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1. TTO215GB Follow the procedure below for operation of the DMC10 in Mode 5 Torque Mode 1 2 5 Connect the Controller as shown above For further details see also the following sections Motor Output page 16 Power Supply page 21 Analog Input page 23 Connect the PC via a terminal program e g JVL s MotoW are or Windows H yperTer minal if necessary following the description of the RS232 interface in RS232 Interface page 25 Switch on the Controller but ensure that the analog input is 0 V Only the Power LED and possibly Out 1 may be active If one or more of the red LEDs is active or blinks the motor is probably connected incorrectly Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are correctly connected Set the Controller to Torque Mode by sending the command MO 5 enter The Controller should respond Y indicating that Torque Mode has been selected 6 The motor current must be adjusted for the actual motor used 7 See Adjustment of M otor Current page 29 Servo parameters KD KP and KI are set to typical values by default This means that the motor can be operated without further adjustment For optimum system opera tion however the parameters should be adjusted See Adjustment of Servo Regulation page 30 Ifthe
2. 10V Input 2 3 1 2 3 2 General The Controller is equipped with 8 digital inputs Each input can be used for various pur poses depending on the basic mode of operation selected The User Inputs are optically isolated from other circuitry in the DMC10 All of the Inputs have a common ground terminal denoted IN Each of the U ser Inputs can operate with voltages in the range 5 to 30VDC N ote that the User Inputs should normally be connected to a PNP output since a posi tive current must be applied to the input for it to be activated Connection of NPN Output If an Input is connected to an NPN output a Pull Up resistor must be connected be tween the Input and the supply See above illustration The value of the resistance depends on the supply voltage used The following resistances are recommended Supply Voltage Recommended Resistor 5 12VDC 1kO hm 0 4W 24 30VDC 4 7kO hm 0 4W 17 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 2 4 User Outputs DMC10 output circultry PNP output Connector DIN41612 ver B I I O I 04 Power Supply In 03 I 02 1 I gt i Motor Output I is a Power Dump Output Encoder Input Power Supply 5 30VDC a Step pulse and Direction Input User Inputs Pulseand Direction Output 10V Inpu
3. JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 54 3 9 Commands 3 9 24 Digital Input Format DIF Command DIF Mode 3 1 2 3 4 5 Selection 1 3 default 1 Description The DIF command makes it possible to select the functionality of user inputs IN 5 and IN 6 when the Controller is operating in mode 3 See also Register Mode MO 3 page 36 for further details DIF 1 As default the DIF register is set to 1 which means that the motor runs when IN 5 is activated and the motor will stop if IN 5 is passive When using this format all positioning will be relative or absolute DIF 2 Used in applications where a separate start and stop input is preferred When DIF is set to 2 the position counter will be set to 0 every time a new start is made This mean that every move is relative The motor starts when IN 5 is activated and stopped when IN 6 is activated re gardless if IN 5 is still active DIF 3 Same function as DIF 1 if using mode 3 but user output 4 0 4 is controlled by the relationship between the actual position AP and the value contained in the X register 15 X P15 If the motor is moving in a positive direction and AP becomes a higher value than X P15 user output 4 will be activated If the motor is moving in a negative direction and AP becomes a lower value than X P15 user output 4 will be activated In both situations user output 4 will stay active until the co
4. 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 1 1 Introduction TTO201GB DMC10 is a compact programmable DC servo motor controller The DMC10 features control via either the built in RS232 interface or via an analog input 10V In addition the DMC10 can be controlled as a step motor system controller via a step pulse and direction input The DMC10 can be configured for absolute rel ative positioning via 4 digital inputs DMC10 accepts a balanced or unbalanced sig nal from a standard 2 channel incremental en coder All inputs and outputs are optically isolated and overload protected The DMC10 has 4 general purpose outputs These can be used to provide a control signal for example when the motor has reached a re quired position or an error signal if a condition arises that prevents motor operation The DMC10 can be mounted in a 19 rack sys tem or surface mounted Main features Digital servo control loop Extremely precise positioning e Small physical dimensions 128x171x50mm e Current 12A continuous 25A peak e Current overload protection Absolute Relative positioning EMC protected CE approved e Voltage overload protection Following input features Analog 10V Ste
5. Positioning Mode M O 2 In this mode the Controller will position the motor via commands transmitted over the RS232 interface Various operating parameters can be continuously adjusted via the in terface while the motor is running This mode is primarily used in systems in which the Controller is permanently connected to aPC via the RS232 interface MO must be set to 2 for operation in this mode See also section Getting Started Positioning Mode 2 page 9 The position is specified in encoder pulses If for example the specific encoder type mul tiplied by the encoder multiplication factor MU gives 4000 pulses per revolution a specified change in position of 8000 pulses means that the motor will rotate 2 revolu tions The motor s instantaneous position can be read regardless of whether the motor is running or stationary When a new position is set up the motor movesto the new po sition using the programmed velocity profile See AC and VM Motor operation can use a programmed velocity profile by programming a maximum ve locity and acceleration In this mode when the motor is operated to move to a new po sition it will operate using the programmed velocity profile and the profile will always follow the acceleration deceleration values This means that the motor will not always attain maximum velocity if the distance is short Motor status can be read using the RS command At any time the motor can be stopped using either the H
6. E vw 5 D Description U sage 3 9 69 Command Modes Selection Description Usage Position in Parameter Sets XP XP 3 1073741824 to 1073741823 pulses Position register 0 X PO 1 negative direction 1 positive direction A required position can be set for each parameter set If the position is set to null no change in position will occur but the acceleration and velocity will be changed N ote XP1 15 do not have the same meaning as X PO which is used in conjunction with zero point seek The set up of the position variable in parameter set 0 XP0 determines in which direction the zero point seek will occur See section Zero point Seek Function page 43 X Pn xxxxx Set Position parameter to xxxxx pulses for parameter set n XPn Show position XP Show position values for all parameter sets Relative Positioning in Parameter Sets XR XR 3 0 absolute 1 relative for register 0 0 do not seek 1 seek zero point The relative positioning parameter set XR contains information about whether the re quired position is relative or absolute XRO has a different function than the other regis ters XRO determines whether a zero point seek should be carried out when the DMC is switched on 0 do not seek 1 seek If the Controller is in Register Mode MO 3 and X RO 1 at power up an automatic zero point seek will be carried out in a positive or negative direction as specified by X P0 See section Zero poin
7. MU x Where x is the encoder pulse multiplication factor MU Show current multiplication factor An encoder with 1000 pulses revolution is used MU 2 and MP 1 In Step pulse Mode MO 1 2000 pulses must be applied to the pulse input to rotate the motor 1 revolution Negative Limit Switch NLS NLS 1 2 3 4 5 0 low or 1 high Inputs IN 7 and IN 8 function as end of travel limit switches If the motor is moving in a negative direction and IN 7 is activated the motor is stopped instantaneously IN 8 is the positive end of travel limit The two limit switches can be independently programmed to be active high 1 PNP sensor or active low 0 NPN sensor For connection of the end of travel limits see Connections page 15 NLS x Set N egative Limit Switch to level 0 low 1 high NLS Show N egative Limit Switch level JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 64 3 9 Commands 3 9 43 Command Modes Description Usage Example Read Status of Outputs O1 04 OUT 1 2 3 4 5 The DMC 10 has 4 outputs Via the RS232 interface it is possible to reset O utput 3 03 and Output 4 04 using the OUT3 and OUT4 commands respectively O utput 1 01 and O utput 2 02 are set automatically by the Controller The status of the outputs can be read using the OUT command When the status of the outputs is read information is also given about the status of the 4 control LEDs D for 1
8. 3 29 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 2 13 Adjustment of Servo Regulation 2 13 1 Adjustment of Servo Parameters The DMC10 servo regulator is of the PID type and has therefore 3 parameters that must be adjusted The function of the servo loop is to ensure that the motor operates smoothly with stable movements and stops at its intended location The 3 servo parameters must be adjusted according to the actual conditions of the specific system since the motor type load sup ply voltage and other factors all have a decisive influence on the value of the parameters required The 3 regulator parameters are denoted as follows and have the following function KP Determines the system s proportional amplification This parameter is the most important of the 3 since the system will function using this parameter alone KD Determines the system s differential amplification This parameter determines how aggressively the system will react to sudden changes in load or a sudden change in velocity KI Determines the system s integral amplification This parameter determines the ex tent to which a persistent positioning error will influence the system The 3 parameters can be quickly adjusted in the following manner 1 All 3 parameter are set to 0 by keying KP 0 enter followed by Kl 0 enter fol lowed by KD 0 enter 2 The value of KP is then slowly increased until the sy
9. The Controller contains a number of control bits These bits control some basic param eters functions in the Controller Mostly these parameters or functions are special com pared to the standard functions described in this chapter For example a bit can control whether a certain input should be activated at logic 1 or logic 0 Some of the bits can only be read These bits show the status of different conditions during operation for exam ple in which direction the motor is moving The following Control bits are available 3 9 8 CB1 Disable motor using IN 2 Command CB1 Modes 1 2 4 5 Selection CB1 0 Function disabled default CB1 1 Function active Motor will be disabled if IN 2 1 Description The motor output can be disabled by activating user input 2 IN 2 If CB1 0 default the function is disabled and IN 2 can be used as a standard input If CB1 1 the motor will operate normally as long as IN 2 is passive If IN 2 is activated the motor output will immediately be set current less Please note that CB1 does not have any function when the Controller is set to mode 3 3 9 9 CB2 Reset Controller using IN 3 Command CB2 Modes 1 2 4 5 Selection CB2 0 Function disabled default CB2 1 Function active Controller will be reset if IN 3 1 Description If afatal error occurs such as a motor blockage it can be an advantage to be able to reset the system from an external source N ormally a reset can only be done by sending th
10. page 71 3 9 20 Interface checksum CHS Command CHS Modes 1 2 3 4 5 Selection 0 no 1 yes Description As described in Checksum page 26 a checksum facility can be used for communication via the interface Usage CHS x 0 do not use checksum 1 use checksum CHS Show checksum status 53 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 21 Command Modes Range Description Usage 3 9 22 Command Modes Description Usage 3 9 23 Command Modes Description Usage Peak Current CP CP 1 2 3 4 5 1 25 Amp To protect the motor from overload and to ensure that the lifetime is not reduced a maximum rated current and maximum peak current are specified The system can with stand currents for short periods that are higher than the maximum allowable rated cur rent The motor must however be protected from high current peaks The CP command is used to set the maximum peak current to the motor See also CB9 Multiply all current settings readings by 10 page 51 CP xx Set peak current in Amp CP Show actual peak current setting Motor Current CU CU 1 2 3 4 5 The motor current consumption in Amps can be read using this command See also CB9 Multiply all current settings readings by 10 page 51 CU Show motor current consumption in Amps Current Velocity CV CV 1 2 3 4 5 The motor velocity can be read at any given time CV Show velocity in rpm
11. the Controller will use the VM parameter during zero point seek X RO 0 specifies that the Controller X RO 1 specifies that the Controller does does not automatically perform a automatically perform a zero point seek af zero point seek after start up ter start up ZL 0 specifies that HM is activated ZL 1 specifies that HM is activated when when low high SZT 0 specifies normal reset SZT 1 specifies reset with index channel CB11 CB11 0 Reset AP after zero search Se 1 Do not reset AP after zero A reset will occur when one of the following conditions is met After start up or after the Controller has received the RESET command This will only occur if X RO 1 see above table Ifthe Controller receives the zero point seek command SZ If the Controller is set to Mode 3 Register Mode and register set X 0 is selected Reset Sequence When the zero point seek function is activated the motor will move in the specified di rection at the specified velocity until the HM input becomes active The motor then de celerates and stops after which it moves back until the HM sensor becomes passive The result of the seek process is that the motor is positioned precisely at the zero point contact The zero point is thus located and the motor s AP Actual Position will be set to 0 If SZT 1 the zero point seek sequence will be extended as described in section Extended Zero point Seek Function page 44 Level at the HM Input x
12. 14A 21AEncoder interface Fe Fl 148 14a 5VO in this example It is recommended Reserved that screened cable is used to User Outputs O1 FP 21B 0 07214 LLO 28 22A CCM fi 23B 23A i Pulse Output IN8 248 24 DCM T INZ 258 254 DIR y 1 irection Output ING 268 26A 22A 25AStep pulseandDirection Input GND LINS emo cenosv PNP Outputs UserInputs ra nl SK Heo Pulseand Direction Output 2980 Og J he Lt ofra ss med 31B IN lo sa lac 10V Input Power Supply In 15 80V DC Balanced encoder signal shown Zeropulse Input notused connect the encoder PLC or Pulse Generator Follow the procedure below for operation of the DMC10 in Mode 1 Step pulse and Direction Mode 1 Connect the Controller as shown above For further details see also the following sections Motor Output page 16 Encoder Input page 19 Step pulse and Direction Input page 22 Connect the PC via a terminal program e g JVL s MotoW are or Windows H yper Terminal If necessary following the description of the RS232 interface in RS232 Interface page 25 Switch on the Controller but ensure that no pulses are applied to the step pulse in put Only the Power LED and possibly Out 1 may be active If one or more of the red LEDsis active or blinks either the motor or encoder is pro
13. 2 3 4 5 Description If a system overload occurs for example if the supply voltage is too high see ES the sys tem must be reset before motor control is possible again The Reset command has the same function as turning the Controller off and then on again The set up values can be stored using MS before the Reset command is used See also CB2 Reset Controller using IN 3 page 49 Usage RESET Reset Controller 3 9 51 Report Motor Status RS Command RS Modes 1 2 3 4 5 Range 0 3 Description During operation the system can report the status of the motor stationary running etc U sage RS Motor Status 0 stationary 1 accelerating 2 max velocity 3 decelerating 69 JVL Industri Elektronik A S U ser Manual DC Servo Motor Controller DMC10 3 9 Commands 3 9 52 Default Setup SD Command SD Modes 1 2 3 4 5 Description The SD command is used to recall the Controller s factory default set up Factory default set up is as follows AC 500 MO 2 VVH 0 ADDR 0 MP 1 VVL 500 CA 5 MU 4 VVO 0 CHS 0 NLS 1 VVU 500 CP 10 PE 1073741823 XA0 15 0 ET 1 PLS 1 XPO 1 IL 1500 PM XP1 15 0 KD 2 PR 5000 XRO 15 0 Kl 2 PW 30 XVO 15 0 KP 2 SZT 0 VM 100 ZL 1 Usage SD Recall system default set up JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 70 3 9 Commands 3 9 53 Soft Halt SH Command SH Modes 2 3 Description This command is used
14. 51 Torque or Velocity Maximum negative Zero point voltage VVL vvo OR cari v Input Voltage Maximum positive voltage VVU Hysteresis VVH TT0211GB 45 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 1 Command Modes Description Usage Example 3 9 2 Command Modes Description Usage Example Show set up 1 2 3 4 5 The most important details of status and set up can be displayed using this single com mand Displays values Sent to Controller Received from Controller max Velocity RPM VM 3000 Acceleration RPM S AC 30000 Average Current AMP CA 2 Peak Current AMP CP 8 Constant Kd KD 100 Constant Ki KI 50 Constant Kp KP 40 Constant IL IL 1500 Pulses Revolution PR 500 ultiply Control Pulses MP 1 ultiply Encoder Pulses MU 4 Position Width PULSES PW 30 ode O 2 Encoder Type ET 1 Input IN8 IN1 IN 00011110 Output 4 LEDs 04 01 OUT 00000001 Actual Position PULSES AP 2 D D Cc 073741823 ax Position Error Power Disabled Control Flag CB 1 n otor startup test Error status E0 No errors 0 0 0 0 0 0 0 0 Controller type 1 2 3 4 5 This command exclamation mark can be used to obtain information about the Control ler s type and address The Controller will reply to this command regardless of whether addressing
15. Industri Elektronik A S U ser Manual DC Servo Motor Controller DMC10 2 2 Motor Output Motor screen connected only to EET ground P and not to motor I y Power Supply In Incremental encoder gt Reserved L CB gt Encoder Interface E 8 User Outputs ble Step pulse and Direction Input User Inputs INA Pulse and Direction Output 10V Input 2 2 1 2 2 2 2 2 3 General Aspects of Motor Connection The Controller is designed for use with common DC servo motors The Controller can supply currents of up to 12 Amp continuous and 25 Amp peak These current values must be set using the software commands CA and CP The Controller Driver uses Mos Fet transistors which give especially good perform ance The motor voltage is regulated at a frequency of 19 75kHz which ensures that the motor does not produce any audible noise as a result of regulation The Driver s switching time is very short lt 200nS which can result in high frequency noise components in the cables between the driver and the motor In certain situations this can result in undesirable influences on other electronic equip ment in proximity to the step motor system To avoid this problem the connection be tween the Controller and the motor should be made using screened cable as illustrated above Further it is recommended that
16. Rx Receive O Chassis ground not isolated TT0236GB Communication Protocol The Controller uses the following format 1 startbit 7 databits O dd parity 1 Stop bit N ote that a startbit is always used in the RS232C V24 protocol Communication Rate The Controller operates at a fixed communication rate Baud rate of 9600 Baud The Baud Rate must be set accordingly on the terminal or PC used to communicate with the Controller Command Syntax Communication with the Controller must follow a specific command syntax Address Command Argument Command Argument Checksum lt CR gt Text in square brackets may be included or omitted depending on the set up Address This address must be used when more than one Controller is used on the interface See also the ADDR command Address ADDR page 47 Command The command itself Argument Thenumeric argument for the command An argument always begins with the equal to sign Certain commands do not use arguments e g commands that display set ups More than 1 command can be included in a command line A semi colon is used to delimit multiple commands Checksum In situations where long communication lines are used a checksum can be used to ensure that commands are received correctly If an error occurs the error message E9 is received and the command must be re transmit ted See also the CHS command lt CR gt ASCII value 13 Thi
17. Velocity fields are set at 0 the default setup from the main setup window will be used Press OK when the X registers have been edited as required If the Relative field is activated the positioning sequence for that specific register will be made relative to the position before the start signal and thus the movement was started Register 0 X AO X VO XPO and X RO is especially dedicated to zero searching If Relative under register 0 is activated the DMC10 will automatically start a zero search after each power up The direction is determined by X PO See also Zero point Seek Function page 43 AMC10 Register Setup x TT0234GB Register Acceleration Velocity Position Relative 0 fo fo A Dir Zero Search Reg A r o Do a gt a on om co F 4 p o0 0 gt fp Jo CONS e fo Jp 5000 m dz p Je Jo x If Acceleration or Velocity is equal to zero Default values are used Cancel Press OK here when all values has been setup JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 40 3 5 Velocity Mode M 0 4 Analogue control of the motor velocity can be achieved using the analog input AIN The input voltage must be in the range 10V to 10V with negative voltages producing movement in a negative direction and positive voltages producing movement in a positive direction The VM command specifies the maximum velocity e the velocity at which the motor will rot
18. a system various error conditions can arise Some errors can be at tributed to communication and set up error status register 0 and others attributed to hardware and motor control errors The error status can be read using the ES Error Sta tus command The command invokes the Controller to transmit a series of zeroes 0 and ones 1 A quick overview of error messages is thus obtained which can also be in terpreted by other software Using the command EST an overview of text responses is obtained There are two error status registers Register 0 provides information about RS232 communication and set up errors This reg ister stores all errors since the register was last read When the register is read the in formation is automatically cleared CO Joseon Unknown command command does not exist Register 1 provides information about Controller and motor errors Some error condi tions may be temporary for example the maximum peak current may have been exceed ed for a short duration and the corresponding bit is set in the status register The error indication is cleared after reading the error status For critical errors motor operation is interrupted and the error information remains in the register and 02 is set high 1 The user must then either switch the system off and on to reset the error status or use the RESET command 57 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Comm
19. control signal to the Con troller may have an offset error or may only be able to output 9 5V or less 1 Select Velocity Mode MO 4 or Torque Mode MO 5 2 Remove the voltage to the motor using the command PO 1 so that the motor does not move during the adjustment procedure 3 Adjust the zero point by setting the input to OV and send the command VVO 4 Set the input voltage to the maximum negative value max 10V and send the com mand VVL 5 Set the input voltage to the maximum positive value max 10V and send the com mand VVU 6 Set a hysteresis value using VVH VVH is set to the number of ADC steps around the OV zero point where the motor must not move 7 Reset the input voltage apply OV 8 Set the voltage to the motor using the command PO 0 The motor can now be controlled within the limits set by VVL and VVU with a range around the zero point given by VVO and VVH in which the motor remains stationary The motor is controlled linearly in the range from the maximum negative voltage to the hysteresis level below the zero point and in the range from the zero point plus hysteresis to the maximum positive voltage N ote that if the zero point is not OV and the negative voltage is not numerically the same as the positive voltage the control profile will be asymmetric See also CB6 Stop motor set velocity to 0 page 50 CB7 Invert the analog input page 51 CB8 Use O1 to indicate hysteresis window page
20. for further information When the SZ command is sent the zero point seek is initiated immediately See also CB11 Avoid changing AP after zero search page 52 Please notice that the Halt H command is disabled during zero search SZ Perform zero point seek Zero point Seek Type SZT SZT 2 and 3 0 zero point contact or 1 index pulse The motor can be brought to a known mechanical reference position This is done using a sensor connected to IN 6 zero point contact If SZT is set to 0 the result of the seek process is that the motor is positioned precisely at the zero point contact If SZT is set to 1 the result of the seek process is that the motor is positioned precisely at the first index pulse after zero point contact have been found SZT x Set Zero point Seek Type to x SZT Show current Zero point Seek type Firmware Version VE VE 1 2 3 4 5 Provides information on the Controller firmware version and date VE Show version and date JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 72 3 9 Commands 3 9 59 Maximum Velocity VM Command VM Modes 2 3 4 5 Range 3 65535 rpm Description The VM command is used to set the maximum velocity In Positioning Mode MO 2 and Register Mode MO 3 VM is used to set the velocity that the motor is accelerated to and maintains until it is decelerated See also Accelera tion AC page 47 In Velocity Mode MO 4 VM sets the limit f
21. in position only used in modes 2 and 3 Output 3 can be set via the OUT 3 command EC EE AE free IO CN OC OUT Read status of outputs OUTn Read status of output n OUTn x Set output n On to x 0 or 1 OUT xxxxxxxx Set all outputs to x where x is 0 or 1 Only bit 2 and 3 are changed Sent to Controller OUT Read outputs Received from ControllerouT 00000000N ote bit 0 is the rightmost digit LSB Sent to Controller OUT3 1 Set 03 to 1 Received from Controller Y Controller has accepted the command and output 3 is now activated 65 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 44 Command Modes Range Description U sage 3 9 45 Command Modes Selection Description Usage 3 9 46 Command Modes Selection Description Usage Maximum Pulse Error PE PE 1 2 3 0 1073741823 pulses As an additional precaution amaximum allowable pulse error can be specified If the er ror between the desired position and the actual position is too large the encoder may be at fault If the pulse error exceeds the specified maximum the motor is stopped and 3 LEDs flash The PE command can be used in Step pulse Mode MO 1 Positioning Mode MO 2 and Register Mode MO 3 PE x Set Pulse Error PE Show current maximum Pulse Error limit Positive Limit Switch PLS PLS 1 2 3 4 5 0 low or 1 high Inputs IN 7 and IN 8 function as end o
22. measured correctly Correction Turn the Controller off and then on again If the error persists a hardware error has occurred It is important to note that the motor must not be moving when the Controller is switched on 81 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 11 Alphabetical Command Overview Description Acceleration 100 100000 Address 0 255 Motor s Actual Position 1073741824 1073741823 Rated current value 1 12 Control Bits 1 12 Use Checksum Peak Current Show Motor Current Current Velocity actual Digital Input Format Encoder motor Test flag after power up Error Status Error Status in Text Encoder Type Halt Motor Show Commands Integral Summation Limit Read input port status Show all K and IL values Constant Kd Constant Ki Constant Kp Mode 1 pulse 2 position 3 register 4 velocity 5 moment Multiplication of incoming pulses Recall data from EEPRO M Save set up in EEPRO M Multiplication of encoder pulses 4 N egative Limit Switch active level 1 High Read output port status Maximum Pulse Error 1073741823 Positive Limit Switch active level 1 High PWM mode 1 Motor Voltage 1 0ff No of encoder pulses per revolution 20000 Pulses rev Position Width 20000 Pulses Reset Controller Status 0
23. or SH commands N ote that in order to achieve the correct velocity and acceleration the number of en coder pulses per revolution must be set up using the PR command Example of the use of Positioning Mode Select Positioning Mode using MO 2 Set a maximum velocity using VM Set an acceleration using AC Adjust the servo loop See section Adjustment of Servo Regulation page 30 The motor can now be set to move using either the SP or SR commands Commands of particular interest for operation in this mode are MU ET PR SP SR VM AC PE Velocity Position TT0207GB 35 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 3 4 Register Mode MO 3 The Controller can also be configured for absolute or relative positioning via 4 digital in puts See also section Getting Started Register Mode Mode 3 page 10 The Controller has 16 programmable parameter sets Each parameter set can be used to store information about acceleration position relative or absolute and velocity Se lection of a parameter set is made using inputs IN 1 IN 4 set NZ IN3 12 INI Acceleration Velociy Posion Relatve To CO o po vo few fare To fo fo h ha fu fer fa Cr fofofi fo fu fur fer fm To CO CU h fs fu fm fm a fofifo fo fus pa fus fm To fa fo ar fas avs fe ETE 6 foja h fo fus fus fs fs DRE CIO D EU fh bar fv fer fer Ce fa fo fo fo fus pe fee xr o Ti fo fo ar Ja fus fee fe Co f
24. stop 1 acc 2 max 3 dec Default Set up Smooth Halt of motor Set new Position 1073741824 1073741823 Pulses Set Relative position 1073741824 1073741823 Pulses Zero point Seek Zero point Seek Type Show firmware version and date Maximum Velocity RPM Show supply voltage Volt Show analog input value ADC Step Continued next page JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 82 3 11 Alphabetical Command Overview Description VVH Hysteresis for analog input 0 200 ADC Step 74 VVL N egative voltage for analog input 10V Zero point ADC Step 74 VVO Zero point for analog input 10V 10V ADC Step 74 VVU Positive voltage for analog input Zero point 10V ADC Step 75 X Show parameter set none or 0 15 75 XA Acceleration in parameter set 100 100000 RPM sec 75 XP Position in parameter set 1073741824 1073741823 Pulses 76 XR Relative positioning 0 No 1 Yes Pulses 76 XV Velocity in parameter set 3 65535 RPM 71 ZL Level for zero point contact 0 dL 77 Show controller type and address 46 Show set up 46 83 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 Appendix JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 84 4 1 Specifications Description Min Typical Max Unit Supply Supp
25. to initiate a controlled halt of the system The motor is stopped according to the pre programmed deceleration acceleration See also CB12 Soft Halt using IN5 page 53 Usage SH Soft halt 3 9 54 Set new Position SP Command SP Modes 2 3 Range 1073741824 1073741823 pulses Description In Positioning Mode MO 2 and Register Mode MO 3 the motor can be set to move to anew position specified in pulses Usage SP x Move to new Position SP Show new position Example Sent to Controller SP 1000 Move to absolute position 1000 Received from Controller y 3 9 55 Relative Positioning SR Command SR Modes 2 3 Range 1073741824 1073741823 pulses Description In position mode the motor can be set to move a specified number of pulses in a positive or negative direction relative to the current position Usage SR x Set relative position Example Sent to Controller SR 5000 Move 5000 pulses in a positive direction Received from Controller y 71 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 56 Command Mode Description Usage 3 9 57 Command Modes Selection Description Usage 3 9 58 Command Modes Description Usage Zero point Seek SZ SZ 2 and 3 In modes 2 and 3 a zero point seek can be initiated using the command SZ The zero point seek is started in accordance with a profile determined by register 0 See therefore the XRO command
26. value will be 5 3A If for example the CU command show actual motor current is used and a reading of CU is 23 is obtained this means that the actual motor current is 2 3A 51 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 17 Command Modes Selection Description Example 3 9 18 Command Modes Selection Description CB10 Replace servo loop with voltage control CB10 4 CB10 0 Function disabled default CB10 1 Function enabled Control motor voltage directly from analog input When CB10 1 the normal servo loop is bypassed and the voltage applied to the motor is directly proportional to the voltage at the analog input The velocity at the motor will thus be controllable but the performance is very poor compared to normal operation us ing the complete servo loop The voltage control feature does not use the encoder at the motor which means that a pure DC motor without feed back can be used The basic idea of using this feature is lower cost there is no need for encoder feedback at the motor CB10 is set to 1 function active The velocity register VM is set to 1000 RPM A voltage of 5V is applied to the analog input The input is calibrated for 10 volt as full scale limits default Set the Controller in mode 4 With this set up the motor will now be applied with 50 of the supply voltage The volt age will be applied with a positive sign whic
27. 1 2 3 4 5 0 65535 The Proportional Constant determines how the system will react to instantaneous er rors A high K value causes the system to react quickly to a given error KP x Set Kp to value x KP Show K set up value M ode Selection MO MO 1 2 3 4 5 1 5 Control of a motor can be made in one of 5 basic modes of operation as outlined in the table below The MO command is used to select the Controller Mode Usage MO x Mode no Mode Step pulse 2 Positioning 1 WWelocty MO Show current mode of operation JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 62 Commands 3 9 38 Multiply Pulses Step pulse Control MP Command MP Mode 1 Range 1 10 Description In situations where the control system PLC PC board etc cannot supply a sufficiently high pulse frequency the DMC 10 can be used to increase the number of control pulses The DMC10 can multiply the number of incoming pulses by a factor of between 1 and 10 as specified by the MP command In Pulse Mode Mode 1 the multiplication factor is enabled or disabled using the IN 1 input If IN 1 is O low the pulses are not multiplied If IN 1 is 1 high the pulses are multiplied by the factor specified by the MP command Usage MP x Set the pulse multiplication factor x MP Show the current value of the multiplication factor 3 9 39 Save Set up MS Command MS Modes 1 2 3 4 5 Description The Controller set up da
28. 9 If encoders with balanced unbalanced outputs of the type push pull or source sink are used this configuration can be omitted The unconnected terminals EA2 EB2 and EZ2 must be left open The encoder input will not work properly if they are connected Important Special Encoders Sensors JVL currently plans to supply other adaptor modules for other types of encoder and sen sor Contact JVL Industri Elektronik for further details JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 20 2 6 Power Supply 15 80V DC Power Supply In Sr mn Motor Output _ Power Dump Output su FEH 1 Os Og tput User Outputs or Encoder Interface Step puls and Direction Input User inputs Pulseand Directlon Output 10V Input TT0222GB 2 6 1 Power Supply To ensure that powering of the Controller is as simple as possible only a single supply voltage is connected to the Controller Internal power supply circuitry ensures correct supplies to the driver and control circuitry etc For optimum driver performance it is recommended that the external pow er supply has a capacitance of minimum 2000 5000 uF Similarly it is recommended that 1 5mm ca bles minimum are used to connect the power supply to the Controller If the driver supply voltage falls below 10V the internal reset circuitry will re set the dri
29. D shunt resistor does not stop the in crease in supply voltage the following occurs When the supply voltage exceeds 95V the Controller automatically shuts down and the motor is short circuited and thus stops instantaneously The Controller transmits error message E29 The PDO remains active until the voltage falls below 89V and the Controller will remain in this error state until it receives the RE SET command See section Reset Controller RESET page 69 If the supply voltage continues to increase due to other circumstances the Controller s internal voltage overload protection will be activated and short circuit the supply so that the internal fuse is blown See section Power Supply Faults page 21 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 24 2 10 RS232 Interface 2 10 1 2 10 2 2 10 3 2 10 4 Interface Connection The Controller Interface uses the widespread RS232C standard offering the advantage that all Personal Computers and standard terminals can be connected via the interface The 3 interface signals Rx Tx and ground are used The interface cable length should not exceed 10 meters Controller interface Do not connect pin 4 6 8 and 9 since they are used for other purposes 5 Oo e e 3 Tx PD 70 gel Note e ll The TX PD terminal must be connected to Tx pin 3 if the Controller is not using adressing O Signal ground Tx Transmit
30. DC Servo Motor Controller DMC 10 3 10 Error Messages E22 Peak Current limit exceeded The maximum allowable peak current has been exceeded Example The acceleration is very high causing the motor to draw a high peak current Correction Reduce the acceleration until the error disappears E23 Average Current limit exceeded The maximum allow able rated current has been exceeded Example The velocity is too high Correction Reduce velocity until the error disappears E24 Supply Voltage exceeds 89V The power supply voltage has exceeded 89V Example The power supply voltage is too high or the motor has been decelerated too quickly Correction If the supply voltage is too high it should be reduced During deceleration the motor can send current back to the Controller causing the supply voltage to increase The deceleration AC should be reduced until the error disappears If required a Power Dump shunt resistor should be inserted as de scribed in section Power Dump Output page 24 E25 N egative Limit Switch active The negative end of travel limit is active Motor movement in the negative direction is stopped O nly positive movement is now possible E26 Positive Limit Switch active The positive end of travel limit is active Motor movement in the positive direction is stopped Only negative movement is now possible E27 The motor is not mounted correctly The motor is not connected correctly Example The mot
31. DMC10 DC Servomotor Controller User Manual TTO229DK LB0029 05GB Revised 1 5 2001 Contents Y OM U E UN FP WWWWWWWWWWW W NNNNNNNNNNNNNN Proba papas ps ga HR pb I O UU BR YU NH RPPRPOO OU E Y NP WN EO PRO Introduction ciar aaa aaa Introduction kane KA Ka RAEE EIA AER 6 Overview of Controller O peration Modes sis 7 Getting Started Step pulse Mode 1 sinus 8 Getting Started Positioning Mode 2 iii 9 Getting Started Register Mode Mode 3 Mu sssssessenenerrentrre ner n rt E LEE L ELLER E LEE EEN ELLE LELEE 10 Getting Started Velocity Mode Mode 4 iii 11 Getting Started Torque Mode Mode 5 iii 12 Hardware cuina dc 14 Connects L oo tad dead AA AA AA Andean AA Ad 15 Motor O UP r 16 V REE EEE EE EEE BENENE NC 17 User OUTPUTS ua d he eee eee s 18 A dvd d r a den ca A et oes 19 Power Suppl yin peni aiid aida ania dle ele ara atin i ee ld ali 21 St p pulse and Direction Input wtdciciededesdedadadetaduhubalahaldedadadadadlal aiutulalelec 22 Analog Input heidi Galil drid 23 Power Dump O Ut DUS 2 afar HA ane Sa IA cua ea Seth eee Water Oa 24 RS232 AN 25 RS485 A OA 28 Adjustment of Motor Current sisirain eiii iii aiidata 29 Adjustment of Servo Regulation iii 30 Software HO ID 32 U se 0RS232 COMMMIS ua sandnes ene 33 Step pulse Mode MO T oils sad aen iii 34 Positioning Mode MOS annee E Ae reste 35 Register Mode MOSS niian n men AA Dee ee AEE 36 Velocity Mode
32. EBT User Outputs FE 20 Lo ola EB2 Oflag o Lar ECM Step pulseandDirectlon Input O 22B74 0 0 224 CCM 23B 7234 CLK IN8 248 7244 DCM IN7 25B o zsa DIR LING 287 o 26 IN5 27570 02747 OSV gt Om 28a User Inputs LNG r Ls co PulseandDirection Output LS Lin Tocm Note I screen only IN2 ET z AOC connectedtosignal source IN1 31B O O31 AIN 10V Input Ii 32B 0 O7 32A ACM pui L TT0223GB 2 7 1 2 7 2 General The Step pulse and Direction Inputs are used in conjunction with Mode 1 Each time a pulse is applied to the step pulse input CLK the motor moves a certain amount The direction signal DIR determines the direction of motor movement Both signal inputs are equipped with a built in noise filter which cuts off frequencies above 625kHz The above figure illustrates connections and minimum durations for the signals N ote that if the source used for the step pulse and direction signals has a PN P output the input requires special connection as illustrated above Similarly if an N PN signal source is used the output must be connected as shown above It is recommended that screened cable is used Input Voltage As standard the inputs are designed to operate with voltages of 5V If greater input voltages are used a resistor R must be inserted as illustrated ab
33. MO A ne ccvsedevasceis vss caaddvaacscssazedvsescuzsceveseveveeievessarqetiicuis admis dites dre rene ten 41 Torque Mode MOSS assis nar ner nana nn nn nn ddan inh rents 42 Zero pointSeek EUNCHON 2 carnada NEAR 43 Adjustment of Analog Input Hsia aeea a a ener are arte dal 45 Commands ect heen MM ARBRE RE Ra ener ersten NEA CRD 46 Error Messages nn em Ajn tb ek nn cr uh cued et ra Sur D r 78 Alphabetical Command Overview onccicinicininnnccccnccnnncccncrarcccrrc 82 A DDENOIX ii render 84 PR ii Etica 85 Physical DIMENSIONS cti dde 86 So rt nn iaa 87 See hode EE EEE EE EE 88 COMMON ELLOS krage pi Ane aon deta 89 Connector Board Lok kkk kaiene habil iaa insiste dle iia 90 Examples of Motor Connection rarement titan A AA ener LAN og JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 Introduction Copyright 1997 2001 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to information contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual This user manual is valid for firmware versions up to 2 8 M otoW are is a registered trademark JVL Industri Elektronik A S Blokken 42 DK 3460 Birker d Denmark Tel
34. Modes Range Description U sage Example Encoder Pulses PR PR 1 2 3 4 5 50 20000 To obtain correct velocity and acceleration the number of encoder pulses per revolution must be programmed The PR command is used to set the Controller for the encoder s specified pulse rate independent of any setting using the MU command Important When changing the value of PR the Controller must be reset before the change takes full effect Use the MS and RESET command s to restart the Controller PR x Set pulses per revolution PR Show current setting Position Width PW PW 2 3 0 20000 pulses How precisely a motor can be positioned depends on load the K parameters the encod er resolution etc The Controller therefore allows a Position Width to be specified If the actual motor position is within the range of desired position Position Width output O 11 is high PW x Where x specifies the Position W idth PW Show Position Width Sent to Controller pw 10 Set Position Width to 10 pulses i e output O 1 is high providing the encoder position is within the re quired position 10 Received from Controller y Output O1 Velocity 2nd run l I I I I l I 1 Position Velocity 1st run I 1 TT0203GB 110 Position 100 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 68 3 9 Commands 3 9 50 Reset Controller RESET Command Reset Modes 1
35. N5 27Bt 0 012744 O5V User Inputs IN4 288 28A CO Dan Cina Joselo bo DO Pulseand Direction Output IN2 308 1304 OCM INT 13180 osta AIN LC allo lsa ac 2 0V Input Time G 2 9 1 2 9 2 General Aspects of the Power Dump Output If the Controller is used in systems in which there are very large inertial loads flywheels etc a problem can arise during deceleration in that energy is sent back from the motor to the Controller supply This can result in increases in the supply voltage to a critically high level above the Con troller s maximum working range To alleviate this problem the Controller s Power Dump Output PDO can be used This O utput can sink the energy to an external re sistance and thus avoid the Controller shutting down and reporting an error Detailed Description of Power Dump The value of the PDO resistance will depend on many parameters including the max rpm of the motor the supply voltage how rapidly the motor decelerates etc It is recommended however that the shunt resistor has a minimum value of 15 O hm 50W The resistor s rated power can be greater or less depending on the actual load 1 W hen the Controller registers that the supply voltage exceeds 89V the PDO O utput is activated and the O Voltage LED is activated 2 If activation of the PDO output and thus the P
36. S User Manual DC Servo Motor Controller DMC 10 3 6 Torque Mode MO 5 The motor torque can be controlled by an analogue signal using the Analog Input AIN The input voltage must be in the range 10V to 10V with negative voltages producing a negative torque and positive voltages producing a positive torque The value of the torque is specified in Amps CA is used to specify the maximum torque i e the torque provided by the motor when a maximum input voltage is applied The numeric value of the full scale voltage does not need to be the same in both the pos itive and negative directions Use the VVx commands to adjust the Analog Input If for example CA is set to 6 Amp and the analog input voltage applied is set to 5V a torque corresponding to 3 Amp will be produced The torque is directly proportional to the motor current The relationship is specified by a torque constant that is normally de noted by Ky or Ka Use of Torque Mode Select Torque Mode MO 5 Adjust the servo loop See Adjustment of Servo Regulation page 30 If necessary adjust the Analog Input See Adjustment of Analog Input page 45 If required set maximum velocity using VM Set maximum torque using CA SERRE The motor can now be controlled via the Analog Input AIN In this mode VM is used to ensure that the motor does not exceed some critical velocity The velocity limit in this mode is a precautionary measure and not a precise control The v
37. VVU Command VVU Modes 4 5 Description Calibrate full scale set positive voltage max 10V at the analog input and send the VVL command The Controller will then calibrate the analog input s positive voltage The positive voltage must not be less than the zero point voltage See Adjustment of Analog Input page 45 for more information on the use of this command Usage VVU Maximum positive voltage is calibrated 3 9 65 Read Analog Input VV Command VV Modes 1 2 3 4 5 Description This command is used to read the Controller s analog input directly The returned value is given in AD converter steps U sage VV Read analog input in ADC steps 3 9 66 Show all Parameter Set Values X Command X Mode 3 Description The X command can be used to obtain a quick overview of all the values in the 16 pa rameter sets U sage X Show all parameter sets 3 9 67 Acceleration in Parameter Sets XA Command XA Mode 3 Range 0 100 100000 rpm sec Description A required acceleration can be set for each parameter set If the acceleration is set to 0 the acceleration will not be changed by selecting the parameter set i e the previous ac celeration value will be used Usage X An xxxxx Set acceleration in parameter set n to xxxxx rpm sec XAn Show acceleration in parameter set n XA Show all acceleration values 75 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 Commands 3 9 68 Command Mod D
38. ands Errorstatus cleared by System must RCE RER TE be reset Explanation Pye ve Jen Temperatures one gt ar e mo vo em rekene 3 ves mo vo em fnmedarrentenceeded gt e mo mo em smlpvotageenceededssv sf mo mo vo em negsveendortramtade Pe mo mo f wo Je fpostveendofraace tp mo ve ves feer Motor incorrectiy cornered ef mo vel ve Jes encoder ntcomeced mo ve ves e20_ suplyvotage eceeder of mo vel ve ev fmoornoteometes 7 n mo mo mo en rated current comot bered me mo No Je sesam U sage ESO Show error status register 0 Example Sent to Controller ESO Received from Controller 850 0000000001000101 N ote bit 0 is the last bit to the right JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 58 3 9 Commands 3 9 27 Error Status Text EST Command EST Modes 1 2 3 4 5 Selection Oorl Description The EST command has exactly the same function as the ES command described above with the exception that the error status is reported as text Using the EST command pro duces a list of the various errors in English If there are no errors the error response is EO No errors A list of error messages is given in Error Messages page 78 Usage ESTO Read out error status register 0 as text EST1 Read out error status register 1 as text EST Read out all errors in register 0 and register 1 as text 3 9 28 Encoder type ET Com
39. ate for maximum voltage applied to the input The numeric value of the full scale voltage does not have to be the same in both positive and negative directions Use the VVx commands for adjustment of the Analog Input Once the servo loop has been adjusted the Controller will ensure that the required ve locity is maintained regardless of whether the motor is loaded or not The load however must not be so great that the current limits are exceeded If the rated current or peak current limits start to regulate motor operation will be very unsmooth and in extreme circumstances the motor will resonate If for example VM 500 rpm and the analog input voltage is set to 5V the motor will ro tate at 250 rpm in the positive direction See also section Maximum Velocity VM page 73 Use of Velocity Mode 1 Select Velocity Mode MO 4 2 Adjust the servo loop see Adjustment of Servo Regulation page 30 3 If necessary adjust the analog input See Adjustment of Analog Input page 45 4 Set the maximum velocity using VM The motor can now be controlled via the analog input AIN Commands of particular interest for operation in this mode are MU ET PR VM VVH VVL VVO VVU Velocity in positive direction VM Maximum negative Zero point voltage VVL vvo v 10V x 10V Input Voltage Maximum positive voltage VVU Hysteresis VVH VM TTO209GB Velocity in negative direction 41 JVL Industri Elektronik A
40. bably connected in correctly Send the command enter to the Controller and wait until the Controller re sponds with a status overview If the status overview is displayed the RS232 interface and power supply are cor rectly connected Set the Controller to Step pulse and Direction Mode by sending the command MO 1 enter The Controller should respond Y indicating that Mode 1 has been selected The motor current must be adjusted for the actual motor used See Adjustment of Motor Current page 29 Servo parameters KD KP and KI are set to typical values by default This means that the motor can be operated without further adjustment For optimum system operation however the parameters should be adjusted See Adjustment of Servo Regulation page 30 The Controller is now set to Step pulse and Direction Mode JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 8 1 4 Getting Started Positioning M ode 2 CA jH ieo ois Reserved FA 80 o 15A 1 O O User Outputs User Inputs Power Supply In 15 80V DC 1B O O 71A 2B O Or2A 3B o 3A ABI O AA 5B eg 5A 6B 0 LT 8B o 9B 9A 10B O 10A 11B o mA 12B gt O 124 14A 21AEncoder Interface Zero pulse Input not used 04 H 18840 0 718A Balanced encoder signal shown 03 19840 o 19A in this example It is rec
41. ctivated when one or more of the outputs has been short circuited This LED is also used to indicate if the output circuitry has overheated due to an overload JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 18 2 5 Encoder Input Connection of balanced encoder Power Supply In Motor Output _ Power Dump Output Incremental encoder 14A 21AEncoder Interface y neve FEE 1 O User Outputs It Is recommended that In electrically Step pulseandDirectionInput nolsy environments screened cable is used to connect the encoder User Inputs Pulseand Direction Output 10V Input TT0220GB 2 5 1 2 5 2 General Aspects of the Encoder Input The Controller must normally be connected to an incremental encoder to detect the ve locity and position of the connected motor Almost all types of encoder can be used pro viding they are equipped with one of the following types of output N PN PNP Push Pull or Balanced The Encoder Input can read an encoder signal up to 500kH z The encoder signal voltage must be in the range 0 to 5V N ote the cable used between the encoder and the Controller must be screened and the screen must only be connected to the encoder chassis terminal ECM If the Controller is used in Torque Mode Mode 5 no encoder is used Terminals EZ1 and EZ2 are not used and are r
42. der EA1 1 EB1 EZ1 3 5VO 4 5VO 5 ECM 6 7 8 9 EA2 EB2 EZ2 ECM 10 TT 32GB Please notice that the shields only is connected in the DMC10 side not to the motor Connections for DC Servomotor from Drive Systems I Type MPxxx with balanced encoder and index pulse 91 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 5 Index Symbols IN 2 43 Register Mode 10 38 146 IN 3 43 Relative Positioning 246 IN 4 43 71 A IN 6 43 72 Reset 69 AC 47 IN 7 64 66 RS 69 Acceleration 47 68 IN8 64 66 RS232 25 75 Inputs 61 RS232 RS485 Answer Actual Position 48 K 49 ADC 23 K 61 S ADDR 47 KD 61 SD 70 AIN 42 Kl 62 Servo Loop 87 Analog Input 45 KP 62 SH 71 AP 48 Kp 62 SP 71 C M SR 71 CA 42 48 Maximum Velocity 73 Step pulse 34 CB Flags 49 MO 62 Stop motor 59 CB1 49 MP 63 SZ 72 Checksum 26 53 MR 63 SZT 72 CHS 53 MS 63 T Controller type 46 MU 64 Torque Mode 12 42 CP 54 N 45 CU 54 N egative Limit V D Switch 64 VE 72 Deceleration 47 NLS 64 Velocity 68 73 77 DIF 55 Oo Velocity Mode 11 45 E 0137 38 65 VM 73 EEPROM 63 04 65 VOL 73 EMT 56 OUT 65 VV 75 Encoder 64 Outputs 61 VVH 74 Encoder pulses 68 P VVL 74 End of travel 64 66 PE 66 VVO 74 Error Messages 78 Peak Current 54 VVU 75 ES 58 PID 87 X EST 59 PLS 66 72 XAn 75 ET 59 PM 66 XPn 76 Exclamation mark 47 PO 67 XRn 76 F Pos
43. djusted The system cannot produce the cor rect torque if the servo loop is not adjusted Three LEDs Blink A problem has occurred with either the encoder or the motor If the error occurs when the system is switched on see section Three LEDs Blinking Simultaneously page 88 The error may also occur during operation In cases where the encoder and motor appear to be connected correctly check the maximum allowable pulse error using the PE com mand Maximum Pulse Error PE page 66 Check also the encoder type using the ET command see Encoder type ET page 59 89 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 4 6 Connector Board Asan accessory to the Controller JVL can supply a Connector Board type CON 12 This connector board enables connection via snap lock terminals The following illustration showsthe connection facilities The Connector Board can either be mounted at the rear of a 19 rack or on the Controller itself Connections Connector Board for DIVIC10 Controller Supply P 15 80V In P Ground power Motor Outputs M Motor M Motor Power dump PDO Power dump output Encoder Input 5VO 5V Out for encoder EZ1 Reserved for future use EZ2 Reserved for future use EA1 Encoder input A1 EA Encoder input A2 EB1 Encoder input B1 EB2 Encoder input B2 ECM Encoder ground Step pulse and Direction Inputs CCM Ground for pulse input CLK Pulse input DCM Ground for di
44. e RESET command via the RS232 RS485 interface or alternatively switching off the power If CB2 is set to 1 the Controller can be reset using IN 3 Please note that CB2 does not have any function when the Controller is set to mode 3 3 9 10 CB3 Invert error output 02 Command CB3 Modes 1 2 3 4 5 Selection CB3 0 O utput 2 is only active if a fault has occurred default CB3 1 Output 2 is inverted Description The user output 2 is used by default as an error output The output is activated if a fatal error has occurred The output can be inverted which means that it is set passive if an error has occurred Set CB3 1 to invert the output Please note that changing C B3 will first have effect after saving and resetting the Controller using the MS and RESET com mand 49 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 11 Command Modes Selection Description 3 9 12 Command Modes Selection Description 3 9 13 Command Modes Selection Description CB4 Send Y Address if IN4 changes CB4 1 2 3 4 5 CB4 0 Function disabled default CB4 1 Function enabled Y Address sent if IN 4 changes from logic 0 to logic 1 CB4 2 Function enabled Y Address sent if IN 4 changes from logic 1 to logic 0 The CB4 control bit can enable a Y and the Address number to be sent on the RS232 RS485 interface every time user input 4 IN 4 changes level CB4 set to 1 or 2 i
45. e the motor s allow able continuous rated current and peak current and are adjusted in the following manner Adjustment of Rated Current Consult the actual motor s data sheet to determine the specification of the motor s rated current This parameter can be specified as Continuous Current Rated Current or Nominal Current The Rated Current is set using the Controller s CA parameter Example To adjust the Controller s setting for a rated current of 1Amp CA 1 enter The Controller will under no circumstances allow the motor to draw a continuous cur rent greater than 1 0 Amp N ote that the rated current value can only be adjusted to an integer value 1 2 3 Adjustment of Peak Current The Controller is adjusted for the motor s specified peak current rating as follows Consult the actual motor s data sheet to determine the specification for the motor s al lowable peak current This may be specified as Peak Current Instantaneous max Current or Stall Current Most types of motor can withstand a peak current that is 3 4 times greater than the continuous current The peak current is adjusted on the Controller using the CP parameter Example If the peak current is to be adjusted to 4 Amp CP 4 enter The Controller will then under no circumstances allow the motor to draw a peak current greater than 4 0 Amp Note that the peak current can only be adjusted to an integer value 1 2
46. e they will be interpreted This is not included in the description of each individual command 33 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 2 Step pulse M ode M O 1 The system can be controlled as a step motor system via the step pulse and direction in put The motor moves a single step each time a voltage pulse is applied to the step pulse input This features enables the DC servo to replace a step motor in many applications The velocity and acceleration deceleration will be determined by the external voltage pulses MO must be set to 1 for operation in this mode See section Getting Started Step pulse Mode 1 page 8 In this mode the IN 1 Input is used to select whether the incoming step pulses will be multiplied by a factor specified by the MP command If the Input is high 1 the pulses are multiplied by the specified factor If the Input is low 0 the pulses are used directly Example of the use of step pulse mode Select step pulse mode using MO 1 Adjust the servo loop See section Adjustment of Servo Regulation page 30 Select whether the step pulses will be multiplied by a given factor See the MP command The motor can now be controlled via the step pulse CLK and direction DIR input ter minals Commands of particular interest for operation in this mode are MU MP ET PR PE JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 34 3 3
47. efore the address command to make sure that the Controller accepts the command Received from Controller Y Yes The Controller has received the com mand and is now setup for the new address 0 Actual Position AP AP 1 2 3 4 5 1073741824 to 1073741823 pulses The motor position can be read at any given time The position is given in terms of en coder pulses relative to the zero point The motor position can also be reset by spec ifying an argument to the AP command It is recommended that the position is only changed when the motor is stationary AP x Set motor s current position to x AP Show motor s position in pulses Rated Current CA CA 1 2 3 4 5 1 12 Amp To protect the motor from overload and to ensure that the lifetime is not reduced a maximum rated current and maximum peak current are specified The CA command is used to specify the maximum rated current The system will automatically reduce the motor voltage when the specified rated current is exceeded The voltage is reduced lin early until the current is exceeded by 10 after which the motor stop completely CA is also used to set the maximum torque in Torque Mode See also CB9 Multiply all current settings readings by 10 page 51 CA xx Set Rated Current in Amp CA Show actual rated current value JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 48 3 9 Commands 3 9 7 Control Bits in General CB
48. elocity can only be measured if an encoder is used Commands of particular interest for operation in this mode are CA VM VVH VVL VVO VVU Positive Torque CA Maximum negative Zero polnt voltage VVL vvo v 10V 10V Input Voltage A Maximum positive voltage VVU Hysteresis VVH CA TT02106B Negative Torque JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 42 3 7 Zero point Seek Function 3 7 1 3 7 2 Zero point Seek Function The motor can be brought to aknown mechanical reference position This is done using a sensor connected to the HM input Parameter set 0 INT IN 2 IN 3 IN 4 0000 differs from the other parameter sets in that it stores information about how this zero point seek function will be carried out The parameter set XAO XPO XVO and XRO determines how the zero point seek is done Parameter ZL determines the HM input s active level These parameters have the following function Parameter Function O OoOo S Specifies acceleration deceleration during zero point seek The specified value is expressed in rpm second If XAO is set to 0 the Controller will use the AC parameter during zero point seek XP0 1 specifies that the zero point X PO 1 specifies that the zero point seek seek will occur in a negative direction will occur in a positive direction X VO Specifies the nominal velocity during zero point seek If X VO is set to 0
49. erload See Reset Controller RESET page 69 T gt 80 C LED The T gt 80 C LED is lit when the Controller s internal temperature exceeds 80 C The Controller must be reset Out Error LED The Out Error LED is lit when an error has occurred at one of the four outputs O 1 0 4 Four LEDs Blinking in Sequence If the four LEDs Running O Voltage Current and T gt 80 C blink in sequence it is an indi cation of a PRO M error When the Controller is switched on the checksum in the Con troller s program memory PROM is verified If the pre programmed checksum does not match the calculated checksum the Controller will not operate the motor The PROM may be defective Try resetting the Controller Three LEDs Blinking Simultaneously If the three LEDs Running Current and T gt 80 C blink simultaneously a motor error or encoder error has occurred When the Controller is switched on a check is carried out to ensure that the motor and encoder are connected correctly The PWM signal to the motor is gradually increased until movement is registered or the PWM signals reach 50 In this way the Controller can check whether 1 The motor is correctly connected i e moves in the right direction 2 The motor is blocked i e draws a lot of current without the motor moving 3 The encoder is not connected correctly Check that the motor or encoder is connected correctly Use the EST command Error Status Text EST page 59 for further in
50. escription The DMC10 has 8 inputs The status of these can be read using the following commands Step pulse Mode MO 1 Register Mode MO 3 All other modes fnextleastsignitcantbit vexemostsignifeantbit fmostsignifeantbit DIF 1 Start stop pause DIF 2 Start DIF 1 Home sensor DIF 2 Stop ING postie enc ofiravel Positive endofravel Postive end oftrave Usage IN Read inputs Example Sent to Controller IN Received from Controller IN 00010100 Note that IN 8 is the leftmost digit M SB 3 9 33 Show Servo Constants K Command K Modes 1 2 3 4 5 Description The K command can be used to check the values of the system K and IL values U sage K Show all three K values and the integral summation limit IL 3 9 34 Constant Kg Command KD Modes 1 2 3 4 5 Range 0 65535 Description The Differential Constant has particular influence on the system when changes occur such as during an acceleration or deceleration U sage KD x Set KD to value x KD Show KD set up value 61 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 3 9 Commands 3 9 35 Command Modes Range Description Usage 3 9 36 Command Modes Range Description Usage 3 9 37 Command Modes Range Description Constant K Kl 1 2 3 4 5 0 65535 The Integral Constant influences how aggressively the system reacts to persistent errors Kl x SetK to value x KI Show K set up value Constant Kp KP
51. eserved for future use For details of general encoder set up see the ET command Encoders with Balanced Output If an encoder with a balanced output is connected to the Controller follow the above illustration 19 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 2 5 Encoder Input Connection of unbalanced encoder 1B oo Ha _P 7 2B LL Power Supply In 3A el fate 5B Motor Output oe je HE ral LE ra es rsa PDO Power Dump Output 9B 9A 108 10A Incremental 118 o Ha encoder ER E 14A 21AEncoder Interface Y 13B 13A A 14840 0 14A Reserved FAT SE O 154 16B O 0 716A O 17870 017A O4 188 0 o 18A EA2 User Outputs 20B1 0 0 20A It is recommended that in electrically Step pulseandDlirectlon Input noisy environments screened cable Is used to connect the encoder User Inputs Pulseand Direction Output 10V Input TT0221GB 2 5 3 2 5 4 Encoders with Unbalanced Output As mentioned above the Controller can be used with almost all types of encoder includ ing encoders with an unbalanced output Some types of encoder have an NPN or aPNP output In such cases the Controller s ET command is used to configure the Encoder Input for the specific type of encoder See also Encoder type ET page 5
52. f travel limit switches If the motor is moving in a negative direction and IN 7 is activated the motor is stopped instantaneously IN 8 is the positive limit switch The two end of travel limits can be independently programmed to be active high 1 PN P sensor or active low 0 NPN sensor For connection of the end of travel inputs see Connections page 15 PLS x Set Positive Limit Switch to level 0 low 1 high PLS Show current PLS level PWM Mode PM PM 1 2 3 4 5 0or1 This parameter determines the way in which the driver regulates current to the motor N ormally the PM command is set to 0 PM x Set pwm PM Show current PM value JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 66 3 9 Commands 3 9 47 Motor Power ON OFF PO Command PO Modes 1 2 3 4 5 Selection 0 ON motor power on or 1 OFF motor power off Description This command enables the motor power to be switched off for example during adjust ment of the analog input in Velocity Mode MO 4 and Torque Mode MO 5 An alternative to the PO register is the CB1 control bit which makes it possible to de energize the motor using an input See also CB1 Disable motor using IN 2 page 49 U sage PO x Set voltage on off PO Show current value 67 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 48 Command Modes Range Description Usage 3 9 49 Command
53. fference is the balanced signal lines and the fact that all communication is half du plex which means that the Controller cannot send and receive at the same time unlike RS232 communication The RS485 interface makes it possible for up to 32 units to be connected to the same interface bus On the last Controller on the interface the terminal marked Terminator pin 8 must be shorted to the A terminal pin 4 If more than 1 Controller is used on the same RS485 line the ADDR command must be used to set up each of the Control lers for an individual address see also Address ADDR page 47 The following illustration shows a typical system with 2 or more units connected to a computer or similar system Controller Controller Address 1 Address 2 To controller 3 32 Terminator Connect to A if Controller is the last Unit on the Interface bus Computer PLC or similar TTO238GB JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 28 2 12 Adjustment of Motor Current 2 12 1 2 12 2 General Certain basic control parameters must always be adjusted to suit the actual system The most significant of these are allow able motor current and the servo regulation pa rameters Adjustment of Motor Current A DC motor has 2 current limits which must not be exceeded in order not to overheat the motor or reduce its operating lifetime These current limits ar
54. formation from the Controller JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 88 4 5 Common Errors During installation and use of the DMC10 various errors can occur Information about many of these can be obtained from the Controller itself using the EST command Some error conditions are similar to other errors The following describes some of the most common errors and possible solutions The Encoder is not connected Use the ET command and select the correct encoder type Four LEDs Blinking in Sequence See preceding section Incorrect Velocity It is important that the servo constants are adjusted The system cannot maintain the cor rect velocity if the servo loop is not adjusted The Velocity is incorrect even though the servo constants have been adjusted It is important that the specification of the encoder pulses revolution is set correctly Use the PR command see Encoder Pulses PR page 68 The motor moves in the wrong direction Reverse the connections to the motor The motor does not move to the correct position by selecting X PO X PO is used for the zero point seek function and has therefore a different function than the other position registers The motor and encoder are connected correctly but still report an error Check that the encoder type is set correctly using the ET command The motor does not supply the correct torque It is important that the servo constants are a
55. h means that the motor rotates clockwise If 2V is applied to the input the Controller will generate 20 voltage to the motor but with negative sign which means that the motor rotates counter clockwise When the CB10 function is active the motor test feature EMT is not supported and must therefore be disabled by setting EMT 0 see also Encoder M otor Test flag EMT page 56 CB11 Avoid changing AP after zero search CB11 2 3 CB11 0 Function disabled default CB11 1 Do not reset AP after zero search When a zero search takes place AP will by default be set to 0 once the zero search sen sor is found and the motor is stationary If it is required that only the motor is to be moved to the mechanical zero position but AP should not be reset or manipulated the CB11 function can be used JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 52 3 9 Commands 3 9 19 CB12 Soft Halt using IN5 Command CB12 Modes 2 Selection CB12 0 Function disabled default CB12 1 Function enabled Motor will be soft halted by rising edge at IN 5 CB12 2 Function enabled Motor will be soft halted by falling edge at IN 5 Description This function is equivalent to the SH command but instead of sending the command via the RS232 RS485 interface user input 5 is used If a rising or falling edge is applied to this input the motor will decelerate according to the setting in the AC register See also Soft Halt SH
56. ifofi fo fun fau few fo Pu Joh fh pan fou fen fn fifie fo fun fau fem for Dofus fus feen fors Ge fifa fi fo fe poa forme for 0 Low Inactive 1 High Active X PO indicates the direction for the zero point seek function 1 negative 1 pos itive X RO indicates whether automatic zero point seek will occur The motor is started by user input 5 IN 5 If User input IN 5 is activated a register set is selected and the motor moves to the po sition specified in the register set T he velocity and acceleration are also determined by the actual register set To stop the motor 2 different possibilities exist The DIF digital input format register decides which method is used as described in the following sections JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 36 3 4 Register Mode MO 3 3 4 1 Digital Input format 1 default If the DIF register is set to 1 start and stop of the motor will take place as follows Start of the motor occurs by activating User Input IN 5 IFIN 5 is high a parameter set is selected and the motor moves to the new position in accordance with the selected ve locity profile If IN 5 is set low before the desired position is reached the motor will stop according to the programmed deceleration acceleration When IN 5 is again set high the motor con tinues to the required position When the required position is reached O 1 is
57. ion it is recommended that this mode is used during installation and commissioning of systems Register Mode In this mode the Controller s set of parameter registers X 0 X 15 store the positions and velocities etc required by the actual system These registers can be addressed via the Controller s digital inputs and are activated by activating a start input This mode of operation is especially powerful since it enables the Controller itself to take care of the entire positioning sequence Velocity Mode In this mode the Controller controls the motor velocity via the analogue input This mode is typically used for simple applications or applications in which another de vice such as a PC card is used for overall control of velocity and position Torque Mode In Torque Mode the Controller controls the motor torque via the analog input Typical applications which use this mode of operation include for example spooling or tensioning foil cable etc No encoder is used in this mode The individual modes of operation are illustrated further in the following pages These pages provide a quick guide to setting up a functional system For more detailed docu mentation of operating modes the individual inputs and outputs and the Controller com mand set are described in Chapters 2 and 3 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 1 3 Getting Started Step pulse Mode 1 13B 13A
58. ition 76 XVn 77 Firmware 72 PositioningMode 9 Z G 35 Zero point contact Ground 21 Positive Limit Switch 77 H 66 Zero point Seek H 59 Power Dump Output Function 43 Hardware 14 24 Zero point Seek HELP 60 PR 68 Type 72 I PROM error 88 ZL 77 IL 60 PW 68 IN 61 R IN 1 36 Rated Current 48 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 92 JVL Industri Elektronik A S Brugermanual AC servocontroller AMC10 11 12 93
59. ler DMC 10 10 1 6 Getting Started Velocity M ode M ode 4 A Reserved HT User Outputs User Inputs Power Supply In f 15 80V DC 1B 0 0 r1A 2B O O 2A 3B 3A AB Oo 5B el 5A 6B 9 6A 7B e 7A Incremental encoder Balanced encoder signal shown In this example It Is recommended that screened cable is used to connect the encoder Step pulseandDirection Input Note I screen only connected tosignalsource PC board or Potentlometer Pulseand Direction Output TTO214GB Follow the procedure below for operation ofthe DMC10 in Mode 4 Velocity Mode 1 Connect the Controller as shown above For further details see also the following sections Motor Output page 16 Encoder Input page 19 Power Supply page 21 Analog Input page 23 Connect the PC via a terminal program e g JVL s MotoW are or Windows H yperTer minal if necessary following the description of the RS232 interface in RS232 Inter face page 25 Switch on the Controller but ensure that the analog input is 0 V O nly the Power LED and possibly Out 1 may be active If one or more of the red LEDs is active or blinks either the motor or encoder is probably connected incorrectly Send the command enter to the Controller and wait until the Controller responds with a status overview If the status over
60. ly Voltage P and P Output Voltage depends on supply voltage Continuous Motor Current Rated Current Peak Current Power Loss in Driver at full motor current PWM Frequency Encoder Input Supply to Encoder pin 14A 5VO Allowable load on encoder supply pin 144 5VO Encoder Frequency 50 duty cycle 0 Step and Direction Input pins 22A to 25A Allowable Input Frequency 50 duty cycle Positive pulse width N egative pulse width Logic 0 Logic 1 Input Impedance Logic 0 Logic 1 Logic 0 Logic 1 User Outputs 01 04 Supply Voltage Loaded Current per O utput Analog Input AIN Input voltage nominal Input impedance Power Dump Output PDO Voltage Allowable shunt resistor O perating Temperature Range Weight 85 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 4 2 Physical Dimensions Running O Voltage Current T gt 80 C Dut Error 128 5 3HE a a a a a a E Om a a a E a a Co a a ce o TTO204GB 50 1 10TE JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 86 4 3 Servo loop The DMC 10 Controller uses a PID Proportional Integral Differential servo loop as illustrated in the figure below Trample 1 msec 20 kHz Set Position elas FE Sr fo 4 X Yr TT Yx 16 10 bit M Actual Position Trample I
61. mand ET Modes 12 3 4 5 Selection 0 PNP or 1 NPN Description To achieve correct positioning and precise velocity and acceleration it is important that the encoder set up is correct The encoder may be either aPNP or an NPN type In ad dition both a balanced and unbalanced signal from a standard 2 channel incremental en coder may be used For details of encoder connection see Encoder Input page 19 This command is used to specify the type of encoder connected to the Controller If an encoder with a balanced output is used the setting of ET can be omitted If however an unbalanced N PN encoder is used ET must be set to 1 ET 1 If an unbalanced encoder of the type PNP is used ET must be set to 0 ET 0 Usage ET x Set encoder type ET Show encoder type 3 9 29 Halt of motor H Command H Modes 2 3 Description This command is used to instantaneously stop the motor regardless of velocity etc Please notice that the Halt H command is disabled during zero search U sage H H alt motor 59 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 3 9 Commands 3 9 30 Command Modes Description Usage Example 3 9 31 Command Modes Range Description Usage Command Overview HELP HELP 1 2 3 4 5 The HELP command is used to display an alphabetic list of the commands that can be used with the Controller HELP Show commands Sent to Controller HELP Received from Controller Foll
62. mmand OUT4 0 is sent via the RS232 485 interface or user input 4 is activated If user output 4 is cleared by one of these methods it will not be activated again unless AP passes the value in XP15 again or the contents of XP15 are re defined overwritten If DIF 3 is used in mode 3 only X0 to X 7 are usable X8 to X14 X 15 are passive and cannot be accessed DIF 3 can be used in all modes IN4 Normaluse Normaluse Clearoutput4 04 NG Homesensor Stop Homesensor Homesensor Usage DIF Show actual input format DIF x Set input format 55 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 25 Encoder Motor Test flag EMT Command EMT Modes 1 2 3 4 5 Selection Setting Function Testdirection EMT 0 Motor test disabled EE EMT 1 Motor test enabled Counter clockwise EMT 2 Motor test enabled Description IfEMT is set to 1 the Controller will automatically test the encoder and motor connec tions at power up The Controller must move the motor to perform the test If e g the motor is blocked by a brake the test will fail and EMT must be set to 0 Usage EMT Show Encoder motor test flag EMT x Set Encoder motor test flag JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 56 3 9 Commands 3 9 26 Command Modes Selection Description Read out of Error Status ES ES 1 2 3 4 5 0 and 1 During operation of
63. motor is inoperative first try setting KI to a high value 100 1000 The Controller is now set to Torque Mode When the voltage at the input is greater than OV the motor will produce a positive torque which is proportional to the applied voltage When the input voltage is less than OV negative the motor will produce a negative torque proportional to the applied voltage See section Adjustment of Analog Input page 45 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 12 13 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 Hardware JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 14 2 1 Connections Connector DIN41612 ver B 1B O O gt 1A P le A Power Supply In 3BI 4B rey 5B gt Motor Output O O 6A bs LI T M 8B 0 7 Power Dump Output 9B Oo 10B 1B 12B O 13B O A 148 0 0 14A Reserved HT 1580 olsa 16B O 0 16A 17B 0 O 17A iano laa Encoder Input 19B 0 C 19A User Outputs Alle Megs ABTO O 21A 22B 0 O 722A 23B o z E os gal Step pulse and Direction Input 25B 0 O T725A 26BT 0 O 27B 0 O 27A User Inputs 28B 0 O 28A E Ales odb Pulse and Direction Output 30B7 0 30A 31B 0 O 31A 32B 0 01324 10V Input TT0216GB 15 JVL
64. msec Position counter Figure 8 DC servo 4 3 1 Mathematical Description of the Servo Loop The servo loop can be mathematically described as follows Yk Ky e K e Kg eg where Error Set Position Actual Position required position minus actual position e Error The instantaneous error between the required and the actual position ej Errorrotal Accumulated error eg Error Errorprevious Difference between the actual error and the preceding error Errorrota is limited by the integral summation limit IL The servo loop can be adjusted using the parameters IL Kp Kj and Kg 87 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 4 4 Error Indication 4 4 1 4 4 2 4 4 3 4 4 4 4 4 5 4 4 6 In addition to their normal function as indicated on the Controller panel the DMC10 s LEDs are also used to indicate vital error conditions The following describes the normal functions of the LEDs and then their additional functions O Voltage LED The O Voltage LED is activated when the supply voltage exceeds 89V The Power Dump shunt resistor is simultaneously switched in when the voltage is exceeded Current LED The Current LED is lit if the specified rated current CA or peak current CP is being exceeded The LED is switched off again if current consumption falls below the specified limit The LED is also lit if an overload has occurred The system must be reset after an ov
65. nal or JVL s MotoWare On line editor for the DMC 10 setup Example 1 Send to the Controller XV1 1000 Set the velocity in register set 1 to 1000 RPM Received from Controller y Example 2 Send to the Controller xvi Show register set 1 Received from Controller xv1 1000 Example 3 Send to the Controller xv Show all the velocity register sets Received from Controller xv0 0 XV1 1000 XV2 200 XV15 0 Once the X registers have been set up the contents can be saved permanently in mem ory using the MS command The Controller will thus store all the new values even if the Controller is powered down 3 4 5 Setup using MotoWare All X registers are available in MotoW are under the Applications menu Select Register to view all of the X registers MotoWare Applications Setup Help oe aa FEER mr MER Velocity rev min 100 Pulse rev O 1 Step pulse Accel rev min s 100 4 Pulse Error kuman O 2 Position Pos Width pulse Step pulse Mul setup re Pulse Mul Velocity CE aaa GET PROG PWM Mode Servo Constants Current Mean Amp 1 SEE Ons roto ESO Sm Ou i Limit Switch Active Level araen Negative Oo Hoh S 43 Girl Positive Low High Ones ON Ses TTO235GB 2 Choose Register for displaying the X registers 39 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 4 Register Mode M O 3 The Register Setup window shows all the X registers All of the values can be edited Ifthe Acceleration and
66. nd Ground for pulse input Pulse input User Outputs O Output supply O1 Output 1 O2 Output 2 03 Output 3 04 Output 4 O Output ground User Inputs INT Input 1 IN2 Input 2 IN3 Input 3 IN4 Input 4 IN5 Input 5 ING Input 6 IN7 Input 7 IN8 Input 8 IN Input ground Reserveret Reserved for future use Controller Supply Motor Output Powerdump Output Encoder Inputs Step pulse and Direction Inputs INB 248 24A DCM Ground for direction input IN7 258 25A DIR Direction input ING 26B 26A IN5 27B 27A 05V 5V supply for outputs IN4 28 28A CO Pulse output 7 i IN3 298 Lo za DO Direction output Step pulse and Direction outputs IN2 30B 0 1304 OCM Ground for outputs ell INT 318 o 7814 AIN 10V Analogue input IN gt ACM Ground for analogue input Analogue Input TTO206GB JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 90 4 7 Examples of Motor Connection This section illustrates examples of motor connection for different DC motors to the DMC10 Please feel free to consult JVL or one of our distributors if you have problems by connecting motors to DMC10 Encoderconnections DMC10 Enco
67. nd the two least significant characters the least significant byte of the result s hexadecimal value are used The two least significant digits are converted to ASCII values and transmitted together with the command string The actual calculation is as follows 50 53 75 80 61 50 53 59 75 73 61 52 55 797 decimal 31d hexadecimal The checksum is thus 1d which is sent as ASCII 49 decimal and 100 decimal Hex characters a f can also be send as capitals i e d can also be sent as ASCII 68 decimal In the event that the command string is affected during transmission the checksum will not correspond and the Controller will send an error message E9 indicating that a checksum error has occurred The command string must then be re transmitted The checksum function is activated using the CHS command JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 26 2 10 RS232 Interface 2 10 7 Connection to PC For communication from a PC the following connection diagrams can be used These show the connections between the Controller and an IBM AT or IBM XT PS2 PC XT PS2 J Controller Controller A 0 eo vuo oo y p x x e e N Tx Rx TT0227GB 2 10 8 Connection of Several Controllers to a PC For connection of more than 1 Controller to a PC i e using addressing the connection diagrams given below can be used N ote
68. nnect the Controller as shown above For further details see also the following sections Motor Output page 16 User Inputs page 17 User Outputs page 18 Encoder Input page 19 Power Supply page 21 Connect the PC via a terminal program e g JVL s MotoW are or Windows H yperT erminal if necessary following the description of the RS232 interface in RS232 In terface page 25 Switch on the Controller but ensure that all inputs are logic 0 O nly the Power LED and possibly Out 1 may be active If one or more of the red LEDs is active or blinks either the motor or encoder is probably connected incorrectly Send the command enter to the Controller and wait until the Controller re sponds with a status overview If the status overview is displayed the RS232 interface and power supply are cor rectly connected Set the Controller to Register Mode by sending the command MO 3 enter The Controller should respond Y indicating that Register Mode has been selected The motor current must be adjusted for the actual motor used See Adjustment of Motor Current page 29 Servo parameters KD KP and KI are set to typical values by default This means that the motor can be operated without further adjustment For optimum system operation however the parameters should be adjusted See Adjustment of Servo Regulation page 30 The Controller is now set to Register Mode JVL Industri Elektronik A S User Manual DC Servo Motor Control
69. no answer will be given after sending the ADDR command N o answer is given since using addressing will disable all answers permanently If responses are needed the CB5 control bit can be set See also CB5 Send Y when using addressing page 50 N ote If a Controller s address has been forgotten the command can be used Usage ADDR x Set address to x ADDR Show address if ADDR 0 If ADDR gt 0 use the command Example The address for a specific Controller must be set to 5 This is done by sending the following command Sent to the Controller ADDR 5 The Controller will now use the new address and no answers will be given if commands are sent to the Controller Answer from the controller none Continued 47 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 5 Command Modes Range Description Usage 3 9 6 Command Modes Range Description Usage Continued N ow a positioning command must be sent to the Controller This is done as follows Sent to the Controller 5SP 1000 Go to position 1000 The address 5 must be inserted before the command to make sure that the Controller accepts the command Received from Controller none No response from the Controller but the command will be executed If the ADDRESS needs to be changed back this can be done in the following manner Sent to the Controller 5ADDR 0 Set address 0 The current address must be inserted b
70. oads up to 100V peak and has a built in filter which removes input signal noise Always use screened cable for connecting the source to control the Analog Input since the motor etc can easily interfere with the analog signal and result in instability The Controller is equipped with an analog to digital converter ADC which converts the measured analog signal level The ADC has a resolution of 11 bits which gives a total working range of 2048 steps 23 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 2 9 Power Dump Output DMC10Front Panel 0000000000000000000 D yL S TT0225GB Power Supply In aL F A 15 80V 1B 00 14 P 5904 DC E 2B 00 24 P Voltage Overload po 0 J Oi AA Indicator BI O vn R l le Min 15 Ohm 7B LI 7A 8B oo 84A PDO 9A 10B 10A E Power DumpOutput PDO activated 11B oo HA 12B 124 PDO v when voliage _ 18B o 0 13a A BHO 144 5VO Reserved B H 158 10 o 15A EZ1 16B o 0 16 EZ2 RTL TA EAT Encoderinterface Time O4 18840 isa EAZ gt FEB Volt V Energy send back from User Outputs al ko AE jr EBD age V motor to controller O1 218 o 21A ECM gt _86V LLO 22Blo oral CCM N 23B O 723AH CLK e a Nom 80V INB 241 0 lle Dom Step pulseand Direction Input PEN IN7 25857 0 25A f DIR ING 26860 o 264 Velocity I
71. obtained See Adjustment of An alog Input page 45 for more information on the use of this command See also CB8 Use O1 to indicate hysteresis window page 51 VVH x Where x specifies the hysteresis value VVH Show hysteresis value and value of the three calibration commands Analog Input maximum Negative 10V Value VVL VVL 4 5 Calibrate full scale set negative voltage max 10V at the analog input and send the VVL command The Controller will then calibrate the analog input s negative value The negative input voltage must not be greater than the zero point voltage See Adjustment of Analog Input page 45 for more information on the use of this command VVL Maximum negative voltage is calibrated Analog Input Zero point Voltage VVO VVO 4 5 This command is used to determine the analog input zero point voltage To calibrate the Controller the zero point voltage should be applied to the input and the command sent In the majority of cases the zero point voltage will be 0 Volt but this is not a requirement however The zero point voltage must lie in the range from the maximum negative volt age to the maximum positive voltage See Adjustment of Analog Input page 45 for more information on the use of this command VVO Zero point voltage is calibrated JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 74 3 9 Commands 3 9 64 Analog Input Maximum Positive 10V Value
72. ommended that screened cable Is used to Or connect the encoder Step pulse and Direction Input Pulseand Direction Output 10V Input TTO212GB Follow the procedure below for operation of the DMC 10 in Mode 2 Positioning Mode 1 2 Connect the Controller as shown above For further details see also the following sections Motor Output page 16 Encoder Input page 19 Power Supply page 21 Connect the PC via a terminal program e g JVL s M otoW are or Windows Hyperter minal if necessary following the description of the RS232 interface in RS232 Inter face page 25 Switch on the Controller Only the Power LED and possibly Out 1 may be active If one or more of the red LEDsis active or blinks either the motor or encoder is prob ably connected incorrectly Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are correct ly connected Set the Controller to Positioning Mode by sending the command M O 2 enter The Controller should respond Y indicating that Positioning Mode has been selected The motor current must be adjusted for the actual motor used See Adjustment of Motor Current page 29 Servo parameters KD KP and KI are set to typical values by default This means that the motor can be operated without further adju
73. or checksum are used Thus there must only be 1 Controller connected to the interface if this command is used without an address The command can be used alone i e or together with an address Show Controller type and address Sent to Controller Received from Controller DMC10 ADDR 24 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 46 3 9 Commands 3 9 3 Acceleration AC Command AC Modes 2 3 Range 100 100000 rpm sec Description This command is used to specify the acceleration deceleration profile If the motor is running when the acceleration is changed the acceleration will first be changed when the motor has stopped Usage AC x Set acceleration in rpm sec AC Show acceleration 3 9 4 Address ADDR Command ADDR Modes 1 2 3 4 5 Range 0 255 Description The Controller is as default configured to react to all commands on the interface bus Point to Point communication In this case the address is set to 0 ADDR 0 When the address is 0 the address must not be sent when communicating with the Con troller It is also possible to connect several Controllers to the same interface bus In this case each Controller must be assigned its own unique address Addresses in the range 1 255 can be used The number of Controllers that can be simultaneously controlled is howev er dependent on the system hardware Changing the ADDR register will have immediate effect which means that
74. or is moving in the wrong direction Correction Switch the positive and negative cables terminals M and M E28 The encoder is not connected or the motor is blocked The encoder is not connected or the motor is jammed Example The motor is blocked by a brake when the Controller is switched on The encoder can therefore not be checked The encoder may also be connected incorrectly or not connected at all Correction Ensure that the motor is free to move when the Controller is switched on Also check the encoder connections The test can be switched off by the command EMT 0 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 80 3 10 Error Messages E29 Supply Voltage exceeds 95 V The power supply voltage has exceeded 95V Example The power supply voltage istoo high or the motor is being decelerated too rapidly Correction If the power supply voltage is too high it must be reduced During deceleration the motor can send current back to the Controller causing an increase in the supply voltage The deceleration must be reduced until the error disappears This problem can also be alleviated by using a Power Dump shunt resistor See section Power Dump Output page 24 E30 The motor is not connected The motor is not connected Example The motor does not move Correction Check the motor connections E31 Average Current cannot be measured correctly The rated current value cannot be
75. or velocity for maximum input at the analog input If for example VM is set to 1000 and the analog input is adjusted to an input voltage in the range 10V to 10V the motor will rotate at 500 rpm in a negative direction for an applied voltage of 5V In Torque Mode MO 5 VM is used to set a limit for the motor Control of the velocity in this mode is not precise and is used only as an additional measure VM has no effect in Pulse Mode MO 1 Usage VM x Set maximum velocity in rpm VM Show current max velocity 3 9 60 Supply Voltage VOL Command VOL Modes 1 2 3 4 5 Range 12 100 Description The VOL command is used to check the supply voltage applied to the Controller Usage VOL Show voltage in Volts 73 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 9 Commands 3 9 61 Command Modes Range Description Usage 3 9 62 Command Modes Description Usage 3 9 63 Command Modes Description Usage Analog Input Hysteresis VVH VVH 4 5 0 200 ADC steps The VVH command is used to define a region around the analog voltage zero point in which the motor must not move The range is symmetrical around the zero point twice the value specified The value is specified as the number of AD converter steps The converter has an operating range of 2048 steps 11 bit e with an adjustment of 10V to 10V at the input approximately 10 mV per step is
76. ot using addressing this command will result in error message E5 Correction Use correct command E6 Parameter error or out of range The Controller has received an incorrect command Example 4R If the Controller is not using addressing this command will result in error message E5 Correction Use correct command E7 Register number error or out of range Error register number Example XP7777 or XP4F Correction Use a register number in the allowable range Register numbers may not contains alphabetic characters E8 Data can not be saved in EEPROM The set up cannot be saved in EEPRO M A hardware error has occurred that prevents the CPU communicating with EEPRO M E9 Checksum error The Controller s receiver s calculated checksum is not the same as the transmitted checksum Example 255KP 25F3 Correction Send the command as 255KP 25DB E16 Check other Status Register An error has been detected in the other status register Read this register E20 Temperature too high The Controller s internal temperature is too high Correction Turn off the Controller Ensure better ventilation cooling of the Controller envi ronment or reduce the allowable rated current value CA command E21 Current Overload The Controller has been overloaded short circuited Correction Use a different motor or insert an inductance of approximately 1mH in series with the motor 79 JVL Industri Elektronik A S User Manual
77. ove The size of the required resistor is given in the following table 0 Ohm Short circuited 470 Ohm 0 4W 1 2 kO hm 0 4W 1 8 kO hm 0 4W 2 2 kOhm 0 4W See also the description of Mode 1 Step pulse Mode MO 1 page 34 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 22 2 8 Analog Input 1B 1A 7 le LL Power Supply In 4B med M Motor Output Power Dump Output Reserved Encoder Interface User Outputs Step pulse and Direction Input Note screen only connectedtosignal source rd dor tentlometer Pulse and Direction Output po y 10VInput User Inputs IN4 28B 0 o 284 TTO224GB 2 8 1 General The Analog Input is used for example when the Controller is operated in Velocity Mode Mode 4 or Torque Mode Mode 5 In this mode the Controller reads the Analog Input and controls the motor velocity in accordance with the voltage applied at the Input The Analog Input accepts input voltages in the range 10V to 10V and is galvanically iso lated from all other inputs and outputs including power supply terminals N ote however that the Input shares a common internal supply with the RS232 interface and is therefore not galvanically isolated from the interface The Analog Input is protected against overl
78. owing Instructions can be used AC ADDR AP CA Gp ME Integral Summation Limit IL IL 1 2 3 4 5 0 25000 Kj has the same effect on instantaneous errors as Kp Kj normally determines how the system reacts to persistent errors but in order for the system to react quickly to chang es the value of K must be increased In order that the summed error does not exceed an unacceptably high level an integral summation limit IL is specified For example ina system with large mass it can be difficult for the motor to respond to the desired velocity profile It may therefore be desirable to set K to a high value so that a quick response to a positioning error is obtained When the motor does not follow the required velocity profile and a high value for K is used the accumulated error must be limited If the ac cumulated error is not limited the system will become unstable and the motor velocity will be too high when the required position is reached The system should first be adjust ed without adjusting can then initially be set to 1500 in pulse mode MO 1 posi tioning mode MO 2 and register mode MO 3 and to 10000 in velocity mode MO 4 and torque mode MO 5 IL x Where x specifies the integral summation limit IL Show value of IL JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 60 3 9 Commands 3 9 32 Read Status of Inputs IN1 IN8 Command IN Modes 1 2 3 4 5 D
79. p pulse and direction Digital selection of positioning RS232 Interface Windows program available for set up End of travel inputs RS232 and RS485 Interface e Set up stored in EEPROM e Can handle motors up to 1kW Pre programmed Velocity Profiles e Automatic zero point search function Short circuit and thermal protection e Any DC motor can be used JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 1 2 Overview of Controller Operation M odes 1 2 1 Basic Modes of Controller Operation The DMC10 Controller includes many individual features for general use in a variety of application configurations However the Controller is operated in one of five basic modes which are selected using the Mode command MO The DMC10 s basic modes of oper ation are 1 Step pulse Mode In Step pulse Mode the Controller functions as a step motor system The motor will move one step each time a voltage pulse is applied to the Controller pulse input Ve locity and acceleration deceleration are determined by the external frequency Positioning Mode In Positioning Mode the Controller positions the motor via commands transmitted over the RS232 interface Various operating parameters can be continuously regulat ed via the RS232 interface while the motor is running This mode can be used primarily when the Controller is part of a system which is per manently connected to aPC via the RS232 interface In addit
80. rection input DIR Direction input Step pulse and Direction Outputs O5V 5V In for output supply CO Pulse output DO Direction output OCM Ground for outputs Analogue Inputs AIN 10V Analogue input ACM Ground for analogue input Type CON 12 Hole for mounting on Controller 22 6 Hole for rack mounting 2 6 O E 2 osv o s coH a 885 po 222 cowl a 5 IN8 H o o IN7 H o IN6 H O INS Hj 2 a o mi o ol IN3 fy 9 a 5vo n2 o o H Ezi o H Ezi Ntf o HEM IN H o HEA AN o H EBI a o H EB2 ACM o ecu O Holes for rack mounting 22 6 Hole for mounting on Controller 22 6 Diagram of Connector Board CON12 JVL Industri Elektronik A S 1995 1998 DIN41612 Connector Locatedat rear of DMC10 Reserved Reserved L Reserved Output supply Output 4 Output 3 Output 2 Output 1 Output ground UserOutputs Input 8 Input 7 Input 6 Input 5 Input 4 Input 3 Input 2 Input 1 Input ground User Inputs Designations on connector board Ground 15 80V Motor Motor Power dump output 5V Out for encoder Reserved Reserved Encoder input A1 Encoder input A2 Encoder input B1 Encoder input B2 Encoder grou
81. rovoke the Controller to respond with the command and the currently associated val ue When no addressing is used the Controller always responds when a command has been received If the purpose of the command is to display a value or set up the required information will be sent as a reply or a Y will be transmitted to indicate that the com mand has been received In the event that incorrect information has been sent to the Controller for example a command that does not exist or a value that is out of range etc the Controller will respond with an error message The error message consists of an E followed by a number followed by an explanatory text See also Error Messages page 78 Example Sent to Controller VM lt CR gt Received from Controller VM 500 lt CR gt Sent to Controller VM 600 lt CR gt Received from Controller Y lt CR gt Sent to Controller VM 5 lt CR gt Received from Controller E2 Out of range lt CR gt When addressing is used the Controller will not acknowledge the receipt of a command Any errors in communication will be registered by the error status register 0 Commands may be sent both as upper case and lower case characters With the excep tion of error messages replies from the Controller are always upper case The following sections describe all of the RS232 commands As mentioned above all commands must be terminated by a carriage return character lt CR gt or a semi colon befor
82. s character terminates the command line 25 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 2 10 RS232 Interface 2 10 5 2 10 6 Synchronisation When communicating with the Controller each command must be terminated either by a lt CR gt ASCII 13 or a semi colon This tells the Controller that the command string is complete and interpretation can begin When a checksum is used command in terpretation will not begin until the entire command line has been received e is termi nated by a lt CR gt A maximum of 80 characters may be sent in a single command line Checksum In industrial applications electrical noise from motors etc often occurs This noise is quite arbitrary and cannot be eliminated 100 even by effective electrical filtration To ensure correct transmission of Controller commands a facility is included for using checksums in the command string A typical command line may be as follows 25KP 25 KI 401d Checksum Command no 2 Delimiter Command no 1 Address TT0226GB In this example addressing is used address 25 Two commands are transmitted and are delimited by the semi colon Finally a checksum is transmitted The checksum con sists of two characters The checksum is a simple checksum and is calculated in the fol lowing manner First the ACSII value of each of the characters in the command line is determined These values are summed a
83. s used to select if the transmission is done at the rising or falling edge If no address is used Address 0 only a Y is send CB5 Send Y when using addressing CB5 1 2 3 4 5 CB5 0 An answer Y is never sent when using addressing default CB5 1 An answer Y is always sent when using addressing The Controller always sends an answer typically Y when receiving commands and when addressing is not used Address 0 If addressing is used Address gt 0 by default the Controller will not respond when com mands are sent Setting CB5 1 will enable an answer to be sent every time a command is received by the Controller regardless of whether the Controller is set up for addressing or not CB6 Stop motor set velocity to 0 CB6 4 5 CB6 0 Function disabled default CB6 1 Stop motor if IN5 is activated If this function is selected C B6 1 the motor will be stopped if user input 5 IN 5 is ac tivated The function internally sets the value measured from the analog input to 0 N ote that the CB6 function is only active in modes 4 and 5 speed and torque mode JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 50 3 9 Commands 3 9 14 CB7 Invert the analog input Command CB7 Modes 4 5 Selection CB7 0 Function disabled default CB7 1 Invert the analog input if IN 6 is activated Description If this function is selected activation of user input 6 IN 6 will inver
84. screened cable is also used for the encoder cable to avoid influences from the motor cable affecting the encoder signal Short circuiting of the Motor Output The motor output can withstand short circuiting between the M and M terminals In addition both motor output terminals will withstand short circuiting to ground or to the positive supply If a short circuit occurs the Controller will stop all activity and report an error condition by activating the Current LED In addition the Controller s error registers will be activat ed See the ES and EST commands Protection of the Driver With certain motors it may be necessary to connect an inductance coil in series with one of the motor cables This coil functions as an elastic buffer for sudden current tran sients which would otherwise activate the Controller s short circuit protection JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 16 2 3 User Inputs This diagram should be used for connecting an NPN output rm a e a o Power Supply 5 30VDC mm I i I Inductive LS Power Supply In o i Power Su or similar 5 30VDC il En or I Ci I z N i _ Power Dump Output NPN Output E ona ON tt headin ah Oe id 3 Reserved e fur Encoder Input Step pulse and Direction Input gt lt Inductive sensor or simllar PulseandDirectlon Output User Inputs
85. set high to indicate that the motor has reached its destination In this format IN 6 is only used for the zero search sensor Timing diagram for selection of register set etc when DIF 1 wenno Y AA 5 i l l j l l I I l I l I l i l l l l 1 1 1 i i i i INT IN4 Register X1 Register Xe y Register X4 vi Register X2 T T i i J l I l i l l l I J i i I i i I i End of travel i DS i IN7 and IN8 i er aa I I I 1 i i i i i i i i i In position 4 Output O1 1 i i I i i I I I lt lt i O i Frontplate Please note that the motor is stopped if one of the End of travel inputs is activated 37 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 4 Register Mode MO 3 3 4 2 3 4 3 Digital Input format 2 If the DIF register is set to 2 start and stop of the motor will take place as follows Starting the motor occurs in the same way as when DIF 1 i e by activating U ser Input IN5 However when Digital Input Format 2 is used the motor can only be stopped if the final position is reached or if IN 6 is activated Every time the motor is started the position counter will be set to zero 0 This function makes sure that the position counter never reaches its maximum This input format typically is used for feeding mechanisms where it is typical to make moves in one direction only If the final posi
86. stem begins to become unsta ble KP is then adjusted to half this value 3 To make the system response quicker KD can be adjusted The value of KD is increased until the system becomes unstable KD is then adjust ed to approximately 0 5 to 0 7 of this value 4 The value of KI is then increased until the system is unstable KI is then set to ap proximately 0 5 to 0 75 of this value 5 If a system is required which reacts quickly when a positioning error occurs but in which the summed error does not increase the integral summation limit IL should be used 6 Adjustment of the servo parameters can be completed by fine tuning the individual parameters 7 Remember to store the parameter values in permanent memory by keying MS en ter JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 30 31 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 Software JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 32 3 1 Use of RS232 Commands The DMC10 DC Motor Controller can be controlled via the Controller s RS232 inter face Controller commands are send as ASCII characters terminated by lt CR gt ASCII 13 decimal or See also section RS232 Interface page 25 Some of the Controller commands have associated command parameters others do not For those commands with associated parameters transmitting the command alone will p
87. stment For optimum system opera tion however the parameters should be adjusted See Adjustment of Servo Regulation page 30 The Controller is now set to Positioning Mode As atest the motor can be moved to absolute position 1000 by sending the command SP 1000 enter The motor should move to the specified position By sending the command SP 1000 enter the motor will move in the opposite direction to position 1000 If this does not oc cur or the motor runs for a very long time it may be due to the fact that the position counter either was at position 1000 or that the previous position was far from 1000 See the software section for details of other commands JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 1 5 Getting Started Register M ode M ode 3 med FEE User Outputs User Inputs Power Supply In 15 80V DC 1B O O 7 1A 2B O O 2A 3B 0 O 3A 4B pr 5B IT 5A 6B 9 6A 7B LI 7A Incremental encoder Balanced encoder signal shown in this example It is recommended that screened cable is used to connect the encoder gt gt Step pulseand Direction Input Pulseand Direction Output Bo 031A AIN lle ATA 10V Input amp TT0212GB Follow the procedure below for operation of the DMC10 in Mode 3 Register Mode 1 Co
88. strates an example of an error message Example E2 Out of range Description of Error Messages EO No errors N o errors have occurred since the last request El Error The command string cannot be understood Example KP 8K Results in error El Correction Carefully check the command sent to the Controller and compare with the com mand description given in this manual E2 Out of range The command Parameter Value is not within the legal range Example CP 100 The above command attempts to set the peak current to 100 Amp which is outside the allowable range The Controller therefore reports an E2 error Correction Select a value within the allowable range E3 Number of parameters is wrong The number of parameters specified is incorrect Example KP8 or ES0 9 Both of the above commands will produce an E3 error Correction The KP has only one register and can therefore only be called by specifying KP The ESO command is only used to show information and therefore specifying a pa rameter has no meaning E4 Instruction does not exist There is no such command Example ABCDEF Correction Use a valid Controller command See the description of the command for details of the required syntax JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 78 3 10 Error Messages E5 It is not an instruction The Controller has received an incorrect command Example 4R If the Controller is n
89. t TT0219GB 2 4 1 2 4 2 General The Controller is equipped with a total of 4 digital outputs Each of the O utputs can be used for various purposes depending on the basic mode of operation selected The Outputs are optically isolated from other Controller circuitry The output circuitry must be powered from an external supply This external power sup ply is connected to the O and O terminals The circuitry accepts voltages in the range 5 28VDC Each output can supply a continuous current of 500mA The O utputs are all source drivers i e if one of the O utputs is activated contact is made between the supply O and the respective output terminal See above illustration To indicate the level of each of the User O utputs the Controller front panel is equipped with 4 LEDs denoted 01 02 03 and 04 These LEDs are activated when the corre sponding User O utput is active Note LEDs 01 04 do not indicate the actual level at the User Outputs They are coupled directly to the internal microprocessor and are not connected to the output terminals themselves Overload of User Outputs All of the outputs are short circuit protected which means that the output is automati cally disconnected in the event of a short circuit The output will first function normally again when the short circuit is removed and the Controller has been switched off for a period of 5 seconds The Out Error LED on the front panel of the Controller is a
90. t Seek Function page 43 XRn x x specifies whether the position is absolute 0 or relative 1 XRn Show relative positioning set up in parameter set n XR Show all relative values JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 76 Commands 3 9 70 Velocity in Parameter Set XV Command XV Mode 3 Range 0 3 65535 rom Description A required maximum velocity can be set for each parameter set If the velocity is set to null the velocity will not be changed when the parameter set is selected i e the previous velocity setting will be re used Usage XVn xxxxx Set maximum velocity in parameter set n to xxxxx rpm XVn Show velocity value in parameter set n XV Show all velocity values for all parameter sets 3 9 71 Zero point Input ZL Command ZL Mode 3 Selection Qorl Description The zero point contact is connected to input IN 6 The input may be active high 1 if a PNP sensor is used or low 0 if it isan NPN sensor Usage ZL x Set level for zero point contact 0 low 1 high ZL Show level 77 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 10 Error Messages 3 10 1 When an error occurs in communication with the DMC 10 or an internal error occurs the Controller transmits an error message The error message consists of an E fol lowed by an error number followed by a colon followed by a descriptive text The following illu
91. t the polarity of the analog input which will make the motor move in the opposite direction N ote that the CB7 function is only active in modes 4 and 5 speed and torque mode 3 9 15 CB8 Use O1 to indicate hysteresis window Command CB8 Modes 4 5 Selection CB8 0 Function disabled default CB8 1 Activate O 1 if the voltage at the analog input is within the hysteresis window specified by VVH Description When CB8 is set to 1 the user output 1 0 1 will be activated if the voltage at the analog input is within the hysteresis window specified in the VVH register This function makes it possible to detect if the voltage at the analog input is high enough to make the motor run 3 9 16 CB9 Multiply all current settings readings by 10 Command CB9 Modes 1 2 3 4 5 Selection CB9 0 Function disabled default CB9 1 Function enabled All current settings readings are multiplied by 10 Description If CB9 is set to 1 all current settings and readings will be multiplied by10 The following commands are covered CA Rated Current CA page 48 CP Peak Current CP page 54 CU Motor Current CU page 54 Please note that if CB9 is changed the MS and RESET command must be used before the change is effected Example A motor is specified for an average current of 5 3A CA can only be set to 5A so CB9 is set to 1 and register CA is set at 53 which is normally an illegal setting 53A is above max imum but by setting CB9 1 the internal
92. ta can be permanently stored in non volatile EEPRO M memory i e without the need for an external supply to store data The MS command is used to store the Controller set up U sage MS Save set up in EEPROM 3 9 40 Recall Setup MR Command MR Modes 1 2 3 4 5 Range 0 3 Description Controller set up data can be permanently stored in non volatile EEPROM memory i e without the need for an external supply to store data The Memory Recall command MR is used to recall set up data from the EEPROM memory It is possible to recall the set up data automatically at power up U sage MR x Restore status 0 do not recall data on power up 1 recall data at power up 2 recall data now but not at power up 3 recall data now and at power up MR Show restore status The response given is 0 or 1 only 63 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 3 9 Commands 3 9 41 Command Modes Selection Description Usage Example 3 9 42 Command Modes Selection Description Usage Encoder Control MU MU 1 2 3 4 5 1 20r4 To achieve greater precision in positioning with any given encoder the system can pro vide increased encoder resolution The system can multiply the incoming encoder pulses by a factor of 1 2 or 4 using the value specified by the MU command If for example MU issetto 4 MU 4 an encoder with 500 pulses revolution will have an effective res olution of 2000 pulses revolution
93. that Tx pin 3 must be connected to TX PD pin 7 on one of the Controllers included in the system The address for each controller must be set up by using the ADDR command see also Address ADDR page 47 The diagrams show the connections between Controllers and an PC with 25 or 9 pole RS232 connector PC XT PS2 All connectors are shown from the solder side Y J A o e x A Controller Controller Address 1 Address 2 sa AI A gt K J PI DA 5 o ae X te To other controllers TT Te el I Address 3 4 5 2 22 R o a AN VJ VJ Controller Controller PC AT Address 1 Address 2 CJ Yv Y A Stel Stel AA Stel o sol 2 Hgo To other controllers es ITx Tx Tx O TTV A Address 3 4 5 1 Rx Px Cej Rx Ce FN la KA 2 21 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 2 11 RS485 Interface The Controller also includes an RS485 interface in addition to the normal RS232 inter face The RS485 interface is intended for purposes where 1 to 32 controllers are con nected on the same interface in a noisy environment B J yt Signal ground 7 lg ra A Terminator m Le Connect to A if Controller is the last Unit on the interfacebus TT0237GB The communication protocol is exactly the same as that for RS232 communication The only di
94. tion specified by the XP register is reached the user output O 1 is acti vated to indicate the position distance is reached In this input format IN 6 is not only used as a stop input but can also be used as a zero sensor input Velocity profile A A A i i U i i i 1 1 L 1 1 1 1 IN1 IN4 X Register X1 X Register X8 X Register X4 Vi Register X2 1 i i U 1 i U i U i U i U U i U U i U U i U U I I I I I j i I i U i U i i U f i U i i U i U Stop IN6 I I De Zero search i I I I i U i i U i 1 i i U i U i U i U U i U U i U U L J L i U U i U U I I I I Start IN5 i IN7 og IN8 l i Limit switch inputs I L I I I l I l In position Output O1 1 1 Front panel TT0233GB General about Register Mode setup Commands of particular interest for operation in this mode are MU ET PR XR XA XP XV PE The setup of these registers can take place in 2 different ways Via direct communication using a terminal program like Windows H yperT erminal ViaJVL s windows software M otoW are Both methods are described in the following sections JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 38 3 4 Register Mode MO 3 3 4 4 Setup using direct communication Use a standard terminal program like Windows HyperTermi
95. ver Provision should therefore be made to ensure that the supply voltage is always maintained at a min imum of 12 15V even in the event of a mains voltage drop 2 6 2 Power Supply Faults The Controller is protected against incorrect polarity connection and overload If a voltage overload occurs or the supply is connected with incorrect polarity the C on troller s internal fuse will be blown The fuse can only be replaced by an authorised service centre 21 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC10 2 7 Step pulse and Direction Input Minimum durations for CLK and DIR This dlagram should be used for connecting a PNP output I I a ard i PNP Output rer o bl LE z 2B LE PowerSupplyln 5 sovpe ee pi CLK 3B o o sa 7 Pulse R l i 4B 974 M 5ps gt as 5B et 5A Motor Output TOCCM es oa M 1 i or DCM I 5 4 BES ANETT SET ETG E NESE TRE DIR He sB o o 8A PDO _ Power Dump Output This diagram should be used for connecting an NPN output 9A PE A E A CEE 18 o 10A 1 or DIR B o 11A 1 i B o 12A i Pulse R 138B o 134 ge SOUrce I Toccm A hi o 01447 5VO 1 a DE me d I VVYY or DCM Reserved 5 illo lisa EZI i lt NPN Output i 16B o 164 7 EZ2 ii I i O H 178 0 0 174 7 EAT I Fat vere oma EAN Encoderinput 12 ____ 03 H 19850 0194
96. view is displayed the RS232 interface and power supply are correctly connected Set the Controller to Velocity Mode by sending the command MO 4 enter The Controller should respond Y indicating that Velocity Mode has been selected The motor current must be adjusted for the actual motor used See Adjustment of M otor Current page 29 Servo parameters KD KP and KI are set to typical values by default This means that the motor can be operated without further adjustment For optimum system opera tion however the parameters should be adjusted See Adjustment of Servo Regulation page 30 If the motor is inoperative first try setting KI to a high value 100 1000 The Controller is now set to Velocity Mode When the voltage at the input is greater than OV the motor will move at a velocity which is proportional to the applied volt age If the input voltage is less than OV negative the motor will move in the opposite direction See section Adjustment of Analog Input page 45 11 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 1 7 Getting Started Torque M ode M ode 5 A Reserved i at User Outputs User Inputs Power Supply In 15 80V DC Encoder Interface Step pulseand Direction Input Note I screen only connected tosignalsource PC board or Potentlometer Pulseand Direction Output N 0 1 z10V out acm J eno 10V Input
97. vo IL AP is set to 0 Velocity profile XAO XAO TTO2306B 10 of XVO 43 JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 3 7 Zero point Seek Function 3 7 3 Extended Zero point Seek Function If the SZT parameter is activated SZT 1 the reset sequence is carried out normally as described above but after the HM input is deactivated again the motor will continue to move in the same direction until a signal is received at the index channel from the motor s encoder This type of reset is particularly accurate N ote that the zero point sensor must be locat ed approximately 1 2 motor revolution before activation of the index channel Other wise inaccuracies of 1 motor revolution may occur er III LL Nominally XVO 1 2 revolution Velocity Profile XAO TT02316B 10 of XVO JVL Industri Elektronik A S User Manual DC Servo Motor Controller DMC 10 44 3 8 Adjustment of Analog Input The motor can be controlled directly using the Controller s Analog Input Voltages ap plied to the Input must be in the range 10V The Analog Input is used in Velocity Mode MO 4 and in Torque Mode MO 5 See section Analog Input page 23 for further information about the Input Before the Analog Input is used it must be adjusted for the actual application This ad justment is necessary because the signal source supplying the

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