy Sum mmAi3 Sin um Bi4mEP IN1 Dio lt lt B Cos LH2 INZLSP mmi ms Her IN3 LSN dad Z ILH3 IN4 Enable Dipm lt A 18 Z CANO giga CAN Hi og B20m GND B21 7m lt m A21 Vmo D22 amm A22 Vmot GND Boe 25 GND Bottom Quartz Top ICs Figure 3 7 PRO A0xV36 drive connector J1 ElectroCraft 2013 27 PRO 0xV36 PE CAN Technical Reference 3 4 2 3 4 3 Identification Labels Identification label with ElectroCraft serial number Identification label RRR RRRA PISSIS SA Soetrarcrra sore P with ElectroCraft part number Figure 3 8 PRO A0xV36 PE CAN Identification Labels J1 Connector pinout A Side Connector description
71. d It is recommended to use the same guarding precaution also for tracks on nearby layers i e use intermediate guard layer s connected to ground The motor outputs must be treated as first source of noise on the motherboard Second source of noise is the current flow between each PRO AOxV36 and its decoupling Vyor capacitor e For best EMC performance it is strongly recommended to provide an un interrupted ground plane on one of the inner layers e All GND pins of the PRO AOxV36 are galvanically connected together on board the PRO AOxV36 If the motherboard provides an uninterrupted ground plane it is recommended to connect all GND pins to the ground plane and use the ground plane to distribute GND wherever needed If the motherboard does not provide an uninterrupted ground plane it is best to use each GND pin for it s intended purpose as described in par 3 4 3 This will create local star point ground connection on board each PRO AOxV36 For a multi axis motherboard with one common power supply for all motors each motor power supply return track shall be routed separately for each PRO A0xV36 and star point connected at the power supply terminal e The following signal pairs must be routed differentially i e using parallel tracks with minimal loop area At Sin A Sin B Cos B Cos Z Z CAN Hi CAN Lo e CAN Bus tracks must be routed with a bus topology without branches bifurcations in a daisy chain fashion T
72. d capacitance is 470uF for PRO A04V36 or 220 for PRO A02V36 always rated at the appropriate voltage Use short thick wires between the PRO AOxV36 and the motor power supply Connect power supply wires to all the indicated pins If the wires are longer than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 2 200 rated at an appropriate voltage right on the terminals of the PRO A04V36 respectively 1 000 for the PRO A02V36 3 4 11 3 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics If the voltage bypasses 39V the drive over voltage protection is triggered and the drive power stage is disabled In order to avoid this situation you have 2 options Option 1 Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2 C2 2 U max E U Nom where Umax 39V is the over voltage protection limit Unom is the nominal motor supply voltage Ey the overall energy flowing back to the supply in Joules In case of a rotary motor and load Ey can be computed with the formula 1 E
73. d Position SI x Motor _ Position IU No _ usteps xNo_ steps x Tr where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Step motor closed loop control Incremental encoder on motor The internal position units are motor encoder counts The correspondence with the load position in SI units is 2xm Load Position SI x Motor _ Position IU 4xNo_ encoder _lines x Tr where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 5 Step motor open loop control Incremental encoder on load The internal position units are load encoder counts The transmission is rotary to rotary The correspondence with the load position in SI units is 2 Load Position SI xLoad Position IU 4xNo encoder lines where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 6 Brushless motor with sine cosine encoder on motor The internal position units are interpolated encoder counts The correspondence with the load position in SI units
74. educed by increasing either ty the IPEAK 2xPBR time to decelerate or C the external capacitor on the motor supply ElectroCraft 2013 53 PRO A0xV36 PE CAN Technical Reference 2 Pap xt U 2 If ela gt BRAKE either the braking power must be reduced see Remark 1 2 tcYCLE x INOM 2x BR or the time interval between braking cycles must be increased THE BRAKE RESISTOR MAY HAVE HOT SURFACES Mile AMIE DURING OPERATION 3 4 12 Serial RS 232 connection 3 4 12 1 Serial RS 232 connection PRO AOxV36 PE RS 232 connection Transceiver Controller Figure 3 26 Serial RS 232 connection 3 4 12 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shielded cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin B1 of J1 must be included inside the shield like the 232Rx and 232Tx signals ElectroCraft 2013 54 PRO A0xV36 PE CAN Technical Reference b Always power off all the PRO AOxV36 supplies before inserting removing the RS 232 serial connector c Do not rely on an earthed PC to provide the PRO A0xV36 GND connection The drive must be earthed through a separate circuit Most communication problems are caused by the lack of such connection 3 4 13 CAN bus connection 3 4 13 1 CAN connection CAN connection PRO AOxV36 PE To Previous Node Controll
75. elded cable as follows 1 wire connects the source plus positive in phase to the drive analog input 2 wire connects the source ground to the drive ground GND shield is connected only at the drive side to the drive GND and is left unconnected at the source side The source minus negative out of phase output remains unconnected ElectroCraft 2013 41 PRO AO0xV36 PE CAN Technical Reference 3 4 9 Motor connections 3 4 9 1 Brushless Motor connection Brushless motor connection PRO AOxV36 PE 4 phase Inverter B29 B32 A29 A32 B25 B28 A23 A24 B23 B24 Currents Info Controller Figure 3 15 Brushless motor connection ElectroCraft 2013 42 PRO A0xV36 PE CAN Technical Reference 3 4 9 2 2 phase Step Motor connection 2 phase step motor connection PRO AOxV36 PE 4 phase Inverter Currents J Info Controller Figure 3 16 2 phase step motor connection one coil per phase 1 coil per phase 2 coils per phase in series connection 2 coils per phase in parallel connection A1 A1 A2 B1 B2 B1 B2 A1 A2 A2 B1 B1 B2 B2 Step MOTOR Step MOTOR Figure 3 17 2 phase step motor connection two coils per phase ElectroCraft 2013 43 PRO AO0xV36 PE CAN Technical Reference 3 4 9 3 3 Phase Step Motor connection 3 phase step motor connection PRO AOxV36 PE 4 phase Inverter
76. er CAN transceiver To Next Node Figure 3 27 CAN connection Remarks 1 The CAN network requires a 120 Ohm terminator This is not included on the board Figure 3 28 shows how to connect it on your network 2 CAN signals are not insulated from other PRO AOxV36 circuits 3 4 13 2 Recommendation for wiring a Build CAN network using cables with twisted wires 2 wires pair with CAN Hi twisted together with CAN Lo It is recommended but not mandatory to use a shielded cable If So connect the shield to GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter ElectroCraft 2013 55 PRO AO0xV36 PE CAN Technical Reference b When using a printed circuit board PCB motherboard based on FR 4 material build the CAN network using a pair of 12mil 0 012 tracks spaced 8 to 10mils 0 008 0 010 apart placed over a local ground plane microstrip which extends at least 1mm left and right to the tracks c Whenever possible use daisy chain links between the CAN nodes Avoid using stubs A stub is connection where a derivation is taken from the main bus When stubs can t be avoided keep them as short as possible For 1 Mbit s worst case the maximum stub length must be below 0 3 meters d The 120Q termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive ElectroCraft 2013 56 PRO A0xV36 PE CAN Technical Refere
77. erence generated are not a simple text included in a file but a motion object Therefore with the Motion Editor you define your motion program as a collection of motion objects The major advantage of encapsulating programming instructions in motion objects is that you can very easily manipulate them For example you can Save and reuse a complete motion program or parts of it in other applications Add delete move copy insert enable or disable one or more motion objects Group several motion objects and work with bigger objects that perform more complex functions As a starting point push for example the leftmost Motion Editor button Trapezoidal profiles and set a position or speed profile Then press the Run button At this point the following operations are done automatically AMPL program is created by inserting your motion objects into a predefined template The MPL program is compiled and downloaded to the drive motor The MPL program execution is started For learning how to send MPL commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances MotionPRO Suite includes a set of evaluation tools like the Data Logger the Control Panel and the C
78. eriod i e the acceleration variation over one slow loop sampling period 6 4 4 Brushless DC brushed motor with quadrature encoder on motor The internal jerk units are encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI Ug xMotor Jerk IU 4xNo encoder _ lines x Tr xT where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 1 f SI units for acceleration are rad s for a rotary movement m s for a linear movement SI units for jerk are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 89 PRO AO0xV36 PE CAN Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 2 Brushless motor with linear Hall signals The internal jerk units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is 2 For rotary motors Load Jerk SI x Motor _ Jerk IU resolution x Tr x T Pole Pitch resolutionx Tr x T For linear motors Load Jerk SI xMoto
79. es 125 Termination resistor Between CAN Hi CAN Lo none on board Node addressing Strapping option AxisIDO 1 2 y s ESD protection Human body model 15 KV 2 5 18 Supply Output 5V Min Typ Max Units 5V output voltage Current sourced 250mA 4 8 5 5 2 V 5V output current 250 350 mA Short circuit protection NOT protected Over voltage protection NOT protected ESD protection Human body model 1 KV T Stresses beyond values listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability ElectroCraft 2013 18 PRO 0xV36 PE CAN Technical Reference Temperature De rating No 20KHz3 phase 100KHz 3 phase KHz 4 phase 20KHz 3 phase 24V 100KHz 3 phase 24V o Current A S009 2222 I to so CO NONO l N e cn c 55 60 65 Ambient Temperature C Figure 2 15 PRO A02V36 PE De rating with ambient temperature Current A E e Altitude De rating Altitude Km Figure 2 16 PRO A02V36 PE De rating with altitude PWM Frequency De rating 364 3 phase AN phase 36V 4 phase Current A 9905 gt NN COCOA NT COCONJNSO Ts 0 10 20 30 40 5
80. ess Data Object PDO Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the drives The PDOs are unconfirmed services which are performed with no protocol overhead Transmit PDOs are used to send data from the drive and receive PDOs are used to receive on to the drive The PRO AOxV36 accepts 4 transmit PDOs and 4 receive PDOs The contents of the PDOs can be set according with the application needs using the dynamic PDO mapping This operation can be done during the drive configuration phase using SDOs Synchronization Object SYNC The SYNC message provides the basic network clock as the SYNC producer broadcasts the synchronization object periodically The service is unconfirmed The PRO AOxV36 supports both SYNC consumer and producer Time Stamp Object TIME The Time Stamp Object is supported by the PRO A0xV36 device Emergency Object EMCY Emergency objects are triggered by the occurrence of a drive internal error situation An emergency object is transmitted only once per error event As long as no new errors occur the drive will not transmit further emergency objects Network Management Objects NMT The Network Management is node oriented and follows a master slave structure NMT objects are used for executing NMT services Through NMT services the drive can be initialized started monitored reset or stopped The PRO A0xV36 is a NMT slave in a CANopen network
81. fety instructions listed hereunder This information is intended to protect you the drive and the accompanying equipment during the product operation Incorrect handling of the drive can lead to personal injury or material damage Only qualified personnel may install set up operate and maintain the drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling install ing commissioning and operating drives The following safety symbols are used in this manual WARNING SIGNALS A DANGER THAT MIGHT CAUSE BODILY INJURY TO THE OPERATOR MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION CAUTION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION CAUTION gt gt gt INDICATES AREAS SENSITIVE TO ELECTROSTATIC DIS CHARGES ESD WHICH REQUIRE HANDLING IN AN ESD PROTECTED ENVIRONMENT 1 1 Warnings WARNING TO AVOID ELECTRIC ARCING AND HAZARDS NEVER PLUG UNPLUG THE PRO A0xV36 FROM IT S SOCKET WHILE THE POWER SUPPLIES ARE ON WARNING THE DRIVE MAY HAVE HOT SURFACES DURING OPERATION WARNING gt gt gt DURING DRIVE OPERATION THE CONTROLLED MOTOR WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY 1 2 Cautions CAUTION THE POWER SUPPLIES CONNECTED TO THE DRIVE MUST COMPLY WITH THE PARAMETERS SPECIFIED IN T
82. g power on to disable Autorun mode ElectroCraft 2013 58 PRO A0xV36 PE CAN Technical Reference 4 Step 2 Drive Setup 4 1 Installing PROconfig PROconfig is a PC software platform for the setup of the ElectroCraft drives PROconfig is part of the ElectroCraft Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit PROconfig comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates PROconfig can be installed independently or together with the MotionPRO Developer for motion programming using MPL You will need MotionPRO Developer only if you plan to use the advanced features presented in Section 5 3 On request PROconfig can be provided on a CD too In this case after installation use the update via internet tool to check for the latest updates Once you have started the installation package follow its indications 4 2 Getting Started with PROconfig Using PROconfig you can quickly setup a drive for your application The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or using ElectroCraft Ethernet to CAN adapter 3 Via another
83. he Drive Setup 6 2 7 Brushless motor with sine cosine encoder on motor 1 SI units for speed are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 85 PRO AO0xV36 PE CAN Technical Reference The internal speed units are interpolated encoder counts slow loop sampling period The correspondence with the load speed in SI units is For rotary motors Load Speed SI x Motor _ Speed IU 4xEnc periods x Interpolation x Tr x T For linear motors Load Speeqjsy Encoder accuracy victor GpeedpU Interpolation x Tr x T where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 Acceleration units The internal acceleration units are internal position units slow loop sampling period i e the speed variation over one slow loop sampling period 6 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are encoder counts
84. he bus ends must be at the termination resistor s and or external connectors e When using 5Vour as supply for external devices like encoders Hall sensors etc provide extra filtering and protection use series resettable PTC fuses to add short circuit protection use transient absorbers to protect against ESD and over voltage add high frequency filtering to protect against external noise injected on 5Vour e The outer box case cabinet must be connected to the motherboard ground either galvanically directly or through high frequency decoupling capacitors rated at an appropriate voltage WHEN PHO A0xV36 IS SET IN MPLCAN MODE CAUTION STARTS TO EXECUTE AUTOMATICALLY AT POWER ON THE MPL APPLICATION FROM ITS EEPROM ADD ON THE MOTHERBOARD THE POSSIBILITY TO DISABLE THIS FEATURE AS SHOWN PAR 0 THIS MIGHT BE NEEDED DURING DEVELOPEMNT PHASE IN ElectroCraft 2013 25 PRO 0xV36 PE CAN Technical Reference CASE THE EEPROM CONTENTS IS ACCIDENTALLY CORRUPTED THE PRO A0xV36 IS AN ELECTROSTATICALLY SENSITIVE DEVICE WHICH WILL BE DAMAGED BY CAUTION INCORRECT HANDLING THEREFORE THE DRIVE SHALL BE REMOVED FROM ITS ORIGINAL PACKAGE ONLY IN AN ESD PROTECTED ENVIRONMENT ElectroCraft 2013 26 PRO 0xV36 PE CAN Technical Reference 3 9 Mating Connector and Retainer Connector Description Manufacturer Part Number PCI Express PCle 4x vertical card Tyco 2 1775801 4 edge
85. hed rotary motor with a tachometer on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Tacho Figure 2 10 DC brushed rotary motor Speed torque control Tachometer on motor Open loop control of a 2 or 3 phase step motor in position or speed Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor 1 Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 10 PRO 0xV36 PE CAN Technical Reference Motor PRO A0xV36 Figure 2 11 No position or speed feedback Open loop control motor position or speed 12 Closed loop control of load position using an encoder on load combined with open loop control of a 2 or 3 phase step motor in speed with speed reference provided by the position controller The motion commands in both SI and IU units refer to the load Motor PRO A0xV36 Incremental quadrature encoder Figure 2 12 Encoder on load
86. imize EM radiated emissions For un shielded applications no metallic box and typical EMC regulations the spacing between PRO A0xV36 and capacitors must be less than 3 centimeters e In multi axis applications multiple PRO AOxV36 drives on the same motherboard it is preferable to have a separate decoupling capacitor for each drive s For it is acceptable to share one decoupling capacitor for two drives e Forstringent EMI requirements it may be necessary to add common mode filtering on the motor and or logic supply inputs Be sure to use 3 phase EMC filters not 2 phase filters in order to fulfill the basic requirement of zero common mode current through the filter This is necessary because the ground negative return is shared between and Vioc e Motor outputs shall be routed with parallel traces and minimizing the loop area between these tracks Avoid placing components above or below the motor output tracks as these components may become effective antennas radiating EMI If possible route all 4 motor outputs in strip line configuration above or below a ground plane For stringent EMI requirements it may be necessary to add common mode inductors on the motor outputs Place these filters near the PRO AOxV36 not near the external connector to reduce radiation from the PCB tracks e Motor outputs must be separated from any nearby track on the same layer by a guard ring track area connected to groun
87. ion speed or torque control of a brushless DC rotary motor with digital Hall sensors and an incremental quadrature encoder on its shaft The brushless motor is controlled using Hall sensors for commutation It works with rectangular currents and trapezoidal BEMF voltages Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Hall Figure 2 4 Brushless DC rotary motor Position speed torque control Hall sensors and quadrature encoder on motor 5 Position speed or torque control of a brushless AC linear motor with an incremental quadrature linear encoder on the track The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load linear or rotary Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 LINEAR MOTOR Linear Encoder Figure 2 5 Brushless AC rotary motor with incremental quadrature linear encoder Position speed t
88. ive Setup dialogue within MotionPRO PROconfig The braking will occur when DC bus voltage increases over Ugraxe This parameter Usna g should be adjusted depending on the nominal motor supply Optimally from a braking point of view Usraxe should be a few volts above the maximum nominal supply voltage This setting will activate the brake resistor earlier before reaching dangerous voltages when the over voltage protection will stop the drive Of course Ugraxe must always be less than Umax the over voltage protection threshold Remark This option can be combined with an external capacitor whose value is not enough to absorb the entire regenerative energy Ey but can help reducing the brake resistor size Brake resistor selection The brake resistor value must be chosen to respect the following conditions 1 to limit the maximum current below the drive peak current Ipeak 10A U Rpp gt UMAX IPEAK 2 to sustain the required braking power 1 2 2 EM 5 OU Max Uprake PBR tg where C is the capacitance on the motor supply external i e 2 R UBRAKE BR mc 2x PBR 3 to limit the average current below the drive nominal current Inom 4A P t RgR gt BR X td 2 tcYCLE X uo where tcyci e is the time interval between 2 brakes in case of repetitive moves 2 4 to be rated for an average power Pay Par xta and a peak power Umax tCYCLE RBR Remarks U Us 1 if MAX BRAKE the braking power Pgr must be r
89. l 0 1 0 2 5 2 Km Altitude pressure 3 Ambient Pressure 0 0 75 1 10 0 Atm 2 5 2 Storage Conditions Min Typ Max Units Ambient temperature 40 85 Ambient humidity Non condensing 0 100 Rh Ambient Pressure 0 10 0 atm ESD capability Human body Not powered applies to any accessible part 0 5 kV model Original packaging 15 kV 2 5 3 Mechanical Mounting Min Typ Max Units Airflow natural convection closed box Between adjacent drives 30 mm Spacing required for v rtical Between drives and nearby walls 30 mm mounting see Figure 3 2 Between drives and roof top 20 mm Between adjacent drives 4 mm Spacing required for horizontal Between drives and nearby walls 5 mm mounting see Figure 3 5 Space needed for drive removal 10 mm Between drives and roof top 15 mm Insertion force Using recommended mating connectors 20 36 Extraction force without retainer 5 10 2 5 4 Environmental Characteristics Min Typ Max Units 56 x 28 8 x 7 6 mm Without mating connector retainer 2 2x1 1x 0 3 inch Size Length x Width x Height With recommended mating vertical 63 3 x 32 6 x 16 3 mm connector and retainer Height above PCB surface 2 5 x 1 3 x 0 64 inch With recommended mating horizontal 56 x 41 2 x 7 6 mm 1 Operating temperature can be extended up to 65 C with reduced current and power ratings
90. lacement in SI units 6 1 2 Brushless motor with linear Hall signals The internal position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load position in SI units is For rotary motors Load Position Sl ee x Motor _ Position IU resolution x Tr For linear motors Load_Position S Poe Pin Motor_Position IU r where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 1 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is 2 Load Position rad xLoad Position IU 4xNo encoder lines where No encoder lines is the encoder number of lines per revolution SI units for position are rad for a rotary movement m for a linear movement ElectroCraft 2013 81 PRO AO0xV36 PE CAN Technical Reference 6 1 4 Step motor open loop control No feedback device The internal position units are motor steps The correspondence with the load position in SI units is 2xm Loa
91. le ended mode Open collector NPN 1 uS Minimum pulse width Differential mode or Single ended driven by co push pull TTL CMOS Absolute maximum values continuous 7 7 Input voltage any pin to GND t V Absolute maximum surge duration 1S 11 14 ESD protection Human body model 1 KV 2 5 12 Linear Hall Inputs LH1 LH2 LH3 Min Typ Max Units Operational range 0 0 5 4 5 4 9 Input voltage Absolute maximum values continuous 7 7 V Absolute maximum surge duration 1s 11 14 Input current Input voltage 0 5V 1 0 9 1 mA Interpolation Resolution Depending on software settings 11 bits Frequency 0 1 KHz ESD protection Human body model 1 KV 2 5 13 Sin Cos Encoder Inputs Sin Sin Cos Cos Min Typ Max Units Input voltage differential Sin to Sin Cos to Cos 1 1 25 Vpp Operational range 1 2 5 4 Input voltage any pin to GND Absolute maximum values continuous 7 7 V Absolute maximum surge duration 1S 11 14 Differential Sin to Sin Cos to Cos i 4 2 4 7 KQ Input impedance Common mode to GND 2 2 KQ Interpolation Resolution Depending on software settings 11 bits Sin Cos interpolation 0 450 KHz Frequency Quadrature no interpolation 0 10 MHz ESD protection Human body model 1 KV 2 5 14 Analog 0 5V Inputs REF FDBK Min Typ Max Units Operational range 0 4 95 Input voltage Absolute maximum values continuous 12 18 V Absolute maximum surge duration 1S 36 Input impedance To
92. led In absence of a CANopen master you can get out a drive from non configured mode by setting another axis ID between 1 and 127 from above dialogue using a serial link between the drive and the PC Software via CANopen master using CiA 305 protocol ElectroCraft 2013 64 PRO A0xV36 PE CAN Technical Reference The axis ID is initialized at power on using the following algorithm a d If a valid setup table exists and this setup table was created with the Axis D Selection checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with the AxisID inputs levels If the drive set in CANopen mode and the Axis ID is over 127 it is converted into 255 and the drive enters in CAN communication non configured mode If a valid the setup table exists and this was created with the Axis D Selection checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to 255 for MPLCAN 1 to 127 for CANopen or can indicate that axis ID will be set according with the AxisID inputs levels If the setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 t
93. munication objects for writing data into the drive EEPROM 5 2 Using the built in Motion Controller and MPL One of the key advantages of the ElectroCraft drives is their capability to execute complex motions without requiring an external motion controller This is possible because ElectroCraft drives offer in a single compact package both a state of art digital drive and a powerful motion controller 5 2 1 ElectroCraft Motion PROgramming Language Overview Programming motion directly on a ElectroCraft drive requires creating and downloading a MPL ElectroCraft Motion PROgramming Language program into the drive memory The MPL allows you to Set various motion modes profiles PVT PT electronic gearing or camming etc Change the motion modes and or the motion parameters Execute homing sequences Control the program flow through e Conditional jumps and calls of MPL functions e MPL interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc e Waits for programmed events to occur Handle digital I O and analog input signals Execute arithmetic and logic operations Perform data transfers between axes Control motion of an axis from another one via motion commands sent between axes Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchr
94. n V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 12 4 DC brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range 4096x Tacho gain Motor Speedq SI x Motor _ Speed IU where Analog Input Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s SI units for motor speed are rad s for a rotary motor m s for a linear motor ElectroCraft 2013 96 PRO A0xV36 PE CAN Technical Reference 6 12 5 Step motor open loop control No feedback device or incremental encoder on load The internal motor speed units are motor usteps slow loop sampling period The correspondence with the motor speed in SI units is 2xm Motor Speed SI xMotor _ Speed IU No_usteps xNo_ steps x T where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the
95. n the temperature surrounding the PRO AOxV36 drive s inside the limits indicated in Figure 2 15 and Figure 2 20 then alternate forced cooling methods must be applied 3 1 2 Horizontal Mounting When PRO AOxV36 is mounted horizontally its overall envelope size including the recommended mating connector is shown in Figure 3 3 The PRO AOxV36 has 6 fixing shoulders that may be used to secure the drive Figure 3 4 details the fixing shoulders position 0 S e H 21601 _ Figure 3 3 Overall dimensions for horizontal mounting ElectroCraft 2013 22 PRO 0xV36 PE CAN Technical Reference Figure 3 4 Fixing shoulders position Figure 3 5 shows the recommended spacing to assure proper airflow by natural convection in the worst case closed box done from a plastic non metallic material with no ventilation openings Whenever possible ventilation openings shall be foreseen Recommendations for their size and position are presented in par 3 1 2 Remark In case of using a metallic box with ventilation openings all spacing values may be reduced substantially With proper ventilation keeping the air surrounding the PRO AOxV36 inside the limits indicated in Figure 2 15 and Figure 2 20 the spacing values may be reduced down to the mechanical tolerance limits of Figure 3 1 ElectroCraft 2013 23 PRO 0xV36 PE CAN Technical Reference 5 min zu AAA 10min 4 min
96. nce PRO AOxV36 PE AXISID 1 120R 5 0 25W PRO AOxV36 PE PS a CAN_GND amp E Vv PRO AOxV36 PE AXISID 3 PC or s Host Address 255 120R 5 0 25W PRO AOxV36 PE AXISID 255 CAN GND Figure 3 28 Multiple Axis CAN network ElectroCraft 2013 57 PRO A0xV36 PE CAN Technical Reference 3 4 14 Disabling Autorun Mode When PRO AOxV36 is set in MPLCAN operation mode by default after power on it enters automatically in Autorun mode In this mode if the drive has in its local EEPROM a valid MPL application motion program this is automatically executed as soon as the motor supply Vwor is turned on In order to disable Autorun mode there are 2 methods a Software by writing value 0x0001 in first EEPROM location at address 0x4000 b Hardware by temporary connecting all digital Hall inputs to GND during the power on for about 1 second until the green LED is turned on as shown in Figure 3 29 This option is particularly useful when it is not possible to communicate with the drive After the drive is set in non Autorun slave mode using 2 method the 13 method may be used to invalidate the MPL application from the EEPROM On next power on in absence of a valid MPL application the drive enters in the non Autorun slave mode independently of the digital Hall inputs status Connection for Non Autorun PRO A0xV36 PE Controller Figure 3 29 Temporary connection durin
97. ns for wiring a Always connect both positive and negative signals when the position sensor is differential and provides them Use one twisted pair for each differential group of signals as follows At Sin with A Sin LH1 B Cos with B Cos LH2 Z with Z LH3 Use another twisted pair for the 5V supply and GND ElectroCraft 2013 50 PRO A0xV36 PE CAN Technical Reference b Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Connect the cable shield to the GND at only one end This point could be either the PRO AOxV36 using the GND pin or the encoder motor Do not connect the shield at both ends If the PRO AOxV36 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V and GND lines The capacitor value can be 1 10 uF rated at 6 3V 3 4 11 Power Supply Connection 3 4 11 1 Supply Connection Power supply connection PRO AOxV36 PE Controller 4 phase Inverter Figure 3 25 Supply connection ElectroCraft 2013 51 PRO AO0xV36 PE CAN Technical Reference 3 4 11 2 Recommendations for Supply Wiring Always provide a nearby capacitor on the motor supply lines The capacitor should be located within 10cm of the PRO AOxV36 edge connector max 20cm The minimum recommende
98. nto the drive EEPROM using the PRO EEPROM Programmer tool which comes with PROconfig but may also be installed separately The PRO EEPROM Programmer was specifically designed for repetitive fast and easy programming of sw files into the ElectroCraft drives during production ElectroCraft 2013 67 PRO A0xV36 PE CAN Technical Reference 5 Step 3 Motion Programming 5 1 Using a CANopen Master for PRO A0xV36 CANopen execution The PRO AOxV36 drive conforms to CiA 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control the now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards For details see ElectroCraft PRO Series CANopen Programming Document No A11226 5 1 1 CiA 301 Application Layer and Communication Profile Overview The PRO AOxV36 drive accepts the following basic services and types of communication objects of the CANopen communication profile CiA301 v4 2 Service Data Object SDO Service Data Objects SDOs are used by CANopen master to access any object from the drive s Object Dictionary Both expedited and segmented SDO transfers are supported SDO transfers are confirmed services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen master and the drives Proc
99. ntrol Incremental encoder on motor The internal motor position units are motor encoder counts The correspondence with the motor position in SI units is ElectroCraft 2013 94 PRO A0xV36 PE CAN Technical Reference Motor Position SI Zak xMotor Position IU 4xNo encoder lines where No encoder lines is the motor encoder number of lines per revolution 6 11 7 Brushless motor with sine cosine encoder on motor The internal motor position units are interpolated encoder counts The correspondence with the motor position in SI units is For rotary motors Motor Position SI 2AN xMotor Position IU 4xEnc periods xInterpolation For linear motors Encoder accurac B yx Motor _ Motor Position SI Interpolation Position IU where Enc periods is the rotary encoder number sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period Its a number power of 2 between 1 an 256 1 means no interpolation Encoder accuracy is the linear encoder accuracy in m for one sine cosine period 6 12 Motor speed units 6 12 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is 2 For rotary motors Motor Speed SI f x Motor _ Speed IU 4xNo encoder _lines xT where No_encoder_lines
100. o 255 for MPLCAN 1 to 127 for CANopen or can indicate that axis ID will be set according with the AxisID inputs levels If the setup table is invalid there is no previous axis ID set from a valid setup table or by a CANopen master according with the AxisID inputs levels Remark If you don t know the axis ID set in a drive you can find it in the following way a b Connect the drive via a serial RS232 link to a PC where PROconfig or MotionPRO Developer are installed With the drive powered open PROconfig or MotionPRO Developer and check the status bar If communication with the drive is established the status bar displays Online in green and nearby the drive s Axis ID If the status bar displays Offline in red execute menu command Communication Setup and in the dialogue opened select at Channel Type RS232 and at Axis ID of drive motor connected to PC the option Autodetected After closing the dialogue with OK communication with the drive shall be established and the status bar shall display the drive s Axis ID If the access to the drive with the unknown Axis ID is difficult but this drive is connected via CANbus with other ElectroCraft drives having an easier access connect your PC serially to one of the other drives Use PROconfig or MotionPRO Developer menu command Communication Scan Network to find the axis IDs of all the ElectroCraft drives present in the network ElectroCraft 2013 65 PRO AO0x
101. ollowing 3 steps L Step 1 Hardware installation Step 2 Drive setup using the ElectroCraft PROconfig software for drive commissioning Step 3 Motion programming using one of the options OQ A CANopen master The drives built in motion controller executing a ElectroCraft Motion PROgramming Language MPL program developed using ElectroCraft MotionPRO Developer software OQ AMPL LIB motion library for PCs Windows or Linux CQ AMPL LIB motion library for PLCs C A distributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in MPL This manual covers Step 1 in detail It describes the PRO AOxV36 hardware including the technical data the connectors and the wiring diagrams needed for installation The manual also presents an overview of the following steps and includes the scaling factors between the real SI units and the drive internal units For detailed information regarding the next steps refer to the related documentation Notational Conventions This document uses the following conventions e PRO A0xV36x PE all products described in this manual e U units Internal units of the drive e Sl units International standard units meter for length seconds for time etc e MPL ElectroCraft Motion PROgramming Language e MPLCAN ElectroCraft protocol for exchanging MPL commands via CAN bus 1 when PRO A0xV36 is set in CANopen mode
102. ommand Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the MPL Program Once you have validated your application you can create with the menu command Application Create PRO EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph 4 5 5 3 Combining CANopen or other host with MPL Due to its embedded motion controller an PRO A0xV36 offers many programming solutions that may simplify a lot the task of a CANopen master This paragraph overviews a set of advanced programming features which arise when combining MPL programming at drive level with CANopen master control A detailed description of these advanced programming features is included in the CANopen Programming Document No A11226 manual All features presented below require usage of MotionPRO Developer as MPL programming tool Remark If you don t use the advanced features presented below you don t need MotionPRO Developer In this case the PRO AOxV36 is treated like a standard CANopen drive whose setup is done using PROconfig ElectroCraft 2013 77 PRO AO0xV36 PE CAN Technical Reference 5 3 4 Using MPL Functions to Split Motion between Master and Drives With Elec
103. on ElectroCraft 2013 5 PRO 0xV36 PE CAN Technical Reference e Electronic gearing and camming e 35 Homing modes e Single ended and RS 422 differential encoder interface e Single ended open collector Digital Hall sensor interface e Linear Hall sensor interface e Analog Sin Cos encoder interface differential 1V pp e SSI EnDAT BiSS absolute encoders and resolver feedback possible with an additional feedback extension module 2 analog inputs 12 bit 0 5V Reference Feedback or general purpose 5 digital inputs 5 36V NPN Enable Limit switch Limit switch 2 general purpose 4 digital outputs 5 36V 0 5A NPN open collector Ready Error 2 general purpose e RS 232 serial interface up to 115200 bps e CAN bus 2 0B up to 1Mbit s with hardware axis ID selection Two operation modes e CANopen conforming with CiA 301 v4 2 CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 e MPLCAN programmable drive conforming with ElectroCraft protocol for exchanging MPL commands via CAN bus e 1K x 16 internal SRAM memory e 4K x 16 EROM to store MPL programs and data e PWM switching frequency up to 100kHz e Motor supply 9 36V e Logic supply 7 36V Separate supply is optional e Output current e PRO A02V36A PE CAN 2A continuous 3 2A peak e PRO A04V36A PE CAN 4A continuous 10A peak e Operating ambient temperature 0 40 C over 40 C with derating e Hardware Protections e Short circuit between motor phases
104. on speed torque control Motor M LINEAR MOTOR Linear Halls 8 Position speed or torque control of a DC brushed rotary motor with an incremental quadrature encoder on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Incremental quadrature encoder Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 9 PRO 0xV36 PE CAN Technical Reference 10 11 Figure 2 8 DC brushed rotary motor Position speed torque control Quadrature encoder on motor Load position control using an incremental quadrature encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration in both SI and IU units refer to the load Motor PRO A0xV36 Tacho Incremental quadrature encoder Figure 2 9 DC brushed rotary motor Position speed torque control Quadrature encoder on load plus tachometer on motor Speed or torque control of a DC brus
105. onize all the axes from a network In order to program a motion using MPL you need MotionPRO Developer software platform 5 2 2 Installing MotionPRO Suite MotionPRO Suite is an integrated development environment for the setup and motion programming of ElectroCraft programmable drives It comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates 1 Optional for PRO A04V36 CANopen execution The customization of the homing routines is available only for PRO A04V36 CAN execution ElectroCraft 2013 70 PRO A0xV36 PE CAN Technical Reference MotionPRO Suite including the fully functional version of PROconfig is part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit MotionPRO Suite is delivered on a CD Once you have started the installation package follow its indications After installation use the update via internet tool to check for the latest updates Alternately you can first install the demo version and then purchase a license 5 2 3 Getting Started with MotionPRO Suite Using MotionPRO Suite you can quickly do the setup and the motion programming of a ElectroCraft a drive according with your application needs The drive can be connected with your PC in one of the following ways 1 Vi
106. ontrolled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Sin Cos incremental encoder Figure 2 2 Brushless AC rotary motor Position speed torque control Sine cosine incremental encoder on motor Position speed or torque control of a brushless AC linear motor with an incremental sine cosine encoder The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor 1 Motion commands can be referred to the motor by setting in PROconfig a rotary to rotary transmission with ratio 1 1 ElectroCraft 2013 7 PRO 0xV36 PE CAN Technical Reference Misit LINEAR MOTOR Incremental Sin Cos encoder Figure 2 3 Brushless AC linear motor Position speed torque control Sine cosine incremental encoder on motor 4 Posit
107. orque control 6 Position speed or torque control of a brushless AC rotary motor with linear Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion 1 Motion commands can be referred to the motor by setting in PROconfig a linear to linear transmission with ratio 1 1 ElectroCraft 2013 8 PRO 0xV36 PE CAN Technical Reference commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO A0xV36 Linear Hall Figure 2 6 Brushless AC rotary motor with linear Hall signals Position speed torque control 7 Position speed or torque control of a brushless AC linear motor with linear Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor PRO A0xV36 Figure 2 7 Brushless AC linear motor with linear Hall signals Positi
108. perate standalone and may play the role of a master to coordinate both the network communication synchronization and the motion application via MPL commands sent directly to the other drives When higher level coordination is needed apart from a CANopen master the PRO A0xV36 drives can also be controlled via a PC or a PLC using one of the MPL LIB motion libraries For PRO A0xV36 commissioning PROconfig or MotionPRO Developer PC applications may be used PROconfig is a subset of MotionPRO Suite including only the drive setup part The output of PROconfig is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With PROconfig it is also possible to retrieve the complete setup information from a drive previously programmed PROconfig shall be used for drive setup in all cases where the motion commands are sent exclusively from a master Hence neither the PRO AO0xV36 MPL programming capability nor the drive camming mode are used MotionPRO Suite includes PROconfig for the drive setup and a Motion Editor for the motion programming The Motion Editor provides a simple way of creating motion programs and automatically generates all the MPL instructions With MotionPRO Developer you can fully benefit from a key advantage of ElectroCraft drives their capability to execute complex motions without requiring an external motion controller th
109. r LabVIEW If your host is a PLC MPL LIB offers a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program Implement on your master the MPL commands you need to send to the drives motors using one of the supported communication channels The implementation must be done according with ElectroCraft communication protocols Combine MPL programming at drive level with one of the other options see Section 5 3 4 2 4 Establish communication PROconfig starts with an empty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor T MationPRO De sed yt Gommemcation ue Hep Da x Pa X Ii y Programmable Servo Drives Before selecting one of the above options you need to establish the communication with the drive you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive and do the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established PROconfig displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a
110. r by a CANopen master via CiA 305 protocol Ifthe setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol ElectroCraft 2013 66 PRO A0xV36 PE CAN Technical Reference d If the setup table is invalid there is no previous CAN rate set from a valid setup table or by a CANopen master with f w default value which is 500kbs 4 5 Creating an Image File with the Setup Data Once you have validated your setup you can create with the menu command Setup Create EEPROM Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your drive A software file is a text file that can be read with any text editor It contains blocks of data separated by an empty raw Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at start address 1 etc All the data are hexadecimal 16 bit values maximum 4 hexadecimal digits Each raw contains a single data value When less than 4 hexadecimal digits are shown the value must be right justified For example 92 represent 0x0092 The sw file can be programmed into a drive from a CANopen master using the communication objects for writing data into the drive EEPROM from a host PC or PLC using the MPL LIB functions for writing data i
111. r displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Step motor open loop control Incremental encoder on load The internal speed units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is 2xm Load Speed rad s xLoad Speed lU 4xNo encoder linesxT where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in rad and load displacement in rad or m T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 6 Step motor closed loop control Incremental encoder on motor The internal speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2 Load Speed SI x Motor _ Speed lU 4xNo encoder _ lines x Tr x T where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from t
112. r_Jerk IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is Load Jerk SI 2X xLoad Jerk lU 4xNo encoder linesx T where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 4 Step motor open loop control No feedback device The internal jerk units are motor usteps slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI an x Motor _ Jerk IU No usteps x No _ steps x Tr x T 1 SI units for jerk are rad s for a rotary movement m s for a linear movement ElectroCraft 2013 90 PRO A0xV36 PE CAN Technical Reference where No_steps is the number of motor steps per revolution No ysteps is the num
113. rge 1 45 V duration lt 10ms Idle 1 5 mA PRO Operating A04V36 320 xk 10 x PRO Supply current A02V36 ae ee PRO 45 Absolute maximum value short A04V36 circuit condition duration A PRO 10 ms A02V36 5 2 5 7 Motor Outputs A A B A C B BR B Min Typ Max Units PRO 4 for DC brushed steppers and A04V36 BLDC motors with Hall based trapezoidal control PRO 2 A02V36 Nominal output current continuous PRO for PMSM motors with FOC A04V36 4 A sinusoidal control sinusoidal amplitude value PRO 2 A02V36 PRO 282 for PMSM motors with FOC A04V36 s sinusoidal control sinusoidal effective value PRO 144 A02V36 i Motor output current peak maximum 2 5s PRO 10 10 A p pP A04V36 ElectroCraft 2013 14 PRO 0xV36 PE CAN Technical Reference PRO maximum 24s A02V36 3 2 3 2 A PRO A04V36 13 15 Short circuit protection threshold measurement range A PRO A02V36 34 9 5 Short circuit protection delay 5 10 uS On state voltage drop Nominal output current including typical 10 3 40 5 V mating connector contact resistance Off state leakage current 0 5 1 mA Recommended value for Du i 230 0 PWM 120 ripple 5 of measurement 80 kHz 60 range Vyor 36 V PWM Feww 100 kHz 45 Motor inductance phase to phase fj Fpwm 20 kHz 75 Absolute minimum value n i
114. roCraft Michigan or report errors in 4480 Varsity Drive Suite G documentation see Note Ann Arbor MI 48108 USA ElectroCraft 2013 VI PRO A0xV36 PE Technical Reference Table of Contents Read THis PURSE oases resco I 1 Safety sects 11 Ti ET 2 1 2 2 2 Product OVEIVIEW citi a 4 JAtPodUcllolkcsnee E asa ER CE set e A e nn RE KS E Ra 4 2g cuu cmn 5 2 3 Supported Motor Sensor 7 2 4 PRO AO0xV36Drive 12 2 5 Electrical Specifications cp re rn 13 2 5 1 Operating Conditions ssssesssssseeeeeeeeeeneemeene nennen nnne 13 2 5 2 Storage Conditions eet Debet redde e 13 2 5 3 Mechanical Mounting a aaae Dar IILI ISIA 13 2 5 4 Environmental Characteristics 19 2 5 5 Logic Supply Input Vioc nen 14 2 5 6 Motor Supply Input Vyor sesm mnn 14 2 5 7 Motor Outputs A A B A C B BR B ssssssssseeeee 14 2 5 8 Digital Inputs INO IN1 IN2 LSP IN3 LSN IN4 Enable 15 2
115. s you can program the drives using MPL to execute complex motion tasks and inform the master when these tasks are done Thus for each axis control the master job may be reduced at calling MPL functions stored in the drive EEPROM and waiting for a message which confirms the MPL functions execution completion All PRO A0xV36 drives are equipped with a serial RS232 and a CAN 2 0B interface and can be set hardware via an AxisID input level to operate in 2 modes CANopen QO MPLCAN When CANopen mode is selected the PRO A0xV36 conforms to CiA 301 v4 2 application layer and communication profile CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 device profile for drives 1 Available if the master axis sends its position via a communication channel ElectroCraft 2013 4 PRO 0xV36 PE CAN Technical Reference and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards In this mode the PRO AOxV36 may be controlled via a CANopen master As a bonus PRO AOxV36 offers a CANopen master the option to call motion sequences written in MPL and stored in the drive EEPROM using manufacturer specific objects see for details par 5 3 When MPLCAN mode is selected the PRO AOxV36 behaves as standard ElectroCraft programmable drive and conforms to ElectroCraft protocol for exchanging MPL commands via CAN bus When MPLCAN protocol is used it is not mandatory to have a master Any PRO AOxV36 can be set to o
116. shless DC brushed motor with quadrature encoder on motor 89 6 4 2 Brushless motor with linear Hall signals ssessseeeeeese 90 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor 90 6 4 4 Step motor open loop control No feedback device ssssse 90 6 4 5 Step motor open loop control Incremental encoder on load 91 6 4 6 Step motor closed loop control Incremental encoder on motor 91 6 4 7 Brushless motor with sine cosine encoder on 91 teme vua in De Res kl fetu tr Ua Sed et Pup vba 92 6 6 Voltage command units ssssssssssssssseeen 92 6 7 Voltage measurement units eeeeeeesseeeee enne 93 93 6 9 Master position Ip Llosa bobo rta Qe 93 6 10 Master speed units sx e eoe x e LO LO Ed ERR KEEPER ERE se 93 6 11 Motor position units sve ont tuia peu rapa dag da pie pui RETE RUE 93 6 11 1 Brushless DC brushed motor with quadrature encoder on motor 93 6 11 2 Brushless motor with linear Hall signals sesseeeess 94 6 11 3 brushed motor with quadrature encoder on load and tacho on motor 94 6 11 4 Step motor open loop control No feedback
117. sing the ElectroCraft Motion PROgramming Language MPL The MotionPRO Suite includes PROconfig for the drive motor setup and a Motion Editor for the motion programming The Motion Editor provides a simpleway of creating motion programs and automatically generates all the MPL instructions With MotionPRO Developer you can fully benefit from a key advantage of ElectroCraft drives their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controller Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit PRO Series and LIB v2 0 Document No A11230 explains how to program in C C C Visual Basic or Delphi Pascal a motion application for the ElectroCraft programmable drives using using MPL_LIB v2 0 ElectroCraft Document Number A11230 motion control library for PCs The MPL LIB includes ready to run examples that can be executed on Windows or Linux x86 and x64 PRO Series and LabVIEW v2 0 Compatibility Document No A11231 explains how to program in LabVIEW a motion application for the ElectroCraft programmable drives using MPL LIB Labview v2 0 motion control library for PCs The MPL LIB LabVIEW includes over 40 ready to run examples PRO Series and PLC Siemens Series S7 300 or S7 400 Document No A11
118. status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in MotionPRO Developer and are included in the information stored in the EEPROM together with the setup data and the MPL programs functions Remark The cam tables are included in the sw file generated with MotionPRO Developer Therefore the drives can check the cam presence in the drive EEPROM using the same procedure as for testing of the setup data 5 3 4 Customizing the Homing Procedures The PRO AOxV36 supports all homing modes defined in CiA402 device profile plus 4 custom based on hard stop If needed any of these homing modes can be customized In order to do this you need to select the Homing Modes from your MotionPRO Developer application and in the right side to set as User defined one of the Homing procedures Following this operation the 1 The customization of the interrupt service routines and homing routines is available only for PRO A04V36 CAN executions Optional for the PRO A04V36 CANopen execution ElectroCraft 2013 78 PRO A0xV36 PE CAN Technical Reference selected procedure will occur under Homing Modes in a subtree with the name HomeX where X is the number of the selected homing Wee Control Panel Window Help Project Appication Communication OSE S FOO 4 TORT Ready Online 295 PRO ADEVES PE CAN S NLUGE Firmware PSOE SetugiD
119. therboard can be mounted horizontally or vertically In both cases the air temperature must not exceed the limits indicated in Figure 2 15 and Figure 2 20 Figure 3 2 shows the recommended spacing to assure proper airflow by natural convection in the worst case closed box done from a plastic non metallic material with no ventilation openings Whenever possible ventilation openings shall be foreseen on the top side wall or the box and at the bottom of the lateral walls When using a horizontal motherboard considerably larger than the size of the hosted PRO AOxV36 drives it is recommended to provide ventilation holes also in the motherboard PCB Remark In case of using a metallic box with ventilation openings all spacing values may be reduced substantially With proper ventilation keeping the air surrounding the PRO A0xV36 inside the limits indicated in Figure 2 15 and Figure 2 20 the spacing values may be reduced down to the mechanical tolerance limits of Figure 3 1 ElectroCraft 2013 21 PRO 0xV36 PE CAN Technical Reference Figure 3 2 Recommended spacing for vertical mounting worst case non metallic closed box For ventilation holes slots that pierce a metallic wall also used for EMI shielding the maximum slot length d should be less than 4 16 where A is the wavelength corresponding to maximum filtered frequency f A 3 10 16 16 f If ventilation driven by natural convection is not enough to maintai
120. troCraft programmable drives you can really distribute the intelligence between a CANopen master and the drives in complex multi axis applications Instead of trying to command each step of an axis movement you can program the drives using MPL to execute complex tasks and inform the master when these are done Thus for each axis the master task may be reduced at calling MPL functions with possibility to abort their execution stored in the drives EEPROM and waiting for a message which confirms the finalization of the MPL functions execution 5 3 2 Executing MPL programs The distributed control concept can go one step further You may prepare and download into a drive a complete MPL program including functions homing procedures etc The MPL program execution can be started by simply writing a value in a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer The PRO A0xV36 offers others motion modes like electronic gearing electronic camming external modes with analog or digital reference etc When electronic camming is used the cam tables can be loaded in the following ways a The master downloads the cam points into the drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the drive EEPROM and during the drive initialization transition to Ready to Switch ON
121. u can find detailed information about how to setup your drive motor and the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established MotionPRO Developer displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started MotionPRO Developer tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected If this drive is part of a CANbus network and the PC is serially connected with another drive use the menu command Communication Scan Network 5 2 3 3 Setup drive motor In the project window left side select S Setup to access the setup data for your application ElectroCraft 2013 74 PRO A0xV36 PE CAN Technical Reference Pet Appheston Communcation View Control Peel Window Help OSM kM 99 Mmm tT Toast Postoni Gorrent Referenced Ready Ore Anil 255 PRO AONGBAPECAN S N LLES6T Furore FOF SetuciD

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