myServo-A01 servo driver/controller User Manual
Contents
1. SPP A lt CR LF gt Possible value for A is 0 32000 SPI A lt CR LF gt Possible value for A is 0 32000 SPD A lt CR LF gt Possible value for A is 0 32000 SPF A lt CR LF gt Possible value for A is 0 32000 SPE A lt CR LF gt Possible value for A is 0 32000 S et P id regulator P roportional coeff to given value Change takes effect immediately New value is NOT stored in the flash memory Special command need to store settings in the flash Examples SPP 300 set PID Proportional coefficient to value 300 S et P id regulator I ntegral coeff to given value Change takes effect immediately New value is NOT stored in the flash memory Special command need to store settings in the flash Examples SPI 25 set PID Integral coefficient to value 25 S et P id regulator Differential coeff to given value Change takes effect immediately New value is NOT stored in the flash memory Special command need to store settings in the flash Examples SPD 1 set PID Differential coefficient to value 1 S et P id regulator F rictional force conpensation coefficient to given value Change takes effect immediately New value is NOT stored in the flash memory Special command need to store settings in the flash Example SPF 10 set PID Frictional coefficient to value 10 S et P id regulator E lecto Magnetic Force conpensation coefficient to given value Change takes eff2. For complete binary inputs isolation can be used external power supply 12 24V DC that connected to contacts IN GND amp IN 24V If complete isolation don t needed internal power supply 24V DC can be used for supply binary inputs Table 6 Settings for internal external power supply for binary inputs External power supply 12 24V DC for J5 amp J6 are open External power supply is digital inputs connected to XT2 pins 17 amp 18 21 Internal power supply 24V DC for digital J5 amp J6 are closed inputs myCNC CNC control and software 2011 http www bevelcutting com 10 Figure 7 myServo A01 r3 board J5 amp J6 location 2 8 Connection to the control PC MyServo A01 r1 controller can be connected to PC HMI through LAN Ethernet connector XT2 Standard Ethernet cable can be used for connection The control board may be connected either directly to the control PC or through Ethernet Switch HUB to Local Network For reflashing configuration and siagnistic is used USB slave connector myCNC CNC control and software 2011 http www bevelcutting com 11 3 MyServo A01 work 3 1 PID regulator U Ki J dPdt Kazar Kp dP Kv V Ks e Ki integral coefficient e Kp proportinal coefficient e Kd differential coefficient e Ke EMF compensation coefficient e Kf frictional force compensation coefficient All PID regulator coefficients are stored in external flash memory and can be changed via t
3. Turn on PID Possible value range for A is 0 3 control diagnostic with given level or turn off it Give value 0 turn off diagnostic 1 print position error speed 2 print position error motor voltage speed 3 print position error speed error motor voltage speed Examples DPO0 turn off diagnostic DP1 turn on PID diagnostic with level 1 myCNC CNC control and software 2011 http www bevelcutting com 16
4. datunilaradanesvaeuaeeidstuuanesnsbueaduenssouc 11 INAS EVO OE WIG ga ciate arier E E AEE ARTEEN RE EN E T 12 a PID resila tO eene A E E E E A EEE 12 3 2 Self study PEC CC ULC cas exaseey cacy eoero iio ei a aE E ENERE EEOSE O EEEE EEEE aA 12 4 Configuration and Ca GnO Stes 0d scssasxtcaneasavcevseassdennerssesaadzideneasesisthaabedlamarsucleseaidemanieciovamiersiennsd 12 4 1 Connection the driver to diagnostic channel ccceeccecsseeeeeeeseceeseeeeeeeeeeeseeeseeenseeseeeenaes 12 4 2 PC to driver command TORTIAL jacsaciiae seosasaucenvonseceswistacsaseadtn cepabielenaaseeusuubieussadeuaeonceeteenbeass 13 4 3 Set command Sistina naierara aE Aa EE E OEE TASE SEn SEARE ESA Sna Raia 13 Table 1 myServo A01 r3 Control Power supply X1 pin description cceeeceesceeeeeeeteeeeeees 6 Table 2 myServo A01 r3 Motor Power supply X3 pin description ssssssessesersssssessserssseresse 6 Table 3 myServo A01 r3 Motor connection X2 pin description essssesessssessesessesesssresssreesse 7 Table 4 myServo A01 r3 Encoder connection XT1 pin description sssssesssssesssesersessseseee 7 Table 5 myServo A01 r3 motor interface XT2 connector pin description ccceeseeeeeee 9 Table 6 Settings for internal external power supply for binary inputs 0ccceceeeeseeeeeeeeee 10 Table 7 Set LAN Ethernet commands myServo AO1 driver cccecceeseeseeeeteeeseeeeeeeeeeesneeeees 13 Table 8 Set PID regulator co
5. ect immediately New value is NOT stored in the flash memory Special command need to store settings in the flash Example SPE 20 set PID EMF conpensation coefficient to value 20 myCNC CNC control and software 2011 http www bevelcutting com 14 Table 9 Run procedures commands myServo A01 driver RS A lt CR LF gt R un S elf study procedure The procedure Possible value range for A is 0 2000 will start immediately Given value is motor voltage while step motion After successful running all motor data will be stored in flash memory Motor power will be turned off To start work the driver should be restarted reset switch or power off on Example RS 600 run selft study procedure with motor voltage Vec 600 2000 Table 10 Write commands myServo A01 driver Command format Command description WP lt CR LF gt W rite P ID Current PID controller parameters will be stored in flash memory Example WP write PID parameters in flash memory Table 11 Print commands myServo A01 driver Command format Command description PP lt CR LF gt P rint P ID regulator data Print current PID coefficients Example PP PO lt CR LF gt P rint P ID regulator data Print current PID coefficients Example PP myCNC CNC control and software 2011 http www bevelcutting com 15 Table 12 Debug commands myServo A01 driver DP A lt CR LF gt D ebug P ID regulator level
6. erminal programming interface 3 2 Self study procedure MyServo AQ01 servo drivers may works with brushless DC and AC servo motors that have 3 or 4 magnetic poles The driver may automatically study number of poles motor phase connection and hall sensor connection during self studying procedure After the self study procedure sucessfuly finished all the data about shaft turning direction hall sensor and number of poles is stored into external flash memory During the procedure motor shaft will perform about 30 steps in both direction The driver reads and analyzes encoder data All procedure takes a few seconds 4 Configuration and diagnostic 4 1 Connection the driver to diagnostic channel For programming reflashing of configuring the driver should be connected to PC through USB slave connector On Host PC should be installed drivers for USB to serial converter based on ftdi chip FT232RL For Linux OS it is the kernel driver ftdi_sio For Windows machines the drivers can be installed from myCNC folder myCNC driver usb to serial or directly from the manufacturers website http www http www ftdichip com Drivers D2XX htm myCNC CNC control and software 2011 http www bevelcutting com 12 For communication with myServo A01 servodriver can be used terminal software like hyperterminal for MS Windows or minicom for Linux Serial connection is used with parameters 115200 8N1 4 2 PC to driver command format Co
7. master slave protocol is used 2 MyServo A01 connection 2 1 MyServo A01 outline myCNC CNC control and software 2011 http www bevelcutting com 4 y Figure 2 myServo A01 driver Control board connectors view myCNC CNC control and software 2011 http www bevelcutting com 2 2 Power supply A EEE N aa Popis X2 Servo motor UVW ai ina as oat Tee Tengah ete h A ip X3 Motor Power supply AC 110V 220V iphase or dphase Figure 3 X1 X3 connectors Power supply and motor connection Two power supply are used for the driver For control power supply is used 24V DC For motor power is used 1 or 3 phase AC power supply Depends on motors can be used AC voltage form 110V AC to 220VAC Connector X1 is used for control power supply 24V DC connection Table 1 myServo A01 r3 Control Power supply X1 pin description Description S 1 c Sid myCNC CNC control and software 2011 http www bevelcutting com 6 2 3 Servo motor connection X2 connector is used for servo motor connection Table 3 myServo A01 r3 Motor connection X2 pin description Pino Description S SP phase S 2 phase S O 2 4 Encoder connection Figure 4 Encoder USB slave and LAN Ethernet connectors XT1 connector is used for motor encoder connection XT1 connector is pin to pin compatible with Fulling Motor servo drivers ENL series Table 4 myServo A01 r3 Encoder connection XT1 pi
8. mmand to the driver is text line that begins with symbol and ends with lt CR LF gt Text line is case sensitive There are available Set Print and Debug commands 4 3 Set commands Table 7 Set LAN Ethernet commands myServo A01 driver SLE A lt CR LF gt S et L AN E nable turn on off LAN Ethernet interface Automatically save Possible value for A is 0 1 settings in flash memory Change will take effect after restart the driver A 1 LAN enable A 0 LAN disable Examples SLE 0 turns LAN interface off SLE 1 turns LAN interface on SLA A B C D lt CR LF gt S et L AN A ddress set LAN Ethernet address of the board as given values ABCD Possible value for ABCD are 0 255 IP Addr A B C D Automatically save settings in flash memory Change will take effect after restart the driver Example SLA 192 168 4 78 lt CR LF gt sets IP address to 192 168 4 78 SLG A B C D lt CR LF gt S et L AN G ateway set LAN Ethernet gateway as given values ABCD Possible value for ABCD are 0 255 GW Addr A B C D Automatically save settings in flash memory Change will take effect after restart the driver Example SLG 192 168 4 1 lt CR LF gt sets GW address to 192 168 4 1 Table 8 Set PID regulator commands myServo A01 driver myCNC CNC control and software 2011 http www bevelcutting com 13 Command format Command description
9. mmands myServo AO1 driver ceeccecceeseeseeeeeeeeeeeeeeeeeeeeeeeees 13 Table 9 Run procedures commands myServo AO1 driver ccceecceesseeeceeeseeeeseeeteeeseeeeseeeeesaees 15 Table 10 Write commands myServo AQ driver csssiseccescssnsscetsereccsrsasvecetsnassadenaesocesecentenoyedcane 15 Table 11 Print commands myServo AQ1 river ceceseceseceseceseeceeeeseecseeeseeesenaeeessseeeseaees 15 Table 12 Debug commands myServo AO1 driver ossesesseseeseessseseeseesstssrrrsssrrsssrressrresssee 16 Figure 1 My Serv 62 A0 ll drive sinasvensicrsesvosnastywievndswntnieanwyisOruncotanwnnelsslsetiawatalewedaleisanluauiivesientoaveeesased 5 Figure 2 myServo A0O1 driver Control board connectors VieWw essssessssssssrerserersssresssreeseresse 5 Figure 3 X1 X3 connectors Power supply and motor connection sesssesssssesssessrssseesssresserees 6 Figure 4 Encoder USB slave and LAN Ethernet Connectors ccccesseeseeesceeeeneeeeeseeeeeeseeeesaes 7 Figure 5 XT2 Step Dir motor interface inputs outputs RS485 0 0 ecceeeeeeteeeeeeeeteeetneeeees 8 Figure 6 Opto isolated inputs schematic design myServo AO1 ccceceeseeeceeeteeeeeeeeeeeseeeeeaes 10 Figure 7 myServo A01 r3 board J5 amp J6 locations ajcsssaiccdssescdneiasicanseceanedecayaiagas ieedsnayeuesipueneavens 11 myCNC CNC control and software 2011 http www bevelcutting com 3 1 Introduction The myServo A01 r3 is intellectual
10. myCNC control amp software MyServo A01 r3 Brushless DC AC servo motor driver amp controller User manual rev 0 02 2011 0525 myCNC http www bevelcutting com email sk bevelcutting com 195257 Russia Saint Petersburg Severny st 73 1 91 myCNC CNC control and software 2011 http www bevelcutting com 1 Using This Manual This user manual provides information for proper installation of the myServo A01 brushless DC servo motor driver amp controller WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machinery myCNC shall not be liable or responsible for any incidental or consequential damages Table of content 1 INiOdRCHON APT E E E 4 2 MyS rvo A01 c nneCthoi ssssis issie ie aia E EEEE EEE EEEE E EE 4 2 1 MyServo AQ 1 o tline sonsir EE 4 2 2 POWeEr SUPP oped cc ee e E pasa ese ev E at aac aa aac 6 2 3 DOTY O MOTOT COMME CUO isser esos ers ia anaedai ai a a E a aisr ani ai esana 7 ZA ENCOGEE CONNECT ON sssini naaa ne a aa eu Uae 7 2 5 LAN Ethernet amp USB COMRCCtIOM soe ccenswsecneoussnaeicdss ev teecateevensiensiavpsnissnctsentuseosenensonteenvseenievan 8 2 6 Pulse Dir motion interface drivers binary inputs outputs CONNECTION cceeeeeeeeeees 8 2 1 UO TSO AUS TAMING ovr acec as cashctsbieasaa e a E E E EEE 9 2 8 Connection to the control PC sncsccinsnisenesaaretincenssvselantesrssenes
11. n description Pino Description Po SV A lt i ot connected myCNC CNC control and software 2011 http www bevelcutting com 7 2 Booo B y 6 S K y so NC Not connected ne 2 5 LAN Ethernet amp USB connection For LAN and USB connection are used standard connectors RJ45 and USB slave The connectors are shown on a Figure 4 2 6 Pulse Dir motion interface drivers binary inputs outputs connection Figure 5 XT2 Step Dir motor interface inputs outputs RS485 myCNC CNC control and software 2011 http www bevelcutting com 8 Table 5 myServo A01 r3 motor interface XT2 connector pin description Pin nr Description as OIO Hj Wi RIA Nn eS i z vs DIR IN 24V 12 24V DC for opto isolated inputs IN_GND Inputs common 12 24V DC for opto isolated inputs IN_GND Inputs common 12 24V DC for opto isolated inputs IN_GND Inputs common 12 24V DC for opto isolated inputs IN_GND Inputs common 12 24V DC for opto isolated inputs GND COMMON 5V DC output power supply from the driver GND COMMON z z 2 7 Opto isolated inputs The driver contains 4 binary opto isolated inputs IN1 IN4 Schematic design of binary inputs is shown below myCNC CNC control and software 2011 http www bevelcutting com 9 IN 24V DA5 R18 16k Figure 6 Opto isolated inputs schematic design myServo A01
12. servo motor driver with integrated motion control features and wide range of communication interfaces The driver can controls AC or brushless DC servo motor with encoder as a feedback sensor MyServo A01 accepts PULSE DIR signals as motion control inputs Also the unit contains LAN Ethernet RS485 and USB slave interfaces to receive high level commands and use it as motion control program Technical specification Main processing unit ARM Cortex M3 100MHz microcontroller Motor control PID amp PWM operating frequency 20 kHz Space vector modulation Sinusoidal commutation of motor IGBT based 3 phase bridge with maximum power up to 3kW Maximum pulse frequency 1500 kHz Power supply e 24VDC for control power e 110 220V AC 1 or 3 phase for motor power 2 transistor keys open collector general purpose outputs available through integrated PLC one of them is used as driver ready by defaylt 4 opto isolated general purpose inputs available through PLC USB slave interface for configuration programming reflashing LAN Ethernet and RS485 interface for using as one axis motion controller working as stand alone control or under myCNC software control Dimension 150mm L x 100mm H x 50mm W Committed digital inputs can be configured as abort jog events or can be flexibly used while machining process via PLC controller For communication between controller and HMI software specially designed binary half duplex
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