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1. STOP Output connections Figure 41 The Valve 4 positions application program invokes the P101 expert program The user can switch to this expert mode at any time to access all the settings by clicking the Expert Mode button The values preset in application mode will be loaded directly in expert mode It is then impossible to return to this application program The user can press the STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 3 1 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs 9 IN1 e IN2 e IN3 INA IN5 IN6 If 0 No position setpoint if 1 Setpoint Position 1 Parameter If 0 No position setpoint if 1 Setpoint Position 2 Parameter If 0 No position setpoint if 1 Setpoint Position 3 Parameter If 0 No position setpoint if 1 Setpoint Position 4 Parameter If 0 No action If 0 Stop if 1 Launch homing phase if 1 Run N B if more than 1 input IN1 to IN4 is activated at the same time the motor switches to stop mode 48 C cC CY Crouzet SMI21 Outputs Don t forget to fit the pull down resistors on each of the outputs e OUT1 If O setpoint position not reached if 1 setpoint position reached e OUT2 If 0
2. Change the direction of rotation Figure 221 132 CY Crouzet 12 2 6 3 SMI21 Inputs Tab Parameters nind Information concerning the polarity of the switch wired on digital input 6 This polarity is selected in the Homing tab see above Select the number of position setpoints to be preset see table below Position Index Stop Start Homi Position 1 Position 2 Position 3 Position 4 Position 5 Position 6 Position 7 Position 8 Position 3 Position 10 Position 11 Position 12 Position 13 Position 14 Position 15 Position 16 Position 17 IM oa 5 oH E a SHS Ed E ES 5 EE p S gt us IN 2 SS ES Eee SS n ei IN3 gt i E EE oa lt alaj ea l I D o IN 4 A NN M 0 LD Se 8 Ne 0 Be UD Co c Number of position setpoints High state active Low state active Figure 222 30 Figure 223 INS Position pulses Lise xe rre rye iy 1 1 1000 2000 3000 4000 S000 BOO DLE anu 3n 10000 11000 12000 13000 14000 15000 16000 17000 Speed rpm 1 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 Figure 224 133 Acceleration rpms 1 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 Deceleration rpms 1 40000 40000 40000 40000 40000 400
3. Congratulations You are finished installing the device driver The drivers were successfully installed on this computer You can now connect your device to this computer f your device came with instructions please read them first Driver Name Status V Microchip Technology Ready to use Cancel Figure 1 3 CY Crouzet oMI21 ind BRUSHLESS 4 MOTORS 10 4 Installation of the Crouzet DCmind Soft HMI Run the Setup DCmind Soft Vxxx msi file and follow the instructions N B When installing the DCmind Soft HMI check that Bluetooth is disabled on the PC The USB drivers must always be installed upstream 39 DCmind Soft Bienvenue dans l Assistant Installation de DCmind Cay Soft eS a Le programme d installation va vous guider tout au long des tapes n cessaires l installation de DCmind Soft sur votre ordinateur AVERTISSEMENT ce logiciel est prot g par la loi relative au droit d auteur et par les conventions internationales Toute reproduction ou distribution partielle ou totale du logiciel par quelque moyen que ce soit est strictement interdite Toute personne ne respectant pas ces dispositions se rendra coupable du d lit de contrefa on et sera passible des sanctions p nales pr vues par la loi 39 DCmind Soft S lectionner le dossier d installation Le programme d installation va installer DCmind Soft dans le dossier suivant Pour l installer dans ce d
4. Conveyor speed max 20 00 el m s Speed ratio belt travel m InS Acc decc 0 10V PWM In6 Speed 0 10V PWM Output connections PT D dd J T STOP Input connections Figure 43 The Conveyor Belt 0 10V application program invokes the V101 expert program The user can switch to this expert mode at any time to access all the settings by clicking the Expert Mode button The values preset in application mode will be loaded directly in expert mode It is then impossible to return to this application program The user can press the STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 4 1 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs e IN1 If 0 gt Stop if 1 Run e IN2 If 0 motor running in reverse CCW if 1 motor running forward CW e IN3 If INS 1 and IN1 1 and IN6 O application of a 150 mNm holding torque e N4 If O no action if 1 Quick start by short circuiting the coils This action takes priority over the other commands e N5 0 10 V control Sets the motor acceleration and deceleration 40 000 rpm sec for 0 V maximum acceleration and 100 rpm sec for 10 V 52 C cC cy Crouzet SMI21 e N6 0 10 V control Sets the speed setpoint O V for O rpm an
5. Output 4 DIGITAL Error 0 Error detected 1 No error r Output 1 PWM Real speed centered on 50 Pu frequency r Output 2 PWM Real torque centered on 50 Y Pw frequency 1000 2I Hz S2torque 100 PwM IUUD S mN m r Outputs 3 amp 4 DIGITAL Motor status 00 Error detected 01 Motor running 10 Motor stopped and holding torque applied 11 Motor stopped without holding ind BRUSHLESS 4 MOTORS c Output 1 DIGITAL Target Reached Flag 0 Position target not reached 1 Position target reache r Output 2 DIGITAL Homing Sequence Information 0 Homing completed 1 Homing in progress or no homing c Output 3 DIGITAL Motor running Y 0 i M otor stopped 1 Motor running Output 4 DIGITAL Error D No error 1 Error detected Output 9 type Figure 175 115 CY Crouzet SMI21 12 2 4 6 Tuning Tab This tab is used to represent some parameters speed position torque etc in graphic form and modify the position control loop coefficients It is common to all the position expert programs Description Homing Inputs Outputs Tuning Limits Errors Title Real Speed Real Torque Current Position 1 2 10 This tab is used to view the Position setpoint selected parameters in graphic fo rm Position control loop parameters 0 8 Kp G50000 j K 000600 fg Kd
6. Figure 95 19 LA cy Crouzet SMI21 12 1 5 5 Type 3 Outputs Tab Parameters Setting the parameters of frequency output 1 Real speed The parameters can be set for the signal frequency of this output for which the motor runs at 1000 RPM 200 500 or 1000 Hz Output 1 FREQUENCY Real Speed Frequency at 1000 rpm 1000 we Hz Figure 96 State of digital output 2 Real direction Used to find out the motor direction of rotation Output z DIGITAL Real direction I Counter Clockwise 1 Clockwise Figure 97 State of digital output 3 Motor Running Used to find out whether the motor is stopped or running Output 3 DIGITAL Mater Running matar running 1 matar stopped Figure 98 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mn error Figure 99 80 Crouzet SMI21 12 1 5 6 Type 4 Outputs Tab Parameters Setting the parameters of PWM output 1 Real speed centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 2 096 Motor running forward CW at maximum speed setpoint defined in In6 If cyclical ratio 2 5096 Real speed 0 rpm If cyclical ratio 100 Motor running in reverse CCW at maximum speed setpoint defined in In6 Output 1 PAM Heal Speed cent
7. NTALEO K Es PARTAGE NTALEO L GP Groupe Ale NTALEO N G scanner ntaleO 5 fom AFECIDPDH AXNITAI CA AAA Figure 281 157 Modifi le 20 11 2012 11 29 Type Document XML Taille x P d ind BRUSHLESS MOTORS IN BRUSHLESS MOTORS Cos CY Crouzet SMI21 When the parameter file is uploaded the HMI automatically launches the associated expert or application program in our example expert program V101 Qi DCmind Soft Que File Language Bootloader Motor Information Motor Connection Help Expert program 101 allows To make speed profiles with an analog or PM input To control acceleration deceleration phases with an analog or Pw M input JI gt IT gi je ge Project name TOR TOR TOR ANA ANA iur iur Fa Fa ES d Figure 282 Press the Load Program button to load the MOT 1 xml file parameters in the motor 158 Crouzet SMI21 14 DIAGNOSTICS AND TROUBLESHOOTING 14 1 Mechanical Failures Significant temperature rise Overload Reduce the load Holding brake not released Check control of the holding brake Align the transmission device Radial vibration Transmission device incorrectly aligned Align the transmission device Transmission device unbalanced Balance the transmission device Twisted shaft Contact the after sales service Resonance in the fixing Check the rigidity of the motor fixing Axial vibration Transmission
8. Conveyor Belt PWM Application Program 54 P MCD COR ed caen see da ae Rte es ie ten 56 11 5 1 Worm Gear Application Program sise 56 11 5 2 Clamp Application Program sise 58 12 EDE OCT ANS MO T PE 60 S PERS POS eh E em ee 60 12 1 1 Types of Inputs in V100 Programs sise 60 12 1 2 Types of Outputs in V100 Programs sisi 60 12 1 3 Description of the Various Tabs Us 61 12 1 4 Expert Program ali n 66 12 1 5 XSi PrO am V IO i arn M 76 12 1 6 Exper Programi VIOS ee dci ce cn de onde 85 12 1 7 Exper Programi Mi sssrinin reena a E a Paa asa A raea raed R 95 T22 POSON FIO N m EDT 104 C cC cy Crouzet SMI21 12 2 1 Types of Inputs In P 100 Programs sssdeniesemnssnnnneneneemnsanteennhensseseenviaintentess 104 12 2 2 Types of Outputs in P100 Programs see 105 12 2 8 Description of the Different Types of Homing esee 106 12 2 4 Description of the Various Tabs 4 112 12 2 5 EXD FOC AM AO 118 12 2 6 S E E ee e E aa E i EE E E a ee UA UNI cR RPM M GS 131 129 TONE TO N ea dde E a E 143 12 3 1 Types of Inputs in C100 Programs sise 143 12 3 2 Types of Outputs in C100 Programs ss 143 12 3 3 Description of the Various Tabs VU nnnm nnne nnns nnn nnns 144 1234 EXPN POC alld OCTO ne ea aa a ae a a an 149 13 Saving Parameters ay en qonchias ipueps cuz eds ved te eee menace EDO qM
9. homing phase complete if 1 homing phase in progress or not performed e OUTS3 If 0 motor stopped if 1 motor running e OUT4 If 0 no error if 1 error detected 11 3 1 2 Application Settings e he user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window e f it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph e he Number of rotation s to close the valve and Mechanical ratio between the motor and the valve parameters are used to calculate the application total stroke in number of motor revolutions 49 IN BRUSHLESS M MOTORS LA CY Crouzet SMI 1 e For information all 4 positions are given in number of pulses 4096 pulses per motor revolution in the grayed out boxes rM z E i 11 32 Valve 30 positions Application Program with 1 Mechanical Stop Gn DCmind Soft Se x File Language Bootloader Motor Information Motor Connection Help Thi is dedicated to val itioni ical ith 1 to 30 positions e Crouzet leds iliis pnt Rt uode iiie ndi Sine Se 7 ER a reduction system whose the ratio is adjustable belt pulley gear The user can set the homing phase torque search direction and mechanical design total E stroke reduction ratio Valve 30 positions Mechanical ratio between the motor a id the valve Inputs Outputs
10. By default the rates are fixed at 40 000 RPM sec Acceleration and deceleration Rate of acceleration 40000 Ea rpm s Rate of deceleration 40000 M rpm s E Figure 114 86 CY Crouzet SMI21 12 1 6 3 Type 1 Outputs Tab Parameters Setting the parameters of Pulse output 1 Real speed A Hall pulse with configurable width 100 to 800 us is generated each time one of the 3 motor Hall sensors changes state 80140 SMI21 and 80180 SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280 SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Output 1 PULSE Real speed Hall pulse width FOO id TES Figure 115 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 10096 scaling If cyclical ratio 0 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output 2 Phi Real terque Ph frequency 1000 ri Hz S2torque 100 PM 1000 S mm Figure 116 State of digital output 3 Real direction Used to find out the motor direction of rotation Output 3 DIGITAL Real direction 0 Counter Clockwise 1 Clockwise Figure 117 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mn error Figure 118 87 CY
11. Co r cy Crouzet SMI21 6 OPERATION 6 1 Preparation for Operating Prior to operating c c UL Check that the mechanical installation is correct Check that the electrical installation has been carried out professionally pay special attention to the protective conductor connections and the grounding connections Check that all the junctions are correct properly connected and that the screws are fully tightened Check the ambient conditions and operating conditions make sure that the stipulated ambient conditions are adhered to and that the drive solution conforms to the expected operating conditions Check that any transmission devices that are already mounted are balanced and aligned precisely Check that the operating conditions do not generate abnormal voltage surges for the product or the application Check that the holding brake can withstand the maximum load After applying the braking voltage make sure that the holding brake is fully released Make sure that the holding brake is fully released before initiating a movement Check that the USB micro connector s protective stopper has been replaced correctly UNEXPECTED MOVEMENT As a result of incorrect wiring or other error the drives can execute unexpected movements Check the wiring Do not start up the installation if there is anybody or any obstacle in the danger zone Execute the initial test movements without loads connected Do not touch
12. DIGITAL Fast Stop High state active Low state active Figure 55 Setpoint input 5 Used to select the control type for the acceleration deceleration setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Input 5 Proportional setpoint Acceleration Deceleration 10V 100 pms 0 10 Ow PWM 40000 i4 rpms EA DM Figure 56 Setpoint input 6 Used to select the control type for the speed setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Input b Proportional setpoint Speed 10 4000 e rpm 0 10 C 0 5 CO Pw 0 S mpm VV Figure 57 67 CY Crouzet SMI21 12 1 4 3 Type 1 Outouts Tab Parameters Setting the parameters of Pulse output 1 Real speed A Hall pulse with configurable width 100 to 800 us is generated each time one of the 3 motor Hall sensors changes state 80140 SMI21 and 80180 SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280 SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Output 1 PULSE Heal speed Hall pulse width FUL Figure 58 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Torque supplied 0 mNm If cyclical ratio 100 Torque supplied S2 t
13. Errors 84 Over Torque Error Setting the action to be taken when an overtorque error is encountered The torque limitation it exceeded Motor stopped no holding terque applied Motor stopped holding terque applied The motor tries to reach its input setpoint Motor safety errors 81 Overtemperature gt 110 C Rotor stopped no holding torque applied If an error is detected that could Bz Undervoltage lt 8 oto stopped no holding torque applied jeopardize motor safety the motor is 83 Overvoltage gt 57 foto stopped no holding torque applied automatically turned off and left freewheeling B5 Homing Error mmm Motor stopped no holding torque applied Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode and then back to run mode Figure 177 117 CY Crouzet SMI21 12 2 5 Expert Program P101 12 2 5 1 Description Expert program P101 is used to Perform a homing phase to initialize the system with detection of the limit switches Perform various positionings using 4 preset setpoint positions each corresponding to one of the digital inputs Ini to In4 Set the acceleration deceleration phases and the maximum speed that must not be exceeded between each point via the HMI 12 2 5 2 Homing Tab Parameters Set the difference in position in pulses between the mechanica
14. Figure 204 State of digital output 2 Real direction Used to find out the motor direction of rotation Output z DIGITAL Real direction 0 Counter Clockwise 1 Clockwise Figure 205 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OO Error detected OF motor in step made O1 Mat used 10 Motor stopped ET target reached 11 Motor running positioning Figure 206 126 LA CY Crouzet SMI21 12 2 5 9 Tuning Tab Parameters Selection of the various parameters to be represented in graphic form either 1 2 3 or 4 parameters The system position response measurement vs setpoint can therefore be compared while displaying changes in the current and the speed heal Speed Real Torque Current Position Position setpoint Figure 20 set the PID controller factors in the position control loop this function is reserved for advanced users The values given in the example below ensure correct product operation in the majority of cases Position control loop parameters Kp 050000 iz 000600 E Kd 3 00000 Ae wm Figure 208 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 ms During data acquisition the other HMI functions are not available Recording time 100 a Seconds Figure 209 Curve Drawing button used to start d
15. Loading progress bar When the update is complete the following window appears meaning that loading has been successful Figure 35 Chargement termin ES Chargement Figure 36 45 oMI21 LA CY Crouzet 11 APPLICATION PROGRAMS BRUSHLESS MOTORS 11 1 Description Select an application group from the list of application programs then one of the icons corresponding to your application Application Programs Conveyor Belt Machine Figure 37 Application Programs lve L Machine Figure 38 Application Programs valv Figure 39 46 IN BRUSHLESS M MOTORS Cos CY Crouzet SMI2 11 2 Description of the Monitoring Part The monitoring part of the HMI is common to all the expert and application program tabs This zone uses graphic icons to indicate the type of program I O used in this case 4 digital inputs 2 analog setpoint inputs pae hee Io 2 PWM outputs and 2 digital outputs This zone describes the status of the connection between the HMI and the motor green for connected and red for not connected It gives in real time once a second the value of the various measurements taken on the motor voltage temperature speed position and torque States of the various program digital I O green for active and blue for inactive For the analog setpoints the user can display their value rpm rom sec mN m etc
16. State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Matar running 0 Motor running 1 Matar stopped Figure 152 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mo error Figure 153 99 Co CY Crouzet SMI21 12 1 7 6 Type 4 Outputs Tab Parameters oetting the parameters of PWM output 1 Real speed centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 2 096 If cyclical ratio 2 5096 If cyclical ratio 2 10096 Motor running forward CW at speed of 4000 rpm Real speed 0 rpm Motor running in reverse CCW at speed of 4000 rpm Output 1 PAM Heal speed centered on BU Fw frequency 1000 t Hz 2E J Figure 154 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 If cyclical ratio 50 If cyclical ratio 100 Braking torque supplied S2 torque Torque supplied 0 mNm Motor torque supplied S2 torque Output z PM Real torque centered an 50 Ph frequency 1000 Hz 52
17. on the IN5 and IN6 dial faces The type of error detected can be viewed on this tab PWM Pulse or Frequency type outputs are not included in this tab Figure 40 47 Cos CY Crouzet SMI 1 11 3 11 3 1 IN BRUSHLESS 4 MOTORS Valve Group Valve 4 positions Application Program Ge DCmind Soft Plex File Language Bootloader Motor Information Motor Connection Help LA Crouzet e Valve 4 positions This program is dedicated to valve positioning applications with 4 positions The application can be made Illeither the motor alone or the motor associated with a reduction system whose the ratio is adjustable belt pulley gear The user can set the homing phase torque search direction and mechanical design total ree reduction ratio The total stroke of the application can be divided into 1 to positions Application settings Project name Number of rotation s to close the val ve z Time to realize the total stroke a to close the valve 10000 Mechanical ratio between the m Output Vcc supply Valve positions rpm Position 1 4 PNP open collector Positions bo Position 2 Positions Target iui Position1 0 4 8 In3 Position 3 Homing done 0 Out2 In4 Position 4 eds Outs Position2 25 Homing Error On Off Postion3 75 S X Position4 100 X Input connections 5Vdc 424 Vdc
18. 3 00000 amp amp E 0 6 This zone is used to Select the parameters to be D4 viewed in graphic form Recording time 1 t Second s Set the position correction factors OY 19 Set the display time Export the data csv Export Data OU 0 0 0 2 U4 0 6 0 8 1 0 1 2 X Axis Figure 176 12 2 4 7 Limits Tab This tab is used to configure the various motor operating limits nominal and maximum torque torque peak authorization and the power supply overvoltage threshold Description Homing Inputs Outputs Tuning Limits Errors L Torque management Torque mN m Summary description of Nominal torque Crominall 250 eT mM m x US xx torque control Maximum torque Emas 500 mhi m a Magnum peak time tmas 2000 a ms amp CINOMINAL x Setting the parameters associated with torque control Time ms lax Overvoltage detection Acceptable position accuracy Threshold voltage 57 eal Minimum value 1 4 Pulse s Overvoltage threshold settings if Q Figure V ARABIC 185 this value is exceeded an error will be generated 116 AC CY Crouzet SMI21 12 2 4 8 Errors Tab This tab provides information about the type of error encountered based on the error code and the action to be taken by the motor following this error Action for the overtorque error can be configured Description Homing Inputs Outputs Tuning Limits
19. 9 On 1 Of 0 Un 0 Uff 1 Figure 257 Digital input 2 Used to set the Direction of Rotation input polarity Input z DIGITAL Direction of Rotation Cw 1 CCW 0 Cw 207 CCw 1 Figure 258 Digital input 3 Not used Digital input 4 Used to set the Fast stop input polarity This input is used to stop the motor as quickly as possible ignoring the setpoints applied to the other inputs Input 4 DIGITAL Fast Stop High State Active Low State Active Figure 259 149 oMI21 6 BRUSHLESS MOTORS LR CY Crouzet Setpoint input 5 Used to select the control type for the torque ramp setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Input 5 Proportional setpoint Torque Ramp 10 0 ET mi ms Ooiw Oo O PwWM 20000 i mM m s w DM Figure 260 Setpoint input 6 Used to select the control type for the torque setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Input 6 Proportional setpoint Torque 10v 2000 amp mN m 0 10 OLW PWM a l Cw m m DM Figure 261 150 CY Crouzet SMI21 12 3 4 3 Type 2 Outputs Tab Parameters Setting the parameters of PWM output 1 Real Speed The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 2 096 Real speed 0 rpm I
20. Crouzet SMI21 12 1 6 4 Type 2 Outputs Tab Parameters Setting the parameters of PWM output 1 Real speed The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 2 096 Real speed 0 rpm If cyclical ratio 100 Real speed maximum speed setpoint defined in In6 Output 1 PM Heal speed PH frequency 1000 p X Figure 119 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output z PWM Heal terque PM frequency 1000 TE vw 5S2 torque 100 Pwi 1000 m mM m wt Figure 120 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Matar running 0 Motor running 1 Matar stopped Figure 121 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mo error Figure 122 88 LA cy Crouzet SMI21 12 1 6 5 Type 3 Outputs Tab Parameters oetting the parameters of frequency output 1 Real speed The parameters can be set for the signal freq
21. In3 Holding In4 Quick stop Ind Quick stop in Acc decc 0 10V PW z In5 In Speed 0 10V PWM In6 Speed 0 10V PWM CW and CCW Stop 3 In4 Quick stop In5 CWand CCW Stop In6 Torque 0 10V PWM Expert program category selection V100 Expert program selection V101 Figure 47 61 ind BRUSHLESS M MOTORS oMI21 CY LS Crouzet 12 1 3 2 Description Tab This is an information tab containing a concise description of the various speed profiles that are created using this expert mode Description nputs Outputs Tuning Limits Errors Option to name the project Project name Pai Speed B 5Vdc 24Vdc i Int ON OFF Speed In2 Direction In3 Holding Ind Quick stop Inf Acc decc 0 10V PWM Speed 0 10V PWM I O Output Vec supply PNP open collector N Acceleration and decceleration 7 ime indes m out Direction Out3 wis i Error Summary description of the profiles that can be created using this expert mode speed control jb e lr acceleration ramps etc Figure 48 62 Co Mz ind BRUSHLESS M MOTORS Crouzet SMI 1 12 1 3 3 This tab is used to configure the various inputs in this expert mode digital input polarity value control type maximum and minimum control limit etc Inputs Tab Description Inputs Outputs Tuning Limits Errors Input 1 DIGITA
22. STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 5 1 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs e N1 to IN5 32 possible combinations INT IN2 IN3 IN4 IN5 0 Stop IN1 1 all 4 others 0 Launch homing phase The other 30 combinations correspond to the 30 position setpoints e N6 Switch or unused if mechanical stop selected Outputs Don t forget to fit the pull down resistors on each of the outputs OUT 1 If 0 setpoint position not reached e OUT2 If 0 homing phase complete e OUTS3 If 0 motor stopped e OUT4 If 0 no error 56 if 1 setpoint position reached if 1 homing phase in progress or not performed if 1 motor running if 1 error detected Le Crouzet SMI21 11 5 1 2 Initialization Phase e The user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window e f it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph e Select the type of stop either Mechanical if the stop is achieved by detection of an obstacle on the application or Switch if a limit switch is used in the application e Define the motor direction
23. absorb in the application Failure to comply with these precautions can result in injury or damage to equipment Connecting the protection conductor It is the installer s responsibility to define whether the motor needs to be grounded The mounting flange should be used for this purpose Never connect or disconnect the product power supply leads while the voltage is applied 19 x Crouzet SMI21 5 5 1 Connecting the Holding Brake Optional LOSS OF BRAKING FORCE DUE TO WEAR OR HIGH TEMPERATURE Engaging the holding brake while the motor is running leads to rapid wear and loss of braking force Do not use the brake as a service brake Note that emergency stops can also cause wear Failure to comply with these precautions can result in death serious injury or damage to equipment UNEXPECTED MOVEMENT Releasing the holding brake can result in unexpected movement on the installation Make sure this cannot cause any damage Do not continue with the test if there is anybody or any obstacle in the danger zone Failure to comply with these precautions can result in death serious injury or damage to equipment CAUTION MALFUNCTION OF THE HOLDING BRAKE DUE TO INAPPROPRIATE VOLTAGE e f the voltage is too low the holding brake cannot release resulting in wear e In the event of voltages higher than the specified value the holding brake will be subject to significant overheating Failure to comply with t
24. device incorrectly aligned Align the transmission device Transmission device being knocked Check the transmission device Resonance in the fixing Check the rigidity of the motor fixing 14 2 Electrical Failures Error Case Remedy The motor does not start or Overload Reduce the load starts with difficulty Fault in the connection wires Check the connection wires Contact the after sales service the stator Temperature rise in the Power supply wires disconnected or connection terminals loose 159 x Crouzet SMI21 15 SERVICE MAINTENANCE AND DISPOSAL 15 1 Addresses of After Sales Service Outlets Please contact your distributor The list of distributors is accessible on the CROUZET Automatismes website www crouzet com 15 2 Storage The motors must only be transported and stored in dry dust free environments that are resistant to vibration The ambient conditions are stated in the product technical data sheet and must be adhered to The storage period is essentially dictated by the stability of the lubricants and should be less than 36 months To keep the motor in working order it is advisable to start up the drive solution occasionally 15 3 Maintenance Only the manufacturer is authorized to undertake repairs Any personal intervention voids any guarantee and precludes manufacturer liability Repairs cannot be performed with the motor mounted Prior to any intervention on the drive system please refer
25. digital inputs 1 to 5 owitch back to run mode enable one of digital inputs 1 to 5 142 ind BRUSHLESS M MOTORS Cos CY Crouzet SMI21 12 3 Torque Programs 12 3 1 Types of Inouts in C100 Programs The table below defines the function associated with each of the inputs in the 2 C100 programs the color associated with the input number corresponds to that of the I O bundle C101 C102 ON OFF a4 Fast stop NT Key Digital type input Analog or PWM type input Forthcoming programs 12 3 2 Types of Outputs in C100 Programs For all expert torque programs we have 2 configurable output configurations the color associated with the output number corresponds to that of the I O bundle Motor running Digital Digital 00 error detected 01 motor running 10 motor stopped torque position reached and held 11 motor stopped no torque applied PWM Digital combinations Key Digital type output PWM Pulse Frequency type output 143 oMI21 Cos CY Crouzet BRUSHLESS MOTORS 12 3 3 Description of the Various Tabs For the description of tabs expert program C101 is used as an example for detailed information about each torque expert program see the Expert Program C101 section in this document 12 3 3 1 Home Page This page is common to all the expert and application programs whether in speed position or torque mode It can be us
26. eee en en 156 14 DIAGHOSIICS and TrOUDISS OO kain n a ana ad aii 159 i41 Mechanical Fa S ne ee A E E E E den EE EES 159 14 2 Electrical Failures NS ssssiiiisesssneeeerreeenenesreeeeeeeeeeeeeeeennnsenee 159 15 Service maintenance and disposal sise 160 15 1 Addresses of After Sales Service Outlets sise 160 C MEME oo RR 160 iconic 160 194 Replacing TO VIO DO Fosse a time ane Rete ne ben auto boat has te 161 15 5 Dispatch Storage Disposal sise 161 15 6 Terminology and Abbreviations sise 162 x Crouzet SMI 1 About This Manual This manual applies to SMI21 DCmind brushless products e 801400SMI21 801495SMI21 801496SMI21 801410SMI21 e 801800SMI21 801896SMI21 801897SMI21 801810SMI21 e 802800SMI21 802896SMI21 802897SMI21 802810SMI21 Reference source for manuals The manuals can be downloaded from our website at the following address http www crouzet com Units SI units are the default values Risk Categories In this manual safety instructions are identified by warning symbols Depending on how serious the situation is the safety instructions are split into 3 risk categories A DANGER DANGER indicates a directly dangerous situation which if the instructions are not followed will inevitably lead to a serious or fatal accident A WAR
27. expert programs speed position and torque the user can give a name to his project 4 alphanumerical characters maximum using the Project name parameter in the program Description tab expert program V101 will be used as an example Project name Figure 2 Once he has configured his application the user should upload the program to the motor This action is essential so that the motor can take account of the project name and the associated parameters The Project name parameter can be accessed by clicking the Motor Information tab in the main menu bar Motor Information Updating the parameter Project name Project name Matar reference Coll reference Manufacturing date Firmware Figure 278 The project parameters can be saved in an xml file by clicking on Save As in the File tab of the main menu Open Save as Exit Figure 279 They can also be reused by clicking on Open in the File tab of the main menu then selecting the appropriate MOT 1 xmYl file 156 LA Mz Crouzet Ci Ouvrir gO kl gt Param tres V101 Rechercher dans Param tres P oMI21 Language Open Save as Exit Figure 280 Bor Organiser v Nouveau dossier Ft Favoris EE Bureau S Emplacements r cents Jd T l chargements Biblioth ques 5 Documents i Images d Musique B Vid os jE Ordinateur amp Disque local C GP ServeurAppli
28. file compatible with the Excel spreadsheet change its extension to csv Figure 160 101 oMI21 ind BRUSHLESS MOTORS CY LS Crouzet Example With 8 preprogrammed speeds this gives us the following graphic representation recording time of 30 seconds Speed 1 is at 0 RPM Motor Graphic 4000 3000 2000 E gt E o 2 S 1000 0 1000 0 5 10 15 20 25 30 35 Time ms 10 3 Figure 161 Note The display scales can be changed with the mouse wheel Other functions are available by right clicking the mouse Copy Save Image As Page Setup Print Show Point Values Un Zoom Unde All Zoom Pan Set Scale to Default Figure 162 102 Crouzet SMI21 12 1 7 8 Limits Tab Parameters VOLTAGE SURGES During the braking phases the motor generates voltage surges Check that its voltage surges can be tolerated by the other devices connected to the same power supply Use an external circuit to limit voltage surges if the brake is being used intensively Failure to comply with these precautions will result in death serious injury or equipment damage Setting the overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Overvoltage detection Threshold voltage zv T 7 Figure 163 12 1 7 9 Errors Tab Parameters For
29. it The voltage breaking capacity usually selected is between 10 and 20 of the supply voltage E g For 24 VDC the voltage breaking capacity would be 28 VDC List of components for the usual operating voltages Nominal voltage capacity SMBJ14A SMBJ28A SMBJ36A SMBJ54A R3 JOR 560RO5W 1K1W 2K2 2W 15K 196 4K32 1 3K09 196 1K95 1 9 1 2 EMC Protection In order to ensure that the product is compatible with EMC standards IEC 61000 6 1 IEC 61000 6 2 IEC 61000 6 3 IEC 61000 6 4 we recommend Connecting the motor to ground while limiting length of the grounding strip Adding capacitors on the main power supply We recommend 1000 uF per amp drawn 31 x Crouzet SMI21 9 2 Protection A DANGER PROTECTION The product has internal protection devices that switch off the motor power supply when activated As the motor is no longer controlled driving loads can decrease e The system manufacturer is responsible for complying with all the applicable safety rules in the event of product failure Failure to comply with these precautions will result in death or serious injury 9 2 1 Voltage Protection The product incorporates protection against voltage surges and undervoltages Protection against voltage surges The voltage surge threshold can be set in the HMI between 12 and 57 V set at 57 V by default When the supply voltage exceeds the threshold the product automatically switch
30. m Output 3 DIGITAL Motor Running Output 3 DIGITAL Motor Running Sortie 3 amp 4 TOR Etat du Moteur 0 motor running motor running 1 motor stopped O unie erreur a t d tect e 1 motor stopped O1 le moteur est en rotation Output 4 DIGITAL Error Output 4 DIGITAL Error 10 le moteur est arr t et i le couple de maintien est actif D Error detected 0 Error detected v 11 le moteur est arr t sans maintien 1 No error 1 Ma error Output 2 type parameter Output 10 type parameter settings settings Figure 253 146 CY Crouzet SMI21 12 3 3 5 Tuning Tab This tab is used to represent some parameters speed torque etc in graphic form and modify the torque control loop coefficients It is common to all the torque expert programs Description Inputs Qutputs Tuning Limits Errors Real Speed SS ELLE ora 009008 ILILLLLLLOZI1 1 1 0 Real Torque This tab is used to view the lone nor d parameters In graphic Torque control loop parameters orm Kp 000847 4 ki 000062 4 Kd 0399990 amp Recording time 1 lal Gecond s This zone is used to E Select the parameters to be viewed in graphic form Set the torque correction factors Set the display time Export the data csv Export Data Figure 254 12 3 3 6 Limits Tab This tab can be used to set the power supply overvoltage thre
31. management etc Figure 251 12 3 3 3 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity value control type maximum and minimum control limit etc 145 ind BRUSHLESS Cos CI Crouzet SMI21 M MOTORS Description Outputs Tuning Limits Errors Input 1 DIGITAL ON OFF Input 2 DIGITAL Direction of Rotation 0n 1 0f 0 On 0 Off 1 Cwet cCw 0 O Cw 0 COw Input 3 Mot used Input 4 DIGITAL Fast 5tep High State Active Low State Active Input 5 Proportional setpoint Torque Ramp nput 6 Proportional setpoint Torque 10v 10 mM m s 2000 i mM m 0 10 Ow PwM 9 0 10 0 5 PAM 0000 ea mb ms ov Figure 252 12 3 3 4 Outputs Tab This tab is used to select and configure the various outputs in this expert mode torque type 2 and type 10 Descipion Inputs Outputs Tuning Limits Errors Output 1 FM Real Speed Output 1 FREQUENCY Real Speed Sortie 1 Pw Vitesse R elle centr e sur 50 PM frequency 1000 Hz Frequency at 1000 rpm Hz FM frequency 1000 Hz Output 2 Pah Real Torque Output 2 DIGITAL Real direction Sortie 2 Pwt Couple R el centr sur 50 FM frequency 1000 Hz D Counter Clackwise Eis emer Hz 52 terque 100 PM 1000 1 Clackwi ue in ts S2 torque 100 Pwhj 000 m
32. miim Output 3 DIGITAL Real direction Output 3 DIGITAL Motor running Output 3 DIGITAL Motor running Outputs 3 amp 4 DIGITAL Motor status 0 Counter Clockwise 0 Motor running 0 Counter Clockwise Clockuise 00 Error detected 1 Clockwise 1 Motor stopped 1 Clockwise 01 Motor running QJutput 4 3 o Output 4 IG D Output 4 DIGITAL Error Output 4 DIGITAL Error iia i de 10 Motor stopped and holding torque applied Error detected 0 Error detected 0 erreur d tect e 11 Motor stopped without holding 1 No error 1 No error 1 pas d erreur d tect e Output 3 type parameter settings Output 1 type parameter settings Output 4 type parameter settings Output 2 type parameter settings Figure 50 12 1 3 5 This tab is used to represent some parameters speed torque etc in graphic form and modify the speed control loop coefficients It is common to all the speed expert programs Tuning Tab Description Inputs Outputs Tuning Limits Errors Speed Setpoint Heal Speed Heal Torque Speed control loop parameters This tab is used to view the selected parameters in graphic form This zone is used to Select the parameters to be viewed in graphic form Set the speed correction factors Set the display time Export the data csv Second s Export Data Figure 51 64 CY Crouzet SMI21 12 1 3 6 Limits Tab This tab is use
33. or running Output 3 DIGITAL Motor running 0 Motor running 1 Motor stapped Figure 64 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mn error Figure 65 69 LA cy Crouzet SMI21 12 1 4 5 Type 3 Outputs Tab Parameters Setting the parameters of frequency output 1 Real speed The parameters can be set for the signal frequency of this output for which the motor runs at 1000 RPM 200 500 or 1000 Hz Output 1 FREQUENCY Real speed Frequency at 1000 rpm 1000 m Hz Figure 66 State of digital output 2 Real direction Used to find out the motor direction of rotation Output 2 DIGITAL Real direction 0 Motor running 1 Matar stopped Figure 67 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor running 0 Counter Clockwise 1 Clockwise Figure 68 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 No error Figure 69 70 Co CY Crouzet SMI21 12 1 4 6 Type 4 Outouts Tab Parameters setting the parameters of PWM output 1 Real speed centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 0 If cycli
34. speed of rotation when nominal torque is applied Nominal current Current drawn by the motor when nominal torque is applied Nominal torque Maximum applicable torque in continuous duty on the motor shaft Firmware Control software embedded in the motor Bootloader Function available in the HMI which can be used to update the firmware Commonly used abbreviations HMI Human Machine Interface SMI21 Trade name of the new CROUZET brushless range Homing Initialization phase for finding the limits AON Type of digital inputs outputs All Or Nothing PWM Pulse Width Modulation FWD Forward HEV Reverse NO Normally Open NC Normally Closed EMC Electromagnetic Compatibility 162
35. switch type stop then for the system mechanical stop as follows First configure the switch polarity High state active or Low state active Depending on the switch position on the right or left the user selects the appropriate Direction of rotation and sets a Homing Speed When the switch changes state the first stop Switch 1 is detected The motor is in the mechanical zero position To avoid the motor coming into contact with the Switch 1 stop each time it returns to the reference position Offset 1 can be set in encoder pulses which gives us the difference in position between the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd mechanical stop END2 When the application torque increases to more than the Homing Torque the END2 mechanical stop is detected the motor is in the mechanical zero position To avoid the motor coming into contact with the END2 mechanical stop each time it returns to the reference position Offset 2 can be set in encoder pulses which gives us the difference in position between the mechanical end and the total stroke After detecting both stops the motor positions itself at END2 offset 2 the homing phase is complete As a safety measure if the homing phase is not complete after the Max Homing Time the motor detects a Homing type error and stops 110 LA cy Crouzet SM
36. tarque 10025 PM 1000 ET Figure 155 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OO Error detected 01 Motor running 10 Motor stopped and holding torque applied 11 Matar stopped without holding Figure 156 100 LA cy Crouzet SMI21 12 1 7 7 Tuning Tab Parameters oelection of the various parameters to be represented in graphic form either 1 2 or 3 parameters The system speed response measurement vs setpoint can therefore be compared while displaying changes in the current Speed setpoint Real speed Real torque Figure 15 Set the PID controller factors in the speed control loop this function is reserved for advanced users The values given in the example below ensure correct product operation in the majority of cases Speed control loop parameters Kp 5 70000 amp Eis 0 10000 a r 1 Ea Kd 0 00000 E Figure 158 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 ms During data acquisition the other HMI functions are not available Recording time 10 Seconds E Doo E Figure 159 Curve Drawing button used to start data acquisition Curves are only displayed once acquisition is complete Export Data button used to retrieve data corresponding to the selected parameters in a text file txt To make this
37. the motor shaft or related drive elements Failure to comply with these precautions can result in death serious injury or damage to equipment ROTATING PARTS Rotating parts can cause injuries trap clothing or hair Separate parts or unbalanced parts can be ejected Check that all rotating parts are fitted properly Use a protective cover for rotating parts Failure to comply with these precautions can result in death serious injury or damage to equipment FALLING PARTS The motor can move due to the reaction torque it can topple over and fall Fix the motor firmly in place so that it cannot become detached during rapid acceleration Failure to comply with these precautions can result in death serious injury or damage to equipment 22 CY Crouzet SMI21 CAUTION HOT SURFACES The motor s surface can heat up to more than 70 C in certain types of use Avoid contact with hot surfaces Do not place flammable or heat sensitive components in the immediate vicinity Assemble components in the best way for heat dissipation e Check the temperature when performing a test Failure to comply with these precautions can result in injury or damage to equipment CAUTION VOLTAGE SURGES During braking phases the motor generates voltage surges Check that these voltage surges are acceptable to other devices connected on the same power supply f possible use an external circuit to limit volt
38. to Default Figure 246 140 Crouzet SMI21 12 2 6 10 Limits Tab Parameters UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor Make sure this will not cause any damage Do not continue with the test if there is anyone or any obstacle in the hazardous zone Failure to comply with these precautions will result in death serious injury or equipment damage This tab can be used to set the limit values for various parameters Torque management Torque mN m Nominal torque Crominall 250 m m CMAX hd asimum torque Cries B rf m Pd Id cal dede Maximum peak time tmas 20600 m CNOMINALS x E F L amp max Time ms Figure 247 setting the various torque parameters When the application torque exceeds the torque Cynominac the motor can provide torque up to the value Cmax for the maximum duration tyax Thereafter if the application torque is still higher than Cnommac the motor torque is limited to the value CyoyiwAL until the application torque falls back below this value VOLTAGE SURGES During the braking phases the motor generates voltage surges Check that its voltage surges can be tolerated by the other devices connected to the same power supply Use an external circuit to limit voltage surges if the brake is being used inte
39. 0 Counter Clockwise 1 Clockwise Figure 90 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error 0 Error detected 1 No error Figure 91 78 CY Crouzet SMI21 12 1 5 4 Type 2 Outputs Tab Parameters Setting the parameters of PWM output 1 Real Speed The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 2 096 Real speed 0 rpm If cyclical ratio 100 Real speed maximum speed setpoint defined in In6 Output 1 Ph Heal Speed PM frequency 1000 Hz Figure 92 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output z PM Real Torque Ph frequency 1000 a Le 52 terque 1005 Phi 1000 c m m Figure 93 otate of digital output 3 Motor Running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor Running motor running 1 motor stopped Figure 94 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mn error
40. 00 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 40000 CY Crouzet SMI21 12 2 6 4 Type 5 Outputs Tab Parameters State of digital output 1 Target Reached Flag Used to find out whether the position setpoint has been reached Output 1 DIGITAL Target Reached Flag Position target nat reached 1 Position target reached Figure 225 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Output z DIGITAL Homing Sequence Information 0 Homing completed 1 Homing in progress ar no homing Figure 226 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor running Motor stopped 1 Motor running Figure 22 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Mo error 1 Error detected Figure 228 134 CY Crouzet SMI21 12 2 6 5 Type 6 Outputs Tab Parameters State of digital output 1 Target Reached Flag Used to find out whether the position setpoint has been reached Output 1 DIGITAL Target Reached Flag 0 Position target not reached 1 Position target reached Figure 229 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing complet
41. 10 ms During data acquisition the other HMI functions are not available Recording time 1d Seconds PO Figure 132 Curve Drawing button used to start data acquisition Curves are only displayed once acquisition is complete Export Data button used to retrieve data corresponding to the selected parameters in a text file txt To make this file compatible with the Excel spreadsheet change its extension to csv Figure 133 91 ind BRUSHLESS MOTORS oMI21 CI Crouzet Example With a priority speed on input 1 at 1000 RPM a priority speed on input 2 at 2000 RPM and a priority speed on input 3 at 3000 RPM this gives us the following graphic representation recording time of 10 seconds Motor Graphic Real speed Speed setpoint 3500 3000 2900 f 2000 E g 1500 o 2 1000 500 0 500 0 2 4 6 8 10 12 14 16 18 Time ms 1043 Figure 134 Note The display scales can be changed with the mouse wheel Other functions are available by right clicking the mouse Copy Save Image As Page Setup Print Show Point Values Un Zoom Undo All Zoom Pan Set Scale to Default Figure 135 92 Crouzet SMI21 12 1 6 8 Limits Tab Parameters UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor Make sure this will not cause any damage Do not
42. 3 amp 4 DIGITAL Motor status OO Error detected 01 Homing in progress OA no homing 10 Homing completed AND motor stopped 11 Motor running positioning Figure 235 136 CY Crouzet SMI21 12 2 6 7 Type 8 Outputs Tab Parameters otate of digital output 1 Target Reached Flag Used to find out whether the position setpoint has been reached Output 1 DIGITAL Target Reached Flag Position target not reached 1 Position target reached Figure 236 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 2 096 Braking torque supplied S2 torque If cyclical ratio 2 5096 Torque supplied 0 mNm If cyclical ratio 2 10096 Motor torque supplied S2 torque Output z PM Heal torque centered an 50 Pw frequency 1000 r3 Hz S2torque 100 Pw 000 S mm Figure 237 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OU Error detected OR motor in stop made AMD na homing O1 Motor running positioning 10 Motor stopped AMD homing completed 11 Mat used Figure 238 137 LA CY Crouzet SMI21 12 2 6 8 Type 9 Outputs Tab Parameters Setting the parameters of Pulse output 1 Real speed A Hall pulse wit
43. 6 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected Ma error Figure 197 123 CY Crouzet SMI21 12 2 5 6 Type 7 Outputs Tab Parameters otate of digital output 1 Target Reached Flag Used to find out whether the position setpoint has been reached Output 1 DIGITAL Target Reached Flag Position target not reached 1 Position target reached Figure 198 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 10096 scaling If cyclical ratio 2 096 Braking torque supplied S2 torque If cyclical ratio 2 5096 Torque supplied 0 mNm If cyclical ratio 2 10096 Motor torque supplied S2 torque Output 2 Pw Real torque centered on 50 PM frequency 1000 He S2 torque 100 Pw 1000 S mN m Figure 199 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OO Error detected 01 Homing in progress OA no homing 10 Homing completed AND motor stopped 11 Motor running positioning Figure 200 124 CY Crouzet SMI21 12 2 5 7 Type 8 Outputs Tab Parameters otate of digital output 1 Target Reached Flag Used to find out whether the position set
44. Cos CI Crouzet SMI21 ind SMI21 DCmind Brushless Motors User Manual and Safety Notice Important Notes This manual is part of the product Read and follow the instructions in this manual Keep this manual in a safe place Give this manual and any other documents relating to the product to anyone that uses the product Read and be sure to comply with all the safety instructions and the section Before you Begin Safety Related Information Please consult the latest catalogue to find out about the product s technical specifications e We reserve the right to make modifications without prior notification CY Crouzet SMI21 1 Table of Contents HU OGG Oo 6 1 1 MOTOF FANNY APP Ne 6 1 2 Coa a lens ESS ae ete Se Odile nee ns desde eee elite 2 6 1 3 Gol M 6 1 4 Identification Label 6 1 5 PO COR E E E 7 Before you Begin Safety Related Information 8 gis PESO ERU eH a ea na ee ae me en 8 2 2 Use in Compliance with Industry Practice ss 8 2 3 BASIC H ON O ERREUR 9 2 4 Standards and concepts ERIT 10 Precautions for use concerning the mechanics ss 11 3 1 Data specific to the motor shaft iii 11 3 1 1 xic aiWre M 11 3 1 2 Radial load on the sha ft ss 11 3 2 Sol PNR screcicnsa git sae eee E ques tar
45. I21 C 1endthen 1 switch with the zero defined by the mechanical switch Start from current position 1 mechanical stop 3 2 mechanical stops O 1 switch 1 switch then 1 na Selection of homing Switch Status High state active Low state active Offset pulses Offset 1 D al Offset 2 0 ja Switch 2 Homing Speed Approach Speed 100 mm 50 Bem e mechanical zero m Offset 2 1 Horning Torque mechanical end lt RERHEHEERHEEEEEEHNEEEE grt 100 S mim X software zero One Accessible parameters 300 second Direction of rotation C Change the direction of rotation Figure 1 0 This homing phase is used to search initially for the system mechanical stop then for the system switch type stop as follows First configure the switch polarity High state active or Low state active Depending on the END1 stop position on the right or left the user selects the appropriate Direction of rotation and sets a Homing Speed When the application torque increases to more than the Homing Torque the END1 mechanical stop is detected the motor is in the mechanical zero position To avoid the motor coming into contact with the END1 mechanical stop each time it returns to the reference position Offset 1 can be set in encoder pulses which gives us the difference in position between the mechanical zero and the software zero The motor then travels in the opposite dire
46. Input 3 DIGITAL Position 3 High state active CO Low state active Figure 185 Digital input 4 Used to set the Position 4 input polarity Input 4 DIGITAL Position 4 High state active CO Low state active Figure 186 120 LAC CY Crouzet SMI21 Set the 4 position setpoints and the speed profiles to be followed acceleration ramp speed step and deceleration ramp trapezoidal profile Input 1 2 3 4 DIGITAL Select Position Setpoint Fasitioan pulses Speed rpm Acceleration rpms Deceleration roms e1 1000 000 4000 4000 amp E2 2000 4 1000 S 40000 o 40000 E3 3000 S 1000 S 40000 j 40000 4 E4 4000 S 1000 i 40000 4 40000 m Figure 187 Digital input 5 Used to set the Start Homing input polarity Input 5 DIGITAL Start Homing Start Homing 1 Stop Homing 0 Start Homing 0 Stop Homing 1 Figure 188 Digital input 6 Used to set the On Off input polarity Input 6 DIGITAL ON OFF ON 1 OFF 0 ON 0 4 OFF 1 Figure 189 121 CY Crouzet SMI21 12 2 5 4 Type 5 Outputs Tab Parameters State of digital output 1 Target Reached Flag Used to find out whether the position setpoint has been reached Output 1 DIGITAL Target Reached Flag Position target not reac
47. L ON 4 OFF 9 On 1 0f 0 n 0 Oif 2 1 Input 3 DIGITAL Holding at stop High state active Holding Torque 150 Low state active Input 5 Proportional setpoint Acceleration Deceleration 10V 100 Input 2 DIGITAL Direction of Rotation Cw 21 CDw Cw 0 CCW 21 Input 4 DIGITAL Fast Stop High state active CO Low state active cal mM m Input 6 Proportional setpoint Speed 10V 4000 rmm EA Eal pms 0 10 Oo5 PwM Figure 49 63 Co MA ind BRUSHLESS M MOTORS Crouzet SMI21 12 1 3 4 Outputs Tab This tab is used to select and configure the various outputs in this expert mode speed type 1 to type 4 Description Inputs Outputs Tuning Limits Errors NNNNEIIEIIEIIMEIEMNEN Output 1 PWM Real speed Output 1 PULSE Real speed Output 1 FREQUENCY Real speed Output 1 PWM Real speed centered on 50 Hall pulse width PM frequency 1000 Hz Frequency at 1000 rpm 1000 Hz e e e JJ cw pS Output 2 PWM Real torque Output 2 PWM Real torque Output 2 DIGITAL Real direction Output 2 PWM Real torque centered on 50 PwM frequency 1000 Hz PWM frequency 1000 Hz 0 Motor running PWM frequency 1000 Hz is a 52 torque 100 PM 1000 aN m 1 Motor stopped 1 52 torque 100 Pw 1000 c mN m on DLL 52 torque 100 PWM 000
48. LTAGE SURGES During braking phases the motor generates voltage surges Check that these voltage surges are acceptable to other devices connected on the same power supply f possible use an external circuit to limit voltage surges if the brake is used intensively Failure to comply with these precautions can result in injury or damage to equipment 14 LA Crouzet me sind 5 1 Overview of the Installation Procedure The installation procedure is described in the following sections Electromagnetic Compatibility EMC Prior to Mounting Mounting the Motor Electrical Installation Connecting the USB cable to Set the Motor Parameters Check that these sections have been read and understood and that installation has subsequently been executed correctly 5 2 Electromagnetic Compatibility EMC A DANGER INTERFERENCE AFFECTING SIGNALS AND EQUIPMENT Disturbed signals can cause equipment to behave unpredictably Wire up products in compliance with the specific EMC recommendations for each device Make sure that these EMC recommendations are executed correctly Failure to comply with these precautions can result in death serious injury or damage to equipment Recommendations in terms of EMC Installing the motor power supply leads When planning the wiring take account of the fact that the motor power supply leads must be kept separate from line supplies or cables carrying signals Comply with the foll
49. NING WARNING indicates a possibly dangerous situation which if the instructions are not followed will in some cases lead to a serious or fatal accident or cause damage to equipment CAUTION CAUTION indicates a potentially dangerous situation which if the instructions are not followed will in some cases lead to an accident or cause damage to equipment 7 Crouzet SMI21 BRUSHLESS MOTORS 1 INTRODUCTION 1 1 Motor Family SMI21 DCmind brushless motors are brushless DC motors with a control circuit board integrated in the motor 1 2 Characteristics SMI21 DCmind brushless motors are intelligent servomotors for speed position and torque control applications They can be configured via a Human Machine Interface HMI They are equipped with 2 unshielded cables as standard 1 for the power 1 for the control signals 1 3 Options The motors can be supplied with options such as e Different gearboxes e A failsafe holding brake e Different motor output shaft versions 1 4 Identification Label The label contains the following data Read instructions before use www crouzelcom LP 2 XX90000X socie IInz xx VD o XXXXX xx x Nm MAX 12 PE 1 Pom E CneumsE X xo T E Y p 11 Product family code Product part number Reserved zone Zone reserved for specific customer marking Week year manufacturing date Operating voltage Nomi
50. OUT1 If O setpoint position not reached if 1 setpoint position reached e OUT2 If 0 homing phase complete if 1 homing phase in progress or not performed 50 LA CY Crouzet SMI21 e OUTS If 0 motor stopped if 1 motor running OUTA If 0 no error if 1 error detected 11 3 2 2 Application Settings e he user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window e f it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph e he Number of rotation s to close the valve and Mechanical ratio between the motor and the valve parameters are used to calculate the application total stroke in number of motor revolutions 51 IN BRUSHLESS M MOTORS LA CY Crouzet SMI 1 11 4 Conveyor Belt Group n n H 11 4 1 Conveyor Belt 0 10V Application Program E Ge DCmind Soft lex File Language Bootloader Motor Information Motor Connection Help e C r ouz et des E vies eee beh applications with an analog setpoint J M the maximum conveyor belt speed corresponding to 10V setpoint the ratio between motor speed rotation and conveyor belt linear speed T d The available settings in this program have been limited to simplify the Conveyor Belt 0 10V configuration of the application Application settings Project Name
51. Supply voltage a _ voltage Voc 9 12 24 48 56 V Curetlpgg 2 10 17 A Motor consumption when stopped without holding Do o0 o ovWw o Wo Parameters Min Typical Max Unt input impedange Int to Ind Ra ne 0 Input impedance I5 to I6 Rn aywewm 69 Q Low logic level on inputs In1 to In4 Va pg 0 2 V P7 High logic level on inputs Ini to In4 Vupg 4 50 V wJ Low logic level on inputs 15 to 16 Va ewu 0 o 2 V 7 High logic level on inputs 15 to 16 Vu pwu TT RSR EEE R 4 K7Q Vic 24 V High logic level on outputs Out1 to Out4 Vo Wo o jweo v o HL 4 K7Q Vic 24V 0 5 V EE PNP open collector type 8 2 Generic Data Ambient motor temperature 30 to 70 Insulation class compliant with directive IEC 60085 E 7 7 Ingress protection excluding output shaft IP65M LOU 26 x Crouzet SMI21 8 3 Control Logic Bundle This consists of a UL approved cable Style 2464 80 C 300 V 500 mm long as standard fitted with a 12 pin MOLEX connector part number 43025 1200 Figure 2 6 Input no 6 Analog setpoint or PWM or Digital Orange 8 Logicground OVDC QWhieBlck 9 Outtno 1 DigtaloPWM Brown 11 jOutputno3 Digtal 1 Red A label attached to the motor summarizes this informatio
52. age surges if the brake is used intensively Failure to comply with these precautions can result in injury or damage to equipment 23 BRUSHLESS MOTORS oMI21 LA c CY Crouzet 7 PRODUCT OVERVIEW 7 1 Description of the Product Label 12 pin logic connector Inputs Outputs Failsafe rear brake Optional NS E t 4 Power supply Power and Logic Integrated optical encoder 1024 points Output shaft USB B micro connector l Parameter definition via SMl21 integrated electronics HMI Figure 1 7 2 SMI21 Control Electronics The SMI21 electronic control card contains the control electronics for a brushless motor integrated in the motor body This electronics is used for Power switching of the motor in sine mode field oriented control FOC Position Speed Torque and Current control algorithms Use of preconfigured programs which can perform numerous routine applications Management of different types of operation o Stand alone motor without external PLC o Use with other motors incorporating SMI21 or TNI21 or Motomate electronics o Use with a programmable controller with the SMI21 simplifying motor management The interface with parameter definition software installed on the PC o Easy to use even by a layman thanks to simplified application programs that are quick to get up and running o Wide choice of expert programs covering a wide range of applications o USB connection v
53. all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Motor safety errors Bl Overtemperture 110C mm Motor stopped no holding terque applied B2 Undervoltage 28V oto stopped no holding torque applied B3 Overvoltage gt Sy mu Hiotor stopped no holding torque applied Figure 164 Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode enable digital inputs 4 and 5 Switch back to run mode disable either digital input 4 or digital input 5 103 ind Mu Eur lr CY Crouzet SMI21 12 2 Position Programs 12 2 1 Types of Inputs in P100 Programs The table below defines the function associated with each of the inputs in the 12 P100 programs the color associated with the input number corresponds to that of the I O bundle Programs BEN us Position 1 om Position 2 X Position 4 Homing ON OFF modin m P107 P108 P109 P110 P111 positions Homing ON OFF Switch 1 limit stop E pe EJ Digital type input Analog or PWM type input Forthcoming programs 104 ind BRUSHLESS M MOTORS oMI21 Cos CI Crouzet 12 2 2 Types of Outputs in P100 Programs For all expert position programs 5 configurable output configurations are available the color associated with t
54. an be used Input 5 Proportional setpoint Torque Limit 10 v By nn 0 10 C D 5v O Pw 1000 i mM m sw DM Figure 86 Setpoint input 6 Used to select the control type for the speed setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Input 6 Proportional setpoint Speed 10v 4000 rpm 0 10 Ow PAM 0 A mm DM Figure 87 17 CY Crouzet SMI21 12 1 5 3 Type 1 Outouts Tab Parameters Setting the parameters of Pulse output 1 Real speed A Hall pulse with configurable width 100 to 800 us is generated each time one of the 3 motor Hall sensors changes state 80140 SMI21 and 80180 SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280 SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Output 1 PULSE Real speed Hall pulse width FOO id TES Figure 88 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 10096 scaling If cyclical ratio 0 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output z Ph Heal Torque Ph frequency 1000 E Hz S2torque 100 Pw 1000 Nm Figure 89 State of digital output 3 Real direction Used to find out the motor direction of rotation Output 3 DIGITAL Real direction
55. ase motor direction of rotation to search for the 1st stop Description Homing Inputs Outputs Tuning Limits Errors Selection of the type of homing to be performed 0 1 or 2 mechanical Start from current position 1 mechanical stop 2 mechanical stops Offset pulses Offset 1 O a Offset 2 0 ti Homing Speed Homing Torque 100 ti rpm 100 e mM Max Homing Time 300 second Direction of rotation Change the direction of rotation Summary description of the selected homing phase Parameters associated with the selected homing 12 2 4 4 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity setting the parameters for the 4 target positions position maximum speed acceleration and deceleration rates Description Homing Inputs Outputs Tuning Limits Errors Input 1 DIGITAL Position 1 Input 2 DIGITAL Position 2 Inputs 1 2 3 4 DIGITAL Select Position Setpoint High state active High state active Fosition pulses Speed pm Acceleration roms Deceleration rpms Low state active Low state active E1 1000 E 1000 l 40000 40000 i x E E2 2000 Ea 1000 E3 40000 ta 40000 4 Input 3 DIGITAL Position 3 Input 4 DIGITAL Position 4 m E E3 3000 1000 40000 4 4000 High state acti
56. ata acquisition Curves are only displayed once acquisition is complete Export Data button used to retrieve data corresponding to the selected parameters in a text file txt To make this file compatible with the Excel spreadsheet change its extension to csv Figure 210 127 CI L Crouzet Example SMI21 d BRUSHLESS 4 MOTORS Position 1 2 000 000 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rpm sec Position 2 0 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rom sec This gives us the following graphic representation 1500 1000 500 Velocity rpm e 500 1000 1500 Position pulses 10 6 Motor Graphic Position setpoint Real position Real speed 25 2 0 13 1 0 0 5 0 0 0 5 SS 0 20 40 60 80 100 120 Time ms 103 Figure 211 Note The display scales can be changed with the mouse wheel Other functions are available by right clicking the mouse Copy Save Image As Page Setup Print Show Point Values Un Zoom Undo All Zoom Pan Set Scale to Default Figure 212 128 Crouzet SMI21 12 2 5 10 Limits Tab Parameters UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor Make sure this will not cause any damage Do not continue with
57. azards that might be generated through use of the product modifying settings and the mechanical electrical and electronic equipment in the whole installation 2 2 Use in Compliance with Industry Practice As demonstrated in these instructions this product is a component designed for use in industrial environments The current safety instructions specified conditions and technical specifications must be complied with at all times Before starting to use the product undertake a risk analysis using actual examples Depending on the result the necessary safety measures must be implemented oince the product is used as a component in an overall system it is the user s responsibility to guarantee people s safety through the concept of the overall system e g concept of a machine Only use original manufacturer accessories and spare parts The product must not be used in explosive atmospheres Ex zone All other types of use are deemed to be non compliant and can be dangerous Only qualified personnel are authorized to install operate maintain and repair electrical equipment LA Crouzet me sind 2 3 Basic Information A DANGER DANGEROUS PHENOMENON LINKED TO ELECTRIC SHOCK EXPLOSION OR EXPLOSION DUE TO AN ELECTRIC ARC e Only qualified personnel who are familiar with and fully understand the contents of this manual are authorized to work on this product Only qualified personnel are authorized to undertake installation sett
58. cal ratio 50 If cyclical ratio 100 Motor running forward CW at maximum speed setpoint defined in In6 Real speed 0 rpm Motor running in reverse CCW at maximum speed setpoint defined in In6 Output 1 Ph Heal speed centered on 50 PM frequency 1000 ell Hz E A J Figure 0 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 2 096 If cyclical ratio 2 5096 If cyclical ratio 2 10096 Braking torque supplied S2 torque Torque supplied 0 mNm Motor torque supplied S2 torque Output 2 Pl Real terque centered on BU FM frequency 1000 He 52 torque 100 Pw M 1000 Nm Figure 1 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OO Error detected 01 Matar running 10 Matar stopped and holding torque applied 11 Motor stopped without holding Figure 2 71 LA cy Crouzet SMI21 12 1 4 7 Tuning Tab Parameters Selection of the various parameters to be represented in graphic form either 1 2 or 3 parameters The system speed response measurement vs setpoint can therefore be compared while displaying changes in the current Spee
59. continue with the test if there is anyone or any obstacle in the hazardous zone Failure to comply with these precautions will result in death serious injury or equipment damage This tab can be used to set the limit values for various parameters Torque management Torque mN m Nominal terque Enaminal 250 m m Masimum torque Cmax 500 m m M asimum peak time tmas 2000 ns a CNOMINAL QU AC Time ms amp Max Figure 136 setting the various torque parameters When the application torque exceeds the torque Cyominac the motor can provide torque up to the value Cmax for the maximum duration tyax Thereafter if the application torque is still higher than Cnommac the motor torque is limited to the value CyoyiwAL until the application torque falls back below this value VOLTAGE SURGES During the braking phases the motor generates voltage surges e Check that its voltage surges can be tolerated by the other devices connected to the same power supply Use an external circuit to limit voltage surges if the brake is being used intensively Failure to comply with these precautions will result in death serious injury or equipment damage Setting the overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Overvoltage Detection Threshold va
60. cor iguralion r Positions Table Number of positions 30 S Application settings Project name Number of rotation s to close the valve Time to realize the total stroke to close the valve Output Vcc supply 5Vde 524 Vdc INE Position Position 5p PNP open ENS tour pulse JO S Target Outt hg Homing done 0 Out2 Running Error D input STOP M ou connections connections Figure 42 The Valve 30 positions application program invokes the P111 expert program The user can switch to this expert mode at any time to access all the settings by clicking the Expert Mode button The values preset in application mode will be loaded directly in expert mode It is then impossible to return to this application program The user can press the STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 3 2 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs e IN to IN5 32 possible combinations INT IN2 IN3 INA IN5 0 Stop IN12 1 all 4 others 0 Launch homing phase The other 30 combinations correspond to the 30 position setpoints IN6 Not used Outputs Don t forget to fit the pull down resistors on each of the outputs e
61. ction to find the 2nd stop Switch 2 When the switch changes state the 2nd stop Switch 2 is detected the motor is in the mechanical end position To avoid the motor coming into contact with the Switch 2 stop each time it returns to the reference position Offset 2 can be set in encoder pulses which gives us the difference in position between the mechanical end and the total stroke After detecting both stops the motor positions itself at Switch 2 offset 2 the homing phase is complete As a safety measure if the homing phase is not complete after the Max Homing Time the motor detects a Homing type error and stops 111 LPR e CI Crouzet SMI2 BRUSHLESS MOTORS 12 2 4 Description of the Various Tabs For the description of tabs expert program P101 is used as an example for detailed information about each speed expert program see the Expert Program P101 to Expert Program P111 sections in this document 12 2 4 1 Home Page This page is common to all the expert and application programs whether in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Position P100 category in the Expert Programs group so the icons for the various P100 expert programs appear in the bottom right hand corner of the window and you then need to click on the one corresponding to the P101 expert pr
62. ctive for the motor or for devices connected to the power supply In the event of frequent braking an external ballast circuit must be used It is always necessary to conduct tests to check what size it should be 29 LAC CY Crouzet SMI21 9 1 1 1 Proposed Ballast Circuit Diagram The diagram below allows the braking energy to be dissipated into a resistor thus limiting voltage surges at the motor terminals m LM217 1e TRM InF Se LATE SAV E H C P IRF AV R12 RBol Lost Tl ESCEE aes 3 LM2903 1M 17 D TCIE L Li TS ap LMZ Figure 5 9 1 1 2 Determining the Size of the R12 Resistor Reatiast The higher the braking current the lower the resistor value Typical values are around several Ohms With V the rotation speed in revolutions per minute and J the inertia in Kg m the energy E in Joules stored in the inertia is given by 30 CY Crouzet SMI21 It should be noted however that this is a simplified and somewhat pessimistic calculation since it does not take account of the energy stored in the capacitors nor that lost during friction the gearbox etc 9 1 1 3 Voltage Breaking Capacity Selection The voltage breaking capacity should be selected Depending on the power supply Depending on the other devices connected to this power supply If your power supply does not tolerate current feedback place a diode in series upstream of the ballast circuit to protect
63. d 10 V for the maximum motor speed defined by the user Outputs Don t forget to fit the pull down resistors on each of the outputs e OUT 1 Provides information on the motor speed value in PWM Cyclical ratio 096 speed 0 rpm Cyclical ratio 100 speed maximum speed e OUT2 Provides information on the real torque value in PWM Cyclical ratio 096 torque 0 mNm Cyclical ratio 10096 torque 1 Nm e OUTS If 0 motor running if 1 motor stopped e OUT4 If 0 error detected if 1 no error 11 4 1 2 Application Settings e he user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window e f it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph e The maximum motor speed corresponding to a voltage of 10 V is calculated as follows 53 Cos CY Crouzet SMI 1 11 4 2 Conveyor Belt PWM Application Program IN BRUSHLESS M MOTORS Cn DCmind Soft File Language Bootloader Motor Information Motor Connection Help L re This program is dedicated to conveyor belt applications with PwM setpoint input CZ Cr ouzet for the speed The user can set i o the maximum conveyor belt speed corresponding to 100 PWM setpoint the ratio between motor speed rotation and conveyor belt linear speed T The available settings in this program have been limi
64. d Setpoint Real Speed Real Torque Figure 73 Set the PID controller factors in the speed control loop this function is reserved for advanced users The values given in the example below ensure correct product operation in the majority of cases Speed control loop parameters kp 5 70000 Kis 10000 Kd 0 00000 S Figure 4 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 ms During data acquisition the other HMI functions are not available Ho al Gecond s EA Doo Figure 75 Curve Drawing button used to start data acquisition Curves are only displayed once acquisition is complete Export Data button used to retrieve data corresponding to the selected parameters in a text file txt To make this file compatible with the Excel spreadsheet change its extension to csv Figure 76 72 ind BRUSHLESS MOTORS oMI21 CI Crouzet Example With a speed setpoint on input 6 at 3200 RPM and an acceleration setpoint on input 5 at 800 RPM s this gives us the following graphic representation recording time of 10 seconds Motor Graphic Real speed Speed setpoint 4000 34 3500 4 Velocity rpm M c 1000 i ff P 500 4 fF 2 4 6 8 10 1 Time ms 10 3 Figure Note The display scales can be changed wit
65. d to configure the various motor operating limits nominal and maximum torque torque peak authorization and the power supply overvoltage threshold Description Inputs Outputs Tuning Limits Errors Tarque management Torque mN m summary description of Nominal terque nominal 250 a mi m a CMAX p torque control M asimum torque Cmax 500 a m m x Maximum peak time tmas 2000 ri mi LNOMINAL A Setting the parameters associated with torque control Time ms amp luax Overvoltage detection Overvoltage threshold settings if this value is exceeded an error will be generated Threshold voltage 57 rum 12 1 3 7 Errors Tab This tab provides information about the type of error encountered based on the error code and the action to be taken by the motor following this error Action for the overtorque error can be configured Description Inputs Qutputs Tuning Limits Errors B4 Over Torque Error Setting the action to be taken when an overtorque error is encountered The torque limitation is exceeded Motor stopped no holding torque applied Motor stopped holding terque applied amp The motor tries to reach its input setpoint If an error is detected that could jeopardize motor safety the motor is automatically turned off and left freewheeling Motor safety error ol Overtemperature 110 C ms Motor stopp
66. displaying the following window i DCmind Motion Ce programme d installation requiert le NET Framework version 3 5 Installez le NET Framework et r ex cutez ce programme d installation Yous pouvez vous procurer le NET Framework sur le Web Voulez vous le faire maintenant Figure 20 We recommend that you download the latest available version of Framework from the Microsoft website Should no internet connection be available a minimum version of Framework is supplied on the USB stick in the programming kit To install version 3 5 of Framework supplied on the USB stick run the dotnetfx35 exe file and follow the instructions M Installation de Microsoft NET Framework 3 5 SP1 a Microsoft Bienvenue dans le programme d installation NET Framework Assurez vous de lire et de comprendre tous les droits et restrictions d crits dans les Termes de Licence Yous devez les accepter avant de pouvoir installer le logiciel TERMES DU CONTRAT DE LICENCE D UN SUPPLEMENT MICROSOFT v Appuyez sur la touche Pg suiv pour voir le reste du texte J ai lu le contrat de licence et J ACCEPTE ses termes et conditions Envoyer des informations sur mon installation Microsoft Corporation D tails relatifs la strat gie de collection de donn es Taille du fichier t l charg 20 Mo Estimation de la dur e du 51 min 56 Kbits s t l chargement 5 min 512 Kbits s Figure 21 Tick the box I have
67. ds a parameter file Save As Saves a parameter file Exit Closes the HMI Figure 2 Motor Information window Kotor Information Project name Motor reference Coil reference Manufacturing date E JAictianary Figure 28 The Help tab contains the SMI21 DCmind Brushless motors user manual in pdf format 42 BRUSHLESS 4 MOTORS PF CY Crouzet SMI 1 10 6 Motor Connection To connect the motor link the motor and the PC using the USB B to USB A micro cable supplied in the programming kit power up the motor and click on Motor Connection in the main menu bar The following window appears Figure 29 Click the Autodetect button to start the automatic motor search If a motor is connected to the PC it is automatically detected and the following window appears Configuration COM COM port on which the motor has been detected Port Name COM7 sg Link baud rate Figure 30 Moteur d tect Figure 31 Click OK the motor is now connected and ready to be used If Motor not detected appears in the information window check that the motor is correctly supplied with power the micro USB B to USB A cable is plugged in correctly and repeat the procedure 43 LC cy Crouzet SMI21 10 7 Updating the Firmware To update the version of the software embedded in the motor a bootloader is used via USB communication This operation ca
68. e button The values preset in application mode will be loaded directly in expert mode It is then impossible to return to this application program The user can press the STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 5 2 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs e IN1 1If O Stop if 1 Run e IN2 If O motor running in reverse CCW if 1 motor running forward CW e N3 Not used e N4 If O no action if 1 Quick start by short circuiting the coils This action takes priority over the other commands e N5 0 10 V control Sets the motor torque ramp 20 000 mNm sec for 0 V maximum ramp and 100 mNm sec for 10 V e N6 0 10 V control Sets the torque setpoint OV for 0 mNm and 10V for the maximum motor torque defined by the user value in the grayed out box 58 C cC CY Crouzet SMI21 Outputs Don t forget to fit the pull down resistors on each of the outputs e OUT 1 Provides information on the motor speed value in PWM Cyclical ratio 0 speed 0 rpm Cyclical ratio 100 speed 4000 rpm e OUT2 Provides information on the real torque value in PWM Cyclical ratio 0 torque 0 mNm Cyclical ratio 100 torque maximum torque e OUT3 If 0 motor running if 1 motor
69. e aus gucins E 12 3 2 1 TIONING OV AK PP Y 12 3 2 2 Ged DOKE NETT Ker 12 3 2 3 2i sesetuueeece 12 PCC SS OSS 12 4 1 SULTAN ER RE 12 4 2 ER SO Ee E oe 12 AS OO ee ee eee ee ee eee 13 5 1 Overview of the Installation Procedure LL 15 5 2 Electromagnetic Compatibility EMC iii 15 5 3 TOF LO MOUNN Cl PP RP PR I DR E ES 16 5 4 MOONUNG E MOLO aa H 17 5 5 zie azules T nie 18 5 5 1 Connecting the Holding Brake Optional rennen 20 5 6 U SEG cie ME ERE eae 21 SAU OM MET M tate 22 6 1 Prepaiation tor CS AUN MERE 22 POI ON eaae eee nent E ne eT ee ee ee eee 24 7 1 Description of the Product iii 24 7 2 OMIS 1 COMMON EE CUONICS isos eee de nan dud 24 7 3 DCmind Soft PC Parameter Definition Software 25 Technical SpeEciNCaUONG NP ET E EEEE 26 8 1 ECC ICAL Al a E E E on 26 8 2 canarie DA EE E ee eee E 26 8 3 Control Logie BUNGIE MERERETUR 27 CY Crouzet SMI21 8 4 Power Supply Cabole cccccccccccssssecceeceeeeceeeceeeeeceeecaeeeeeeeeseeaaeceeeseaaeceeeseeeeceeesseaseeeeessagseeseesssaaess 28 9 Motor electrical connection nennen nennen nnne nnn nnns nnn nnn nna sanas uses rri sn anra a sans 29 9 1 mie i ie C OnE UO mE 29 9 1 1 BS ANAS UE UIE a ad m m
70. eceleration 40 000 rpm sec for 0 PWM maximum acceleration and 100 rpm sec for 10096 PWM e N6 PWM control Sets the speed setpoint 0 PWM for 0 rpm and 100 PWM for the maximum motor speed defined by the user 54 C cC cy Crouzet SMI21 Outputs Don t forget to fit the pull down resistors on each of the outputs e OUT 1 Provides information on the motor speed value in PWM Cyclical ratio 096 speed 0 rpm Cyclical ratio 100 speed maximum speed e OUT2 Provides information on the real torque value in PWM Cyclical ratio 096 torque 0 mNm Cyclical ratio 10096 torque 1 Nm e OUTS If 0 motor running if 1 motor stopped e OUT4 If 0 error detected if 1 no error 11 4 2 2 Application Settings e he user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window e f it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph e The maximum motor speed corresponding to a PWM signal with 100 cyclical ratio is calculated as follows 55 Crouzet SMI21 Co e i 11 5 Machine Group 11 5 1 Worm Gear Application Program IN BRUSHLESS M MOTORS 7 Ge DCmind Soft File Language Bootloader Motor Information Motor Connection Help re This program is dedicated to positioning worm gear applications CY Cr ouzet The ap
71. echanical stop END2 The END2 mechanical stop is detected in a similar way The motor is in the mechanical end position To avoid the motor coming into contact with the END2 mechanical stop each time it returns to the reference position Offset 2 can be set in encoder pulses which gives us the difference in position between the mechanical end and the total stroke After detecting both mechanical stops the motor positions itself at END2 offset 2 the homing phase is complete As a safety measure if the homing phase is not complete after the Max Homing Time the motor detects a Homing type error and stops 108 LA CY Crouzet SMI21 BRUSHLESS MOTORS 12 2 8 2 Homing Phase With 1 Switch a 1 switch Start from current position C2 1 mechanical stop 3 2 mechanical stops 9 1 switch C2 1 switch then 1 ef Selection of homing Switch Status dodi a High state active Low state active UU ale Offset pulses i 7 0 Offset 0 E Offset 2 l Fa Switch 1 Homing Speed Approach Speed Ofsei oo N e hanical zero 100 tom NE 0 Mechanica zero bu N software zero 100 m ES Accessible parameters g Time 300 I second I Direction af ratatian C Change the direction of rotation Figure 168 This homing phase is used to search for the system switch type stop as follows First configure the switch polarity High state act
72. ed 4000 rpm Output 1 PYM Heal speed Pu iM frequency 1000 pgs Figure 146 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output 2 Ph Real torque Pi frequency 1000 EE we 52 torque 100 Pwt 000 cm w Figure 147 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor running 0 Motor running 1 Matar stopped Figure 148 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mn error Figure 149 98 LA cy Crouzet SMI21 12 1 7 5 Type 3 Outputs Tab Parameters Setting the parameters of frequency output 1 Real speed The parameters can be set for the signal frequency of this output for which the motor runs at 1000 RPM 200 500 or 1000 Hz Output 1 FREQUENCY Heal speed Frequency at 1000 rom 1000 Hz Figure 150 State of digital output 2 Real direction Used to find out the motor direction of rotation Output 2 DIGITAL Real direction 0 Counter Clockwise 1 Clockwise Figure 151
73. ed in progress or not performed Output z DIGITAL Homing Sequence Information 0 Homing in progress or no homing 1 Homing completed Figure 230 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor running 0 Motor running 1 Motor stopped Figure 231 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected Ma error Figure 232 135 CY Crouzet SMI21 12 2 6 6 Type 7 Outputs Tab Parameters otate of digital output 1 Target Reached Flag Used to find out whether the position setpoint has been reached Output 1 DIGITAL Target Reached Flag 0 Position target not reached 1 Position target reached Figure 233 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 2 096 Braking torque supplied S2 torque If cyclical ratio 2 5096 Torque supplied 0 mNm If cyclical ratio 2 10096 Motor torque supplied S2 torque Output z Pl Real terque centered on BUS PM frequency 1000 Hz r5 52 torque 100 PH 1000 S mM m Figure 234 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs
74. ed no holding torque applied Be Undervaltage 28V foto stopped no holding terque applied 83 Overvoltage 57 V hotor stopped na holding torque applied Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode and then back to run mode 65 LC cy Crouzet SMI21 12 1 4 Expert Program V101 12 1 4 1 Description Expert program V101 is used to Create speed profiles with analog or PWM control Set the acceleration deceleration phases with analog or PWM control Set the nominal and maximum torque parameters for the application safety via the HMI 12 1 4 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Input 1 DIGITAL ON 4 OFF On 140 0 On 0 Off 1 Figure 52 Digital input 2 Used to set the Direction of rotation input polarity Input 2 DIGITAL Direction of Rotation Cw 1 CDw 0 D Cw 0 CCw 1 Figure 53 Digital input 3 Used to set the Holding at stop input polarity and set the Holding Torque value Input 3 DIGITAL Holding at stop 9 High state active Holding Torque 150 mN m EA Low state active Figure 54 66 CRC CY Crouzet SMI21 Digital input 4 Used to set the Fast stop input polarity This input is used to stop the motor as quickly as possible ignoring the setpoints applied to the other inputs Input 4
75. ed in the TECHNICAL SPECIFICATIONS section Dispatch Protect the product against shocks during transport Use the original packaging for this purpose Storage Only store the product in the stated permissible ambient conditions in terms of temperature and air humidity Protect the product against dust and dirt Disposal The product is made up of various materials that can be reused or are suitable for separation and recycling Dispose of the product in accordance with local regulations 161 CY Crouzet SMI21 15 6 Terminology and Abbreviations Encoder Mounted on the motor the angular position sensor provides frequency pulses proportional to the motor speed Degree of protection The degree of protection is a standard definition used for electrical equipment that aims to describe the protection against penetration of solids and liquids inside the motor casing for example IP54M The M indicates that the tests are conducted with the motor running This value cannot take account of the seal around the output shaft for which the installer must take responsibility Axial forces Longitudinal traction or compression forces affecting the shaft Radial forces Radial forces affecting the shaft Direction of rotation Positive or negative direction of rotation of the motor shaft The positive direction of rotation is clockwise rotation of the motor shaft when looking at the motor from the output shaft Nominal speed Motor
76. ed setpoint defined in In6 Output 1 Pl Heal speed centered on BU Fw frequency 1000 ES Hz Figure 266 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplied S2 torque If cyclical ratio 50 Torque supplied 0 mNm If cyclical ratio 100 Motor torque supplied S2 torque Output 2 Ph Heal terque centered on BU Fw frequency 1000 Hz S2torque 100 Pub 1000 mN m Figure 267 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status O Error detected 01 Matar running 10 Motor stopped torque setpoint reached and applied 11 Matar stopped no torque applied Figure 268 152 Crouzet SMI21 12 3 4 5 Tuning Tab Parameters Selection of the various parameters to be represented in graphic form either 1 2 or 3 parameters The system torque response measurement vs setpoint can therefore be compared while displaying changes in the speed Heal Speed Real Torque Torque Setpoint Figure 269 Set the PID controller factors in the torque control loop this function is reserved for advanced users The values given in the example below ensure cor
77. ed to choose between the various types of application and expert programs In our example we have chosen the Torque C100 category in the Expert Programs group so the icons for the various C100 expert programs appear in the bottom right hand corner of the window and you then need to click on the one corresponding to the C101 expert program Concise description of the C101 expert program in DCmind Soft max Fie Language Bootloader Motor Information otor Connection Help ceo C rouzet j x pie coe er a few settings More settings are available in using expert programs In6 Torque 0 10V PWM Expert program category selection C100 Expert program selection C101 Figure 250 144 SMI21 ind CF CY Crouzet 12 3 3 2 Description Tab This is an information tab containing a concise description of the various torque profiles that are created using this expert mode Description Inputs Dutputs Tuning Limits Option to name the project Project name Pral Torque 5Vdc 24 Vdc Int ON OFF In Direction Hina Not used Ind Quick stop In amp Torque ramp 0 10V PWM Torque 0 10V PWM Torque Torque I O Output Vee supply PNP open collector 3 ne l Torque ramp Summary description of the profiles that can be created using this expert mode torque control with ramp
78. eed the maximum axial and radial forces e Protect the shaft from any impact e When press fitting components do not exceed the maximum permissible axial force Failure to comply with these precautions can result in death serious injury or damage to equipment The maximum press fit force is limited by the maximum permissible axial force on the ball bearings This maximum axial force is stated in the motor technical data sheet Alternatively the component to be fixed in position can be clamped glued or shrunk fit 3 1 2 Radial load on the shaft Ex EA n The application point X of the radial force F depends on the motor size This information appears in the motor technical data sheet The maximum axial and radial loads must not be applied simultaneously CY Crouzet SMI21 3 2 Options 3 2 1 Holding brake SMI21 DCmind brushless motors can be equipped as standard with a failsafe electromechanical brake The holding brake is designed to lock the motor shaft in a de energized state The holding brake is not a safety function How it is controlled is described in the Connecting the Holding Brake section 3 2 2 Gearboxes SMI21 DCmind brushless motors can be equipped with different types of gearbox The gearboxes offered as standard in the catalogue are planetary gearboxes which combine compact size and robust design and worm gearboxes that all
79. ered on 50 FM frequency 1000 tl Hz ww Figure 100 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplied S2 torque If cyclical ratio 2 5096 Torque supplied 0 mNm If cyclical ratio 2 10096 Motor torque supplied S2 torque Output z Ph Real Torque centered on BU PM frequency TOOK Hz S2 torgue 100 Pa 1000 S mm Figure 101 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OO Error detected 0T Motor running 10 Motor stopped and holding terque applied 11 Motor stopped without holding Figure 102 81 LA cy Crouzet SMI21 12 1 5 7 Tuning Tab Parameters oelection of the various parameters to be represented in graphic form either 1 2 or 3 parameters The system speed response measurement vs setpoint can therefore be compared while displaying changes in the current Speed Setpoint Real Speed Real Torque Figure 103 Set the PID controller factors in the speed control loop this function is reserved for advanced users The values given in the example below ensure correct product operation in the majority of cases Speed con
80. es to ERROR mode In ERROR mode the motor is no longer controlled To reset the motor The supply voltage must be at least 1 V below the threshold value The motor inputs must be set to STOP mode Protection against undervoltages When the supply voltage falls below 8 V the product automatically switches to ERROR mode In ERROR mode the motor is no longer controlled To reset the motor The supply voltage must be higher than 9 V The motor inputs must be set to STOP mode 9 2 2 Temperature Protection The product incorporates temperature protection in the form of a temperature sensor on the motor pilot control card Temperature protection When the internal temperature exceeds 110C the product automatically switches to ERROR mode In ERROR mode the motor is no longer controlled To reset the motor The temperature must be less than 90 C The motor inputs must be set to STOP mode 9 2 3 Current Limiting The product incorporates internal current limiting This limiting directly affects the motor in terms of hardware This limiting automatically restricts the current to 17 A in the motor phases If this limit is reached it results in a loss of motor performance This product is not designed to operate continuously with this limiting see the Electrical Data section 32 ind BRUSHLESS M MOTORS oMI21 Cos CI Crouzet 9 3 USB Connection USB connection requires a type B micro USB socket on t
81. f cyclical ratio 100 Real speed maximum speed setpoint defined in In6 Output 1 Pul Heal Speed PM frequency 1000 pg Figure 262 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 2 096 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output z PYM Heal Torque Puy hd frequency 1000 Hz 52 tongue 10058 Pu 1000 m m Figure 263 State of digital output 3 Motor Running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor Running matar running 1 motor stopped Figure 264 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mo error Figure 265 151 Crouzet SMI21 12 3 4 4 Type 10 Outputs Tab Parameters setting the parameters of PWM output 1 Real speed centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 0 Motor running forward CW at maximum speed setpoint defined in In6 If cyclical ratio 50 Real speed 0 rpm If cyclical ratio 100 Motor running in reverse CCW at maximum spe
82. gle switch type contact is managed in this program Perform various positionings using 1 to 30 preset setpoint positions each corresponding to a specific combination of digital inputs Ini to In5 Set the acceleration deceleration phases and the maximum speed that must not be exceeded between each point via the HMI 12 2 6 2 Homing Tab Parameters Set the polarity of the switch wired on digital input In6 Switch Status High state active Low state active Figure 216 Set the difference in position in pulses between the mechanical stops and the application total stroke limits stop 1 END1 represents the stroke start stop 2 END2 represents the stroke end Note Where there is only one mechanical stop the Offset 2 parameter is not available Offset pulses Offset 1000 Oifset 2 1000 i Figure 217 Set the search speed for stops during the homing phase Homing Speed 100 c rpm Figure 218 Set the homing torque that allows the mechanical stop to be found by detection of overtorque Homing Torque 100 Ea m m Figure 219 131 oMI21 in BRUSHLESS 4 MOTORS CRC CY Crouzet Set the maximum permitted time for the homing phase If this value is exceeded an error will be generated Time limited to 300 s Mas Homing Time 300 e second Figure 220 Set the direction of rotation for the first stop search N B By default the motor runs forward CW Direction of rotation
83. h configurable width 100 to 800 us is generated each time one of the 3 motor Hall sensors changes state 80140 SMI21 and 80180 SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280 SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Output 1 Pulse Heal speed Hall pulse width ROO ml Us r EA Figure 239 State of digital output 2 Real direction Used to find out the motor direction of rotation Output z DIGITAL Real direction 0 Counter Clockwise 1 Clockwise Figure 240 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status O Error detected OR motor in step made 01 Mat used 10 Motor stopped ET target reached 11 Matar running positioning Figure 241 138 LA CY Crouzet SMI21 12 2 6 9 Tuning Tab Parameters oelection of the various parameters to be represented in graphic form either 1 2 3 or 4 parameters The system position response measurement vs setpoint can therefore be compared while displaying changes in the current and the speed Real speed real terque Current position Position setpoint Figure 242 set the PID controller factors in the position control loop this function is reserved for advanced users The values given in the example below ensure correct product operation in the majority of cases Position control loop parameters K
84. h the mouse wheel Other functions are available by right clicking the mouse Copy Save Image As Page Setup Print Show Point Values Un Zoom Undo All Zoom Pan Set Scale to Default Figure 78 13 Crouzet SMI21 12 1 4 8 Limitations Tab Parameters UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor Make sure this will not cause any damage Do not continue with the test if there is anyone or any obstacle in the hazardous zone Failure to comply with these precautions will result in death serious injury or equipment damage This tab can be used to set the limit values for various parameters Torque management Torque mN m Nominal terque Cnaminal 250 ka m m amp CMAX Maximum torque Cras 500 mM m x Maximum peak time tmas 2000 i ms amp CNOMINAL E er amp Max Time ms Figure 79 Setting the various torque parameters When the application torque exceeds the torque Cnomnac the motor can provide torque up to the value Cmax for the maximum duration tyax Thereafter if the application torque is still higher than Cyjomnac the motor torque is limited to the value Cyominac until the application torque falls back below this value VOLTAGE SURGES During the braking phases the motor generates voltage surges Check that its vol
85. he motor The cable must be less than 3 m long Possible cable part number MOLEX 68784 0003 Connection procedure e Carefully remove the black stopper from the motor to reveal the Micro USB B connector The stopper has a retainer to keep it attached to the motor i MES Neptune i m7 ue anni ir Pe PVR RARES laws i Sao ae A mm os l E F Le j T p Moi Figure 6 Figure e Insert the USB cable and install the drivers as instructed Take care never to touch the connector or contacts inside the motor with your fingers or any inappropriate object Once finished it is essential to replace the stopper carefully to maintain the motor seal and protect the connector from any contact Simply pressing your finger in the middle of the stopper will close it properly Figure 8 33 OGrind V BRUSHLESS MOTORS Cos CY Crouzet SMI2 Incorrect stopper fitting Figure 9 Figure 10 Correct stopper fitting Figure 11 Figure 12 34 oMI21 CI Crouzet 9 4 Input Output Connection 9 4 1 Equivalent Input Diagram NPN digital inputs Figure 13 Analog PW M digital inputs Figure 14 35 ind BRUSHLESS MOTORS LAr CY Crouzet SMI21 9 4 2 Equivalent Output Diagram PNP outputs with max 50 mA open collector Include a pull down resistor recommended value 4 7 KQ Figure 15 Caution The output level is the same as the motor su
86. he output number corresponds to that of the I O bundle uta Type 5 target reached if 1 complete if 0 if 1 if 1 Type 6 target reached if 1 complete if 1 if O if O Digital 00 error detected On stand by i y QR 01 homing not performed OR not completed Type 7 target reached if 1 OE 10 motor stopped AND homing completed 11 motor running positioning l 00 error detected OR motor in stop mode AND homing not performed 01 motor running positioning 10 motor stopped AND homing completed 11 not used 00 error detected OR motor in stop mode Direction of 01 not used rotation 10 motor stopped AND target reached 11 motor running positioning Digital Digital combinations Key Digital type output EE PWM Pulse Frequency type output On stand by target reached if 1 105 BRUSHLESS M MOTORS oMI21 CY Crouzet 12 2 3 Description of the Different Types of Homing The homing sequence is an initialization phase that helps the motor estimate the application total stroke by searching for mechanical stops These stops can be detected in one of 2 ways With 1 limit switch by retrieving information from one of the inputs By detecting overtorque when the motor is at a mechanical stop N B The default motor direction of rotation is forward CW 12 2 3 1 Homing Phase Without a Switch a Start from current position Start from current position C2 1 mechanical sto
87. hed Position target reached Figure 190 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Output 2 DIGITAL Homing Sequence Information 0 Homing completed 1 Homing in progress or no homing Figure 191 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor running Motor stopped 1 Motor running Figure 192 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Mo error Error detected Figure 193 122 CY Crouzet SMI21 12 2 5 5 Type 6 Outputs Tab Parameters State of digital output 1 Target Reached Flag Used to find out whether the position setpoint has been reached Output 1 DIGITAL Target Reached Flag 0 Position target not reached 1 Position target reached Figure 194 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Output z DIGITAL Homing Sequence Information 0 Homing in progress ar no homing 1 Homing completed Figure 195 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor running 0 Motor running 1 Matar stopped Figure 19
88. hese precautions can result in injury or damage to equipment A motor with a holding brake needs a corresponding control logic which releases the holding brake at the start of the rotation movement locking the motor shaft in time when the motor stops 20 oMI21 ind BRUSHLESS 49 MOTORS LA c LA Crouzet 5 6 USB Connector Stopper Housing The motor is equipped with a USB B to USB A micro connector which can be accessed by removing the stopper from the housing The stopper prevents penetration of foreign bodies or fluids inside the motor The stopper prevents fingers or any inappropriate object making contact with the USB B to USB A micro connector It must be replaced carefully after use in order to keep the motor sealed UNEXPECTED MOVEMENT DUE TO ELECTROSTATIC DISCHARGES Electrostatic discharges ESD on the USB B to USB A micro connector can in some cases lead to deterioration or destruction of some system components and generate unexpected motor operation Never touch the connector with your fingers or any inappropriate object Failure to comply with these precautions can result in death serious injury or damage to equipment CAUTION LOSS OF SEALING The stopper ensures the motor is sealed Replace it after completing parameter definition Make a visual check to ensure it is in place Failure to comply with these precautions can result in injury or damage to equipment 21
89. hould be considered as the reference position The motor positions itself at software zero the homing phase is complete As a safety measure if the homing phase is not complete after the Max Homing Time the motor detects a Homing type error and stops 107 LS c cy Crouzet SMI21 c 2 mechanical stops Start from current position 1 mechanical stop 2 mechanical stops CO 1 switch CO 1 switch then 1 en Selection of homing High state active Low state active Offset pulses Offset 1 0 S Offset 2 0 Homing Speed 100 tl mm Cw Homing Torque 100 mM m MET Accessible parameters 300 second Direction of rotation C Change the direction of rotation Figure 167 This homing phase is used to search for the 2 system mechanical stops as follows Depending on the 1st END1 stop position on the right or left the user selects the appropriate Direction of rotation and sets a Homing Speed When the application torque increases to more than the Homing Torque the END1 mechanical stop is detected the motor is in the mechanical zero position To avoid the motor coming into contact with the END1 mechanical stop each time it returns to the reference position Offset 1 can be set in encoder pulses which gives us the difference in position between the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd m
90. ia a commercially available standard cable can be supplied on request e Management of 6 inputs and 4 outputs to control the motor o 2 Inputs that can be configured for 0 10 V 10 bit analog or PWM or digital control 4 digital inputs 1 output that can be configured as PWM or frequency or digital 1 output that can be configured as PWM or digital 2 digital outputs O O O O As standard the motors have an internal encoder with 4096 points per revolution that can reach high positioning and control resolutions 24 C cC CY Crouzet SMI21 7 3 DCmind Soft PC Parameter Definition Software This software can be downloaded from the Internet at the following address http www crouzet com It can also be supplied as a kit see Programming Kit section This DCmind Soft software is needed the first time the motor is used and for debugging It is used for e Selecting the motor operating program o Position o Speed o Torque o Quick and easy starting using preprogrammed applications o Use of expert programs that provide access to all settings e he various settings needed for the application to work correctly e Updating the firmware motor program using the bootloader function 25 x Crouzet SMI 1 8 TECHNICAL SPECIFICATIONS 8 1 Electrical Data Supply voltage Vo max 8 oy Maximum current Ipc wx 2 A Maximum input voltage Vase gt o v ERE E P E E Maximum output current lour vx OCS Typical
91. ing repair and maintenance e The installation manufacturer is responsible for complying with all the applicable requirements and regulations with regard to grounding the drive system e It is the user s responsibility to define whether it is necessary to ground the motor depending on its intended use Do not touch unprotected live parts Only use electrically isolated tools AC voltages can be connected to unused conductors in the motor cable Isolate unused conductors at both ends of the motor cable e The motor produces a voltage when the shaft turns Protect the motor shaft from any external drive operation before working on the drive system De energize all connections Attach a notice saying DO NOT START UP on all the switches Protect all the switches from switching on Wait for the internal motor capacitors to discharge Measure the voltage on the power cable and check that it is less than 12 VDC Install protective covers and ensure they are closed before energization Failure to comply with these precautions will result in death or serious injury A WARNING LOSS OF COMMAND CONTROL When perfecting the command concept the installation manufacturer must take account of the possibilities for potential failure of command paths and provide for certain critical functions the means of returning to safe states during and after the failure of a command path Examples of critical command functions a
92. ive or Low state active Depending on the switch position on the right or left the user selects the appropriate Direction of rotation and sets a Homing Speed When the switch changes state the Switch 1 stop is detected The motor is in the mechanical zero position To avoid the motor coming into contact with the switch each time it returns to the reference position Offset 1 can be set in encoder pulses This new position should be considered as the reference position The motor positions itself at software zero the homing phase is complete As a Safety measure if the homing phase is not complete after the Max Homing Time the motor detects a Homing type error and stops 109 LA cy Crouzet SMI21 b 1 switch then 1 end with the zero defined by the switch Start fram current position 1 mechanical sta 2 mechanical stops 1 switch switch then 1 ef O i O O O S Selection of homing Switch Status High state active Low state active Offset pulses Dffset 1 O cl Dffset 2 ca Switch 1 Homing Speed Approach Speedmechanical end 100 E apm 50 gm m Le mechanical zero ES 1 total travel Homing Torque lt ERREEHEEEEEEEEEENENE CELLE 100 A mm P teeeeeeteeninennes software zero TM Accessible parameters 300 d second Direction of rotation C Change the direction of rotation Figure 169 This homing phase is used to search initially for the system
93. l stops and the application total stroke limits stop 1 END1 represents the stroke start stop 2 END2 represents the stroke end Note Where there is only one mechanical stop the Offset 2 parameter is not available Offset pulse Offset 1000 amp Offset 1000 i Figure 178 Set the search speed for stops during the homing phase Homing Speed 100 4 pm Figure 179 Set the homing torque that allows the mechanical stop to be found by detection of overtorque Homing T arque 100 mN m Figure 180 Set the maximum permitted time for the homing phase If this value is exceeded an error will be generated Time limited to 300 seconds Max Homing Time 300 second wm Figure 181 118 oMI21 ind BRUSHLESS MOTORS CY Crouzet Set the direction of rotation for the first stop search END1 N B By default the motor runs forward CW Direction af rotation Change the direction of rotation Figure 182 119 6 BRUSHLESS 4 MOTORS LAr CY Crouzet SMI21 12 2 5 3 Inputs Tab Parameters Digital input 1 Used to set the Position 1 input polarity Input 1 DIGITAL Position 1 High state active Low state active Figure 183 Digital input 2 Used to set the Position 2 input polarity Input 2 DIGITAL Position 2 High state active Low state active Figure 184 Digital input 3 Used to set the Position 3 input polarity
94. l to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 2 096 Braking torque supplied S2 torque If cyclical ratio 2 5096 Torque supplied 0 mNm If cyclical ratio 2 10096 Motor torque supplied S2 torque Output z Pl Heal Torque centered on 50 FM frequency 1000 Hz Couple 52 000 Pah 1000 Figure 128 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OO Error detected OT Motor running 10 Matar stopped and holding terque applied 11 Matar stopped without holding Figure 129 90 LA cy Crouzet SMI21 12 1 6 7 Tuning Tab Parameters oelection of the various parameters to be represented in graphic form either 1 2 or 3 parameters The system speed response measurement vs setpoint can therefore be compared while displaying changes in the current Speed setpoint Real speed Real torque Figure 130 Set the PID controller factors in the speed control loop this function is reserved for advanced users The values given in the example below ensure correct product operation in the majority of cases Speed control loop parameters Kp 6 70000 j ki Q10000 we Ed 0 00000 a LR Figure 131 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is
95. ltage AF CET 93 LS c cy Crouzet SMI21 12 1 6 9 Errors Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered real torque higher than the nominal torque CnomnaL for a time longer than tuax B4 Over Torque Error The terque limitation i exceeded Motor stopped no holding terque applied Motor stopped holding terque applied The motor tries to reach its input setpoint Figure 137 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Motor safety errors Ol vertemperature 110707 ms Motor stopped no holding torque applied oz Undervoltage 28V oto stopped no holding torque applied 0d Erreur Sur Fenisian 557 hiotor stopped no holding torque applied Figure 138 Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode enable digital inputs 4 and 5 Switch back to run mode disable either digital input 4 or digital input 5 94 CY Crouzet SMI21 12 1 7 Expert Program V104 12 1 7 1 Description Expert program V104 is used to Create speed profiles with a choice of 8 preconfigured values Set torque limiting with analog or PWM control Set the acceleration deceleration phase parameters via the HMI 12 1 7 2 Inpu
96. ltage surges Check that its voltage surges can be tolerated by the other devices connected to the same power supply Use an external circuit to limit voltage surges if the brake is being used intensively Failure to comply with these precautions will result in death serious injury or equipment damage Setting the overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Overvoltage detection Threshold voltage Br Figure 109 12 1 5 9 Errors Tab Parameters For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Motor safety errors ol Overtemperture 110707 ms Motor stopped no holding torque applied oz Undervoltage 28V X or stopped no holding terque applied B3 vervaltage 541 Motor stopped no holding torque applied Figure 110 Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode disable digital input 1 On Off Switch back to run mode enable digital input 1 On Off 84 CY Crouzet SMI21 12 1 6 Expert Program V103 12 1 6 1 Description Expert program V103 is used to Create speed profiles with analog or PWM control Force
97. meters VOLTAGE SURGES During the braking phases the motor generates voltage surges Check that its voltage surges can be tolerated by the other devices connected to the same power supply Use an external circuit to limit voltage surges if the brake is being used intensively Failure to comply with these precautions will result in death serious injury or equipment damage Setting the overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Overvoltage detection Threshold voltage AF ell yy Figure 2 5 12 3 4 7 Errors Tab Parameters For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Motor safety errors ol Overtemperature gt 7170 C mamma Motor stopped no terque applied Bz Undervoltage 28V m fiotor stopped no torque applied B3 Overvoltage gt 57 m fiolo stopped no torque applied Figure 2 6 Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode disable digital input 1 On Off Switch back to run mode enable digital input 1 On Off 155 ind BRUSHLESS M MOTORS Cos CY Crouzet SMI21 13 SAVING PARAMETERS In all the
98. mission device manufacturer s assembly instructions The motor and the transmission device must be aligned precisely both axially and radially If this is not done it will result in abnormal operation damage to the bearings and significant wear 5 5 Electrical Installation These motors are not designed to be connected directly to the line supply It is the installer s responsibility to define the electrical protection devices to be implemented according to the regulations applicable to the end product range of application For the power supply to the power part we recommend using a double insulated stabilized power supply The motor is not protected against polarity reversals on the power part The motor is regenerative in other words it can feed back energy to the power supply during braking phases Voltage surges created in this way can reach levels that risk destroying the motor itself or devices placed on the same power supply A DANGER ELECTRIC SHOCK High voltages can appear unexpectedly on the motor connection e The motor produces a voltage when the shaft turns Protect the motor shaft from any external drive operation before working on the drive system e The system manufacturer is responsible for complying with all applicable regulations with regard to grounding the drive system Failure to comply with these precautions will result in death or serious injury UNEXPECTED MOVEMENT As a result of incorrect wiring or other err
99. mo 29 9 1 2 EMG I OLS UIN Sn en nets canne de pin 31 9 2 FPO TEC OU MM TT 32 9 2 1 voga dioe e PTT LEUTE 32 9 2 2 Temperature POl CTIDNRS 32 9 2 8 COS AA Rd A 32 9 3 U SEG oio PNE m ee nse E 33 9 4 INDUWOUTOUE CONNEC OI iiei eeni EEEE EEEE EEEE 35 9 4 1 Equivalent Input Diagram NEUTER T n 35 9 4 2 quivalent OO CET oO E ees 36 10 Installation of the DCmind Soft HMI ire 37 TOs AOC OM ne a dent ee du on lee ee 37 02 Sy em RE RE 37 10 3 Installation of the USB Drivers ii nnns nnns nhan rnnt 37 10 4 Installation of the Crouzet DCmind Soft HMI nennen nnne 38 10 5 Descnpion or tne Main WV INGOW ein Jes e ETA qu poi DET IREE E seen 41 10 6 Motor Connection mT M 43 10 7 Updating the Firmware nennen nnne nnne nennen nnn nnn n nani nns nna nnns inan nnn nns 44 11 PCO NCAMOM DEOGELOITNS ennemies RR sen ee REC eE a ete ne rite nee 46 ANE ojo e ER RC TR ET RE 46 152 Descnpiuon or iie Monitoring PAT Essaie semis E MR ROME aa dc 47 0r AN CO EA EE A A 48 11 3 1 Valve 4 positions Application Program ss 48 11 3 2 Valve 30 positions Application Program with 1 Mechanical Stop 50 WA SORE gr GOUD 52 11 4 1 Conveyor Belt 0 10V Application Program ss 52 11 4 2
100. n POWER CABLE COMMAND CABLE Figure 3 Connector part numbers to be used for connection On a card MOLEX series 43045 On a cable MOLEX series 43020 With cables more than 3 m long tests must be performed in situ 27 Crouzet SMI21 8 4 Power Supply Cable Power supply 12 VDC 48 VDC Power ground 0 VDC The power supply cable is UL approved Style 2517 105 C 300 V 500 mm long as standard When a cable extension is used the cable cross section size should depend on the current drawn and the cable length 28 C cC CY Crouzet SMI21 9 MOTOR ELECTRICAL CONNECTION 9 1 Power Connection We recommend grounding the motor housing Power connection diagram Tension Rated i I I i I I _ i cL l E i Ex hu DC 77 zi er on 2 1 Motor e A I c 121 o d pum 1 1 I Iz l I Il rd rf TRAE T GND Figure 4 Include capacitors to smooth out inrush currents Recommended value 1000 uF A drawn e Optional The ballast circuit eliminates voltage surges produced when braking See next section The product is not protected against polarity reversals on the power cable A polarity reversal can damage the product irreversibly 9 1 1 Ballast Circuit When the motor brakes the kinetic energy stored in the inertias during rotation is returned to the power supply and generates a voltage surge This voltage surge can be destru
101. n only be performed by advanced users as if done incorrectly this could result in the product not working Power up the motor and click Bootloader in the main menu bar entire memory completely rewritten the following window appears rite memory Click this button to completely rewrite the Firmware Update program Figure 32 warning message appears asking to confirm the firmware update request and to avoid any incorrect action 4 a A Do vou really wank to update the Firmware Cui Mon Figure 33 To start the update click Yes and select the hex program supplied by CROUZET m Ouvrir LE Ld gt fichier hex Organiser v Nouveau dossier X Favoris Nom Modifi le Type Taille WE Bureau _ SMI21_V0 hex 25 09 2012 09 59 Fichier HEX El Emplacements r cents T l chargements 23 Biblioth ques Documents m t Images d Musique B Vid os hex program supplied jM Ordinateur by CROUZET amp Disque local C GA ServeurAppli NTALEO K Es PARTAGE NTALEO L G2 Groupe Ale NTALEO N G9 scanner ntaleO S a AFCIDDH AXNITAI CM AALS Nom du fichier SMI21 VO hex v Ouvrir M Annuler Figure 34 44 ind BRUSHLESS M MOTORS oMI21 CY L Crouzet Click the Open button updating begins Ecriture Memoi CALUsersALEJBD T DesktopMichier hex SMI21 VU hex Location of the hex file being loaded
102. nal motor speed at 24 V Nominal motor current Reduction ratio for geared motor versions 10 Maximum nominal torque applicable to the gearbox for geared motor versions 11 Motor approvals 12 Insulation system temperature class 13 Product degree of protection sealing during operation excluding output shaft 14 Country of origin oW ye a oMI21 s BRUSHLESS MOTORS CY Crouzet 1 5 Product Coding 80 XX XX SMI21 Product family on SMI21 electronic base PRODUCT REFERENCE 8 0 X X XX XX Motor Type of stator 14 30mm brushless stator 18 50 mm brushless stator 28 50 mm brushless stator high torque Gearbox adaptation 00 no gearbox 10 RAD10 gearbox 95 P52 gearbox 96 P62 gearbox 97 P81 gearbox Increment numbers x Crouzet SMI21 2 BEFORE YOU BEGIN SAFETY RELATED INFORMATION 2 1 Personnel Qualifications Only qualified personnel who are familiar with and fully understand the contents of this manual are authorized to work on and with this product Qualified personnel must be familiar with current standards regulations and requirements concerning prevention of accidents during work undertaken on and with this product These qualified personnel must have undergone safety training in order to be able to detect and avoid related hazards Their professional training knowledge and experience renders such qualified personnel capable of preventing and recognizing potential h
103. njury or damage to equipment UNEXPECTED BEHAVIOR CAUSED BY DAMAGE OR FOREIGN BODIES Following damage to the product or the presence of foreign bodies deposits or penetration of fluid unexpected behavior can occur Do not use damaged products Make sure that no foreign body has been able to penetrate the product Check that the power supply lead seals and cable entries have been positioned correctly Check that the stopper protecting the USB B to USB A micro connector has been positioned correctly Failure to comply with these precautions can result in death serious injury or damage to equipment 13 HOT SURFACES The product s metal surface can heat up to more than 70 C in certain types of use Avoid all contact with the metal surface Do not place flammable or heat sensitive components in the immediate vicinity Assemble components in the best way for heat dissipation Failure to comply with these precautions can result in injury or damage to equipment DAMAGE AND DESTRUCTION OF THE MOTOR CAUSED BY STRESS x Crouzet SMI21 The motor is not designed to carry loads If subjected to stress the motor can be damaged or even fall Do not use the motor as a step Prevent the motor from being used in any way other than its intended purpose by installing guards or displaying safety instructions Failure to comply with these precautions can result in injury or damage to equipment CAUTION VO
104. nsively Failure to comply with these precautions will result in death serious injury or equipment damage Setting the overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Overvoltage detection Threshold voltage zr Em WM 141 LA CY Crouzet SMI21 12 2 6 11 Errors Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered real torque higher than the nominal torque CnomnaL for a time longer than tuax B4 Over Torque Error The torque limitation i exceeded Motor stopped no holding terque applied Motor stopped holding terque applied The motor tries to reach its input setpoint Figure 248 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Motor safety errors ol Overtemperature 1107L ms botor stopped no holding torque applied oz Undervoltage 28V Hinton stopped no holding terque applied B3 vereoltage 5 7 Kotor stopped na holding torque applied 06 Homing Error foto stopped no holding torque applied Figure 249 Procedure for restarting the motor following detection of an error Eliminate the cause of the fault owitch to stop mode disable
105. ny direct contact between the skin or sealing materials and the cleaning product used Flange mounting surface The mounting surface must be stable flat and clean gt In regards to installation make sure that all dimensions and tolerances are respected Specification of power supply leads The power supply leads for the motor and its accessories must be selected carefully on the basis of their length the motor supply voltage the ambient temperature the current level circulating therein and their environment WARNING DAMAGE AND FIRE DUE TO INCORRECT INSTALLATION Repeated force and movement around the grommets can damage the cables e Comply with the stated bend radius Avoid subjecting the grommets to repeated force or movement Attach the power supply cables close to the grommets using a strain relief Failure to comply with these precautions can result in injury or damage to equipment 16 x Crouzet SMI21 ind 5 4 Mounting the Motor A DANGER HOT SURFACES The motor s surface can heat up to more than 70 C in certain types of use Avoid contact with hot surfaces Do not place flammable or heat sensitive components in the immediate vicinity e Assemble components in the best way for heat dissipation e Check the temperature when performing a test Failure to comply with these precautions can result in injury or damage to equipment UNEXPECTED MOVEMENT DUE TO ELECTROSTATIC DISCHARGES Electro
106. of rotation used to reach the stop selected above forward CW rotation by default e To protect the application and prevent the mechanical stop being reached each time it returns to position zero a position offset in mm can be set between the mechanical stop and position 1 corresponding to the application reference 11 5 1 3 Application Settings e To determine the maximum operating speed during the positioning phases the user should enter the maximum linear speed in mm s and the Step of the screw and Mechanical ratio between the motor and the screw adjustment parameters are used to obtain a motor speed of rotation according to the formula below 57 IN BRUSHLESS MOTORS Cos CY Crouzet SMI 1 11 5 2 Clamp Application Program Es DCmind Soft Bex File Language Bootloader Motor Information Motor Connection Help E RP The clamp program called C101 with expert m analog torque cQ Crouzet Clamp Application settings Project name IPmj Maximum clamping force Newton Ratio between the clamp and the motor torque 5Vde 24 Vdc Output Vcc supply PNP open collector In5 Torque ramp 0 10V PWM In6 Torque 0 10V PWM mu STOP connections Output connections Figure 46 The Clamp application program invokes the C101 expert program The user can switch to this expert mode at any time to access all the settings by clicking the Expert Mod
107. ogram Concise description of the P101 expert program x i DCmind Soft File Language Bootloader Motor Information Motor Connection hale Liles C Crouzet nn More settings are available in using expert programs Conveyor Belt Machine amp Experts Programs Position P100 Speed V100 Torque C100 Expert program category selection P100 Expert program selection P101 Figure 171 112 ind BRUSHLESS MOTORS oMI21 CI Crouzet 12 2 4 2 Description Tab This is an information tab containing a concise description of the various position profiles that are created using this expert mode Option to name the project Project name Pro Description Homing Inputs Dutputs Tuning Limits Errors Position 5Vde 24 Vac Ini Position 1 E In2 Position 2 Positions In3 Position 3 Ind Position 4 3In5 Homing On Off Output Vcc supply PHP open collector Target Homing done 0 Qut outa Running Outd Error Summary description of the profiles that can be created using this expert mode positioning with 4 predefined targets acceleration ramps etc Figure 1 2 113 LAr CY Crouzet SMI21 12 2 4 3 Homing Tab This tab is used to select and configure the type of homing to be performed offset s speed homing torque maximum duration of the homing ph
108. or the drives can execute unexpected movements Do not start up the installation if there is anybody or any obstacle in the danger zone e Execute the initial test movements without loads connected e Do not touch the motor shaft or related drive elements Failure to comply with these precautions can result in death serious injury or damage to equipment 18 x Crouzet SMI 1 VOLTAGE SURGES During braking phases the motor generates voltage surges Check that these voltage surges are acceptable to other devices connected on the same power supply f possible use an external circuit to limit voltage surges if the brake is used intensively Failure to comply with these precautions can result in death serious injury or damage to equipment A CAUTION FIRE CAUSED BY BAD CONTACTS If the connector is not properly inserted the motor connector can overheat causing the contacts to melt due to an electric arc Incorrect connection can cause overheating due to an electric arc Failure to comply with these precautions can result in injury or damage to equipment AX CAUTION IRREPARABLE PRODUCT DAMAGE CAUSED BY REVERSED POLARITY Incorrect connection of the power can result in reversed polarity resulting in destruction of the circuit board inside the motor e Check the conformity of the power connections Place a slow blow fuse on the power supply that is appropriately sized for the current the motor needs to
109. or belt machine etc e They enable quick start up with completion of just a few key application values e Each application program is based on a preconfigured expert program After testing the motor a few times in the application the user can refine the motor operation by accessing all the adjustment parameters via the expert program linked to the application program and changing the pre filled values Expert programs e The expert programs are grouped together with similar programs P1xx P2xx etc position control V1xx V2xx speed control C1xx C2xx torque control e These are generic programs not specific to any application They can be used to access all the options and settings e They can be used directly without going via the application program step and they offer a wider choice of uses 41 ind BRUSHLESS M MOTORS PF CY Crouzet SMI 1 The contextual help window gives a description of the selected application when you hover over it with the mouse cursor Note DCmind Soft is constantly being improved The latest available update can be downloaded from our website http www crouzet com Description of the tabs on the main menu bar Language HMI language selection Bootloader Informations Moteur Connexion Moteur Aide LE sy Oper Motor Information Can be used to find out ave ds information about the motor when it is Deutch connected Exit z Espa ol dg Open Loa
110. orque Output 2 PYM Heal terque Pw frequency 1000 m Hz S2 torque 100 PM 1000 mm Figure 59 State of digital output 3 Real direction Used to find out the motor direction of rotation Output 3 DIGITAL Real direction I Counter Clockwise 1 Clockwise Figure 60 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mn error Figure 61 68 CY Crouzet SMI21 12 1 4 4 Type 2 Outputs Tab Parameters Setting the parameters of PWM output 1 Real Speed The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 2 096 Real speed 0 rpm If cyclical ratio 100 Real speed maximum speed setpoint defined in In6 Output 1 PWM Real speed Fw frequency 1000 p Figure 62 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output 2 PM Heal terque PM frequency 1000 EM 52 torque 1005 PM 1000 fel Nm EA Figure 63 State of digital output 3 Motor running Used to find out whether the motor is stopped
111. ossier cliquez sur Suivant Pour l installer dans un autre dossier entrez son nom ci dessous ou cliquez sur Parcourir Dossier CADCmind Sof Parcourir Installer DCmind Soft pour vous ou pour toute personne qui utilise cet ordinateur Tout le monde Seulement moi Annuler lt Pr c dent Figure 18 Steps 1 and 2 38 DCmind Soft mem Confirmer l installation eA A Le programme d installation est pr t installer DCmind Soft sur votre ordinateur Cliquez sur Suivant pour d marrer l installation Annuler lt Pr c dent Suivant gt fg DCmind Soft al ae Installation termin e Installation de DCmind Soft r ussie Cliquez sur Fermer pour quitter Utilisez Windows Update pour rechercher les mises jour critiques du NET Framework Annuler Pr c dent Fermer Figure 19 Steps 3 and 4 Once installation is complete the PC software can be launched directly via the DCmind Soft icon on the desktop Note To uninstall the DCmind Soft application follow the standard Windows procedure Start Control Panel Add or Remove Programs DCmind Soft Remove SMI21 i BRUSHLESS MOTORS L c CY Crouzet Note For PCs running Windows XP the version of Framework may not be recent enough to be able to install the DCmind Soft HMI On launching the setup the HMI automatically informs the user of this problem by
112. ow a shaft output at right angles to the motor shaft 3 2 3 Other Other types of adaptation are possible on request please contact the sales department 4 ACCESSORIES 4 1 Starter Kit This kit consists of a 2 meter long micro USB B to USB A MOLEX 68784 0003 connecting cable anda USB stick containing the Crouzet Interface parameter definition software and installation drivers for this HMI This starter kit can be obtained by ordering part number 79 298 008 4 2 Extra Stoppers A kit of 5 extra stoppers is available by ordering part number 79 298 xxx x Crouzet SMI21 5 INSTALLATION Installation must as a general rule be performed in accordance with good practice HEAVY WEIGHT AND FALLING PARTS The motor can be extremely heavy e When mounting take the weight of the motor into account e Mounting screw tightening torque must be performed in such a way that the motor cannot become detached even if subjected to strong accelerations or constant jolting Failure to comply with these precautions can result in death serious injury or damage to equipment STRONG ELECTROMAGNETIC FIELDS Motors can generate locally powerful electrical and magnetic fields These can cause sensitive equipment to fail Keep people with implants such as pacemakers away from the motor Do not place sensitive equipment in the immediate vicinity of the motor Failure to comply with these precautions can result in death serious i
113. owing measures as concerns EMC Keep the cables as short as possible Reduces stray couplings both capacitive and Do not install unnecessary cable loops inductive Ground the product Reduces emissions improves immunity to interference If using shielded cables install the cable Reduces emissions shielding so that it is in contact with the widest possible surface area use cable grips and ground strips Keep the motor power supply leads separate from cables carrying signals or use shielding plates any disconnection points 1 When a cable is disconnected for installation the cables must be connected at the disconnection point via a shelding connection and a metal box 15 Crouzet SMI21 Equipotential bonding conductors If using shielded cables differences in potential can generate unauthorized currents on the cable shielding Use equipotential bonding conductors to minimize currents on the cable shielding 5 3 Prior to Mounting Look for any damage Damaged drive systems must neither be mounted nor used Check the drive system prior to mounting looking out for any visible signs of damage Clean the shaft On leaving the factory the motor shaft extensions are coated with a film of oil If transmission devices are to be glued on it may be necessary to remove the film of oil and clean the shaft If necessary use degreasing products in accordance with the glue manufacturer s instructions gt Avoid a
114. p O50000 ki 00060 Kd 3 00000 i Figure 243 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 ms During data acquisition the other HMI functions are not available Recording time 100 4 Second s Figure 244 Curve Drawing button used to start data acquisition Curves are only displayed once acquisition is complete Export Data button used to retrieve data corresponding to the selected parameters in a text file txt To make this file compatible with the Excel spreadsheet change its extension to csv Figure 245 139 CI Crouzet Example SMI21 ind BRUSHLESS MOTORS Position 1 2 000 000 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rpm sec Position 2 0 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rom sec This gives us the following graphic representation 1500 1000 500 Velocity rpm e 500 1000 1500 Position pulses 10 6 Motor Graphic Position setpoint Real position A Real speed 25 2 0 13 1 0 0 5 0 0 0 5 a 0 20 40 60 80 100 120 Time ms 103 Note The display scales can be changed with the mouse wheel Other functions are available by right clicking the mouse Copy Save Image As Page Setup Print Show Point Values Un Zoom Undo All Zaoom Pan Set 5cale
115. p C 2 mechanical stops O 1 switch CO 1 switch then 1 Selection of homing High state active Low state active itt No parameter accessible for this type of homing Change the direction of rotation Figure 165 When the homing sequence starts the current position is used as a reference position 0 106 LA CY Crouzet SMI21 BRUSHLESS MOTORS b 1 mechanical stop 3 Start from current position 1 mechanical stop 2 2 mechanical stops CO 1 switch CO 1 switch then 1 enc Selection of homing High state active Low state active Offset pulses r ffser1 ca Offset 2 0 toos mechanical zero AP NUR SEU Accessible parameters md 100 em ds p P software zero Homing Torque 100 E mM m Max Homing Time 300 second pa Direction of rotation C Change the direction of rotation Figure 166 This homing phase is used to search for the system mechanical stop as follows Depending on the END1 stop position on the right or left the user selects the appropriate Direction of rotation and sets a Homing Speed When the application torque increases to more than the Homing Torque the END1 mechanical stop is detected the motor is in the mechanical zero position To avoid the motor coming into contact with the END1 mechanical stop each time it returns to the reference position Offset 1 can be set in encoder pulses This new position s
116. plication can be made with Deither the motor alone or the motor n RES ae associated with an adjustable reduction system belt pulley gear The user can set the homing phase type of stop search direction offset between software zero and mechanical zero mechanical design total stroke step of Worm Gear the screw reduction ratio yield and physical limitations linear speed and iv pare Mechanical setting Application limits Total stroke length 300 mm EE Maximum linear speed 100 mm Step of the screw 10 mm tour Maximum force TE Mechanical ratio between the motor and the screw belt pulley gearbox included wo xs Mechanical system efficiency Inputs Outputs configuration 20 690 m Output Vcc supply PNP open collector Target Homing done 0 Running Error 7 oOo oO oO 707 020 0 0 0 KREE xxix mmt m tis p ww STOP our connections Input connections Figure 45 The Worm Gear application program invokes the P111 expert program cog The user can switch to this expert mode at any time to access all the settings by clicking the Expert Mode button The values preset in application mode will be loaded directly in expert mode It is then impossible to return to this application program The user can press the
117. point has been reached Output 1 DIGITAL Target Reached Flag Position target not reached 1 Position target reached Figure 201 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 10096 scaling If cyclical ratio 0 Braking torque supplied S2 torque If cyclical ratio 2 5096 Torque supplied 0 mNm If cyclical ratio 2 10096 Motor torque supplied S2 torque Output 2 PYM Real terque centered on 50 Pw frequency 1000 Ea Hz S2 torque 100 PM 1000 mim Figure 202 Combinations of digital outputs 3 amp 4 Motor status Used to find out the motor status Outputs 3 amp 4 DIGITAL Motor status OO Error detected OF motor in stop made AMD na homing 01 Matar running positioning 10 Motor stopped AND homing completed 11 Mat used Figure 203 125 LA CY Crouzet SMI21 12 2 5 8 Type 9 Outputs Tab Parameters Setting the parameters of Pulse output 1 Real speed A Hall pulse with configurable width 100 to 800 us is generated each time one of the 3 motor Hall sensors changes state 80140 SMI21 and 80180 SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280 SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Output 1 Pulse Heal speed Hall pulse width 500 TE
118. pply voltage if V DC 48V then Out1 Out2 Out3 Out4 48 V In the event of rejection this voltage increases accordingly and can rise up to 57 V maximum voltage threshold value If your application necessitates limiting the voltage value of these outputs implement the diagram below Customer output S Ok 24V Moy Zener 24V GND 36 BRUSHLESS MOTORS oMI21 Cos cyl Crouzet 10 INSTALLATION OF THE DCMIND SOFT HMI 10 1 Introduction To configure motors in the SMI21 DCmind Brushless range Crouzet provides a user friendly HMI that is easy to use By means of a communication interface the HMI establishes the connection between the PC and the motor and can be used to configure the motor and adapt its operation to the application 10 2 System Required The HMI is compatible with the following operating systems Windows XP Family amp Professional with Framework version 3 5 minimum supplied on USB stick Windows Vista Windows 7 32 amp 64 bit The HMI installation files are supplied on the USB stick in the programming kit and are available for download from the Internet at the following address http www crouzet com 10 3 Installation of the USB Drivers Run the Driver Motor exe file in the Driver folder USB to Serial Device Driver Installer Welcome to the USB to Serial Device Driver Installer This wizard will walk you through installing the driver for the USB o Serial Device
119. r following detection of an error Eliminate the cause of the fault Switch to stop mode disable digital input 1 On Off Switch back to run mode enable digital input 1 On Off 19 n cC CY Crouzet SMI21 12 1 5 Expert Program V102 12 1 5 1 Description Expert program V102 is used to Create speed profiles with analog or PWM control Set torque limiting with analog or PWM control 12 1 5 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Input 1 DIGITAL ON 7 OFF 0n 1 0ff 0 n 0 Off 1 Figure 82 Digital input 2 Used to set the Direction of rotation input polarity Input 2 DIGITAL Direction of Rotation Cw 1 CCw 0 O Cw 0 CCw 1 Figure 83 Digital input 3 Used to set the Holding at stop input polarity and set the Holding Torque value Input 3 DIGITAL Holding at stop High State Active o Holding Torque 150 m m lw Low State Active Figure 84 76 LA CY Crouzet SMI21 Digital input 4 Used to set the Fast stop input polarity This input is used to stop the motor as quickly as possible ignoring the setpoints applied to the other inputs Input 4 DIGITAL Fast Stop High State Active Low State Active Figure 85 Setpoint input 5 Used to select the control type for the torque limiting setpoint and fix the maximum and minimum limits for this setpoint An inverted scale c
120. r running Type 4 10 motor stopped in holding mode 11 motor stopped and freewheeling Digital combinations Digital type output 1 PWM Pulse Frequency type output 60 EA n CY Crouzet SMI2 BRUSHLESS MOTORS 12 1 3 Description of the Various Tabs For the description of tabs expert program V101 is used as an example for detailed information about each speed expert program see the Expert Program V101 to Expert Program V104 sections in this document 12 1 3 1 Home Page This page is common to all the expert and application programs whether in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Speed V100 category in the Expert Programs group so the icons for the various V100 expert programs appear in the bottom right hand corner of the window and you then need to click on the one corresponding to the V101 expert program Concise description of the V101 expert program E DCmind Soft cog Fie Language Bootloader Motor Information Motor Connection List of various expert programs in position speed and torque e Cr ouzet In these programs all the settings are accessible expert users amp Application Programs Valve Conveyor Belt Machine amp Experts Programs Position P100 Speed V100 In1 i Torque C100 m ET npon a
121. re EMERGENCY STOP end position limiting network outage and restarting e Separate or redundant command paths must be available for critical functions e Comply with the accident prevention instructions and all current safety directives e Any installation in which the product described in this manual has a central role must be carefully and meticulously checked prior to commissioning to ensure it is x Crouzet SMI21 working properly Failure to comply with these precautions can result in death or serious injury UNBRAKED MOVEMENT In the event of a power outage and errors resulting in disconnection of the power stage the motor is no longer braked in a controlled way and can cause damage Prevent access to the hazardous zone If necessary use a damped mechanical stop or a service brake Failure to comply with these precautions can result in death serious injury or damage to equipment 2 4 Standards and concepts The product is ROHS confirmed following European Directive 2011 65 CE Following this confirmation the product is CE marked The electrical design follows the IEC 60335 1 and IEC 60950 1 standards G Crouzet SMI21 3 PRECAUTIONS FOR USE CONCERNING THE MECHANICS 3 1 Data specific to the motor shaft 3 1 1 Press fit force MOTOR MECHANISM Exceeding the maximum permissible forces on the shaft leads to rapid bearing wear a broken shaft or damage to any accessories encoder brake etc e Never exc
122. read and accept the license terms then press the Install gt button F Installation de Microsoft NET Framework 3 5 SP1 E m Progression du t l chargement et de Microsoft l installation NET Framework T l chargement en cours LLLLELELLELLELELLELLLELLELELELELELELELEL tat R tablissement de la connexion avec le serveur tentative 3 sur 5 Progression du t l chargement total 10 Mo 20 Mo Annuler i Figure 22 During installation Windows tries to connect to the server to download the Framework multi language package this may take several minutes as 5 attempts are made to connect to the server After 5 attempts the software is installed directly via the setup supplied on the USB stick 39 ind BRUSHLESS M MOTORS oMI21 LAr CY Crouzet E Installation de Microsoft NET Framework 3 5 SP 1 Z Progression du t l chargement et de Micros l installation NET Framework Installation en cours Ge O T l chargement termin Yous pouvez vous d connecter d Internet Annuler Figure 23 M Installation de Microsoft NET Framework 3 5 SP 1 mn Installation termin e Microsoft Net Framework Microsoft NET Framework 3 5 SP1 a t install avec succ s i Il est fortement recommand de t l charger et d installer les Service Packs et les mises jour de s curit les plus r cents pour ce produit Pour plus d informations visitez le site Web suivant Windo
123. rect product operation in the majority of cases Torque control loop parameters Kp 0008477 kis onome S Kd 0 999990 4 Figure 270 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 ms During data acquisition the other HMI functions are not available Recording time 1 Second s Figure 271 Curve Drawing button used to start data acquisition Curves are only displayed once acquisition is complete Export Data button used to retrieve data corresponding to the selected parameters in a text file txt To make this file compatible with the Excel spreadsheet change its extension to csv Figure 272 153 ind BRUSHLESS M MOTORS CY Crouzet SMI21 Example With a torque setpoint on input 6 at 200 mN m and a torque ramp setpoint on input 5 at 50 mN m s this gives us the following graphic representation recording time of 20 seconds Motor Graphic Torque setpoint Real torque cn c l E c E tm ke o j ce m l Time ms 10 3 Figure 273 Note The display scales can be changed with the mouse wheel Other functions are available by right clicking the mouse Copy Save Image As Page Setup Print Show Point Values Un Zoom Undo All Zoom Pan Set Scale to Default Figure 2 4 154 Crouzet SMI21 12 3 4 6 Limits Tab Para
124. s no mechanical work over a prolonged period braking with a shifted load some parts of the holding brake can corrode or other deposits can accumulate and thus reduce the holding torque The holding brake has been run in on leaving the factory If the holding brake produces no mechanical work over a prolonged period some parts of the holding brake can corrode If the holding brake should not demonstrate the holding torque specified in the technical specifications it would need to be run in again he motor is not mounted The holding brake is engaged 160 CY Crouzet SMI21 Measure the brake holding torque using a torque wrench gt Compare the value with the holding torque indicated on the technical data sheet gt If the holding torque is markedly different from the stated values turn the motor shaft by hand 25 turns in both directions gt Repeat the operation If the holding torque has not been restored after 3 repeat operations please contact your vendor 15 4 Replacing the Motor Disconnect all the supply voltages Make sure that no other voltage is applied safety instructions gt Mark all connections and demount the product gt Replace it with a motor with the same part number Install the new product as described in section 4 Installation gt Commission the product as described in section 5 Commissioning 15 5 Dispatch Storage Disposal Comply with the ambient conditions describ
125. se with configurable width 100 to 800 us is generated each time one of the 3 motor Hall sensors changes state 80140 SMI21 and 80180 SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280 SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Output 1 PULSE Heal speed Hall pulse width IE Figure 142 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 10096 scaling If cyclical ratio 2 096 Torque supplied 0 mNm If cyclical ratio 2 10096 Torque supplied S2 torque Output z PM Heal terque Fw frequency 1000 A Hz ca S2 torque 100 Pwj 1000 i mN m Figure 143 State of digital output 3 Real direction Used to find out the motor direction of rotation Output 3 DIGITAL Real direction I Counter Clockwise 1 Clockwise Figure 144 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Mn error Figure 145 97 CY Crouzet SMI21 12 1 7 4 Type 2 Outouts Tab Parameters Setting the parameters of PWM output 1 Real speed The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 0 Real speed 0 rpm If cyclical ratio 100 Real spe
126. shold Description Inputs Qutputs Tuning Limits Errors Overvoltage detection Overvoltage threshold settings if this value is exceeded an error will be generated Threshold voltage 57 ll Figure 255 147 LAr CY Crouzet SMI21 12 3 3 7 Errors Tab This tab provides information about the type of error encountered based on the error code and the action to be taken by the motor following this error Description Inputs Clutputs Tuning Limits Errors Motor safety errors If an error is detected that could jeopardize motor safety the motor is automatically turned off and left freewheeling 01 Overtemperature 110 C mm Motor stopped no torque applied Bz Undervaltage lt 8 mee boto stopped no terque applied 83 Overvoltage gt 57 ms oto stopped no terque applied Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode Figure 256 148 LC CY Crouzet SMI21 12 3 4 Expert Program C101 12 3 4 1 Description Expert program C101 is used to Create torque profiles with analog or PWM control Set the torque up and down ramps with analog or PWM control 12 3 4 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Input 1 DIGITAL ON 7 OFF
127. speed control to one of the 3 preprogrammed speeds Set the acceleration deceleration phase parameters via the HMI 12 1 6 2 Inputs Tab Parameters Combinations of digital inputs 1 to 3 Used to choose the type of speed setpoint applied at the motor input If no input is active the setpoint will be that applied to input 6 lf one of these 3 inputs is active the setpoint will be the priority speed associated with this input N B If more than 1 input In1 to In3 is active the setpoint taken into account will be that for input 6 Inputs 1 2 3 DIGITAL Choose speed setpoint IN 1 IN IN3 0 0 0 Speed setpoint Input 6 1 0 Speedn1 1000 rmm 1 Speedm z 2000 ka rpm T Speed n3 2000 ir rpm Figure 111 Combinations of digital inputs 4 and 5 Used to choose the motion to be performed from the 4 actions indicated below Inputs 4 5 DIGITAL Choose mation INA INS 0 Fast stop 1 COW direction CW direction 1 1 Stop and remove error Figure 112 85 Crouzet SMI21 Setpoint input 6 Used to select the control type for the speed setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Input 6 Proportional setpoint Speed 10 4000 i pm o1v Oo8 PWM ES U ipm DM Figure 113 Setting the acceleration and braking ramps These values are fixed via the HMI and cannot be changed by inputs while the motor is running
128. static discharges ESD on the shaft can in rare cases lead to encoder system failures and generate unexpected motor movements Use conductive parts e g antistatic straps or other appropriate measures to avoid a static charge due to movement Failure to comply with these precautions can result in death serious injury or damage to equipment UNINTENDED BEHAVIOR CAUSED BY MECHANICAL DAMAGE TO THE MOTOR Exceeding the maximum permissible forces leads to rapid bearing wear a broken shaft or damage to the internal encoder Never exceed the maximum axial and radial forces Protect the shaft from any impact When press fitting components do not exceed the maximum permissible axial force Failure to comply with these precautions can result in death serious injury or damage to equipment 17 x Crouzet SMI21 Mounting position The motor can be mounted in any position Mounting When mounting the motor on the flange the motor must be aligned precisely in both the axial and radial directions All the fixing screws must be tightened to the tightening torque stipulated by the application taking care not to generate any warping Install the transmission devices If the transmission device is installed incorrectly this can damage the motor Transmission devices such as pulleys and gears must be mounted in compliance with the maximum axial and radial loads defined in each motor s technical data sheet Follow the trans
129. stopped e OUT4 If 0 error detected if 1 no error 11 5 2 2 Application Settings e he user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window e f it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph e The maximum motor torque corresponding to a voltage of 10 V is calculated as follows 59 6 BRUSHLESS M MOTORS oMI21 Cos CY Crouzet 12 EXPERT PROGRAMS 12 1 Speed Programs 12 1 1 Types of Inputs in V100 Programs The table below defines the function associated with each of the inputs in the 4 V100 programs the color associated with the input number corresponds to that of the I O bundle Programs Eo oe oor oo PE EEE O V101 V102 V103 V104 ON OFF ON OFF oer In6 setpoint speed 8 de Er e Priority speed 1 Priority speed 3 Eu Holding Holding mo Fast stop Fast stop Fast stop Fast stop CW CW Stop disable error Stop disable error Key Digital type input Analog or PWM type input 12 1 2 Types of Outputs in V100 Programs For all expert speed programs 4 configurable output configurations are available the color associated with the output number corresponds to that of the I O bundle Direction of rotation Digital Digital Direction of rotation Digital Digital Digital 00 error detected 01 moto
130. tage surges can be tolerated by the other devices connected to the same power supply Use an external circuit to limit voltage surges if the brake is being used intensively Failure to comply with these precautions will result in death serious injury or equipment damage Setting the overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Overvoltage detection Threshald voltage B y 74 C C cy Crouzet SMI21 12 1 4 9 Errors Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered real torque higher than the nominal torque Cnominac for a time longer than tuax B4 Over Torque Error The torque limitation is exceeded Motor stopped na holding terque applied Motor stopped holding torque appled The motor tries to reach its input setpoint Figure 80 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Motor safety errors Ol Overemperature 110707 ms Motor stopped no holding torque applied oz Undervoltage lt 8 or stopped no holding torque applied B3 Overvoltage 57 V m Motor stopped no holding torque applied Figure 81 Procedure for restarting the moto
131. ted to simplify the Conveyor Belt PWM configuration of the application Application settings Project Name Conveyor speed max 20 00 m s Speed ratio belt travel meter 5Vdc 24 Vdc InS5 Acc decc 0 10V PWM In6 Speed 0 10V PWM d Input f connections Figure 44 The Conveyor Belt PWM application program invokes the V101 expert program Output Vcc supply PNP open collector STOP Que Output connections The user can switch to this expert mode at any time to access all the settings by clicking the Expert Mode button The values preset in application mode will be loaded directly in expert mode It is then impossible to return to this application program The user can press the STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 4 2 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs e IN1 If O Stop if 1 Run e IN2 If 0 motor running in reverse CCW if 1 motor running forward CW e IN3 If IN3 1 and IN1 1 and IN6 0 application of a 150 mNm holding torque e other commands INA If 0 no action if 1 Quick start by short circuiting the coils This action takes priority over the e N5 PWM control Sets the motor acceleration and d
132. the test if there is anyone or any obstacle in the hazardous zone Failure to comply with these precautions will result in death serious injury or equipment damage This tab can be used to set the limit values for various parameters Torque management Torque mM m Nominal torque Enominal 250 mM m Cmax Maximum torque Cmax 500 mM m Fd isi eer iste Maximum peak time tmas 2000 m GNOMINAL a B amp Max Time ms Figure 213 Setting the various torque parameters When the application torque exceeds the torque Cyominac the motor can provide torque up to the value Cmax for the maximum duration tax Thereafter if the application torque is still higher than Cnominac the motor torque is limited to the value Cnominac until the application torque falls back below this value VOLTAGE SURGES During the braking phases the motor generates voltage surges Check that its voltage surges can be tolerated by the other devices connected to the same power supply Use an external circuit to limit voltage surges if the brake is being used intensively Failure to comply with these precautions will result in death serious injury or equipment damage Setting the overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Over
133. to the nstallation and Commissioning sections to find out what steps to take We recommend that the following operations are done at regular intervals Connections and fixing gt Check the connection cables and connections regularly for signs of damage Replace any damaged cables immediately gt Check that all the transmission devices are fully tightened gt Retighten all the mechanical and electrical bolted connections to the appropriate tightening torque UNEXPECTED MOVEMENT Exceeding the permissible ambient conditions can allow foreign bodies from the surrounding area to get in and lead to unexpected motor movements or damage to equipment e Check the ambient conditions e It is vital to avoid fluid stagnation in the shaft bushing Failure to comply with these precautions can result in death serious injury or damage to equipment Cleaning Clean the motor regularly to remove any dust and dirt If heat cannot dissipate adequately into the ambient air this can cause abnormally high temperatures The motors are not designed to be cleaned with high pressure washers Jet washing can cause water to get inside the motor When using cleaning products or solvents take care not to damage the motor power supply leads and any options brake ball bearings and the motor coating Check run in the holding brake Occasional braking with a shifted load helps conserve the holding brake s holding torque If the holding brake produce
134. trol loop parameters Kp 970000 Kis 010000 a Ed 0 00000 a wr Figure 104 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 ms During data acquisition the other HMI functions are not available Recording time 10 Second s E I aE Figure 105 Curve Drawing button used to start data acquisition Curves are only displayed once acquisition is complete Export Data button used to retrieve data corresponding to the selected parameters in a text file txt To make this file compatible with the Excel spreadsheet change its extension to csv Figure 106 82 oMI21 ind BRUSHLESS MOTORS CY Crouzet Example With a speed setpoint on input 6 at 2000 RPM and a torque limit on input 5 at 1000 mN m this gives us the following graphic representation recording time of 5 seconds Motor Graphic Real speed Speed setpoint 2500 2000 1500 o 2 1000 500 0 0 1000 2000 3000 4000 5000 6000 Time ms Figure 107 Note The display scales can be changed with the mouse wheel Other functions are available by right clicking the mouse Copy Save Image As Page Setup Print Show Point Values Un Zoom Undo All Zoom Pan Set Scale to Default Figure 108 83 Crouzet SMI21 12 1 5 8 Limits Tab Parameters VOLTAGE SURGES During the braking phases the motor generates vo
135. ts Tab Parameters Combinations of digital inputs 1 to 3 Used to select the type of speed setpoint applied at the motor input 8 possible combinations Inputs 1 4 3 DIGITAL Select speed setpoint Input 1 Input 2 Input 3 0 u T rpm 1 i i 500 3 rpm 0 0 TOOK c rpm 1 0 1500 Ea rpm 1 1 200085 rpm 0 2500 e rpm D 1 1 3000 rpm 1 3500 rpm Figure 139 Combinations of digital inputs 4 and 5 Used to select the motion to be performed from the 4 actions indicated below Inputs 4 5 DIGITAL Select motion Input 4 Input 5 0 0 Fast stop 0 COW direction 0 1 Cw direction 1 Stop and remove error SEQ Figure ARABIC 147 95 Crouzet SMI 1 Setpoint input 6 Used to select the control type for the torque limiting setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Input B Proportional setpoint T arque Limit 10v 0B nm D 10v o ay O PWM 1000 mN m Dv Figure 140 Setting the acceleration and braking ramps These values are fixed via the HMI and cannot be changed by inputs while the motor is running By default the rates are fixed at 40 000 RPM sec Acceleration and deceleratian Rate of acceleration 40000 iy rpms Rate of deceleration 40000 t rpm s 3 Figure 141 96 CY Crouzet SMI21 12 1 7 3 Type 1 Outputs Tab Parameters Setting the parameters of Pulse output 1 Real speed A Hall pul
136. uency of this output for which the motor runs at 1000 RPM 200 500 or 1000 Hz Output 1 FREQUENCY Real speed Frequency at 1000 rpm 1000 iw Hz Figure 123 State of digital output 2 Real direction Used to find out the motor direction of rotation Output 3 DIGITAL Real direction 0 Counter Clockwise 1 Clockwise Figure 124 State of digital output 3 Motor running Used to find out whether the motor is stopped or running Output 3 DIGITAL Motor running 0 Motor running 1 Matar stopped Figure 125 State of digital output 4 Error Used to find out whether an error has been detected Output 4 DIGITAL Error Error detected 1 Ma error Figure 126 89 Crouzet SMI21 12 1 6 6 Type 4 Outputs Tab Parameters oetting the parameters of PWM output 1 Real speed centered on 50 The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 2 If cyclical ratio 2 096 Motor running forward CW at maximum speed setpoint defined in In6 If cyclical ratio 2 5096 Real speed 0 rpm If cyclical ratio 100 Motor running in reverse CCW at maximum speed setpoint defined in In6 Output 1 Pl Heal Speed centered on BU Fw frequency 1000 Hz Figure 127 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output must be identica
137. ve High state active mu um E4 4000 1000 40000 40000 CO Low state active CO Low state active E Input 5 DIGITAL Start Homing Input b DIGITAL ON OFF Start Homing 1 Stop Homing 0 DN 1 OFF 0 Start Homing 0 Stop Homing 1 DN D OFF 1 Figure 1 4 114 Crouzet 12 2 4 5 Outputs Tab oMI21 This tab is used to select and configure the various outputs in this expert mode position type 5 to type 9 Description Homing Output 1 PULSE Real speed Dutputs Tuning Limits Largeur du top hall 500 ju S Output 2 PWM Real Torque PWM frequency 1000 S 52 torque 100 PWM 1000 iF N Hz mMN m c Output 3 DIGITAL Real direction 0 Counter Clockwise 1 Clockwise Output 4 DIGITAL Error 0 Error detected 1 No error Output 5 type Output 1 PWM Real Speed PWM frequency r Output 2 PWM Real Torque PWM frequency 1000 Hz 52 torque 100 Pw M 1000 mN m c Output 3 DIGITAL Motor Running motor running 1 motor stopped Output 4 DIGITAL Error 0 Error detected 1 No error Output 6 type O Output 1 FREQUENCY Real Speed Frequency at 1000 rpm v Hz Output 2 DIGITAL Real direction 0 Counter Clockwise 1 Clockwise Output 3 DIGITAL Motor Running 0 motor running 1 motor stopped
138. voltage detection Threshald voltage AY E EY 129 LA CY Crouzet SMI21 12 2 5 11 Errors Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered real torque higher than the nominal torque CyowiwAL for a time longer than tuax B4 Over Torque Error The torque limitation is exceeded Motor stopped no holding torque applied Motor stopped holding torque applied The motor tries to reach its input setpoint Figure 214 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor stops and no holding torque is applied freewheeling Motor safety errors ol Overtemperature 1107L mm tir stopped no holding torque applied oz Undervoltage lt 84 Kotor stopped no holding torque applied B3 Overvoltage gt 57 hoo stopped no holding terque applied 65 Homing Error otor stopped no holding torque applied Figure 215 Procedure for restarting the motor following detection of an error Eliminate the cause of the fault Switch to stop mode disable digital input 6 On Off J Switch back to run mode enable digital input 6 On Off 130 CY Crouzet SMI21 12 2 6 Expert Program P111 12 2 6 1 Description Expert program P111 is used to Perform a homing phase to initialize the system with detection of the limit switches switch or mechanical type A sin
139. ws Update Figure 24 Once installation of Framework 3 5 is complete try again to install the DCmind Soft HMI referring to the Installation of the Crouzet DCmind Soft HMI section in this document 40 ind BRUSHLESS M MOTORS LA CY Crouzet SMI 1 10 5 Description of the Main Window Once all the installations are complete drivers HMI connect the motor to the PC and launch the HMI by double clicking on the icon below eo E DCmind Soft exe Figure 25 The HMI home page appears Cortetual he window aw DCmind Soft eR x File Language Bootloader Motor Information Motor Connection Help List of various expert programs in position speed and torque e Cr ouzet In these programs all the settings are accessible expert users Application Programs Valve Conveyor Belt Machine Conveyor Belt PAM Displays the various application programs in the form of icons Position P100 Speed W100 int oN orr Speed Torque C100 Mula In2 Di In3 Holding In4 Quick stop k stop In5 Acc decc 0 10V PWM CW and CCW In6 Speed 0 10V PWM In6 Speed 0 10v PWM In6 Speed 0 10V PWM In1 TE Speed In2 8 Preset speeds In3 Quick stop ins Sand cow Displays the various expert programs ne Torque Cv PWM in the form of icons Expert Program selection Figure 26 Application programs e The application programs are grouped together with similar applications valve convey

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