Home

Software Manual - User manual for DriveWare ® 5.4.2

1. 0 00 a 150 Cutoff Frequency Set to Infinite aa aa 150 Cutoff Frequency Set to 300Hz aaa eee 151 Cutoff Frequency Setto 50Hz aaaa a 151 Cutoff Frequency Setto 10Hz aaaaaaaaa a 152 eo ae AA AA AA 152 ADVANCED JA MOTION CONTROLS MNDG DWUG 03 IX MNDG DWUG 03 f ewvocucton _ This document provides instructions to use the setup software to connect to set up and control digital servo drives These instructions walk you through the commissioning steps necessary to set drive limits tune the current velocity and position control loops and assign automated functions to drive events The following major sections are covered e Connecting to the Drive on page 17 e Configuring the Drive on page 21 e Tuning and Commutation on page 71 Follow the procedures in this chapter to get an overview of many functions Familiarize yourself with the files on your computer the software workspace and controls of the software Later chapters provide more details in using these functions Before proceeding you must accomplish the following actions L Read the release notes and installation text files for your setup software ver sion 0 Install the setup software ADVANCED VA MOTION CONTROLS MNDG DWUG 03 1 Introduction Getting Started Getting Started After installing the setup software on your
2. Add Signal Remove All Channel Signal Units Div Offset 1 Current Target 1 Amps 0 0000 Amps 2 Current Measured 1 Amps 0 0000 Amps Trigger G Up Normal Change x BA C Single Stop C Auto Level 0 000 Amps Horizontal Location 50 Time Div Measure Scope Presets Jimsec z I Time Mode Aa Current Off xi Normal Velocity Js C Roll Off X Position To configure the oscilloscope for current loop tuning select the Current option from the Scope Presets section of the Digital Scope window The oscilloscope can also be manually configured for current loop tuning by following these steps 1 Use the drop down menu to change the channel 1 signal to Current Target 2 Use the drop down menu to change the channel 2 signal to Current Measured 3 Change the Trigger Source to Current Target with the Level set to zero Ensure Trigger Mode is Normal 5 Change Time Div to either 1 msec or 500 w sec A ADVANCED YA MOTION CONTROLS MNDG DWUG 03 7 7 Tuning and Commutation Current Loop Tuning Step 5 Tuning Position the Scope Waveform Generator and Current Loop windows such that a majority of all the windows are visible El Current Loop Channel Select ete Current Loop 2 Current Measured Proportional Gain Integral Gain 7 Change Add Signal Calculate Gains Trigger Source Curent Target
3. Digital Outputs Tab 1 0 Configuration Analog Inputs Analog Outputs Digital Inputs Digital Outputs Capture Inputs Digital Output 1 p2 pa Status Active High I Function E Short Circuit Fault Over Voltage Hw Under Voltage Hw Drive Over Temperature ld ada d Motor Over Temperature Over Current Cancel Apply Help The present status of each output is displayed by the LED graphic below each Digital Output number gray Not Active green Active The Active High checkmark determines the output polarity Active High means the output is pulled down if the output is considered OFF Each output can be assigned one or more functions via the checkmark matrix If more then one function is assigned to a single output the functions are OR ed which means that if one of the functions is true the output will be turned ON Selections become effective after clicking the Apply orOK button Note ADVANCED JA MOTION CONTROLS MNDG DWUG 03 67 Configuring the Drive Inputs Outputs Capture Inputs Tab 1 0 Configuration Analog Inputs Analog Outputs Digital Inputs Digital Outputs Capture Inputs Pin Label PDI 10 PDI 8 PDI 3 Enable Select Vv Capture A Tl Capture B Capture C Captured Signal Velocity Target Velocity Demand Captured Value 0 Custom Velocity 0 0 Custom Velocity Trigger Edge Rising X Rising Rising Trigger Mode Single X Single Single X S
4. Set Reset Source Capture B Set Reset Source Capture C External Reset Events CM WA ee lt lt eo AN ee ee WAW WA NW UN AA NAA ANU NMN UU NAUNA a a a a EE a a a a ee a a a E B Cancel Apply X Help 2 Select the Digital Inputs tab 3 Set the Measured Position to zero by checking Load Measured Position under an assigned input Set the Target Position to zero by checking Load Target under an assigned input Click the apply button 4 Clear the boxes checked in the above step and once again click Apply 5 Click OK to close the I O Configuration window 102 MNDG DWUG 03 Tuning and Commutation Position Loop Tuning Step 3 Waveform Generator setup To open the Waveform Generator window do one of the following ADVANCED Select Tools gt Waveform Generator on the main menu bar Click the Waveform Generator icon nn on the tool bar S Waveform Generator Miata Waveform Into The C DC C Not Connected Square C Current Loop C Triangle a c C Velocity Loop Position Loop c Waveform Attributes Frequency 1 Hz Amplitude fioo cnt KE E KE Offset 0 cnt Symmetry 50 KI H E K ju Set up the Waveform Generator as follows 1 2 au Pw Select the Square Waveform Type Set Frequency to around 1 3 Hz The Frequency should be slow enough to allow the motor to settle in position Ensure Offset is zero Ensure Symmetry is 50 Select Waveform Into The Position Loop
5. Change J Level 0 000 m Cancel Help Time Div 1msec x Mode Normal Waveform Type Waveform Into The a Coc C Not Connected Roll bro Current Loop C Triangle e C Sinusoidal C c Waveform Attributes Frequency 100 Hz Amplitude 0 5 Amp af m El EEI Zero Offset 0 Amps Symmetry 50 gt 4 Zero Enable the drive by clicking the Stoplight icon 8 The motor should emit an audible noise but remain still Proper current loop tuning starts with zero integral gain while increasing the proportional gain until a knee is formed with no overshoot in the Current Measured trace MNDG DWUG 03 Tuning and Commutation Current Loop Tuning At this point the proportional gain is done and the Integral gain must be slowly increased to close the steady state error between the Current Target and Current Measured traces Tuning changes with signal amplitude Therefore you should now re adjust the current amplitude in the waveform generator according to your most common application current requirements and re tune Contouring applications generally use small signal transients while point to point applications use larger signal transients When current loop gain adjustments are complete 1 Disable the drive by clicking the Stoplight icon Gg 2 Click Not Connected on the Waveform Generator to remove the command signal from the drive 3 Store para
6. Id Demand This represents the flux producing stator current in an AC induction motor Id should equal zero when using a permanent magnet motor ld Measured This represents the flux producing stator current in an AC induction motor Id should equal zero when using a permanent magnet motor Current Phase A The measured current in motor phase A The sum of all three phases Should add up to zero Current Phase B The measured current in motor phase B The sum of all three phases Should add up to zero Flux Ref Current The commanded flux reference current ignoring limits The flux Target reference current is the current induced in the rotor of an AC induction motor Flux Ref Current The commanded flux reference current after limits have been applied Demand The flux reference current is the current induced in the rotor of an AC induction motor Flux Ref Current The measured flux reference current The flux reference current is the Measured current induced in the rotor of an AC induction motor Flux Ref Current The difference between the flux reference current target and the flux Error reference current measured For lq and ld I represents the peak of the current sin wave for an individual phase in a three phase motor Depending on the drive type motor type and motor settings some of the signals may not be available ADVANCED YA MOTION CONTROLS MNDG DWUG 03 129 Diagnosti
7. MNDG DWUG 03 65 Configuring the Drive Inputs Outputs Digital Inputs Tab 1 0 Configuration Analog Inputs Analog Outputs Digital Inputs Digital Outputs Capture Inputs Digital Input 1 2 3 4 5 Active Low a Function User Disable Positive Limit Negative Limit Motor Over Temperature User Aux Disable Load Measured Position Load Target Start Homing Home Switch Quick Stop Set Reset Source Capture A Set Reset Source Capture B Set Reset Source Capture C PUNO Gmi Ba PUNAN n u ii m a a a a a a a o a a External Reset Events The present status of each input is displayed by the LED graphic below each Digital Input number gray Not Active green Active The Active Low checkmark determines the input polarity Active low means the input must be pulled down for the input to be considered ON Each input can be assigned to one or more functions via the checkmark matrix If more then one function is assigned to a single input the following priority rules apply from highest to lowest 1 Inhibit 2 Dynamic brake 3 Positive or negative limit 4 Phase Detection The User Disable User Aux Disable and the Motor Over Temperature functions depend on the selected function in the Event Manager window Selections become effective afterclicking the Apply orOK button Note 66 MNDG DWUG 03 Configuring the Drive Inputs Outputs
8. Set the waveform amplitude between 1 8 and 1 2 revolution for a rotary motor VA MOTION CONTROLS MNDG DWUG 03 Tuning and Commutation Position Loop Tuning Step 4 Oscilloscope setup To open the Oscilloscope window do one of the following e Select Tools gt Oscilloscope on the main menu bar e Click the Oscilloscope icon ta on the tool bar cc Digital Scope Channel Select z 1 Position Target i 500 cnt Div m Change Remove Offset 0 4 ont Add Signal Remove All Channel Signal Units Div Offset Position Target 500 cnt 0 0000 cnt Position Measured 500 cnt 0 0000 cnt Trigger R Source Position Target Slope ode Gup Nama Change Single Down Auto Level 0 000 ent Horizontal Location 50 Time Div Measure Scope Presets 10msec v rT maan mg Time Mode Ca Current Normal J Velocity Gg es ma To configure the oscilloscope for position loop tuning select the Position option from the Scope Presets section of the Digital Scope window The oscilloscope can also be configured for position loop tuning manually by following these steps 1 Use the drop down menu to change the channel 1 signal to Position Target 2 Usethe drop down menu to change the channel 2 signal to Position Measured 3 Change the Trigger Source to Position Target with the Level set to zero Ensure Trigger Mode is Normal 5 Change Time Div t
9. 0c cee 55 607 ERMINE ans ga stn gt current loop tuning ulunan User Over Voltage 55 Ha aan crepes 7 ae a a position loop tuning sa User Quick Stop eT integral gain velocity loop tuning 0 User Under Voltage 55 low speed gain Window Menu scsessssssennes User Units nn 4 proportional gain WZ neaei waveform generator setup 94 v Velocity Measured 5 Z Velocity Target Velocity Following Error 56 View Nem gba NGH POE E Gan eee Zero Velocity aan 56 Velocity Loop command profiler control 127 ADVANCED YA MOTION CONTROLS MNDG DWUG 03 lll Index IV MNDG DWUG 03 DriveWare Setup Manual MNDG DWUG 03 ADVANCED V4 NOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 5068 Tel 805 389 1935 Fax 805 384 2315 Wwww a m c com
10. Position Loop Tuning Step 1 Position Loop window setup 1 Verify the driveis disabled 8 Position 2 From the Main Block Diagram open the Position Loop window om Gil Position Loop Position Loop Homing Parameters Position Feedback V Position Loop Enabled Proportional Gain Integral Gain Derivative Gain Velocity Feedforward Gain at bj a E i 3 Select the check box for Position Loop Enabled 4 Set the Proportional Integral Derivative Velocity Feedforward and Acceleration Feedforward gains to zero ADVANCED VA MOTION CONTROLS MNDG DWUG 03 101 Tuning and Commutation Position Loop Tuning Step 2 Zero the measured and target position It may be necessary to zero the target and measured position so that they are equal to each other and the motor does not run away when the bridge is enabled Before continuing with this step click on the Limits amp Options block in the Main Block Diagram and select the position limits tab Verify the value of Measured Position is set to zero 1 0 Configuration Analog Inputs Analog Outputs Digital Inputs Digital Outputs Capture Inputs Digital Input 1 a 3 4 5 Status 3 Active Low J J J J Function User Disable Positive Limit Negative Limit Motor Over Temperature Phase Detection User Aux Disable Load Measured Position Load Target Start Homing Home Switch Quick Stop Set Reset Source Capture
11. The resulting effect is dependant on the operating mode This is acommand smoother not a drive limiter In other words it will change how the command is seen by the drive but if an event occurs which is not affected by the command the drive will react according to drive limits For changing drive limits see Limits amp Options e Current Loop Control Limits the jerk or change in commanded torque e Velocity Loop Control Limits the acceleration or change in commanded velocity e Position Loop Control Limits the velocity or change in commanded posi tion Also can be configured to limit the acceleration ADVANCED VA MOTION CONTROLS MNDG DWUG 03 125 Diagnostic Functions Command Settings Command Profiler window changes depending on the mode of operation you are using See below for the three possible windows Curent Loop control Limits the change in commanded current Command Settings Command Source Command Profiler V Command Profiler Enabled Linear Ramp Ca Max Positive Slope 1000 AIS Max Negative Slope 1000 Als Cancel 126 MNDG DWUG 03 Diagnostic Functions Command Settings Velocity Loop control Limits the acceleration and deceleration independently for positive and negative velocities Command Settings Command Source Command Profiler IV Command Profiler Enabled Linear Ramp Positive Velocity Max Acceleration 5000 rev minjs Max Deceleration 5000 rev
12. current loop tuning position loop tuning scope presets signal definitions velocity loop tuning Over Current La Over Voltage see Hardware or User Over Voltage P Parameter Restore Error 53 Parameter Store Error Peak Current Time Phase Detect ccccceeeseeees max phase detection current 90 max phase detection motion 90 Phase Detection Active 56 Phase Detection Complete 56 Phase Detection Fault 53 Phase Synchronization Error 53 Position Counts 0 0 0 Position Following Error Position Loop around torque sesser 99 around velocity s es 99 command profiler control 128 TUNING kaan ps proportional gain waveform generator setup 103 Position Measured 104 Position Target ummmmnananananann 104 Positive Limit ul 55 Positive Stop cccecceseseeseeeesees 51 Positive Target Velocity 56 Power up or down the bridge 4 Proportional Gain current loop tuning position loop tuning velocity loop tuning PVT Buffer Empty ummm PVT Buffer Empty Stop PVT Buffer Failure PVT Buffer Full PVT Buffer Threshold PVT File Creation a PVT Generator ul absolute position incremental position 120 PVT Generator Window see Entering P
13. the need for external signal sources during tuning is eliminated The Units select option allows you to choose between using load units or motor units as defined in the User Units window To open the Waveform Generator do one of the following e Select Tools gt Waveform Generator on the menu bar e Click the waveform u icon on the tool bar i Waveform Generator Waveform Type Waveform Into The DC Not Connected C Square Curent Loop Triangle c Sinusoidal Velocity Loop Position Loop c Waveform Attributes Frequency Hz Amplitude Kil fii Ej Offset 10 Symmetry KI Bl Ef Wavefom Generator Window Waveform Type Select a DC constant square wave triangle wave or sinusoidal waveform The sinusoidal waveform option is not available when waveform generator is connected to the position loop e Waveform Into The Select the destination for the waveform signal Not Connected means the waveform signal will not be used Command Profiler means the command signal will be limited as defined in the Command Pro filer Window e Frequency Select the frequency of the waveform signal This becomes inac tive when DC is selected for the waveform type e Amplitude Corresponds to the amplitude of the waveform signal equiva lent to half of the peak to peak value Disabled in case a DC waveform is selected e Offset Adds an offset to the selected waveform If a DC waveform is selected the offset
14. Analog Input 1 Bi Event Action Inactive Level 95 F i C Interface Inputt C Not Assigned Event Action Active Level 100 F Cancel Apply Help If the motor has an analog temperature sensor it can be connected to an analog input of the drive You can configure a maximum allowable motor temperature at which point the drive will be disabled The motor temperature level at which the drive can be re enabled can also be configured For a digital temperature sensor see the digital inputs section of Inputs Outputs on page 62 ADVANCED VA MOTION CONTROLS MNDG DWUG 03 45 Configuring the Drive Limits amp Options Power up Contol Tab Limits amp Options Drive Current Limits Voltage Limits Velocity Limits Position Limits Temperature Limits Power up Control Braking Stop Options Power up Action Bridge State Following Power up Action Load Measured Position Enable fa Disable Disable action is Disable Power Bridge Note Power up Actions are performed in the order of top to bottom Cancel Power up action Load Measured Loads the position defined in the position limits tab as home position Position Load Target Loads the target position as defined in the Input Ratio window This action is only active when operating in Encoder Following or Step and Direction position mode Bridge State If Disable is selected you will only be able to enable the drive using the Follo
15. CONTROLS MNDG DWUG 03 7 Introduction Using the Setup Software File Drive Tools View Window Help Hs 8 User Units lon 1G Stoplight Settings DriveLibrary CANopen Settings 2 In the data field type the name of the drive 3 Click on the OK button Select Drive Name up to 32 characters RotaryArm4 Cancel Connecting to the drive You must start communicating with the drive before performing any configuration and setup Choose one of these actions e Select Drive 5 Connect on the main menu bar e Click on the Connect icon E on the tool bar When you connect you decide whether to upload the configuration settings currently in the drive or download the current project from the setup software into the drive While connected to the drive the status bar in the lower right hand corner of the workspace reads CONNECTED and you can perform most configuration tasks Disc onnecting from the drive When it is time to stop communicating with the drive you must disconnect from the drive Choose one of these actions e Select Drive gt Disconnect on the main menu bar e Click on the Disconnect icon ka on the tool bar After terminating communi cation with the drive the status bar in the lower right hand side of the work space reads NOT CONNECTED 8 MNDG DWUG 03 Introduction Using the Setup Software Working with the Stoplight The Stoplight icon indicates whether the power bridge circuit is ready
16. Current The drive has reached the continuous current setting after current limiting Current Loop Saturated The maximum PWM duty cycle has been reached due to current loop saturation User Under Voltage DC bus voltage below the User Under Voltage Limit setting see Drive Configuration User Over Voltage ADVANCED VA MOTION CONTROLS DC bus voltage above the User Over Voltage Limit setting see Drive Configuration MNDG DWUG 03 55 Configuring the Drive Event Manager Non sinusoidal Commutation Description The drive is not commutating sinusoidally This event occurs automatically upon power up before the motor has moved around Otherwise this may be due to loss of synchronization or saturation or the drive may be set for trapezoidal commutation P hase Detection Active The drive is going into phase detection mode phasing based on the encoder only feedback User Aux Disable This event can be assigned to a digital input It is meant to allow for an alternative action to that assigned to the User Disable event For example you may assign Inhibit Bridge to the User Inhibit event and also assign Dynamic Brake to the User Aux Disable event Shunt Regulator DC bus voltage above the Shunt Turn on Voltage setting see Drive Configuration Effective only on drive models with built in shunt regulator Zero Velocity The measured motor velocity is within the Zero V
17. Follow these steps to successfully complete AutoCommutation 1 Review the information in the AutoCommutation warning box then select OK 2 Select Edit Motor Data from the options in the lower right hand corner ar teen AutoCommutation Settings Motor Commutation Synchronization Sinusoidal with Synchronization Edit Motor Data Exit 3 Click OK in the Pre Loaded data dialog box ADVANCED VA MOTION CONTROLS MNDG DWUG 03 83 Tuning and Commutation Commutation 4 On the Motor Data page the relevant information will have been changed to correspond with the AutoCommutation results Click OK then click OK in any dialog boxes to return to the AutoCommutation window 5 Select Accept in the AutoCommutation window If the Accept button is still greyed out consult the general guidelines in the following table to diagnose and correct any AutoCommutation warnings then re run AutoCommutation AutoCommutation Warning Text Primary Feedback Polarity Opposite from Motor Data Warning Description AutoC ommutation detected that the feedback polarity of the primary encoder is the opposite of what is specified on the Motor Data page This does not necessarily indicate an error only that the observed polarity is different In this case itis best to trust AutoC ommutation Different Feedback Devices from Motor Data AutoC ommutation detected a feedback device usually Hall Senso
18. Homing complete sso Homing Speeds eeeee 107 Hotkey 0 eeeeeeeceeeeeseeeeeteees 9 10 l I O Configuration ulan 62 Input Counts 0 0 59 60 Integral Gain position loop tuning velocity loop tuning Interface input 0 0 0 eee Intergral Gain current loop tuning u s 79 Invalid Hall State oe 53 Invert Polarity 0 0 0 eee 60 L Latch aaahh Limit Envelope Limits amp Options Load Target ul Load Target Command 59 60 Low Speed Gain ul 92 98 M Main Block Diagram ul block functions Manual Commutation Max Measured Position 53 Max Phase Detection Current 90 Max Phase Detection Motion 90 Max Target Position 56 Maximum Drive Rating see Over Current Maximum Recoveries 50 Menu Min Measured Position 54 Min Target Position 56 Motor Database Hi Motor Over Speed Motor Over Temperature 53 66 Motor Ratings see Motor Feedback Motor Feedback auxiliary feedback motor constants primary feedback TESOIVET cccecceeseeee wire identification Multimeter oo signal definitions 129 N Negative Limit 0 1 1 55 Negative Stop 0 51 Negative Target Velocity 56 NO Action anna 51 No Command ulanan 61 Non sinusoidal Commutation 56 O Open AA Oscilloscope
19. J Custom Labels The User Units tab allows you to set the general units you will use in the software Select the type of unit from the drop down menu ADVANCED VA MOTION CONTROLS MNDG DWUG 03 25 Configuring the Drive User Units User Units User Units Position fi ent 7 Velocity fi rpm X Acceleration poo frems x Torque fi N m X Temperature poo PF Cancel Apply Help User Label 16 characters max a O mopo mep a o You may also define custom units by checking the Custom Labels box Once selected you may choose any name you like to define your custom units You can also adjust scaling differences between standard and custom units MNDG DWUG 03 Configuring the Drive User Units Auxiliary Units Tab ADVANCE User Units User Units Auxiliary Units Position Velocity Acceleration Torque J Custom Labels Hi Cancel Help The auxiliary tab is available only when the Auxiliary Encoder checkbox is checked from within the Motor Fdbk block This tab allows you to set auxiliary units when using dual loop feedback You may define custom auxiliary units by checking the Custom Labels checkbox D VA MOTION CONTROLS MNDG DWUG 03 27 Configuring the Drive Motor and Feedback Data Motor and Feedback Data The motor and feedback data windows can be accessed by clicking on Motor Fdbk the Motor Fdbk icon in the main block diagram toe The motor d
20. Motor F dbk block INAY Data re User Units Settings gt User Units User Units Motor Feedback Data Main Block Diagram gt Motor F dbk block gt Primary Motor 7 Fabk Feedback tab E Ju TAPAT s 10101010101010 Feedback Selection Main Block Diagram gt Velocity loop gt Velocity Velocity Feedback tab OEH Sse a Main Block Diagram gt Position loop gt Position OPR Feedback tab Limits amp Options Main Block diagram gt Limits amp Options Limits amp Options MIN MAX Limits 2 Options ADVANCED JA MOTION CONTROLS MNDG DWUG 03 23 Configuring the Drive Using the Configuration Wizard Wizard Window Navigation when not using Wizard Command Source Main Block diagram gt Command Inputs Outputs Main Block diagram gt Inputs Outputs MM Inputs Outputs Mu Inputs Outputs MNDG DWUG 03 Configuring the Drive User Units User Units This window allows you to select measurements for your motor and load For example you could track your motor speed in RPM while you track your load speed in m s You can select from a variety of units types and even define custom units To open the User Units window do one of the following e Select Options gt User Units on the main menu bar e Click the User Unitsicon m2m on the tool bar User Units Tab User Units User Units Pasition Velocity Acceleration Torque Temperature
21. Motor Check the box if a motor mounted encoder is connected AutoCommutation Encoder Detection will determine the polarity Enter the encoder line count per revolution per mm inch for linear motor Also indicate if there is an encoder index pulse and the number of index occurrences per revolution number of lines per index occurrence for linear motor In case of resolver feedback you can select either high or low resolution 12 bit means an equivalent 4096 counts rev 14 bit means 16384 counts rev In case of 1Vp p encoder feedback you can select the number of encoder cycles per revolution and an interpolation value In case of a Hiperface or EnDat absolute encoder you can select the number of encoder cycles per revolution the serial interface and the absolute encoder resolution ADVANCED VA MOTION CONTROLS MNDG DWUG 03 31 Configuring the Drive Motor and Feedback Data Auxiliary Feedback Tab Motor And Feedback Data Manufacturer Default Motor View Model Default Brushless Database Motor Type Bushless x Feedback Model 120 Halls 2000 Line Encoder Save to Database Motor Constants Primary Feedback Auxiliary Feedback Wire Identification Rotary Encoder Type 500 Lines Rev Inverted v Feedback Polarity IV Index 1 Indices Rev Under the Auxiliary Feedback tab the following data can be entered Auxiliary Encoder Check the box if an auxiliary encoder will be used to
22. P1 V1 T1 If the profile is executed the drive will attempt to move the motor a distance of P1in T1 seconds with a final velocity of V1 The path of motion is calculated by using the difference between the initial and the target position and velocity points and running them through a third order equation to produce a smooth motion profile The figure below shows an example which involves multiple PVT points S1 S2 S3 Sn and displays how smooth motion between these points can be produced A Sn POSITION S3 2 S1 TIME PVT Pilot ADVANCED JA MOTION CONTROLS MNDG DWUG 03 119 Diagnostic Functions PVT Generator The Position Veloc ity Time PVT generator is a vaila ble after you enable the position loop and set PVTas the command source Note Command Source Settings Before entering PVT points you will need to select whether you are using incremental or absolute position e Incremental position means each new position value is added to or subtracted from the last position value entered e Absolute means each new position value is defined with respect to zero posi tion You can select between the two data entry types from within the Command Source window by selecting the ellipses Bl button next to PVT This opens the PVT Input Settings window as shown below For details on the PVT Input Settings window see PVT under Event Manager on page 48 PVT Input Settings j Input Method A
23. Reset is not active 13 45 30 940 Under Voltage is active 11 11 56 929 Drive Reset is not active 8 55 11 828 Drive Reset is not active 8 55 10 826 Under Voltage is active 1 49 47 662 Drive Reset is not active 1 43 46 659 Drive Reset is not active 1 49 45 656 Under Voltage is active 1 47 44 990 Drive Reset is not active 1 47 43 987 Drive Reset is not active 1 47 42 984 Under Voltage is active 1 47 28 599 Drive Reset is not active 1 47 27 596 Under Voltage is active 1 40 53 295 Drive Reset is not active 1 40 50 19 Drive Reset is not active Critical Event Activity Mndow ADVANCED VA MOTION CONTROLS MNDG DWUG 03 137 Diagnostic Functions Fault Activity Event Counter Lists the total operating time of the drive and the number of times faults have occurred since the drive has been in operation W Event Counters Total Run Time 27 Days 22 Hours 17 Minutes 11 Seconds Drive Protection Drive System Drive Reset Log Entry Missed 0 Drive Internal Error Commanded Disable 1869 Short Circuit User Disable 33 Current Overshoot Positive Limit 22 Under Voltage HW Negative Limit 21 Over Voltage HW Current Limiting 11877 Drive Over Temperature Continuous Current 107 Current Loop Saturated 5656 System Protection User Under Voltage 3 Parameter Restore Error User Over Voltage 3651 Parameter Store Error Invalid Hall State Phase Sync Error 1674 Motor Over Temperature 1
24. Serial Port COM1 z C Ethernet Baud Rate 9600 7 C PowerLink TCP IP Auto Detect Interface Access Control Access Read Write v Cancel Help Connection Settings Window The new settings take effect immediately In order to retain the new settings upon power up they must be stored in the drive s nonvolatile memory Ifyou need to review see Storing the Changes onto the Drive on page 14 20 MNDG DWUG 03 J cortguing tne Dive NNT Before proceeding you must accomplish the following actions CU Successfully connect your computer to the drive L Use the setup software to successfully recognize the drive OU Wire the drive to the motor Configuration requires you to decide upon several parameters for your drive based on the requirements of your application The drive must have information about scale factors feedback devices motor parameters and limits ADVANCED VA MOTION CONTROLS MNDG DWUG 03 21 Configuring the Drive The setup software provides windows for you to e Assign the user units of measurements e Enter the motor constants e Set the primary feedback e Select the feedback data velocity and or position e Set the limits for temperature current voltage velocity and position and decide options for power up and brake stop behavior e Enter the command source e Decide which analog and digital signals will provide input and output for the drive All these p
25. allow you to operate these drives safely and effectively You are responsible for determining the suitability of this product for the intended application ADVANCED Motion Controls is neither responsible nor liable for indirect or consequential damages resulting form the inappropriate use of this product High performance motion control equipment can move rapidly with very high forces Unexpected motion may occur especially during product commissioning Keep clear of any operational machinery and never touch them while they are working Caution ADVANCED YA MOTION CONTROLS MNDG DWUG 03 il Keep clear of enclosed units motor terminals and transformer terminals when power is applied to the equipment Follow these safety guidelines e Always turn off the main power and allow sufficient time for complete discharge before making any connections to the drive Make sure that the minimum inductance requirements are met Pulse Width Modulated PWM amplifiers deliver a pulsed output that requires a minimum amount of load inductance for proper operation e Do not rotate the motor shaft without power The motor acts as a generator and will charge up the power supply capacitors through the amplifier Excessive speeds may cause over voltage breakdown in the power output stage Note that an amplifier having an internal power converter that operates from the high voltage supply will become operative e Do not short the motor leads at high mo
26. and the drive is ready to process motion commands or if motion is disabled and the drive will not provide high voltage to the motor phase terminals File Drive Tools Settings Yiew Window Help SH Saf em Moma B In laterchapters when you actually enable the bridge the motor willhave powerand canmove You must take care so asto avoid damage to equipment or injuries to people Caution Enabling motion This action allows the drive to accept commands and to send power to the motor Choose one of these actions e Select Drive gt Enable on the main menu bar e Click on the Stoplight icon on the tool bar so that itis green With the bridge enabled you can perform the phase detection AutoCommutation and tuning tasks required before motion can be controlled Later chapters explain these procedures Keep in mind that when the Stoplight is green the drive is softwa re enabled but a hardware event digital input invalid hall state etc could still keep the power bridge from ena bling Notice Disabling motion This action stops the drive from providing high voltage to the motor phase terminals Many functions automatically disable the bridge At other times you may need to manually disable the bridge or stop motion Choose one of these actions e Select Drive gt Disable on the main menu bar e Click on the Stoplight icon on the tool bar so that it is red Soplight behaviorand Hotkey This window allows you to select the
27. corresponds to the DC signal amplitude e Symmetry Corresponds to the duty cycle or symmetry of the waveform sig nal This becomes inactive when DC is selected for the waveform type 118 MNDG DWUG 03 Diagnostic Functions PVT Generator PVT Generator Typically you use Point Velocity Time PVT to stream motion data between multiple axes for coordinated motion Arbitrary position and velocity profiles can be executed on each axis A PVT command contains the position velocity and time information of the motion profile s segment end points The servo amplifier performs a third order interpolation between segment end points This results in a kind of partial trajectory generation where both host controller and servo amplifier generate a specific portion of the overall move profile trajectory The host controller calculates position and velocity of intermittent points on the overall trajectory while the servo amplifier interpolates between these intermittent points to ensure smooth motion The actual position loop is closed within the amplifier This reduces the amount of commands that need to be sent from host controller to amplifier which is critical in distributed control systems The number of segments and the time duration of each segment need to be selected based upon required accuracy and network bandwidth Suppose the motor is at rest and the values P1 V1 and T1 are entered in the buffer to represent a PVT point S1
28. frequency down to about 1000Hz or less It is usually ok to start with this value also 96 MNDG DWUG 03 Tuning and Commutation Velocity Loop Tuning 3 Proper Velocity loop tuning starts with zero integral gain while increasing the proportional gain until a knee is formed with no overshoot in the Velocity Measured trace as shown below There may or may not be an error between the Target and Measured traces the key is to have a smooth knee shape 4 At this point the Proportional gain is left alone and the Integral gain is increased slowly until the knee begins to deform as shown below It is OK if the waveform does not start to distort until the integral gain is very high When the distortion occurs back off the Integral gain until the knee becomes smooth again ADVANCED YA MOTION CONTROLS MNDG DWUG 03 97 Tuning and Commutation Velocity Loop Tuning 5 Next in order to improve the smoothness of the response it may be beneficial to adjust the feedback filter cutoff frequency For most systems the ideal cutoff frequency will be somewhere between 50Hz and 1500Hz 6 Most systems will be tuned properly at this point If your system requires fine tuning you may adjust the derivative and feed forward gains 7 When tuning is complete select the Not Connected option in the waveform generator If the motor starts to make audible noise increase the Low Speed Gain until the vibration and noise stops
29. recommended name in the Select Firmware window a firmware upgrade is unnecessary and you may click the cancel button If the two names are different you must update the firmware Find the appropriate firmware file name in the release notes included with your setup software Browse Folder Browse File If the drive firmware is not installed in the default directory you may need to browse for it Use these buttons to navigate to where the firmware file is located 110 MNDG DWUG 03 Downloading the Firmware Downloading the Firmware Downloading the Firmware ets 1 Select the recommended firmware file 2 Click on the Download button This process may take several minutes depending on your connection 3 Close the dialog box when download completes This box is checked by default so that you will return to the block diagram after firmware upgrade completes 4 Ifthe Bridge State on Power up option in the Power up Control tab in Limits and Options is set to Enable you will see a dialog window during the download asking if you would like to reset the drive after the firmware download is complete Firmware Download Firmware download completed The drive will now be reconfigured A drive reset is recommended to reinitialize the drive A reset will process all power up actions and may enable the bridge Would you like to reset the drive after it has been reconfigured Be aware that resetting the drive in this case
30. the Drive 8 18 20 a to detect aala 19 communication parameters 20 CONNECT ICON AA 4 connection settings 18 20 default configuration 20 Continuous Current uu 55 Critical Event Activity see Fault Activity Current Limiting 55 139 148 calculation of u s 143 148 Current Loop command profiler control 126 culate gains 73 75 integral gain 0 eee T9 proportional gain T8 waveform generator setup 76 Current Loop Saturated 55 Current Loop Tuning 73 719 Current Measured ul 77 Current Target 77 Custom Labels cccce 26 27 Cutoff Frequency see Feedback Filter D Deadband a 64 Default Configuration 20 Derivative Gain position loop tuning 100 velocity loop tuning 92 98 Diagnostics see I O Configuration Digital Inputs 0 0 0 66 PONY easiest 66 Digital Outputs 2 0 0 0 eee 67 Disable akan naan 9 Disable Negative Direction 51 Disable Positive Direction 51 Disable Power Bridge 51 Disconnecting from the Drive 8 Drive Control see Event Manager Drive Internal Error 52 Drive Menu Drive Name Drive Over Temperature 52 Drive Parameters configuration Of seese 37 Drive Protection 48 135 Drive Reset Drive Statu
31. the main menu bar MNDG DWUG 03 Introduction Getting Help Version 5 4 2 Copyright C 2001 Build Date 6 17 2008 Display the drive information To display information about the drive s internal hardware and software select Help gt About The Drive on the main menu bar Drive Information Internal Drive Name DPCANIE 015N4004 Power Board o Control Board Name PNA15440C Name CCR341EEB Version 0 02 Version 0 02 E Serial Number 43906 0031 Serial Number 43578 0013 Build Date 05 23 07 Build Date 04 24 07 Build Time 11 22 25 Build Time 09 46 53 Drive Firmware DPCANIE 5 4 2 0 aff Bootloader Bootloader_CN 5 0 0 Main Firmware Cor34Tee 5 4 2 FPGA ADVANCED JA MOTION CONTROLS MNDG DWUG 03 13 Introduction Saving Your Setup Saving Your Setup After you have configured your drive you must make certain to save all the parameters and settings Storing the Changes onto the Drive The setup software must be connected to the drive before performing this task After you configure and adjust the drive s settings use the store function The drive settings stored in the drive s nonvolatile memory NVM are used by the drive after an off on power cycle To save the current drive settings in nonvolatile memory you would either e Select Drive gt Store to drive on the main menu bar e Click on the Storeicon on the tool bar Click OK in the dialog box to confirm you action Sa
32. the motor in both directions with strong torque use this wiring combination e Ifusing Trapezoidal Commutation this procedure is finished e Ifusing Sinusoidal Commutation Inthe Commutation tab select Sinusoidal as the Commutation Type and then close the Current Loop window Open the Waveform Generator and setup a DC waveform into the current loop as before offset of 10 of the rated continuous motor current Enable the drive however be prepared to disable the drive in case of spin away or any other dangerous situation Ifthe motor spins smoothly no further changes are necessary If it does not close the Waveform Generator and open the Motor Data gt Primary Feedback tab Change the Primary Feedback Polarity to which ever option is not currently selected Accept changes and if desired verify that the motor now spins smoothly to the small current command given previously e Double check the feedback polarity Go back to gt Velocity Limits and set the desired Motor Over Speed Go back to Event Manager gt Advanced 5 System Protection and configure the Motor Over Speed event action for your application Store parameters to the drive s nonvolatile memory For review see Storing the Changes onto the Drive on page 14 The drive is now ready either for tuning the outer loops or final commissioning and use 88 MNDG DWUG 03 Tuning and Commutation Commutation Phase Detect Phase de
33. throughout your development process Prepare for Download sss ITIFT Connect to the drive Set the Drive gt Connection Settings to a high baud rate Make sure the parameters are correct in both the setup software and the drive Store parameters to the drive s nonvolatile memory PWNE Open the Firmware Download Window Select Drive gt Firmware Download on the menu bar File NEY Tools Settings View Window Help B Enable 2 Connection Settings R Disconnect Store to drive Restore from drive Firmware Download This action opens the Firmware Download window ADVANCED VA MOTION CONTROLS MNDG DWUG 03 109 Downloading the Firmware Open the Firmware Download Window Firmware Download Current Information Software Version 5 4 2 0 DriveFirmware DPCANIE 5 4 2 0 aff Select Firmware Firmware File Name Location Recommended DPCANIE 5 4 2 0 aff C Program Files My Firmware Files DPCANIE 5 4 2 0 aff Other Compatible Browse Folder Browse File Firmware Burn Status V Close the dialog box when download completes Cancel This window allows change to the drive run time firmware For example you may need to upgrade when a new version of software is to be used with an older drive or when a new drive needs a previous version to work in a system Check the Current Information window to view which firmware is currently in the drive If the firmware file name matches the
34. very tight current loop inside of a relatively tight velocity loop may cause audible noise If maximum bandwidth is not necessary de tuning the current loop usually removes most of the audible noise The velocity loop will have to be adjusted any time the current loop tuning is changed 4 Position Loop Tuning You can either tune the position loop around the velocity loop or around the current loop Generally it is much easier to tune a position loop around a velocity loop because only the proportional gain is needed When tuning position around the current loop a high derivative gain may be necessary on top of both proportional and integral gains MNDG DWUG 03 Tuning and Commutation Current Loop Tuning Curent Loop Tuning Current Open the Current Loop window by clicking on the Current Loop icon in the main block diagram The Current Loop tab in this window shows the available current loop parameters Current Loop Current Loop Proportional Gain 0 aj Integral Gain x o Calculate Gains Limits i i Cancel Help Two options for current loop parameter settings are available Proportional and Set according to conventional PI tuning rules See Tuning for more Integral Gain information Proportional Gain Use for zero placement in the current loop algorithm The proportional and Motor Pole gain setting is the overall gain of the current loop algorithm When the Motor Pole value matche
35. vss t222 ctono3tec read ed dw iaa awi Ena 9 Stoplight behaviorand Hotkey 0 cece eee eee 9 Working with Windows cece eee eens 11 Showing hiding the toolbars ce es 11 Moving a window 1 cece ee tenes 11 Scrollbars i lckiccckc ead easeeean te deagvtetaseeeeas 11 Arranging the windows eee eee ees 11 Getting Help AA AA 12 On Line Documentation a 12 Context Help iigiickas dae cde ud eke a Chae AA 12 Technical PPO Laag NAKAWAN aaah hh aS NAGAWANG NG 12 Software verion maga sitcacseedaniGeadadedgandlebwas 12 Display the drive information 0 cee eee eee 13 Saving Your Setup AA 14 Storing the Changes onto the Drive 14 ADVANCED YA MOTION CONTROLS MNDG DWUG 03 v Saving the Project File onto YourComputer 14 Exiting the Progam lt ciatss cue eeaiievuas PA 15 2 Connecting to the Drive 17 Connecting to the Drive a 18 Saving the Drive s Default Configuration 20 Changing Communication Parameters 00s 20 3 Configuring the Drive 21 Using the Configuration Wizard ce ees 23 User UNIES paaa manahan AGA Ka NGA a ee ee a 25 UserUnits Tab apa KK AGANG Dawa Ph bot DAD Kab bed 25 Auxilia ry VANS TAD 28nd KAB tare ee Oe KA Ka ae 27 Motorand Feedback Data 0 cece eee 28 Motor Constants aD s actceteunceatut bend ieevdadocee Xe 29 Primary Feedback Tab cc
36. 000 Max Motor Temperature 65 T 4 Click the OK button 34 MNDG DWUG 03 Configuring the Drive Feedback Assignment Feedback Assignment Open the Feedback window by clicking on the velocity or position loop block in the main block diagram and then clicking on the feedback tab It allows selection of the feedback used by the velocity and position loops Velocity Feedback Tab Velocity Loop Velocity Loop Velocity Feedback Motor Mounted Encoder aki rae Standard C Hall Velocity j External C Analog Input 2 ea Feedback Polarity C Interface Input 1 Ko Limits Motor Mounted The velocity is derived from the motor mounted encoder Encoder Hall Velocity The velocity is derived from the motor mounted hall sensors When configured for hall velocity mode the drive will define 1 count to be equal to 1 hall state change that is a 4 pole motor has 12 counts per revolution Analog Input The velocity is derived from an analog input Typically used in case of a motor mounted tachometer The analog signal must be conditioned not to go outside the range of 10V For drives with multiple analog inputs click on the Bl to select which analog input to use Interface Input The velocity is provided over the communication interface This is an advanced option which is currently not available with standard drives Resolver The position is derived from the motor mounted resolver Feedback Polar
37. 03 Configuring the Drive Event Manager ADVANCE PVT Sequence Number Description PVT trajectory points were received out of order can indicate a missing PVT point or repeated point Homing complete Homing has finished Commanded Quick Stop A quick stop event via the communication interface User Quick Stop A quick stop event via a digital input Commanded Positive Limit A positive limit command from the communications interface Commanded Negative Limit D JA MOTION CONTROLS A negative limit command from the communications interface MNDG DWUG 03 57 Configuring the Drive Command Settings Window Command Settings Window Command The Command Source window can be opened by clicking on the gt command source block in the main block diagram It allows selection and configuration of the command source a Command Source Tab Command Settings Command Source Command Profiler Select command source Analog Input 1 c C Interface Input 1 Encoder Following PYT No Command al pA FT zi F7 pa Comm Channel Analog input Selects an analog input as the command source for the drive Configuration of this input can be done in the I O Configuration window The ellipses button displays analog input assignments All analog inputs are shown If more than one is available you may select it from the Select an in
38. 6 Phase Detection Fault 19 Export Feedback Sensor Errorz 0 Motor Over Speed 47649 Upper Measured Position Limit 7 Lower Measured Position Limit 0 Event Counters Window The Event Counter automatic ally stores to the drive approximately once every nine minutes If the drive power is shut off within this time frame and a manual store to NVM isnot performed the counter will not be incremented Note 138 MNDG DWUG 03 BA curentumiing This topic explains current limiting for digital servo drives The basic concepts of current limiting are introduced first followed by a detailed explanation of some underlying formulas Understanding the Limit Envelope Pe ee Digital drives limit current output according to a well defined software and hardware current limit envelope These envelopes consist of Peak Current for a specified amount of Peak Current Time followed by a foldback to Continuous Current for an amount of time specified by the Foldback Time Constant Peak Current i Continuous Current H i ais aa a ee ee a SN E E tf r p Peak Current Foldback Time Constant Time Foldback amp current limit envelope 1 The current limit envelope is shown in red 2 You use drive setup software to configure the software envelope while the hardware envelope is fixed and defined by drive hardware limitations 3 The Peak Current Time and Foldback Time Constant of the hardware envelope is the same
39. 8 Disable the drive by clicking the Enable Disable Drive icon A 9 Store parameters to the drive s nonvolatile memory If you need a review see Storing the Changes onto the Drive on page 14 10 Click OK in the Velocity Loop window to save and close your gain settings Do not close out of the Velocity Loop window by selecting the X in the upper right comer Closing out this way will not save your gain settings You must close out of the Velocity Loop window by clicking OK Reminders 98 MNDG DWUG 03 Tuning and Commutation Position Loop Tuning Position Loop Tuning Position loop tuning is dependant on the mechanical load and therefore will change with any mechanical system changes Position loop tuning should be performed with the motor installed in the system The position loop can be closed around velocity or torque mode depending on whether the velocity is enabled or disabled If it is closed around velocity mode the position loop algorithm output becomes the new velocity set point If it is closed around torque mode the position loop algorithm output becomes the new torque set point There are some important differences in the tuning process and application of these two approaches Position around Velocity This mode is most common in contouring application where a position trajectory must be tracked very closely The velocity loop provides additional stiffness and keeps the dynamic position errors minim
40. ADVANCED V4 NOTION CONTROLS j ala ae Limits amp Options Inputs Outputs DriveWare 5 4 User Guide Setup Software Operator s Manual MNDG DWUG 03 3805 Calle Tecate Camarillo CA 93012 5068 Tel 805 389 1935 Fax 805 384 2315 Wwww a m c com MNDG DWUG 03 Preface ADVANCED Motion Controls constantly strives to improve all of its products We review the information in this document regularly and we welcome any suggestions for improvement We reserve the right to modify equipment and documentation without prior notice For the latest revision of this manual visit the company s website at www a m c com Otherwise contact the company directly at ADVANCED Motion Controls 3805 Calle Tecate Camarillo CA 93012 5068 USA This manual is for the exclusive use of ADVANCED Motion Controls The reproduction transmission or use of this document or its contents is prohibited without the expressed written permission of ADVANCED Motion Controls General Safety You must install and operate ADVANCED Motion Controls motion control equipment so that you meet all applicable safety requirements Ensure that you identify the relevant standards and comply with them Failure to do so may result in damage to equipment and personal injury Notice Read this entire manual prior to attempting to install or operate the drive Become familiar with practices and procedures that
41. CONNECTED Cancel Closes the connection window without connecting Help Brings up this help document If the drive has previously been configured these settings may have changed If connecting fails click on the Auto Detect button Scan for drive Start Scan Scan Status Press start scan to begin Scan Range Drive Address Stat com COM Port Baud Rate PK Nabil Note Baud rates above 115200 cannot be scanned Cancel Autodetect Window ADVANCED YA MOTION CONTROLS MNDG DWUG 03 19 Connecting to the Drive Saving the Drive s Default Configuration Saving the Drive s Default C onfiguration When you connect the setup software reads the configuration settings from the drive and that data becomes the current project Now would be a good time to save these settings to your computer using a unique name to identify these factory set drive parameters If you need to review see Saving the Project File onto Your Computer on page 14 Changing Communication Parameters E Once communication is established you may change the address and baud rate settings 1 Choose one of the following actions Select Drive gt Connection Settings on the main menu bar Click on the Connect icon Bata on the tool bar 2 Choose your desired settings 3 Click the OK button Connect To Drive Communication Interface Interface Settings R5232 i 63 C R5485 Drive Address C SyngNet
42. Commutation Synchronization Motor Commutation Synchronization Sinusoidal with No Synchronization Synchronization Synchronization Recover z x Start AutoCommutation Edit Motor Data Cancel MV Reacquire Commutation 7 Ensure the Reacquire Commutation checkbox is checked This ensures that the commutation settings will be adjusted if there is a synchronization error 8 Click Start AutoCommutation to begin the process During the Auto Commutation process monitor the distance traveled in each direction Rotary motors will turn two revolutions plus one electrical cycle in each direction Linear motors will move three electrical cycles in each direction 9 When AutoCommutation is complete select whether the motor has moved the proper distance Yes or has not moved the proper distance Edit Motor Data If the motor did not move the proper distance verify the pole count or pole pitch in the motor data window Click OK in Motor Data to return to the AutoCommutation window 10 Select the appropriate mode of commutation synchronization Formotors with hall sensors and encoder feedback select Sinusoidal With Synchronization Synchronize on the encoder index if available Synchronizing on the Hall Edge prohibits use of the index for homing Formotors using encoder with index channel only or resolver select Sinusoidal with Synchronization and select Encoder Index for the synchronization signal If you have a resolver
43. EncoderFaultWord 3 Voltage Analog Output This is word 3 of the fault reported by the encoder when using an absolute encoder with serial feedback Definition The present voltage applied to the analog output DC Bus Voltage The present voltage applied to the high voltage input of the drive Voltage Phase A The voltage with respect to DC bus ground applied to motor phase A Voltage Phase B The voltage with respect to DC bus ground applied to motor phase B Voltage Phase C The voltage with respect to DC bus ground applied to motor phase C Analog Input The voltage with respect to signal ground applied to the analog input ADVANCED YA MOTION CONTROLS MNDG DWUG 03 131 Diagnostic Functions Signal Definitions Command profiler Definition Command Profiler The commanded signal input to the Command Profiler When the Input Command Profiler is enabled all commands pass through it first for profiling Temperature Value Definition Motor Temp The present temperature of the motor read and scaled from the appropriate analog inputs Torque Definition Motor Torque The torque applied by the motor This value is calculated from Measured measured current as delivered to the motor from the drive and other user Supplied parameters in the Motor Data window Definition Drive Position The drive position as measured by the primary feedback device No positio
44. Offset p 5 m mps Remove All Channel Select e Channel select drop down menu Allows you to select which channel you wish to display e Change Changes the currently selected signal to another one of your choice e Add Signal Adds a new channel to the scope if available and allows you to select a corresponding signal of your choice This button will be disabled grey if all oscilloscope channels are used e Remove Removes the selected channel from the scope e Remove All Removes all channels resulting in no signals displayed e Signal Scaling Allows you to adjust the scale in units per division The type of units used changes depending on the signal chosen The signal to be scaled corresponds to the channel selected in the channel select drop down menu e Offset Adjusts the offset of the signal shown in the digital scope display The offset corresponds to the channel selected in the channel select drop down menu A list of available channels and their definitions can be found in the Signal Definitions on page 129 114 MNDG DWUG 03 Diagnostic Functions Digital Oscilloscope Channel Signal Urits Div Dffoet maa Current Target 1 Amps 0 0000 Amps aa 2 Current Measured 1 Amps 0 0000 Amps Signal Window e Channel Shows the color associated with the channel as seen in the digital scope display e Signal Shows the signal associated with the color and channel e Units Div Shows the uni
45. See KALAN Block Diagram The main windowis a block diagram representing the digital servo drive Use this window to navigate to other areas for setup configuration diagnostics and troubleshooting At the top are the blocks used for general configuration and checking drive status At the center are the internal loops ADVANCED VA MOTION CONTROLS MNDG DWUG 03 5 Introduction Getting Started current velocity and position These loops are nested and you should tune starting with the most inner loop Function Block Diagram Configure general drive parameters gure g p MIN MAX Limits 2 Options Configure and diagnose analog and digital signals Inputs Outputs Configure drive fault and event handling Event Manager See a status overview of internal na View gt system and drive faults Drive Status Drive Status Select types of motor control signals Command co ES Adjust settings gains and limits for Position the Position Loop Adjust settings gains and limits for the Velocity Loop Adjust settings gains and limits for the Current Loop Configure commutation settings aa Enter motor data and selectfeedback Motor Fdbk for velocity and position signals i 6 MNDG DWUG 03 Introduction Using the Setup Software Using the Setup Software The setup software provides many tools to configure and monitor the settings for the drive Later chap
46. Signal Remove All 1 Amps Div Offset 0 Amps Channel Signal Units Div Offset Trigger Source Current Target Change Current Target Current Measured Level 0 000 Amps Time Div 1Omsec v Mode Normal C Roll Digital Scope Window ADVANCED VA MOTION CONTROLS Measure T Time 1 Amps 1 Amps Slope Up C Down Horizontal Location Off pa Off nd 0 0000 Amps 0 0000 Amps Mode Normal C Single C Auto hs 9 Scope Presets Current Velocity Position MNDG DWUG 03 113 Diagnostic Functions Digital Oscilloscope The oscilloscope provides real time feedback during tuning and setup This multichannel digital scope behaves similarly to a traditional oscilloscope but provides access to internal drive signals You can show up to eight channels at any time depending on the bandwidth used for each channel The units used in the vertical division setting depend on the selected signal Standard prefixes such as u micro m milli k kilo M mega are used for larger scaling factors The bridge does not need to be enabled to use the scope All that is required is that the drive be powered up and connected Even if the setup software isnot connected to a drive you can still adjust the settings Note Channel Select _ _ 1 Current Target v 500 m mps Div ma Change Remove
47. TION CONTROLS MNDG DWUG 03 107 Tuning and Commutation Position Loop Tuning Homing method The set of drawings below illustrate the different components used to define the different homing routines The components are grouped in the diagram to show events relative to motor load position Load and physical limits The square near the middle of the drawing shows the load object that is to be moved The end points represent physical limitations or barriers in which the load cannot travel past The left side is in the negative direction with the right side in the positive direction H Direction of travel The vertical line on the right side represents the starting position The load travels in the direction of the arrow In the drawing shown the load would begin traveling in the negative direction and then switch directions to move in the positive direction The circle represents the final resting position Index Pulse Each vertical line represents one index pulse Limit and Home Switches As shown the switch can be either high or low The vertical lines represent a toggle point TL_ 108 MNDG DWUG 03 54 Downloading the Fete Each time the manufacturer releases a new setup software version or issues a firmware patch you should update the firmware on your existing digital drives When you work closely with the manufacturer particularly for custom products firmware changes may be required several times
48. VT Points PVT Sequence Number 57 PWM Input Broken Wire 54 Q Quick Stop AA 10 R Recovery Time nsss 50 Resolver see Motor Feedback Response Time eeceeeeeeeeeeees 50 Restore u s 4 22 S Safety reer a iii iv Scope Presets c ccecseceseeseeeeees 116 CUITONE aap AG 71 position 104 VELOGIEY ha aA 95 Settings Menu ou cece 4 Setup Software Files 2 Short Circuit La Shunt Regulator Signal Definitions command profiler pa commanded input value 133 commutation u s 131 current umoo 129 deadband input s133 drive Lana napasisans 132 position 130 temperature 132 tOrque oe 132 velocity 130 YOAGO ecrire 131 Sinusoidal Commutation 81 Status oireena nean 134 Step and Direction 59 SLOP AA AA E ES Stoplight settings 9 System Protection 50 135 System Status 135 T Technical Support uman 12 Time Out Ll Toolbar ICONS 0 Tools MENU ccccceescsescseseseeeeeeees TUNING wssicecivaacincaiceas current loop position loop is velocity 100p nesses U Under Voltage see Hardware or User Under Voltage MNDG DWUG 03 Index Unlimited Recoveries 51 feedback filter 149 152 W User a a daghan agad 56 66 pe DA a ee Waveform Generator User Disable
49. al since the system now reacts to not just position errors but also velocity errors which can be interpreted as position error changes It is important to start with a stable yet responsive velocity loop Typically it is suf ficient to just use the position loop proportional gain Feedforward gain can be added to improve tracking performance i e minimize the difference between commanded and actual position It is best to use a small step command as a reference signal during tuning Position around Torque This mode is most common in point to point applications where actual motion between start and end point is not very crit ical In this case velocity loop tuning can be avoided This can be advanta geous if the velocity feedback is poor e g low resolution encoder poor encoder quadrature In this case the tuning process requires that the posi tion loop proportional and derivative gain are increased simultaneously unless the system has sufficient friction in which case no derivative gain is necessary Once a stable response is achieved integral gain can be added to improve stiffness It is best to use a triangular waveform or a step command with the profiler enabled as a reference signal during tuning Position Open the Position Loop by clicking on the position loop icon in the 4 main block diagram It provides access to the position control PE parameters ADVANCED VA MOTION CONTROLS MNDG DWUG 03 Tuning and Commu
50. analog programmable inputs and outputs You can access this window by clicking on the I O icon on the main screen Inputs Outputs The following tabs are available e Analog Inputs e Analog Outputs e Digital Inputs e Digital Outputs e Capture Inputs MNDG DWUG 03 Configuring the Drive Inputs Outputs Analog Inputs Tab 1 0 Configuration Analog Inputs Analog Outputs Digital Inputs Digital Outputs Capture Inputs Analog Input 1 Not Assigned Value 0 04 Analog Input 2 Not Assigned Value O 07 Analog Input 3 Not Assigned Value 0 02V Analog Input 4 Not Assigned Value 0 08 Y 1 00 1 00 1 00 1 00 Offset 0 0000 y Offset 0 0000 w Offset 0 0000 y Offset 0 0000 Y paa Cancel Each programmable analog input can be assigned a certain drive function Assignment of these functions can be made in the Command or Feedback window Each input can also be scaled according to the selected function to provide an optimal range Entering the numerical value of the chosen function for a IV input signal performs the scaling An offset in volts can also be defined Check the drive data sheet to find the number of available analog inputs Selections become effective afterclicking the Apply orOK button Note ADVANCED VA MOTION CONTROLS MNDG DWUG 03 Configuring the Drive Inputs Outputs A programmable deadband can be configured
51. ananaasasanswans 63 Analog Outputs 0 0 0 65 At Command 0 ccccccceeeeees 56 Auto Detect connection settings 19 AutoCommutation 80 85 WALMINGS ullmaaasanaaananasnwwssswasan 83 84 Auxiliary Encoder see Motor Feedback Auxiliary Units Tab 27 B Block Diagram see Main Block Diagram Brake Option ceeceeeeeeee 48 dynamic brake n se 48 C Calculate Gains 73 75 CANopen Fault Recovery 51 CANopen Settings ulunan 70 Capture Input 00 0 68 COB ID Filtering ul 70 Comm Channel 1 111 61 Comm Channel Error 54 Command Profiler 125 128 current loop control 126 position loop control 128 velocity loop control 127 Command Settings 58 125 Command Source u s 125 analog input eee eeeeeeeeeeeeeee 58 comm channel 0 0 0 61 encoder following seese 60 interface input ole eeeee etree 59 no command DOVE cabin Gani inna step and direction ul 59 Commanded Disable 55 Commanded Inhibit 10 Commanded Negative Limit 57 Commanded Positive Limit 57 ADVANCED VA MOTION CONTROLS Commanded Quick Stop 57 Commutation La 80 AutoCommutation 80 85 manual commutation 85 88 Configuration drive parameters ceceeeeeee 37 Connecting to
52. ange Time Div to 10 20msec A ADVANCED YA MOTION CONTROLS MNDG DWUG 03 95 Tuning and Commutation Velocity Loop Tuning Step 4 Tuning Position the Scope Waveform Generator and Velocity Loop windows such that a majority of all the windows are visible The best method is to place the oscilloscope in the lower left corner while placing the velocity loop and Waveform Generator windows in the upper and lower right corners as shown below gt Velocity Loop Eea Velocity Loop Velocity Feedback 2 Velocity Measured F7 Velocity Loop Enabled Change Add Signal Proportional Gain o Integral Gain o Derivative Gain 0 Velocity Measi Feedforward Gain o Feedback Filter Cut Off Freq All Pass Low Speed Smoothing o Trigger Source Velocity Target Change Level 0000 H re Time Div Measure 1Omsec wv p Tie Mode C Sinusoidal Velocity Looy Normal Ta a NS C Roll c Waveform Attributes Commutation Frequency 1 Hz Amplitude 500 rev min Command Position Velocity Current AS Ge omen Ted a 44 __ p s Zero Offset 0 rev min Symmetry 50 4j Hs 1 Enable the drive by clicking the Stoplight icon g 2 The feedback filter cutoff frequency is used to dampen oscillations and noise in the velocity measurements During the next steps if the motor exhibits excess noise bring the feedback cutoff
53. arameters are collected in a project file You can save several project files on your computer they have the adf extension From your computer a file can be downloaded to or uploaded from the drive Once in the drive you must store the file in the drive s read only memory This chapter discusses each window and the various data they accept Once you have completed configuration the drive will be ready for tuning and commutation The Restore function loads into yourcomputer s project file the parameters stored in the drive s non volatile memory Use Restore when wish to revert back to the parameters la st stored in the drive if you find your recent changes result in poor performance Note i i s Select Drive gt Restore from drive on the main menu bar 22 MNDG DWUG 03 Configuring the Drive Using the Configuration Wizard Using the Configuration Wizard The easiest way to configure a new drive is to use the Drive Configuration Wizard The wizard takes you to each of the necessary windows to configure the drive parameters To use the wizard do one of the following e Select File gt Wizard on the main menu bar e Click the drive configuration wizard icon g on the tool bar Click through the tabs and fill in the appropriate data once the wizard navigates to a window The wizard will take you through the following windows Wizard Window Navigation when not using Wizard Motor and Feedback Main Block diagram gt
54. ata are stored in e Thedrive e The project file e The motor database Manufacturer The name of the motor manufacturer Model The motor model Motor Type The type of motor used The brushed and brushless motor types pertain to rotary motors The linear brushless motor type pertains to linear motors Feedback The type of feedback to be used with the motor Model Motor And Feedback Data Manufacturer Default Motor View Model Default Brushless Database Motor Type Brushes x Feedback Model 120 Halls 2000 Line Encoder Save to Database Motor Constants Primary Feedback Auxiliary Feedback Wire Identification Voltage Constant 8 2 V Kipm v Maximum Current 15 9 Amps Torque Constant 11 09 ozin A v Rated Curent 2 Amps Resistance 3 69 Ohm Number of Poles 4 Inductance 5 94 mHenry Maximum Speed 4000 rev min Max Motor Temperature 212 F Cancel MNDG DWUG 03 Configuring the Drive Motor and Feedback Data Motor Constants Tab Motor And Feedback Data Manufacturer Default Motor View Model fo efault Brushless Database Motor Type Brushes x Feedback Model 120 Halls 2000 Line Encoder Save to Database Motor Constants Primary Feedback Auxiliary Feedback Wire Identification Voltage Constant 8 2 Y Kipm v Maximum Current 15 9 Amps Torque Constant 11 09 oz in A ba Rated Current 2 Amps Resistance 3 69 Ohm Number of Poles 4 Inductance 5 94 mHenry M
55. ation Commutation Power up Option Under most circumstances the appropriate setting is Phase Detect On First Enable Following Power up However other options may be used depending on the configuration of your drive and motor Events Disabled During Phase Detection The positive and or negative limit switches may be disabled during phase detect to avoid premature phase detect failure Max Phase Detection Current This is the current used during phase detection It should be large enough to move the motor and load smoothly but not so much that the motor overshoots A good starting current is one quarter of the RMS current to be used in your application Max Phase Detection Motion Enter a value greater than the required motion Ifthe actual phase detection exceeds this value a fault will occur The required motion is typically 5 15 of one revolution It may be necessary to vary the Phase Detection Current and Motion to ensure successful phase detection You may wish to monitor the following status events Phase Detection Phase Detection Complete and Phase Detection Fault These can be monitored with the Drive Status window or can be assigned to digital outputs and monitored with a controller Ifyou are trying to perform phase detection with no load on the motor very little current will be required To perform Phase Detection from within the Commutation window use the following procedure 1 2 3 4 Ente
56. aximum Speed 4000 rev min Max Motor Temperature 212 F The Motor Constants tab is where you will input the motor ratings and motor specific data The values entered in the Motor Constants tab will have an effect on the values entered in the Limits and Options block disc ussed later in this chapter For reference see Limits amp Options on page 37 Note ADVANCED VA MOTION CONTROLS MNDG DWUG 03 Configuring the Drive Motor and Feedback Data Enter the following information Voltage Constant The voltage constant corresponds to the motor back EMF constant This value can be obtained from the motor data sheet The numerical value and units can be selected independently the numerical value will NOT be automatically re calculated when a different unit is selected Torque Force Constant This value can be obtained from the motor data sheet The numerical value and units can be selected independently the numerical value will NOT be automatically re calculated when a different unit is selected Resistance This value can be obtained from the motor data sheet In case of brushed type motors it corresponds to the armature resistance In case of brushless motors it corresponds to the phase to phase resistance Inductance This value can be obtained from the motor data sheet In case of brushed type motors it corresponds to the armature inductance In case of brushless motors it corresponds to the pha
57. back Data Motor Database The motor database stores motor and feedback data This avoids repetitive entry of the same data when you regularly use a certain set of motors You can find the motor and feedback data files on your computer they have the dbs extension in the MotorDB subdirectory as ASCII text files Saving motor data To save the existing motor specifications to the database click on the Save to Database button The motor data including feedback and wire identifications will be saved Retrieving motordata To find your motor in the data base Motor And Feedback Data Manutacti anutacturer Default Motor View Model Default Brushless Database Motor Type Brushless X Feedback Model fi 20 Halls 2000 Line Encoder Save to Database Motor Constants Primary Feedback Auxiliary Feedback Wire Identification i 1 Click on the View Database button The Motor Database window appears 2 Select a motor manufacturer from the drop down list 3 Select a model from the drop down list Motor Database Manufacturer M07 ElectroMate Model M23 Quality Motion Control M31 Transicoil Inc Motor Type M34 AMS Feedback Model M39 Harmonic Drive Sys 1 Motor Constants p M42 Compumotor M43 Yaskawa M44 Yaskawa M45 MCG Voltage Constant 8 V Kipm Maximum Current Torque Constant imoz A Rated Current 4 Resistance 1 Ohm Number of Poles Inductance 2 mH Maximum Speed 5
58. behavior associated when the Stoplight icon is selected from within the software It does not apply to user inhibits or event related inhibits When you enable and disable motion using the Stoplight icon you can set the behavior of the Stoplight j Select Settings gt Stoplight Settings on the main menu bar ADVANCED VA MOTION CONTROLS MNDG DWUG 03 9 Introduction Using the Setup Software File Drive Tools View Window Help we E 7a mo User Units u 7 Drive Name Ls DriveLibrary CANopen Settings This window allows you change the disabling behavior of the Stoplight and set which keyboard keys to use as a shortcut Stoplight Settings Stoplight corresponds to the following event Commanded Disable To change the action for this event use the Event Manager Commanded Quick Stop Type a function key F2 through F11 to assign a hot key to the stoplight function Currently F4 Cancel Commanded Disable The Stoplight will behave like a Commanded Disable The action associated with a commanded disable may be specified in Event Manager Commanded Quick The Stoplight icon will behave like a Quick Stop Command Stop Quick stop behaves differently depending which mode the drive is in For current mode Quick Stop will disable the power bridge For velocity mode quick stop will command a zero velocity For Position mode quick stop will decelerate and hold position When you press the Ho
59. bsolute Buffer threshold warning level Incremental o lt 17 Cancel PVT Generator Window To open the PVT generator do one of the following e Select Tools 5 PVT Generator on the menu bar e Click on the PVT PUT icon on the tool bar 120 MNDG DWUG 03 Diagnostic Functions PVT Generator PVT Generator PYT Data PYT Point File Open PVT File Target Position ent Target Velocity rev min Time Milliseconds Point Type Data End c 0 points remaining in buffer Position Velocity Time Clear Buffer Start Stop PVT Generator Window The PVT Generator is a graphical user interface for quickly and easily getting started with PVT motion profiles Up to 16 PVT points can be placed directly into the buffer or alternatively a file can be generated for executing a PVT motion profile multiple times Entering PVT Points i Two methods for entering PVT points into the buffer are offered through the PVT Generator window e Manually under PVT Data on the left enter data e Automatically under PVT Point File on the right open a file with data For both methods position and velocity are specified in user units see User Units whereas time is always in milliseconds Furthermore velocity is specified on an absolute basis whereas time is specified on an incremental basis with the largest allowable increment being 65535 milliseconds As described above position may be either incremental or absolute CAN stan
60. c Functions Signal Definitions Velocity measurements Velocity Target Definition This is the commanded velocity ignoring velocity limit settings Velocity Demand The commanded velocity after velocity limits have been applied This value is zero when the drive is inhibited Velocity Feedback The velocity as measured by the velocity feedback device before filtering Velocity Measured The velocity as measured by the velocity feedback device after filtering Velocity Error The difference between the motor s target velocity and measured velocity Primary Feedback Velocity Position measurements Position Measured The velocity as measured by the primary feedback device before filtering Definition The position as measured by the position feedback device Position Target This is the commanded position ignoring position limit settings Position Demand The commanded position after position limits have been applied Position Error The difference between the motor s target position and measured position Auxiliary Input The position value measured from the drive s auxiliary inputs Primary Feedback Position The position as measured by the primary feedback device before filtering Auxiliary Feedback Position The position as measured by the auxiliary feedback device before filtering MNDG DWUG 03 Diagnostic Functions Signal D
61. close the position loop It is important to leave this box unchecked if an auxiliary encoder will not be used Select from R otary or Linear encoder types Select the feedback polarity that will result in a positive measured change in position from a positive command Check this box if an auxiliary index exists Specify the number of indices per encoder revolution or the number of lines per index if using a linear encoder MNDG DWUG 03 Configuring the Drive Motor and Feedback Data Wire Identification Tab ADVANC Motor And Feedback Data Manufacturer Default Motor Model Default Brushless a l Feedback Model 120 Halls 2000 Line Encoder Motor Constants Primary Feedback Auxiliary Feedback Wire Identification Phase m m m Phase B fofofolo Phase C mm m Motor Phase Hall Sensors Hall1 OCC sCICILILI Hall2 jofe o O O o m Hall 3 CC m m m m Primary Encoder Encoder A fafafila J2 2 2fz Encoder B 13113 alaala Encoder Index 5 5 5 5 Je e e 6 View Database Save to Database Auxiliary Encoder Aux Encoder A TTT TITI Aux Encoder B ITT _ TTT Aux Encoder Index TT r ED VA MOTION CONTROLS The wire identification tab is available to document color coded and number coded motor and feedback wires MNDG DWUG 03 Configuring the Drive Motor and Feed
62. computer you can run the application from your Start gt Programs menu When you first start the setup software you see the following choices 2 iY pen an existing project Ss C Connect to a drive ac Connect to a drive and configure using drive setup wizard Open an existing project This will allow you to browse through the files on your computer to select a previously saved project to open without having to connect to a drive The project can then be configured or modified before downloading the project file into a drive Connect to a drive This will allow you to immediately connect to a drive The drive can then be set up and configured for operation and the information saved as a project file Connect to a drive and configure using drive setup wizard This will allow you to immediatly connect to a drive then the setup software will take you through the necessary steps to configure the drive for operation The information can then be saved as a project file Software Files Look in the folder in which you placed the application by default this location is under C Program Files This folder includes the subdirectories MotorDB holding a library of dbs database files making up the motor data base My Firmware Files holding a library of aff firmware files for various drives My Projects holding a library of adf project files each with the parameters and controls specific to a particular drive and moto
63. cope settings for monitoring a target velocity command and the measured motor velocity Position Configures the oscilloscope settings for monitoring a target position command and the measured motor position 116 MNDG DWUG 03 Diagnostic Functions Multimeter Multimeter The Multimeter allows you to monitor a multitude of signal types including positions velocities torques and voltages In addition a resettable counter keeps track of the minimum and maximum values found Scaling is selected in the option select field on the right side or you may choose Auto Scaling to automatically scale the units for you You must be connected to a drive to use the multimeter To open the multimeter do one of the following e Select Tools gt Multimeter on the menu bar e Click on the multimeter icon on the tool bar E MultiMeter Scaling Change Signal M Auto Scaling Maximum Minimum Multimeter Window To see a list of available signals for the multimeter see Signal Definitions on page 129 The multimeter samples sig na Is at a rate of once every 250 msor four times per second If you want to measure a faster signal use the Digital Scope Note ADVANCED JA MOTION CONTROLS MNDG DWUG 03 117 Diagnostic Functions Waveform Generator Wavefom Generator The Waveform Generator is used to generate an internal signal during drive tuning and other procedures With this waveform generator
64. d in nonvolatile memory and the appropriate serial port selected from the PC 18 MNDG DWUG 03 Connecting to the Drive Connecting to the Drive Default Description Setting Communication Selects the appropriate interface for your application Interface Drive Address 63 Selects the address of the drive that is connected to the PC The valid range of addresses is 1 63 Serial Port COM1 Selects the serial communication port to which the drive is connected Baud Rate 9600 Selects the communication baud rate Interface Access Control Under normal circumstances Read Write should be selected You may select Read Only to put the software in a state that allows monitoring through the configuration software while writing through another interface Auto Detect This button allows you to automatically detect the serial port and baud rate stored in your drive You can set a range for the COM portscan When this button is selected the Scan for drive window will pop up Select Start Scan and wait for the program to go through the detection routine After successful detection select Apply Settings Connect Establishes a connection with the specified settings If you have a project open you can choose to download the current project settings to the drive or to upload the stored drive settings into the project The status bar in the lower right corner of the setup software will change from NOT CONNECTED to
65. dard supports a time step up to and including 255 milliseconds ADVANCED VA MOTION CONTROLS MNDG DWUG 03 121 Diagnostic Functions PVT Generator Choose a method for entering PVT points Manually adding PVT points L 2 3 4 Type the three factors that create a PVT point position velocity and time Click Add to move the PVT point to the buffer This can be repeated a total of 16 times until the PVT buffer is full Press Start to execute all the PVT points in the buffer Using a file to add PVTpoints You can place the PVT points in a text file and load that data into the buffer There is no limit to the number of PVT points you can place in the PVT file These files are useful if you want to repeat a desired sequence several times or save the data for future use L 2 3 4 5 To get started select the Open PVT File button Navigate to your PVT file make sure it has a pvt extension The file name is displayed below the Open PVT File button Select the Loop Though Points checkbox to continuously loop though the PVT points Press the Stop button when done 122 MNDG DWUG 03 Diagnostic Functions PVT Generator How To Construct A PVT Points File A PVI file can be constructed using any simple text editor such as Microsoft NotePad Each line in the file represents a PVT point by specifying position velocity and time separated by semicolons An example of a PVT file with cor
66. dow rev min At Velocity Window rev min Velocity Following Error rev min Positive Velocity Limit rev min Motor Over Speed Negative Velocity Limit rev min Motor Over Speed Cancel The following velocity related limits can be set Motor Over Speed The maximum speed in which the motor should be able to go The action following a motor overspeed event can be defined in Event Manager Active in all operating modes Zero Velocity The measured velocity values within which the motor is considered to Window be at zero velocity active in all operating modes At Velocity Window The At Velocity event will be set when the measured velocity reaches the target velocity within the At Velocity window active in velocity mode only Velocity Following The maximum allowed velocity error difference between target velocity Error and measured velocity prior to setting the Velocity Following Error event active in velocity mode only Positive Velocity The maximum allowed demand velocity in the positive direction active Limit in velocity mode only Negative Velocity The maximum allowed demand velocity in the negative direction active Limit in velocity mode only 42 MNDG DWUG 03 Configuring the Drive Limits amp Options Position Limits Tab Limits amp Options Temperature Limits Power up Control Braking 7 Stop Drive Current Limits Voltage Limits Velocity Limits Position Li
67. ductance pH a00 30 jo Cancel Apply Use this window to set the user under and over voltage limits These limits are restricted to fall within the hardware capability of the drive The Nominal DC Bus Voltage should contain the normal operating DC voltage supplied to the drive If using an AC input drive the Nominal DC Bus voltage is equal to the AC voltage multiplied by 1 41 If the drive has provision for connection of an external shunt resistor the parameters of that resistor can be entered If that provision is not available these fields will not be available Check the data sheet for your drive to see if an external shunt resistor can be connected Shunt regulator operation The shunt regulator if available depending on drive model can be enabled disabled and its turn on voltage can be set at any given voltage below the hardware over voltage limit of the drive The internal shunt resistor parameters if present are displayed The shunt regulator method is used to dissipate excess energy during periods of rapid deceleration In most cases this energy can be consumed in a matter of milliseconds If a longer regeneration time is needed the drive will limit the output to the resistor according to the following information e Measured Bus voltage e Shunt resistor Power e Shunt resistor Resistance e Shunt resistor Inductance if unknown use zero ADVANCED VA MOTION CONTROLS MNDG DWUG 03 39 Configur
68. e For this example a 10Hz 100 000 count sec sine wave is commanded by the drive This will be considered the worst case move required for the application The motor uses a 2000 line encoder and has a lowinertia load coupled to the motor shaft The current loop and velocity loop gains are tuned aggressively for a fast response Cutoff Frequency Set to Infinite Digital Scope With no feedback filter the velocity measured and velocity feedback are equal The velocity loop responds instantly to all measured changes in velocity The resulting velocity profile is distorted A loud audible noise is heard from the motor MNDG DWUG 03 Filtering Velocity Feedback Effects of the Feedback Filter Cutoff Frequency Set to 300Hz Digital Scope Channel Select 1 Velocty Measued Remove Ote D H rev Unis Div_ Oliset Velocity Measaed S0 even 10000 rerv ean Velocity Feedback SO kvev min 0 0000 kxew rrin Cuert Velocity Poston At this level the audible noise is no longer present and the response is smooth The two waveforms are nearly identical This is the optimum setting because it results in no distortion and no phase lag Cutoff Frequency Setto 50Hz Digital Scope Channel Select 1 Velocty Measured BO eve rev min Oka 0 0000 kiev min Trigger Source Velocty Target AA G Up N C Dom Level 10 000 H rev min HonzonialLocaion 50 At this level th
69. e event becomes active Measured Position Value Replacement value for the measured position when the Load Measured Position event is triggered This allows you to redefine the current measured position e g reset to zero CAUTION make sure the target position is set to the proper value prior to enabling the drive Otherwise a large position following error will exist Max Measured Position Limit Maximum allowed measured position The Max Measured Position event will become active if the measured position exceeds this value Min Measured Position Limit Minimum allowed measured position The Min Measured P osition event will become active if the measured position exceeds this value Max Target Position Limit Maximum allowed target position The Max Target Position event will become active if the target position exceeds this value Min Target Position Limit Minimum allowed target position The Min Target Position event will become active if the target position exceeds this value Disable Position Limits Checkbox Allows you to disable position limits so the motor has no maximum or minimum position value MNDG DWUG 03 Configuring the Drive Limits amp Options Temperature Limits Tab Limits amp Options Drive Current Limits Voltage Limits Velocity Limits Position Limits Temperature Limits Power up Control Braking Stop Motor Over Temperature Select Source
70. e 125 Command Source Tab cece eee 125 Command Profiler Tab 26 vccccevendavaredceewset ha kw 125 Curent Loop control sc aaa UNA edeaneeeeaweenns 126 Velocity Loop control cee eee eee 127 Position Loop control ua ak weeded eee eee ees 128 Sgnal DETNILONS i ace ev ns ddeeddedaweoes aoe Gender KEANNA DAA 129 Vill MNDGDWUG 03 Current measurements 0c eee eee 129 Velocity measurements cece eee eee 130 Position measurements 0c ccc eee eee 130 Commutation 23 24 020soeceeeeeensedegeesaee ten KGG 131 Volta gE cua NAGA NG cocceltobedeciecieaseeteas cess 131 Command profiler Xx kaka awe PAKA ENNA KANA 132 Temperature 4w ANAK KA KA Wa KA GANG KANG KANA 132 JO UE 2isgseielaieh ered ADS a a a E eked 132 DING Ka a ee eee cree ern eee rere AA DAA 132 Commanded input value 00 0 eae eee 133 Deadband Input 4 vicar arisen ea tence a ENG ALAK 133 Drive SAWS scccuceveasbtes uteeedsteewecevetesabeadecacs 134 Faut ACV ceranae seek dk SRR R ee ee Gave renee beeeu ake Ka 137 Critical Event Activity cece ee eee 137 Event Counter pawa aanak aka kKA Aa KARA GAEMANA AW 138 B Curent Limiting 139 Understanding the Limit Envelope 0c 139 Calculating Cunent mits s cccsceconeecaui Vieedeeenden bees 143 Example 1 Foldback Current 0a 145 Example 2 Peak Current Recovery cee ees 147 C Filtering Velocity Feedback 149 Effects of the Feedback Filter
71. e Status The Drive Status window shows data in three categories e Drive protection e System protection e System Status The toolbar across the top of the Drive Status window provides viewing options for the event states in the window Expand Description Show the sub categories beneath the selected category Collapse Hide the sub categories beneath the selected category Expand All Show all sub categories Collapse All Hide all sub categories Reset Events Clear the Drive Status window of any history events Options Select whether Inactive or History events are shown View Critical Event Acitivy Bring up the Critical Event Activity window containing a list of the faults that occured and the times at which they occured This info can be exported to a text file View Event Counter ADVANCED YA MOTION CONTROLS Bring up the Event Counter containing a list of all faults and events and the number of times they have occured This info can be exported to a text file MNDG DWUG 03 135 Diagnostic Functions Drive Status Drive Status Event desc riptions Description Active An event that is active but not assigned to an action This includes events assigned to No Action in the Event Manager window and pure Status events that cannot be assigned an action Action An event that is active and assigned to an action An action either inhibits motion partial
72. e response is still smooth but phase lag is apparent as the two waveforms begin to separate ADVANCED YA MOTION CONTROLS MNDG DWUG 03 151 Filtering Velocity Feedback Conclusion Cutoff Frequency Set to 10Hz Digital Scope Channel Select s Un s Div_ Oliset 50 revs GO iev mn COUO revsar SOkeev min 0 0000 krev min i Mode Up 2 Noama SE Single om Sato H evn Homonlal Location OE gt With the cutoff frequency set to 10Hz there is an obvious difference between the two waveforms The response is also noticeable in the motor shaft The phase lag results in the motor motion becoming unstable Conclusion tS The velocity loop cutoff frequency filter allows you to tune with higher velocity loop gains which results in a faster response Most applications will benefit from a velocity feedback filter cutoff frequency between 50Hz and 1500Hz Too high ofa cutoff frequency may result in audible noise from the motor Too low of a cutoff frequency will cause significant phase lag and may lead to instability The cutoff frequency should be adjusted during velocity loop tuning For the worst case move the motor should follow the command smoothly and there should be little or no phase lag between the velocity feedback and velocity measured traces 152 MNDG DWUG 03 Index A Acceleration Feed forward Gain 100 Active High Active Low Analog input Analog Inputs Ul a
73. ed a broken wire on the input signal while set up for Wire PWM and Direction input 54 MNDG DWUG 03 Configuring the Drive Event Manager Drive SystemTab Event Manager Scroll to see more parameters Drive Protection System Protection Drive System Disable F Commanded Disable User Disable Positive Limit Negative Limit Current Limiting Continuous Current I Automatic CanOpen Fault Recovery Cancel Response Recovery Time Out Maximum Unlimited Time ms Time ms ms Recoveries Event Action Disable Power Bridge aag fic Unlimited Disable Power Bridge 0 i 0 Unlimited Disable Positive Direction 0 fi 0 Unlimited Vv Iv Iv Disable Negative Direction 0 fi 0 Unlimited lv No Action 5 fi 00 Unlimited Iv v No Action 5 10000 Unlimited Event Manager Drive System Tab These internal drive states apply to system status they do not necessarily correspond to a drive fault status but could related to a system error Commanded Disable Description An disable command over the communications interface active when the stop light icon is red User Disable An disable command from a digital input Positive Limit A positive limit command from a digital input Negative Limit A negative limit command from a digital input Current Limiting The drive is commencing current limiting based on the current limit settings Continuous
74. eee 31 Auxiliary Feedback Tab ccc eee 32 Wire Identification Tab a 33 Motor Databas aa DAA KA BG KAP GS NA KALA 34 Saving motordata cceviceusseec ava reads ben nae Bees 34 Retrieving motordata aaa ees 34 Feedback Assignment 0 ccc cece eee 35 Velocity Feedback Tab 0c ccc eee 35 Position Feedback Tab 1 cee 36 Limits amp OptionS aka akan ewes sree ea Ranaeue a 37 Drive Curent mits Tab ci cseseekevdatheeee be eewwe cede 38 Voltage LimitsTab cc cdi eadewt deeded ae ene ee needa KGG 39 Shunt regulatoroperation ccc eee 39 Extemal shunt resistorpower selection 40 Velocity LimitsTab eee eens 42 Position mits TaD att KNB REA KNA dave eeeceedad bu eeae 43 Temperature LimitsTab cece 45 Power up Control Tab 1 ccc ees 46 Power up action vais castor nwa eee edo Dee Rae MAL 46 Braking Stop Tab os cadnedtewed cae and ohaed oweda dooedes 47 MNDG DWUG 03 Extemal braking ccensctacdieenaettudcadeded cannes ROD 5s ockekaver hak eeeeeet en eat a E eae be Fed Event Manage amn ALE mese Mauser ete Mebane NE a ee eee Drive Protection Tab ccc eens System Protection Tab 4am abah ah RARE ELD LENA bA AA Drive SytemTab assuausar anaana aon PA AWAN ELA AGA UA Command Settings Window 0c cece eee ees Command Source Tab 62 etseeseheweechewiadiwawtheecwy Analog input sc cnn Faceted at AA AGA Step and Direction cicccsisegedawiv
75. efinitions Commutation Sync Error Definition The error between the actual number of encoder counts compared to the expected number of encoder counts as entered in the Motor page Values will vary depending on Hall or Index synchronization Hall State The decimal equivalent of the binary combination of the three hall states where Hall A is bit 1 and Hall C is bit 3 5V 1 0V 0 Phase Angle The present number of degrees of the rotor inside one electrical cycle Also may be called Electrical Angle Sync Capture The encoder count captured at the Synchronization edge This will vary depending on the Sync edge chosen from autocommutation Hall or Index edge Stator Angle The present number of degrees of the stator inside one electrical cycle This value is equal to the phase angle plus the slip angle Encoder Sine The voltage present on the Sine input pin of a Sine Cosine encoder drive Encoder Cosine The voltage present on the Cosine input pin of a Sine Cosine encoder drive Encoder SinCos The value of Sin Cos on a Sine Cosine encoder drive This represents the encoder health Ideally this value should equal 1 Encoder Fault Word 1 This is word 1 of the fault reported by the encoder when using an absolute encoder with serial feedback Encoder Fault Word 2 This is word 2 of the fault reported by the encoder when using an absolute encoder with serial feedback
76. elocity window as defined in Limits and Options At Command The measured motor velocity has reached the target velocity within the At Velocity Window found in Limits amp Options Velocity Following Error The velocity following error exceeds the Velocity Following Error window Positive Target Velocity The demand velocity has reached the Positive Velocity limit Negative Target Velocity The demand velocity has reached the Negative Velocity limit P hase Detection Complete The phase detection algorithm is complete Position Following Error The position following error has exceeded the Position Following Error limit Max Target P osition The demand position has reached the Max Target Position limit Min Target Position The demand position has reached the Min Target P osition limit Load Target The target value has been replaced with the predefined target position Homing active Homing is being performed PVT Buffer Full Full The PVT buffer cannot accept any more information PVT Buffer Empty The PVT buffer contains no more information PVT Buffer Threshold The PVT threshold has been reached as defined in the PVT command type window PVT Buffer Failure An error has occurred while retrieving PVT information from the buffer PVT Buffer Empty Stop The PVT buffer has run out before a valid PVT stop point was sent MNDG DWUG
77. et Reset No Digital Input No Digital Input No Digital Input Source M Set Capture A I Set Capture B I Set Capture C Cancel Apply Help You can capture internal signals instantly on the occurrence of a designated input transition You can capture on a rising edge falling edge or both MNDG DWUG 03 Configuring the Drive Inputs Outputs ADVANCE Capture Inputs tab fields include Pin Label This shows the label specified for the capture See the drive data sheet for the specific pin number associated with the label Enable Select The checkbox allows you to enable the specified capture input When you click on the capture button next to the check box you can set which Signal you would like to capture Captured Signal This field shows the selected signal to be captured Captured Value This shows the last value captured by the drive Trigger Edge You may select between rising falling or both to set when the signal will be captured Trigger Mode Single mode will allow the signal to be captured only once per set reset Continuous will allow the signal to be captured any time itis triggered while capture is set Set ResetSource This provides a list of available sources for turning on or resetting the capture Set Capture While in the configuration software the checkbox can be used instead checkbox of a digital input to turn on or off the capture functionality You may not use
78. for all drives fixed at 2 and 10 seconds respectively The current values how ever depend upon the hardware with Peak Current and Continuous Current always equal to the maximum peak and continuous current rating of the drive ADVANCED VA MOTION CONTROLS MNDG DWUG 03 139 Current Limiting Understanding the Limit Envelope The drive always compares each point on the user specified software envelope against each point on the hardware envelope and takes the lesser of the two to generate the actual application envelope An example of this where the hardware envelope almost entirely overrides the software envelope is shown in Table 1 In this example a constant 100 peak current command shown in white was given to the drive Because beyond the first two seconds the hardware envelope 2 seconds Peak Current Time and 10 second Foldback Time Constant is less demanding than the software specified envelope 65 second Peak Current Time and 65 second Foldback Time Constant hardware current limiting is applied NE Continuous Current Ay oo O O Drive Software Continuous Current A 6 100 Configuration FEE Ofset S1 Torque Target 2 Amps 6 0000 Amps 2 Torque Measured 2 Amps 6 0000 Amps 2 sec x Table 1 140 MNDG DWUG 03 Current Limiting Understanding the Limit Envelope In order to have the software envelope entirely hold true it must be specified such that it remains equal to or within t
79. for analog inputs assigned to the command source The deadband allows a voltage range which will have no affect on the command This is particularly useful when the analog command source is configured to control velocity 200 100 Dead Band Output mV 200 100 0 100 200 Input mV The drive handles anything within the deadband range as zero and subtracts the dead band value from all other values For example with a dead band setting of 100 mV the amplifier ignores any signal between 100 mV and 100 mV MNDG DWUG 03 Configuring the Drive Inputs Outputs Analog Outputs Tab 1 0 Configuration Analog Inputs Analog Outputs Digital Inputs Digital Outputs Capture Inputs Analog Output 1 Value Volts 0 043 Offset 0 Vv Signal Analog Input 1 1 0000 V 1 Change Cancel Each programmable analog output can be assigned to a certain drive variable Each output can also be scaled according to the selected variable to provide an optimal range Entering the numerical value of the chosen variable for a 1V output signal performs the scaling An offset in volts can also be defined Selections become effective after clicking the Apply orOK button Note Check the drive data sheet to find the number of available analog outputs A list of available output signals and their definitions can be found in Signal Definitions on page 129 ADVANCED VA MOTION CONTROLS
80. g velocity or position the load decelerates according to the deceleration limit specified in Limits amp Options Commanded motion has no affect Motor continues to servo with zero command Apply Brake then Brake output is turned on and then the bridge is disabled The delay is Disable Bridge set in Limits amp Options Apply Brake then Brake output is turned on and then the dynamic brake is applied The Dynamic Brake delay is set in Limits amp Options Some of the above mentioned attributes are not programmable for certain events ADVANCED YA MOTION CONTROLS MNDG DWUG 03 51 Configuring the Drive Event Manager Drive Protection Tab Event Manager Drive Protection System Protection Drive System Response Recovery Time Qut Maximum E Time ms Evenk AEn Time ms ms Recoveries Unlimited Short Circuit 0 Disable Power Bridge w J50 Eat Hardware Under Voltage Disable Power Bridge p Hardware Over Voltage Disable Power Bridge Drive Over Temperature Disable Power Bridge Drive Internal Error Disable Power Bridge Drive Reset J Disable Power Bridge Over Current Disable Power Bridge I Automatic CanOpen Fault Recovery Event Manager Drive Protection tab These internal faults and states apply to drive protection Description Short Circuit Short circuit condition of the power output stage Hardware Under DC bus voltage below the drive hardware under voltage limit Volta
81. ge Hardware Over DC bus voltage above the drive hardware over voltage limit Voltage Drive Over Drive internal temperature exceeded the maximum drive temperature Temperature limit Drive Internal Error Checksum error of the drive run time firmware Drive Reset Indicates that the drive powered up in a disabled state This occurs each time the drive is reset Over Current The drive output current has exceeded the maximum drive rating 52 MNDG DWUG 03 Configuring the Drive Event Manager System Protection Tab Event Manager Scroll to see more parameters Drive Protection System Protection Drive System Disable TU Parameter Restore Error Parameter Store Error Invalid Hall State Phase Sync Error Motor Over Temperature Phase Detection Fault I Automatic CanOpen Fault Recovery Maximu Recovery Time Out m ngi Recoveries Unlimited Time ms ms Response Time ms Event Action Disable Power Bridge Gi Disable Power Bridge Disable Power Bridge 0 No Action Unlimited p No Action Unlimited Disable Power Bridge X Event Manager System Protection tab These errors detected by the drive apply to system protection Parameter Restore Error Description An error during parameter download from non volatile memory Parameter Store Error An error during parameter upload to non volatile memory Invalid Ha
82. hase Synchronization Help z Ig eu Event Manager Window Latch This option is available for the drive protection and system protection events If the latch box is checked the bridge will be disabled and remain disabled until the event is removed or you perform one of these actions Cycle power to the drive Refresh the Drive Status Disable event This option is available for drive system events If the Disable Event box is checked the corresponding event will not result in the bridge being disabled but will disable the actual event Brake Option This option allows a brake to be assigned with an event action The brake can be assigned to a digital output in the Inputs Outputs window In addition the brake output can be configured to use delays between external braking and enabling inhibiting the drive This delay is designed to prevent loads from falling or coasting when the effects of gravity or other external forces are seen in the system This may be configured in the Limits amp Options window Checking or unchecking the Brake controlled by drive checkbox may result in certain event actions changing Look in the advanced MNDG DWUG 03 Configuring the Drive Event Manager settings window to view the assignments The following event actions will be affected Checked Initial Assigned Action Resulting Assigned Action Disable Bridge Apply Brake AND Disable Bridge Dynamic Brake Apply Brake then D
83. he drive 36 MNDG DWUG 03 Configuring the Drive Limits amp Options Limits amp Options ADVANCE The Limits amp Options window allows configuration of general drive mya amag parameters These limits have associated events see Drive Status Limits 2 Options and Event Manager A The following tabs are available e Drive Current Limits e Voltage Limits e Position Limits e Velocity Limits e Temperature Limits e Power up Control e Braking Stop D VA MOTION CONTROLS MNDG DWUG 03 37 Configuring the Drive Limits amp Options Drive Curent Limits Tab Limits amp Options Temperature Limits Power up Control Braking 7 Stop Drive Current Limits Voltage Limits Velocity Limits Position Limits Peak Current 2 00 Amperes Peak Current Time 2 000 Seconds 0 100 0 seconds 65 seconds Continuous Current 1 00 Amperes Foldback Time Constant 10 000 Seconds Ty 0 100 0 seconds 65 seconds Select source for current limit scaling No Scaling Analog Input 1 pa Interface Input 1 Cancel Use this wndow to set the drive output current limits within the hardware capabilities of the drive The specified current is in units of peak Curent This is the peak value allowed to go through any phase of the motor within one electrical cycle To calculate the RMS curent divide the peak value by 1 414 This calculation should not be used when the No
84. he hardware envelope of the drive Table 2 shows an example of a software configuration that will hold true in application i e not be overridden by hardware limitations For convenience the drive hardware envelope has been superimposed in red on the image of Table 2 NA PA inte Continuous Current Ay GN Drive Software Configuration Ba Channel aise c Torque Target 2 Amps 6 0000 Amps 2 sec Sj Torque Measured 2 Amps 6 0000 Amps Table 2 ADVANCED VA MOTION CONTROLS MNDG DWUG 03 141 Current Limiting Understanding the Limit Envelope On the other hand Table 3 shows the result of a user configured software envelope that falls outside of the allowed hardware envelope The image in Table 3 shows how the drive will follow the specified software envelope up until it intersects the hardware envelope AA Continuous Current A lg Drive Software Configuration me Dn channel Oset Torque Target 2 Amps 6 0000 Amps 2 sec ma Torque Measured 2 Amps 6 0000 Amps Table 3 142 MNDG DWUG 03 Current Limiting Calculating Current Limits Calculating Curent Limits a QQ ADVANCE Availability of output current greater than continuous current depends on the level of an internal charge reservoir Upon power up the drive begins with a full reservoir having a charge equal to Op 2 Ip I tp tp Qp Peak Reservoir Charge Ip Peak Current Ic Continuous Current tp Peak Curren
85. iadaaisos daw BELA Interface iN Nput xa das ee AA BR AA hea wale NA NAG Encoder following cc cece cent eee eens PUT kaa 2ubevaddteceuRyeeeesanaeeeeeeee as see wes No command AA AA Comm channel asussaan aana aeaa DEVE FES vias i oe eG a e iaa KA ee a A A Analog InputsTab masa ARN LANG sai wtaceote en aedekas Analog Outputs Tab seccestigdiensssad wee eee ease bad Digital PUES TAD 5itwae se ese whe eee Chae Rare eee KAY Digital OUPUSTOD xa pa KAAWAAN A aasaotes Rees sae ben aw NG Capture InputsTab pasas ccecteceoeiaweteededd ous tie baud CANopen amp ttiNngS xtc 00d eeu AA ced AG eee eee Oe nednedad 4 Tuning and Commutation Curent Loop TUNING oi sac Ka cin KAR a Nee WE in KA AN KA Se Step 1 1 O Configuration setup Step 2 Current Loop window setup Step 3 Waveform Generator setup Step 4 Oscilloscope setup 0 aaa Step 5 TUNING zxzaya EZE MAHAB LA KEEA BLEND HAN GR ED AA COMMIMAUON 700 mkha KATAD aed cee ame LANA NA wee AutoCommutation Detection 0 0 0 cee eee AutoCommutation Wamings 00c eee eee Manual Commutation Procedure 00 Setting overspeed limits 0c cee eee eee Performing manual commutation Phase Detect nese cd KARA oides NG nbinu uE aa aina e ee Velocity Loop TUNING sssssaaanna anaana ADVANCED VA MOTION CONTROLS MNDG DWUG 03 Step 1 Velocity L
86. ical and horizontal location in the document Click and hold the mouse pointer to scroll to other parts of the document Arranging the windows e To overlap all non minimized windows select Windows gt Cascade on the main menu bar e To adjoin all non minimized windows select Windows gt Tile on the main menu bar ADVANCED VA MOTION CONTROLS MNDG DWUG 03 11 Introduction Getting Help Getting Help The Help menu offers assistance with this application File Drive Tools Settings View Window Basay go Bol tb K What s This About About The Drive On Line Doc umentation To open the on line documentation either e Select Help 5 Help on the main menu bar e Press the F1 key Context Help In the workspace display you can use the Context Help to go to on line explanations of some part of the setup software To use Context Help either e Select Help 5 What s This on the main menu bar e Click the Context Help icon y on the tool bar When you choose the tool bar s Context Help button the mouse pointer changes to an arrow and question mark Click somewhere in the window The Help topic will be shown for the item you clicked Technical Support If you need to contact technical support with a problem or question please have this information readily available Software version To display the version number of your copy of the setup software select Help 5 About on
87. ime to empty out all of its points before the PVT Generator has time to refill the buffer Such an event will result in no more than the PVT Buffer Empty status becoming active and is the result of restrictions on the RS232 baud rate used by the software to communicate with the drive Before running your PVT file be sure you are connected at the highest baud rate available and be sure to minimize the number of applications running in the background Also close any unnecessary windows such as multimeter oscilloscope and status view as they will slow down the rate at which your drive receives PVT points possibly resulting in a PVT buffer error 124 MNDG DWUG 03 Diagnostic Functions Command Settings Command Settings Command To open the Command Settings select the Command icon from the pa i gt Block Diagram this action opens the Command Settings window Command Source Tab The Command Source selection window allows selection and configuration of the command source The following command sources are available depending on operating mode Command Settings Command Source Command Profiler Select command source Analog Input 1 f Interface Input 1 Encoder Following PT No Command Comm Channel Cancel Command Settings Window Command Source tab Command Profiler Tab The Command Profiler allows you to limit the change in input command signal as seen by the drive
88. ing the Drive Limits amp Options If the stated resistor power or resistance is incorrect the drive cannot reliably regulate the power dissipa ted Note If using both internal and external shunt resistors it is only necessary to enter information about the external resistor The combined power and parallel resistance will be calculated by the drive There isa limit to the amount of curent the drive can output to the shunt without da ma ging the circuitry The resistance of the extemal resistor or combined parallel resistance of intemal and extemal resistors should be large enough to handle this current Caution Follow the table below to determine the absolute minimum equivalent resistance that the shunt circuitry can handle Drive Voltage Range Absolute Minimum Equivalent Shunt Resistance Ohms 45 132 VAC or 40 190 VDC 10 90 264 VAC or 60 400 VDC 20 187 528VAC 40 Extemal shunt resistor power selection During a regenerative event the shunt output will initially turn on for 10ms and the entire bus voltage is placed across the shunt resistor to allow the excess bus voltage to fall below the shunt enable threshold during normal regeneration This initial tum on is independent of the shunt resistor information entered therefore the powerdissipated through your shunt resistor may exceed the rated power during the first 10ms If using an extemal shunt resistor be sure the resistor can handle this 10ms Cauti
89. ios are described as shown from top to bottom e Thehome switch is inactive Motion begins in the positive direction When the home switch is encountered motion starts in the negative direction Homing completes at the first index pulse after the falling edge of the home switch e The home switch is active Motion begins in the negative direction Homing completes at the first index after the falling edge of the home switch e The home switch is inactive Motion begins in the positive direction When the positive limit switch is encountered motion starts in the negative direc tion Homing completes at the first index after the falling edge of the home switch Homing Status This shows the status of the homing routine It may display Homing Active or Homing Complete Homing Speeds There are two homing speeds to take into consideration the speed during the search for the first switch and the speed during the search for zero home Typically the speed during the search for the switch is set to be faster while the search during the search for home or zero is slower The slower the speed the more accurate the homing routine should be Homing Acceleration A single value is used to define the acceleration and deceleration of all moves during the homing routine Setting the acceleration allows the motor to come to a stop within a realistic predefined time not instantaneous increasing the repeatability of the homing routine D YA MO
90. it Negative Limit Motor Over Temperature User Aux Disable Load Measured Position Load Target Start Homing Home Switch Quick Stop Set Reset Source Capture A Set Reset Source Capture B Set Reset Source Capture C External Reset Events u E WA NN Na NN WA ANU NN 0mm NN WUB NN Na NN PUNAN ANN NE AN NW EWAN Na NN mim m m m m mm m a CE al Cancel Help 3 Ifan external Inhibit Enable circuit is used during setup use the check boxes to assign the inhibit function and proper polarity e g active high or active low 4 Ifno external Inhibit Enable circuit is used during setup clear check boxes for all inhibits Inhibit Enable will be controlled solely through the Enable Disable Driveicon 74 MNDG DWUG 03 Tuning and Commutation Current Loop Tuning Step 2 Current Loop window setup 1 On the Main Block Diagram click Current Loop to open the current loop tuning parameters Current Current Loop Proportional Gain Integral Gain 0 Calculate Gains Limits ie Cancel Help 2 To set starting values for proportional and integral gains click the Calculate Gains button Calculate Gains utilizes the values entered into the Motorand Feedback Data and Limits amp Options screens The specified inductance resistance and bus voltage determine accuracy of the calculated values If accurate data are not available begin Note with the Propor
91. its The concept of peak current recovery can be approached a little differently by matching the area of two squares This method tends to be more intuitive and is easy to visualize The previous figure illustrates a typical current limiting envelope in red with an example current command in green and two square areas marked Ap and Ap Note that the area of Ap is equal to Ip Ic x tp while the area of Ap is equal to Ic I7 x tp Now from Example 2 we know that the charge recovered should match the charge depleted Given this we can equate areas as given below OR Op Ic I tp 2 Ip Io tp AR 2Ap Thus in order to completely recover peak current the area of the square Ic I1 x tp must double the area of the square Ip Ic x tp 148 MNDG DWUG 03 A Filtering Velocity Feedk The velocity loop feedback filter uses a single pole low pass filter to attenuate changes in velocity feedback This helps to avoid responding to high frequency spikes in velocity resulting in a smoother response to velocity commands Velocity Measured Velocity Feedback Drive Velocity Feedback Filter Pre Filter Post Filter Bape Measured Measured To Velocity Loop Velocity Velocity ADVANCED VA MOTION CONTROLS MNDG DWUG 03 Filtering Velocity Feedback Effects of the Feedback Filter Effects of the Feedback Filter The figures below show how the filter affects measured velocity and in turn motor respons
92. its can be selected independently the numerical value will NOT be automatically re calculated when a different unit is selected This information can be obtained from the motor data sheet Maximum Speed The maximum speed corresponds to the maximum speed of the motor The numerical value and units are dependent This information can be obtained from the motor data sheet MNDG DWUG 03 Configuring the Drive Motor and Feedback Data Primary Feedback Tab Motor And Feedback Data Manufacturer Default Motor View Model Default Brushless Database Motor Type Brushless x Feedback Model 120 Halls 2000 Line Encoder Save to Database Motor Constants Primary Feedback Auxiliary Feedback Wire Identification Note AutoCommutation will detect the proper feedback settings if unknown M Hall Sensors Iv Motor Encoder Rotation Direction 120 Hall Phasing 2000 Lines Rev Standard v 60 Hall Phasing Standard v Feedback Polarity Other Hall Phasing Iv Index 1 Indices 7 Rev Cancel Enter the following model dependent data Hall Sensors Check the box if hall sensors are available and connected Also select the hall phasing type Note The hall phasing will be automatically selected after running AutoCommutation Detection If the hall sensor phasing differs from 60 or 120 by more than 10 electrical degrees Other Hall Phasing will be automatically selected
93. ity Represents the polarity of the selected feedback device signal For reference see Filtering Velocity Feedback on page 149 ADVANCED VA MOTION CONTROLS MNDG DWUG 03 35 Configuring the Drive Feedback Assignment Position Feedback Tab Position Loop Position Loop Homing Parameters Position Feedback Motor Mounted Encoder Ce Standard External Feedback Polarity Standad x C Analog Input 2 a C Auxiliary Encoder f C Interface Input 1 H Limits E E Cancel Help Motor Mounted The position is derived from the motor mounted encoder Encoder Interpolation Sinusoidal encoder drives will have the option for adjusting the interpolation This number specifies the number of counts per encoder cycle that the drive processes Analog Input The position is derived from an analog input Typically used in case of a load mounted potentiometer The analog signal must be conditioned not to go outside the range of 10V For drives with multiple analog inputs click on the ellipses J to select which analog input to use Auxiliary Encoder The position is derived from the auxiliary encoder input Interface Input The position is provided over the interface Resolver The position is derived from the motor mounted resolver Feedback Polarity Represents the polarity of the selected feedback device signal The availability of the above selections depends on the model of t
94. ive is disabled Velocity 2 From the Main Block Diagram open the Velocity Loop window om A Velocity Loop Velocity Loop Velocity Feedback IV Velocity Loop Enabled Proportional Gain Integral Gain Derivative Gain Feedforward Gain 3 Check the velocity loop enabled checkbox 4 Set the Proportional Integral Derivative Feedforward and Low Speed gains to zero Set the Feedback Filter Cut Off Freq all the way to the right until it says All Pass ADVANCED YA MOTION CONTROLS MNDG DWUG 03 93 Tuning and Commutation Velocity Loop Tuning Step 2 Waveform Generator setup To open the Waveform Generator window do one of the following Select Tools gt Waveform Generator on the main menu bar e Click the Waveform Generator icon u on the tool bar i Waveform Generator j Waveform Into The Waveform Type Coc Not Connected G Square C Current Loop Triangle c Sinusoidal Velocity Loop og Cc Waveform Attributes Frequency 1 Hz Amplitude o rev min Eyal B Ej Offset 0 rev min Symmetry 50 4 pa NN 4 mi El Set up the Waveform Generator as follows 1 Select the Square Waveform Type 2 Set Frequency to around 1 3 Hz The Frequency should be slow enough to achieve commanded velocity but fast enough to prevent the system from reaching a mechanical limit Ensure Offset is zero Ensure Symmetry is 50 Select Waveform Into The Velocity Loop Set the waveform amplitude to a
95. l Commutation is selected in the Current Loop gt Commutation tab 2 Verify that indicated Counts per Electrical Cycle and Counts per Index values are correct Ignore the primary feedback polarity 3 Makesure the feedback device is wired correctly and connected to the drive as per the drives data sheet 4 Create a table like this one on a piece of paper use your motor s wire labels Combination Motor Phase Labels Results Number 1 5 Ifthe drive is enabled click the Stoplight icon to issue a Commanded Inhibit and disable the drive 6 Check the Drive Status window for any faults or user inhibits and take corrective action to clear them The Commanded Inhibit should remain applied Some faults in the Drive Status block are harmless and do not disable the drive ignore these 7 Inthe drive setup software open the Waveform Generator and set up a DC waveform into the current loop with an offset of 10 of the rated continuous motor current Ensure that Commanded Inhibit is still applied at this point 86 MNDG DWUG 03 Tuning and Commutation Commutation Warning ADVANCE Notice Remove high voltage power from the drive especially if it uses altemating current before changing the motor phase wiring combinations Always be ready to disable the drive in case of a spin away or other aberant situation Use the Hotkey see Stoplight behavior and Hotkey on page 9 to disable the d
96. ll State An invalid state of the hall sensors has been detected Phase Synchronization Error A synchronization loss due to a missing Hall sensor or encoder index edge has occurred Motor Over Temperature Applicable only when a motor temperature sensor is connected to a programmable input analog or digital with the Motor Over Temperature function The event corresponds to this input becoming active Phase Detection Fault The phase detection algorithm did not properly complete Feedback Sensor Error A feedback sensor error e g missing encoder bad resolver etc has occurred Motor Over Speed The measured motor velocity has exceeded the motor over speed limit Max Measured Position The measured position has exceeded the Max Measured Position limit ADVANCED VA MOTION CONTROLS MNDG DWUG 03 Configuring the Drive Event Manager Description The measured position has exceeded the Min Measured Position limit Min Measured Position Comm Channel Error during communication between drive and PC Used exclusively Error with CANopen drives This eventis triggered by failure to recieve a node guard message within the specified life time of the drive Also triggers when more than 35 minutes 231 us has elapsed between consecutive time stamps See CANopen manual for more information on Node Guarding Life Guarding and time stamps PWM Input Broken The drive has detect
97. lowing commanded motion in the negative direction The result is dependent on the mode of operation This action is not recommended in vertical applications because the load will be free to fall once the limit is activated For vertical loads we recommend using Positive Stop Disable Negative Disables the drive from outputting to the motor in the negative direction Direction while allowing commanded motion in the positive direction The result is dependent on the mode of operation Dynamic Brake Motor leads are virtually shorted together internally However the bridge enables to protect motor by regulating motor current Positive Stop If the drive is controlling velocity or position the load decelerates according to the deceleration limit specified in Limits amp Options If the drive is controlling current the drive will command zero current with no deceleration control Commanded motion in the in the positive direction has no affect Motor continues to servo with zero command in the positive direction Negative Stop If the drive is controlling velocity or position the load decelerates according to the deceleration limit specified in Limits amp Options If the drive is controlling current the drive will command zero current with no deceleration control Commanded motion in the in the negative direction has no affect Motor continues to servo with zero command in the negative direction If the drive is controllin
98. ly or disables motion completely according to the action assigned in the Event Manager window History An event which is not presently active but was active at some point after the last time the drive was powered on or the last time the Reset E vents button was used Inactive An eventthatis not presently active and has not been active since after the last time the drive was powered on or the last time the Reset Events button was used 136 MNDG DWUG 03 Diagnostic Functions Fault Activity Fault Activity This function consists of the Critical Event Activity window and the Event Counter Both allow you to export the information to text format for easy handling Open the Critical Event Activity window by either e Selecting View gt Event Logs gt Critical Event Activity from the File menu e Clicking on the Critical Event Activity button from within the Drive Status window Open the Event Counter by either e Selecting View gt Event Logs gt Event Counters from the File menu e Clicking on the Event Counter button from within the Drive Status window Cnitical Event Activity The Critical Event Activity window is a list of drive protection events along with the time they occurred in milliseconds The critical event activity window contains entries such as Short Circuit and Current Overshoot Critical Event Activity Export Event Time H M 5 ms Log Activities 13 45 31 942 Drive
99. meters to the drive s nonvolatile memory For review see Storing the Changes onto the Drive on page 14 4 Click OK in the Current Loop window to save and close your gain settings Do not close out of the Current Loop window by selecting the X in the upper right comer Closing out this way will not save your gain settings You must close out of the Current Loop window by clicking OK Reminders For reference see Figure B Current Limiting on page 139 ADVANCED YA MOTION CONTROLS MNDG DWUG 03 79 Tuning and Commutation Commutation Commutation ss tS Motor commutation is dependant on the type of motor and feedback available from the motor Brushed motors have a commutator built into the motor housing therefore the drive does not have to be configured to commutate them Brushless DC Trapezoidal and AC Sinusoidal motors require a correctly configured drive to commutate Commutation of a permanent magnet servomotor is the process that maintains an optimal angle between the permanent magnet field and the electromagnetic field created by the motor current s This process ensures optimal torque or force generation at any motor position regardless of speed for brushless motors There are two ways to configure a digital drive to commutate a motor e AutoCommutation Detection Most applications can use the AutoCommuta tion routine for configuring a drive to a specific motor This routine will de
100. min s r Negative Velocity Max Acceleration 2500 rev minfs Max Deceleration 2500 rev minjs ADVANCED VA MOTION CONTROLS MNDG DWUG 03 127 Diagnostic Functions Command Settings Position Loop contol e Linear Ramp Limits the velocity or change in commanded position e Accel Decel Allows acceleration and deceleration limits to be set Command Settings Command Source Command Profiler I Command Profiler Enabled Linear Ramp Accel Decel Max Velocity 5000 rev min Ki Max Acceleration 10000 reviminfs 4 Max Deceleration 10000 rev min s Ki 128 MNDG DWUG 03 Diagnostic Functions Signal Definitions Signal Definitions The following tables show all of the signals that can be measured using the Oscilloscope and Multimeter These signals may also be used as analog outputs in compatible drives Current measurements Definition Current Target This is the commanded torque producing current Current limit settings are ignored Current Demand The commanded torque producing current after current limits have been applied This value is zero when the drive is inhibited Current Measured The actual measured torque producing current being delivered to the motor Ideally this value should be as close as possible to the demand current Id Target This represents the flux producing stator current in an AC induction motor Id should equal zero when using a permanent magnet motor
101. mits 10 p a ama amar may Ka In Home Position Window 0 In Position Window 00 o a o Position Following Error Window 4000 Home Position Value Q Measured Position Value cnt Max Measured Position Limit 2147483647 ent I Disable Position Limits Min Measured Position Limit 2147483647 cnt Max Target Position Limit 2147483647 cnt Min Target Position Limit 2147483647 cnt Make sure the target position is set to the proper value prior to enabling the drive Otherwise a large position following error will exist ADVANCED VA MOTION CONTROLS MNDG DWUG 03 43 Configuring the Drive Limits amp Options The following position related limits can be set In Home Position Window Defines a window around the Home Position Value such that when the measured position is within this window the At Home Position event will be active In Position Window Defines a window around the target position such that when the measured position is within this window the At Command event will be active Position Following Error Window The maximum allowed position error difference between target position and measured position prior to setting the Position FollowingE rror event active in position mode only Home Position Value Position value of the home position When the measured position reaches this position within the In Home Position Window the At Hom
102. n is measured when Hall sensors are used as the only primary feedback device Always measured in units of counts Drive Velocity The drive velocity as measured by the primary feedback device No velocity is measured when Hall sensors are used as the only primary feedback device Always measured in units of counts 132 MNDG DWUG 03 Diagnostic Functions Signal Definitions Commanded input value Value Definition Commanded Input The decimal value read from the interface input Deadband Input Value Definition Deadband Input The commanded input before deadband is utilized Measured in units of current velocity or position depending on configuration ADVANCED JA MOTION CONTROLS MNDG DWUG 03 133 Diagnostic Functions Drive Status Drive Status Open the Drive Status window by either Selecting View gt Status on the menu bar Clicking on the Drive Status button in the Block diagram o ad lad 3 Na Drive Status i Drive Status Event States Active Action lt Hardware Error Drive Reset System Protection System Status Non Sinusoidal Commutation Drive Inhibit Commanded Disable User Positive Limit User Negative Limit Velocity Control Zero Velocity Velocity Following Error B At Command Position Control In Home Position PYT Buffer Events PVT Buffer Empty Inactive History Status Window MNDG DWUG 03 Diagnostic Functions Driv
103. nd linear motors with sufficient travel distance proceed 39 as follows 1 Click the Commutation Block in the main block diagram 2 Select the Commutation tab B Commutation Commutation Phase Detection Default Commutation Brushless Commutation Type Trapezoidal Counts per Electrical Cycle 4000 000 Sinusoidal Counts per Index 8000 120 Hall Phasing Primary Feedback Polarity Standard Hall Edge Enter AutoCommutation Ensure Sinusoidal Commutation is selected Verify that indicated Counts per Flectrical Cycle and Counts per Index values are correct The primary Feedback Polarity will be determined during Auto Commutation If drive is disabled click the Stoplight icon to enable the drive Click Enter AutoCommutation to open the Commutation Data window ADVANCED VA MOTION CONTROLS MNDG DWUG 03 81 Tuning and Commutation Commutation AutoCommutation Confirmation of Data Data from Motor Window Data from AutoCommutation Manufacturer M55MCG Manufacturer Aa Modei D20056 Mo Motor Type Bushless Motor Type a Feedback Model 1000 Line Encoder Feedback ModelJ O Feedback device s Feedback device s Hall Sensors No Hall Sensors i Motor Encoder Yes Motor Encoder Counts Electrical 4000 Cycle Index EC Ti at es Index Encoder 4000 Counts Index Primary Feedback Polarity Standard Number of Poles Present Commutation Settings AutoCommutation Settings Motor
104. ndant on the time per division selected A longer time period selected will take longer to update the scope Roll mode captures data and refreshes the screen in a continuous roll Note you will be limited to 200 msec Div minimum while in roll mode Measure Time This allows you to measure time differences between any two points on the scope display Click the Time checkbox to display two vertical lines on the scope plot The difference in time between the two lines is displayed in the box to the right of the check box Left click to drag each line or right click to drag both Signal Level Select a channel for measurement from one of the two dropdown boxes You may use either of the two dropdown menus to select a channel The vertical difference between the horizontal lines is displayed next to the channel selection dropdown the selected channels units apply Left click to drag each line or right click to drag both Scope Presets Automatically configured oscilloscope settings that are fre quently used when tuning the drive Each preset has pre determined unit and time per division scaling Click on the corresponding button to either load a preset or save the existing layout as a preset The presets will be reset to the defaults when DriveWare is closed and re opened Current Configures the oscilloscope settings for monitoring a target current command and the measured drive output current Velocity Configures the oscillos
105. o 20 50 msec A 104 MNDG DWUG 03 Tuning and Commutation Position Loop Tuning Step 5 Tuning yi Position the Scope Waveform Generator and Current Loop windows such that a majority of all the windows is visible Enable the drive by clicking the Enable Disable Driveicon fg Use the Proportional Gain Integral Gain and Derivative Gain sliders or arrow buttons to adjust the Motor Position Measured waveform on the oscilloscope and match the Motor Position Target as closely as possible without excessive overshoot It is not necessary to adjust the Velocity or Acceleration Feed forward Gains Readjust the Gains as Necessary Disable the drive by clicking the Enable Disable Drive icon B When position loop gain adjustments are complete click Not Connected on the Waveform Generator to remove the command signal from the drive Store parameters to the drive s nonvolatile memory For review see Storing the Changes onto the Drive on page 14 Click OK in the Position Loop window to save and close your gain settings Do not close out of the Position Loop window by selecting the X in the upper right comer Closing out this way will not sa ve your gain settings You must close out of the Position Loop window by clicking OK Reminders ADVANCE D JA MOTION CONTROLS MNDG DWUG 03 Tuning and Commutation Position Loop Tuning Homing Parameters Tab Many different homing routines are sup
106. oad decelerates according to the user defined deceleration limit If the drive is controlling current the drive will command zero current with no deceleration control Events that trigger the Stop function can be configured in Event Manager In the deceleration limit text field be sure to use deceleration values that are realistic and physically possible given the system constraints If you try to use limits that are not physically possible the motor may move unpredictably during the deceleration Notice period For example the more inertia a motor has the longer it will ta ke to stop ADVANCED JA MOTION CONTROLS MNDG DWUG 03 47 Configuring the Drive Event Manager Event Manager The Event Manager window lets you set which event the drive will react to and howit will react to them You can select handling for drive protection and system protection and drive system events prea Open the window by clicking on the Event Manager button in the Block Diagram Event Manager Event Manager Drive Protection Drive System KA a ka Disable Event Advanced Settings Short Circuit Current Limiting Hardware Under Voltage Current Loop Saturated Hardware Over Voltage User Over Voltage TON NO Drive Over Temperature User Under Voltage Velocity Following Error System Protection Y a Position Following Error Invalid Hall State v j Cancel Motor Over Speed _ Heoti conca Brake controlled by drive P
107. oldback Current ADVANCE What is the output current of a drive enabled in the foldback state 0 lt Q lt Qy if the drive is configured according to the parameters in Table 2 Assume that the charge reservoir has been tracked since power up and is known to be half empty Q Qp 2 at the instant it is enabled Because current limits are set within hardware limits the current foldback will be linear and easily represented by the first order equation For 0 lt t lt t I F Mt I F Ip the foldback current M therate of foldback t is time drive enabled at t 0 Io the initial current output Starting with Ip the initial amount of current available beyond continuous current will be the maximum difference between peak and continuous current Ip Ic weighed against the percentage of charge Q available relative to Qrp Using I as a baseline this can be formulated as For 0 lt Q lt Q p Up 1Q Q Or t1 D VA MOTION CONTROLS MNDG DWUG 03 Current Limiting Calculating Current Limits Taking the drive parameters of Table 2 Ip is calculated as follows Ig Ip Ic x Qp 2 Qp x tp tp tp tlc Ip IC x tp tp 2p tlc 12 6 x 2 H5 10 6 10 2 A The rate of foldback can be formulated as Again using the parameters of Table 2 this gives M 6 12 5 1 2 Lastly we need to calculate the time at which foldback ends Knowing that foldback always ends with I we can use the line eq
108. on Pulse After this initial pulse if the bus voltage is still higher than the shunt turn on voltage the shunt output will turn on and off rapidly in order to regulate the power dissipated For both external and dual shunt modes the on time and period are adjusted such that the shunt is on for approximately 3 time constants while 40 MNDG DWUG 03 Configuring the Drive Limits amp Options ADVANCE maintaining the same duty cycle The highest duty cycle attainable is 50 The drive sets the on time PWM output to a duty cycle such that 2 bus 2 x DC P max Vbus measured bus voltage Vdc R shunt resistance ohms specified in setup software for external dual shunt Pisz maximum shunt power W specified in setup software for external dual shunt DC PWM duty cyde The period of the PWM output is set as Vpus R Pmax Ton With Ton 2 Fy where F is the switching frequency of the drive Hz The average current going through the shunt resistor will be less than or equal to Vpus 2R The average power through the shunt resistor during this time will be less than or equal to Vipus 2R D JA MOTION CONTROLS MNDG DWUG 03 41 Configuring the Drive Limits amp Options Velocity Limits Tab Limits amp Options Temperature Limits Power up Control Braking 7 Stop Drive Current Limits Voltage Limits Velocity Limits Position Limits Motor Over Speed rev min Zero Velocity Win
109. on volatile memory Saves the current project settings to the drive non volatile memory before exiting ADVANCED VA MOTION CONTROLS MNDG DWUG 03 15 Introduction Exiting the Program 16 MNDG DWUG 03 Z comectng to the Dive Before proceeding you must accomplish the following actions ADVANCE E OOo Read the data sheet for the drive and the specification sheet for the motor and be familiar with their capabilities Cable your computer s serial port to the drive Wire the drive to the motor Provide electrical power to the drive the drive in turn provides power to the motor D VA MOTION CONTROLS MNDG DWUG 03 17 Connecting to the Drive Connecting to the Drive Connecting to the Drive When you first start the setup software you see the following choices Bc Open an existing project Ba Na Connect to a drive and configure using drive setup wizard For now 1 Select Connect to a drive 2 Click the OK button The following window appears when Connect to drive is selected from the opening page Connect To Drive Communication Interface r Interface Settings R5232 ive Ai a 63 C RS485 Drive Address C SynqNet Serial Port COM1 X C Ethemet Baud Rate 9600 Ti PowerLink TCP IP Auto Detect Interface Access Control Access Read write v Cancel Help You must initially connect to the drive using the factory default settings store
110. oop window setup 93 Step 2 Waveform Generator setup 94 Step 3 Oscilloscope setup 1 kee ee ees 95 Step 4 TUNING sscsc ABAKA etek ae ce RGDA KB ENDS news 96 Position Loop TUNING zan siwanttvedtedesevehideeeerauedieees 99 Step 1 Position Loop window setup 101 Step 2 Zero the measured and targetposition 102 Step 3 Waveform Generator setup 103 Step 4 Oscilloscope setup 104 Hep 5 TUNING 2cudavetiaeatesiwees kaa GAN dees 105 Homing ParametersTab a 106 5 Downloading the Firmware 109 Prepare for Download co civtciaccberedad LINER ERA Kh WA AGA 109 Open the Firmware Download Window 000 ee eae 109 Downloading the Firmware 0 00 c cece eee eens 111 A Diagnostic Functions 113 Digital Oscilloscope za ka AKA bom MG NG NYA LABEL A AA BAA 113 M ltimeter 62schucutuunwe deere peewee KAT ere eee LK MAA bee 117 Waveform GeneratOr ccc eee eee eens 118 PYTGGNGISUOM odin be BRA KANA NAGA odaweweds D GRABA beeen eed 119 Command Source Settings baa kA Ta kA 120 Entering PVT POINES 2 a a GR ANG aed LA KAWA K ANAN bebe 121 Manually adding PVTpoints 00005 122 Using a file to add PVTpoints 122 How To Construct A PVT Points File 123 Specify a top POND sc2cchesndiviciedcdidewn fats ces 123 Command SEHUN SL x na kn cn Be wd AA Rae id wk ee a
111. otor to jump to the specified target when activated Interface input Forinternal use Click on the ellipses Bl button to show the window Interface Inputs Assignment Select an input Interface Input 1 Interface Input 2 Interface Input 3 a Ea Assigned input s ADVANCED VA MOTION CONTROLS MNDG DWUG 03 59 Configuring the Drive Command Settings Window Encoder following Selects the secondary encoder input see hardware manual or data sheet to drive the motor in a master slave configuration Click on the ellipses g button to bring up the window Encoder Following Input Ratio Input Counts 5 V Invert Polarity To Position Counts 2 Load Target Command LoadValue 0 Position Counts Load Target equal to Measured Position Cancel Input Counts are the number of quadrature input pulses desired to move the motor by a given number of counts Position Counts are the number of counts desired to move for the given input counts e Ifusingan encoder for primary feedback Position Counts represents the number of encoder counts to move e Ifusinga resolver for primary feedback Position Counts represents the number of resolver counts as determined by the specified resolver resolution The Invert Polarity checkbox changes the resulting motor direction for a given input command The Load Target Command specifies what occurs when you activate a Load Target command via a digital input You may choose
112. ould only be performed after you have specified motor information and drive limits See Configuration Wizard if you are not sure your drive is configured correctly for tuning Caution 1 Current Loop Tuning Once the drive parameters are configured properly the current loop must be tuned This is the innermost loop and forms the basis of all motion You can select to have the current loop gains calculated based on motor and application data This will typically provide a good starting point although some applications may require further refinement of the tuning parameters Make sure the drive is disabled before selecting Calculate Gains Notice ADVANCED VA MOTION CONTROLS MNDG DWUG 03 71 Tuning and Commutation 2 AutoCommutation Detection This routine collects data on the motor and feedback parameters and asks the user to verify that they match what is entered into the Motor Data page Some applications may have motors that cannot perform this routine due to mechanical constraints It is possible to manually wire a motor for commutation See Manual Commutation Procedure on page 85 if you must perform manual commutation It is crucial to make sure the motoris unloaded any load applied to the motor will skew the results of the routine Notice 3 Velocity Loop Tuning If you want to operate the drive in velocity mode you must tune the current loop and set up the drive to commutate the motor steps 1 and 2 A
113. ported These routines rely on signals such as limit switches home switches and encoder indexes to accurately position the load To view the appropriate homing routines Position 1 From the Main Block Diagram open the Position Loop window Om 2 Click on the Homing Parameters tab 3 Select the drop down menus If no switches index or direction is selected the homing routine will default to Current Position The Current Position homing routine will set the measured position to zero when executed The drive must be enabled for this to work Position Loop Position Loop Homing Parameters Position Feedback Search Home Homing Status _SeachHone Speed During Search for Switch 100 rev min Posten Maasuled Speed During Search for Zero 100 rev min cnt Homing Acceleration 1000 rev min s Homing Method Home Switch Limit Switch Direction IV Index Falling X Positive v Negative v Method 7 H OT AA na ee Index Kid ji abe ae 7 Home Switch Lo Positive Limit Switch HIHI n Limits Cancel Help 106 MNDG DWUG 03 Tuning and Commutation Position Loop Tuning ADVANCE The previous example uses the index the falling home switch edge and the positive limit switch to define the homing routine The direction in which homing ends is in the negative direction as shown by the arrow For this particular routine there are three possible scenarios The scenar
114. pproximately 10 of motor nominal speed au Pw MNDG DWUG 03 Tuning and Commutation Velocity Loop Tuning Step 3 Oscilloscope setup To open the Oscilloscope window do one of the following e Select Tools gt Oscilloscope on the main menu bar e Click the Oscilloscope icon Hit on the tool bar sc Digital Scope Channel Select a 2 Velocity Measured v 200 tev min Div pa Change Remove Offset 0 rev min Add Signal RemoveAll Channel Signal Units 4 Div Offset Velocity Target 200 rev min 0 0000 rev min Velocity Measured 200 rev min 0 0000 rev min Trigger Source Velocity Target Slope Mode G Up g Normal C Single C Auto Level 0 000 rev min Horizontal Location 50 Time Div 1Omsec r Change poor Measure Scope Presets I Time Mode PAS Current Off xi Normal Velocity Position Roll pad To configure the oscilloscope for velocity loop tuning select the Velocity option from the Scope Presets section of the Digital Scope window The oscilloscope can also be configured for velocity loop tuning manually by following these steps 1 Usethe drop down menu to change the channel 1 signal to Velocity Target 2 Usethe drop down menu to change the channel 2 signal to Velocity Measured 3 Change the Trigger Source toVelocity Target with the Level set to zero Ensure Trigger Mode is Normal 5 Ch
115. put box You may not select an input shown in the Assigned input s box because it is assigned to another task Analog Input Assignments jase tat lt nn Qq Analog Input 1 a Analog Input 2 v Pay ats aah Assigned inputs oo Analog Input 3 Motor Temperature Cancel 58 MNDG DWUG 03 Configuring the Drive Command Settings Window Step and Direction Selects the step and direction inputs see hardware manual or data sheet to control the motor in a simulated stepper motor configuration Click on the ellipses Bi button to show the window Step amp Direction Input Ratio Input Counts 5 To cht 3 Load Target Command Load Value 0 cht Load Target equal to Measured Position Input Counts are the number of input pulses desired to move the motor by a given amount defined in the second entry field Conversion varies with the selected mode for example input counts to amps for current input counts to speed units for velocity and input counts to position units for position The number entered in either field must be between 1 and 65535 The Load Target Command specifies what occurs when you activate a Load Target command via a digital input You may choose the drive to load a specified set point into the commanded target or for position mode you may choose the drive to set the target position equal to the currently measured position Be aware that the first option may cause the m
116. r setup MNDG DWUG 03 Introduction Getting Started Workspace Display The software provides functions tools and status to help you set up your drive Menu Bar Stoplight Toolbar File Drive Tools Settings View Window Help Toolbar SU BATA amo ci 88 Block Diagram Parameters 2 KAWI Monitoring i l L3 5 Inputs Outputs Event Manager Drive Status Command amp Position Velocity Current Commutation Motor Fdbk Control 4 4 Staus For Help press F1 Bridge Action BRIDGE DISABLED Comm Access NOT CONNECTED READ ONLY A ar Bridge Status Communication Status Menu and Toolbar At the top of the screen are pull down menus and a toolbar You can access many tools and functions to accomplish tasks such as managing files or configuring tools Function Menu Pull down Toolbar Keys Open a file Open Save a file Save Save as a file name Save as Start the configuration Wizard Wizard Close the program Exit Alt F 4 ADVANCED YA MOTION CONTROLS MNDG DWUG 03 3 Introduction Getting Started Function Power up or down the bridge Connect to the drive Change settings once connected Disconnect from the drive Store project on the drive Upload settings from drive Update drive firmware Monitor drive signals on a digital scope Monitor drive signals numerically Generate command waveforms to the drive Work
117. r the appropriate current and motion values in the phase detection fields Click the Phase Detect Button Motor will begin to move back and forth After motor movement stops click the End Phase Detect button Check Drive Status to make sure the phase detect routine was successful MNDG DWUG 03 Tuning and Commutation Velocity Loop Tuning Velocity Loop Tuning Velocity loop tuning is dependant on the mechanical load and therefore will change with any mechanical system changes Velocity loop tuning should be performed with the motor installed in the system and connected to the load Velocity Open the Velocity Loop window by clicking on the velocity loop icon in k the main block diagram It provides access to the velocity control z parameters and velocity feedback settings Velocity Loop Velocity Loop Velocity Feedback MV Velocity Loop Enabled Proportional Gain Integral Gain Derivative Gain Feedforward Gain Limits i Cancel Help ADVANCED YA MOTION CONTROLS MNDG DWUG 03 91 Tuning and Commutation Velocity Loop Tuning Proportional Gain Increase for faster response Excessive proportional gain can cause overshoot and oscillation Integral Gain Increase to eliminate steady state error and increase stiffness i e amount torque force per deflection Excessive integral gain can cause instability and jitter Derivative Gain Increasing to dampen response and reduce overshoot Excessive derivati
118. rect formatting named pvt points file pvt is shown below Stop points can be used in a PVT file to stop executing PVT points until the Start button is pressed A Specify a stop point Simply insert a PVT point with the same position as the ADVANCE previous PVT point but with zero specified for both velocity and time Stop points can only be entered after a PVT point which specifies zero velocity So for example a stop point could be inserted at the end of pvt points file pvt by first adding a PVT point which sets zero velocity such as 6000 0 1000 and then specifying the PVT stop point as 6000 0 0 A stop point differs from the Stop button in that the Stop button completely stops motion and then clearsthe buffer You cannot continue a motion profile once the Stop button is pressed Note PD pvi points file pvi Notepad File Edit Format View Help 1000 10000 25 20005 100005 250 4000 10000 500 60005 100005 750 PVT Points File D VA MOTION CONTROLS MNDG DWUG 03 Diagnostic Functions PVT Generator When first saving a PVT file be sure to replace the default txt extension with pvt when specifying the file name Also if using the Loop Through Points option with a PVT file be sure that the first PVT point in the file can follow logically after the last point in the PVT file Lastly when looping through several PVT points with small incremental times be aware of the fact that the PVT buffer may have t
119. rive Thisaction stops motion Wire the motor phases according to each combination and perform the following procedure L 2 Usethe icon to enable the drive If the motor attempts to spin away disable the drive change the polarity of current in the waveform generator and enable again to see if the drive spins away in the opposite direction The motor should demonstrate smooth torque of the same magnitude in both directions If torque is smooth for both directions mark a good in the results column and try the next combination If the motor does not spin carefully nudge it to see if it will begin spinning In this case either the current is too low or the commutation angle is incorrect Try increasing the current magnitude in small increments until either the motor spins or you reach 25 of continuous current If the motor does not spin with increased current or spins only after help is applied mark a bad in the results column Reset the current to 10 and try the next combination If the motor spins faster in one direction than the other mark a bad in the results column and try the next combination If none of the combinations yields a good result contact the drive manufacturer When finished click Not Connected on the Waveform Generator to remove the command signal from the drive D JA MOTION CONTROLS MNDG DWUG 03 Tuning and Commutation Commutation You should only find one combination that smoothly turns
120. rs that was not specified on the Motor Data page Check motor data to be sure accurate information was entered Other Hall Phasing AutoC ommutation found Hall Sensor spacing that is outside the normal range for 60 degree or 120 degree Hall spacing This does not necessarily indicate an error It is acceptable to run with other Hall Spacing Invalid Hall Sensors AutoC ommutation detected inconsistent Hall Sensors Usually means one or more Hall Sensors are shorted Check Hall wiring between motor and drive Inconsistent Index Transitions AutoCommutation did not find the index signal consistently during its travel Check to make sure the index signal of the encoder is properly wired to the drive Can also indicate a noise issue Check to make Sure that the motor cables are properly shielded Inconsistent Encoder Transitions AutoC ommutation did not find encoder transitions during its travel Check to make sure that the encoder s A and B channels are properly wired to the drive and that the encoder is properly powered Can also indicate a noise issue Check to make sure cables are properly Shielded MNDG DWUG 03 Tuning and Commutation Commutation Manual Commutation Procedure ADVANC The large majority of applications do not require this method for configuring a drive to commutate the motor A much easier method is provided in the setup software called AutoCommutation Detection The proced
121. s event descriptions 136 Drive System 48 50 Dynamic Brake uu mans 49 51 E Enable srne na Encoder Feedback Encoder Following c00 Entering PVT Points file upload eee eeeeeeseeeees manually adding PVT points 122 Event ACHON u s Event Actions Event Counter see Fault Activity Event LOG iseseisana 4 Event Manager s e 48 F Fault Activity 137 138 critical event activity 137 event counter 138 event logs u s 4 137 138 Feedback see Motor Feedback Feedback Cutoff Freq 92 96 98 Feedback Filter 149 152 Feedback Sensor Error 53 Feedback Window 000006 35 Feed forward Gain position loop tuning 100 velocity loop tuning 92 98 File MENU l 3 Firmware check drive version of 5 13 download new version of 109 111 Fold back 1 139 time constant 139 143 MNDG DWUG 03 Index H Hall Sensor Phasing Hardware Over Voltage ma Hardware Under Voltage 52 Help MENU ou eects HOMUNG AA direction of travel index pulse 00 eeeeeeeseeeseeeeee limit and home switches 108 load and physical limits 108 Homing Acceleration 107 Homing active 56
122. s the actual motor electrical pole the inverse of the motor electrical time constant a critically damped response can be obtained with the largest overall proportional gain The current loop parameters can be entered in the edit boxes or set via the slider bars The values take effect immediately but will only be saved if the OK button is clicked The Calculate Gains button will calculate the current loop parameters based on the motor and application data entered in the windows for Motor and Feedback Data and Limits amp Options Make sure proper motor and application data are entered prior to using this function Specifically be sure the motor inductance resistance and nominal bus voltage are entered correctly The Limits button opens the Limits and Options gt Drive Current Limits window ADVANCED VA MOTION CONTROLS MNDG DWUG 03 73 Tuning and Commutation Current Loop Tuning Make sure that the motor is free to move and de coupled from the load Sudden motion may occur You must specify the motor information and drive limits before tuning the current loop Notice Step 1 I O Configuration setup 1 Click the I O Configuration Block in the main block diagram 2 Select the Digital inputs tab MIN MAX Limits 2 Options 1 0 Configuration Analog Inputs Analog Outputs Digital Inputs Digital Outputs Capture Inputs Digital Input 1 5 Active Low T Function User Disable Positive Lim
123. se to phase inductance Max Motor Temperature Maximum allowable motor temperature This information can be obtained from the motor data sheet Maximum Current The maximum current is the peak operating current that the motor can handle This does not correspond to the de magnetizing current which is typically much higher than the maximum operating current This value can be obtained from the motor data sheet Note The specified current is in units of peak current This is the peak value allowed to go through any phase of the motor within one electrical cycle To calculate the RMS current divide the peak value by 1 414 This calculation Should not be used when the motor is commutated trapezoidally Rated Current The rated current is the nominal continuous current that the motor can handle This value can be obtained from the motor data sheet Note The specified current is in units of peak current This is the peak value allowed to go through any phase of the motor within one electrical cycle To calculate the RMS current divide the peak value by 1 414 This calculation Should not be used when the motor is commutated trapezoidally Number of Poles Pole Pitch The number of poles in case of rotary motors corresponds to twice the number of electrical cycles per motor revolution The pole pitch in case of linear motors corresponds to the length of one electrical cycle 360 degrees The numerical value and un
124. sons some actions are not available with some events Recovery Time the time after which the selected event action will be removed when the cause of the event is no longer present Time Out the time after the recovery time and subsequent removal of the event action during which the drive will NOT consider an occurrence of the event as a new occurrence The Event Action will still be applied in case an event does occur within this window However that occurrence will not be counted as a new occurrence with regard to the Maximum Recoveries attribute Maximum Recoveries the maximum number of occurrences of the event prior to a permanent event action MNDG DWUG 03 Configuring the Drive Event Manager e Unlimited Recoveries there is no limit to the number of occurrences of the event e Automatic CanOpen Fault Recovery This option is available only for CANopen drives When checked the drive will allow the CANopen state machine to automatically sequence from fault to enabled state as if it were a stand alone drive If unchecked the CANopen state machine will override the event manager settings and you will be required to send CAN commands in order to recover from faults Event Action Description No Action Event Action is disabled Disable Power Bridge No power is delivered to the motor Motor is allowed to move freely Disable Positive Disables the drive from outputting to the motor in the positive direction Direction while al
125. t Time tp Foldback Time Constant A drive with a fully charged reservoir can always output peak current However any time the target output current goes above the Continuous Current setting of the drive the reservoir begins to discharge The rate of discharge is given as For It 5 Ic Ir Target Current units of amps C coulombs S seconds Once the reservoir discharges past a threshold necessary to output peak current the amount of current available to output begins to foldback linearly assuming hardware limits do not override software limits from Ip to I according to the Foldback Time Constant tp D VA MOTION CONTROLS MNDG DWUG 03 Current Limiting Calculating Current Limits When the reservoir becomes empty no more than Continuous Current can be output by the drive The peak current threshold can be calculated as Ory Qp X tp tp t tp which is simply the amount of charge that would be depleted over a complete current foldback The reservoir recharges up to a maximum of Qp anytime the target output current drops below the Continuous Current setting The rate of charge depends upon how far the target output current is below the Continuous Current as given by For IT lt IC GICs As aresult the reservoir will recharge most rapidly when the target output current is zero no command or drive inhibited 144 MNDG DWUG 03 Current Limiting Calculating Current Limits Example 1 F
126. tation Position Loop Tuning Ef Position Loop Position Loop Homing Parameters Position Feedback I Position Loop Enabled Proportional Gain Integral Gain Derivative Gain Velocity Feedforward Gain Limits Proportional Gain Increasing this gain results in faster response Excessive proportional gain can cause overshoot and oscillation Integral Gain Increasing this gain will eliminate steady state error and increase Stiffness i e amount torque force per deflection Excessive integral gain can cause instability and jitter Derivative Gain Increasing the derivative gain results ina more damped response and is typically used to reduce overshoot Excessive derivative gain results in a more sluggish response Also depending on the position feedback source it may cause excessive jitter and noise Feed forward Gain Creates a direct current demand based on the velocity demand This gain does not affect closed loop behavior but can help improve position tracking capability Acceleration Feed Creates a direct current demand based on the acceleration demand forward Gain This gain does not affect closed loop behavior but can help improve position tracking capability The Limits button opens the Limits amp Options gt Position Limits window The Homing Parameters tab shows the Homing window The Position Feedback tab shows the Position Feedback window 100 MNDG DWUG 03 Tuning and Commutation
127. te motor is commutated trapezoidally Peak Current Maximum output current limited output time Continuous Current The maximum continuous current level the drive will output Peak CurrentTime The maximum time duration of peak current Foldback Time The time the drive will use to reduce the current to the continuous Constant current level setting Current Limit You may assign an input to change the current limit dynamically The Scaling scaling value can be adjusted in IO Configuration The drive can output its rated peak current for a maximum of 2 seconds with a foldback time of 10 seconds This defines the maximum current capability curve Current profiles that intersect with the maximum current capability curve will be limited to stay within this envelope 38 MNDG DWUG 03 Configuring the Drive Limits amp Options Voltage Limits Tab Limits amp Options Temperature Limits Power up Control Braking Stop Drive Current Limits Voltage Limits Velocity Limits Position Limits Under Voltage Limit Volts Over Voltage Limit volts lt 230 lt 850 lt 850 0 Nominal DC Bus Voltage 720 VDC Shunt Regulator M Shunt Regulator Enabled Tum on Voltage 800 Internal Shunt Resistor ka Power wW Resistance Ohms Inductance pH Use Internal Shunt Only C Use External Shunt Only 100 60 0 Use Internal and External Shunt In Parallel External Shunt Resistor Power w Resistance Ohms In
128. tect the feedback devices attached to the motor and ask the user to verify them against the motor s data sheet e Manual Commutation requires more time and may not be as accurate as AutoCommutation You will have to perform this method if Your motor is mechanically restrained such that it is not free to move 2 revolutions 1 electrical cycle in both directions 3 electrical cycles for a Brushless linear motor Your motor or load has a significant amount of inertia AutoCommutation Detection The AutoCommutation routine detects the motor feedback type and polarity and then configures the drive commutation parameters appropriately Brushless and linear motors with insufficient travel distance two revolutions plus one electrical cycle for rotary motors or three electrical cycles for linear motors or large amounts of inertia will require the Manual Commutation Procedure instead AutoCommutation detection is not required for brush type motors Before you run AutoCommutation be sure you e Enter in the correct motor information in the motor data page e Specify the correct feedback information e Specify limits to protect the motor e Tune the current loop e De couple the motor from any load and secure the motor Sudden motion will occur If you have not done the preceding see the corresponding sections in this manual 80 MNDG DWUG 03 Tuning and Commutation Commutation Commutation For brushless a
129. tect is required for use with brushless motors with encoder feedback and without hall sensors This routine must be performed e Before the motor can properly be commutated each time the drive power is cycled e Anytime sinusoidal commutation is lost The reason is that without hall sensors the motor position is initially unknown and therefore cannot be properly commutated until a positioning routine is followed Phase detect requires the motor to vibrate for a few seconds and can be set up to be performed via a digital input or automatically on power up Couple the motor to the load before you perform phase detection Phase detect is also used with absolute feedback devices i e resolver or absolute encoder This form of phase detect is automatically performed instant on power up and does not require motor motion amp Commutation Commutation Phase Detection Phase Detection Configuration Power up Option C Phase Detect On First Enable Following Power up Phase Detect Immediately No Phase Detect On Power up Events Disabled During Phase Detection I Positive Limit 7 Negative Limit Phase Detection Parameters Max Phase Detection Current ka Siam Phase Detect Max Phase Detection Motion 1000 cnt Cancel Help Be sure to enter motor data and run automatic ormanual commutation for the first time before running pha se detect Nofice ADVANCED JA MOTION CONTROLS MNDG DWUG 03 89 Tuning and Commut
130. ters go into detail about these tools but briefly this section describes how to e Open a file e Name the drive e Connect to and disconnet from the drive e Enable and disable the power bridge e Set the drive behavior when you disable the power bridge e Usea Hotkey to disable the power bridge e Showand hide the toolbars e Move scroll and arrange the windows Opening a File The setup software must be disconnected from the drive before performing this task 1 To open an existing project file from your computer perform one of the following actions Select File gt Open on the main menu bar Click on the Open icon on the tool bar 2 Browse your computer to the My Projects subdirectory or wherever your project files are saved and select a project adf extension Once opened you can connect to the drive and choose to either download the project file configuration settings into the drive or upload the configuration settings from the drive into the setup software For more information see Connecting to the Drive on page 17 Working with the Drive There are several tasks you must accomplish to configure and set up the drive Later chapters go into detail about these tasks Naming the drive The Drive Name data field allows you to assign a unique name to the drive such as X Axis You may enter a name up to 32 characters 1 Select Settings gt Drive Name on the menu bar ADVANCED VA MOTION
131. the drive to load a specified count into the position target or you may choose the drive to set the target position equal to the currently measured position Be aware that the first option may cause the motor to jump to the new target position when activated PVT Selects PVT as the control mode For more information on PVT including absolute versus incremental input methods see PVT Generator on page 119 Click the ellipses El button to bring up the window PVT Input Settings Input Method Absolute Buffer threshold warning level Incremental 0 lt 17 Cancel 60 MNDG DWUG 03 Configuring the Drive Command Settings Window The PVT input method window allows you to select between Absolute and incremental PVT points It also allows you to define the buffer level at which a buffer threshold warning will occur No command This assigns no command source to the drive Typically No Command will be automatically assigned when major control loop changes are performed This is a protection feature to minimize sudden motor movement Comm channel This command will automatically be assigned when the drive is being controlled by an outside source This capability is available with network interface products ADVANCED YA MOTION CONTROLS MNDG DWUG 03 61 Configuring the Drive Inputs Outputs Inputs Outputs The I O Configuration window allows configuration and diagnostics of all digital and
132. the same digital input for capture and command source Notice D JA MOTION CONTROLS MNDG DWUG 03 Configuring the Drive CANopen Settings CANopen Settings The CANopen Settings window is available for drives which support CANopen communications This window allows for configuring COB ID filtering When COB ID filtering is turned on the drive will not monitor CANopen messages which are meant for other nodes This results in faster overall message handling It is recommended to have COB ID filtering enabled when applicable File Drive Tools ESE View Window Help oh Ss gs E2 User Units Stoplight Settings Drive Name DriveLibrary CANopen Settings CANopen Settings Enable COB ID Filtering V ca When COB ID filtering is enabled PDOs cannot be configured while the drive isin the operation enabled state Note MNDG DWUG 03 s4 Tuning and Commutation Before proceeding you must accomplish the following actions U Configure the limits and options parameters L Connect the motor power and feedback Drive tuning is a multi step process that involves proper tuning of up to three different servo loops Before tuning the drive should have the appropriate parameters and limits configured as per the Limits amp Options on page 37 Following are the summary tasks you must perform later in this chapter you will find the actual procedures with individual steps Sudden motion may occur Tuning sh
133. then synchronization is not an option 11 Click OK 82 MNDG DWUG 03 Tuning and Commutation Commutation 12 In some cases the AutoCommutation results will differ slightly from the values entered in the Motor Data window e g Counts Electrical Cycle Counts Index In those cases you may choose between using the value determined by Autocommutation or the value from the Motor Data window Typically it is recommended to use the value from motor data 13 Click Accept to apply the AutoCommutation parameters 14 Store parameters to the drive s nonvolatile memory For review see Storing the Changes onto the Drive on page 14 For brushless motors with encoder only feedback the Phase Detection function must be utilized whenever powerto the drive is cycled ora loss of sinusoidal commutation occurs See Phase Detect on page 89 Note AutoCommutation Wamings After running AutoCommutation it is possible that a warning or warnings may appear due to wiring errors or discrepancies between the information on the Motor Data page and the results of AutoCommutation Differences between AutoCommutation data and Motor Data YN AutoCommutation Found Primary Feedback Polarity is the opposite From the Motor Data value IF the Number of Poles 4 in the Motor Data window is correct then AutoCommutation has a high degree of probability for correct data AutoCommutation Waming Example Primary Feedback Polarity
134. tional Gain 1 and Integral Gain 0 ADVANCED VA MOTION CONTROLS MNDG DWUG 03 75 Tuning and Commutation Current Loop Tuning Step 3 Waveform Generator setup To open the Waveform Generator window do one of the following Select Tools gt Waveform Generator on the main menu bar Click the Waveform Generator icon nn on the tool bar i Waveform Generator DER Waveform Type Waveform Into The gor C Not Connected Square Current Loop C Triangle g Sinusoidal c C C Waveform Attributes Frequency 100 Hz Amplitude NG Amps al mi p a Bl Offset 0 Amps Symmetry 50 K Ej E Bj Set up the Waveform Generator as follows L 2 au Pw Select the Square Waveform Type Set Frequency to 100 Hz If your motor has low inertia and is very responsive use 150 Hz or 200 Hz Ensure Offset is zero Ensure Symmetry is 50 Select Waveform Into The Current Loop Set the waveform amplitude to an appropriate value Begin with 10 of the drive continuous rating or 50 of the motor continuous current rating whichever is lower 76 MNDG DWUG 03 Tuning and Commutation Current Loop Tuning Step 4 Oscilloscope setup To open the Oscilloscope window do one of the following e Select Tools gt Oscilloscope on the main menu bar e Click the Oscilloscope icon HA on the tool bar nc Digital Scope Channel Select S 1 Current Target i 1 Amps Div Change Remove Offset 0 Amps
135. tkey it is the same action as disabling motion through the pull down menu or clickable icon You can use the Hotkey at any time To reassign keystrokes for the Commanded Inhibit 1 Select Settings gt Stoplight Settings on the main menu bar This action displays a window allowing you to reassign the key combinations 2 Makesure the cursor is placed in the edit box Press any of the function keys F2 F12 4 Click the OK button w 10 MNDG DWUG 03 Introduction Using the Setup Software Working with Windows The setup software often requires several windows open at once Showing hiding the toolbars To allow more room in the workspace you can hide both the Standard toolbar and the Stoplight toolbar 1 Select View gt Toolbars on the main menu bar File Drive Tools Settings PATI EY al Drive Status Event Logs gt v Standard v Stoplight 2 Select or deselect either Standard or Stoplight depending on your preference Fie Drive Tools Settings View Window Help Standard provides the option of hiding or displaying the toolbar Stoplight provides the option of hiding or displaying the Stoplight that enables and disables the drive s power bridge Moving a window Click and hold the mouse pointer over the title bar of the window and drag it to another position Scroll bars Displayed at the right and bottom edges of the document window the scroll boxes inside the scroll bars indicate your vert
136. tor speeds When the motor is shorted its own generated voltage may produce a current flow as high as 10 times the amplifier current The short itself may not damage the amplifier but may damage the motor e Do not make any connections to any internal circuitry Only connections to designated connectors are allowed High voltage ADVANCED Motion Controls the combined isosceles trapezoid right triangle logo and DriveWare are either registered trademarks or trademarks of ADVANCED Motion Controls in the United States and or other countries All other trademarks are the property of their respective owners 2008 ADVANCED Motion Controls All rights reserved IV MNDGDWUG 03 h Contents 1 Introduction 1 Getting tated viteveeds NAKARAAN AB AA ANENE danke KRAS 2 Software FICS octet asta grata doi ede Aca de ea ware areca ate oak 2 Workspace Display saaan AABANGAN NANA NA NAAN 3 Menu and Toolbar aaa teen ee KK PAKAKAK AKDANG 3 Block Diagram wscscedae ce beee PAA 5 Using the Setup Software 2g ka ma KAN ER BR GA MAN BEA cud Eee eae eckis 7 Opening a PlEagaganaaa mak IYAK KNA ced eR eee ANNA 7 Working with the Drive 2 7 Naming the drive i vic nahh LAAL OR EARN PSR eed oe eR 7 Connecting to the drive 0 0 eee eee 8 Disconnecting from the drive a ee 8 Working with the Stoplight eee eee ee eee 9 Enabling motion daan ceca GANANG ede ade ceeewe 9 Disabling MOTON
137. ts per division for the corresponding signal as seen in the digital scope display e Offset Shows the offset associated with the signal as seen in the digital scope display Trigger Normal C Singl Change PDA 4 hess Fun Level 0 000 m mps Horizontal Location 50 Ee Trigger Settings e Source Displays the currently selected signal to be used as a trigger e Change Allows you to change the trigger source e Level Allows you to select the level at which you want the scope to trigger e Slope Sets the trigger slope to positive slope or negative slope e Mode Sets the trigger mode to one of the following Normal Mode The scope triggers according to the settings specified Single The scope triggers once according to the settings specified after Run Stop button is selected Auto The scope triggers automatically ignoring the settings specified e Horizontal Location Allows you to adjust the horizontal time based level at which the scope triggers ADVANCED VA MOTION CONTROLS MNDG DWUG 03 115 Diagnostic Functions Digital Oscilloscope Time Div 10msec v I Time Ss Current Measure Scope Presets Mode Normal jor zi Velocity 2 Roll Off X Position Time and Mode Settings Scope Presets Time Div Sets the horizontal scaling as seen on the scope in units of time per division Mode Sets the mode in which the scope captures data Normal mode refreshes the screen in intervals depe
138. uation we just generated to calculate t by solving for time as follows tx Ip I M 6 10 2 1 2 35 Combining all our results this yields the formula For 0 lt t lt 3 5 Ip 1 2t 10 2 146 MNDG DWUG 03 Current Limiting Calculating Current Limits Example 2 Peak Current Recovery If recovery time is the only interest there s an easy way to calculate the amount of time required to recover maximum peak current This is shown in the following example How long will it take to recover maximum peak current on a drive which from power up is depleted for tp seconds where tp lt tp tp Assume the current command is initially held at a constant current of Iy where Iy 5 Ic for tp seconds and then held constant at I where I lt I for tg seconds These parameters are illustrated as Current Current Limit Envelope Current Command Depletion of the reservoir always happens at the rate 2 Ip I which means the amount of charge depleted over tp will be Qp 2 Ip Ic x tp Similarly fora recharge time of tp the charge recovered will be Qg Ic I x tp In order to fully recharge the reservoir the amount of charge depleted must match the amount recovered such that Or Qp or Ic I tp 2 Ip Ic tp The final step is to solve for tp as shown below fp 2 p 1 p le 1j ADVANCED JA MOTION CONTROLS MNDG DWUG 03 147 Current Limiting Calculating Current Lim
139. ure for manual commutation requires more time and may not be as accurate as the AutoCommutation method Because some applications cannot use the AutoCommutation method each drive defaults to a standard switching sequence that will commutate one of the six motor phase wiring combinations for a given feedback wiring configuration Follow the steps below to find the correct motor phase wiring to commutate your motor Before you perform manual commutation be sure you have e Entered in the correct motor information in the motor data page e Specified the correct feedback information e Specified limits to protect the motor e Tuned the current loop e Decoupled the motor from any load and secure the motor Sudden motion will occur ED YA MOTION CONTROLS MNDG DWUG 03 Tuning and Commutation Commutation Setting over speed limits 1 Goto Limits amp Options gt Velocity Limits tab set the maximum speed you wish the motor to spin for this test Set this fairly high but not so fast it is dangerous if the motor spins away 2 Goto Event Manager 5 Advanced 5 System Protection set the Motor Over Speed event action to Disable Power Bridge and Unlimited Recoveries If your drive doesnot use a separate logic supply store your project file to your computer disk and in the drive s nonvolatile memory If you need review see Sa ving Your Setup on page 14 Notice Performing manual commutation 1 Ensure Trapezoida
140. ve gain results in a more sluggish response Also depending on the velocity feedback source it may cause excessive jitter and noise Feed forward Gain Creates a direct current demand based on the velocity demand This gain does not affect closed loop behavior but can help improve velocity tracking capability Feedback Filter Cut This low pass filter reduces velocity ripple due to digitization off Frequency However this will also affect closed loop performance A typical setting is between 50Hz and 1500Hz For more information see Feedback Filter Low Speed Gain Stabilizes the velocity loop during low speed movement To tune the low speed gain use the waveform generator to command a slow speed 1 or 2 rom and look at the velocity measured with the oscilloscope Adjust the Low speed gain to minimize the velocity spike as seen by the scope Alternatively this gain can be used to reduce jitter when position is tuned around the velocity loop The Limits button opens the Limits and Options gt Velocity Limits window The Velocity Feedback tab shows the Velocity Feedback window Make sure that the load isfree to move and coupled to the motor Sudden motion may occur Tuning of the velocity loop should only be performed after current loop tuning and motor commutation Caution 92 MNDG DWUG 03 Tuning and Commutation Velocity Loop Tuning Step 1 Velocity Loop window setup 1 Verify the dr
141. ving the Project File onto Your Computer Use this command to save the active configuration project file to its current name and directory When you save a file for the first time the software displays the Save As dialog box so you can name your document To overwrite your project file on the computer with your current changes in the setup software you would either e Select File gt Save on the main menu bar e Click on the Save icon fj on the tool bar If you want to change the name and directory of an existing document before you save it choose the Save As command Use this command to save and name the active document The setup software displays the Save As dialog box so you can name your document 1 Select File gt Save as on the main menu bar 2 Enter a filename in the dialog box 14 MNDG DWUG 03 Introduction Exiting the Program Exiting the Program eee Use this command to end your configuration session To exit the program either e Select File gt Exit on the main menu bar Drive Tools Settings View M EB Open Ctrl O A Hisave Ctrl 5 Save As Wizard OT e Double click on the upper left corner of the main window File Drive Tools sass The software prompts you to save documents with unsaved changes Exit options lv Current project on PC Cancel Current project on PC Saves the current project file to the PC before exiting Current settings to drive n
142. will cause the power bridge to be enabled after the download is complete unless there is a hardware limiting event active invalid halls digital inputs etc If you choose not to reset the drive the bridge will be disabled upon download completion and the drive will not go through its normal power up sequence 5 When the upgrade is complete store the parameters to nonvolatile memory 6 Read the release notes for information about new features and issues Do not power down or lose your connection during the process If this happens you may have to restart the download orin extreme cases send the drive back to the manufacturer Caution ADVANCED JA MOTION CONTROLS MNDG DWUG 03 111 Downloading the Firmware Downloading the Firmware Reminders 112 MNDG DWUG 03 A Diagnostic Functions i This appendix describes helpful tools provided by the setup software Digital Oscilloscope The digital scope is a powerful tool used for tuning and diagnostics You can select from more than forty different signals to monitor while testing or troubleshooting your machine Slower baud rates can affect the scope performance To open the digital oscilloscope do one of the following e Select Tools gt Oscilloscope on the menu bar e Click on the oscilloscope HQ icon on the tool bar sc Digital Scope Channel Select Change l 2 Current Measured Remove Add
143. wing Power up software or sending commands through the interface To use disable via Action digital inputs see Inputs Outputs on page 62 46 MNDG DWUG 03 Configuring the Drive Limits amp Options Braking Stop Tab Limits amp Options Drive Current Limits Voltage Limits Velocity Limits Position Limits Temperature Limits Power up Control Braking Stop External Braking Delay after applying external brake before disabling power bridge or performing dynamic braking m5ec Delay before releasing external brake after enabling power bridge or discontinuing dynamic braking mSec Stop Deceleration Limit 10000 rev min s Cancel Apply Help Extemal braking Allows you to set time delays between external braking and enabling disabling the drive This is particularly important in applications where the motor is holding a vertical load The delay allows the brake to apply before the bridge is disabled or for the brake to release after the bridge is enabled You may configure events to activate the brake output from within Event Manager on page 48 In order forthe delay to work you must select Apply Brake then Disable Bridge or Apply Bra ke then Dynamic Bra ke within the advanced window of Event Manager Note Stop When active this field sets the deceleration limit for all stop actions and direction stops If the drive is controlling velocity or position the l
144. with PVT files and PVT points Set measuring parameters Settings 5 Assign actions to Bridge Disable and set Commanded Inhibit keys Assign a name to a drive Change Drive Library Settings Monitor activity and faults Access stored logs and counters of critical event activity and faults Display or hide icons Menu Pull down Enable Disable Toolbar Keys Connect or Connection Settings Disconnect Store to drive Restore from drive Firmware Download Oscilloscope Multimeter Waveform Generator PVT Generator User Units Stoplight Settings Drive Name DriveLibrary Drive Status Event Logs Toolbar MNDG DWUG 03 Introduction Getting Started Function Menu Pull down Toolbar Keys Overlap software windows Window gt Cascade See on line documentation Help Get contextual help for workspace What s This Display version of software About Display drive hardware and About The Drive firmware information The workspace display often allows more than one path to a particular function For example to open a project file choose one of these actions e Select File gt Open on the main menu bar Drive Tools Settings View Window Help Ctrl 5 Save As NA aA wizard e ClicktheOpenicon gp on the tool bar File Drive Tools Settings View Window Help ei
145. ynamic Brake All Other Actions No Change Unchecked Initial Assigned Action Resulting Assigned Action Apply Brake AND Disable Disable Bridge Bridge Apply Brake then Disable Disable Bridge Bridge Apply Brake then Dynamic Brake Dynamic Brake All Other Actions No Change ADVANCED YA MOTION CONTROLS MNDG DWUG 03 49 Configuring the Drive Event Manager Event An incident that requires attention e g motor over speed See event tables for description of drive events Action The drive performs as specified e g disable bridge when the incident occurs See even action tables for description of actions Status when the drive identifies the event as active the status is high cac ot e o Response Recovery Time Out Time Time Window Event Action Attibutes If you need to refine the control there is an Advanced Settings button that accesses other parameters Events under Advanced Settings can correspond to a fault or a particular internal drive state The events for System Protection and Drive System have several programmable attributes Disable the event handling can be disabled Response Time the time delay between the actual occurrence of the event and the event action Event Action the action to be taken by the drive after the response time has elapsed The table below shows the possible actions to choose from For safety rea

Software Manual - User manual for DriveWare ® 5.4.2

Contents

Download Pdf Manuals

Related Search

Related Contents

Software Manual - User manual for DriveWare &reg; 5.4.2

Contents

Download Pdf Manuals

Related Search

Related Contents

Software Manual - User manual for DriveWare ® 5.4.2